adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
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      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}

{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6044, -0.382, -0.0227, -0.041, 0.9996, -0.0212, 0.7929, 0.6018, -0.3801, -0.0135, -0.0341, 0.9967]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1793 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2944 right_y=-0.0003 right_z=0.1792 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9967\nstate[joint_eff]: [-0.3761, -1.6479, 10.1402, 1.7753, -0.0464, 0.2369, -0.0611, -0.4718, -1.3333, 10.3043, 1.9219, -0.1148, 0.149, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc43a5e644845d71f784d8e091af3e6478e944a00ab20e58fc236aa95ffd0185",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7486bf4869db6324302be1a19a17c165f290e518554b6b6ed06612bc452d63a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e025f728f2be8e9214f260bed2dfae91ecbdfdb1eb4d9823c3f71e59ea9ce30c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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  "summary": [],
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}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnAt9LMoP8Ha_aG5Ndam-PP7y8L_2bWofs6ZKzFMKr_cZbfaQk9ulu4TuL-zS_StaRR7ceBDso4Ztd6_mBscn98TzltGv2tQFk1GmsUShkp0EWbHSPW6C7_a4ugTbVua_9cT1bddjxp5GPthOwwvEyox8xdH2oMkYYx3O6nzeiRIIMlWVKTKPe1n_uj2HMHs4kxIvjdqicxZsabDcdIjds8zALsCNyOgBvAboO-uwdVzcbyMVlzPwphOsYhrQMh-jyiubHJCDKA0vZEE07yXb5AIEgq9YkZFk0l_f8hbLBUGSHndixEotHrzxbmBogb1M8Ao1H1L_w8RrT30NFSE1EvfgaHSnLsccs8DKZYuQOS5yEGhHuphP_ZrXj-s4Bx350WA4kXgKtdiUNF4tL2je2k3AEqIBxdAcd-1uWVYcRtOfSYnCr-ZArcp5IzR-eCXV8--LY5i-o4BPcOvdUSqyLD03fuVb6YCus44PHkwWIh7vAnAMYdoNaxlMiazkVmNirs7vkCUcU4BrGto73Ossu3y7XNJT2l7shjt7erDU95v_rIBeNf2LBhoa6Ocnm0q57_e06fPYoC9WdUEHUpRszPDQzu_MyJaUUXr8q9D_6aiUf7ZNjlTkWlChiI8gCOEcY8QGNvQxGk34eY4ep7fVrBtufsEhSO2JCIi_rGGP6xQgNvASJ9Ti2GNf7rFtrZbMKNEObqtKfzK1kftG5-XHNsqXEzX1Zz9fxPkOdlyDpJ9_jWQJuD3aoAen7FfzuFBykYg0uoOyQVz9HcBr_VC5KbEwfhlyko5O_Ij1tFmj23bhxOWVB9WtpjkpM98jJBjYKiGdGJtbbgiFakCaFWpQU8GTuuxmGXimT2KMIAASb-HaV3BKe8tNApVG82qMQPo_F9EwYInRNbNdve62yPYLOBt9qF3WWqpn0618cpO1RPl4o9Cc8RzhZYBbpj0fSdCyLPIQbgGFYcfXojjzyZxhFfdyTKZi10niPDEKoFA2vQoqGGd4Q_B98fPes17zhpm3y0JbYcKeQ4JFitgH0YDSBSrvLS3P4kWPOEANRSop8qCfW-Wn_w3NRRrpwcwxmwFutqV2nRj4SIMlRwOVN3egYFpQYJxkuaOoDXOwqpypw3zZmytpkW2Kq8Fn37UiECYUZQGFY8gysWKhoyB7P24TL0yKUbsh4P3FiXFU_Dnd0xvDL132GyDMhxr5qEnl2q7QjwVDeWst7ot8SKGCkd14zHSIwEsmhuqQwwDUFzXZ62dpyoCmcTBqX6JrjAnyeJtYGsXZ83ZcMuO0Lp8FAZO3n16EpcQvhhnCq1T7i_QbNvIFBLqV7AW9v621NwJ-BMOgCPylVSJ0UVyGjusOyl9UdNxXktOqMMj_njeeH4zg3Od2o=",
  "id": "rs_0d1e2ff1af346922016ab449bf074087d090a2b50c54d1bf74",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.17,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"Three bowls are aligned across the far half of the table; I will use the center bowl as the base and first approach the left teal bowl from above with the left gripper open.\"}",
  "call_id": "call_ulcot3uw5NIJ6zYrMMNtQnCg",
  "id": "fc_0d1e2ff1af346922016ab449bf8a8c87d0af4aef1c78469f0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ulcot3uw5NIJ6zYrMMNtQnCg",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5655, 1.5723, 0.9924, -0.1341, -0.4557, -0.3622, 0.9996, -0.0219, 0.7975, 0.5999, -0.3927, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4076 left_y=-0.1624 left_z=0.1424 left_yaw=-0.0124 left_pitch=-0.0559 left_roll=0.0228 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1745 right_yaw=0.0016 right_pitch=-0.0194 right_roll=0.0011 right_gripper=0.9961\nstate[joint_eff]: [-0.4308, -7.4188, 9.1009, 1.79, -0.2906, 0.0562, -0.0611, 0.0479, -1.5795, 7.1863, 1.7998, -0.0122, -0.0317, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec8f93534d6a19686921efebbe9210dbb5762e19a04f4afde68a8a10ebaa7a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9660b9071675501ea10933ff18ad50cb2632e3421733dd06a82b6a96c9ce9129",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96cd3d9159927b212884389599777f2964e20bd77e7090a9441cec5f08d7091f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6044, -0.382, -0.0227, -0.041, 0.9996, -0.0212, 0.7929, 0.6018, -0.3801, -0.0135, -0.0341, 0.9967]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1793 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2944 right_y=-0.0003 right_z=0.1792 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9967\nstate[joint_eff]: [-0.3761, -1.6479, 10.1402, 1.7753, -0.0464, 0.2369, -0.0611, -0.4718, -1.3333, 10.3043, 1.9219, -0.1148, 0.149, -0.3639]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5655, 1.5723, 0.9924, -0.1341, -0.4557, -0.3622, 0.9996, -0.0219, 0.7975, 0.5999, -0.3927, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4076 left_y=-0.1624 left_z=0.1424 left_yaw=-0.0124 left_pitch=-0.0559 left_roll=0.0228 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1745 right_yaw=0.0016 right_pitch=-0.0194 right_roll=0.0011 right_gripper=0.9961\nstate[joint_eff]: [-0.4308, -7.4188, 9.1009, 1.79, -0.2906, 0.0562, -0.0611, 0.0479, -1.5795, 7.1863, 1.7998, -0.0122, -0.0317, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec8f93534d6a19686921efebbe9210dbb5762e19a04f4afde68a8a10ebaa7a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9660b9071675501ea10933ff18ad50cb2632e3421733dd06a82b6a96c9ce9129",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96cd3d9159927b212884389599777f2964e20bd77e7090a9441cec5f08d7091f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnFPoYfuvjXW-32HyrXpQgz_R1oBIC4mL1HCSjT62Jd0L01ULs0Pq9rPERxejhf2X2f7qSPHFz4AXDpwDlxF6DBGGNyLfqCUfjdICO7jThu0p3qYsA2M32i7wDSDjTMdkJQeeoQevPMRsK4_ECmM3xt2FLRPY-B4XRysdfKw9lmnMHEBUpSlkyCxk9mxG_UQJwgCqribi-5mAaio6PJaf0Ma0r7nVBTQaKQZQP26p7HD2uvKl9OHznVUMPVsGzb8HCaAJ0ctCKpPilIfmMHs1LK5j5z6DgvnTs5V8jFK81py6NZcKPNx8PoI36044dUqc8yRNdOaZc0psnSCiEGbXFbXTjL9tYqBzKKb3qkbunjLUifO7IioswSy7skWRWMIvnP0MTztUrkscG4gtaemAl1VbDQkziqJb9NP2Lrws-HbEDRE9VXLisG8fnpCpCaj8AiCOwxY3tbYi8HsVVWmafjUsEFrfJ8k7Rh0AFbg6pF-k0R0Gp1FtrY_Ag3bOURj1nrf3pV8vIXtNEoZabjJ6RJesJNOvqXiM2UrIPwYVViRPK1bNCKk1RqJbArOEyoyaBP_XrA-WylzB7XY_kC1sshaMg5KCOa4otLcAmwIuQMQb268V-8QWxWh73OAz2jvrmGogi9D3XBXLKMqSULmQcUNBEitwPZM9eYuabbqyCL7EhdHPLTncbLYIga2o_tr7I5cK_Iy8BJTkQum9wcDbinuZ0tLMTE6o040l7yTZxud86Jx_XDHdSTm4UqZVWLcAZPgn12FVepIfuwMiEZpTMjxZaSZfSevHkkeh8s3xLnjqWPJQ1ktfjGxj9DRsoCPadUrlbmpke9u4zXTt4aMHs7lCe98DMK7w2fx2luXiNJ3oHlHjb3rZoo-DQTgOsRrscAsZmhYO8KRG8ArIKsc7FoyP5IU65dVoNuesz4x7mE9y_leX-7L7oNAv1g9A0r9ChqopjOTaQ8iwOeqZa7YzJZItWn4LeB6OaX4H8dFzpaw0hvaggY8q1EHTqV3P83k4xh8xDi3uwy68M5CjMhALL78KWLyXwEKCv26wVdaAyaJmcSuscVU48babTD1qI4XjvGsywut3VurLW52oP4JudEtu0X-GdCkD0aeRKjm2OGPG1FL0UliLa6c5cuFwjo0iOzW0QE6ecah8079FgWo3-GDPqpcgV-OXl27EaqCpGs4OkWS0YP4DyZXa1godGhpehPe2rDb8OKz_SA2BE7Twlv__bHg5Gc4mxLKC5GBOSF1u4wgrXaJhrfj5H493QVAPk1pSSa2YhF9wDPlrgLonA4W2gP6TGn7St5pguGnrB9I3-JTUugjN9odSdq0egvWHZDoV3WxyEMEtft_oKR6G34bw-mXQfihhI2R8g7vtQOhbJhWhzuCCehdeNR-V-eeAlAjk407fjw1M2as3EGXUFIZwk156uhSUQJuxWxkNtMsNq9JuZbvd4B-3xQ_cW904eDLD1LFMytujsPtNhPWzRj-X4tUJA0JVHS3chBjOpsbg4qth8LXZybdH14uuN3z8GZMpeYk0notUMPiOMGlrrNIz0u_iq8MYxTm-3HDx1MHWK4vVQlB7TFNmX9P08gtqShD6iJW9VyTnl3EBxTMRH7ej7NPUyzGSKg2VSJL8p_xmkL3b3XQn0Ewcrr9JDQ6PRoNFuWJuRwkRdCJS6Nt9GlEZHutZwDBARZflj5FYcUdygZ09ZiinL3u6Zao9cYeia2q75T3jnhtw3BGuU9NG7UDPgVTEINjp3yIyBOdEcPDR1TDt5hzC1MFp2cfhUEUA6z3wNiSzPP4GKFpB5kQfGu8P_cEvZQf2jjCR2U_K4jMOaKUOMIaMErNQg9_S9mztPjKRdVH49QV-v_py6jy8UkGzUy5WuNr7-9yTGYg7f2togLk0mqQlcIjB1AfJ3dom3BHNLSPTlf-VnrtxfeWBd4081JBtcquBLzpi58c8dnmM5cc2q7ZPSiovyK1NOc6kRh--t5jpvNUd9p82Vu5pL7SIHRMV-70EhvY3Bvg8QKN7ODGzWXgULgJxhRikr96F-B94_DAE6JsNAHGiYJA6CHABqkJs_6GoPT6pE5E2RSqQZlUmVfHO22mstAEEonVC8z",
  "id": "rs_0d1e2ff1af346922016ab449c324a887d0b542d8ae488f8e92",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.408,\"left_y\":-0.162,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The teal bowl is now centered on the left wrist camera’s jaw column and fills the lower frame, indicating the fingertips are over it. I will descend to rim/body height while keeping the gripper fully open.\"}",
  "call_id": "call_Xth4AVZ2HVoRQLJm25Mi0xJ9",
  "id": "fc_0d1e2ff1af346922016ab449c4bd9887d092e509031b93fe33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xth4AVZ2HVoRQLJm25Mi0xJ9",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.8305, 0.7677, 0.2962, -0.4545, -0.3641, 0.9996, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4012 left_y=-0.1601 left_z=0.0237 left_yaw=-0.0131 left_pitch=-0.101 left_roll=0.0485 left_gripper=0.9996 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.002 right_pitch=-0.021 right_roll=0.0011 right_gripper=0.9961\nstate[joint_eff]: [0.2667, -7.8838, 4.8889, 1.6484, -0.2125, -0.0073, -0.0611, -0.0068, -1.2786, 6.9949, 1.7607, -0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c13e6c4e3cd711fb523b5b3964db5f62a00dfb74e1aaf71f91ad30a267159a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dca96f01a8bc6eda7ed37d561f8727d6b8ebc60599b59f3f5c60c7a351c3584",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0659f9c6a716b9f544a8b3d060822893347943c347ebb8f860734c0789c19f7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5655, 1.5723, 0.9924, -0.1341, -0.4557, -0.3622, 0.9996, -0.0219, 0.7975, 0.5999, -0.3927, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4076 left_y=-0.1624 left_z=0.1424 left_yaw=-0.0124 left_pitch=-0.0559 left_roll=0.0228 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1745 right_yaw=0.0016 right_pitch=-0.0194 right_roll=0.0011 right_gripper=0.9961\nstate[joint_eff]: [-0.4308, -7.4188, 9.1009, 1.79, -0.2906, 0.0562, -0.0611, 0.0479, -1.5795, 7.1863, 1.7998, -0.0122, -0.0317, -0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.8305, 0.7677, 0.2962, -0.4545, -0.3641, 0.9996, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4012 left_y=-0.1601 left_z=0.0237 left_yaw=-0.0131 left_pitch=-0.101 left_roll=0.0485 left_gripper=0.9996 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.002 right_pitch=-0.021 right_roll=0.0011 right_gripper=0.9961\nstate[joint_eff]: [0.2667, -7.8838, 4.8889, 1.6484, -0.2125, -0.0073, -0.0611, -0.0068, -1.2786, 6.9949, 1.7607, -0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c13e6c4e3cd711fb523b5b3964db5f62a00dfb74e1aaf71f91ad30a267159a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dca96f01a8bc6eda7ed37d561f8727d6b8ebc60599b59f3f5c60c7a351c3584",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0659f9c6a716b9f544a8b3d060822893347943c347ebb8f860734c0789c19f7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnJLe8y9YbRX5xde7eEwNVxMtcfB8dvLo27FVZ9nkA2ONr8bE0SuNspqZhmOPc5rlAZVwA7TeNpvt4WKi-V2X6Rv__DWSe49pdpJg2jKg3exY_JKjdnC55vnSdNW4f2DCZh0vOT7G4vgxAmMG3I0WVFVjXGhRCBokyxc-ShqcqzUhK-DSSgJUh4o0XN7veQUJQGtDEVp0qLdb8YLOkvAiPujWqXAV2y1Nh6uTxRqTYFLA-2NPGggPV-t2F3YrYmIAp2qqSWWkGa-V8F3_AMXVzj6jQBisB9Txko-l62kvi6CcT3-aSmBdvuoQL_6X5mZteGcEFHMgJxZniH_HcApHuNPHdTOxxhYywro1GYjl81uMlEfJAzFWcGc01kfC-2J39pHZFsuVc1HmxoYsDIrYzT0MyylLzHyC4r7MV7lcUynDEB0v0wPVS7gh71cYn441-nqlGHNw4ZCB574TnuWL-Io53F54b4dv1ehUDnBKlQgVqPNBK7Qb4E98HYLKASwlIp7cezImwTFQ56bukdaQ90DE9lrPuMibItL3tPah74slmOLI0hhb4sjTfRAuwYWADmLsML4cVnIQixlsKgHFsERcEvOKf09h0sp0dLDqxQLRumzpESdDvFrskqs9uHqtLOAXXv-4WSE9w1QycctTcrrSWvXrrCmb9pealLAviY7Yk_nS4iTAFjAgh4LGNMPL039HoZjhdtt-TiZGv-cw2Py5v569h9LmLdtULbMNZulVACx039UraYqs21DesNOGsDIZYPsIb5rTUO-ncCi2-d3g38jhL_tVaCt_VcEQ3rZXApD8MMMbtdok8lRIEHa_LhO4-b69P8S2Dz0CiEus8oB_9GUKfGsrQhXBrBAJvFtZii8g_tDwvjXLl8qN1khO9ver-m0dPzZ2klpEo7-SDx8AmriRgzm46ZexRQGoyzyq847rELBiqll8kqbh9q9TtpbSdaM3vf4UTNe4yrFEySMmYXe4IoeMWfUwVpywpyEYXRqvZg12G0HcoBPpGFCfa5ggJwf4_KSCne4KDg4uzkkKLxTIb2U-CX9tmTo6H7f2LMUdoF5XP9SALh_0WfnOcW0rxCY0GrvCd8oCtAuFlw_U02tQAvTgaCLqmiw78rCciudx05-9f17LuxEj1L_eYnhGqiwmunhrXhzrZKX30o2I0pAUjea-SKBPOdK28sUvVr3u3m3rCOS5Gb9048qWU_fIJ0y9sspW2RRKQzaZU6epTivVXPMa-WCW6lq8iLoMdq6NAEGlREjsMAiVRRj9GGd0KCTUaJaIlXK_UZo6YD1TreWD1rs2VVL5hHd7EYO0LRcJUgybmOWgkk8yVlNsj50R7q8OeZTSEHavvKVCcHBEAvfOO2uw_vBuHH7v3eGUjcNzQusfKdSG9Wi-7brOIcOlCc-cWwZMPsBvwA-VFNcuWliSeMaSpnRzs2yheHpnOsDPfkhPZ3iCHWC3LJHwq-4IweRRZ5zMAo0BNJF1H8C5oTs01bcAbeKFvGSolGVjUfs6T-gUZpc2QODj5hLoLuRbx1Y96k1b60vxBvQlCCs9pjWG8YP9gm3EX_XY1nPyUFO5f5QzZB8FCNLvkErS14pZ7zJok9xDJr_0wjSapWO2HFN2mTXyO-grK4FLYNwoNmnriBPsnqJeoheI1iA_pvmRbmmER4azARxry907cV2E7Oz7OODNzsA-UgR_flszXyoS8J9jxK-IyY8vAh655pi8UscLR0phewkLqHKO7srlmCcA5G4EBrP4TUMPTI8uI8WS9GYvYW9gyZ-6kW6LgbLzV6r81gHJd4dSZqre6sWPmEhDERTO7gW69GWF_7VsnbejVMPTdKOg1xD11ImehZawTCzbt1MTE2SeY-i-lRoFsN74Qo7eNsToDZWgjhBYG9KLC-UvllNd2eLDM0Dw2KMl7x3y8PLlbFiL7b5fi0VhvTQfqWgaOtG0j7D0Kp1YrZBgHLHeK4pRQpOyqLWybG",
  "id": "rs_0d1e2ff1af346922016ab449c741bc87d094a3d7f0ea12d9dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.401,\"left_y\":-0.15,\"left_z\":0.024,\"left_gripper\":1.0},\"note\":\"At grasp height the bowl is between the open jaws but its center is slightly left of the jaw column. I will make a small 1 cm lateral correction before closing to reduce the chance of squeezing it sideways.\"}",
  "call_id": "call_wgeldArMK0jMoOeEWGYlMfzB",
  "id": "fc_0d1e2ff1af346922016ab449c8e60887d0b509976307e247a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wgeldArMK0jMoOeEWGYlMfzB",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.8542, 0.754, 0.3565, -0.4583, -0.3645, 0.9996, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4035 left_y=-0.1608 left_z=0.0198 left_yaw=-0.011 left_pitch=-0.0802 left_roll=0.0382 left_gripper=0.9996 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.0023 right_pitch=-0.0206 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [0.2256, -8.3761, 5.3538, 1.8388, -0.149, -0.0317, -0.0611, -0.0205, -1.0735, 7.0085, 1.7558, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b5208a75ef5af6014cd30e14e9c21a5eed1a6cf707e5da9ee8de07210b9f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a8804e6db0e63d7467b9781e4befc48fb1ae400f07b8bc25072a93eabad968e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7f3f6ef73c640f5832eda9d3bb93917ca6b448c38d035ea5d67b9afd7cac97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6044, -0.382, -0.0227, -0.041, 0.9996, -0.0212, 0.7929, 0.6018, -0.3801, -0.0135, -0.0341, 0.9967]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1793 left_yaw=0.0007 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2944 right_y=-0.0003 right_z=0.1792 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9967\nstate[joint_eff]: [-0.3761, -1.6479, 10.1402, 1.7753, -0.0464, 0.2369, -0.0611, -0.4718, -1.3333, 10.3043, 1.9219, -0.1148, 0.149, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.8305, 0.7677, 0.2962, -0.4545, -0.3641, 0.9996, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4012 left_y=-0.1601 left_z=0.0237 left_yaw=-0.0131 left_pitch=-0.101 left_roll=0.0485 left_gripper=0.9996 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.002 right_pitch=-0.021 right_roll=0.0011 right_gripper=0.9961\nstate[joint_eff]: [0.2667, -7.8838, 4.8889, 1.6484, -0.2125, -0.0073, -0.0611, -0.0068, -1.2786, 6.9949, 1.7607, -0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.8542, 0.754, 0.3565, -0.4583, -0.3645, 0.9996, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4035 left_y=-0.1608 left_z=0.0198 left_yaw=-0.011 left_pitch=-0.0802 left_roll=0.0382 left_gripper=0.9996 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.0023 right_pitch=-0.0206 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [0.2256, -8.3761, 5.3538, 1.8388, -0.149, -0.0317, -0.0611, -0.0205, -1.0735, 7.0085, 1.7558, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b5208a75ef5af6014cd30e14e9c21a5eed1a6cf707e5da9ee8de07210b9f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a8804e6db0e63d7467b9781e4befc48fb1ae400f07b8bc25072a93eabad968e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7f3f6ef73c640f5832eda9d3bb93917ca6b448c38d035ea5d67b9afd7cac97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnLTfE2tsFhtc4LXqhYWtO7pXCtd6JRQ-yREXU2lfc7Ty0MOiquGSLHcggdp3tJgzSI6fZzZD3HU052ON3KSdftUvfOkKaMdkkeFeGVp1QfNqN1SElIHyK-M6igcguVpRG1FEzK9xw6kQpL0UZntwX7GY335t8KqlbA8HGrovywFPrcu0Jjk48cn-7NVJuuqp1iUhfwWfrndhlYz_hZUzCBVICXY2pe-PdVtGEb4NHRD4fq9mDOkGFqx4Eu_sGg_L3T12IakSEBmP6k5ZG36Dd2p6-1YHGXKeMFNL_iT7JNDQ5eYNy54xjaJo1M2DknFhv-lFv8ChUT8512_luHpiiOthk_QmVLUOkzIDAJzDaeYrENf5F4dYE1t3HcoSPFvl1FYze5hTwJ9gSdHF5UKIWC3Q-gZ7jvfX2b-dyDD5oA9X0KOloSU_lgWxmr9WoBJmf3vfv27JjEfCMj7hwDQ3b8k-UzXp57p4oZwVAgnH4VPkL37U_TBUfUboYT_GWw5VQ9VYxWh4X9YP4449M8F1U6_gRMAxj5M_ffNJvJYgFp1S_MvBRM9lopqMNUhARriSKQGTcbGAdXNhInU6Dp0zzjZq1QDiBHu7lvk1BYPQNVk2kecTsqQSDU6HPTMFdVbTe_F6jE8rSTX512sDSLsJ9irYzwUYUCP7ynbMeTh4VVWO9-SifUlnDYkQl7xCmCg_WNvGoKbq-bwdJvbCM44rD6oC6R7lqLddR7KRz6-P5AG9br8y7vcfci62xZZdjdNhMjTxMR5jydWchpCtOKwerVpOiLJENY6rJZwjaBYCEgOAyT2mYCnExDn73NC0aWivSPG4lNjzLY0yFVS0z_MaGfzmBMSDcu40yNGuFgA2BLfzqZEvUJSDkPWwq_d3VKkiRiWyaik8g7jKv225jZWM_3tMRqSkEWjIzuAi50mqKaiuHM1nZ_lCXXcLLp8ruVrzFSNyWFU7Op5hybZaLNcGNJDtlzhz50YGehbrrekBGUNHnyH15w_q8Vc4-yXsM5EuZ3mT5RABY8HCZgeDdgkWhcmDDQemcQ_AsjRHOUDBGX47W1QJOaSIFlueKbTzoT084frfJKGwL4pbCFv9YvKbiem2MDXkJ4h8R9a_W_sU8iCRTMezI6vpI96Dr_m-PXT0xYrl7pMqooMYx6zTKmtLirq6Xt4G0vjybxQ-qealqaUACiRsATb_LhjSukxKfYShvAjY6DAwU82ebZmUrfxI_BCrMbg1s6AZ9W-AXoy18RpFN_sMieb-UlPNoxsvhhy1vV1-ILI7NPzVRLxoQFN50Wf--DSPV9ds1VcaUynlSEyr-idTPtH4No8svn2--Zo3bHjK-YuB5GNrGZPAJBn893lA==",
  "id": "rs_0d1e2ff1af346922016ab449ca9ca887d0b320782e334eb682",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The gripper is at table-level grasp height around the teal bowl, and the small lateral correction was limited by contact. I will close the jaws now and judge the grasp from the settled opening.\"}",
  "call_id": "call_utaUPvIkrEg5Nk3CktVOJOXC",
  "id": "fc_0d1e2ff1af346922016ab449cafb1887d0b0249925b98f564e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_utaUPvIkrEg5Nk3CktVOJOXC",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.8359, 0.7559, 0.3874, -0.5087, -0.3466, 0.0306, -0.0216, 0.7986, 0.598, -0.3935, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4109 left_y=-0.1562 left_z=0.0359 left_yaw=0.0172 left_pitch=-0.0198 left_roll=0.053 left_gripper=0.0306 right_x=0.2925 right_y=0.0002 right_z=0.1732 right_yaw=0.0023 right_pitch=-0.0232 right_roll=0.0014 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -6.5162, 5.3949, 1.0037, 0.569, -0.4176, 0.3541, -0.0889, -1.0462, 7.1863, 1.7558, -0.0659, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce6467536d6280cb5c8807548f0732f80188950eec770e94f01af824c1fe4b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b15138d1a5e338ab9af65c9d5e8be25aff8032eb73f5c8bd47acb54e73d56a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c103f70e77d612b63a0898b0d3b85640f2e5cecdbfc88400ef817c48ce3976",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5655, 1.5723, 0.9924, -0.1341, -0.4557, -0.3622, 0.9996, -0.0219, 0.7975, 0.5999, -0.3927, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4076 left_y=-0.1624 left_z=0.1424 left_yaw=-0.0124 left_pitch=-0.0559 left_roll=0.0228 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1745 right_yaw=0.0016 right_pitch=-0.0194 right_roll=0.0011 right_gripper=0.9961\nstate[joint_eff]: [-0.4308, -7.4188, 9.1009, 1.79, -0.2906, 0.0562, -0.0611, 0.0479, -1.5795, 7.1863, 1.7998, -0.0122, -0.0317, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.8542, 0.754, 0.3565, -0.4583, -0.3645, 0.9996, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4035 left_y=-0.1608 left_z=0.0198 left_yaw=-0.011 left_pitch=-0.0802 left_roll=0.0382 left_gripper=0.9996 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.0023 right_pitch=-0.0206 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [0.2256, -8.3761, 5.3538, 1.8388, -0.149, -0.0317, -0.0611, -0.0205, -1.0735, 7.0085, 1.7558, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.8359, 0.7559, 0.3874, -0.5087, -0.3466, 0.0306, -0.0216, 0.7986, 0.598, -0.3935, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4109 left_y=-0.1562 left_z=0.0359 left_yaw=0.0172 left_pitch=-0.0198 left_roll=0.053 left_gripper=0.0306 right_x=0.2925 right_y=0.0002 right_z=0.1732 right_yaw=0.0023 right_pitch=-0.0232 right_roll=0.0014 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -6.5162, 5.3949, 1.0037, 0.569, -0.4176, 0.3541, -0.0889, -1.0462, 7.1863, 1.7558, -0.0659, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce6467536d6280cb5c8807548f0732f80188950eec770e94f01af824c1fe4b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b15138d1a5e338ab9af65c9d5e8be25aff8032eb73f5c8bd47acb54e73d56a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c103f70e77d612b63a0898b0d3b85640f2e5cecdbfc88400ef817c48ce3976",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnPhdOSy_K8NRheNc0DOwMuvG6b6xeuapqGpVYA9YDY2KiFTTSKwIIqtNpcA3uPPyKXpHFDGIqCAI-6snY8PCf93bKO8nojFmPU247kY6fFGWARuci_pY3PMAp-hQBSnCQ2AabbEFvfhWnTgmYu-0x2-irixJZTmjFTeVoMhOFVsQSOrNnMVEwM3WmmHSVsCGFYyz6Js6tCoG1zGCCCSKWqIc7QT25wQeUxNNjKIyypNPnHm74ZQ82V1Q-D8UaEOTXhw_iXYj5xOIVMib3DTaxYLZJa7BPUrewgkraF1uFkPDGI-0aufQWlALnHa2b-DqTt2OHiA9clw0tCEGMQTEb2VsNNf39Jg-peumQM_GtLtm0nyHM8-zOfZmmIPiNMhN2NSzdhCSJEIseAUqyetVwOf9pIQwex1-qYrJBJbhJto10w1ZR_AlaaRPUdlSyxVOMINVKMTRa-0Vz5jub9mqsT-QDhsa9nvk9WeRbaOOCxyr60VScVaGIFD3nmrBwF6XdzTbBoL5Lq7ghj8qZhTP4jsoFaC3IMO8tqJxFtgdhqdeyvssdR4AETLPsJU8WMv8IsNVNzYUXHLrTngG9kczsmXe3bJabvUw-4MqPZxfYeBil8BYdPwU7ak-rMh8gctx9NBWSCSaSr5Vq9w2Gaj7Jn5F6ENFovK1ohbmj_CUj3kuQGBrTmYLpewhS_eZQXcg8vmbz7mxlzHcYyfAUYCtT9hUSLoiMLzE25ajm9wVPOtLXbg-7mzkM0hj41XcYC8YjKTUq_pzW0dckfq2BS0iP7PAgcv-Qeh-mV4xuruIxn81DW9VNexLU3U90BT4htXoWbj9mE9Gnooo71tKOR5xpBuNoT8Fb7qfys15qJCwVMCNpOw8aGCOdQjSiWMNnoAejcWCpFg5VC4zpkiH5H0Obm0NhWkNJd9IqbeIvRmhS9O5qiKDdlMfm2U36UwKU5iomn7AdPCI5dWSzhSN0EuPf1n29OxLLnKrDiWLwsxLnzogVAy0hyJA8G8AJ1_Hk5fwSCQ9sOXvvRy4n6ywa-nUcEcqkyEggZF7FXmRGqHLmH8xErtpbW4f1BijfbUMBrsHXYH2AJPAtup0TZOsqpAZ6zOESTIQKOLJtXtlRcfcOuVCTtBGrzzKtlbbwEkMsGzTLnmjsPUAaWGV84TsCh9tHp9Ke43u_hCdhD3zoZqCCIz8FfXo7DSvFhiQPQ3NpMUyfP4okUKWPAnVUIOYjT1fzU4o4VZJaIO1jAEXcAqA6NhgO4Kg-ELrl9G3fxJ8Qk093DQ53i6tpr8EmEqIcHvFgPEGiuyuPPs-StiHG0V_NHSTOdN2WhBg9YmF-PO4WoXQfAgU1sLWf2aHl7AsEW3yrDXJ96c9lEoAU177LddjYv4nUm_tbXmr2gRgqmmHvGkNyeRY8pG8GXqmR57xCHSGdut_LPYXiTKvQ9B7xeNvf1pPN2CcUihn4reAyX_jB8-8DQNjnUBEmxmXogvus7OatRzbdCHtXbU8ULKG0yh0KHJ8EakYewG23IW7Lv3AavuTgtj0-eOLpOr5VgZg8M22U8SWJ3vQigCVyIUrXMpsBs4wqJfsUOAl9RGsoHDn_FTnPsATg4_EyBCby84j9AGcSDJGE8fjaWimqVMQie5PIIaTa-IjmwdT_TZA3mN2x3_pxlGQbFaSnbDZljZtBt1oabXkFmS_yhrSiA6mOYtYe7wwN41kMGyRymy-z64Tw7uBq4bvJhXlVrCl0BmRLGrL0K-raRgEvcEA8BBTxAwdO_nJ4jqAUI_elBbmnBRQ5B4ugNN6Q02h9e1rC7YG32HTwTRRTT3_fJ6Y1ZO--1-rrlr5gy4GaTtG9CNQLAsBiuLwHisF4Qgd5ooMym4A3WiLbFMQ==",
  "id": "rs_0d1e2ff1af346922016ab449cdc8a887d09989342d9d30e602",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.13,\"left_gripper\":1.0},\"note\":\"The settled opening is 0.031, below the rig’s reliable grasp threshold, so the close was empty and the bowl appears to have slipped to the left of the jaws. I will reopen and lift clear to re-localize it from the overhead view.\"}",
  "call_id": "call_7I69IsbEB95vX8K4a2vhFjti",
  "id": "fc_0d1e2ff1af346922016ab449cefac887d0a07bd060fa8d4e78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7I69IsbEB95vX8K4a2vhFjti",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.6329, 0.9012, 0.0055, -0.5102, -0.363, 0.9949, -0.0219, 0.8005, 0.5953, -0.3931, -0.0166, -0.0345, 0.9961]\nstate[eef_state]: left_x=0.4078 left_y=-0.1539 left_z=0.1077 left_yaw=0.0279 left_pitch=-0.0466 left_roll=0.0591 left_gripper=0.9949 right_x=0.2923 right_y=0.0001 right_z=0.1715 right_yaw=0.0017 right_pitch=-0.0274 right_roll=0.0018 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -9.8667, 8.8684, 1.5507, -0.2418, 0.1978, -0.0952, -0.3214, -1.0188, 7.2547, 1.746, -0.0415, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0617af4ca6f5101e066b2de04230365b71c4369d122fcb756ca288038aa44e92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f700f9c3c2cda9702d6bc8889e262ec7c1a6474e43fcb25f404e29226f9f6473",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f1a6099e152fe49e21af949a4929db11b53591be88c527975276e2471bc2bb5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.8305, 0.7677, 0.2962, -0.4545, -0.3641, 0.9996, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4012 left_y=-0.1601 left_z=0.0237 left_yaw=-0.0131 left_pitch=-0.101 left_roll=0.0485 left_gripper=0.9996 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.002 right_pitch=-0.021 right_roll=0.0011 right_gripper=0.9961\nstate[joint_eff]: [0.2667, -7.8838, 4.8889, 1.6484, -0.2125, -0.0073, -0.0611, -0.0068, -1.2786, 6.9949, 1.7607, -0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.8359, 0.7559, 0.3874, -0.5087, -0.3466, 0.0306, -0.0216, 0.7986, 0.598, -0.3935, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4109 left_y=-0.1562 left_z=0.0359 left_yaw=0.0172 left_pitch=-0.0198 left_roll=0.053 left_gripper=0.0306 right_x=0.2925 right_y=0.0002 right_z=0.1732 right_yaw=0.0023 right_pitch=-0.0232 right_roll=0.0014 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -6.5162, 5.3949, 1.0037, 0.569, -0.4176, 0.3541, -0.0889, -1.0462, 7.1863, 1.7558, -0.0659, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.6329, 0.9012, 0.0055, -0.5102, -0.363, 0.9949, -0.0219, 0.8005, 0.5953, -0.3931, -0.0166, -0.0345, 0.9961]\nstate[eef_state]: left_x=0.4078 left_y=-0.1539 left_z=0.1077 left_yaw=0.0279 left_pitch=-0.0466 left_roll=0.0591 left_gripper=0.9949 right_x=0.2923 right_y=0.0001 right_z=0.1715 right_yaw=0.0017 right_pitch=-0.0274 right_roll=0.0018 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -9.8667, 8.8684, 1.5507, -0.2418, 0.1978, -0.0952, -0.3214, -1.0188, 7.2547, 1.746, -0.0415, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0617af4ca6f5101e066b2de04230365b71c4369d122fcb756ca288038aa44e92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f700f9c3c2cda9702d6bc8889e262ec7c1a6474e43fcb25f404e29226f9f6473",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f1a6099e152fe49e21af949a4929db11b53591be88c527975276e2471bc2bb5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnU5lrns3hx0X9RK7gG6YrsvN4YAqpsxe_aCbhAHQ4FuwnDvQSpDklB0xgQvk-VdurN3z6uRyosSjfUuv0y8XMMayQjztPv57lX2zujFdi1jpLBn2PfOFBUA23AmzyodONZurck2kKVy81AhEJRtbaf6GvBb5KiO1ds9b-FePycD6Yzzvi0E3HFL3FEeYVBUCdf8B493mFqrRvsScCshrPZ9le0cIVu0qICy4rfircotEbyVGFPkq3M9t90lktjJHAzxjAgurUVUuGnpToWgA3SEv3NwrDCpQsepzXFkBOiYJ5OO0pYdKbHoxX8F0R-EP16VvHZcDwSPc8nz3zXUHtHAUS83LNyL0Bnjm9fln4iygo0gRgt65E5ES-biKsk9I0VfEqkyRhmozyx7WEJMk1rjMw4HB-QRR3CMK6vs2YmNS-v1tqLNZfw0ka72Y9zrf5nker_WqEUJ-R7nD-zAi69xNaKQOgZdLzzaOfLbV_SRyDAfalQat9Jifhbl79j8SlGcSlO0NGj2PBh-MgUJscgC6kie-RyGVYxDAefHzWtPHuFuMSp_6FrU-kR3xmQNJPQMGXe3jYRvZlW3XTkFbwvW0s3Otpe9UtBwGcsrtNzIHEP2Q1U78_k52Bb1vlm4VHaNYCqU_0a5lGMmQEQoY_ZnqOmi2GogTfFBO2wxgZ_Nf1flKqzYW0Z2V2ZG3WJhScEZ8yrXfvNIqtbzvKpFfl50e1lFxdmK9F9uenpeWE3kuoC2uZSoluOywrWEVf8SRGh6p-zvfPS0AORMn4jNSZeOk0xBSZMD4aljFb5D4F8B-PayljuPCZT3lYLGa9Sj5oNDy2JFF7uQ-EZ4nO6fqhvsTONPJkCURo7T6UBK4ovZAM_pzZI6PeLfkexnoHHJyT0OSFgv55rV2-pSqGtjjVCpx-q1k-BBO6UDk4reti-i0aNg_Jx3o_qpRKliCp3I7mShBas8ruXcZiI71IfuFlH5V_UUbJshcCqtD8B6TvIEPWxST6w3Tb35WYLv1MOacoVlZMyGLRO97sw0XfsjUGl6dO7up9JW0kbu6cPr1CEjakfLdugyC2TEmDmS1B_rUVa-fXpPinIe1eHuoSGMZtpSH6sVlWfPDBoGjkjp3QS392TQR4B4ZXQyDBzeAaJCqAGtm85xRFLtH3jNNaUOLVy2UW_y7tnkICdlMgB1aBWNYxK32gkwZ3NnoOWIpEFQ45H4LZzaEg8_O0AinX33znlSmVoevCzMZZ_ZtnJbxVDpXWTW6l03gaooAWlllPIuwFCM8KUus1fcRZrO-sIj-sHvXq0Hu1gkv76utbC9O6Gdu4eCxfEiufsDqlZ0qevRNDm3qprwdc6Ah1YSHLEXDduuuVA3slX2E59HhfbgzaqF5Phgdr0XAulFktjqEanxhHD4Uhh_ZNolAoaUFM9nmgOlAoJBTaaDg4g-YZ6cUbYBWI2l501cmfOXPkrE87bWQGnlS_awtiaLK8FcjEKmfoHyzDZ13rthNm_B8qBRrqzRjfWQ9CUciS9QCM8FnQLAsbyFfMNm3C81OIq7J3QRMQ7SN6Ej-QK0-HPRbssOI8_n9IJB71fZ4PwTnhfl3K_YoqbZpuKKt5hfH2Qg30GOG3U04gZ01oQI871Z5yDrk4yfOJFnSMHC9xHF7i0m8S-xF8UnJhTVNGKcORPvuliToBMhiL308ubaFRC-KCbBYdPeKNQZUexDsuREt93mu_54LGiDo0aptBvPGcfUcTYYJv07UXagOZgrBk0QqiI8ErTdC-sEpOE-t0qHMJOEcpkHcEIuqh0ops_r8PWLG7Qs12Y7Wzn74aiLj8J_pZM1tr2l5U=",
  "id": "rs_0d1e2ff1af346922016ab449d1d71487d0a2fb662c3e55acc0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.408,\"left_y\":-0.12,\"left_z\":0.13,\"left_gripper\":1.0},\"note\":\"With the arm raised, the teal bowl is clearly about 4–5 cm left of the jaw column after the failed close. I will shift the open gripper leftward over it while staying safely above the rim.\"}",
  "call_id": "call_2fQoQvxoMLaL9wit54VLyAJb",
  "id": "fc_0d1e2ff1af346922016ab449d329c887d0a99aafb55bc3d506",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2fQoQvxoMLaL9wit54VLyAJb",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4774, 1.5658, 0.8886, -0.0483, -0.4595, -0.3218, 0.9988, -0.0216, 0.8009, 0.5953, -0.3939, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4091 left_y=-0.1194 left_z=0.1179 left_yaw=0.0572 left_pitch=-0.0656 left_roll=0.0636 left_gripper=0.9988 right_x=0.2922 right_y=0.0002 right_z=0.1712 right_yaw=0.0023 right_pitch=-0.0286 right_roll=0.0015 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -8.9504, 6.2017, 1.5604, -0.022, 0.1197, -0.1343, -0.0752, -1.265, 7.0496, 1.7363, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:703b3e151925ee7ab24a21d7aab37ff6839b7a3aa60228017265aa57528c85f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5d9f40936958701ca57a321e5499e8ee80eec509f0c0af7e0363c1c2779e739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e5e948731ae8ab026c35d361eca714dc8b3d324619230930e4ce424de59e2b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.8542, 0.754, 0.3565, -0.4583, -0.3645, 0.9996, -0.0216, 0.7986, 0.5999, -0.3927, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4035 left_y=-0.1608 left_z=0.0198 left_yaw=-0.011 left_pitch=-0.0802 left_roll=0.0382 left_gripper=0.9996 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.0023 right_pitch=-0.0206 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [0.2256, -8.3761, 5.3538, 1.8388, -0.149, -0.0317, -0.0611, -0.0205, -1.0735, 7.0085, 1.7558, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.6329, 0.9012, 0.0055, -0.5102, -0.363, 0.9949, -0.0219, 0.8005, 0.5953, -0.3931, -0.0166, -0.0345, 0.9961]\nstate[eef_state]: left_x=0.4078 left_y=-0.1539 left_z=0.1077 left_yaw=0.0279 left_pitch=-0.0466 left_roll=0.0591 left_gripper=0.9949 right_x=0.2923 right_y=0.0001 right_z=0.1715 right_yaw=0.0017 right_pitch=-0.0274 right_roll=0.0018 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -9.8667, 8.8684, 1.5507, -0.2418, 0.1978, -0.0952, -0.3214, -1.0188, 7.2547, 1.746, -0.0415, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4774, 1.5658, 0.8886, -0.0483, -0.4595, -0.3218, 0.9988, -0.0216, 0.8009, 0.5953, -0.3939, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4091 left_y=-0.1194 left_z=0.1179 left_yaw=0.0572 left_pitch=-0.0656 left_roll=0.0636 left_gripper=0.9988 right_x=0.2922 right_y=0.0002 right_z=0.1712 right_yaw=0.0023 right_pitch=-0.0286 right_roll=0.0015 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -8.9504, 6.2017, 1.5604, -0.022, 0.1197, -0.1343, -0.0752, -1.265, 7.0496, 1.7363, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:703b3e151925ee7ab24a21d7aab37ff6839b7a3aa60228017265aa57528c85f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5d9f40936958701ca57a321e5499e8ee80eec509f0c0af7e0363c1c2779e739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e5e948731ae8ab026c35d361eca714dc8b3d324619230930e4ce424de59e2b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnWDYo1CWs8G2ITb_9hkvuGWNuPg9y74CGEGSfCQqDWk2MYMTNyVEgtqZjpGoWKcxo6Sa-Qi5TUxyOqJwoiugy2Gzx-yYX-FIMzflOnicA48qf0U_SeCV3yzc0UrqCOQFRycLat0qQ1xx7IlqfDoqY7iaBlo6S2Nl7wTJ_r30ox8rqr5urJjnMmnwXVs-g7X2DTa1_EvBmlUvdm6W5SYrBAzYNT3P7YzQdvjqugBdxdHEAjBoidhsP71kUT3hD8DoxofsXqWhxsfxLZE7RUpAbIYk5jb_hUoWsg6VIEq-fChdrO98oQy-e5cTSaq_iNLuiMyy9atTxpTcm0HaFXP3H-yS5cHtTLVigz95uUJjxtyQ85tOw_HyZcewcFhtf8jO4smUNjc_SqZQEszw1NsIco65Q70Ihkx4L7aTQ5JOEmNKCY_exHqCImwNUL18b0AmKCbl7-bNtd2HXZu42igqHlEiP0MXdfEay87wZbDLSONYesHsb1PwmMcH72TQrLYMk86mKhQrFVpC95VUpIw8PoIO04eaRpft7LP3F9vi38cDGmgG15yAf-i5Q6LqNJ4AwfobfcyLEaSufcl80dm1CaP3OamtUW2aw5cNyGtir9za4V0r-Fvg-81Npa4at1kotN_oOFIMycdBYdCk_2NOsPAFnPjz843MPhOpa8ukTYv-a8ND2MX5NeoTu1uA1FVPpFlrsWWx9NZWSQ-Fq7-qEQy1u7-tnfrACTACjs5DZHSaUgk-1W1o9HB5MqfmygappsfspquiCIeW04zsgfw6qKeDyvjr-yGH0GJD9w2A7A1BvTdZmyXdsgqECQGshWUrpa8nuoyUgOxN3VhzGmfNJQoFWHPTyl0A101kZliKJ_AkAwVVsgB3X5nXo86AhCxuioIzgdUsvelpd-_4SbQxqHElLYxkIAoQ5OIRsyP1H2rwUWaqvHaTJMm1n6YGdkNE8Euvw3x0UTTgSZXwyuhSdf5fSWYT6S9DCt8D4PT5Lxunl7io5mdpj6t39mEdg2i3H5VmAs3UjVZWdSe9sVFF-0YQiPqDyVSJVzS_d05FxdkMlI2XmXIvy7pfF3fDEBJ2sJOoKlkgVbv-noboinwuILn0h6b73NYwgERmAh1mgp-n2c1iynB1kB3gc5U8mXw7iIb7Hi5x6PTjCTVVDJw8rGoSeoZRYXUiPbfbEM90aPF_oTnldWdKEmZAzXAX0wy-pCy063pdk-8WBu_j6FECpWy-5MMBANjhKPy7VqhEAlaPuUQdMzA3fu2yJOvE0pR7wiK7PB08ypXJ-6ZmuQicCfiSK6ipxnTZbNOTq_DDbWSI-guwONzXjPOdVpfJ6slR3r",
  "id": "rs_0d1e2ff1af346922016ab449d55fa087d0b694161590f7810c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.409,\"left_y\":-0.119,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The teal bowl is now centered between the open jaws in the wrist view. I will descend vertically at this corrected lateral position to grasp it around the outside.\"}",
  "call_id": "call_EaQYNKJlAyd9ucsyiOSemUoe",
  "id": "fc_0d1e2ff1af346922016ab449d5b3e487d09ab09353e44fe21a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EaQYNKJlAyd9ucsyiOSemUoe",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.5463, 0.8879, -0.0494, -0.4427, -0.3111, 0.9988, -0.0216, 0.804, 0.5953, -0.3935, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4092 left_y=-0.1187 left_z=0.1243 left_yaw=0.0456 left_pitch=-0.0563 left_roll=0.0538 left_gripper=0.9988 right_x=0.2925 right_y=0.0001 right_z=0.1705 right_yaw=0.002 right_pitch=-0.0312 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -8.3897, 6.3385, 1.5214, -0.1245, 0.1441, -0.1343, -0.0752, -1.5111, 7.2, 1.7558, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f84e253d66ba85d50f78e542cc9a97fdff4423ad7f635ae90749e3bfb49a7d95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1a983d9809b941ab8049a40553d55d320f47d4df81096ea1ae553201ed29d60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c15b45bd5e395c5724da4f5243ee34aa2d9eaa19e38b3b987ed6dc9debff7374",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.8359, 0.7559, 0.3874, -0.5087, -0.3466, 0.0306, -0.0216, 0.7986, 0.598, -0.3935, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4109 left_y=-0.1562 left_z=0.0359 left_yaw=0.0172 left_pitch=-0.0198 left_roll=0.053 left_gripper=0.0306 right_x=0.2925 right_y=0.0002 right_z=0.1732 right_yaw=0.0023 right_pitch=-0.0232 right_roll=0.0014 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -6.5162, 5.3949, 1.0037, 0.569, -0.4176, 0.3541, -0.0889, -1.0462, 7.1863, 1.7558, -0.0659, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4774, 1.5658, 0.8886, -0.0483, -0.4595, -0.3218, 0.9988, -0.0216, 0.8009, 0.5953, -0.3939, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4091 left_y=-0.1194 left_z=0.1179 left_yaw=0.0572 left_pitch=-0.0656 left_roll=0.0636 left_gripper=0.9988 right_x=0.2922 right_y=0.0002 right_z=0.1712 right_yaw=0.0023 right_pitch=-0.0286 right_roll=0.0015 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -8.9504, 6.2017, 1.5604, -0.022, 0.1197, -0.1343, -0.0752, -1.265, 7.0496, 1.7363, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.5463, 0.8879, -0.0494, -0.4427, -0.3111, 0.9988, -0.0216, 0.804, 0.5953, -0.3935, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4092 left_y=-0.1187 left_z=0.1243 left_yaw=0.0456 left_pitch=-0.0563 left_roll=0.0538 left_gripper=0.9988 right_x=0.2925 right_y=0.0001 right_z=0.1705 right_yaw=0.002 right_pitch=-0.0312 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -8.3897, 6.3385, 1.5214, -0.1245, 0.1441, -0.1343, -0.0752, -1.5111, 7.2, 1.7558, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f84e253d66ba85d50f78e542cc9a97fdff4423ad7f635ae90749e3bfb49a7d95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1a983d9809b941ab8049a40553d55d320f47d4df81096ea1ae553201ed29d60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c15b45bd5e395c5724da4f5243ee34aa2d9eaa19e38b3b987ed6dc9debff7374",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnaObjLLmjrxKVjaKY_8NkCvPFTb7lO-B0AHxfY4_LMEGPKGLtsGhbmLW8wtSa5-lJrTBscmDdkdOkGXSTQ2ySzQy4QowA4AH-JpH-kIbZDnoeS2bRYdMDNEOv-S-fhC2qTxbwV7AbctI4cSTLXbhZVwr82lbGi8EcHXcszbitH4LzhuK-IMYzlFPGxSbwksnTA-ouLrZF7TEBot967y7SM-wKyIfOPQMLjoNnr7krhLqfSeZsKcCXVMFT47OE_cJCFC0kxG50MOkyno1nfhCpTorCKDD9wABAoys3KLxB8wSHGJp-ITmh_coyNp90KFVDpeQCn2NWxlfD2GXA8fZSOJ7uvJBJtJoMAVUD3eJYbGv5yOf0JD7LrXwVw-8mNVbmBclWJ4EMK_ZrpPzQMfM__wYQvPDXoGh7pCEomp25cuXv8v2AXHJIVJ6-oiFqvQWnY72DFqNx7AMyc45dS5hOazUAs1roVErb538deD6h68EgTs1PzQXJmq_c0j-gNzMEomef8w3XNs3w810xwR1f-F-mRxXTQ7djhF9t9k4yGpa8GBBMFHCTulI1SBGVXQqERRhA7Gvn_h-TTtddQVZ9PF_3KlIvrJ838hGzpy7ruCVQ5mzoGjrIyW3eBUZB3fkVtuvG3D28DNAtP-UBW2JBD_auZOkhUhyZ-6VwLrEXcmgY60e9ng5JTEKrFE_IzyeYOyV_2BeV1wrfQoZTkg7Vot0uvh4K7fs4wNG0daFzTDANL-M3td1N2knaaqGuIf7a_HVpa1n7VSlaaYxgBnGlamnocTWRVlJqKNDxvqPzemD4dAL4YHE-ZubHSjZ5i3735RGiU97xOlXG7eT9BFMQjzJm1-9T4hcY0H-4JNTxSK2lE_KA9tez4iEjIhjgKeAdaPjQ4yP3WxRYG-ExHeBwPWmk7saDCkcLZoUsI3N3CpGapZmbqvb8n8_5ZoA_QXLMKNPZneo8zOALO1d5QLbjKCUxdxRGDz_riZroErCJ-TRDbQj61BrqqRaR_9yu0bNe60uIaOcmzmua_GXVsGI2V-KobyO8MrfpNXYs6dHmOdxH0w8YMCFj_R03DukmG3Pf6C8TXLdkQffS98lRMy5l2WSdELym1Q5zfRH_xd8j3kdNhaixWzKp4LVdVOa4U7Rbfh8wccL2xqtYMvpbN-qauR1As0yzp3g3rwgFGB0uh4rjpctV_w4RPFrTA3OBDkrTWQrdeyZxqBa24xqbV_yfFedurR50-Gyb23sJwJ5HuF-Ok388TuLbXHFyE0vWXAlfzwlh5X8cUwcV6-cPAAURRhDZYOPASIx7YUg8wH1F9Y5RO4OAPtJzagNs4Gy1FxF4bA1KCQb__tSOT9AJy3ho2fMWsPsEqfR2YGT6xe0Wr_TynLr8MymY79TJScV1euSxUO1Xn5pM3JgeZZ9Ml6O4Egz3tD629cwg2kbpJs4afru0UWy0ct-vJcBo9Bjvczj1pV28YEe6FsmCXS7c9hP-rFcm2vuwwRzec1-Roq6wZqVcq7RaK6vVhE0iakcvzrLWfarPrYI26FX7TW1ZzDWw2pfK7qIyGoQDQcL-auEsLS5tb-NaGXqfY8rXlvj_eTDVlP5isSxXP6Zd2gYdkba5RAfApM7THxMF_FJqfNd0Z6Fte5yX8qe5QLdk3XGRs4Vplo_zbvBGxhx81uVOuE89q332H-t1wzxIYinp50NcFG9KfIwqWfJQbA3sZ3fdwU48X93C0PzL7YkyMAcHqPQZ4V8wKg0qPkmP2z4kiq6s3B_OQk5-iM9RLl9M-IIrup-jAumy748iYTYOg5Xo09b_iPx3e24_onrbGNM4ZukDfQOxj3nySHA_SnyLG1VypkchDLLriYNI3gR1R3clY6IuUuBoDIebCWsNSBE9bGVgdPpjkWhXyjuag8E8Qj4g3AIqq2f4egGqqxauH-_HUNUy6gFxCAWPaRfcdywjP_qwfLTQoqMmDrQcIz9_xK4NClEXp",
  "id": "rs_0d1e2ff1af346922016ab449d7cc8887d094b318ee231a84f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.409,\"left_y\":-0.119,\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"The commanded full descent did not track—the readback stayed at 12.4 cm—so this is an IK/trajectory stall rather than contact. I will use an intermediate 7 cm height to let the arm unfold gradually while preserving alignment.\"}",
  "call_id": "call_i3DFZgPf4z5Slg0nkBY2JucQ",
  "id": "fc_0d1e2ff1af346922016ab449d92dd887d096b6b41433f7e626",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i3DFZgPf4z5Slg0nkBY2JucQ",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.5463, 0.8879, -0.049, -0.4431, -0.3111, 0.9988, -0.0219, 0.8043, 0.5945, -0.3935, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4093 left_y=-0.1187 left_z=0.1244 left_yaw=0.0459 left_pitch=-0.0558 left_roll=0.0539 left_gripper=0.9988 right_x=0.2924 right_y=0.0001 right_z=0.17 right_yaw=0.0019 right_pitch=-0.0324 right_roll=0.0016 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -8.3624, 6.3248, 1.5604, -0.1636, 0.1441, -0.1343, -0.1026, -1.306, 7.3504, 1.7363, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34581415b7f4b684f2557dcca80a0ab82b3b942cf22759a5abe12b40ac11f968",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2919d53996b8b50faf22ae7a5164cffc439d7fbcc064690f095adee6a7ff1678",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c27f42e654c93552cab1ce83fe02aa93ffe8afab6f1626e4a3a21a855e9957",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.6329, 0.9012, 0.0055, -0.5102, -0.363, 0.9949, -0.0219, 0.8005, 0.5953, -0.3931, -0.0166, -0.0345, 0.9961]\nstate[eef_state]: left_x=0.4078 left_y=-0.1539 left_z=0.1077 left_yaw=0.0279 left_pitch=-0.0466 left_roll=0.0591 left_gripper=0.9949 right_x=0.2923 right_y=0.0001 right_z=0.1715 right_yaw=0.0017 right_pitch=-0.0274 right_roll=0.0018 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -9.8667, 8.8684, 1.5507, -0.2418, 0.1978, -0.0952, -0.3214, -1.0188, 7.2547, 1.746, -0.0415, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.5463, 0.8879, -0.0494, -0.4427, -0.3111, 0.9988, -0.0216, 0.804, 0.5953, -0.3935, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4092 left_y=-0.1187 left_z=0.1243 left_yaw=0.0456 left_pitch=-0.0563 left_roll=0.0538 left_gripper=0.9988 right_x=0.2925 right_y=0.0001 right_z=0.1705 right_yaw=0.002 right_pitch=-0.0312 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -8.3897, 6.3385, 1.5214, -0.1245, 0.1441, -0.1343, -0.0752, -1.5111, 7.2, 1.7558, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.5463, 0.8879, -0.049, -0.4431, -0.3111, 0.9988, -0.0219, 0.8043, 0.5945, -0.3935, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4093 left_y=-0.1187 left_z=0.1244 left_yaw=0.0459 left_pitch=-0.0558 left_roll=0.0539 left_gripper=0.9988 right_x=0.2924 right_y=0.0001 right_z=0.17 right_yaw=0.0019 right_pitch=-0.0324 right_roll=0.0016 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -8.3624, 6.3248, 1.5604, -0.1636, 0.1441, -0.1343, -0.1026, -1.306, 7.3504, 1.7363, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34581415b7f4b684f2557dcca80a0ab82b3b942cf22759a5abe12b40ac11f968",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2919d53996b8b50faf22ae7a5164cffc439d7fbcc064690f095adee6a7ff1678",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c27f42e654c93552cab1ce83fe02aa93ffe8afab6f1626e4a3a21a855e9957",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnhqY7WnLC215cmZR-JwhL5Ob93xwxuDwRnd_RqxJ0h_P1JGZINrIdCTImVJWSnUNztRS5yqDgA6S5a7GIoloCvGg3LMiCePp7IVZfvb0xd84qUy94y9B1PZCA1njgsWcGs2sCpQxoF0NBIjMoq98EfvlgU_KF8rTxN-qyH45TJygcIGo-g9K1FLL3SiJKWViMLjmAvaca-kfucz1iwmhFKjzc3JlVUFkrREZcWF2mRh2E_VeUsgOW100zkPVcP70gA9jsRR8_tUvffpQyOargNkVPE27UuXWlF-Te_n2R5w8Frk-aXgSAm-AD9BZuJ2W8QyISU7N4TdHtCOMRFto5ed5z6YRVzFr2PMwxGMyZizJVGeGYdfq1Fv5if8JK5zOW__YZS5CtLGjuUxLWnQCrf9oRM8ot2BKcMMTYdZo9D5W7BoBK-awUgDxvhddJC7TRnaQoAjCzCidr4K7o7k16aIUwq-oAe3oHZpQDc8CBCVyHIAMcrii3iiS6fN3G8nBu9kUujcrzoRfE0DI5LFNgm3PpH_GkneVSh8pZw78qRX9I-e6BcpcU0VMTAAicoA6iSov_ULiENndF-mAEVsj7A15ZNQF5wV4ZBXVCoDPojnZff-g19rG6AL3VHvHShKhFyWkMvENh3j8IZZc-BypsRvYAUxoGLkjdT0oT8QyCKHrmSLyQrk7wDRLSIZboqwvsXh3fYtydTqSK0t_Yap4iDbNzq_lwE9K3XSBFiT_ykK-E227BUmD6tD_5_iFkD4D5Frw1vE76m_JT9BhhDOHVTogly7l8pSLPqr7t_-ciRTfuvGIPnLuLl37gh3F4G9OfDjW6q3KH4f1GB24jBnB9mwC-VCXH_YpczYjZ9zn0QsORWTnF_Vasr2K5QN3dxp2MquXTNZGahEnLZ4Im5QtJ7RYVPxgRAW2oBRiLS50h9aJd4KL3yompRgLWuGR8AhmH_FZm2rj0AMEqmrMePcB_yYUs4SuULr2neMB-ZlYj8kR_ndOYhrpuapCMKiYFccWoQmIMk0sAwJy0-8zJak9o-dyXAax6wAi6WpaI9pjC_YDZ3yxpsp7G6PkIIG1i_zEowR-t_CbYn3lP5mojI7vaZHKNigu6Wuuv44tOpmKMpaxKz8gv2sD6f__vzG-fmD426EfJqPfpP2YetcekjuwDMf27BdTrk9YIJSAOEuJk4lG_vqbnLq9X-JCIuMchwTiVlmdWdMNfbjcXsybL9y5bHKP6vdK09HL3uYezDUNqS_y5DRp9GnMueXJC7-gsa_iG0Lmt2Jqvj_nXSMOBzZ250GPDCFTNq4n7uTwS6xAa1j_qkyEbZsr3prYiZWGTHCJE6vsmCFtOPQY7NsAjx9y2NbxxDm8-d3IDC3SMa7nyUTBvJh_y88M8ndkTcoduL47kNXEm1sr4VGyQYLs1wB5IKi2CCY2o-5_tKe1mCJTLC6V6ajCuqE-0sH9_WwMhknGpGj5OpGoGpLwzmslp0W-APECM-SWcG9v8bE-r-ijj66GchqKa4fJWv7BH0MNgZhBiF4RD9GNbhjknhFJmmx60JWnPCAs7rldwgOWXswmIzgXjQbrGPQ_R1zvJ9LAUUMXFkTt9jWaU5aNBhmWy2jG7wiiWPmrBgREaeEZNaGhXZ8SxpLqSQHIiGaJGUhczhN8Mo7hBiQR1VghsKjQbXRJxfrlp9dbtniL009IhhVDVOUdMDLawBBMRJTAJOH1kwtRySAfgOfS98xntIBUtKfc4wf9k58VbypkVtL-2ZCZVaf3QrVgzz9tQQuO--2PKRApPOlC7ymjdIj5QHQ-0Gltgkt4-0FBcDQ0-kQ-avtoDFZKtHTo816Wgeg1h2H90WmGxnfXe-tWUymNyDKPT3O1j7h3LDOdstFCuIjaLRTL6YrN4g2WSHzVTd7F5935fCbN2-yh5rTd6s0nf3Rjkbx23oQAIbhv8LbOgHVofPdzONTBExAyeM4TICBXzL0d2zBRaioMlSXGRaCeUrzbUinktx0jPz8cIpPZx-tvcLhQi9Ig-BAJrDYQSK3MNq_ieZyTe7gvIUV092rJf0dyCXGzIZzHhE0c6kYNeZV0GvdKpT5KFJM14QA5uP31y3yJnoUrAihfswc0M14VvJEo-sjH3lLSFfhHfc4sZajGE1IBFGm2o_hq9xAgI0IBQb0ndK9prvTu0iIQExe3CztPeGyfskQ9AsBvBhhBsgFOfzv6Q7YN1aUVX9l0_hi9AskMUtIwbbiSTKrd5xc1uBLfEWvEB79VM7AAyLBpeFHT8WkEMMYX8G5c41IfGxyjNZ-RIYfEGZx0GGs80HyaAzqEBhKCLT4XikRTgyDFNtEdlbgFNqtwvPQP__g5UUtyWFYH1np2zgV9zI9Z5UwdUyV3NjGF1l868zplvf46U6IJXbYeg7YFwbWoV_bKM2enAaB17_mskFjlpreSuGr8kQEbX9bubV7CRDJ1KeFj_cWT_OA3IptHeKHqiKB0Ke4qcdoxej25oPt8u0yMRJQ1Hngg89w2kN2lxezoSkOJ0-JY2UcVKgziDz7qOqW27kd59WR9eBuXuEzCCZzj7kkiUb67j1147g4dEZ0aLRj2iDs4kwrBBwaD9lLHLKwMOPnrFALLrBMMzglB5uBRhHuQtBuXE3myDMQ3_vfxl2C09-jgqJWvKCQEHwgSNp1VMUYy33VaJeLf6bajIpG4tkadJ7KHOGtKItBzNcs7Un3Ywx9N1MJNKxm9SnZlv9osnuGNtJdZaa1AvEZkh6H6xhEAKpadJw9QQTmwC3wKu2tf5cBXsTcYcPFuIFSmtIBLCriWtB1oOiiNpegtkyymHxSlQhPwquniXFKNff18jaWjGp3l93zedCAFvs5HkrxBTJX41Fc8a8SyMwIDScobSfNLr5NKdvLf3XSg0wh6tQs70_QKUR8RxXy2qq4-hl-SVg0_5jj1LMY1F9l52WsNzF_5zT-BLUHvKANXBZ_N3gRYBdMrd5NXEdO6ieVk8VrUMrLvChtl09x86jb4NCk8lL_Cn2TDrbNeUjBJT2hJSy_NcTPP1Zrwd8bslFsaB4GKca6LrgnjhB9DRA4nijIjR0V8E9n7-8ueDUm60qMpdXgDP7vAfU0KxfNXucSKVptGS0-QSFSNHYy8KSyxCP-4x31ufUGgp62uSrPzhFN27PCxHTZf3yGwsY7zypWCWEfW6rwnB0mHwMgcwILPoyyCpSU1p6fIn4L2A24pYiI-OnQc-GwvLIoTxEbrQpLbVc8-N0FMNdcB3SrjNMCAIVlCABT9qjER0ulRnck_AERD7h5gMrOUPrgOE4qBc=",
  "id": "rs_0d1e2ff1af346922016ab449dcb8ac87d0a1f1fc794c92b0b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.119,\"left_z\":0.08,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The arm remains stationary above the centered bowl with no effort rise, confirming a kinematic stall. I will move 1 cm farther forward and explicitly restore the neutral tool orientation while requesting a moderate descent, which should move away from the stalled configuration.\"}",
  "call_id": "call_WHgEsjK8GHIo7ol3tU3Osc3p",
  "id": "fc_0d1e2ff1af346922016ab449e0216887d08ef3d26a80f0c07a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WHgEsjK8GHIo7ol3tU3Osc3p",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.437, 1.6337, 0.7643, 0.1616, -0.3946, -0.2955, 0.9988, -0.0216, 0.8043, 0.5945, -0.3965, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4088 left_y=-0.112 left_z=0.0756 left_yaw=0.0313 left_pitch=-0.0715 left_roll=0.0388 left_gripper=0.9988 right_x=0.2919 right_y=0.0002 right_z=0.1694 right_yaw=0.002 right_pitch=-0.0354 right_roll=0.0014 right_gripper=0.9961\nstate[joint_eff]: [0.2803, -7.8017, 6.6667, 2.0195, -0.1343, 0.1294, -0.1343, -0.0342, -1.2923, 7.0359, 1.7167, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2f4a3687a5f5122c66b95102ba9339810045290149810519c23ac9e189f1706",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a0d5df3a26dae335ec9b24b0293bb572945e8fa78100073aead4964bde7497",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267c14b54c3bf7b64be88e15c216b1be0a9cd7142c2141550cf58e671c0cfc2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4774, 1.5658, 0.8886, -0.0483, -0.4595, -0.3218, 0.9988, -0.0216, 0.8009, 0.5953, -0.3939, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4091 left_y=-0.1194 left_z=0.1179 left_yaw=0.0572 left_pitch=-0.0656 left_roll=0.0636 left_gripper=0.9988 right_x=0.2922 right_y=0.0002 right_z=0.1712 right_yaw=0.0023 right_pitch=-0.0286 right_roll=0.0015 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -8.9504, 6.2017, 1.5604, -0.022, 0.1197, -0.1343, -0.0752, -1.265, 7.0496, 1.7363, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.5463, 0.8879, -0.049, -0.4431, -0.3111, 0.9988, -0.0219, 0.8043, 0.5945, -0.3935, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4093 left_y=-0.1187 left_z=0.1244 left_yaw=0.0459 left_pitch=-0.0558 left_roll=0.0539 left_gripper=0.9988 right_x=0.2924 right_y=0.0001 right_z=0.17 right_yaw=0.0019 right_pitch=-0.0324 right_roll=0.0016 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -8.3624, 6.3248, 1.5604, -0.1636, 0.1441, -0.1343, -0.1026, -1.306, 7.3504, 1.7363, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.437, 1.6337, 0.7643, 0.1616, -0.3946, -0.2955, 0.9988, -0.0216, 0.8043, 0.5945, -0.3965, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4088 left_y=-0.112 left_z=0.0756 left_yaw=0.0313 left_pitch=-0.0715 left_roll=0.0388 left_gripper=0.9988 right_x=0.2919 right_y=0.0002 right_z=0.1694 right_yaw=0.002 right_pitch=-0.0354 right_roll=0.0014 right_gripper=0.9961\nstate[joint_eff]: [0.2803, -7.8017, 6.6667, 2.0195, -0.1343, 0.1294, -0.1343, -0.0342, -1.2923, 7.0359, 1.7167, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2f4a3687a5f5122c66b95102ba9339810045290149810519c23ac9e189f1706",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a0d5df3a26dae335ec9b24b0293bb572945e8fa78100073aead4964bde7497",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267c14b54c3bf7b64be88e15c216b1be0a9cd7142c2141550cf58e671c0cfc2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnjlpigsLleb6j6yGGqmKB04C-79RZtDRDTmHVmOU3LOnYssDH9mLSP3Gm25ldOoyPl_cwP5E-DgTVlMFbnSh2kNX4MgTQ2xqRFx2apFVUd3FBbdypCObMDB9_B1i9MhypFjN4jedSfdvhCc9sRi5XZkc-1uq7mqfzGZzq6NFQttk-oQFw9ng-fB7iGG56lE8g3CfeuLFfOYBpK2KbJ6ID3vY1OxjrUGrLGZ4UqE1xtHY6daOArMK8cx47S1AzPDXpGFhUp5nI4BEIsBuSH7-SL2xuwan0icZseyn1ghNHN24DJPkaUvJg7Ri7IwUM3Zz3T-mRUb14ckICNKBR_3MKp9p990ai3NY4g-4EA-8ZLNhrOwK4QQ5QQcCB_TurgmoHPHfNypaI49xCqoZNJd5YApyLVDy15WoPEBUzo7xE_RueoTliktJfyilQH6BavR3WkrrjZwycVCa1NTXuhgiGKwKOxLfr1FRTPSTwL6aHQ_pLDHjW5Z9nooX-B7RQ38I5l9WFw-FpJ3l7MngnQ8Y5o6SgvXFcKMvzVY45FndmNGlug67L9zFrcfs59KygeSU0Z5thEvAFpagqyFqlq8AENdK-MhwZ7fIUb3oL7dL-qaZ9wRqOQXxy2PKoR8k2G4xLEh2TUlKSYuajqH9AxSpQ6XLabmhIFnZzuU_JmaXZm5CXeyNiba-75KFQf8Bi5IvfHbYVriD7LcjpNpTgYWfR_-WE1EQsFr9oOttHPSNi5lh8ot64zcZbSwD-3bEioLJ3LIX5tZxVC5l8BXA2BOuM_JLrG9EfHOxiOXQ7p4zLeDRWUjrOIg-eUquq6lqXDvp1PXxC3sqHG2HSLerwx6uTIcENi-Y_PrUyEAP-NOCJqbll2t2ghmzto8muPcFOaIJY2lkrw7z7Hn1TjxvFwZU68Tw50G0AGCVwX5V8CCX81qCX9Gk3BmEC_c9nsCBOpwkMfQpOaDnOUSBWgkGVJxW7pdFCu4TqiC_MDrjujFOaUaDJsNgxe0i4GxTlAurAN4pRQPKLKeIieY66HU-BtO0yPEcGFeO_mwV9gsMzGcytm2cfC-L2qFAyYp-aOAqx4rRnklUKiSb7Qev4VqZxLEw-DXmnymldRdD7Zrb-m-8T5UTgpP2BXssRpu8NL1ogXVn0pbnuzvL9zm3XQXQ4hUpFQfwvEBncyCjiDpNx1W6mZwOh5Px33ZmNi6cWSukNdqdJQ5GyJKVV-N3NXv_Ld0mw1D1ooQvFAXV3b6H7j3AJbu9EiMVtW4iJmWztkf-_mYyc0i1ynChQjTvJfs5cvmxOH-ByyNnrTxd1uZHyC0Rg6zEzQxzGDV5pQRBxlhUrG732cu3PcI2n1BHI4NIUsVENeCPyb1zt00P5QdCQzGtOnaUYImGJSuoH3_o9ZWIwM8Cf3fruQuiIIz14TCQ8Ux2OJjpWdSUNYAg5L_usoAyXoyuA=",
  "id": "rs_0d1e2ff1af346922016ab449e2582887d0993e59b4e6c5c2f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.112,\"left_z\":0.025,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The explicit forward/orientation adjustment resolved the stall and the gripper descended to 7.6 cm with the bowl still centered. I will continue straight down to the outside-wall grasp height.\"}",
  "call_id": "call_duMIiC0wluRQh6OGPqEsFZ0x",
  "id": "fc_0d1e2ff1af346922016ab449e2d53887d0be8817c57edcbccb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_duMIiC0wluRQh6OGPqEsFZ0x",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4156, 1.8133, 0.6651, 0.4793, -0.3546, -0.2768, 0.9988, -0.0219, 0.8051, 0.5945, -0.3973, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4138 left_y=-0.1117 left_z=0.0234 left_yaw=0.0092 left_pitch=-0.0478 left_roll=0.0141 left_gripper=0.9988 right_x=0.2919 right_y=0.0001 right_z=0.169 right_yaw=0.0019 right_pitch=-0.037 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [0.8137, -7.8701, 4.7248, 1.7998, -0.0708, 0.1441, -0.1294, -0.0752, -1.1419, 7.0085, 1.707, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f72dbb12ec096d67cc29fab6c61ff09e59e3a5e449d61d510b6a6912330f77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c12995a89d1322484b23162d4b429430edc536a372ce8a8a80b6b157978f4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d90ef476d6ba11682f0810031cc67ee2e024e7a6cc337e7fd1eb4e8c361693",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.5463, 0.8879, -0.0494, -0.4427, -0.3111, 0.9988, -0.0216, 0.804, 0.5953, -0.3935, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4092 left_y=-0.1187 left_z=0.1243 left_yaw=0.0456 left_pitch=-0.0563 left_roll=0.0538 left_gripper=0.9988 right_x=0.2925 right_y=0.0001 right_z=0.1705 right_yaw=0.002 right_pitch=-0.0312 right_roll=0.0013 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -8.3897, 6.3385, 1.5214, -0.1245, 0.1441, -0.1343, -0.0752, -1.5111, 7.2, 1.7558, -0.0269, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.437, 1.6337, 0.7643, 0.1616, -0.3946, -0.2955, 0.9988, -0.0216, 0.8043, 0.5945, -0.3965, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4088 left_y=-0.112 left_z=0.0756 left_yaw=0.0313 left_pitch=-0.0715 left_roll=0.0388 left_gripper=0.9988 right_x=0.2919 right_y=0.0002 right_z=0.1694 right_yaw=0.002 right_pitch=-0.0354 right_roll=0.0014 right_gripper=0.9961\nstate[joint_eff]: [0.2803, -7.8017, 6.6667, 2.0195, -0.1343, 0.1294, -0.1343, -0.0342, -1.2923, 7.0359, 1.7167, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4156, 1.8133, 0.6651, 0.4793, -0.3546, -0.2768, 0.9988, -0.0219, 0.8051, 0.5945, -0.3973, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4138 left_y=-0.1117 left_z=0.0234 left_yaw=0.0092 left_pitch=-0.0478 left_roll=0.0141 left_gripper=0.9988 right_x=0.2919 right_y=0.0001 right_z=0.169 right_yaw=0.0019 right_pitch=-0.037 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [0.8137, -7.8701, 4.7248, 1.7998, -0.0708, 0.1441, -0.1294, -0.0752, -1.1419, 7.0085, 1.707, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f72dbb12ec096d67cc29fab6c61ff09e59e3a5e449d61d510b6a6912330f77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c12995a89d1322484b23162d4b429430edc536a372ce8a8a80b6b157978f4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d90ef476d6ba11682f0810031cc67ee2e024e7a6cc337e7fd1eb4e8c361693",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnmgenmEGgpj_PjWmFR8ZXuDSNk9mStAKjAZdquXDhfin7NRVNoPodxglyXffmqWqRsTZpkx14OxZvZ64qdbwXTpd6D-VDpDyaKDkaSh3JkRopOrKQXogN1oiPyFTZezpLX9CdZ6EXoo7yOgCMXBS2RlJAoizQIE_7jYtnunYWfvfwKxVn4rNPY7YRYtz-MX_2HxDelXw4fnHnqdcv2bDWxNEw_391oMzK_EP65TdMj9veOXqSKDnVCUHYf_H3Wk7D0EcM3q8O3L-8oUxs-YMtPWws_fGV1qM5w3J56q7785Icrz0CCjMb6A8Kxoiu_yTiBUDdab3grMykVwTzSu777s05yleTHClHCxuNAlNgvte8Vrfjb17zg9SoaWxpLXllKY_PNgl-XC_C7YIeZCucfkK1FGrZ2zwaIZkYN1vuqSPiCaPvINoJTdDl_RVcBSYtuozwnly6k8h4JsXcrIDC8TXZjt757zBpQZotOQgf_VLD94Ejs6XLwsuY5cUziVcyc1TlMu2DjVGd1KoOyjDvqDT5R8SmlJcfhwBUqtqwGfNg_pjjYkONR8aYP7mCAVTrsx35hBKjeMhNdPxrxZK937I2t_fsPdJsi-cHZWx3cQNAXciyYwwsBly7L8xABmN1ODz1sE-ViVq9ir9ELuDvkoo52_Sej45J8ElYVPCXmXUoOlfJZZDu1OMRxBk-0cSPZSf_S1FcEdfsuMAy_O9D83eC-vDm1kS5-vUxh2Ojr5Wq3-yfxoszw06q0Ot1KQHssu_OHkggtjxbY79thjyegDp67sKuxWYUfJFbX9aDNnctYw--K6uygqaAaI3_W7MVT3m3ZqPWJglbEqCj_6Jl-TYwIMw7wFBxo0c7654bW8WbkcowGr3yfhvvSoqmR7Qj1Nn25EFlyrVAwuxD4P38JsKGPXjrldi6XR0MrOaapK_D5-D43cwlX8FcgvqDc_xGmTGJmZw8rIhTi9wIyAQiYTARM9egLFWU14stJSE3fydHQ7Yzz--S4nbfmB_iFFdhKHMcgMiOJiesisHFFvcYsCc78UuPnqAcoCcPxYpSjLgkF359aDO4l3ltQ5ZiLVX318rxCmLOHN9fw3SAuNwqBTTVuieNR1j-S76Jkji4WYnBUAG9CW9sALFg0GP956zr1vPWherX7fTQIRTggRUOIsvS3ylS50sboeesauWwIkKgevsk3QoP3iHu2CilrdWgsi2rzeF-_c4Hy9yyCjSly8uCXJlHiSxZr9eDOXvbsin1ZbO89aKlJdvETBemjA6cTnltA-yYiWbmI86Ev-hb1Fw==",
  "id": "rs_0d1e2ff1af346922016ab449e5169487d0824b6a4326861c40",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The teal bowl remains well centered between the jaws at 2.3 cm grasp height. I will close fully around its outer wall and then verify the opening before lifting.\"}",
  "call_id": "call_BDT9AK1ezEm9DJplTzSVB4SM",
  "id": "fc_0d1e2ff1af346922016ab449e545d487d0aa3b75611a52a5fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BDT9AK1ezEm9DJplTzSVB4SM",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4046, 1.8252, 0.6537, 0.6365, -0.4019, -0.2321, 0.0258, -0.0219, 0.8089, 0.5945, -0.4126, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4306 left_y=-0.1053 left_z=0.0467 left_yaw=0.0356 left_pitch=0.0843 left_roll=0.0203 left_gripper=0.0258 right_x=0.2899 right_y=0.0002 right_z=0.1649 right_yaw=0.0019 right_pitch=-0.056 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -6.4205, 4.4786, 0.7009, 1.2088, -0.5788, 1.6581, -0.3624, -1.6205, 7.0632, 1.8437, -0.0806, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3602f81871412b4a38a75eaa799e32a4052a90eda215b559a8ebbf5d5b6fdcce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f84a10bf77e32d7838898db0e2ca1e9533f401e169f703693d789d46aba977",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:020074def678d9439e02a5b6d1704da20e0e4eae7e67df4d0362eb71871f320e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.5463, 0.8879, -0.049, -0.4431, -0.3111, 0.9988, -0.0219, 0.8043, 0.5945, -0.3935, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4093 left_y=-0.1187 left_z=0.1244 left_yaw=0.0459 left_pitch=-0.0558 left_roll=0.0539 left_gripper=0.9988 right_x=0.2924 right_y=0.0001 right_z=0.17 right_yaw=0.0019 right_pitch=-0.0324 right_roll=0.0016 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -8.3624, 6.3248, 1.5604, -0.1636, 0.1441, -0.1343, -0.1026, -1.306, 7.3504, 1.7363, -0.0464, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4156, 1.8133, 0.6651, 0.4793, -0.3546, -0.2768, 0.9988, -0.0219, 0.8051, 0.5945, -0.3973, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4138 left_y=-0.1117 left_z=0.0234 left_yaw=0.0092 left_pitch=-0.0478 left_roll=0.0141 left_gripper=0.9988 right_x=0.2919 right_y=0.0001 right_z=0.169 right_yaw=0.0019 right_pitch=-0.037 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [0.8137, -7.8701, 4.7248, 1.7998, -0.0708, 0.1441, -0.1294, -0.0752, -1.1419, 7.0085, 1.707, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4046, 1.8252, 0.6537, 0.6365, -0.4019, -0.2321, 0.0258, -0.0219, 0.8089, 0.5945, -0.4126, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4306 left_y=-0.1053 left_z=0.0467 left_yaw=0.0356 left_pitch=0.0843 left_roll=0.0203 left_gripper=0.0258 right_x=0.2899 right_y=0.0002 right_z=0.1649 right_yaw=0.0019 right_pitch=-0.056 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -6.4205, 4.4786, 0.7009, 1.2088, -0.5788, 1.6581, -0.3624, -1.6205, 7.0632, 1.8437, -0.0806, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3602f81871412b4a38a75eaa799e32a4052a90eda215b559a8ebbf5d5b6fdcce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f84a10bf77e32d7838898db0e2ca1e9533f401e169f703693d789d46aba977",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:020074def678d9439e02a5b6d1704da20e0e4eae7e67df4d0362eb71871f320e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEnt4XHGtxiyi6rdNg_6j6ZVT2_hlxUkw444Q9spqPtt3Ht6ZYkaUAMNWj-Xt6WzeG9GnlemV5Pv6hsX0OAtKE-NlMBWd2A8DuHsDuOL-rFeHFoEVshoNscV0_L9uznlqUh29kSZVLzADrgmDP1TAJ0wRVz6k8wTQiMAAwNw6odJpVk1s738yaplhjms5NU0wH_FxmFoB6k2dwgAZKGvsaGEOK7dJACiiOHmBupzUxbmKyle4DJvx-6dF1WRSutccEG8qEGJNnRuhO8lLEP1t2R4pDoKqtrNKqsyd7IcCQyEn8lotqYfzUfC_riQXErvQ0eylYz8_zuYEgkU1gNS0RtyheaUOyi1V0c6viOhcrZyv9qFwKGKX4fe5O4C5abyw5pmJKlm5DvmIO1r6zBbr66wr3uo_q9ySnf7NuhjxQwJc4X6e6CW_x2Y0B36KOI2gnHmpXAUVe6ZyqUO15PSKYPDNLNvoEQ6adjbLVQUW4hgcSMW8Dp4CzrRkPXkt7AWA_H-YNsZdOBadj9Un5858UHWFfMqZU5zovz4_zvOHYrVfGQWYia0fUluMuk3HC6og1zWg3rn7OMxsXm3D0f_pd0lYusIBPmUV_4OpEs2HwkgqZf0srWrINTPwDL2AFnli2lyFPp_SHOGaOCoYd4bYsi6sXW37UJzWkFRHz4LxC8C0kzg6cXM8kcl47W2or7eMXMa_pUhht5EKB_SOvAJvQnwd3_PoDMIMUprLaC6N8AXJEcKq7Q634_M2D7ad3SfhiguZ4pXrsRLYsOcyyoJTpsD-y75CKobU9-pE9MfaJhMDYVZT5y-NQdUOQO4QFJIz0zuO61TORiUkWzgO64p8H2YEAj5WZnd7gBNmUldAVDK0qZNUTL0UAdiB4AyxHN6ZqcjxFyufwc9qjWMfQVrQ8vNUflyaBjIS28YiTdM_AoJYKQBowAYyyEJDwfkoBUQ3bEG7DTP1Op0pfkEbJYQCZ2LiF3ee50Y-GeuAEWGibcG3I0_qzi4stUNoqvyIjc6vtD12NAilE0Rj3I8UpMWSvRjsgzSFK1rzcmWHOqihGoB_SRuFLmJqumuEQ0S4g214ofO96ghcrsIK3scqXTl2gjUUz-D8Eh2QY3TNEkSA5bSwkioJJtIAoRU2oIi5ObDYRkScrKCdntJgFskZCrc1keInCdFrWsdRbvldSZ9EwSCqy0T9a66UI-wM8nw9CB4xVBO4G_fdO5MNjvyRdxWEYiB3ubMiKGPeZ8qWgBZUclxDhjG-RMSdIOBtHISnUx8A07s27iGdnl6N_-UYjgRG7cUw_2T8L3ndizs9HQEf7097TTHGljH72psNzme21DjbfxlZYRjYr7sBeZiMrt-oNJkxJBHVOPtool1ODtmKptk8FUn7d2EpNsBDcAGM7wqsovvSitbQvPMTBf8jmbjivpd1VJAp-WgOOrXYHtv2W-E1mJAYs7d8DUurl3Gm2OaHzINLzirMSfl3JWO620SLnnrWjLUypgBrv-6s0-ntboMfKJMTu0_xRICtPHiFuDNt7M5OQVzKVlbsUmGcaSGnC_vql3U-dQHUH92z5B5Gj7APGlCkkZ2FojDIygoqRXGUx1GfSe2B5t5b0P4nPCEVIVGdS5Sb36LEQOI290hTWfIm-aePROo7YuklyBZoCkLsmV1CkOzvpFYNmvTLUbBv7unSdhCoN7iX_40pbCRbYnWK-8qRmmFByTGBW2Cw_G5GtYU6gYPEgy3dZlVeXr5OMXZjd215_gyaCPSxHPkpWdSRnatFEaj8oQ-PdVhK4uUcN_zmwMefY5D9ccVnwjkf3i7SA6X5YBuyvU4YDoug38i_lBCoYPNwAyg_EpdsWViRDXfwLFkIC-A2TvTmote6XlWJxy4tKm9ldxCh6Hv1-ULHtjtk5lbQGG0BSPvnNabPQmvRJWemhTYPwKBOzl-BXvdEgs8rJf2ctJkwAEADUqU4rEow-FYEkOcPqTzK2GPxksJTWSxXDLVNNvWVZPlvzNGz-UsrlpREIWYToSsk-88QMjSng5T35CwsoQ2QKmDiuZ9ufb2om2DHAdIHDlR6cpSLBhAckob3Rs6XggG1mREWkMyNBSRxWLfK8gqdPBVOd6pQEZjImhyOT6aktBNwA0qBZoVFr_GZDnVsrpLXsvTIJSEHCZ5T80fMafyL6wBG_gektNOSUj9_fyrlBUsuwibxs11M43vN0NqnAY56igiZc1Imjg2zBz1_YCsCAXyJlfTMX_uNU4M6JaT4nX9kJ9x4u2b8OoWf51ntBEW4NZ7dRp0T_IzBDFvOt3nIjdhbv0v6OXeRLwQJS-53O7B6wxYDdpdgnQJpS6JXcbSO4Bdd7--ZsXMk6woxICgPPkgEJgwfphug9MrQOUxZsgY5w6HLpSdItdDLUtBSV_WjKlrQzj-SPwOCNGWUTYGVJF_6oxzUB3dW74PjdsRCA4egTsxRdvjMAawCae4vfdnflOKoTFzCrIeKCqryffhf3dAPht4MQiyvt5U8csh9teA80ItAR-rdyl0Cr7bn1SEnavZKG3I1PQ8zYXbIZySdHmU11XQX-GN419MQ1kupuDUGw5i0nbJQMv_L-yTT3yEAHjepTkqraYEoFbFOu0Cw73YviHUsxR1NikAL2oF0HaQdNcZZV8nkjgQ72L3-jPis5hNhpUeMJMhk8Z6rSrr_7BnOiPevYoCAeABB7tDX51akXQlX4gI1iE3nI0GZRj9SJ-Mr5vKNMp2KWzPYFVKY8u2GAN6_zsOU_-c5AdwRa3lMQfUkcYjLWN8CpSLBLC2RYBr2hw-tINp5URIea7Up5R26pf9iVjZz--y-vF3xc9LDrSixFOZa1dU7bqfcEeanUfZX_7xXfPiejxPa7YWYfGC6gx7CDiFCoJeQaZUoy950zHvJ-oLj9RA0JEb6gNWH1nInsJiexvqSOgf3y_jWqZHn1dJj5d8UVrQZLCj4DlQeFoOmVUhyAh8i35P0bI1cgLnCRI44BtPxtm8m00uENlUje78ursXE4EWVSak3M_lvXaJuqsPbc6WBVP0H5Tf82z6k60L6F9R63WR3Cg3W8E4u331Y1UTfOK8MDBl_A1EScN3tYMalc3iRGVq6pCQ8U23KeOewkOlgShTWgcNyAxOqXbkcml8FqErmNOAL89fpow61-9wkDQYCLpDWyOV39CMUVtDkuozbUgSDrlsbFoLRKcqoRfBbSrw7PYpKQtoU6p5-Fo4EhKADLq49hBoL99oSpo2PmIn6V5mlrbwb_XpJAlGn2oic6rOsZQOP8GeF-gtzKFU9VaQKpc5x2AJB7VgvLeCA-kMb4pAz0kh9e0Z8te--f_sGg6AWtFK2Zy8wimJMp7o59Ad-G-kSJVRNOHX0GElMJc4YRprAS3T1Osoda1Y10ZPB7uz_rTZrluX38W8jUdVhzvYNhaHtEzqqbF_Vmp_ZDrXTd0POAV7BZopQHToq8ftVgLVXhJLwfBZFdWt73hkNShYtrbJ86ElAUbGkkfWDy7Hzn_8FDXo3aWw0EkszJDxnuvp-InZo1uOkv86nDxX6TpyHLsOoI6OEFrQ4FxYLBWSObYuEi8UeKT2TJT_h7Czi1pj5kAZrIqFNXtO85lxQgMuGa4yDqDL5Du0b3Yup85f2uU5Q-mD95y7kCDZXqFKG1qsfLbhcMzb9WCdeA==",
  "id": "rs_0d1e2ff1af346922016ab449e82b5487d0ac59668063a0dbe0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.431,\"left_y\":-0.105,\"left_z\":0.13,\"left_gripper\":0.0},\"note\":\"The opening is only 0.026, but the wrist view now shows the bowl’s thin rim exactly at the right jaw, so this may be a rim pinch rather than an empty close. I will lift about 8 cm while staying closed and confirm whether the teal bowl moves in the overhead view.\"}",
  "call_id": "call_tOh4OWIMn1W6S7G2JDGbtEK2",
  "id": "fc_0d1e2ff1af346922016ab449ec8e3c87d0b6c9dfca2c069e2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tOh4OWIMn1W6S7G2JDGbtEK2",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4038, 1.6089, 0.7547, 0.2893, -0.4011, -0.2356, 0.0333, -0.0219, 0.8108, 0.5945, -0.4152, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4266 left_y=-0.1034 left_z=0.1061 left_yaw=0.0368 left_pitch=0.0573 left_roll=0.0296 left_gripper=0.0333 right_x=0.2896 right_y=0.0001 right_z=0.1639 right_yaw=0.0016 right_pitch=-0.0606 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [0.1162, -8.7863, 8.841, 1.8242, -0.1734, 0.0122, 1.033, -0.1709, -1.4701, 6.9675, 1.6874, -0.0415, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c357cc4b599210bbdc5fa3bc9d9b586d33d4ef65aae5f34f804d7746175767",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a016a1171de1de8f070dd98485d84667ee9f63cdb38a2e7a68460af4c41dc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51605696bb2b0ffdc59d23d989118e1759a00fa0448bdae0e577db8e8fa5752",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.437, 1.6337, 0.7643, 0.1616, -0.3946, -0.2955, 0.9988, -0.0216, 0.8043, 0.5945, -0.3965, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4088 left_y=-0.112 left_z=0.0756 left_yaw=0.0313 left_pitch=-0.0715 left_roll=0.0388 left_gripper=0.9988 right_x=0.2919 right_y=0.0002 right_z=0.1694 right_yaw=0.002 right_pitch=-0.0354 right_roll=0.0014 right_gripper=0.9961\nstate[joint_eff]: [0.2803, -7.8017, 6.6667, 2.0195, -0.1343, 0.1294, -0.1343, -0.0342, -1.2923, 7.0359, 1.7167, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4046, 1.8252, 0.6537, 0.6365, -0.4019, -0.2321, 0.0258, -0.0219, 0.8089, 0.5945, -0.4126, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4306 left_y=-0.1053 left_z=0.0467 left_yaw=0.0356 left_pitch=0.0843 left_roll=0.0203 left_gripper=0.0258 right_x=0.2899 right_y=0.0002 right_z=0.1649 right_yaw=0.0019 right_pitch=-0.056 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -6.4205, 4.4786, 0.7009, 1.2088, -0.5788, 1.6581, -0.3624, -1.6205, 7.0632, 1.8437, -0.0806, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4038, 1.6089, 0.7547, 0.2893, -0.4011, -0.2356, 0.0333, -0.0219, 0.8108, 0.5945, -0.4152, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4266 left_y=-0.1034 left_z=0.1061 left_yaw=0.0368 left_pitch=0.0573 left_roll=0.0296 left_gripper=0.0333 right_x=0.2896 right_y=0.0001 right_z=0.1639 right_yaw=0.0016 right_pitch=-0.0606 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [0.1162, -8.7863, 8.841, 1.8242, -0.1734, 0.0122, 1.033, -0.1709, -1.4701, 6.9675, 1.6874, -0.0415, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c357cc4b599210bbdc5fa3bc9d9b586d33d4ef65aae5f34f804d7746175767",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a016a1171de1de8f070dd98485d84667ee9f63cdb38a2e7a68460af4c41dc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51605696bb2b0ffdc59d23d989118e1759a00fa0448bdae0e577db8e8fa5752",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEny_BF28KWmqj-UsToU9RrjSaA-wdtCzxL9ZPMMwD4tgzNo9fCH0UOg88jnv6N98QgUZWbtqxku4ak1ALRmxaSCbmUTLUHl9qM_K7yLiyMuQj3sL1SsTaCjwDrB5yCL3TaXkA7LIXZX0AxApjIWnYS7q_6yXDCO8IaydrgpKKIb9P4_E-Enrbom8qGn2mZY0H8ngSj1uhc6QvBtyWFCQwtqbdHgQxvx6uTZEXcmnc8VOphijhat2swxvn-11HemCb2YQKgFI_zXOcmYWcyzu1tFaiewF-7B5AW7ly-C9jW6LmHDbyG9TMnu8RSEiEhasHMPJr1L8k12fFbo4QQq4sJdin1KuscmXPQZygyWKL4PEoQy1S6Q7O5-oQYqeDmpZ9n6r8NXHL4nCbRLRyrL591gv9fOCeIwY8a0zDQR4vWnYNBknWbWHfZnbrFpbfVhAeeYmLHDOXmqO_oAN3sFpNK55p7b8O1qwe_6QKb_Kvt8ju3ztzswmtP1tfa27C2_VqCC2Jvm98DHwFx9ZpbrNut0EhP0LujVDWEFaI8zzXMtJO5r9xRHj8b2IvmFHug40xFIvuX8bZo099l72FdbruMJsY6uYeHHyfCkGNLjkXM8VjKGk7XsuKG0YJJDHgNLPJBTzOYNaMVp1O_KkSYWnuAzWefBX-1HIG_cV6VKU9fyMlPaZlO8vpXOHAQuWSkZBB_0gLI-UUGodvga_p7oNzM2dIe-_2EFkTF1cP0x-ie7FSxlBemSjY7W9f2WlI5Q_q1XQqPwqihmMfVLxNO3O7HHhTpwuJdg1w-_cydhw2FWO5TCpqpZ1KkgXW6YxGGfPQeGRTvOYi7O31VoERxeq-VJoHb_KgS5-_DoKbcCl3eW1dclKUj4EYZysKfpoBOw_AvZpjC3LNrMLDHSdPy2Q00bP4DPCCi-R-7EPKWvKZW63kQsysYE7NjwNu9VBoy_8Elale51irN-x-64ql_tsIomTapcM4ASzmn3dtY4DBPR503rhQ3wh-CYZXxU4nLC0swi_HSnQZ47McH9zIlmxYFG5o0lYkLi6ikAfOgOtituUsFVgm_IqOM-Yr6THZ_sFe3z1Zk21U_io5ZLF2JEOnqyJtRqqWQIWq6V0FPrl4hXiOLASI8TVa-yGPyizC9xcOVCeL_Wt6RGdGiuUzNKOk68tQ7T0h-yb7VNxMX2gJh7d3KNWwTaMpdBZG2CXhtUst7MrBfA7D5CW3xAa5zDeuSQfjA_Np9_hNdOZf_abZGh9MW1DdLtC72tJhahbOPOCcu_vOGyU8zweP3aYepb6OKIihnSsHMxcy9BZ_idKg0rxSHPw__MiBHMCoum4ALgApoR_GgysT2--T7JSOKORL-UtLFuFx_S28bAxSL0rw3Smfb-3S6U7B__zONh7FdHQvUVM4dhG89Z9aJglzlpzPgW01bOrO_s98Jq5HlqMxjichiA5pE35D0WDFqqcXeY5Sl0xdsram123i4SQLKVm84xw7naWx9ZsCm-CA_zfIH9U8WMC_SqQx-vGetA_TkqTo6h8mffiHCiWgM6gaEAPKfSUyTz33GAdUc0tx3d90B8PZiBwtlhvPvPr0xfl6DSZZnDaxqXNlO5t2VWQ5h3T5GnyX0tx_5VUk0hrmJR_6Uow4NVYS_TIaQt8Pk5-DrMDbKh0dkMlFA5u5W64HBzKyOOEn4ccniUMUnYIV6FhKo8JqXu2U_M-km79fUDehI0oZI5bjvzG3HStwQUhTjwPaxnZd58H4QR2k7krm6NcyjoljlJMfjjzYbLl1BBEb3_52IibrtSKqYmVuvmwM1280esqtyShml-SO_B8_WYJq0jIyz0Bmsb7sNp4RkTQ7Paz2ZPJftopKzqGetOTd97VTh3u2zVA87-1gCfeCoi05C8oOcgeHBoUiqPk7BQdJMKdW1wFW73YxsKDKJjHZ6wyTrNwuk0CXp-ucal-oebICGRKuOA8X8LV4RTt0nRHMn4-9QC1L9FXRiaBonuudt7AWv4sBpziTchoCezpeP6D4fEpIrD8MbW93n_b4FRGDE1RuGpYX4pClE9TuFTy19T8ZLXIIl3U7IFwQsA0Uuj8ruDgifqRukdeo8Dmuu95fESdD1VNswFyF2vY4-Vug32a3py2vcOO4SOwqgA-cUA2c54IIM0v_MB_BKjgZc3uRbTK9PRvYuXEi8N1Sa_yRAg5lMNWUzHU5SLF67bdtWvcqSL1Mhc6-rx5gx2JsBHTX89iIe46mRNSzPXOMgDMUMg0YUA21o99C6u26r-zNtl553UzFGu-4BMNNbNVGHahZvUwlDTbwOi7ZAGLrOlwFlszRue9mnThqx9Sh7nWUxC0R8VNgEzRNAJuSn8OzlnOzPr5segbFikXsaxjpr1aMUj8RyEeUimV0MXIBDfzC9wovk4CIt03Bfq9WH5oyKivaAlQWqmuOgOMUGdUYwBcwXNW2jH57VjGxV3wACKRzi8nO9972s_BH45dF3WtMVdOQkae_rVuMp9iMoJcN-_75hNs1C2-NXrl7e4eg1yEj2W3aSqY-YI_ISUaAkD919aMh9QOwH8yXjjaM1RzDZVzzC_CqjgIOaOMUllHo5pLAQZkiBHXGAS28Yb7jjzseACUG1rj1jSBJaRyS8KL0UwWhHkjLdEzvtNJanygyh9xFvQ8O8m0DkRMaDXUr9H4cpnfr8Ij5e0Xdmlp3cMhnAbNyEY2JPfYE3xT3TE5ZlD2O47VlHrXsivZEuItGAMZOLnuEJ0bpQl",
  "id": "rs_0d1e2ff1af346922016ab449ef7c6c87d0b7a7701737663f4b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.31,\"left_z\":0.18,\"left_gripper\":0.0},\"note\":\"The gripper opening increased slightly to 0.033 during the lift, consistent with a possible thin-rim pinch, but the arm still occludes the overhead confirmation. I will carry at high clearance toward the center bowl; this both tests whether the teal bowl travels and positions it for nesting if the grasp is secure.\"}",
  "call_id": "call_qNBEbz29Lco3wNzEpZ2WEwwL",
  "id": "fc_0d1e2ff1af346922016ab449f1661087d094e7f10e50c0fc0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qNBEbz29Lco3wNzEpZ2WEwwL",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8745, 1.935, 1.486, -0.3317, -0.7544, -0.588, 0.0333, -0.0219, 0.8116, 0.5945, -0.416, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4176 left_y=-0.3054 left_z=0.1666 left_yaw=0.0236 left_pitch=0.034 left_roll=0.03 left_gripper=0.0333 right_x=0.2895 right_y=0.0002 right_z=0.1635 right_yaw=0.0019 right_pitch=-0.0621 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -10.2359, 9.4701, 1.4921, -0.5543, 0.2418, 1.033, -0.1983, -1.4154, 7.2821, 1.6923, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87dcc84b15bfe7db4995437d7d3faf2ebb13ed4ae008e4978481b9e5520eb320",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc476da534fcec3f361b17b0e26179bc77ed174512066556dbe2655d7c7c81b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e45b36197355b618f126c78aeb1910482d7feaa640d11838d6c909370718af1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4156, 1.8133, 0.6651, 0.4793, -0.3546, -0.2768, 0.9988, -0.0219, 0.8051, 0.5945, -0.3973, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4138 left_y=-0.1117 left_z=0.0234 left_yaw=0.0092 left_pitch=-0.0478 left_roll=0.0141 left_gripper=0.9988 right_x=0.2919 right_y=0.0001 right_z=0.169 right_yaw=0.0019 right_pitch=-0.037 right_roll=0.0017 right_gripper=0.9961\nstate[joint_eff]: [0.8137, -7.8701, 4.7248, 1.7998, -0.0708, 0.1441, -0.1294, -0.0752, -1.1419, 7.0085, 1.707, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4038, 1.6089, 0.7547, 0.2893, -0.4011, -0.2356, 0.0333, -0.0219, 0.8108, 0.5945, -0.4152, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4266 left_y=-0.1034 left_z=0.1061 left_yaw=0.0368 left_pitch=0.0573 left_roll=0.0296 left_gripper=0.0333 right_x=0.2896 right_y=0.0001 right_z=0.1639 right_yaw=0.0016 right_pitch=-0.0606 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [0.1162, -8.7863, 8.841, 1.8242, -0.1734, 0.0122, 1.033, -0.1709, -1.4701, 6.9675, 1.6874, -0.0415, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8745, 1.935, 1.486, -0.3317, -0.7544, -0.588, 0.0333, -0.0219, 0.8116, 0.5945, -0.416, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4176 left_y=-0.3054 left_z=0.1666 left_yaw=0.0236 left_pitch=0.034 left_roll=0.03 left_gripper=0.0333 right_x=0.2895 right_y=0.0002 right_z=0.1635 right_yaw=0.0019 right_pitch=-0.0621 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -10.2359, 9.4701, 1.4921, -0.5543, 0.2418, 1.033, -0.1983, -1.4154, 7.2821, 1.6923, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87dcc84b15bfe7db4995437d7d3faf2ebb13ed4ae008e4978481b9e5520eb320",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc476da534fcec3f361b17b0e26179bc77ed174512066556dbe2655d7c7c81b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e45b36197355b618f126c78aeb1910482d7feaa640d11838d6c909370718af1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0d1e2ff1af346922016ab449f53b7487d09fec82e8882fe99b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEn8cblpAbs4weO_tvATgLPb-jNguEI_jcYmrK0tIi9yeisTzbcVenwNTMBHCPxN4aBsJT5x6yrKaGLMBN7TejwJiDNyh-iNynBK5vvC7hmqMyZ8HvxbdGo78eGbCu52m47umbUm5jLRZ6sYnBFQ3hY0zRQiv25ogyDjTY5BaUgvo3lBtKJOgs9VBCP9IPtDUe7fvAbzPdrOcVxObyzjOpCryyXOKj-u4LWRMudO20ZzQhPaJOCkyRq8uWPKGN_Qb260-TYijR_RObxmmYIlvvICK-zBXIpsyE0mUUqScMOzh2r3g_9doK_4zoSndrmD-8Aonvf-ij9auSkDmj8Yvp_5HazKAfMKSjBoKWXqox79354PKYJuCnuf4nW8WHubcTXoorDpuiMZRWACD47pD7y1gGpK424dMZF5QIrpi4Gc2cFPHvSIEG4qQS1ySt_clR25ebfDgNVDnr4FGL4eAV1GNCvESy4nq-FXEwwxrnEsLZKaB83NNwtGaXqGdxg1_9HuZPFO7OcfqIT8agnEypyktMTqEPAdoJeElTXPNqNC6Y9LSQ_OQZlZFTfCy50MpIpGU4iG_M-E5ppCciI6G--nJYJ1erPRJcwP19AVaN7m6N1qaqjFJzDq5me7S2hzq75RQ8zlocJMYyQes91qJMm5C1-jSzZMk8qjHhrVqQe0DxXmOcirNruM6-J0VkkySwieRmbwgMizvhAKAFTDwFleMaauGyvLOjVT8EciTMNcEXHKfaWx3Z3qyMV0GhTyKJCbw4fPyH0JN5GT0AW7iC2Djj3WKpOX3N9alOcVmIiRYMmlC6WSx23jzAnQPNP8EAnqjcTT9uaKIFz1amREIoXZ68Vy2OJwJ_xE12JhhGxd33oUuvU1xjmnk9syqShU04aoONh46bvf9un99aatJAnuC5jWM0EkmOR2xX1oW0eRrRjowqVttVPtO4PYg17d3CUYS1MB1YM_wpcZ75u7ByY0iGd4ztqnvDMAZQzcehJWqSvHd159-4rPat5-PaDKN_9MoACRdGb4uyBIwU9Hzemomw0BjUHUhCMFRnybMaOkRF91pWCju4MJl52no1TdveWsLepkDjcfQQETt1R-xiVgbb1e9pVVqIHdolOb2VlEGBeWnm0J5z_2urMVKeyHzmR3LeS0QyMSgdpDSetwpT1QbVoGXLBKFri5pKEx3jUXcPXGq8si1tp3sJIJ-gY8rW2_1ODOpWMGt1G-1FtTRIIGGgVgYdxfkBge3XWvGThf7GTsNgXwtvOC2oOPosGBZ9LcWqsY1srgcIXv_j1M45d5RAk1F_H9f7nlkCfR28gAbqHee7EH1UMdMyV0oW_P1cPCKLBHfmdQpuiqvr5zIFZs1ThD2vpDW9GdSVsiUbrhFjN41xhx8kYUqpaoAyzDUSVBvbe3PtFWE2rjSpqYCWAdb64EPOmroofIQiOSX8S6KFHpmzJU1KIUM3xbUC37l400T7pod4-EGMAZj_W9E-tsKhmb7NMHUTswBwj_IA48xANBJWPTASidgRFkTu5EFLYeXBpZ342l4SSxzRXRFIZD_LaGLqhTL3G5UdVfmkxW719O8vcvQQiPQIR6XNioTIqJH_kU6S3EWyIbHPCDlMFZrW6CIRrp0cr9Y_sLWU9AFpq5N3VX9l3l3qQR9nf-IrHX0fc5ecsALUn7QBvKL4XVBjvcrC6q9nJZTG-CfP2H_WkOUeK4Lr-Nm6p8wTgsd--GZMHeFKKcuVJmcskiusGBtiXEn_JoNCJtK0GIDN1TfDZS7MneEvgvjFBPSUnMpFOXsqxLS9AJNflzFjPr_RiKCQ==",
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  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.34,\"left_z\":0.11,\"left_gripper\":0.0},\"note\":\"The teal bowl traveled with the gripper and the purple center bowl is visible below it, confirming a secure rim pinch. Because the teal bowl hangs to the gripper’s left while the purple bowl is slightly right, I will shift the grasp point about 3.5 cm right and descend to a controlled staging height.\"}",
  "call_id": "call_NdVxqr6Ju9rctVaBPjYiWwP8",
  "id": "fc_0d1e2ff1af346922016ab449fbbce887d0bc14e64d6493ac00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NdVxqr6Ju9rctVaBPjYiWwP8",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9131, 2.0956, 1.5021, -0.2607, -0.765, -0.6224, 0.0333, -0.0219, 0.812, 0.5945, -0.416, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4167 left_y=-0.3335 left_z=0.1044 left_yaw=0.0101 left_pitch=-0.0039 left_roll=0.0638 left_gripper=0.0333 right_x=0.2896 right_y=0.0002 right_z=0.1634 right_yaw=0.0019 right_pitch=-0.0625 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.4308, -12.9162, 7.0632, 1.6825, -0.5397, -0.149, 1.0281, -0.3077, -1.347, 7.0496, 1.7558, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b7fd99a27428153f9b4348008f8dfdb77c6cd47d35c809154c5c5d833d7bb98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9881c475c20d8127f08f1fce97fc413c0bee2b4e2ec489d29cbc67daccae1655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:159d62b9ffd326665bcf586fb05a90e0df81d7b4d9876cdb1f1bdb1d015f9585",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 47 changed as sent

message 55 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4046, 1.8252, 0.6537, 0.6365, -0.4019, -0.2321, 0.0258, -0.0219, 0.8089, 0.5945, -0.4126, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4306 left_y=-0.1053 left_z=0.0467 left_yaw=0.0356 left_pitch=0.0843 left_roll=0.0203 left_gripper=0.0258 right_x=0.2899 right_y=0.0002 right_z=0.1649 right_yaw=0.0019 right_pitch=-0.056 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -6.4205, 4.4786, 0.7009, 1.2088, -0.5788, 1.6581, -0.3624, -1.6205, 7.0632, 1.8437, -0.0806, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8745, 1.935, 1.486, -0.3317, -0.7544, -0.588, 0.0333, -0.0219, 0.8116, 0.5945, -0.416, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4176 left_y=-0.3054 left_z=0.1666 left_yaw=0.0236 left_pitch=0.034 left_roll=0.03 left_gripper=0.0333 right_x=0.2895 right_y=0.0002 right_z=0.1635 right_yaw=0.0019 right_pitch=-0.0621 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -10.2359, 9.4701, 1.4921, -0.5543, 0.2418, 1.033, -0.1983, -1.4154, 7.2821, 1.6923, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9131, 2.0956, 1.5021, -0.2607, -0.765, -0.6224, 0.0333, -0.0219, 0.812, 0.5945, -0.416, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4167 left_y=-0.3335 left_z=0.1044 left_yaw=0.0101 left_pitch=-0.0039 left_roll=0.0638 left_gripper=0.0333 right_x=0.2896 right_y=0.0002 right_z=0.1634 right_yaw=0.0019 right_pitch=-0.0625 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.4308, -12.9162, 7.0632, 1.6825, -0.5397, -0.149, 1.0281, -0.3077, -1.347, 7.0496, 1.7558, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b7fd99a27428153f9b4348008f8dfdb77c6cd47d35c809154c5c5d833d7bb98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9881c475c20d8127f08f1fce97fc413c0bee2b4e2ec489d29cbc67daccae1655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:159d62b9ffd326665bcf586fb05a90e0df81d7b4d9876cdb1f1bdb1d015f9585",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoAtLVA-xRF2ScopQCA8JNVtRWfvJ5BUWjVL4JdscVz3_jtdo_en2RCwcNSU2eUVqKKswwiVY-eRVBxxBJDPvWROQkUgX9sM3FBLHN7HuUG-_7iuqC6CoLbjZC0EWvI6JXgWY4H0e37aocRcYOa1hI_TPmuu7vhcOj8UydpXu1uKpxnR0LqanSfIaDiJS1mMgLc8TFuxeckpzkRl7upqGT_1A3iBVGXLewD2mzBJi_CqUxpKs2RiI5lHrQnjRsQLMNLSKgazCvzuAJfMaLwoSEcdKE8F7B92NT8IXrFjamZ3rOownS5avV-ovqvCkOitPdoEmY9jaQ_K_d-OE54MhUwA8A_rdNuyCLjdzdWAi7PG8vm1H8egAu9nJMbvFdp7r2dzoRIAltapywTeNuy9u2LXiondQnKQ3pBLdwP37rOC_SNY4Bvhi3DnukVSjEBjshznLDDRIXNpvuVXCyZ8cGapmgwBC9Uv2xk7XjbVBm1wXkkJUrIeT-BTmTP1feg8A6iHUCbFY6Yn61rIvg_cFqjKsNXCFr5mUInxI3nHtutt6inzU7n8CA-mfQzzEc2fQg8p7t_vRkkhkp-SXUp_z_8IyJ4UuKEGJsRMPLpVzXKdtszJ-MQVTtLv4mIWkQd84rOwrzWcrTWlJ3_pEuS0TjtrPvm8faOskbb1tTaKZ-HGWz9bGM6RaKt6_k-YixHZDkVIXjeHf_2oB_U_l8_g6_S6fnqH3dvUlc61XjwPDWTuSbzWNJA4IfAb5ttF04gqN4sejf-UgdCtl8FULh5o9p-WUzIYIUBDJf4p7luCziwALBvs8RlV0ufTalDu8N7Ojk5IYbAMrWlH84ouFFg083H64cy5rJbuEzmOCvhH0n4PPvjazk9WCtATaIiSK5R9ydpB9gJKRN9uBOXKl9DVTlUhf0SFgNNq8KQCt0k5jEgtRahSpYfPx3kyl7i-p9aV-HRkyZBylAzuzXTIC4pDRZU9EiZ3ctLXmExgdcPkfyIPVu90uDtousQ8a5kErSrLATYyLtmRhkTPlyDE31i7qro47f_GA3bCxL5-yFfUs_wnmZmMh3jnqCf1lxz9wkBp92-EA18uTh1rckjeFNL2poj3eTJQJ94KpFuXlRJwHHhnqAgxtFwr08w-LaZFwQ93lYN3BOodhlIXPOIMqS5nLTBVbNC84HbYX1tOQsy0u8cpA1RnyqccmIdmrSMUMFSKW_4O066D_sttkca9PGRJ9jAFMSwe3tIHHLV_-vQUprAj4o3MN8QHpXF6WnHM4HaSP4J3kC_JnWSc79Dm73S3jVCQvzkG8e4blzwoNZZ956HTGpHk-0P0LPRlgZEijRBPNRNY0HXkSKfkBJ4N_N_jhdYFu2L1ISKIK7BylgISGYaOm3xmxbxuvTgqZCFbRVEOZQYf50RlyoUWfF2uEEquJ5g6YvUByLmkcbnHW90Yz2JvwY-MSeSMpb40AUAAtm5NnTCL6_QERG5ZYK1pC_c0yw-RrbZbHYZUOx1teF6J5X3TYk2D3ddhKti5tSCM3jyZOV0sC6jY-1bJMQGrGpNtgQbeK6KNxgZEoCK8OHqEJv6yM7hodFvG06Qdez7eW7_mWZT6N8-FX5j7P2vvGWh3te6sqgiQ-4kQI_kNG9lbkUo4UXvtSIT28MQJIGsCDaoNHqzY7LhcZeTyDQsainSYk6neyy39t1KwWPb8B7x-BaxswrwkxP6qMwu7kW7Dtl8poDuVDtWOGjhlNwDj4DUkmqrztBVg9Aj-grWyl-wuUhkaYsSOJzeZZVOX1rpJktp9F0M3mI0B4rfAjGJwETQjRmL4lTCA1Vj6HvFRdThG4G9mpkQfmgpS12bYPnNaku3Jl5njNrdqnuHi-80FbxIkzJQVyz7qO-Tm5LDLRQxzx5OGQAPGOMR-X-EmpHEQdRWCDFEBEl6HDU6bh5y_gYnNLQen-z5-FauyBrWUvBtOHXmp8J7MRGkwGmqBD519CS8R7yJ7iR-ZcZwKs2Vxq5TiRcB6rm9GuojqyU-M3xKIqtNWszNzbKTunvSjFthWMm0XgUWQ3vzooBOg8K0qkcoafKt1Q==",
  "id": "rs_0d1e2ff1af346922016ab449fe319c87d0be9c596274ce24ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.34,\"left_z\":0.065,\"left_gripper\":0.0},\"note\":\"The carried teal rim now overlaps the visible purple bowl in the wrist view, and the gripper remains securely pinched. I will lower another 4 cm so the teal bowl can seat inside the purple bowl before release.\"}",
  "call_id": "call_QUkoxjxnNpksHtdHkMdxDRpt",
  "id": "fc_0d1e2ff1af346922016ab449ffeeec87d09ad01c326850c884",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QUkoxjxnNpksHtdHkMdxDRpt",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9215, 2.1246, 1.5005, -0.2283, -0.765, -0.6373, 0.0333, -0.0219, 0.8162, 0.5945, -0.4225, -0.0166, -0.0353, 0.9961]\nstate[eef_state]: left_x=0.4164 left_y=-0.3402 left_z=0.0935 left_yaw=0.0097 left_pitch=-0.0022 left_roll=0.0498 left_gripper=0.0333 right_x=0.2888 right_y=0.0002 right_z=0.161 right_yaw=0.0022 right_pitch=-0.0732 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -13.2308, 7.0222, 1.4237, -0.5739, -0.0513, 1.0379, -0.1162, -1.5658, 7.0085, 1.707, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41c599d1c73002c5201b030d152afa00ad361da903ecef95416e521f151bd05a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c38676e7f76bf24c577814fb85bbd3486bc160d1805ef9b22b5b6022cf22357",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5a7a72fbaf468cf8991ae19f3420597941c168dd323a638cf7b27f1bfa2d47a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 51 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4038, 1.6089, 0.7547, 0.2893, -0.4011, -0.2356, 0.0333, -0.0219, 0.8108, 0.5945, -0.4152, -0.0162, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4266 left_y=-0.1034 left_z=0.1061 left_yaw=0.0368 left_pitch=0.0573 left_roll=0.0296 left_gripper=0.0333 right_x=0.2896 right_y=0.0001 right_z=0.1639 right_yaw=0.0016 right_pitch=-0.0606 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [0.1162, -8.7863, 8.841, 1.8242, -0.1734, 0.0122, 1.033, -0.1709, -1.4701, 6.9675, 1.6874, -0.0415, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9131, 2.0956, 1.5021, -0.2607, -0.765, -0.6224, 0.0333, -0.0219, 0.812, 0.5945, -0.416, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4167 left_y=-0.3335 left_z=0.1044 left_yaw=0.0101 left_pitch=-0.0039 left_roll=0.0638 left_gripper=0.0333 right_x=0.2896 right_y=0.0002 right_z=0.1634 right_yaw=0.0019 right_pitch=-0.0625 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.4308, -12.9162, 7.0632, 1.6825, -0.5397, -0.149, 1.0281, -0.3077, -1.347, 7.0496, 1.7558, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9215, 2.1246, 1.5005, -0.2283, -0.765, -0.6373, 0.0333, -0.0219, 0.8162, 0.5945, -0.4225, -0.0166, -0.0353, 0.9961]\nstate[eef_state]: left_x=0.4164 left_y=-0.3402 left_z=0.0935 left_yaw=0.0097 left_pitch=-0.0022 left_roll=0.0498 left_gripper=0.0333 right_x=0.2888 right_y=0.0002 right_z=0.161 right_yaw=0.0022 right_pitch=-0.0732 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -13.2308, 7.0222, 1.4237, -0.5739, -0.0513, 1.0379, -0.1162, -1.5658, 7.0085, 1.707, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41c599d1c73002c5201b030d152afa00ad361da903ecef95416e521f151bd05a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c38676e7f76bf24c577814fb85bbd3486bc160d1805ef9b22b5b6022cf22357",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5a7a72fbaf468cf8991ae19f3420597941c168dd323a638cf7b27f1bfa2d47a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoDAo9epussCoVzI-zT8bgnfFDWZZA8rytcnUKszAWdszEdFeVm7ka3vGV3u9NPyTyG20nJIEu-ftVmkoU9eFUidZfBqUQZHLPu9PFgGzwktK6PTi7YxQl1kSH1q-CPaVDBlXA9kDc_26416pKzG3SQ94IMgH6pm9C2KdJMr8snZoA_lyfzZyW26kv0sUMPy88shFnWfSfqVVOVBLf_K5qH9MivmxfyniWRVSyPEH1IqFzuEMl67xZjsdvaa7ZGcWzANoyLvENrH3ZpEYSWN-UGychg396JwLQjyQQZWpMFpc9Cgx55NCu-O8Df-6gkM1SjKTnr7NX54gPSBPXmq4n5ji1R_aeXlevkTyVCabiH-bcjolT-OLHIg8G65tobliorctTuj030U0kqMO-3C6V0pSy1Bva7xpq5xkYw0h6mlpVgPYhjJO-WhuVzwjP9ZwctVWMtBqA02YO8i1VEF4Dsk3HVP2Zr6s4azRGhxIZnVRQ6Yw90tJU3-6sLdqzX8gBUitE_HxmVtAtyrRKfNid-VrwkAFl-eSug9n1PITfKgQbkxlTugH9oc-89ziDJ1zDxieMFNn5A1SlI5JTwjYvNT4gZNngQiGaIvjZ3dEq4h4U1U1GPwEdM48lM-lhBm0yxh4dKv1E_ubQZl1DIaswctd_SFjCC86pnGl1mmhkn9iEWrgVlib_x7YBJzOIlmo7g8CHkGq1HQ-kn_VXYkMFTqXqeLFyLbVy6iAYgxWZAA0qyZ_6Pzrv43hmk2auGSmvcpEOmQu6ZvSFXJeSiFiPv7hm_JkY3tNkzQv51aZP76C7W3OMCH5Ei31uzrOSDNUS9AJLBtuHrKgHifTvTThl8BSXG02PTq4UBETr7FIcxxjenvOgkosPkK_jorCbxL7C82ITGuJj-nG87GB7wk5NQGrurhONPOI9HfnWp4Ir7COl7anjQ0YY78L_HSf3PvKKK_XMIIuQlHwxACvnCOcIEWHSzVD4IOTMy2XxIPcaZRCKneDpb6neG6XURemVUVC5-tiZxocgraFHLinCd_C3LitzMxEf3fiGTll3f1YxfVOj7nEKhFBRaE_a1CVO5YeRjyeJM-46oMe_bABPuGwSvhqzEc5Hlm8VWC7P2P0QhDt8z8bv7vMnYbG4U6UXpt7ZKTw2xUsL1jaKLDzyEon2pLZoKlyVjJ2uy7sRR23sb47phtkirkZae5h1JP-3pE2lGTc_isKtXbmTcx057DK7gedlWdXTmg-H8TwMvZvv4-VpvE8smQJwirrdQ248dVvTniC4X2mlqca43iWXP5cZis-tqPu5_K9ecXYXYNCtQdIwW8pDr1Y5IlZPorK5-vsV90Jte2I-ArarxUrFYp2c9UQoNV_PSJx0t4uWqyBlh8xQepvhz5uqABvUdYtbrEcRWtwTCfbv5vy5yBHOZiFDElHR5tQkK5EmoJc4ZH7zVgXGuGVXeLki02IPREM0SJw6DLjVWnEo2--V2nvqUb7ZPQTjEm-sFMTUZ0cOkWpAc_gemCktvEsPl69yFu3AbUzoSgvzZBTyW95H_z6JhgVzs_DKghcatxdOmx9R04jnttTdBq9fpgKx2NIlBB-TTuMw1nXRa_CXBQBu9f1d58GMqUfG9KtrlEF2HjbHmAeOJKLuQmG9ruDQms99ARHegk0H-",
  "id": "rs_0d1e2ff1af346922016ab44a02450087d09d86574269891d16",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The descent stopped at 9.4 cm, about 3 cm above the requested height, indicating the carried bowl has contacted and seated against the bowl below. I will open the rim pinch to release it in place.\"}",
  "call_id": "call_2mSygf5TMYTXcJN0pGWbUpyn",
  "id": "fc_0d1e2ff1af346922016ab44a03021887d0b09c95bdbf278d91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2mSygf5TMYTXcJN0pGWbUpyn",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9215, 2.1246, 1.5005, -0.2298, -0.7605, -0.6445, 0.995, -0.0219, 0.8165, 0.5945, -0.4229, -0.0162, -0.0353, 0.9961]\nstate[eef_state]: left_x=0.416 left_y=-0.3407 left_z=0.0929 left_yaw=0.0106 left_pitch=-0.0057 left_roll=0.0429 left_gripper=0.995 right_x=0.2888 right_y=0.0001 right_z=0.1608 right_yaw=0.0018 right_pitch=-0.074 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -11.8496, 6.3658, 1.3358, -0.4176, 0.0415, -0.0904, -0.1846, -1.388, 6.9949, 1.6435, -0.0317, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efabcef5b7607c70e8415389a3052f53270bc192f98d2d8e04646073b7333e02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:681d28cac9d0ad2a9dbe5c20db950ff315cbbedfad388c0fb9614cfcb798fe7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c21cf1202d0c180e1b5c7bf5e1435cc26728fee81b92aa85e839bc97146e1986",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

message 64 changed as sent

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8745, 1.935, 1.486, -0.3317, -0.7544, -0.588, 0.0333, -0.0219, 0.8116, 0.5945, -0.416, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4176 left_y=-0.3054 left_z=0.1666 left_yaw=0.0236 left_pitch=0.034 left_roll=0.03 left_gripper=0.0333 right_x=0.2895 right_y=0.0002 right_z=0.1635 right_yaw=0.0019 right_pitch=-0.0621 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -10.2359, 9.4701, 1.4921, -0.5543, 0.2418, 1.033, -0.1983, -1.4154, 7.2821, 1.6923, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9215, 2.1246, 1.5005, -0.2283, -0.765, -0.6373, 0.0333, -0.0219, 0.8162, 0.5945, -0.4225, -0.0166, -0.0353, 0.9961]\nstate[eef_state]: left_x=0.4164 left_y=-0.3402 left_z=0.0935 left_yaw=0.0097 left_pitch=-0.0022 left_roll=0.0498 left_gripper=0.0333 right_x=0.2888 right_y=0.0002 right_z=0.161 right_yaw=0.0022 right_pitch=-0.0732 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -13.2308, 7.0222, 1.4237, -0.5739, -0.0513, 1.0379, -0.1162, -1.5658, 7.0085, 1.707, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9215, 2.1246, 1.5005, -0.2298, -0.7605, -0.6445, 0.995, -0.0219, 0.8165, 0.5945, -0.4229, -0.0162, -0.0353, 0.9961]\nstate[eef_state]: left_x=0.416 left_y=-0.3407 left_z=0.0929 left_yaw=0.0106 left_pitch=-0.0057 left_roll=0.0429 left_gripper=0.995 right_x=0.2888 right_y=0.0001 right_z=0.1608 right_yaw=0.0018 right_pitch=-0.074 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -11.8496, 6.3658, 1.3358, -0.4176, 0.0415, -0.0904, -0.1846, -1.388, 6.9949, 1.6435, -0.0317, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efabcef5b7607c70e8415389a3052f53270bc192f98d2d8e04646073b7333e02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:681d28cac9d0ad2a9dbe5c20db950ff315cbbedfad388c0fb9614cfcb798fe7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c21cf1202d0c180e1b5c7bf5e1435cc26728fee81b92aa85e839bc97146e1986",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoHBhPyjOJ1ZarTrusEnigMtgKRC25CHqHf1NJXq4Um2EYs0Q5ZCC7CgsA6VPUJicIqoh-0B3MZhkgZYaAYn_EbihNZB_sNJNnj6DNRVtDa-pPOV4HtAZA17VQVxE9C4QvSnktrBeaXOXMOIYHf0HSMvrwCyjO_NRw59svCbwP0v2T1nBRSKZF6J4-UXJG1IoLg_SC9wAJOiDUuLqh6poex2sCLFsoX-PyR03n-acU2iQKgXX_VytmHPdIJ5nlj9lSwwY6hJaS-XvaYBZUn2JvSBGbCy3udPArmZ3Bse23lArQT_6yaZjjUU2-T9ch6Apzqv8s0ngOQEmFl3oa3gj6MnSRG-zxJLBwfGyqOcAQ51T6DAWQhU6jsKlO6sZ8l8B5oa1GGCxyjBddGU4fPEneRV5nklI81FSDciqEVqgmsVV1tnWj9wbzYqIXU9JMke1CHejY2XYDtHkF8WNpGird6V5Z0Sp_CA0qrsIADE2aeyZ32ujlxg_oIOu0hKf4PT6ZCPPKdGhQFZEnDfxIhV2evHXfWXOd92mAN3ipKn_l1Hxh43D5owmyuBZoZBDQejjvG1a7vihKDpa2Qkp3Zd3QwWsmDtlidBzuglKHzJ0U7dYKYjipCQCvIR5VMXAr0x4q6xMbdDR9h1LNZQsQFvjZbOdWxmjKsxhA0faqUb2PoslN4zOsBjVaI__iiwfTHxcSMrxNgl-yaF42HrBAbpbtEyayIV2h3ejzeRnToRQTJfh9Dig2GC7cmQftT-SN6vQovib5DTKvotNNef5s2jo65FoR-56Z1b1BIUlM3wumL4gIRPwEFoFENUnR-QjC8VL00R1aNfShO0TbjcqUzH037bWG62ucvqbnU1y0p7SIF5w6I4D98suU1LV6oKmCcuguG3uvG1ZoA1DKAR7BbGP77AXQaT8pzQQBaLu3rB5iXm11XLG6RMEfhd1FqFBqtXyRxOOLuhCRSLTzAws9fMAx8M-WFDE1SLjEjksUo8vFCaZ4QDADWgDWapKBYU7npsbmFFsB3Hgh9C76kj6crTRNKkS7FeGWCixuCDtry-6e3zx4CInMN02Mc89zNw_COGC9v7pa8K-ZOvhSpv-qJ-MW6pcSB5ABb-61BZxkFT6-DkqcwNaNzUsKWapx1NW4f9vk2hiaM9vnRoQyvBCgZToxemI-lqRG3eJ4hIRRtzE9N06tdMSxkKwiM1keLQ9JA7qPOftoMnM3PkYTG505_coIpA1V1acySELHHYrfveRoZF5iQBKMJiwfwpCMAjwmanmtLy-XT2W-__0zXgRPZtau1u7JkT_ynAv71bycBLkLIYt40X6JPVLLZ4OomiLr3jEVuTJhuJAvpFe3KarQB4Tefc1IMM2B-vVdGK6OUpoqsWltiw9xeezhqlKlCb1gtAmCnZflc47l0jg0Hi1QWSj22H427HlwmSaLCL2YN5dOL4pWrSi5PMbMAMXXzPJsKO1F5dR2ElmzmefjGZroltyOEaADYF1NANGEBQcjd84CuWHUSpHw4CAZCu6NuC0TFeQvEp1mR4D6PSgx6itjQKU5N5Q==",
  "id": "rs_0d1e2ff1af346922016ab44a05bf3c87d0bf17f3e6e45786ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"The gripper opened fully and the teal bowl remained below, indicating it was released. I will park the left arm at home to reveal the center placement and clear space for the right arm to handle the pink bowl.\"}",
  "call_id": "call_wXajHF1LBvNlgKVPE2pK1vh0",
  "id": "fc_0d1e2ff1af346922016ab44a064da887d095be507c198412e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wXajHF1LBvNlgKVPE2pK1vh0",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0948, 0.8185, 0.6147, -0.3721, -0.1623, -0.0925, 0.9988, -0.0219, 0.8173, 0.5945, -0.4229, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.2985 left_y=0.0039 left_z=0.181 left_yaw=0.0705 left_pitch=0.0051 left_roll=0.0326 left_gripper=0.9988 right_x=0.2888 right_y=0.0002 right_z=0.1606 right_yaw=0.002 right_pitch=-0.0747 right_roll=0.0026 right_gripper=0.9961\nstate[joint_eff]: [0.1983, -1.6752, 6.9675, 1.8779, 0.0024, 0.1343, -0.1343, -0.4034, -1.4427, 7.0906, 1.6874, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7987c9c5539c0b324c7f900fdd7079686b6251b29f85e84554a3e01267a80d90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46cb9f8065e24a47e4bf870f3b37f12f21aa71a8c1e820079c82b9007df34023",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a7f368d89b9507425cba8bd3d3db916f89afb3f9b8c82d9b376a0750d737b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9131, 2.0956, 1.5021, -0.2607, -0.765, -0.6224, 0.0333, -0.0219, 0.812, 0.5945, -0.416, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.4167 left_y=-0.3335 left_z=0.1044 left_yaw=0.0101 left_pitch=-0.0039 left_roll=0.0638 left_gripper=0.0333 right_x=0.2896 right_y=0.0002 right_z=0.1634 right_yaw=0.0019 right_pitch=-0.0625 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.4308, -12.9162, 7.0632, 1.6825, -0.5397, -0.149, 1.0281, -0.3077, -1.347, 7.0496, 1.7558, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9215, 2.1246, 1.5005, -0.2298, -0.7605, -0.6445, 0.995, -0.0219, 0.8165, 0.5945, -0.4229, -0.0162, -0.0353, 0.9961]\nstate[eef_state]: left_x=0.416 left_y=-0.3407 left_z=0.0929 left_yaw=0.0106 left_pitch=-0.0057 left_roll=0.0429 left_gripper=0.995 right_x=0.2888 right_y=0.0001 right_z=0.1608 right_yaw=0.0018 right_pitch=-0.074 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -11.8496, 6.3658, 1.3358, -0.4176, 0.0415, -0.0904, -0.1846, -1.388, 6.9949, 1.6435, -0.0317, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0948, 0.8185, 0.6147, -0.3721, -0.1623, -0.0925, 0.9988, -0.0219, 0.8173, 0.5945, -0.4229, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.2985 left_y=0.0039 left_z=0.181 left_yaw=0.0705 left_pitch=0.0051 left_roll=0.0326 left_gripper=0.9988 right_x=0.2888 right_y=0.0002 right_z=0.1606 right_yaw=0.002 right_pitch=-0.0747 right_roll=0.0026 right_gripper=0.9961\nstate[joint_eff]: [0.1983, -1.6752, 6.9675, 1.8779, 0.0024, 0.1343, -0.1343, -0.4034, -1.4427, 7.0906, 1.6874, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7987c9c5539c0b324c7f900fdd7079686b6251b29f85e84554a3e01267a80d90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46cb9f8065e24a47e4bf870f3b37f12f21aa71a8c1e820079c82b9007df34023",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a7f368d89b9507425cba8bd3d3db916f89afb3f9b8c82d9b376a0750d737b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoN1YBDl6RbWLoI-miUlfNdVeOdMUlSVpy3r07JCWjcTOLCj5wNdEZixX5xXiGpaErP1bDdESt8QrD80vr-aZerVuTm6aHMbwTDlTTQJEUAv19pYP7qd09pY9BXtoitCzBX9pX0nmVbq7pyaF_QZShDqZVdYEj4Zrrtr_659JyHazWhVES7oyoFPd0pMCDeNUk4s9GLSnC-llpF39UPUiHF_dCRV-dVjrXDEEBlhnLQm6GvdYQp_W8v3Axgiu1tV_qQdxAclFMvS4ZOQG8hwfZRLzMXbusNlbo9nDq3u7cCzbrd6XZlFDJqbaWQpf4TBYrSSqhBmYEL0C_eThLIvC2zUiU6q6vDENDiLZ06M46miSSNwPl231lrisGpS2mSJGmy4cV2ifcehJtI_qOCamwdpKEMZP6rLyv4dl3olwdecx2Owr7Cf_dy82vwOUQtVdGfT0WZJr91zdTpbbuXLJmwxG1jNq70n0FNwDWX33atNcSGqjVBi_yj0THDWUdEuQOL76iFnIacbDESbwHHAdlU3J9Bs_S0_Oeahi3-90aMx3T_MindorVI8cj97P53werjhiHsBHFYXPnMK0gZE5-H-UcaCISmpjZx67VUW-3i4MVLjvZCm0lsfgwwumbplQG5b--qmrnEVaOyG6i_0QyjCWCGB5hRbLhb8AAnDLBssbKCm4SKbIMfnmRtYFOMMkS1t4AWjzHi58A7vmJG8xq7TTWGEhELT3hAm7kjaO_i49U-O8LO1QrpoB7EEh5av24dU5_Wvvkq6KMHw1o82lDGZ_oqZSFoCIl0EeDgwOOD8jkP80EkA5BBi34Q7mrSt9P8HCKb2vsfI3uwTE-aGl2_8AFt7ceGZ8bLP26st3xsompdiY5JlN829JnSwUPsWZHe0_UB29G7UYTbhwdkQfAPKgZ7Titau47wXbVwrnv0DFS8M6eRwiGG-toqP0XGO5gtyg4_L4RUp6cXe_nGC1HF2A-sltqRiP5eSeFThnFFZbZVYd2p2F7ipDMXYUnKRflSe8ZHLd-ARzFP0CLihmxqVWkUOZEYRu9Ppdk9oCtuWRmyKKdDDEqdf3I7UzmRnvm4BKiYSBU88Z-n3I0dfTtDpwp3K5m_LraxW6TFBaLRTbbNQuAs7IekO6ZpOyazm2B6zwew2L7WjbjFbb1GpEyL1aiyoyDJOG2DSLQtyozU2KFZCeQi5tGq6F10sSCxZPMvBxiBmytN_4M-qiBz2pVORgUVFcmE6SMWsJlPY5EB2ZcoaJnTGB2Lw_n2nuxrbbdCzzf9Njy4keI3Ia4UzHFKKZiRpLLg0TqESR85s9EbqXaB-D6dk2YgxR-BMozi_VIkTN7ZCDeLctgBKQCx-m34FTsPwdFaR05XFfGLDteyVfd5qKr5h_5xym1Gulf_06rOZwGzCZBwN18nFxgd1Vb6mZuLKexGLolQDncycAkPi32WraWdFaaZX_qookc8arkVrL7Y096sJxizTFXsZlV1EqJxl41LQte3oyAjc19ePgiqKTyZF9M35o-TTFBi6cYEwA9gb0WOYQsGQ5h3q_IUz0_wxy2Z1aSIHG6R87qI5J0-1uCGAQl48jBp_Ajd0JxnONQ9CwJ__crLJ9_OXOiaXKBAa20zh1HEe4LXfPOOCLXmA4n9aI89pMoJDOd08WfA7FopbNncEUxB2zggN9y7GKOkdYh-T8MTOIPhSWX-o5l3kqHCbkZ9Jyo1BjO-dbym",
  "id": "rs_0d1e2ff1af346922016ab44a0b68fc87d0b00efae27edabb5b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.16,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"With the left arm parked, the overhead view shows only two bowl locations: the teal bowl is nested on the purple center bowl, while the pink bowl remains on the right. I will approach the pink bowl from above with the right gripper open.\"}",
  "call_id": "call_fZiKZww1I0lxYP2gv02vvIjt",
  "id": "fc_0d1e2ff1af346922016ab44a0c660887d09199ee893d5493c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fZiKZww1I0lxYP2gv02vvIjt",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8246, 0.6147, -0.3874, -0.1577, -0.094, 0.9988, 0.5049, 1.5749, 1.0424, -0.2428, 0.3641, 0.2691, 0.9967]\nstate[eef_state]: left_x=0.2969 left_y=0.003 left_z=0.1762 left_yaw=0.0668 left_pitch=-0.0163 left_roll=0.0323 left_gripper=0.9988 right_x=0.4056 right_y=0.1564 right_z=0.1388 right_yaw=0.042 right_pitch=-0.1426 right_roll=-0.031 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -1.894, 7.0632, 1.8242, -0.1294, -0.0415, -0.0171, 0.2256, -7.7744, 9.1419, 1.6581, 0.4371, 0.2076, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df5a3275010795c73cfeee34fc5119cb609e422c207b354edc4fef5af84be8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82e6a6146969006e8b44839aa9df277044ecb631fe3dc41a4ee17e1fffc463d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab30562f8ef55b44599642634e718e1dcea62183bdc6a0ced7512b8d8fd21f1f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9215, 2.1246, 1.5005, -0.2283, -0.765, -0.6373, 0.0333, -0.0219, 0.8162, 0.5945, -0.4225, -0.0166, -0.0353, 0.9961]\nstate[eef_state]: left_x=0.4164 left_y=-0.3402 left_z=0.0935 left_yaw=0.0097 left_pitch=-0.0022 left_roll=0.0498 left_gripper=0.0333 right_x=0.2888 right_y=0.0002 right_z=0.161 right_yaw=0.0022 right_pitch=-0.0732 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -13.2308, 7.0222, 1.4237, -0.5739, -0.0513, 1.0379, -0.1162, -1.5658, 7.0085, 1.707, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0948, 0.8185, 0.6147, -0.3721, -0.1623, -0.0925, 0.9988, -0.0219, 0.8173, 0.5945, -0.4229, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.2985 left_y=0.0039 left_z=0.181 left_yaw=0.0705 left_pitch=0.0051 left_roll=0.0326 left_gripper=0.9988 right_x=0.2888 right_y=0.0002 right_z=0.1606 right_yaw=0.002 right_pitch=-0.0747 right_roll=0.0026 right_gripper=0.9961\nstate[joint_eff]: [0.1983, -1.6752, 6.9675, 1.8779, 0.0024, 0.1343, -0.1343, -0.4034, -1.4427, 7.0906, 1.6874, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8246, 0.6147, -0.3874, -0.1577, -0.094, 0.9988, 0.5049, 1.5749, 1.0424, -0.2428, 0.3641, 0.2691, 0.9967]\nstate[eef_state]: left_x=0.2969 left_y=0.003 left_z=0.1762 left_yaw=0.0668 left_pitch=-0.0163 left_roll=0.0323 left_gripper=0.9988 right_x=0.4056 right_y=0.1564 right_z=0.1388 right_yaw=0.042 right_pitch=-0.1426 right_roll=-0.031 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -1.894, 7.0632, 1.8242, -0.1294, -0.0415, -0.0171, 0.2256, -7.7744, 9.1419, 1.6581, 0.4371, 0.2076, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df5a3275010795c73cfeee34fc5119cb609e422c207b354edc4fef5af84be8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82e6a6146969006e8b44839aa9df277044ecb631fe3dc41a4ee17e1fffc463d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab30562f8ef55b44599642634e718e1dcea62183bdc6a0ced7512b8d8fd21f1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoVwROX1KFLsxeEhivY0p7ZIR10oSJ2AST3AP_rlpPfFQRv9-eV5gJLJnptMqC5L1go5h2rATBS0vyKJgdWxuNLJIy8lZRUPR4UXY89xeM1G9M5ieZtfvKgiDNXPKUbbXQbL5lSTO7CsdDAAxHI1OT3SxfwISZUlVzHc8qspoW2qBMkHB_0NHExPA14miQD7J8oI0_xj7FMsvVz-nOQ6YmeUPwsnEjDRjIpnHnv6roB0ClLYSDOZ76PRUWuGtpziQf0RkEh4GKYxZRKsAhzK73XFe6Ur8fpzFf8S1xzPiGvlOuykMxdHAQumM6S4rfZNYKhSrPQ371q5Ov_dyQkdKNMBQcW3099NGSTfuWBMGxpEA7iOCmpC97nJcZl6uHlbALpqbvdl1USkRRwTgJC2BOTYzb5YJO_xp1Ej8VyCUTIRGiui-wqB8h5q6vdZ4IDhxbOQH8nhuhFmvPlX8QyKNbNXC1aoyX7KRcCS4QSgp6sBX0-Yrw41kI-p7lNXbLphsgEuuNuDoJhW2BpZFkkGPq0QlHNAdaNumiaKYYnxmpS2hN2e1T5_TZWOZ4eOFgM4ptN51WrlEtXtpzXLK6z3SrAVJJL9E8v3GjNV9qTtj56JngNHPSy6g7bhVcjDpd9bDYtZnHTCDF8DFfyAZJwraTwbPd1O2Q7dn1QxPU_Tfawow-R1U0-eGsUTbvx1_FhQFi8osZvqG2KP3-qqabCAzow7nS7nhme4XjJP9iUosAwnMdDNO3jiFt0xCAvyIPaGq3rzSxlApmrFcZ5nGsIFIzW9sIbJdEGe58MzZQ_lIELd7_guqAyGHESf9tSbzcxbrIXgIO7xjMt7MOEbleGeubPacrr2iVoK2g7LabUlEk1yQCvw1eCWtHxxpA-0LArlR2Wx5bh3E-N6YkMWD2bALZ6REipnE7SYCPaP4ApZXP1So1GsBZSVa3u-GiyGZh8u0SXTJIYqxuffSSrgj_tSl0d662PIx8psg0yvIZrFxRFnuMc0uSIHE9rSNd3xAm1nSW1In39kUn6JKStx3Aet8A6z93hG38hwMxz6w6oB6R_uIVL3fN46KUohPAxlCPItMD1lkKw_MHZNhxXDbof4w1OuUFiSWIJZ91w74Je1ZXbmhOTUSiRKMLJDouBW3_MvecP4gOlewcyeahEp2uK_jx-Q4YJe7kyuYwlea3cAgfPvxkiuUMWtgSUEAi1q2qMVMZQneOnBYHRzvuwX5BF_efvZG2W6QQAPWAuWftofgkHPuH_frkO98lrQb5jcFVNuJZ6f6xeC-iYivKwaPAOGZ7Tm4ebZKsUn1rctWRLACxg8-2N1N_KIyAOS-heI5--nYcyobsevFXsmw1PYlVNandgqDggn9xcubL5PRhYtuG7REA-e1kNCr8t_ISrYclkJIKhy5ylCViSJelao_zTDRDpr0lPasTt-rsHZ_QVkspiYFuRoUPq6fmqIGYrpI6xO5aVQQB8RbScuokJ4HLctY9wI0TGYHtu9q54SIY71V3CJmfvytF6JYCcl0yyicj88_H3JvSSng9G2dgsjlvW4kFRuzv0pChniRZxhQhxpspNulHRIdo-Fy_XIGbdLO45skUTDD4g6ddeM2Ed7Z9H3BnQgYa6Di4y9DlSlBamcZSAwHxbb2MVTaJ5oK3cdGgtqICaVm2l43NDLQOWIdoooFzYj9OrUothZ16hs9bGvO18bZq2bsLiSFQCN1GNJVzk4-4eYfEP_6cAXaP8K1xLm3s1-OrE_zJGmgXCzOCTG05XxwtROrUE8GHhTVih2PEX7vnWEVnygAvY5u0N5BROgyiqZWNd3aE91sINQmaFKNkX_C-jLAa3MbVsoe8mQLx0WGtNbd5N5Q9NkpviPl9TIvhHjosfiINi6MvMExSxH68WyIO4Ql60wfeYxKr8DWNjxCV6gaPYz2SPdX-o-P_QIwqZde81DlOq_r-Zrpcscj0WYDAxSd1tRSQG0wJGNayXjRki3xO8WzAhNZ1rxVbWGBHMb4fnDnHX4SRJksQOmwh0NnfdHHpByxxo0zkD14zToySPJ8cT9XKbLy5d-hQIWdHICB8ll1dZc7u9jK3OapVmeeaKI56FOrRfQ6c7sUfL5nPLpf9ryADN39e0mWHb1ozDkd3RRwMUEF_5PoTX8lHhMDhO6PPOskzsejzNUcQXTVJsufKlnjpl1boXnU1wmIL668NJKlzBJDBB9_CXQAIxeFBQK-CTAYWFhW49ZJvRPy_pgW8DYR3LMbxKu-EAJX1Cdxzc5Iy9C7oUdEJFEW7KCz2YxlxdlsC_a-_4hh-mL3rUQKyn6DcCvNWHRlEiucGLWsPuEqGIMaVECy7LXatqiyDyPrnxmdKUYTlfsdb_aTeLMyfk0eaDM4guxFFbEC1e5C-bCHor93Zv5VTFPs9Q-z7nN2lsUcUTq_EFDaNYhli4NFqEYaU1hnKTuDcvlpcqOOSmhA835eZ251ireA_tttU1j8SeOjVH4h3XQnvjapKGTUgSITs_hQoCDMZOELbZY_QF-4iUdbq59qSw7iviorzQKOhHHXMIVB8PNEbS2LNbmijKhO5-yJIff1dN8r5Ub4kR-AZvgkQq1Ge1kZqqK8iX9imjbdcs3j24sNIe8goobxCrwUiP53zmw3UjJ1oyS4cYmX309ukg0HQSUND5UdnvgwBDhnCiUwsc46bbFwXkjaiZyjGv0SHNFjIWb06b-ZTXF798ueW1UaPEd_Fwq7ymFWps70xRSw2XVlRAooWHk2oNXuidjUR5LkV0xAdrA68Ni_nMLTCS7TWRyWNfZ_4z0wcGWr4xPez2HG3xlJhpiokFIMy1V3yzNhUQNvEXongUxv0mcKgtKyzuUVbxxeBgPvQF2castnnjrzrFLdWjofYqyIpuBZo9Koj4sF6XLHuz4NJTcTCzOLdK2KE_ikUzf7IXT7FdDSyfuKwTQfZ7m6ZH2UPI1tfEMH1XZoFr0Hg9_s1gyt4hQ78wnWETyrmEFTm7nDNfcqoijRFSNPB8X55Di1XBqw2uxkTvnZLmGhsacdWJU-Un0WoXG4pbNiiC1Z9dj9Mlhm5d8Ga1BboX9baZkZU6Dc0__74W4qEDXuEK4kemCKRwaJ33laSUQRVeD_-uShYirenL7IlZ1N_J9MFHZ4IDGInZTL38WwZymZvWdFMFiDVvQXhtmwVvo1jyHfElffVQJai6O4D-yohNV3n5owltnZ7a3kPa35ooR4BVGIZfibCv2cf1Yn_iv34l90Tq4BSx_Qs5HwIHsQNhcE55JJxvPxGZDH9gAF3KunaUMBzZTHLLU0oliNLrUtJo8hgyWtwWY73fe5PD9sob4nJRq6i-jqZl2IQuaARKGozpw8Q7t1E_mlPBt9e0ytfOxmJMSqllC9_plaYgZ3R0UjoA7_AHS8Y1cP-6oOYxKDTwedZjfkeeKIHhETD0IKkpb4v5O4UflH5yR1LHcMXQpxh_ar3VN8VoNY-Y7fFaCMlgAkyE1Sd_veFqLoAmM52OGeeGOYwVZ5LnJlqnE3Kog5u3UnrmiIdlWwPQcppjM_ZjPUsFPI2fb-eZv7NNc7bT3aK8hOaRsEpWHvRBzHuI-w8IRba7soDPkTl4RjNWApdNDlQak-62HmOWkdedvyfpfflai_MrBRNwWxEgasMNg-IsTFyuUDrUgGmFLqq5HWREQXjT6HGf-CqwsGfDwMABCPUbl6BPGqwzCSBvtxulAA-HdWO4yVogCqnh3O6B8_QdCdaonu5drQmUDsnuq2Q=",
  "id": "rs_0d1e2ff1af346922016ab44a0ff84487d0860b6f1965d4ef30",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.18,\"right_z\":0.08,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The pink bowl is close beneath the right gripper; rather than squeeze its tapered body, I will intentionally align near its left rim for the same secure thin-rim pinch that moved the teal bowl. I am shifting about 2 cm left and descending to an intermediate height with neutral orientation.\"}",
  "call_id": "call_L2HzfCaJUDy4qz5Naef91Ner",
  "id": "fc_0d1e2ff1af346922016ab44a145ac087d082d94d8f2aac2d85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L2HzfCaJUDy4qz5Naef91Ner",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8249, 0.6147, -0.3893, -0.1577, -0.0944, 0.9988, 0.5709, 1.7538, 0.8719, 0.0986, 0.4381, 0.2966, 0.9967]\nstate[eef_state]: left_x=0.2967 left_y=0.003 left_z=0.1757 left_yaw=0.067 left_pitch=-0.0186 left_roll=0.0324 left_gripper=0.9988 right_x=0.403 right_y=0.174 right_z=0.0584 right_yaw=0.0337 right_pitch=-0.1239 right_roll=-0.0598 right_gripper=0.9967\nstate[joint_eff]: [-0.1026, -1.4564, 7.0359, 1.6972, -0.105, -0.0659, -0.0122, 0.3897, -8.8137, 6.3932, 1.9902, 0.3639, 0.1685, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1cebfec0e7a036cec19d785e501bbfc1e096ca179d4d6574be93dab55fc356",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf07881945a66456ec26ebfb86b1b30de8fef8fe07f34312404e3e3526717b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0976a47f8c5bdbf1a2c176f5a0cf29cc00b8b1bfadb99a4bbc6c9c282b507a7e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9215, 2.1246, 1.5005, -0.2298, -0.7605, -0.6445, 0.995, -0.0219, 0.8165, 0.5945, -0.4229, -0.0162, -0.0353, 0.9961]\nstate[eef_state]: left_x=0.416 left_y=-0.3407 left_z=0.0929 left_yaw=0.0106 left_pitch=-0.0057 left_roll=0.0429 left_gripper=0.995 right_x=0.2888 right_y=0.0001 right_z=0.1608 right_yaw=0.0018 right_pitch=-0.074 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -11.8496, 6.3658, 1.3358, -0.4176, 0.0415, -0.0904, -0.1846, -1.388, 6.9949, 1.6435, -0.0317, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8246, 0.6147, -0.3874, -0.1577, -0.094, 0.9988, 0.5049, 1.5749, 1.0424, -0.2428, 0.3641, 0.2691, 0.9967]\nstate[eef_state]: left_x=0.2969 left_y=0.003 left_z=0.1762 left_yaw=0.0668 left_pitch=-0.0163 left_roll=0.0323 left_gripper=0.9988 right_x=0.4056 right_y=0.1564 right_z=0.1388 right_yaw=0.042 right_pitch=-0.1426 right_roll=-0.031 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -1.894, 7.0632, 1.8242, -0.1294, -0.0415, -0.0171, 0.2256, -7.7744, 9.1419, 1.6581, 0.4371, 0.2076, -0.3639]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8249, 0.6147, -0.3893, -0.1577, -0.0944, 0.9988, 0.5709, 1.7538, 0.8719, 0.0986, 0.4381, 0.2966, 0.9967]\nstate[eef_state]: left_x=0.2967 left_y=0.003 left_z=0.1757 left_yaw=0.067 left_pitch=-0.0186 left_roll=0.0324 left_gripper=0.9988 right_x=0.403 right_y=0.174 right_z=0.0584 right_yaw=0.0337 right_pitch=-0.1239 right_roll=-0.0598 right_gripper=0.9967\nstate[joint_eff]: [-0.1026, -1.4564, 7.0359, 1.6972, -0.105, -0.0659, -0.0122, 0.3897, -8.8137, 6.3932, 1.9902, 0.3639, 0.1685, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1cebfec0e7a036cec19d785e501bbfc1e096ca179d4d6574be93dab55fc356",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf07881945a66456ec26ebfb86b1b30de8fef8fe07f34312404e3e3526717b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0976a47f8c5bdbf1a2c176f5a0cf29cc00b8b1bfadb99a4bbc6c9c282b507a7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEoZwnF_MaxYRmVysSnjiGAZNXQ4MblPOtJli8-BM_Spp0S0KZBKJ7UTgJkV5CnlTBxA8KANujoGTk5ihQAb5IAvgRtXadkpu5zjtiA2ZDK-P3qUVKR_Pq15BiVCqEURZnBJC_aS1qdx1E2MG0IZmnIrw3ZbsxNGbIm79uNM4TZ4a0gVGsY7ibp9JhrG7BRqnVf-G1asMYSbR3QBWOT-GX5_YmoynclD7bQ9IWQtXgEgwJdWtYjvAglfac6hJe-4KvASLr3BL5koKAXXtty7sSDfW2u53vr5sT5DJMbOnDo0aoXKMoStt95B0p9gFv2su2kq0xyBTHh_yZ_gfxe8iiiMASdnA6uthLfjr53epfRb2jAOzdzDk_yxIb6u9m47iahuTWW2uVr9rtizVVZi0pidwAeGlhv_S91S3MfF_VERTRHmjSBf1UXrmASRLkvW2X_wUT1r4wQrTHg6f1j1RZLj-GiEYFEjxCbIOtkevYxhY5ooBfeavCNoGqnLsBj4JupQQTSOkDPDkHoJGHH46XosiAns6ObvkEJSposOQQKMwXpOGbmvbnVf0JmUiXR09-LMjFy_vtkIbtHi7RJcL4Zdmv9w1076Ha68T7V9V2couFCTlRm-7Xr1OyNxXQCDK4bgXlDBEA9bWDKNKe0R7MG5N7TIrQ9tdkXwAWS2OaQYqS99UYdeyC99WVOfURE8X9YSNOs98hFznLe3oy_0pS6cljY9JJDbAsPgUpOrsvZhKmVIJYEW7Wwh6ZXuC1kqu6H-bY64BGek2kyLBw3NYSr5gnOLV53h2ibhTIuu8DutUY4nKFtXKPuFHrjcpjCHFjfIxDI_pQQ5CR_8ZNrhTV9rgLG-kk4BzhWzX1d0fNCQUTIw-DbZaFWK51OXHQGx0ne82XbFvXsKPV0u2cg3piok-DnqXjHCdwPEV-GHrziWFR-1aNBE4pQM2TLF1opnOW04k_Gprhapu6ytZ_m4LZn-aE7yK1yBaoylKaM2wENf4mgxvK-XH87Jw_9SSwBuEeouumOrr08qjTrc9ATkaKpNXQAZkuILGp8-3HmgVQu2AaCkdCkCtg0fMGGdlOr2K6eDkyaIUyelyB4rJEeRDk3SYyExuYl5Hw7l7AsEKZavv6p3fDY8OJ3Tgb_ScJ5qIOX76Hkr6I66BHt17VX571bLBy3HbH7wyrcebddHJsKUmnQpBx5sveY74RD4fpi1GN5UqUfGXCumjEB7o1OKJ6hS9ACo0E2V-uHO3UhfDXB5jJnuY0YMhDMezAZopTjw4JXMf36_cd7MJQ-tiQdOkS_X9goUzMV6kbO6lr5MUP9sQcl2FLWVukgOGg11fxlw8XxJcsx5p5tEEC1j8Q_PjmKaCCF-W9pBN8lIykvlaTLQ9FiRykE9hZa7QOw8cAUB-HQ7BUgykglJlNQIvGuaSRVzTpyi9ZLwAV0qiBge_dK_9221ZNTN4g0jFExIwdlfg9E4tHeKUea3VnNcko65FMDwATQ9MMoV0oEDfJyhWaNUjjyLopbRffF6fosoHYveZvsIf0vsE5KG3qCZvyg0Jc47j4LmTjal6x3qQubCRqtqjaNEj29ZjvNiH_TRIGlEmPFBjwfs898kXnuOudL8_cnF8ZKvWXSqhsxtStQiDRpMa79DuhmP1ENHE6a1J8A2_o7hm6Uc5_38ovLOigFvAYvYyWTA_TicbVEnqz3AMfMbwbwYNMyjkxhJugnIcJLc1opnxUOf28ZkFsUdUHsnMzSe4SceTEUEH38o8yqo9A5F-V8M8ERosDvYseT23g0avpF299OPeESpIomeMxk-B-lXURMmYZdEzuVwunId5qkmNU-CPDI43Jxm7S7hGVib6f2oVVChfc9ZcSrilLdpNOMndtjnDNs7VsGmKwAfwuo6QWSoQFU3uyGUW5moyq0Ib5PIbcsRBgechdcHdUSDYaMgilXcrYAkD5lNAhSLHVmlgE9fTSpoUKgwKzF-95bE8AsmB3Ooo_oSR_aiNkh_wzBkFT-YXTV_ZvLbzO67W3R1YK3XAKH96WKlec3FGHHprCqP3RrPkVKQ0hO6sTZp9d7x0V7jyk4cKA2nmYA9rVs-HwWGEv1COVFI-TGT84fedBB-FJyv93MgiNEBQInRLUvmynDH_tyqqFeggXgYjtyeDBkuIgebBv9QTS0tAdy-rKRvC_Uy-PLvblxT86zVdn_f3PIQianlx7rlD-Cwtp1EGoFHcVF6bg5hZ8gTK8UiwEYp9glpihLOUhnJaF3m4XokY7GNB1VNAYqoPsJpzsdF1Z94XcF-2gtnzbj7wGMyVcRwzEh5srC_Jfrxekc3lArH9oltA6taiKNGqR04Cl76s_KHTSBqcj3Z9FFKPqaTJGjYvTTo4YwpYkQGE_S2U4GXjRuGRO4p9ldHuHBzcqlft5YDnokbn2zglgGkXFGM47Mm",
  "id": "rs_0d1e2ff1af346922016ab44a174d1087d0a603fe2548fe4758",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At 5.8 cm height, the pink bowl’s left rim lies between the jaws: one jaw is outside and the other is inside the bowl. I will close here to pinch that rim directly rather than compressing the whole bowl.\"}",
  "call_id": "call_RHQjbOB2jt1J07Xu1Ep6v3hh",
  "id": "fc_0d1e2ff1af346922016ab44a1900f487d08cd1d3f2db0b10f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RHQjbOB2jt1J07Xu1Ep6v3hh",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8249, 0.6147, -0.3893, -0.1577, -0.0944, 0.9988, 0.5758, 1.7695, 0.8616, 0.215, 0.4599, 0.3042, 0.0093]\nstate[eef_state]: left_x=0.2967 left_y=0.003 left_z=0.1757 left_yaw=0.067 left_pitch=-0.0186 left_roll=0.0324 left_gripper=0.9988 right_x=0.4148 right_y=0.1801 right_z=0.0689 right_yaw=0.0213 right_pitch=-0.0389 right_roll=-0.0192 right_gripper=0.0093\nstate[joint_eff]: [-0.1162, -1.4291, 7.159, 1.7607, -0.1148, -0.0708, -0.0073, -0.0068, -8.8137, 6.3248, 1.7998, 0.4127, 0.1001, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5958232363914537687131d3215a54bf3883b5ca99547b8af75fb2a38adfdad3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc7d1d01faf66a5744b22187429b98d5bd570a637bed5968e2e9ab21f3def42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989f3647deca35a8f882bc519d09577700dcef18188f7ca3b46a7f3e746a136a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0948, 0.8185, 0.6147, -0.3721, -0.1623, -0.0925, 0.9988, -0.0219, 0.8173, 0.5945, -0.4229, -0.0166, -0.0349, 0.9961]\nstate[eef_state]: left_x=0.2985 left_y=0.0039 left_z=0.181 left_yaw=0.0705 left_pitch=0.0051 left_roll=0.0326 left_gripper=0.9988 right_x=0.2888 right_y=0.0002 right_z=0.1606 right_yaw=0.002 right_pitch=-0.0747 right_roll=0.0026 right_gripper=0.9961\nstate[joint_eff]: [0.1983, -1.6752, 6.9675, 1.8779, 0.0024, 0.1343, -0.1343, -0.4034, -1.4427, 7.0906, 1.6874, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8249, 0.6147, -0.3893, -0.1577, -0.0944, 0.9988, 0.5709, 1.7538, 0.8719, 0.0986, 0.4381, 0.2966, 0.9967]\nstate[eef_state]: left_x=0.2967 left_y=0.003 left_z=0.1757 left_yaw=0.067 left_pitch=-0.0186 left_roll=0.0324 left_gripper=0.9988 right_x=0.403 right_y=0.174 right_z=0.0584 right_yaw=0.0337 right_pitch=-0.1239 right_roll=-0.0598 right_gripper=0.9967\nstate[joint_eff]: [-0.1026, -1.4564, 7.0359, 1.6972, -0.105, -0.0659, -0.0122, 0.3897, -8.8137, 6.3932, 1.9902, 0.3639, 0.1685, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8249, 0.6147, -0.3893, -0.1577, -0.0944, 0.9988, 0.5758, 1.7695, 0.8616, 0.215, 0.4599, 0.3042, 0.0093]\nstate[eef_state]: left_x=0.2967 left_y=0.003 left_z=0.1757 left_yaw=0.067 left_pitch=-0.0186 left_roll=0.0324 left_gripper=0.9988 right_x=0.4148 right_y=0.1801 right_z=0.0689 right_yaw=0.0213 right_pitch=-0.0389 right_roll=-0.0192 right_gripper=0.0093\nstate[joint_eff]: [-0.1162, -1.4291, 7.159, 1.7607, -0.1148, -0.0708, -0.0073, -0.0068, -8.8137, 6.3248, 1.7998, 0.4127, 0.1001, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5958232363914537687131d3215a54bf3883b5ca99547b8af75fb2a38adfdad3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc7d1d01faf66a5744b22187429b98d5bd570a637bed5968e2e9ab21f3def42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989f3647deca35a8f882bc519d09577700dcef18188f7ca3b46a7f3e746a136a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEogGnpxhMPzdz8UfUPEk6PtjXdjw-73YlIwCWqt3mpZser1ELszqdoW8kSYJyCUSFnP2peANh4d4wAWiIPItAO1IzDwY6yYptuImF-1cH_2nExTNcD4tvmZMIecTDwqxSmP2FeL5w61kp7tN9nEcPL4asTOdZaxX18u2TpqwjTnC-6QkJJquj0J79mLpsKhzYvgrhc4QCg-9ReJrou4wZE4wEFOZlZc7XNU-BjjqoPl7_UqE5GtKxdy4BMCPB2RJvj0WAq_EplGdI8TUwQxOEZe8g-iA3lUJwf_eev0kbcek-y3PcdWp0QXjz6u_EmjSZFdF8M4eTVs4ktNu7WcrUNqwjkawuk48Sm_KnfnJ8h8bm830Q2Jz61l4297iWHA3HYrcaX1WGyVRCvlcsQU6jEgcbJ204xHto2hHQVNPRHAB--bco1YC6teDSFzZYzxAcj9lGgGskAB0vjjsrKIbdJOaC42sJXJtMFC78JkN8ysP_KVjKOxeX3W4YNX1sF5b43L9iTxPtm2UrML65UkDhwNQoFSvUlh91Qey1F79SBzXF0sy9MNZWvRriDEgnT3i1Jpi3SB2N81hocSa-YfOAGZECdVsLMicwesO2My9eAz4a_Y-B3PtAlw0Y1ZBaOsICwEAV53TNurtZrHcRSnRwCt9dMfDfHUH1MjTagvQVVi3TCXwPJfGd0Qfk4fSyWa1bTOQgZjYKxBbcMqCFfVvJHL9ha8QEZZKww5s62EcNzYY_PEEbx_YvTu9nh7KmjLQ41_1uVRTEljn5UIQzpl8sjtSwlTXN_f3Kp-xxiJWdlaRpDGkA0rX-m0Zi3lCkf8cJp-M-mjFTO2PbjHAXZCLpbPQ_-L_WSXTlc43sfYn7lLVnht4F08L75qPaGwV04PVi2zySXAeNz4l-fRpz4ugCJOolMIBZdjqlYGCFt4CGpL8D5Q0tAe7x3jx07e663CfphfDH_3nQpdJ4zszljQybY3WbSbD6FlWaDtXjHhx4lcQLp_vFA6p0jWoq4vvnygzmTX1gEyR7YTcHEH-F5Z3-U8XFBzIDMvnLFmwavHbFoSh2Hjv0ax6f93esIsCoXQJT8MVyXKaQcwNT02GPtbQ9ojB-mk9416yvfBX7sJe_fiTyo2DguMM-omXNkLy90oBkAUKn1Mk1RKXBD4nUaNiWpfNvFP-QSIU_WBBvi0CG62Fm5xuTN0-z4A_TUnswqHf0oz4PD2iHsFf-njoIftR71thOXH1d0dDOV8rfWME7qkARaw8MQqrJ5a3KLiQR1BMpkTyzymwtrBxpYLwI6Y-bVqCldh2IhCgc5VG6bbKfxqVxAapvcId1K8_3RG6YRBdgVo0QbvE-ZJOKzA0PrueBA2OOy-lxJHmeorRPHVn3jhXe-xPlEgs2qUl8kqUersUN7COh9oVvCVrPBz7SRTLuiTqBAVAbkgh61SYmb7ToLl9TCO2Y9ImHirYedwrBDA0-UewHUMm4CTleZNIDuf1ACoACBhWwcFPCYoBRNWMFNF1bEqUhIRWKo-DhwPJJvMOGE9A-R77gfUq6k8hjMEJu8ULkNOTIfAh6JE-Dg8QU10ZAFlVbVULEpAl8p4qYVct_0e1Zr_-gOfadYQ5ZL0WMhkoLYSoKQo23Cuk9jcyAoM8jLvyWSd-G_Ds2_bt-YpKEfnZsDLKgr1vYaeZtssCU55qB5_ttrhTYqHAvmqzzNKPeXQZHLkDmGKbPbocJrbYBmtJiFdYqsKgC5vDS2wYcLmL-t_SHDXGCJ0lqxqHj4zyAVZ61nlm3YFxwsGU_zaP4rhL4F_mwz5zR_1oOi3u4Q2jhVHnTz7_e6WIt0b7pc_xQDFXpX1P71VIu7LzP5-dUh7Q24JJfGoPgas67a5XVdXWTdv_-toWwhrjSMHmhRNKtvDzv-VuL_j-kkIu6gbvBgK3KYak6kKbScsi_jxUV-ZU8cS1_JwVGIGMsbKrB-nJF4H7wkXtGqnSuG1fkbW11OfaEnxDCYf7T5eoV87oX_uKNMP7XghP8gM-WGUHRb10gCyI8eAiEgyj5ygvb8TE7mgFdnwnM6jG87epiOuyzPxpku3EdpSZ_kF9fMWMG9UiHpsQ3Xba0x5PvzaeTR9G2eZCK30LhXYSxWf6GLTMbtA9LHfh1tSQJa7wqgCBud_b_rbuLe11-jdCphKdSJjJ6N8q6t-lPJSuc8q4k9nO81E2r2mqqZBwMWFPlLu5KpqRYldfAENk7JIBtlJr31pQGtDo830QNTvlc3OEJMSgACycSxGlTjmVFAbz3Ay-C5FXvQQhKXgbjHN1ZnGChZquYHUNQm1dlVoIN0EQYPGygofUQOt6qZZcgSCT6kfVsPemWY=",
  "id": "rs_0d1e2ff1af346922016ab44a1be36087d082e70317c8314071",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.16,\"right_z\":0.075,\"right_gripper\":1.0},\"note\":\"The gripper closed nearly empty at 0.009, and the pink rim is still about 2 cm to the right of the closed jaw line. I will reopen and shift the tool right by 2 cm so the rim falls exactly between the jaws for a second pinch attempt.\"}",
  "call_id": "call_Cf9hXPVJOkHGJrCgu8E5Kmu4",
  "id": "fc_0d1e2ff1af346922016ab44a1e9dd887d087cbf5a6da7cfb96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Cf9hXPVJOkHGJrCgu8E5Kmu4",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8284, 0.6147, -0.3893, -0.1577, -0.0944, 0.9988, 0.5278, 1.75, 0.8234, 0.207, 0.4171, 0.2626, 0.9952]\nstate[eef_state]: left_x=0.2969 left_y=0.003 left_z=0.1747 left_yaw=0.067 left_pitch=-0.022 left_roll=0.0329 left_gripper=0.9988 right_x=0.4113 right_y=0.1611 right_z=0.0594 right_yaw=0.0288 right_pitch=-0.0768 right_roll=-0.0423 right_gripper=0.9952\nstate[joint_eff]: [-0.1709, -1.7299, 7.0085, 1.7265, -0.0757, -0.0415, -0.0122, -0.6222, -10.6051, 5.9145, 1.6532, 0.1392, 0.022, -0.2759]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e25cea1be65d89f76a57dd1a2ba074594cb50e6618b74946388a7ac741c0bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c626aca2eb5f40d975de99ef7498e008e6b6528d6b029a430e1d11e0cb87b92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e86d293bef800343ea662c1dadad761d7f0a196ff79ebcff6782ad0e880abb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8246, 0.6147, -0.3874, -0.1577, -0.094, 0.9988, 0.5049, 1.5749, 1.0424, -0.2428, 0.3641, 0.2691, 0.9967]\nstate[eef_state]: left_x=0.2969 left_y=0.003 left_z=0.1762 left_yaw=0.0668 left_pitch=-0.0163 left_roll=0.0323 left_gripper=0.9988 right_x=0.4056 right_y=0.1564 right_z=0.1388 right_yaw=0.042 right_pitch=-0.1426 right_roll=-0.031 right_gripper=0.9967\nstate[joint_eff]: [-0.0615, -1.894, 7.0632, 1.8242, -0.1294, -0.0415, -0.0171, 0.2256, -7.7744, 9.1419, 1.6581, 0.4371, 0.2076, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8249, 0.6147, -0.3893, -0.1577, -0.0944, 0.9988, 0.5758, 1.7695, 0.8616, 0.215, 0.4599, 0.3042, 0.0093]\nstate[eef_state]: left_x=0.2967 left_y=0.003 left_z=0.1757 left_yaw=0.067 left_pitch=-0.0186 left_roll=0.0324 left_gripper=0.9988 right_x=0.4148 right_y=0.1801 right_z=0.0689 right_yaw=0.0213 right_pitch=-0.0389 right_roll=-0.0192 right_gripper=0.0093\nstate[joint_eff]: [-0.1162, -1.4291, 7.159, 1.7607, -0.1148, -0.0708, -0.0073, -0.0068, -8.8137, 6.3248, 1.7998, 0.4127, 0.1001, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8284, 0.6147, -0.3893, -0.1577, -0.0944, 0.9988, 0.5278, 1.75, 0.8234, 0.207, 0.4171, 0.2626, 0.9952]\nstate[eef_state]: left_x=0.2969 left_y=0.003 left_z=0.1747 left_yaw=0.067 left_pitch=-0.022 left_roll=0.0329 left_gripper=0.9988 right_x=0.4113 right_y=0.1611 right_z=0.0594 right_yaw=0.0288 right_pitch=-0.0768 right_roll=-0.0423 right_gripper=0.9952\nstate[joint_eff]: [-0.1709, -1.7299, 7.0085, 1.7265, -0.0757, -0.0415, -0.0122, -0.6222, -10.6051, 5.9145, 1.6532, 0.1392, 0.022, -0.2759]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e25cea1be65d89f76a57dd1a2ba074594cb50e6618b74946388a7ac741c0bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c626aca2eb5f40d975de99ef7498e008e6b6528d6b029a430e1d11e0cb87b92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e86d293bef800343ea662c1dadad761d7f0a196ff79ebcff6782ad0e880abb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEojqrVWAkGJS4JCxYqxNw9kBSHeXg0rQlLCBv14EvbvT9AjoRq_cz6Ye59007KqrpWIF1fDOlG_nBitYxSqo7myV4gtI05Z3SlKEztOk0cemZxRCaermFeCW-0bsFvluE_9kzP4ky3zmlIZZnarfKvmVH7cMDR4qRtFLvh2zzglmoikJz9NH5OgU-ucIvJ2BNZER7eR4PpPK0eZzPOiy2hUvZ1pcWoR68hECsendTBs-f3E7qLulYvcb41jQz98yUkEtaNHrWZQAMcN8Yqx4r1dscUyr0CI9Hjhc7CNwWnfSWhLiCQb0UWWg77-72vc31UIeJMUTWG7t7CigACNZMdI1rxB0q--XrEJ_HX8pc2UfF-3keITznBhXBaFyOUUZurMZegACCUHgshcu-AzU5-z2UQemvV9pRb1GNgWezi8uSPYFTJNj98UpuHoZNW6xqcxXBue56WsduzZopi6qcxeDpC2rfmSOT92fOPeWyfZXHB8fkxSmBLV0USvTzFSDcfqYX-8N2I0mvo83nOXY5y0PukdS9Eb3K5DRI-UIDlyhkw8Fg48q8ypWH7s9wII_-0w-HzH4aW05kmBXBsQitCt4sn4YkO_p7km2NL7dU3i9bCczPLUxSM_IJQRyieoaJJKEWSyoAf9uNC2KQyIxHDqvYPl9FZsrVz50NRA7LHAEbj-Hb2oG2JAhTIHP7l9oxdfYPs_O89fGpUqsLYpi5BlrLmTAN5mvZHZb41fWSqq-eKicg96wTcwQkN8qIO8H4-h4dBoNyz-zYS492hxBD_J--35JcknvvYH0Q2iQIaGF93VuSiLAtleHTN-L9VuTXcDqq_4iphEbXFE1--yo8WdHagk9SLiqZcCpOMGvSCkh4YajfrdFrDQVbAp_3ZY8nnkeUc1TpRrE6piW_W62RTx4QQ_MYkUjl3Luun3TKgHTa2nrUjY6_AR0u7gX0ciyvwElwM1QfiZCO4NkV1JNk5MT6WaawEGtVpAuxmbmApg5a7kuIKMGBmBJgINLqcQORRPxdW-aU0MJeaOHLZBB-A2KiBS2swmToURq83g9UUAR9BR3xkf7aDdC_wbWz7F-zhbwUqpqNTSMx9xMe6TWkJPOO0sAWxHWvYgqqIg09GQHDy-wDCqZ0AGZSGFmMnX9s1JFVGZCiZSsRgfIf0RzyM6Re-qypyTaRonLYGiYjFkaT8djgpGsSiVx7nGF_0r9fxJVh72ro6ngZ8MKMK-z33qd-3yE7Y18fHnChdEq-k9YNLijnn125wyCWDl2Qu4fSuus7lCEC2C07RYj_hp7UU9LEKEsA2T6dHmOWSR237d3l4=",
  "id": "rs_0d1e2ff1af346922016ab44a2287a087d0a454c4c8df3cd366",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the correction, the pink bowl’s left rim is centered precisely on the jaw column, with one open jaw inside and one outside. I will close to pinch the rim at this alignment.\"}",
  "call_id": "call_24LmIakqJIiMYNzHnR1uq5IM",
  "id": "fc_0d1e2ff1af346922016ab44a22c10887d0b8b9391ee4db2f2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_24LmIakqJIiMYNzHnR1uq5IM",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8288, 0.6147, -0.3897, -0.1577, -0.0944, 0.9988, 0.5243, 1.7412, 0.8204, 0.2062, 0.4095, 0.2569, 0.0094]\nstate[eef_state]: left_x=0.2968 left_y=0.003 left_z=0.1745 left_yaw=0.067 left_pitch=-0.0227 left_roll=0.0331 left_gripper=0.9988 right_x=0.411 right_y=0.1606 right_z=0.0614 right_yaw=0.0347 right_pitch=-0.0749 right_roll=-0.0401 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -1.265, 7.0359, 1.707, -0.1148, -0.0855, -0.0073, 0.2256, -7.159, 6.2154, 1.6239, 0.2564, 0.0122, 0.7595]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebc5d9cd40c81742b4371ee9f5e2abbd7c820c3552e79d7da532cf181108f14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b49958294970ede743089f9bc63e5ffc35bc82cc330d521f0edbbc642677a0d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:777910aa5c61df101fb8f4dcb98ca428dd08e8a9515c8c8f0af11cbab30cee78",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8249, 0.6147, -0.3893, -0.1577, -0.0944, 0.9988, 0.5709, 1.7538, 0.8719, 0.0986, 0.4381, 0.2966, 0.9967]\nstate[eef_state]: left_x=0.2967 left_y=0.003 left_z=0.1757 left_yaw=0.067 left_pitch=-0.0186 left_roll=0.0324 left_gripper=0.9988 right_x=0.403 right_y=0.174 right_z=0.0584 right_yaw=0.0337 right_pitch=-0.1239 right_roll=-0.0598 right_gripper=0.9967\nstate[joint_eff]: [-0.1026, -1.4564, 7.0359, 1.6972, -0.105, -0.0659, -0.0122, 0.3897, -8.8137, 6.3932, 1.9902, 0.3639, 0.1685, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8284, 0.6147, -0.3893, -0.1577, -0.0944, 0.9988, 0.5278, 1.75, 0.8234, 0.207, 0.4171, 0.2626, 0.9952]\nstate[eef_state]: left_x=0.2969 left_y=0.003 left_z=0.1747 left_yaw=0.067 left_pitch=-0.022 left_roll=0.0329 left_gripper=0.9988 right_x=0.4113 right_y=0.1611 right_z=0.0594 right_yaw=0.0288 right_pitch=-0.0768 right_roll=-0.0423 right_gripper=0.9952\nstate[joint_eff]: [-0.1709, -1.7299, 7.0085, 1.7265, -0.0757, -0.0415, -0.0122, -0.6222, -10.6051, 5.9145, 1.6532, 0.1392, 0.022, -0.2759]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8288, 0.6147, -0.3897, -0.1577, -0.0944, 0.9988, 0.5243, 1.7412, 0.8204, 0.2062, 0.4095, 0.2569, 0.0094]\nstate[eef_state]: left_x=0.2968 left_y=0.003 left_z=0.1745 left_yaw=0.067 left_pitch=-0.0227 left_roll=0.0331 left_gripper=0.9988 right_x=0.411 right_y=0.1606 right_z=0.0614 right_yaw=0.0347 right_pitch=-0.0749 right_roll=-0.0401 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -1.265, 7.0359, 1.707, -0.1148, -0.0855, -0.0073, 0.2256, -7.159, 6.2154, 1.6239, 0.2564, 0.0122, 0.7595]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebc5d9cd40c81742b4371ee9f5e2abbd7c820c3552e79d7da532cf181108f14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b49958294970ede743089f9bc63e5ffc35bc82cc330d521f0edbbc642677a0d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:777910aa5c61df101fb8f4dcb98ca428dd08e8a9515c8c8f0af11cbab30cee78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEooNUfuWEGA1udoOsxaIsF5pBsfJybnlbG41a5lRH7y9SkWDKYtWL3_IDQYtLfWUxgsmG_W5zX1YmmvXu2XMT0gPyHiE8PUW8UQyEeAIV7juKakXD7yKGIgHIVlhfiz6j2zljB8g_YabE-p4E2LsOY0-ZMKrh-oXxpF7GFyNY-Fao7V4r8yeql4w7rwh9WuAgUVS7foPvSjeX8o5XYXkQU9Ok4GpFhlWv42oBT5FqLWAMzhZzdF_QgsEsK3ZdCJoa7OFY_xGUYaLjexx6RcJL4zsrw9F9BaI4GSvGxfJ5Q8einlGMnxCy_ah72IQDYxFyFXd08kqklvQgmEtcY_LRogv3QkDAdZoVGxriwArbpUCqT7tVgkaEcQyB9ZL3G1D5XIpFBhPrwN085dM84Oh0V1uZnP8m2fjvbUiKRc5Ia0ICnprjGhf3mDjDvT34eVSVOyGD4IHrqQ9OiEwZZ8bgieZpF7W0rKQVcPmZTQD0cJXUjUWPO2O5mnTb_13wry_-_J-qOXJG50aLmONvm-pJ9VjvOb-vAJTcacrDpYtxAn99zyNG56pEvRjz5NYMVIY2uYLIjZMunijYAYgsZpA1lz8Gf0iLB-K3mh67N9kPAtHrZTYuJx9G4vznLXNnkxrurJrsUDAkpe5X5Op9CKYoD1gVrtCvja2EJNsvH9VbRrVLjLEajZBgLPlFCuyIi6_epHmL-UMMpasTfoEYZvpy4_44Bck7UQl2EfP3r85xKKJSXE7ePe1xWAcPklxndgoiyQGStd9RCv93aWLH5B-eFd8OceJLIPj1L2i9pefFMF85A7jHHBUJ_RFfhR9Had6si8YPeT7YtCNuXUIWSoVBqlXWkQgS0C6jqxcDT0WyUhwiunHj3-N3S_3YKRXrSFGKZiuXEK0S97Zx2LhB6BwZF7OxyB_Wh9jzHus7dbH3FLSS6uJOYO_79Ek11ed69kZf7B4q-YXymHZpXt6hdAhiY4LPJGVG7n3fg0jAIHLWrZtVVjH0zhiI1FHQa9C7_dSYMGCiEcZKpjN3-XhAAWeeLLegWaBxVYhGPROExXxaibriw48JCvxlo8scEdhxnSe1AajLIzeKoaPjYL2ZJNRLgq7F337DgMZz9VUU_xL7mNgje9Qbx5ziIETMaiPGuGTHU_VoHzq-3ePS6d7oFepLbhbERScV8PrflHYxNxvEf8kDrF3Ye8Q34mIalCttfZPuGsMzRJ3hgrNsi55HczAYSeq-Cs0V15sBKbs5oQQcp6f02vw1dQr3WNyIglqEbh-E2X9ZRHwQPQol6nGx7PF0t5Wlw4YfgwQvxOvYe8ZbL88KWImUQ8dNfWOtPPg8k9gFo3wtvcxMA8H91UQwFtIqhhlo98iTIOu7jz7dFRiz1ndl6JyDGFv2gJuaikjYiukiOYYpH8f8WvUSmYPQoAjzmm3iis_ut4ZUR4kweOc4LMK3ne6e4eEpA-sMgW2tUJR73p0nqVWKQRoeFM_Xx20_gEs5msbpF-XajJEChelOJn-vc1PxTKgsc2pVoSv5m9j-wc9be5jgiK2APDaSt9xrKFY8iz8Yki8XX1ktg2gnWsRgMHSbHGtF97QZfamRwrTfNss_o-hxCX5pe_qnmkbl-yTxyw7HrAJZXqUU0-QW-BsD7vvMk_gX73Wa8qMpRlKlazShwExl1JNmZXSmWU7HiNJczrbkohOPlSly_pGelygvJqoVAeeejn1hF3KDEhA-9nUms4jhd1A_8x2Kdv8OtyxHaZCApIucx4A5_RnI-8Mo3Q60Se5fEZ0mr6XKW0yd1bTayXpOLFo3atsKIQM85ar0YzMRDwTVot2jLM5IAVcf4uWM0bn7moA63Mwbui3GwMwuWE3kbbpjhp9hk_PFgr60aEAT623PGFSLQAGF-J6il-5BcWZKuQJGTJYUIBExrmb17ib5_mit1Fdby-Du1UQQsWE0PoquhZr-L0mTtnZr0Y9zS5VZphE0rG_apccFZOqthU-wonflL010cTkpHEQR8e3gEt06L4OB5gNcbviJtRCGFmTAROmPCI_2iV7SfSEU4jHM7AGjMjbKYM2V_OEaXm_gZ2sFJm5EAmVrBrqRqJ7onabymcTK-yyWcAjQcloUCW39Ou9hhgrvKkTUVl0pVf3WUs9nRLWHNc6R6zFr87hMl45M_0lUp84NS48D7wbE14xgrxKjwSLYfZ8ctRifrpFZBVrHV3377VMFjwHWLkPkV2PxtM95fJfJet0pah2nk0NOge_UkXkwgD4ldJf7nnx-pmXu0TmzHX1gc_ctU=",
  "id": "rs_0d1e2ff1af346922016ab44a2590c087d093af6ba769453287",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.411,\"right_y\":0.161,\"right_z\":0.025,\"right_gripper\":1.0},\"note\":\"The alignment stayed correct but the 6 cm grasp point was above the rim, so the jaws closed over it without obstruction. I will reopen and descend to 2.5 cm while keeping the rim centered, placing the finger tips low enough to pinch the wall.\"}",
  "call_id": "call_G3Ba4MUFk3ilo6GFG72h5dbu",
  "id": "fc_0d1e2ff1af346922016ab44a274ff887d0a05eae4bc27ce875",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G3Ba4MUFk3ilo6GFG72h5dbu",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8314, 0.6147, -0.3901, -0.1577, -0.0944, 0.9988, 0.5243, 1.8374, 0.7704, 0.3294, 0.4034, 0.2508, 0.9952]\nstate[eef_state]: left_x=0.2969 left_y=0.003 left_z=0.1737 left_yaw=0.067 left_pitch=-0.0257 left_roll=0.0336 left_gripper=0.9988 right_x=0.4074 right_y=0.1596 right_z=0.0248 right_yaw=0.042 right_pitch=-0.0972 right_roll=-0.0521 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.6615, 6.9949, 1.663, -0.1099, -0.0464, -0.0122, -0.0205, -7.1179, 5.094, 1.8193, 0.2222, 0.0122, -0.2906]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3f9b2443f3d6eb72956c7b3275e52234e1185ed65c68e3abdfbb94da15f8d16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb95bafd8abab9f4602bf549d4bef2805a043f1160847ca08428c87516a55c93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43f2f33aecbd767a05819171c46498c5c042f04431307e1bcc99c51cf2b8cd56",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8249, 0.6147, -0.3893, -0.1577, -0.0944, 0.9988, 0.5758, 1.7695, 0.8616, 0.215, 0.4599, 0.3042, 0.0093]\nstate[eef_state]: left_x=0.2967 left_y=0.003 left_z=0.1757 left_yaw=0.067 left_pitch=-0.0186 left_roll=0.0324 left_gripper=0.9988 right_x=0.4148 right_y=0.1801 right_z=0.0689 right_yaw=0.0213 right_pitch=-0.0389 right_roll=-0.0192 right_gripper=0.0093\nstate[joint_eff]: [-0.1162, -1.4291, 7.159, 1.7607, -0.1148, -0.0708, -0.0073, -0.0068, -8.8137, 6.3248, 1.7998, 0.4127, 0.1001, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8288, 0.6147, -0.3897, -0.1577, -0.0944, 0.9988, 0.5243, 1.7412, 0.8204, 0.2062, 0.4095, 0.2569, 0.0094]\nstate[eef_state]: left_x=0.2968 left_y=0.003 left_z=0.1745 left_yaw=0.067 left_pitch=-0.0227 left_roll=0.0331 left_gripper=0.9988 right_x=0.411 right_y=0.1606 right_z=0.0614 right_yaw=0.0347 right_pitch=-0.0749 right_roll=-0.0401 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -1.265, 7.0359, 1.707, -0.1148, -0.0855, -0.0073, 0.2256, -7.159, 6.2154, 1.6239, 0.2564, 0.0122, 0.7595]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8314, 0.6147, -0.3901, -0.1577, -0.0944, 0.9988, 0.5243, 1.8374, 0.7704, 0.3294, 0.4034, 0.2508, 0.9952]\nstate[eef_state]: left_x=0.2969 left_y=0.003 left_z=0.1737 left_yaw=0.067 left_pitch=-0.0257 left_roll=0.0336 left_gripper=0.9988 right_x=0.4074 right_y=0.1596 right_z=0.0248 right_yaw=0.042 right_pitch=-0.0972 right_roll=-0.0521 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.6615, 6.9949, 1.663, -0.1099, -0.0464, -0.0122, -0.0205, -7.1179, 5.094, 1.8193, 0.2222, 0.0122, -0.2906]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3f9b2443f3d6eb72956c7b3275e52234e1185ed65c68e3abdfbb94da15f8d16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb95bafd8abab9f4602bf549d4bef2805a043f1160847ca08428c87516a55c93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43f2f33aecbd767a05819171c46498c5c042f04431307e1bcc99c51cf2b8cd56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEorQxnDX71_Bwmuf0hGqZvW2yIYTNGubvx9nSovqc1O9lGgW5b8jUmPEoN6PoQ9qleKx7UqrWyoLiHnuBJWrgMnzcKBNRMUO6dDjWv_ews2F2cGTPiBVYcMAQX8xGcJGoR29wiwnxCHWVM1nkAXhflnAQDJQzv_LGlSmWj-_vlxdgvCdt1_zanOnUx8hAcyDGJpUSF3nGs19IjH2MN_iz-yJY1-8v9upumREkCS9lAYGKiHudQ2o7FdZh3pn_B-o02qE31WLDQimDkx3ldZPG4stsUGgqRunAQ3hrI4AaMDaWxYm9BKKs1_-qhYQk-KKiJm-sEZVesGxtSCPqtPwD12AwtfvIZj4ojX6IWS6FlnQiNK3B6WbLAXDzzGgQiBj29MUFaNtDZq-ta4WZO8ry3Iy2Ce9w_iVcTB8GYEqqsZYTvaZ_x_D6n8fv8_0K_kuLBMh4yfiYpZQiKuzNBdb5froh0sNPmxLv5Vd7r-QNSvRRMjqQl0zyk3t1GYrKAQr9lBoSg8pMI9jrxKuZrZzE-oTbg1Q-RL5-GNRHmxdHDq662h5Xw-YDZ7ADyCKsEDs0Grmdi6HAm3d8EL6-NixcHwiK1di7JFu7C8YSgZb1C3JK747vpEGOp9-SLD8J5_LdLxdbSlfy16avg0-stFUUKiZRNe_oUnMRQmYMVRln93tDkPSmVbX9xicqgl90fqXx94X-yNTHhgx_WdjVbbwuW8KFbWu8JeOjQtRAyPvT51yYViZX46tGGwlpUMjhJMylL7cXk7WL-LSU5pt8G34H9xjZVHwkrFvmlWwCd7MqJZucAXXIX3iS4qmzgdLnrrhqagQBZ8VpytwstjBaN-2LH1WRdKYjonfs1F7Y7uc2kxkZqYPyTHUvJxw7sRI_YkxJ8UfnxX43gDX9NV6ItKQhw8mpL-bmUnksyyHREyPbat9O7J9GxKgcMCSEKrXkM6okjQiqqqbiBNK0z1GNSRT_TX_Clbplbx9uzZOYCf9kfBe1BiW2rK0MN9TGRxpccHMfKV23DcEHcKqKvH6Y16eo3ARm3BdaaGHtdLOi6HGRkKHF3d5iwkZXV-ehHrXu4r3hcXMK9gTZbsrJB5LG0o78CM_DkIssBs-2eQzt09b57jS_LM0wP4v2Hj0cVJ4CXSTAZyT3ly4Winb0AC6f8YBp8VOlR7Wb6xWOBAgkKnEav6McJhwCYWksrk8TONmNXWkzne9gYg7pTa2E8472CQTxpuc8j-G2OBeZG8MQSeLrkihqHlQcllVccMggwI8ZHfFny9KzgZJbG-T12oulsmXR384sW13HkYzfXBea0iGMWyr7CbPCwUE-yebPqSEFJsqh7-9qPqO3rcI2BdLr1SWG7rcf7IG9OBEngW_tQvwirn1gGIc38lbaKzE84zofAfQypSlSRDr-Zm81Siq7YjHYU24g==",
  "id": "rs_0d1e2ff1af346922016ab44a2a798087d0a2d53dc8d1814e6a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At 2.5 cm the pink rim is still centered between the open jaws, now with the fingertips extending alongside the bowl wall. I will close for the low rim pinch.\"}",
  "call_id": "call_pNFSOLgvgYPdHKldKbhfUtbK",
  "id": "fc_0d1e2ff1af346922016ab44a2b0ca087d0a44f593b371fd2bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pNFSOLgvgYPdHKldKbhfUtbK",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8314, 0.6147, -0.3897, -0.1577, -0.0944, 0.9988, 0.5243, 1.8397, 0.7704, 0.3355, 0.4187, 0.2268, 0.044]\nstate[eef_state]: left_x=0.297 left_y=0.003 left_z=0.1738 left_yaw=0.067 left_pitch=-0.0254 left_roll=0.0335 left_gripper=0.9988 right_x=0.4086 right_y=0.1575 right_z=0.0257 right_yaw=0.043 right_pitch=-0.09 right_roll=-0.0785 right_gripper=0.044\nstate[joint_eff]: [-0.1709, -1.4838, 7.1726, 1.663, -0.1245, -0.0806, -0.0073, 0.0342, -8.1846, 5.5863, 1.3651, -0.0611, 0.2466, 1.4579]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5241c0073c1cdb822d66b574e4ca5422a85f3181e557f14e9daaf44d16e4b01e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549fe8df54b385da1b8039a29149d4d0b6f6fad0de27d0d06fd12ead433b947d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65b674a63b49fd021c91404551f50a8ada7102a1e363d0541b48eed7291612b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8284, 0.6147, -0.3893, -0.1577, -0.0944, 0.9988, 0.5278, 1.75, 0.8234, 0.207, 0.4171, 0.2626, 0.9952]\nstate[eef_state]: left_x=0.2969 left_y=0.003 left_z=0.1747 left_yaw=0.067 left_pitch=-0.022 left_roll=0.0329 left_gripper=0.9988 right_x=0.4113 right_y=0.1611 right_z=0.0594 right_yaw=0.0288 right_pitch=-0.0768 right_roll=-0.0423 right_gripper=0.9952\nstate[joint_eff]: [-0.1709, -1.7299, 7.0085, 1.7265, -0.0757, -0.0415, -0.0122, -0.6222, -10.6051, 5.9145, 1.6532, 0.1392, 0.022, -0.2759]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8314, 0.6147, -0.3901, -0.1577, -0.0944, 0.9988, 0.5243, 1.8374, 0.7704, 0.3294, 0.4034, 0.2508, 0.9952]\nstate[eef_state]: left_x=0.2969 left_y=0.003 left_z=0.1737 left_yaw=0.067 left_pitch=-0.0257 left_roll=0.0336 left_gripper=0.9988 right_x=0.4074 right_y=0.1596 right_z=0.0248 right_yaw=0.042 right_pitch=-0.0972 right_roll=-0.0521 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.6615, 6.9949, 1.663, -0.1099, -0.0464, -0.0122, -0.0205, -7.1179, 5.094, 1.8193, 0.2222, 0.0122, -0.2906]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8314, 0.6147, -0.3897, -0.1577, -0.0944, 0.9988, 0.5243, 1.8397, 0.7704, 0.3355, 0.4187, 0.2268, 0.044]\nstate[eef_state]: left_x=0.297 left_y=0.003 left_z=0.1738 left_yaw=0.067 left_pitch=-0.0254 left_roll=0.0335 left_gripper=0.9988 right_x=0.4086 right_y=0.1575 right_z=0.0257 right_yaw=0.043 right_pitch=-0.09 right_roll=-0.0785 right_gripper=0.044\nstate[joint_eff]: [-0.1709, -1.4838, 7.1726, 1.663, -0.1245, -0.0806, -0.0073, 0.0342, -8.1846, 5.5863, 1.3651, -0.0611, 0.2466, 1.4579]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5241c0073c1cdb822d66b574e4ca5422a85f3181e557f14e9daaf44d16e4b01e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549fe8df54b385da1b8039a29149d4d0b6f6fad0de27d0d06fd12ead433b947d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65b674a63b49fd021c91404551f50a8ada7102a1e363d0541b48eed7291612b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEov-ND7gzj4u0jpGHOCkGYp4O58YT9bPgR4RRzDLcu_h75EXW8HQxz5q33apLO386HGuR3UAyYQ6_wKuZviivXJTb4A_pocoGnVKaCaAIL2RV3vSoxi1QjQffUtl6REgVJ5_6skz0WfRKaZF2QuG0wJzRAUR78qysxbzAiSE_ieQcCbgj9ICD_QN7aemeH-p9lFTPXxk7DUc2BJQsYl1tdcxt6Kzanw1oVBo1I8m4sU_ZvBMviBfndzDgcjiUkMy9daIR2S43EvvLM2jtqp2sY46PzsqnhS-qOC2N-jTPOv4P7KS0Hgi5GQALXM5ti2MVlpaBWbH99A5rffhCeNuMWVf_dDpIx9JX2qZL_SzRjbrSGJI1fYupDGQaZYufEgd-hct-f233jGs48FFUjLptU2wFgH_SouN92XydEQXOGSkeo8R7gFKKEWcPRcZq8p7ZNncqUJq5hGG2j5SuHjUBwYtyoAMqYDIJZVn7etib_Aw9-milf0hstLHxlGnEyYyxtIGpRN2FDetrJAJKmJD0hEmYo6pBnix_Y_wb9j1WPrUjVDswh25QeP2M2vZJKUFRYlJJRfmRTkDi-YdP0_5xZ1t2LHeFvFKbZwgdAQJyw0dTVQkmLqMJonLs-I_BlMZDWpPuchG0h6d4XpyVxw0fJAe46OzbOpHW3p5P9JbVPcX6wudPV3SGcF6sT8EGTItZkkUeNFg2xoUHH6YBCibJXnz8MHCMVD_zFosXQgObx393fBeHDg-UA4mpXOkdu5ergabnztTLgyvFhgeFXxXgSJIxwy9zmE0D4bsQzlAmgcEZjFRkDdLVtpyDm_OIualHtMdJ_DDmuNyRdnl4yBeIHy6ZmUertDJc645CoBziF4Hv_TiDN-PaDm6U_56fHW-cjqK8vrQISRtO2-Vb44nXaAJgR1EhTA8FjnyaikOw9Je5Yhm2lDqF0O0ZX_7mvQH0txwGOekASvaUCpnCHYZCaQBxngrCVom-fKa46vx6kN6CNtMaURrzynIGff_to6-11rC7fhqiB1ntqi9wras6bCSGrzuf2LpZCogJLd6CedDiRTrAQ4Bw7gyzWRIAmrjjaa2sQt_Q_5SFz_jLYSDwoYOFaVKlAH_3t5ShHNtTlUT5si0TeZ-egY1zAXomuf51mES7v182LOVsDWLxPL2LahMkGp2jtIY0V5jpENz-wzfd3MLWzjFFk_KR-En8hDA6z5eHtG6S8iu8qaoCdJiaro43gHvA8e7ShMOF36LNgpMck=",
  "id": "rs_0d1e2ff1af346922016ab44a2df8d487d082a88514ccb1906f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.409,\"right_y\":0.158,\"right_z\":0.12,\"right_gripper\":0.0},\"note\":\"The settled opening is 0.044, above the empty-gripper threshold, and the rim is visibly trapped at the left jaw. I will lift the pink bowl about 9 cm to confirm it travels before carrying it to the stack.\"}",
  "call_id": "call_ZxXolxlCFSSHd2SFG5s3TC1B",
  "id": "fc_0d1e2ff1af346922016ab44a2e13d087d0a55611907e36d709",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZxXolxlCFSSHd2SFG5s3TC1B",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8326, 0.6147, -0.3897, -0.1574, -0.0944, 0.9988, 0.5236, 1.6409, 0.9104, -0.033, 0.4065, 0.2199, 0.0466]\nstate[eef_state]: left_x=0.2971 left_y=0.0029 left_z=0.1735 left_yaw=0.0667 left_pitch=-0.0265 left_roll=0.0335 left_gripper=0.9988 right_x=0.4046 right_y=0.1571 right_z=0.0961 right_yaw=0.0543 right_pitch=-0.1206 right_roll=-0.0901 right_gripper=0.0466\nstate[joint_eff]: [-0.1846, -1.2513, 7.0632, 1.7167, -0.0904, -0.0562, -0.0073, -0.1983, -9.0598, 9.3744, 1.6777, 0.2515, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4addf8c58b3d8c017eeb38f7c7e931c88756ea0f5055fb544c6d48fadbec29a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc7c1b2ae0b21f06dac96ea884ca583177705884adcaa710fe9978da49d6f37a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c83c534f8843c41cb23f2c117ca1293fa63e9291f0060d91bf1464cd23a580b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8288, 0.6147, -0.3897, -0.1577, -0.0944, 0.9988, 0.5243, 1.7412, 0.8204, 0.2062, 0.4095, 0.2569, 0.0094]\nstate[eef_state]: left_x=0.2968 left_y=0.003 left_z=0.1745 left_yaw=0.067 left_pitch=-0.0227 left_roll=0.0331 left_gripper=0.9988 right_x=0.411 right_y=0.1606 right_z=0.0614 right_yaw=0.0347 right_pitch=-0.0749 right_roll=-0.0401 right_gripper=0.0094\nstate[joint_eff]: [-0.1026, -1.265, 7.0359, 1.707, -0.1148, -0.0855, -0.0073, 0.2256, -7.159, 6.2154, 1.6239, 0.2564, 0.0122, 0.7595]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8314, 0.6147, -0.3897, -0.1577, -0.0944, 0.9988, 0.5243, 1.8397, 0.7704, 0.3355, 0.4187, 0.2268, 0.044]\nstate[eef_state]: left_x=0.297 left_y=0.003 left_z=0.1738 left_yaw=0.067 left_pitch=-0.0254 left_roll=0.0335 left_gripper=0.9988 right_x=0.4086 right_y=0.1575 right_z=0.0257 right_yaw=0.043 right_pitch=-0.09 right_roll=-0.0785 right_gripper=0.044\nstate[joint_eff]: [-0.1709, -1.4838, 7.1726, 1.663, -0.1245, -0.0806, -0.0073, 0.0342, -8.1846, 5.5863, 1.3651, -0.0611, 0.2466, 1.4579]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8326, 0.6147, -0.3897, -0.1574, -0.0944, 0.9988, 0.5236, 1.6409, 0.9104, -0.033, 0.4065, 0.2199, 0.0466]\nstate[eef_state]: left_x=0.2971 left_y=0.0029 left_z=0.1735 left_yaw=0.0667 left_pitch=-0.0265 left_roll=0.0335 left_gripper=0.9988 right_x=0.4046 right_y=0.1571 right_z=0.0961 right_yaw=0.0543 right_pitch=-0.1206 right_roll=-0.0901 right_gripper=0.0466\nstate[joint_eff]: [-0.1846, -1.2513, 7.0632, 1.7167, -0.0904, -0.0562, -0.0073, -0.1983, -9.0598, 9.3744, 1.6777, 0.2515, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4addf8c58b3d8c017eeb38f7c7e931c88756ea0f5055fb544c6d48fadbec29a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc7c1b2ae0b21f06dac96ea884ca583177705884adcaa710fe9978da49d6f37a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c83c534f8843c41cb23f2c117ca1293fa63e9291f0060d91bf1464cd23a580b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEo01rTfP3etAJJLF0dcrXNyWxNqGk8Z4-LBJIpCJzrzhuhdHBqCBl0tWRGoip22bDaRoWmOh7l1Wo43yu3UpSzV3P9DBTQfeD9M-tWuoR3faMgchs27kOTudEkXw_6Sbjo0oQxl_EZwDsLJJHsceN4wdmxzKWyd83wyCzBW9YgsGkX8G7k8zRQmK-_KD2HllHGi4SO9JJGz5APFdI3ILtr_JgdoKiCay2S8GMxrN-prKR5dFWLh-HNr4E3XGshmuKANMPTJEJ58ZVJ7QtrrYJDwLMMrEDNMbyruZ-M3VyDBmMMK-Hz2HvF2p_JgfkFgW1MI012NU3bf2QTz28_HBfEKfNGthyPyYgHiEbQhCYDg3VJpaWcCXKl7001w61xqRdpSD_0BZDw25JWybHDRYDRv1-C12CT6N_G0Ef3cf9n4jvKK9sEqxaD2gC-CfnZ0WV142TNpb2jXi9zMgmveru9yeYYQ3r2U49PM-N9aAl8EfLFt62rDYuFa-bG1p7kX9qU1o6L2ln70-u5O_1B2oORTH1skpkfyNx9TPBxobf7ijQbL5yIgHUExIGOmmiRg-OZGjbH6BIUrLyHp8Gxlmi6PDqxhsFz430xTAkwSb6NHCSbDtKt6Wxu1OOYa3r7kzA4QTr81JxCOY49nIJ7zWcMFktBzR6lRxtZDO7ZP3CaM1Csv8gz9Ccdz4Hmsy5KPV6wxqmc-DCl_arsKXqF6j-Zx_NRFwjr3migR2TpQL0yYr6OcR8WODhH9DfobqlZb6djG5BtYunI4BJVObptrBm5dNGz5mu69mp0Rk7kMBE_7nVJ-5AOAC3uHzrxeuO5vlzVNdvXXn19oexuCNgadQyv4vgjrT_cv0MDVl5JoZf8sopO3sjwRPnuF_S0y7npe8xsP5Crq6HmtgLlc5lh0e4mA0m7JT8mKe9exha6lHbtEAJat_opDlLAycQ7yLhGzGAWLjZTIs4QOVWsTpj0vmiQe3rciOuoxdZDf29Qd0gXcOefT8k8hnDtXA8A5hnEdZba5PPvQp0dvDuYy1ewaBsb6cv2uvW4qzXCPHJMhs1moUPuWVhLxwmr4zq-Jo7-3FGrt5QEsv8XqK8wUHben1YP67K1LQRwUgbsehMoBlS2RXkKLxCzWDeOXvu8LQPLSuGPNd30JoV4yKa6boiYs7AYaZDbOorbFi0317PcrZQQgnRPN5R7RAqZm-kV_VKM1-qxQQ7rQNA-hqRji5-dEbu4h2cR15iucjx73S8pWiKMTaUQcbF6UOwkyoCFNH2Y7nADduoi8xH1bxt6lgGhY_USgRkclGvKCo-K3RCwxKyERqqk8IMcVtDxEzNzNlSGE9PvQ1V4iLGWN4-x-GVBc7b8VWVk4wC3WmaSgBgseHI0jY26e-JGOib7xtFVYiPNjSqUb2Ss5F1hFmzeI3oe6aUNjA8qqHdW09MJ0qhXH1D7s7fR4uwjZ2rRD8VinyHqQsbVgYq4LB5D27-hQLo69gz-KzxRGFtuTuMJHIQJry0Bn1b92prOIcST1-YNOt2A15uk5OLjnIH4E3hI_uFZm9sp_OEev3Vdp9ttynLdgCmLroMVZPcqs8O4Lme1s_6iwG4EAufBkJ4nNs6Sqa-RrYrQXwWAcSyixhrqsZKVcgS5w7F-pv8kSPvCzlljoWEbLwpntnNvcFwWJVwVcvP4JP8-ykHagstLWxmyUoOqjOJpTAQKmpaZn6vROWeAV057WrelO3pwb1dLAOE4ShFAoNwb50Mdkyb_BJMCcvGtVxPlhqn83WlOcd6yRbAI4D8aap9Wb04PEECZdNdTUXvOIPQwBwPAdWvXhwrk5JPRISNG3TKV8yXxyVigA0uxZa0MJ7OdtbEk-965-EDfuSOfyy3qJA0KIXruJhoewifTveu7o7B7AbY7koP37BGis46mvoQE1lrMISqtfFPgyXvPWJZh1nMcVg36MvZ_S3IOAC0V34B5vZWMpeWjxXP0k03hC2sM1Ha9ExtFbrZg-iVtDy1vfc7_edYVuMOsbVFuqQ3KKQG8wGb1QKdLfDeAXjVnsCzHADFY86HqcFqhGuNQSm4zENqu_Rmu_sZQna9_2uizwvzc6z1BVPUIbQeSoJl_zSSKSYBwQKoFkKLiW8BSMpWjdWZhmeb0a28BPSWK_e-fb4wxRrDEDwpwSC5h-Rl-_010KXJqCveK5dBroGVNL8ho_-rw3XNq048r-VOgPLUPZUSzoENl1Wl9EG0dVtKzzESWsNSNjkEWGoBXT5Scm6eXyx0r7pofkyvHsUfhS9jC03xjq_7G0Vii1cZQzZeW7DHnocWJRKS35EQqleuW-8YXf63Y5FtDBXXynzK32kP8908I2z6v7Y5wbPGVOg7r0Mp4T1qvDNu1PP2GmG5xRZc50cxKQFy2UX7J9tOnzIx74t-Q=",
  "id": "rs_0d1e2ff1af346922016ab44a31190087d0b7db71404738448b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.37,\"right_z\":0.18,\"right_gripper\":0.0},\"note\":\"The opening increased to 0.047 during the lift and the pink bowl moved with the right arm, confirming a secure grasp. Because it hangs about 4 cm to the gripper’s right, I will carry the grasp point to y≈0.37 so the bowl’s center aligns with the center stack at y≈0.33.\"}",
  "call_id": "call_FMMnvJEIqH51gB9X0V8t8dic",
  "id": "fc_0d1e2ff1af346922016ab44a335d6087d0ba633f1c4bb695e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FMMnvJEIqH51gB9X0V8t8dic",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8371, 0.6147, -0.3897, -0.1577, -0.0944, 0.9988, 0.9092, 2.1838, 1.9858, -0.7563, 0.625, 0.5224, 0.0466]\nstate[eef_state]: left_x=0.2973 left_y=0.003 left_z=0.1722 left_yaw=0.0671 left_pitch=-0.031 left_roll=0.0344 left_gripper=0.9988 right_x=0.4149 right_y=0.3705 right_z=0.1647 right_yaw=0.0965 right_pitch=-0.1568 right_roll=-0.1073 right_gripper=0.0466\nstate[joint_eff]: [-0.1436, -1.8393, 7.0632, 1.7509, -0.1001, -0.0708, -0.0122, -0.0615, -12.8752, 8.8957, 1.1209, 0.6227, 0.2369, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937a62d660df80e795958b1739168bafb3327b7ece64ab4afafe558ef0ec4c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5b272bc7a3d341b402807177057299e87094b96c9faf15a3c9f99d9c333191d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:049ea5a95992e1ec2db95c8420da9960cdeb2b0bc219b40f58716345da7ff017",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8314, 0.6147, -0.3901, -0.1577, -0.0944, 0.9988, 0.5243, 1.8374, 0.7704, 0.3294, 0.4034, 0.2508, 0.9952]\nstate[eef_state]: left_x=0.2969 left_y=0.003 left_z=0.1737 left_yaw=0.067 left_pitch=-0.0257 left_roll=0.0336 left_gripper=0.9988 right_x=0.4074 right_y=0.1596 right_z=0.0248 right_yaw=0.042 right_pitch=-0.0972 right_roll=-0.0521 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.6615, 6.9949, 1.663, -0.1099, -0.0464, -0.0122, -0.0205, -7.1179, 5.094, 1.8193, 0.2222, 0.0122, -0.2906]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8326, 0.6147, -0.3897, -0.1574, -0.0944, 0.9988, 0.5236, 1.6409, 0.9104, -0.033, 0.4065, 0.2199, 0.0466]\nstate[eef_state]: left_x=0.2971 left_y=0.0029 left_z=0.1735 left_yaw=0.0667 left_pitch=-0.0265 left_roll=0.0335 left_gripper=0.9988 right_x=0.4046 right_y=0.1571 right_z=0.0961 right_yaw=0.0543 right_pitch=-0.1206 right_roll=-0.0901 right_gripper=0.0466\nstate[joint_eff]: [-0.1846, -1.2513, 7.0632, 1.7167, -0.0904, -0.0562, -0.0073, -0.1983, -9.0598, 9.3744, 1.6777, 0.2515, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8371, 0.6147, -0.3897, -0.1577, -0.0944, 0.9988, 0.9092, 2.1838, 1.9858, -0.7563, 0.625, 0.5224, 0.0466]\nstate[eef_state]: left_x=0.2973 left_y=0.003 left_z=0.1722 left_yaw=0.0671 left_pitch=-0.031 left_roll=0.0344 left_gripper=0.9988 right_x=0.4149 right_y=0.3705 right_z=0.1647 right_yaw=0.0965 right_pitch=-0.1568 right_roll=-0.1073 right_gripper=0.0466\nstate[joint_eff]: [-0.1436, -1.8393, 7.0632, 1.7509, -0.1001, -0.0708, -0.0122, -0.0615, -12.8752, 8.8957, 1.1209, 0.6227, 0.2369, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937a62d660df80e795958b1739168bafb3327b7ece64ab4afafe558ef0ec4c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5b272bc7a3d341b402807177057299e87094b96c9faf15a3c9f99d9c333191d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:049ea5a95992e1ec2db95c8420da9960cdeb2b0bc219b40f58716345da7ff017",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
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  "id": "rs_0d1e2ff1af346922016ab44a37871c87d09de02a1af0dc9160",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEo9nMW2ctcjtB4wc_arLMIlqsI8ny4GQ_PJiC2ZG3zVUBtSAlsMhfERZfYOxc5sxhMtANAzYwfY40vk-zA7Ek1Xxbstd4ZoBJ4bYkUb5FrniYkcVgs8ltYMt0K8ybGWb7ilS3l3-waPc1mwj14wsiVbSbo57GjbSmqBdDqkYKUuIqFsxPwNg9PNLccNb1dzoKRGU1dQAqmGfOVexU2d83feIAPs8oF21ujScq4_STtVHkxFcFylstck1ErNKVgPFHPaVV-BdBjctYAdqbqaHrx8i2iLURTj-SCJZgdHPQenHWbhYBk7cPAmoyfgxR3Hvmh4MYhAFALluIFyZay51HVrPiZcaFVcSMS4GSfTUmoTtZ0bjNDCHJLFXhplwnOeYS160OYeGAYm4N2ImaaYXG3H4M7qCqUe0prHd7c1v2KYhdY4GYSiyq21E8O_zpraVXQAc-KgzXlnVVtF79b5v1v8S_RQiJnbHRWl5DHt6S8WL7BVaAFHs9O1TMkxzRC4-5EEcx4blbxLLsJ6uGQOq_nX7W5Nk8vvjvYmOjdzbmweCQ6qfUfl_rGu27Gweoqiw9RdwV0dRb5VchOg_6L3UrFHubs8duJ1Prc0f0ixh6pbygFmNBA6xcfac5fTAKkENSzck3V2ke9C_7TvBmhXev0HgEtsB5EWbeoeLkloTQamgWoqU09Mr8QNdeGJZ6xitsli9lqMLPybfvnlx7SNg_lB9yUU_A9SUjKNErDtFu4nRQKv3mLtUIuXWCjKil_BpfvNttrveyRwrEzUhW-ZpfAIXYoKXrOwCoxxOTipSX1v2wViyIXlpCKvesJnq_1I_5qPLvWQKa2jlKYHP4CGi3haf-8FUXKJ_S3bhftBsouRspG519drz_a8tThElqW9gSFwoOQDpq131wF_6lgAr0T51sO8wYHxfT8cZ_nZG2o-6o33VSEEAJqefnrSpTU5imk5G5UhrMnfs4eaYfpkkg6MzLXSfc4djNvXlkLa1SCRRC40JvlTQg2GoZPR3XuNSh7oz0ZApi63yaPX6einr2DhWKCEUDTNS8NEf8U_19hFcGIUsKztJkikLHYV3Z3x1FkJzfTKx8G2LoXWrMyQoOP8p65u_iiZUuiBEU5-7rx-3DjRqMwStdsVvCUnzpZdjbFxL3Wv0kR8Z6SPoJLAecHKi2NG9GlklGQj9ii300ZVX-6DTQphb6LrLbm8ND_NoyBM",
  "id": "rs_0d1e2ff1af346922016ab44a3cacb087d097fdae979cc6c40c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.37,\"right_z\":0.11,\"right_gripper\":0.0},\"note\":\"At the center, the blue/teal stack is visible just beneath the held pink bowl; the apparent vertical separation is largely from the bowl being carried high in the oblique camera. I will descend to a staging height while preserving the estimated center alignment, then use contact and the wrist view for final seating.\"}",
  "call_id": "call_vrVnWTfJ7PtsqT51vZwHMaIB",
  "id": "fc_0d1e2ff1af346922016ab44a3ccc1c87d0a00b6ee58fb9585f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vrVnWTfJ7PtsqT51vZwHMaIB",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8379, 0.6147, -0.4011, -0.1577, -0.0944, 0.9988, 0.9031, 2.2002, 1.8133, -0.6365, 0.6121, 0.5194, 0.0465]\nstate[eef_state]: left_x=0.2958 left_y=0.0031 left_z=0.1697 left_yaw=0.0671 left_pitch=-0.043 left_roll=0.0364 left_gripper=0.9988 right_x=0.4092 right_y=0.3608 right_z=0.1054 right_yaw=0.0912 right_pitch=-0.2124 right_roll=-0.153 right_gripper=0.0465\nstate[joint_eff]: [-0.1846, -1.4427, 7.0906, 1.7705, -0.1148, -0.0464, -0.0122, -0.4718, -11.6308, 7.6103, 1.7118, 0.3248, -0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89a496e1fc5cf9e7b7b035b642dcd1c77a07923c835a417c9b460eb37763dc0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7451ab965c292edecb9a1b7052f10518f91bf3c90c1b7eb668526b2c760120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9b696dcef6da90f0879d1ba465246a021b81d8dff1a1cd20c82afd7568f3aaf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 100 changed as sent

message 108 changed as sent

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8314, 0.6147, -0.3897, -0.1577, -0.0944, 0.9988, 0.5243, 1.8397, 0.7704, 0.3355, 0.4187, 0.2268, 0.044]\nstate[eef_state]: left_x=0.297 left_y=0.003 left_z=0.1738 left_yaw=0.067 left_pitch=-0.0254 left_roll=0.0335 left_gripper=0.9988 right_x=0.4086 right_y=0.1575 right_z=0.0257 right_yaw=0.043 right_pitch=-0.09 right_roll=-0.0785 right_gripper=0.044\nstate[joint_eff]: [-0.1709, -1.4838, 7.1726, 1.663, -0.1245, -0.0806, -0.0073, 0.0342, -8.1846, 5.5863, 1.3651, -0.0611, 0.2466, 1.4579]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8371, 0.6147, -0.3897, -0.1577, -0.0944, 0.9988, 0.9092, 2.1838, 1.9858, -0.7563, 0.625, 0.5224, 0.0466]\nstate[eef_state]: left_x=0.2973 left_y=0.003 left_z=0.1722 left_yaw=0.0671 left_pitch=-0.031 left_roll=0.0344 left_gripper=0.9988 right_x=0.4149 right_y=0.3705 right_z=0.1647 right_yaw=0.0965 right_pitch=-0.1568 right_roll=-0.1073 right_gripper=0.0466\nstate[joint_eff]: [-0.1436, -1.8393, 7.0632, 1.7509, -0.1001, -0.0708, -0.0122, -0.0615, -12.8752, 8.8957, 1.1209, 0.6227, 0.2369, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8379, 0.6147, -0.4011, -0.1577, -0.0944, 0.9988, 0.9031, 2.2002, 1.8133, -0.6365, 0.6121, 0.5194, 0.0465]\nstate[eef_state]: left_x=0.2958 left_y=0.0031 left_z=0.1697 left_yaw=0.0671 left_pitch=-0.043 left_roll=0.0364 left_gripper=0.9988 right_x=0.4092 right_y=0.3608 right_z=0.1054 right_yaw=0.0912 right_pitch=-0.2124 right_roll=-0.153 right_gripper=0.0465\nstate[joint_eff]: [-0.1846, -1.4427, 7.0906, 1.7705, -0.1148, -0.0464, -0.0122, -0.4718, -11.6308, 7.6103, 1.7118, 0.3248, -0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89a496e1fc5cf9e7b7b035b642dcd1c77a07923c835a417c9b460eb37763dc0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7451ab965c292edecb9a1b7052f10518f91bf3c90c1b7eb668526b2c760120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9b696dcef6da90f0879d1ba465246a021b81d8dff1a1cd20c82afd7568f3aaf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpB7k077Rq5H6MQ0YYKpWsFuBNO20wIG3yj8dkQpfWLeDZhjMNXkH8YyoNt57mHsx0kvahvW_IQS5vczcp-muZrOyPujF3jecmIOeQDf6rUS2IKRxNquSVwOIKXFeuQwpRX409l_frB3iNW9EMymnmC5S821U2bQFGWkRuITEMZTD7DAIurCcNucFZptYexQXBoGeYg6obv4_vbD7nTYVfyhuPG_QNn4-8ic5hKhCUBVZ0ST5UYgUTSBCJduovh5YNnF2McIERpYDiHmurLHz2iNVH4NozCwkYa6lA5QzfCE51E07G9_TtUx2p9-VmiBCs8OVfuDZ5gnotmTQOarJPs8oHmHRWqVSYS_Qhc31AarRI18zet6bL-nTp7uSnpVBXM3BwLyQDFKxbtUr2sdkFfZWI_85M6qvzCHr13nfx8aXvvyYHct_uqQ5jiGJdTyX2YMx1o5EppdVFL1YcdjvlcR4VHraNPbqAXZ6xWK9fPZpoz69QxOk-H7YIhj654f8N79uUGO9WPxom-9CPb1sGqqzZIBryrAsOmAGpCtAtPCiDjXmOweuDO_nqzvexKDifGFVprlAP7054PPcHKrOUXtOpCM_gtutO5S9f92acJa7XbEtZUlJ9uz6tMfpdMxRYlbHocy9YGUT9fIGHlTqFBRY3OLweNLYo_lnH6MpGWCfbTBYnHJuTcQqMvBQVlNulLMolb1oypAAomXHLlsEvBtGJxjKWCOKwseigp2AyJ145386fYS8Qy3Ip3ONjyGg6DatKFsTjL7B4gK6gaexR2yBR4wQdADqbA8tZWV_M1q_YLJMLJxQaGCcHLU9aTVBCt7rZFMTtkab3X9NmjIG9x6yCmk6aSE1MKJQCL6aiXPldfopExe9_Y2-QVKz1MmeSBGPqb4mPKkDmH5y93puOW4W-0fd2j-wWLmlTTfTJmE67sp07IQFIGdXn7mRDtO8iH-Wj0vFpwNjCfRKphbMDEE56I5tlgJlIQ7IGzKUJKEC4Iev3HjRq3hNXFtWfD4-WaKFRmJBb2ya2WOUFi34F37TMMePyAKfgNoIkzmoTd2uSuC72XqUQKCEM6PcLNGqF8swofV6-XnFb8je8-2AB40EfG_LWpBrhwzIENkT44ePFf5knG6HGhaTnLLfUEf2yP8F--HJTdYdmD3F2h-ttfqgN2HJpBjPSGJCoeRwVxlinQkjL57S2P8Th2I17OeR8N1Hjcf6J4sAeevtOqZ6ovxfNstNYI4jgmHPviubT1Nd30i2WxqJY2VzvPQlIZr66OrgyJqyJ65ZrQqJ4fiB_pxbO5E0cfeIF1E9tU_q8X6UIZ8Bns5Nosi00dJeUmxQJKye8xiWkkP5Ok5_NmoMbEwp7Ml56hOZ9r1XtE2xa5RskxcJKeWJNS_8Lszr-g_g43r0PrXDhMk5FoxYyJcTwwN4FrDwv0J3xj46yERSOVyrShxN4B9fdQ0USQtggalRaFqoAyVfqIRSDqG_Okvmevcp75pJZ4BP5f_tnjXY9hummzboi9jyWBtH8iYob-AAeaYfbXbWbQEcvarhPtMl4WA-MOrW5QY8b-eQm2V_J_iYZbA9Wn_bTD8Uu7PJV6CEPMNyUjrqNDmzzvzAXpHzziu3ounnTgEXRgjljL2iiH5_NKd48f5EUaXWNZ6_0vX_URqbKqjmiKXHt1dJialTKVqw==",
  "id": "rs_0d1e2ff1af346922016ab44a3f89d887d09a7536fe857c1cae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.409,\"right_y\":0.4,\"right_z\":0.11,\"right_gripper\":0.0},\"note\":\"At the lower staging height, the existing stack’s center is clearly about 4 cm left of the held pink bowl in the wrist view. I will move the right gripper to its leftward y limit, shifting the stack rightward under the hanging bowl while keeping the grasp and height steady.\"}",
  "call_id": "call_LEXJx5wGNzX7D3eof9aecAcZ",
  "id": "fc_0d1e2ff1af346922016ab44a408e1087d0abf9744e7f199d99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LEXJx5wGNzX7D3eof9aecAcZ",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8425, 0.6147, -0.4076, -0.1574, -0.0944, 0.9988, 0.9485, 2.339, 2.0346, -0.7578, 0.6144, 0.5415, 0.0453]\nstate[eef_state]: left_x=0.2951 left_y=0.0031 left_z=0.1672 left_yaw=0.0669 left_pitch=-0.054 left_roll=0.038 left_gripper=0.9988 right_x=0.406 right_y=0.3974 right_z=0.0985 right_yaw=0.1165 right_pitch=-0.2355 right_roll=-0.1677 right_gripper=0.0453\nstate[joint_eff]: [-0.335, -1.935, 7.0222, 1.7607, -0.0757, -0.0464, -0.0073, -0.1573, -13.4496, 8.9231, 1.1551, 0.4469, 0.1783, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698869a09e2739194c58d7940b2cf1cdc1136379c51faabb899bbfcf2c198f36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6bcdcf2078e2229e027a457afd7f29c80ad83d3316168b0c240e3aef50a4e3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:760ee008e9902f6d72b32ea66cbe89f2f6e331f640829397a13dcc354db22c84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 104 changed as sent

message 113 changed as sent

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8326, 0.6147, -0.3897, -0.1574, -0.0944, 0.9988, 0.5236, 1.6409, 0.9104, -0.033, 0.4065, 0.2199, 0.0466]\nstate[eef_state]: left_x=0.2971 left_y=0.0029 left_z=0.1735 left_yaw=0.0667 left_pitch=-0.0265 left_roll=0.0335 left_gripper=0.9988 right_x=0.4046 right_y=0.1571 right_z=0.0961 right_yaw=0.0543 right_pitch=-0.1206 right_roll=-0.0901 right_gripper=0.0466\nstate[joint_eff]: [-0.1846, -1.2513, 7.0632, 1.7167, -0.0904, -0.0562, -0.0073, -0.1983, -9.0598, 9.3744, 1.6777, 0.2515, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8379, 0.6147, -0.4011, -0.1577, -0.0944, 0.9988, 0.9031, 2.2002, 1.8133, -0.6365, 0.6121, 0.5194, 0.0465]\nstate[eef_state]: left_x=0.2958 left_y=0.0031 left_z=0.1697 left_yaw=0.0671 left_pitch=-0.043 left_roll=0.0364 left_gripper=0.9988 right_x=0.4092 right_y=0.3608 right_z=0.1054 right_yaw=0.0912 right_pitch=-0.2124 right_roll=-0.153 right_gripper=0.0465\nstate[joint_eff]: [-0.1846, -1.4427, 7.0906, 1.7705, -0.1148, -0.0464, -0.0122, -0.4718, -11.6308, 7.6103, 1.7118, 0.3248, -0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8425, 0.6147, -0.4076, -0.1574, -0.0944, 0.9988, 0.9485, 2.339, 2.0346, -0.7578, 0.6144, 0.5415, 0.0453]\nstate[eef_state]: left_x=0.2951 left_y=0.0031 left_z=0.1672 left_yaw=0.0669 left_pitch=-0.054 left_roll=0.038 left_gripper=0.9988 right_x=0.406 right_y=0.3974 right_z=0.0985 right_yaw=0.1165 right_pitch=-0.2355 right_roll=-0.1677 right_gripper=0.0453\nstate[joint_eff]: [-0.335, -1.935, 7.0222, 1.7607, -0.0757, -0.0464, -0.0073, -0.1573, -13.4496, 8.9231, 1.1551, 0.4469, 0.1783, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698869a09e2739194c58d7940b2cf1cdc1136379c51faabb899bbfcf2c198f36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6bcdcf2078e2229e027a457afd7f29c80ad83d3316168b0c240e3aef50a4e3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:760ee008e9902f6d72b32ea66cbe89f2f6e331f640829397a13dcc354db22c84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpFYyyRLXQpIQrulsN9SAXWcook9_tLnDN9GAoGb_gMYhK87Wndc_EsJe2ZhLfPoaouuU52rcxtbgs1u6YRhx1HLbeii2147FI6tn_JkRlLfQS3TKmaXEDsEXzxr_Dwxy9i2nqDe49iiO1uBiuJwe2DLbp7hI89izi7UgHPJrgEN-HY-SwnX4HmMAPGxo57zsM2M2WhRHCjS6gNizw3zd98w8diFtDWUKCdSjrkrsCpJc4UaflBTOFYAypf8flYDua_qurAFldvZWEodTdDX_VH-gfQcLqEBK9-R6n-6HejrEAw9UFYYEwJ8LrgngqFq5Fb-gdSjYwG9G5pjNImMsNlGk-sNJLSAZEKSe3aFXlz-2k1yWc2pXIbaAfrWmEOvD43gVQUSiOLgrZuhfJY2ucSS-N9azZS8Xrc_lmCt7t6sBOU5U8NocFtu60RCjed23JNJfBq-EWbQCZJ3LAMdCPwcx95beI8isx06YpWlSbV3PO9CHgkJMjZvUOSCyfotY0e9lsOW3NI7ccKcyYFTafAL80g__AGfB0gdW1V0EXOSnruuHyO4lF5ClSHcBt_DtACWUenCmfGiKEivy18i9abF5z_yJD75sdV7RNK-7tGShvsqYXQ9IcTqEdBSXBXbIPI3ivf5T320prZ04pQ0x7HmO7slUrmKakuTdI9RZbxSd-xD1E3aOkcWKM_KjubRS2XnhMFjJSkiAk_E1DeeiVWxmvnmSG5_b78q7Mi4MgjFdyNCorTTgdWDSYzMZJiJP6VhmopMGwCBw6y_TBnXuSAE535LJU3HhF7Uc1pXnHI6E4u7Cb-gmpHD95O0yUsmiMrIbDZkSXocbYiZr1SPTPx5YpABrmf6rbTmPVpmA1ycl7KPpx4Rrpn8gVDYuh50JjAfTKcaZLTmWnA-uErUZpff2DGnSe-yYdbcZ7yhLkQak30kC-mBMzAJ8ZHMLEx6SH4KDZjpI82DZZl7f7KhMH50c_Q99X0e2Ad9NBW_PNwFKFqwBYnHN_W-A9jIOgCOeOka1TIbqLYZHqJ07JGgllWIa1mLa-oAHrN8oDBMlUaMTLqBPm3PQ7iYw1r9FgOWk7cSG4XH0K3N1iP45NNUKBL4LqWMoJC4YxdMQB36An5CMCD9wIbhhQKg92snCs3X7FUd09FqhQAGpb5XfqOTX4MCiTj58THbswH491aJh6GpE1z_kbZZtBK0ABD5O3xmJ8A8963miBDQ2W9gbmW2Y7V1EWblahjZLwgpHIyGLE1qWMGWcqZs4dIPqKmfAjBtq6vr87-wHmgDlc1-8QQnixR93qOUe-iHUoUMV18ePyK6nkoxCR67D5Oo3n6fvQ8Ik98ny7ZArS0B1k1OgCeoj9gCp5orK7TPPHBrIHIXNSQr9DoCVHY-VYBDZt7FmDiCcD6eAGj32vClY5f9KCmxobb9QbM3x_pna94rz1yQmkjKqEz-myh2kmB8za1CF0Nr8Q6Lz1zdOqN23NjUZ8vHKNVyxU6Afi-_oHlgIQLsRxvYgfwvMfRlCFRw2In6IM0lcALbji_YXfFjn6nC-Ht0aoFq3noilI2mlF53s8ZMSnqdypifXjDuguEHmvC4JIE9L4oC4b_OrhzEffSuUVTKBBxRSl3yZAOzz9zqY_VVfJEnmYkjmtGeNSLDvmJPxGnCzr8claf-2hkDkeMb57B7_PRJOhZZsdV_NrsNSOf6i1u2nPq6uSGdYDaNPJQ-2D02mYU",
  "id": "rs_0d1e2ff1af346922016ab44a43401487d0931ea6647997b1c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.409,\"right_y\":0.4,\"right_z\":0.05,\"right_gripper\":0.0},\"note\":\"At y=0.397 the lower stack is now fully occluded by the pink bowl in the wrist view, indicating their footprints overlap. I will descend toward seating height and use any tracking shortfall as contact confirmation.\"}",
  "call_id": "call_DUEIsLjw5MbjdPDObXUVYH8U",
  "id": "fc_0d1e2ff1af346922016ab44a442e0c87d0ad503d4e7646c1ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DUEIsLjw5MbjdPDObXUVYH8U",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8436, 0.6147, -0.4076, -0.1577, -0.0944, 0.9988, 0.9531, 2.365, 1.9408, -0.6662, 0.622, 0.5339, 0.0453]\nstate[eef_state]: left_x=0.2952 left_y=0.0032 left_z=0.1669 left_yaw=0.0672 left_pitch=-0.0551 left_roll=0.0384 left_gripper=0.9988 right_x=0.4024 right_y=0.3949 right_z=0.0615 right_yaw=0.1153 right_pitch=-0.2502 right_roll=-0.1993 right_gripper=0.0453\nstate[joint_eff]: [-0.1846, -1.6479, 6.9949, 1.6532, -0.1148, -0.0317, -0.0073, -0.6085, -11.4393, 5.5453, 1.4286, -0.0317, 0.2271, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a05040dbeaf4f000c3db9ca29810640f65cf4233c83e878ad854d3822d9e48f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81336b218c3b71ec7f7f5c56eca0e8fe23739140649a0f52457ba53d42858b80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4872035e8bede4525e6abfd2d2270756cda641cd48413caf2511719deef6ece8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 117 changed as sent

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8371, 0.6147, -0.3897, -0.1577, -0.0944, 0.9988, 0.9092, 2.1838, 1.9858, -0.7563, 0.625, 0.5224, 0.0466]\nstate[eef_state]: left_x=0.2973 left_y=0.003 left_z=0.1722 left_yaw=0.0671 left_pitch=-0.031 left_roll=0.0344 left_gripper=0.9988 right_x=0.4149 right_y=0.3705 right_z=0.1647 right_yaw=0.0965 right_pitch=-0.1568 right_roll=-0.1073 right_gripper=0.0466\nstate[joint_eff]: [-0.1436, -1.8393, 7.0632, 1.7509, -0.1001, -0.0708, -0.0122, -0.0615, -12.8752, 8.8957, 1.1209, 0.6227, 0.2369, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8425, 0.6147, -0.4076, -0.1574, -0.0944, 0.9988, 0.9485, 2.339, 2.0346, -0.7578, 0.6144, 0.5415, 0.0453]\nstate[eef_state]: left_x=0.2951 left_y=0.0031 left_z=0.1672 left_yaw=0.0669 left_pitch=-0.054 left_roll=0.038 left_gripper=0.9988 right_x=0.406 right_y=0.3974 right_z=0.0985 right_yaw=0.1165 right_pitch=-0.2355 right_roll=-0.1677 right_gripper=0.0453\nstate[joint_eff]: [-0.335, -1.935, 7.0222, 1.7607, -0.0757, -0.0464, -0.0073, -0.1573, -13.4496, 8.9231, 1.1551, 0.4469, 0.1783, 1.0085]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8436, 0.6147, -0.4076, -0.1577, -0.0944, 0.9988, 0.9531, 2.365, 1.9408, -0.6662, 0.622, 0.5339, 0.0453]\nstate[eef_state]: left_x=0.2952 left_y=0.0032 left_z=0.1669 left_yaw=0.0672 left_pitch=-0.0551 left_roll=0.0384 left_gripper=0.9988 right_x=0.4024 right_y=0.3949 right_z=0.0615 right_yaw=0.1153 right_pitch=-0.2502 right_roll=-0.1993 right_gripper=0.0453\nstate[joint_eff]: [-0.1846, -1.6479, 6.9949, 1.6532, -0.1148, -0.0317, -0.0073, -0.6085, -11.4393, 5.5453, 1.4286, -0.0317, 0.2271, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a05040dbeaf4f000c3db9ca29810640f65cf4233c83e878ad854d3822d9e48f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81336b218c3b71ec7f7f5c56eca0e8fe23739140649a0f52457ba53d42858b80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4872035e8bede4525e6abfd2d2270756cda641cd48413caf2511719deef6ece8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpJMo150kK9np8EXooBhxAD_4TMKwpncCgfKe3oQ-CshKpFFniV3HON9_SYVIbclcstKzIQtUF4Qw1tfpvsXvEt-Na76fZVeqmTMrOTmLSCLADptoRSFc9dGtEvJ5-sqDcjO1HTIUIVVKcgN8sjUEeVn7IlAaolQHJIdsOgiA50LoQvysR02ZzyxYeCPDcke7KHRKvCCQyy_Si17_UrkvdYLp7pO8T4UiVL0jjq62ikwTAQAsCfMYO7CVnk3s1Dn7cRbVdNisviNr_51SRJ2UQ1rl1fqBM3jH6lZDopXLu9aAh2uZhJwZpskHOc8TCPj63JqdJdm7Ak3qIIJ20Zi6Qlc-QolbG965Dgvuw5GJX-FY9rJOpllSoSZ_Sn53uEhSsKaDl7Ak8cqf6Sa7je1bHvg4wlqVb1HbtxTSOKTRQkANtFIDUDLeK5xAieU0qJVe-dP8VPtgGXhSyAPdI3rOUIOgRfVZUK4n6OZGVf9-gpD6RI4lv4ldEbiWHBrfXi299YbTckSiIjIP2gqalR4kFoK0mXq2XSb6zyBehy5UXstqMlZVhEEpzgbF3chBvx2DqZLlJJynEX5neQofE503-w5anILiJpU2oyA1Z9bn65hmQeW5TgEwOoAsxJMMwGoYvRQLyleTvb1DD_dX_pAWWhXTNzzvjPRHGuPzKzPtqHQxsC4p9n6nNXrohSz1f37NKIPheyY-S5RgtpO_v3TcObELLxjHS91WY1vZH40eHrLUng9LHcRDyNoFwvocecbZoG1kGkvIE1XmEWjFp9bQFI-jnldFndrAzBlBfUljzY6cNnnPQAJKpRU7p2Uwj4x80VkDDiwZ6uWRLdCwQlwW6_P-oijoknyPh3j8NXMNLjXWbrmiLyMNP7G4NXhWD4MczjVi8sXy-40iyUWVUVOWnhD27FjBjvRKKTMBQ2XBQMV91EqN8Go_H6S6czDjMUSBxKN79KS2azqdaIFX0INXhsm_ZlMhIy4YYcS0Kt259AbTQuy0oPyFs9SW-sGbLtl5WzLrL7tHIueBzxQPoi--L8nf5tR7dyye91KnAChxf2D7sudSbE9BKc0oZfZM-kni9ss4nXyQ2Q-gfOPI951ED-3HV5bLxCtWf3B9_YpTMffINd1DZ8H-WaoR0cp9vps9AP0VcLgnyW7LLlyJTIslHD9MXQr5SnAYUOkgkJ6qkE_kluqNWes6FojOXCRUnik65wmpA5CrSZbTIjhLLHQkT9_4SUKLeREREcdKOEtsn_yfSaFIg9LSbXascXVNsNeA1U1T6jrOjrvmVoG7j24sydtpEniT_VY_2ngW2INn-2_kSTOkGmxqlC1Ussf3NuqKT9rLz91bMZXR7Ek6rhdBx-lPT0Z_kDJ0QfKSvBEm5pavWd77iDWblCjud2JntkTlJX2rYyfpR5jz5ybuaGkWEDAUIObLp1O0WLH87s89Y-md7Kjw__jDjGsXmYanzI0eRjHveFPCnI39P1Wn5_F_J2oV5Aa6yZPSnP2Tdllp3VI0dJ6uhApBPPdd4ly3Kk2EAWf47dE_oHzKs_vX4N_7ZeuY68opyOdu2bQbKxREf3nR2YI_ZwfLGqSJYem270PWv6zGWDttXpuf_bkOYSuGmWtPYi4JvVqivyHQC9cmiY4yE0H9zFnLhMSyFk-qgaWdL3l5E9XU922ArtHjcbv8zOA4OizFSqtYC4fp0a77PmJQcCKyk1HihOQ3owxIHMsgfkzH6DZHy4AI7B77gtvZx_cHcI5Sx0orUKi3y4Bd4a1XnUiImwqED8RooV3K4Xqg6oA2jQihYvRvu63sIO5FLIfVzhVLx4c0ULz6jf1PyD04OWbLT-gDHW8b6sqxPAcgXKboevaEodLV9WHLg-cpizSXQS24KJ4dz_sUrxhrUUQCWqX5CI7y7wpO9LbGLVRkZDOAnAaseofys4M3Z301tqOMZUDO5cxzoqRZ_9PkQ-Us6X1m01dXDu_3NToePC8YUiN8xHU6MrWMOpxOZPTkqgfcGe7bFrAZxJwzw5VWcoHfe8OlfpL2NS2urZLq3xxuEhJa0b7Fq1LY4Cd6cOT1y0bhSAG3EBegNfE72QhoA55Ax3yssCYuuMFz5l5nqjmns2Sl4jk4KqKMS6Fb-oNAogC_AgdwT_FmJ1gIOFrmZU_R7H2I-ytefNfhEO5cBF4S2ihZo6sdoISlezztjTmDyaK_LnQ_3BgxQTjIsX-jqj-FVXp2RBI2vfAVjDp5sfAzkHC7-7pkBR7bmziFKobpqVwVuhlyzn2d335A8PcNYr6Kv55oKegWBdKL9Zd94NV73Lec0GS50M5S6FzCIkKHNyNtsLS1k48CyWCQHFGPxmYduybHv1m2HITrilnYNDSAttGpLMg3e5WOFRRa0up7MEoH8_KDuZrMJsbG8s2XPwKiNJIecq_HMfd9a_o9DoFezddrox6Sa0fzOEKbIK326lV6dOfW2nkpqal8XCg4pPt_1ICrVVYMrBV4ootldoimMT-_y9bbWQG3kHLODb1I7LjQSJ0LjhHrjdyipCOjAGZfWIZatB3d6sahbeO5sWN9vNFCOeu8SChWenP60ycl817Om4-LXXDCh0taZK11Vi8QhvPNL52OZo2v2GcCxxA0ZL",
  "id": "rs_0d1e2ff1af346922016ab44a46e0c887d0a3ab531de36bc4ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The descent stopped at 6.2 cm with the lower bowl rim just visible behind the pink bowl, consistent with the pink bowl being seated on the two-bowl stack. I will release the rim pinch now.\"}",
  "call_id": "call_BhHpM7xmsDfzGkZa18Xg0CfS",
  "id": "fc_0d1e2ff1af346922016ab44a49131087d0b9ac51cd5cf4d56f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BhHpM7xmsDfzGkZa18Xg0CfS",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8436, 0.6147, -0.408, -0.1577, -0.0944, 0.9988, 0.9539, 2.3676, 1.9388, -0.6762, 0.6128, 0.524, 0.9951]\nstate[eef_state]: left_x=0.2951 left_y=0.0032 left_z=0.1668 left_yaw=0.0672 left_pitch=-0.0555 left_roll=0.0384 left_gripper=0.9988 right_x=0.3998 right_y=0.3943 right_z=0.0577 right_yaw=0.1243 right_pitch=-0.2671 right_roll=-0.2117 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.347, 6.9812, 1.6777, -0.1197, -0.0806, -0.0122, -0.1162, -13.6957, 6.5026, 1.0916, 0.3541, 0.0415, -0.2564]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ade3eca41a4a60b0aae9c33318b9c66fc631ee85cfdcae3e2bc8699c157afd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a6a3169c3b2559280e6f028fde77e620c6d1e945a035b91137b9262382daea4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:447d5e793914b1ac4e5d517b4b32eadacac31f49afa5aba873c9baebd854789b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8379, 0.6147, -0.4011, -0.1577, -0.0944, 0.9988, 0.9031, 2.2002, 1.8133, -0.6365, 0.6121, 0.5194, 0.0465]\nstate[eef_state]: left_x=0.2958 left_y=0.0031 left_z=0.1697 left_yaw=0.0671 left_pitch=-0.043 left_roll=0.0364 left_gripper=0.9988 right_x=0.4092 right_y=0.3608 right_z=0.1054 right_yaw=0.0912 right_pitch=-0.2124 right_roll=-0.153 right_gripper=0.0465\nstate[joint_eff]: [-0.1846, -1.4427, 7.0906, 1.7705, -0.1148, -0.0464, -0.0122, -0.4718, -11.6308, 7.6103, 1.7118, 0.3248, -0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8436, 0.6147, -0.4076, -0.1577, -0.0944, 0.9988, 0.9531, 2.365, 1.9408, -0.6662, 0.622, 0.5339, 0.0453]\nstate[eef_state]: left_x=0.2952 left_y=0.0032 left_z=0.1669 left_yaw=0.0672 left_pitch=-0.0551 left_roll=0.0384 left_gripper=0.9988 right_x=0.4024 right_y=0.3949 right_z=0.0615 right_yaw=0.1153 right_pitch=-0.2502 right_roll=-0.1993 right_gripper=0.0453\nstate[joint_eff]: [-0.1846, -1.6479, 6.9949, 1.6532, -0.1148, -0.0317, -0.0073, -0.6085, -11.4393, 5.5453, 1.4286, -0.0317, 0.2271, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8436, 0.6147, -0.408, -0.1577, -0.0944, 0.9988, 0.9539, 2.3676, 1.9388, -0.6762, 0.6128, 0.524, 0.9951]\nstate[eef_state]: left_x=0.2951 left_y=0.0032 left_z=0.1668 left_yaw=0.0672 left_pitch=-0.0555 left_roll=0.0384 left_gripper=0.9988 right_x=0.3998 right_y=0.3943 right_z=0.0577 right_yaw=0.1243 right_pitch=-0.2671 right_roll=-0.2117 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.347, 6.9812, 1.6777, -0.1197, -0.0806, -0.0122, -0.1162, -13.6957, 6.5026, 1.0916, 0.3541, 0.0415, -0.2564]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ade3eca41a4a60b0aae9c33318b9c66fc631ee85cfdcae3e2bc8699c157afd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a6a3169c3b2559280e6f028fde77e620c6d1e945a035b91137b9262382daea4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:447d5e793914b1ac4e5d517b4b32eadacac31f49afa5aba873c9baebd854789b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEpPjL30iEXjfPt5H9xzgFiGW53WCGfBpaSU4SRmo0CpY88X3Jg2vZ51BFbN-cTdGs8mWUsHIxFA3zNvCjisuMkn6xbiti8HFjP-fR0iv2uSNK1S35MDODyI7rvHwPo3FKSsRbsLIFLnQJPSZ4XbIZNWDZKzXf5n_IuPqH-TjPhxnAuiPV7ua0Ra8fG_1kHTl2LoJAwLSyfwRVcaVPFreqHBmkiGV7N9yYJt9eAr6rzCkBsM_9bwTZkZPVVMm7yA19PMku_M-uj-5uS8non-rOYJChiQ2FbgtTxeakkx7XJWqS75ytAKsjzkhD1M3b644xtE5Jiwp0K_FJiUIxySvh6N9Gk_KDcXpBToJeRj3YTYGnobM2U-FBLS8G6-hDCNE8IoMOXjqd_lTwYBQToyLPGwuO7-4EG59I2AJiq8h8PrmCVX_e7HPo_G0dTD0GZFHmvIY5R9UJK0XC1hdbBT8hPt2KL9jqAJ8_S8krJFgLf528CSDSzEB1VlpElSTjJCN6FdlT0ybOGo-TI-hXPCPVWLgkhrP2bl-InA6ZXFFsQk9jEVpUwrTmOmYakjQUOarpSjG8crFnSvQ6gwAPyAQoEKZDnRpwPm2jo2RyMBW49FiYNxZ2KmgZ_Ojm7LugaGdac6-6YS-YtPI5VxTHJ2GMOyT6YKh0Sc6qQT-_YhD7I-H6VREk2o-Bje-OwmsTbkEUO7dbcc6FNDQZFcek2zmbFBieHbX9UuN86f3N6nkjtR_TC0T3ENUUG9iaqsY4TllBy_AAHddU0z9_t7gcSilS0JOmfeQoH6XHXgAxSzMR24GhPS0tVVy-69-C0NSU8kjQVdHSw0Zm58ePiDkISVWFSsENS4p_LNn2uAm0UVHh9w0phFRB9sT6H1CBGTvA7j_T0Cgm-qu5S6vae1GWFtx9y0g82mwna4MjjGvb9fLA-n-H0s0AkhFVn_dHSdp9SAh1FWQcjret0UG37DkDttXJK0P5w7vm-ywzrS5Gryal3VtJ0gWV68b8yu0eF-LpPUyaQpYp-qFp-bKah296rrijygPNZqfj7vby6qVe-6Hp_bJhCodXX0X55t8np36xmpmoPYQY4ikO633a0SZikGoXqF6LCF5_R0cpq585UTQg41Mz57awHfg7CdC6HAm5jEPjLvPXYmjlwxhhKdXsDC3t-Mnu0vEnYV729wLfYHDf4KoRB_nJKZZ14KqFkFrGRyuTEL9OtVCZILviISlJH5g1VWWO9iUs7bw6Sy61fqPq3at91ofZC2skvUfpwc95ZjdXiCRBMLPhn8gMYFcS92VWsNGk6r690a_Vd4ctHhzrby-Ul4SwyXhEjKMErAUp_LusSTtA-BkjsTHqFlj4Zv_1onHG-indOka3PDFdVrdir_HMzeJqdypABHIf1y0oPhudu4mfxsri5XKYKhP5JUu-YG5nKs6CC8KCmuqINfiCEGT-Vcl8KD4ybAUEFGdiuYlNWDMclm0euv-rOVm638X3GX6UuPU2krIwO18jakGa4go_Bh7Mq4RV4xYZPAcGUCMv9BodQ8-qi8fB_iNndWOAgb4XDjVZXO1Tn86jlsd3fjwdN614EFcTmWmpQhiWFD3Tvij-RUTkCtj3T0ezI7R3cb1gMBs3D-yjC6TK71-sGsINQ9BvywNx6dBeQv8kBLWxCdfXl0bRc_tct-IGqAfTx3mEO09BoU6-MQqb-1qfDzZYI=",
  "id": "rs_0d1e2ff1af346922016ab44a4d371887d084cc4c47250fbb66",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The pink bowl stayed on the table after release, with a blue rim visible just behind it; the working arm still blocks the overhead confirmation. I will park the right arm at home to inspect whether all three bowls are nested or whether a final correction is needed.\"}",
  "call_id": "call_zFVjRGLR2gxVat2qLs9BO1u0",
  "id": "fc_0d1e2ff1af346922016ab44a4e392c87d0aff969fa6b1c85bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zFVjRGLR2gxVat2qLs9BO1u0",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 0.8448, 0.6147, -0.408, -0.1577, -0.0944, 0.9988, 0.0364, 1.0107, 0.8478, -0.6704, 0.0948, -0.2314, 0.9961]\nstate[eef_state]: left_x=0.2952 left_y=0.0032 left_z=0.1665 left_yaw=0.0673 left_pitch=-0.0566 left_roll=0.0386 left_gripper=0.9988 right_x=0.2969 right_y=-0.0023 right_z=0.1732 right_yaw=0.0728 right_pitch=-0.2766 right_roll=-0.2147 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -1.6342, 7.1043, 1.7167, -0.1245, -0.0611, -0.0122, -0.0889, -3.3846, 8.0205, 1.5311, -0.0073, -0.0269, -0.4127]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f885afc26cdcaa9e8a7e2b80102f081f3c1cc5b50bcfc949f3221b5103e7c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d80a55d400ed4d0c85bd34eb6326590d64e575e302afbfdfb05a099c0ebc7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:891398e7949fb1052994ced63b75eb4995023e299ff9f9a0d77767519e7a2fd5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}