adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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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]: [-0.02, 0.7933, 0.6037, -0.3809, -0.0223, -0.033, 0.9996, -0.02, 0.7921, 0.6018, -0.379, -0.0162, -0.0341, 0.9981]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1798 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0006 right_z=0.1797 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.6906, -1.4838, 10.1402, 1.7705, -0.0171, 0.188, -0.0611, -0.6359, -1.306, 10.2632, 1.8926, -0.0855, 0.1734, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a0da3b8e97e2952b71fd0e3d7239786668516fefdf92f1cd16574304dc2be8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b2ad4c4df5262a7b4172187a380772c7509dc111f2011d17e533edccad5dc3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63f7629dfaba00a404c6b068ff0f0dc52d90b571f753adb35298f57899cd5653",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_0ae432ad9e695f52016ab41a241dd887d0a336b63ca1702953",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBorDen2Sdv4hrWXGrvWoEOZL8iwFZ7Hvw7T77KRmUAVoOhsqEUkoloBW65CRyZya-5IWgCF4D-xSyBpFKL0HW3GvXHp_7d0hWKOvzupKCQT8hi6txRNVClcb6cRuoF3Ju5M-iihLvUw4DaSRbldn5i4drg1T3H870JCl-SJJXeGxB-QVlgKfQGgLJxDE9o8TseFeBraHTkBQ0DCe53h8paCd2n1pVQ31etIqdtUk2rb6N-eURmYtzpR3NOkkqJnkNe-eYIwO7A_cYViXokkl0AE0eSwegihDH8LYE9CPbroVYKkVgLfTza0_nROUDNifAcDsFmmOBzysUx_Nxho7Gr1C1MBipdSPZY5PgNOKe7PoiH8DQRkYuRmmJBArbZTCfkARuiU22w5GNJCP2k6K-3_FjFwsv7za3ovStJyyxhI-HKmIIEF-WtMcDemUOuaH85gB1WdGpXcvNUFPCIXnx_zjvxtXAeXvbWHHm3-BFxRjA3cV19z-PjQt7qtpd5H0xN6Y9KqXZvOnv3QX5pTp1JOxljBivtln-mdi5MQITEzY_pvdOxlQrX_USFVt37lqra1IiQ08esetR991NBuUUPbCf7RMGUE31qgeyPteaEGGqvVVcXHhkJ7nL4lGYRYT1LlIEsYYhdacggRf_qBkyE8W89Mw8Ez_8E5bDMpBmVG9f87CrpjFmEL3qU5TrZExC-Z78cM9MFG_fHZ-6xoElTCsobzP8UTTUklaUFNP5Vv33IZ7PEQ3RrDNSA7pb3YZHlN_2sEgrhWpvlMI8mvmRakuFxKzkv0Sd5TbfzxGKFJeC5IfDv-mM6ebKdF_Zl69ofluh9ZcFeszXfQrlwfKPWsx952Q9JbveT3_stuxtED9J5r2kw8pFGu30dlPqZvIL0A8G1amomKyP0qsO8fVg91_UQwtldYL9CskZgwVWCtZ8ptJV50RxaM9_EBuUHLHPKHmAugwLbf8DNO3oXkFZnj8Ipl316AAfa1TgKnQosg3Q5aHF6aEFDAHFF67WJMrEMK9-40denpySifn5kB2sU3kiYuyRXjmu7P8nWcheU2Sg5xCnLmfx63Cn22LYYdBS757IGiIBCOdr7DfdiaYOaMo_UPuO7pz19Iben1NQiTVvFWi9zA0bNgtMKkQIdoAiCyC2M9gg-PZtdNEZL9bcq9-Im9MN7g1mDQm7UApVfvt8ujq9ZzfV0JRxCbZ01GHKwNOMoWKLHEQzBhx7eRUT_YRAS-UA_FCqPhBiKWtZEBlnl9BHkHmq75irWdET7PBUziF1ywqVcO2K57jiiL_qHYjOz9DOiNbQYlDBBScqWV12asWNgYEzzBLNVargWgILiyyRD9N97ZDKuMVe7TL85cZ5wnHuBzh-rO7n5f2CzNSb9iVhnzYa9YpmFU4mCv4cyg-QIUX4eqE9fsfkThyVJeqwGkURcLarDhQwbZfZIlQTPq6XS12_LSiFBh6U4lDNxtzP_pK7vgED7oh9CuRBoJkhLzlrC_-exHjQEUinwaVv4JpPGu8-yeG2qZawQHV613GDK37szH9IOQXRN9h_KGdo1cJQV3Pno4D7in-qWk4KA8pK84bHWTsH_oeupQtjOTJFo9h10fpKGx_uhL5hlVpyFpxcDpe3aGSinBgDSAlqY=",
  "id": "rs_0ae432ad9e695f52016ab41a2922f487d08d30fc636290a16a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.115,\"left_z\":0.14},\"note\":\"Three bowls are spread across the table. I’m positioning the left gripper above the left bowl so I can check alignment before grasping it.\"}",
  "call_id": "call_8XRAtgsSP4KTeMcC1TXIzTs2",
  "id": "fc_0ae432ad9e695f52016ab41a2a407087d0b28d9bb7f71f3b0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8XRAtgsSP4KTeMcC1TXIzTs2",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4862, 1.319, 0.683, -0.0769, -0.3851, -0.2901, 0.9995, -0.0219, 0.7967, 0.6033, -0.3893, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3544 left_y=-0.1082 left_z=0.1177 left_yaw=-0.0239 left_pitch=-0.0814 left_roll=0.0334 left_gripper=0.9995 right_x=0.2936 right_y=0.0 right_z=0.177 right_yaw=-0.0015 right_pitch=-0.0133 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.3624, -5.2171, 9.1556, 1.8144, -0.2271, -0.1294, -0.0171, -0.0068, -1.5521, 6.9265, 1.7802, -0.0269, -0.0366, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92067fd35931ae173a338c018edcf61712599030423eef2f6e2520ee668ef80b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2c95e928c644c310c5b8d13bbcf6c5b8f6664f229a58136b405b517bc2df94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18d59ba7686209804963ba1d9a6ac544789779d40c2af375bdf92b39296f1e24",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.02, 0.7933, 0.6037, -0.3809, -0.0223, -0.033, 0.9996, -0.02, 0.7921, 0.6018, -0.379, -0.0162, -0.0341, 0.9981]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1798 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0006 right_z=0.1797 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.6906, -1.4838, 10.1402, 1.7705, -0.0171, 0.188, -0.0611, -0.6359, -1.306, 10.2632, 1.8926, -0.0855, 0.1734, -0.2076]",
      "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]: [-0.4862, 1.319, 0.683, -0.0769, -0.3851, -0.2901, 0.9995, -0.0219, 0.7967, 0.6033, -0.3893, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3544 left_y=-0.1082 left_z=0.1177 left_yaw=-0.0239 left_pitch=-0.0814 left_roll=0.0334 left_gripper=0.9995 right_x=0.2936 right_y=0.0 right_z=0.177 right_yaw=-0.0015 right_pitch=-0.0133 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.3624, -5.2171, 9.1556, 1.8144, -0.2271, -0.1294, -0.0171, -0.0068, -1.5521, 6.9265, 1.7802, -0.0269, -0.0366, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92067fd35931ae173a338c018edcf61712599030423eef2f6e2520ee668ef80b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2c95e928c644c310c5b8d13bbcf6c5b8f6664f229a58136b405b517bc2df94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18d59ba7686209804963ba1d9a6ac544789779d40c2af375bdf92b39296f1e24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBoyF38tOx181N6OnuGjH554VLoNEBtvw6UxyDJRITBx56EzlgXrGBE0Es-mpze7F7VGVb4GsT12rUXxQDG5__yrQiC7MweIwbODa3K0gMPJgOTFXPbpUgY9LQEGJL87ponvIgRhieW55i9aIenmWtOiAm74Ec-Zk3HCoN9jV73U8vOnWtBqZBw4_zeJhzukULYyWYHJtAqgR8cDepCEv0gX9yeDbTWDilUHfdiZe2ah7BevPCE71YBrnSdB-4B2pDVijWwD93BWybGVwF3DpjeaMzVRHZrC1BdJ6GTGHxV5AlNkf21J8uPFzGvuGJ73HACYvA4vx4_WItL9qNwT-4NmWG7Bbzvqyt9tj3dYPTT9jnOaGYzqBMSq18V40aepeviT6YN-4hr2GvZCJqTB75BxF5mptyrIhOwcW5-Ub4AOtM9o3mksl6ARL4ABpFu8E8ft_nsM3zwq2YsOlKUBRyrtBO6erg8MMt7fU0JTboPjY19FzEZM6P8O8NSAi4c0G0iKpqSWS2LisVekE3YdboUy7Q6ZyvVwrLkZpatSunok7ZeAa_2zu8UoFPujfEElFO4RqIQJnF_RhuWx4XdhB2tsxr0NqxC6T0MKP2q7Rihy4BrCl--6gUMdSm0mDytisWtCmFqrvN4JXkQ4ZfmN2WOCviydbWPzBM08kF8sTpoiRS3dcOE0jLcDFg-A--HM8CsWomCFv65s8tb0jnvcikB4OpFXAKexqK4BosFLNdATusPI1P_t_39SFKtC5o9wA-8qI2fsXce34ytSGUGGVaOphYrk6qi7Jss4jV-lEnQDDdaouoJTfbwC7yy5pjYv3OPkFZ0sYcbiuCr4P-KCh9TVds7TFF6rNqN5bEInn1Mjx6ChQOsGxzhWKjdvnUUw6CULYHh1_B6fPuESsoI5Aqf2ImeUA_jUTckNjnoGDSjMh2HpXuClcaheGybeFNmjPlYVKeRVBSKUgCAvVc8kLvmD4jdtGMozdch-Kjr2Ye772AsGGguzgRbUESfUO35i9j8gTSBEQOWl7g8bXZQoA-DIokFKH_NEReJFYG166uW0kRVRf3WS-1Q0NDPSXLk_EeA0KUeKl2A0KrkwpsVK5WhzAmgHOip8ppxWhuRtPl3XPrs-uJvzOEEZve1VT9wJr0T_UELzLaGgCszYNy8o5tUjlSAdCvvplzEXmvyjvJ_8ibitqoXGKf-EnucJQiM809G9ZjIgoknag33sgWYVj-xuD6Z0JcgYWpCdMoi_086qBhWavXNRl6sr0jLWdrFSSnwqzDID1vhOTfksDLfkM8eUwn2HH5uzEmvU0kSUoEiHFQqXFktz1PNtND8sf7E3WsKMZSiosdwDKoRsDUoQdHTOyyv-MjYUjrYqPFX8x-xYqw3L2vadwtHoakDOkNcUHXR7fpBj1jU-LSU1TvNhYmDKiHP-Yle6WSySGcq656sasT2W1YwII5LlCMj7w3dfKMUDukcsL5X5WeQbWQauOsxj7RO2EMyGTp6RMyYk7jqSPkXg8nYYjqD62aX8_ycXQi9pFHl2LkrLr0FzUFWiKwFRFfgYE7bi27Bo5OarjkXhI2jbZkxhQBQDKq95AYWeVEJoKRv0OeprskV0zRqxQsyXstY3_5Amcs-O1lBhl6RlwRSW6nWigx6lUdLaLyU6Zfeo3TlXWx5ZNQxqrW4RHSA-bbzAdFGx5XeQfO9lXEdC71eLUg0uw_4XtCBaWDHyxAcXxC50QGud92dQkGp7m9p8eJ4UqAyor2cbMChe7EFEDZai1j0EqLDxWuEIKQtxU8sEb8bY_-urejft6cT8FHJ_f2Rwz0MB7-sYeSI1w3JjJ3hQfk9FZ-xwx6Png9zchmL5w8GCYr6mLSfjLpUcwBvIu2fCw2XItLicy8PqOyuDUvGmNouboq4oXktpm1XusWm3KNH2JluwpdRYVBDf8-OE1t9P7KMTy9feX1QVZq6GNHBHZCj9Mn5SVPF6r31YfeTNE09RFB_I0aGEe_HehFZYJwN9GjyYOkFN6xkwj0RXLxwND1LFrcARZwcYpcMWRfi0LqvyVdFykIZ51x1a9vwbw214OUXtP6Gb-3Ubt2kKCe3lkRdYpTX1NttHgrTbNodP80hrRcQvqCBoGiEqCEHPpmr1Lj5X0MZWAn3tjTnPNKQuRNRgAA-27SwyZaxmDSsledE67as8b1Rn-q4xfOryT6Sm8TLVGwqVc3sbqLKgotWfpdfEBtHhZ70hcHGo29SSFXFYfVk3lXG_-lkt7RTjFCZ2e5oAcXEyRikFWFtudLJhCt78qcaFNxB2X9Fxzqu_JCJj0fa7B40mrYrXCzsZUC5YIfk2YhR6hHvJhiCi4pC8jm_x0mxecF6PX7609qGlJYKIDEcVxE6x2Tx99jcIKdgHoX38Q0OCdHIQP--masGVQRlrAuIYP6D1y5qc_BLU2IaoUXQR20sH5ntuuDqVX3QpAg9wGjt4zDtZFIRxdzvRvaekLkdGjePYPG40bMUTbeI5WAfr6JxjImJFvCU5fHhdydEKqyTXVEneqRMnfR5p6di5S8IBlUZga2Y2YUHuJYHvJgnc0Ns3oW2id6oB3K42giLzH5chX_BrA-HCCpuv8DrndH9UOLMGqLRcTQnc9jxPH6hmwJwsP3T4PvNFW_ES7yWvM3c31EDfVrMp_vDtIYEXjJeJ3Eny8LOzqRsNtcN3hLMtcEzjPCJ7MGaBwBFfihokYxlKGO1P0MmGeoDobHTw3qlUMIu-vRWFfrJjIR8neRW4x0E5RV7vN9mKiSmVSJDwi778xauvRLtMFNOJZNoPN_RuAk26fxiYiAdJNYZGLianG7fCtK2csQzlnZ_tGj9rboVN3_FYx1yoMChkTHDUHO_jgEqnDgKIyIgYcFd0-YI5xibSAA4-wMNeqIpjlRwXViHoElg0PCsVzbmAUtFE_fyYbiaDsb8yKplBEE-jQVax8kL4ekPQ1DXu0HiflHptvgFD5sNxAjCB4plZeifrAl-7F4AatqywwCRuzh74JkZUj-o3uaexzlZQRwJbOZRnh1iOb66LA-F0Ruudro-WZ-pMfNrgoqSEzEFLMIEelYCW60VAAyZcEpxwUIoVQUxuLl1vc3PExmWImQUSs6rcxjFe_ckd3zZGZd4pNHOztCHzQ-Pwos1gl-3t4wxYm8yOKmD1Je2AsKJdY5qVTQOnVevifs2Ndvk1wJFDA9COKINCh-_-dK_xM0aTJwsejQaG0864DhRMOC6If2C0LVaaLZcjfVC-kgfz9jWbzKTurcWgJ9UAmGE4JC6TPTxiL9S8TvjOxxwfDwIHHcy5PKhe-pyB5ylhiODjK055FtXW4e3q15hBZLM9Z_iO8Mqp_14_XMlH1Ce5NlMoqj4H__UnL5O_Ux50P5MNtieRqY7qfpnekWI9mDPlM1wd4Ry1AnZAo9sx5qrLQCszqEHULsNoCGgqI1gb2OsbSohSo5Z_0RMf_kL0wo1R9WhsePunvRDG6KQd5vRWbx9Sunxc9M93hSGwI5PqmyPSCumVYraJI067dV0yuFg2vl6vwAKEtMJDejs9GvnAy0yqIBPe75N1ObgUfy7hp_2IvkNr",
  "id": "rs_0ae432ad9e695f52016ab41a2cf86887d08e23cc4624737ca3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.065,\"left_z\":0.15},\"note\":\"The left bowl is close to the gripper, but it appears left of the jaw center in the wrist view. I’m shifting sideways and lifting slightly to center it before descending.\"}",
  "call_id": "call_64MEKTFWS7Ucdi4MSqD6jq7B",
  "id": "fc_0ae432ad9e695f52016ab41a319f0887d0aabaaae299490a7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_64MEKTFWS7Ucdi4MSqD6jq7B",
  "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]: [-0.329, 1.2133, 0.6956, -0.1631, -0.3019, -0.2226, 0.9995, -0.0216, 0.7979, 0.6003, -0.3927, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3549 left_y=-0.0619 left_z=0.1401 left_yaw=0.0281 left_pitch=-0.0747 left_roll=0.0255 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1746 right_yaw=-0.0014 right_pitch=-0.021 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [0.3214, -4.6291, 9.8803, 1.5018, 0.0611, 0.2711, -0.0122, -0.1709, -1.0051, 7.4598, 1.7753, -0.0269, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72dc19a0b85ad2f49df38ea96549bf2d33dd4d1af2d1382596ecb42ecd3177f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93c367b991d00d2ee8a879d922dc114724e922382487a086e8205e3418a90154",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f1098d437d424d39bd072dc294c46c6cad6b6b07527049efb700a8bf12d56be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.4862, 1.319, 0.683, -0.0769, -0.3851, -0.2901, 0.9995, -0.0219, 0.7967, 0.6033, -0.3893, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3544 left_y=-0.1082 left_z=0.1177 left_yaw=-0.0239 left_pitch=-0.0814 left_roll=0.0334 left_gripper=0.9995 right_x=0.2936 right_y=0.0 right_z=0.177 right_yaw=-0.0015 right_pitch=-0.0133 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.3624, -5.2171, 9.1556, 1.8144, -0.2271, -0.1294, -0.0171, -0.0068, -1.5521, 6.9265, 1.7802, -0.0269, -0.0366, -0.022]",
      "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]: [-0.329, 1.2133, 0.6956, -0.1631, -0.3019, -0.2226, 0.9995, -0.0216, 0.7979, 0.6003, -0.3927, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3549 left_y=-0.0619 left_z=0.1401 left_yaw=0.0281 left_pitch=-0.0747 left_roll=0.0255 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1746 right_yaw=-0.0014 right_pitch=-0.021 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [0.3214, -4.6291, 9.8803, 1.5018, 0.0611, 0.2711, -0.0122, -0.1709, -1.0051, 7.4598, 1.7753, -0.0269, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72dc19a0b85ad2f49df38ea96549bf2d33dd4d1af2d1382596ecb42ecd3177f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93c367b991d00d2ee8a879d922dc114724e922382487a086e8205e3418a90154",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f1098d437d424d39bd072dc294c46c6cad6b6b07527049efb700a8bf12d56be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBo1meo16bqRuNyKM2fVF-CDf75nLtGTPgn_Ue5d2E85V189caHot38JegAJgGMdXP0RIgDmAs8ine7Ttfn34i0r6YoHymQWMTSxlO3lBePx8zR6lu6Mwx6klBSkKml8gR9z7HCG-UQR-uoxK6IXwfYJUGaIUrXEXFhQhUCk9156IdgmlO-aPzzfaedl-d9JzIH-2mW5Xc5VPe4iopIl-gMinTU5BqhMWBk0EkjDM3mff7f5-x621Qjy63EI2RumZIZyQXlNb95LDlTaXaq-6gPR3-jaER2k8LaBOelhsC1I50hHgwH5hfKw_LqogmKxkbm6EZF_zETvIK_24-qesC2KCvNmdDCjm1m4k__Ced0K7_3QMF3qB5iueBIOw-vKd5QnFR8QqxiyiPGymgnrBYi-Oz_-30vnDVxRDkfeWDtEJJSyo0q3_p5lWopU5jCnhL1c0xMkDXel5GlHwnUsuzmpVuLQ-kxVi5NwZoB1-GCdAjoFmyfN9GBoNgKNUys5RG259PJTGJkiH_VHuP7KmSkZH7FhpZN9DLcTYqJtct1zTEcNSTaLwQOVJCEpI4lVIEsYfgIcNt8CiplzgsREGXrNh9gj1rz68y0jPqixrlECzvLGdMVDk_JmK8VGYTiSDlScvACjT6z0yyc3oxBSjue3_msti7hnURnF7ZYqqMXoKx0Pilpm-uv34vVDjHSfGNXD14AXovQaeMn6ttwmxswLTbD67rYTeImspE9vEj_rEzSOKqMOKbU9iTszOz4pGrqOxkaV8v7u0aBnOnvueaaN6vdViTcdkZDRUSKeuxmOz7MJdCO5uRMelUTNJ5U-eueXPWwmQFkm4TvqVURKnVLlcDUDShEC5ImzVpMHRDAFyAGkTa6Olzz-qgeiaDXF9iqspl7ld-BednOAhv4tzRB5SLuB25UUao_ZHG6f5F4LG2jaXP3WmfSdlOZoF76bgfQIXUl6Pwgdzddsil9AW7J1L3PO0MfipsvY7492JiY7xqjeKoL3rrquhg-NTR-UO_RjEh39vkuI9XgT4BTkPL9M5dcmbTDnzDMnp5xa4D-3J5n5_AI6Q3s1i2VOClKjQWMxngI8NerxPJMECxaYQx6TFqTxbuhbFKCI2iN1HLvaUt00RXsoTDzW1m-BaTUrscd11DQLi1WvofUrYGgOSvSk44PkL_DcQAkFkCnlmYPCvnHy7RuBJv695Vc3G2zK9dKpjVeznB90maDcc8ADIujV8XrThEHzXrWMJDFeRqWxWreJmLZiPBQeUXw3roSFvA26GHYyPvh4QYChIvbQLKGpoAS7CdtJKoLb43nyzegoMW6F_hJp_3KkhjiiCMbEmRV0pUz0-_jrvcr2EQH9kESztLbHZ1BmkrtmApnD7CjOdi1fQQ7FGALYtDOYiyka2IoLiga26Gkz3Yz6ic8G9mHjNEHHLUIcwz_fHUgcg_c5VJDGlNYKd0unOPlxwH4hbsPCXk86-a_Evqedl8TqqNV5840utC7cciCybEGnMeCBeiHWY1U_pAjL58YzpVg9i-Ri-lpc5KjpUUTh0T-AdEIlyqwdt9_eB1JJTaAWDbZn67AJMglhEUBjG8QE2WWSoe4yheWQoyVJq1DFmNEYW8X-p5mNMtuVhy3KFSAUio0PcS997d61P9Nti0-JV6JoWIe6Bt3WAB6AIJQaXsGafyKEuhdwupYxJicVoG0oJ-bqzoKxEnNGyP_MydvZBA7WIFpHmWfsrR6YUO40dQT4yj2lTvtzcUyp3al0rwz8LBoKle8MQR_O-mx0SNVHkB48nVKRTe5wRaphjIKfz_tA_OersO70OfequDugxscZtxkYmynoMddMycEbp_wBmeZh5qMWVtHI1QZyC6WjvVNWFKVWHC9zrWrr9IyzFWjLyenOyVUbh4OrV2i_8qlOZGS61Hi9GQFEP21pCV79WP0ZpahBT4mMiYRNUpgz8ovkznJ04UDC6j-fhZzMHgvDNrNKoLlJcXfldn5khmkxKm7dW1n8P79ZRrM-Jf_TIqNc0wHW4mD0j-uEmUw7RXq6SfUH2lxq3TxKK_C1QkIonDEqEtfVXQHJFkELBay2UadoksX8fuPzKZPRCBKvOI_PSrv6AUkvzPs7C7A1h52Yf6hN0YpEyhhvbvx3aYITzqQOxmlE4-thkCAxBICEvZ0v1590kH7VAgeP993V-corvKAeS2q_6An3CbFLaZvC_bg5WmGW3UBpA4h8vA2_L2Kt_eVo_KOw",
  "id": "rs_0ae432ad9e695f52016ab41a339b4c87d0a966b35840b00ede",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"The left bowl is now centered between the jaws in the wrist view. I’m lowering the open gripper to the bowl’s rim height for a side grasp.\"}",
  "call_id": "call_aJRJROCaip3JVSmHgeFRdJfd",
  "id": "fc_0ae432ad9e695f52016ab41a353c2887d0a9da65a4669fd64a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aJRJROCaip3JVSmHgeFRdJfd",
  "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]: [-0.3141, 1.2053, 0.6975, -0.2058, -0.2584, -0.1978, 0.9995, -0.0219, 0.7979, 0.6003, -0.3931, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.349 left_y=-0.0621 left_z=0.1344 left_yaw=-0.0053 left_pitch=-0.1153 left_roll=0.0294 left_gripper=0.9995 right_x=0.2928 right_y=-0.0 right_z=0.1745 right_yaw=-0.0018 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -4.8615, 9.2513, 1.5751, -0.105, 0.2125, -0.0122, -0.0752, -1.1556, 7.0496, 1.7411, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f0a5ed29bb1fff793b6119ec787b254c815ad8ee4fb4e29f463791d419b7956",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d55bf1189f922dad90f8866de1eb1a168d0076c1f09dd07d22d53c089430de76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39bd764ac8a1af60fd062f4ba30aaee0caab47aae333c77dcb51b4974dbf0ada",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.02, 0.7933, 0.6037, -0.3809, -0.0223, -0.033, 0.9996, -0.02, 0.7921, 0.6018, -0.379, -0.0162, -0.0341, 0.9981]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1798 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0006 right_z=0.1797 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.6906, -1.4838, 10.1402, 1.7705, -0.0171, 0.188, -0.0611, -0.6359, -1.306, 10.2632, 1.8926, -0.0855, 0.1734, -0.2076]",
      "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]: [-0.329, 1.2133, 0.6956, -0.1631, -0.3019, -0.2226, 0.9995, -0.0216, 0.7979, 0.6003, -0.3927, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3549 left_y=-0.0619 left_z=0.1401 left_yaw=0.0281 left_pitch=-0.0747 left_roll=0.0255 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1746 right_yaw=-0.0014 right_pitch=-0.021 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [0.3214, -4.6291, 9.8803, 1.5018, 0.0611, 0.2711, -0.0122, -0.1709, -1.0051, 7.4598, 1.7753, -0.0269, -0.0317, -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]: [-0.3141, 1.2053, 0.6975, -0.2058, -0.2584, -0.1978, 0.9995, -0.0219, 0.7979, 0.6003, -0.3931, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.349 left_y=-0.0621 left_z=0.1344 left_yaw=-0.0053 left_pitch=-0.1153 left_roll=0.0294 left_gripper=0.9995 right_x=0.2928 right_y=-0.0 right_z=0.1745 right_yaw=-0.0018 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -4.8615, 9.2513, 1.5751, -0.105, 0.2125, -0.0122, -0.0752, -1.1556, 7.0496, 1.7411, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f0a5ed29bb1fff793b6119ec787b254c815ad8ee4fb4e29f463791d419b7956",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d55bf1189f922dad90f8866de1eb1a168d0076c1f09dd07d22d53c089430de76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39bd764ac8a1af60fd062f4ba30aaee0caab47aae333c77dcb51b4974dbf0ada",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBo-7afPMKbPQy6XaTwB-cPY7Jq1_XviAo7RrsAKYMFUcuBEURM31p8CHNzdD6cBlOXCIIejkQp3vYRYSv0arb2VJ_c1wkTkpz0dY--RYuTyiat5BFBJOnNV1vkPzLJ_UlzPoDIUAh3Kxl4VmrmZdt8wtxzxORnkPhozfTQJiHS3BpOh3ocn9gtA5U4btZ09SAR0JmKZY_xoq-QO6QTEPZ2gdQROlv25XVc5t84OHhwlqJUcU3feV6RlMaJh_dDO0jLy8IbIwNEGK7wqM1dvN_tYZyO5n5x0KPR2wZ8EyeaNCLA0gy5zvOrS3Ej-mixOwZMBDEfaryhPAFAxmQqWXNdUkir6CSY-CLaCzEhwvpkCyhu6YfhY6gfKlTK5QXgPm0WwUQV3Dgdxcsuxl2CHvYQ9zHXgux2Uqm8Up9d8koquLob_nLNk0BUmTkkhHOg7N4RMdXAyI_n4Lmw1nD6X6naSKpaAN_qChRKxMTk3Uci3eec_dK6Gw7f9C8cEKFd147mpn_5elbmKWZxYfgk0sqbvfgXYXh-Mo7C1Ax4dC5q0iJNZmz8CxXV_yhtwnEdUf2ozK8bYfD8gEVA9lnM_f1tNGhwO7A71gOqJws_T5Vy2uzoUWBXK4hUEMlIS1HIw40XPgWBZZxJZVbf-CNJpZiK65axO60eSutPbqXDVaEBmYldYGIAdq4Xn9mMufpA9QQI-ZBN7m6GsOZwXNDwDn378nxFHF1H39MVP9FIs8SSQCw72RFeH8On05-9U2-Ilkn6gO7Clsy6uewq8uwbV_283rH4YE-dyGcd7WNpZhcw9iPGVJl2T7iDeJ088z-eILsTuNnBQmj3gJ7IQBgnbvonvIWsOEMPQfpDsIHKL1frwvkUT1uX1BLn1v71c3sRQjpqb6F_LEeyg1kp-rcXQSHePcTSQCdEBwNnkjAQzAX71pkINbkRUDBbcCVnLlkXrxhPMuO2HoyrrQEUXE4VOzbpwdNRq5xaoMAhmZSDpFhZUU7wK08IFjLwHCxotU-vgtDRJew04WK5pi9DAP_0A7HM-lPQEkx0tJMsuyCWoLW7uA-efRz8teZV-BaJjrp9ilFntfRusbteeYzayTwRqgByOIlIsMfN7a5lh2J9jqvQXOOoohKncR64k4UOFAp4oRuPt7nY20FLbegWYBmjqIEGCbEOYi6R8rji7T-6tf8uddZvDxxNRrOInTJdTZgzhFd6c5HUVEfPnNhGZl0v0eNWAWav-TfeIthHj4vU07AUnkeDfa7Wl6tw__VFs6JWZWkES8vGRJpGE9iRHK20uGqi9no8fysa9to-esbiA6JK3tnwj500rdTKQQdtvIaQW1cmfjjOl08lRjeecFlS0Y43xsAz0SMNaNqNEOoLfR06iLPWShffg_NWsesD6WoDSzZD2iDFVJkQ_mngeBAqzZkuvKopZPpWk93zwgamXBTPuqCuIyclyN7M4Dj4s8woCMPEuyjO3-HPdtPlIZYD7ZtZZREWFg3V165g4XSTMdWkmRR0OLKDV4PbMElgc1tcvEry568oRu5UYBmMOCJ5D2uQ0bQA0HwSEG3ebXJV5FYiMaPbTRVjOEAUTitEunO4f_PtM3KKYg4Uwu0hN2fV-GtQM4sfCpucfBkqDfHdDidNrSBmillKYomh96dRn9UAwgReudZKnszQuwVo1-sqxLN2UAUM-l81g8_Ky6YVmS5CspKvUFOYpwBlrorycbillqxv5M5cH9OPXXDD4kjhD43D_iO8YaijKxtn59eF-lzuAyE75qkl0s-noe17mb_CTESVVGTOLpK6tCbLr2_xpgwx8cRMEFCfO_T-PQnxH0OLd_aYTNhRw4tEiDuB9c1Cy2sIIPtE52edn-JHmpczIL1zpObALVvywIy3rJn4mI7NQQpa2385cSEjubABaC5t9i4_pVz8zn3HtcRukGh9iLa2hm6DOS9DvQ2lEY2zKQ5eOrjhdrsWkgGBkYY3HVe5E8HbSB6ah8Eo7TiuSq8kZ-l2z3-axluhFQiMUV3NfxLqWrOEepi8OEqDTSDMgPgh8LXLKPonii1ZbMFWrsqXeYjXTC1cT-yd7To3jWHU9C-n6xbWEhgUWM8YMMjTmX1kH4drWnBV-F-o33Oia4QNJm1B6xYjNT6bh_GjTeZHdek8rG0h7GGYhYTJPW9nm9Oo_b4-eQVShwqPd16fZXRfvbXX7QO1iHAVrHFrdH1BnBEl_a7uBE8rleo40Yax2TgC-zopftpIqRp5NM0vWM8JxPcmuf0IuhWCUZejDFZW-5UidvcgCT2p8e3kwPTPQcKqYgruKW2BpZ9FVIJCd97NoK14BXGKZp1UI5Oq6W6kFdMeY6UzeXgYMcSvHwHFOuvcHKku1kSWC0ExLggYpQbmoSvLZkFSO0w0_sKRsPiS_e7U0xY2x1GbGK59cAjynksN-HhXYmopo8BDRiIwGXU2szQeMxNCdjmLpSwyb_GCOnRVjn-v1N3W3F9kOwELHC_BLeXb9DTh6MhEo4I6bAhCWuJef8No1xiUomEsLCQER0ZhyCFNlY7DS19nrhXFuOJJK1V3cZhzZH89lJ-FlSRLb1Zo5eRcoMAZKEnvxPfxA4zvGUHFNC9AeWJiWCb6ySjaKpfvD9CtqNnWNYvj_VhbKJPOxb8a9cpmCaA4MvdMdyY4xeCbV2vhIlvxfdhVCCGNWUjYmrUHQIqufy6JJ4fxoOp869BvPpefILntYXc0F3mwqwboioEcW9biarsKcbBOYp2jGdXW1BWHYljPpwhxWnOoxdCd0tGF5cKWyBImm8ctbQRFTohz19-kgdWlRJo_9PQfECtfXdNVtlL3yMFiCWJQhrCh3A4tIzv-0FaKiUPwZFsJhdQ7XmfNsYXMCj4G4I12zbRmqhJ2sro6Af4lb4HL3rwLYzbWQ_T7yYUJg0TO9gAiGhSfIs_j1zk2IHN17P1JBtadDnD3ozr8qry1GTqwfLvSzUrJJ46WXzBpa9c6XwGR7bmdWncnLT3XyZ1_d2QUiO102Q-5QYxkMtwTigCqzd9qaOmwN8tGv_ZnOjWwy065nUkUaw-mjm5GP6p3mFAwNeE1k4gva-nCNTwRDvxFKacjZa6iwzR9uXGYNdgAWRZoFILUIYEEsDp_h5VJvwJxbInnJ6IZhRtGIwIsGqrmnx5VhXKpY3CCcXBiJCg4gcomwbL8tJ9jPXq0mTEcVXalzkt7B8yPWGIS6N6kd3Nhwou2EyTwwTatCH1yDy57SgHzxQ0gyXMIoSt8sYDiwwz0Wxca0-8m3o1PbnU5VAUxyi4Y_dULDX3q0fvJug6uwFb8vZah46tgQJ-FrcZkmozwufeomahuAa0thdej_JlpmOce0y-NjgO0BMsgHfEWmYjhEOL3Db0ypheBlipWYm1wuw4QcK4Mq4pu6RAmlOnKPUlwg5NSMM2_ASyVef4Aoi8N7uYRYasn35DjfEKhv3zOoxJBUHd_IF93TCTQPnU5Cdhvf8TlsVAoydkw1MjDMYm2xbnm5wElBwSbeyUK7JMZBqsni-pYeJA9vykC7Tc1pQWgZm6lMflMfTFR177Kd90wIcAurvMprq-lzKcXEdCdNo4jEsCdrlNZRJ8XiaJHw89Ro-lvylybY2tlEbyoM1bO0AIF8fjWLFdW8KnmDtACXP2cHEs5M5hN7wpmicUBikJzPZ1k_r4aSJR5FtmSSdoZ0nd_2y8E_Lh-g1QlSebxj",
  "id": "rs_0ae432ad9e695f52016ab41a37b0ec87d0851b9072930cc134",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_z\":0.085},\"note\":\"The gripper stopped descending well above the target, suggesting it may be catching the bowl’s near rim. I’m easing it a little farther over the bowl and trying a shallower descent.\"}",
  "call_id": "call_1eL1ZsLUflawZe1LJTkgoK9z",
  "id": "fc_0ae432ad9e695f52016ab41a3c8b5887d0955ecf25698ca5ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1eL1ZsLUflawZe1LJTkgoK9z",
  "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]: [-0.3141, 1.2053, 0.6975, -0.2062, -0.2584, -0.1978, 0.9995, -0.0216, 0.7979, 0.5999, -0.3931, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3489 left_y=-0.0621 left_z=0.1343 left_yaw=-0.0053 left_pitch=-0.1157 left_roll=0.0295 left_gripper=0.9995 right_x=0.2927 right_y=0.0001 right_z=0.1743 right_yaw=-0.0014 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.253, -4.8479, 9.2376, 1.5409, -0.0757, 0.1929, -0.0122, -0.0889, -1.2376, 7.241, 1.746, -0.0415, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27995dae654a7ed285c22966edad6ee21623fda6d323cf6a8113bb1bcb273286",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7273edd62c6d51251172f92e59592847cdcca2416ca89b5bcef9c8e304db0dd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d03e64d88c06aaa15535f3715f1e69ecfb2c4f1a4c532cb64a72a9a8a7cae37a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.4862, 1.319, 0.683, -0.0769, -0.3851, -0.2901, 0.9995, -0.0219, 0.7967, 0.6033, -0.3893, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3544 left_y=-0.1082 left_z=0.1177 left_yaw=-0.0239 left_pitch=-0.0814 left_roll=0.0334 left_gripper=0.9995 right_x=0.2936 right_y=0.0 right_z=0.177 right_yaw=-0.0015 right_pitch=-0.0133 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.3624, -5.2171, 9.1556, 1.8144, -0.2271, -0.1294, -0.0171, -0.0068, -1.5521, 6.9265, 1.7802, -0.0269, -0.0366, -0.022]",
      "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]: [-0.3141, 1.2053, 0.6975, -0.2058, -0.2584, -0.1978, 0.9995, -0.0219, 0.7979, 0.6003, -0.3931, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.349 left_y=-0.0621 left_z=0.1344 left_yaw=-0.0053 left_pitch=-0.1153 left_roll=0.0294 left_gripper=0.9995 right_x=0.2928 right_y=-0.0 right_z=0.1745 right_yaw=-0.0018 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -4.8615, 9.2513, 1.5751, -0.105, 0.2125, -0.0122, -0.0752, -1.1556, 7.0496, 1.7411, -0.022, -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]: [-0.3141, 1.2053, 0.6975, -0.2062, -0.2584, -0.1978, 0.9995, -0.0216, 0.7979, 0.5999, -0.3931, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3489 left_y=-0.0621 left_z=0.1343 left_yaw=-0.0053 left_pitch=-0.1157 left_roll=0.0295 left_gripper=0.9995 right_x=0.2927 right_y=0.0001 right_z=0.1743 right_yaw=-0.0014 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.253, -4.8479, 9.2376, 1.5409, -0.0757, 0.1929, -0.0122, -0.0889, -1.2376, 7.241, 1.746, -0.0415, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27995dae654a7ed285c22966edad6ee21623fda6d323cf6a8113bb1bcb273286",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7273edd62c6d51251172f92e59592847cdcca2416ca89b5bcef9c8e304db0dd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d03e64d88c06aaa15535f3715f1e69ecfb2c4f1a4c532cb64a72a9a8a7cae37a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpClHuSaMngnq7k9BTocDUiZMdLuA5ilcFkHogqdDlT741kqOyR3O152rwjKFBnKPhGJFTXyeewOSXqYEiHHB08DOmuFR9P8P5KrmdOl-HPNwFAnBY5vBwQP-QgDvOelHCEfUkmkJ_xMDGPsVny0XcFN8d36ID10yG25qwZzCHveBw3Bz7lxTuzgJLMty2l8L4xNtrby47U3WIBcnXHdkK3k4BVZXG-BnZIvy4lZaXq4-wqZSSsoRt2b_QZ74G3M-ll2gacD5POOX_UhxDj0PgxB5TzfOequs6RnZppuldC1nIeK9b5rHZG0tedYcKGSGCsIAS_QbbLtPp6z-w8g1lRbIYqmQwNG_YKhJZtFagTBI73bTg6zce4aPu7nyCotnPTXQ9LznJ7GZEqPYDqI3yNcchQFop0giYYBipHMLXbW0xJy8LAtl3gtwurq00zuDaR_YbkYLW5UNEmhnqqFMe2LZylOSV7UirSsvCdw7xJbENlKLSKigoFucVU54knpb7W7K-Ru4z-mSEWy9AlR2d1ZVjjf_yt56UfstadDJhEoOHnAo4fD6ILrhL0fs0mM1PWcBjMFR4bmz3M3nOYdZeOE6j_XhwNGM8N1T2h1LSSiomo2EOonWKRsTXzt2eeOxNrPpxiIRDLSLEV-Rta7mMbYZXh4jHAQpD9SaTTgDBo099Dg4o1jd2jeye27X4rCR7Dly6ofysoAF3rlQeisM0C3msEf4ZViOhMc6sS2IyWEhvjzGUOO_lol2Chrq-9udfFYTME5qnNnWQjTD-3xrf59FJyWxQnRWV7gRDmYtW-4Ggn6SUpJL_u3u6PjzHxcwi8nMsRHKT4HsOE_APvnDzxjLc8QDrGtnfiuNums-Maec1To2kWUEd5hxA0862R0X86mEOl-EVuycFVKFFeO4i44DY5wzIxKT32otowEJWtT4b60dq1X2OiSU2a3k-vu5JQOKFiCZJwNKiZvBWXIpMsd_EFtQm2NQguqiNSfIXsCnqAIszji6n6j8n9ckALpKKSHSiX6o5gcQJJlik6HNkd55a9mREtFjClN4n2IySJ5EDkAJ7evtVIfkdRB7hQ3zuJYqjUdy4S5H6_ns_K4mNaqMZCHE_k6fTwZ0_FCQWnJ5dBqMC1YEAh3WL_tkwU_daNLSPfjH3_Tw_TXdUVh40nFgcuLyf4d2FjzN5at0CM-6OUdUfRm8cL5oy9DpZiJ4BQYbu6BIyx-xkGWL6nWggikxkYKq8WZjoXUDYXuBtQ7zBHPSvJoY3Kt8P6T4uBLsuTq8lsKTjMZB2bTsfgFiGaf3ltaGFXQRRqXyk3V2OnxYfBpx0f2RuHjw4Gst-hecWzA9G2AiCHNbaxyYBaFr5VmBaSKrLYVonnNLUNrwdWp3Iorebn8wih6uEoU_SqqMgZVy3QiQIfOIAKeYUS8EZyNDNJYaixtlEFPB-94HLquDZvX0yZtTHZ-RDEvX5pgP68a1xAhm578vWtq51R2aLNhIjVJQxRbpZgOr4k5zg7TlXd18lHU53PfYAqujR3ts1Y03_i74Q1ypAp9DihGSGciNop2zAeBpetnKu0_aYnhRGkfAgkap4e7Lg4mwRGhH9BTjaMEBgrSGscbtdwEpeOWwoFQzorCeHV-YC2k7YhkGaOMoW94Yo8_d1WJjcWpW4gO-GEI_OpZKbXJxjfq3MiRQ6PiBQBpbItJecHKozaSggYf1W9T2cK7-neja0AugksCEiHzPw2ZXWYMEJri6b4pJ4J7ok_ZDMpLRWUTZR3NjohpuR6F9uXB6IVuae1cq20aI25yAg4elIaGgA6m9RX5OUXBicx-qaUD1RDSnsdXkeR6XMzrUIOa2CSa8-dMrDGbUnFcvJtEVpGlOR1mhTN_6k4YOTrFQ5NnXQPg-Tq9zmJJ80efyOiaUPMQQ5VizUdWibe_6Z-asw9rYCIUvjHKVWEPdxENHKFpT2riGU8gLAI86ypWtwzrQZur9dqOi78l9zeb1WxenDxgRJvZgrJPO3v4TDrk1eH2DgnHAfRK-YFFMufKONXVTNP11gU7ioZQ1ecZip0qnznBTe9bm4cfQ==",
  "id": "rs_0ae432ad9e695f52016ab41a3fcec887d0a82f1ae57830af49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_z\":0.22},\"note\":\"The arm did not follow the last approach, so I’m backing it up above the bowl before trying a different grasp path. The bowl itself has not moved.\"}",
  "call_id": "call_gdewzOIeU3xX6fBWkYLBLV4k",
  "id": "fc_0ae432ad9e695f52016ab41a41684487d0bcb1f12c0070be94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gdewzOIeU3xX6fBWkYLBLV4k",
  "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]: [-0.2802, 1.2732, 1.0534, -0.4541, -0.2424, -0.1982, 0.9995, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3814 left_y=-0.0619 left_z=0.219 left_yaw=0.0144 left_pitch=-0.0805 left_roll=0.0074 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=-0.0011 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.998\nstate[joint_eff]: [0.4991, -4.0, 8.2803, 1.4188, -0.0952, 0.2369, -0.0171, -0.1709, -1.2513, 7.0359, 1.7216, -0.0659, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9339958ed3a260b44f225ed36e64d67270fe483d3f6bb3a355c490e743c791d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:defbb8070ef3d7e14f3b255ec36ae5ed600bca20ceb6aea10dc1aea7c5db5fb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90cd002034fc062d2d53ef73d7789c964b8f34e8d3ab8b8305134327af5de784",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.329, 1.2133, 0.6956, -0.1631, -0.3019, -0.2226, 0.9995, -0.0216, 0.7979, 0.6003, -0.3927, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3549 left_y=-0.0619 left_z=0.1401 left_yaw=0.0281 left_pitch=-0.0747 left_roll=0.0255 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1746 right_yaw=-0.0014 right_pitch=-0.021 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [0.3214, -4.6291, 9.8803, 1.5018, 0.0611, 0.2711, -0.0122, -0.1709, -1.0051, 7.4598, 1.7753, -0.0269, -0.0317, -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]: [-0.3141, 1.2053, 0.6975, -0.2062, -0.2584, -0.1978, 0.9995, -0.0216, 0.7979, 0.5999, -0.3931, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3489 left_y=-0.0621 left_z=0.1343 left_yaw=-0.0053 left_pitch=-0.1157 left_roll=0.0295 left_gripper=0.9995 right_x=0.2927 right_y=0.0001 right_z=0.1743 right_yaw=-0.0014 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.253, -4.8479, 9.2376, 1.5409, -0.0757, 0.1929, -0.0122, -0.0889, -1.2376, 7.241, 1.746, -0.0415, -0.0415, -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]: [-0.2802, 1.2732, 1.0534, -0.4541, -0.2424, -0.1982, 0.9995, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3814 left_y=-0.0619 left_z=0.219 left_yaw=0.0144 left_pitch=-0.0805 left_roll=0.0074 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=-0.0011 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.998\nstate[joint_eff]: [0.4991, -4.0, 8.2803, 1.4188, -0.0952, 0.2369, -0.0171, -0.1709, -1.2513, 7.0359, 1.7216, -0.0659, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9339958ed3a260b44f225ed36e64d67270fe483d3f6bb3a355c490e743c791d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:defbb8070ef3d7e14f3b255ec36ae5ed600bca20ceb6aea10dc1aea7c5db5fb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90cd002034fc062d2d53ef73d7789c964b8f34e8d3ab8b8305134327af5de784",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ae432ad9e695f52016ab41a43a2ac87d08810de01c02b1fd2",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpKNUbBxquFp36AlAzvm93C2YL90lunHFB9SdZ-ACXuCu_tHyh0xg1RaOA_RjYNkA9o7IeZ1Bki1Rffok_38OpvnV54utOKjzIXjtimaYoYpEx0ZIBQp66NukeRIlzWycVAFZ4jD_Tt6vCxo0AVoJ1NCwTw1cr4i8As71TzHxiF1DFq3lhpfB5bMaT_zOvugxuoimITiOfa1cExKRFWHjiwZ1K45Ttd7LTXfnOIcHS_w1fl04DQ7iGrOMBxeg8Tg-MhzPPgOE3U1XA1acOy_tVzyZ9yP9x0DXwc1tOpQxnvJWMaHsfk4tfBp8aByQ4gqMdibpSVPN4qNYDng4yKwd-qUm5SXadNP3pOfrzWn7fghXQ0-F6GmnMyIrT3usv7_hq5RFhwXVQv8QBVBPSoEGO9MEnM-63j_hk8LstIsaxF5YoqafWFOIYsO-ZMKnFQfAX2Lq51En155rnm5tItrIHopjNGBXhm2hyJiJquoHLAn0ri0uvuBWurgFayJ_oav6k0kGvfCdoDRv1A9g7pMV7PHaew4PlVgN01MphAfZtVcK9IMJ8U5fCHcCBjXQZbKrnc1h5JfgVMncDPHyRfjXwWVl5dSUdozQPhDKif4Yv1XRBtOM1G2q1dUGHhGAgicz4SfUUP6HJZ97Q4d84eO1pomJ2iuJNH7TK0wEkvEjUlodM4CxdaNS0NmUrFcc6Q7fMU1QkuJAuMGFkLBZZUzj3S0D9PSFqeNElIOiVwYK58tZ3BMWfgHcQzuWp22n7_yEZ38DLqME9e2kc1jf5Dk1TJYAPd_AxXV1kO4okvOZbASntLnCLAennwnMVw7WliAg-OOrvfrHAcJ0MQfhFx10881RPyRw8xiuKe37i4MiThVyx9WJjWSZRP1yo39qO89WfHctjfbbqFaZMcaU3ekZCrPg5JArgslLihjFSvEJNN28FW0CIDQkUxNFFfU4ZXIfLvkwOsTj8gTpZ8Ae4b5A1RSFzX3auhjkMoGSdn58eitM6wwkeEUQPefuFTUWL4kOcl26G98pAP6NkbWqK6CpwjMsIBVZYZCb0_goXBYWapB9H7OtOnWQtgwuOeNFkxsPQbN8K0HBSkjwGXi4Zm7j2QtWwi5v-1WF7JKw9e-ddIYZnXOC1QNS-S85xkRMrtc6FQkCxPzNP32966Mq_AkQe7xXtDn4xQdUz-yaOJkufS9ZunOEx4LSBxvgLfGFxDUs1vaGv1MvMMb0eCxeKEK4ykCmjI8_-dHuY8189EGavuA2oq3PxLL_3vHwGLQRvwli8arEyOQsWpX5I2Wpap4Vzv5LSwC0eopNSMSQ89FFSVVI8T3glvBg_fHPfNi-Zf4I_lg6j7znR3kWKeTiYNHRE426FpAbxmiU133yguGiJFW6iIshEJZ0LBJ5pZnrY0MNeDzKxYA1Sv-UThWH_lsxqsprNT-MTS1KNDxczWqM6IajJhFUIrrRVbMq4e7NaT-83wLYuqh1DJ--04s42K8wTSv0525DW-W-UxB_JZX9GG58MpsqA4OsGuV7DKD3f9WxDgL85JI4B-LqbVDmqKDAJWPizf1DQdSFx4ShlRez379vxoZRVNfch8XMegKxlCVXkPkO8Mp6MqgENQM__0-PvqAgZES5lEHq9CvEtDo6yHOOUeDFMZWe4yOi9deR7h6NSCM31QSs1b6dKJfyDOje2fxNCA5QShyTakdh9BsoHJysHbAlj9HmBh22i-Fxagzrryr1IphKXP884VAiREMJSx6Bkikjssbtn2OYPFkBk88l4gyBK98vJ4f9h2xXtJ6t0DV9rVbvBwxYNuHOpPz5sVrPNImYG81cRKWVIy_1LuFFU9DWrkPxf60KSsTeJaP6jCotJ35SH0OlfiJgglf_KOP1uX_Rj6zQG0MdcqOhBIGQ08UQBv_JejWYjfquWh8-L2SSYRR0w-DuIzI_cEWNLXaOEvVTS4k_Ih8NySd712PPgZ9aCMGy5Zler9z4UgAQjGjh38fPk7gWdRiQ1qNqqu9Ohd-IXDO0PvsbQTa-ho03Ho1V_wV8N9AZVCPqgSvSygs22-v7y7XJvsr5L82Xu40-k8GbSY_vfR3TdUpETwFUImCh2BVJKPt9ZJL88XL-B1APC9PAiZ8Kq0end6_k3JIIMaW9AK1KYBh_F78U2n1_IHo1vM9HvjfbzA2EJjC-c8Nx0SKoYjnW3V8Jm7fljBtyOitaRkKT8dRQpCYHirJOLkUNn4mI_ilwrqSsZ9I00QEGwpQqV2ukvAxwRpvv2cPW98_hq4WA3-R-nBzQrxedgVziCv0PJBFha9oezpflWDKPPW8UNHDzIeuXSa-MCmx87F-x1V_Lx9c1Rm1Eor4jAUuwYWFuw0vJmBJl49UjABmOQIarofrIpMnKW6C3d0Dw==",
  "id": "rs_0ae432ad9e695f52016ab41a479d4887d0b97bd47adaca6151",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.105,\"left_z\":0.17},\"note\":\"The bowl appears a little wider than the fully open jaws, which may explain why a centered descent was blocked. I’m moving to one side of its rim to grasp the lip instead of trying to surround the whole bowl.\"}",
  "call_id": "call_skzOWfGSnOltxRcMht4WUUgj",
  "id": "fc_0ae432ad9e695f52016ab41a4a314487d08bdacb1bc384c9d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_skzOWfGSnOltxRcMht4WUUgj",
  "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]: [-0.4614, 1.2766, 0.8742, -0.3767, -0.3401, -0.2893, 0.9995, -0.0216, 0.8024, 0.5999, -0.3943, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3509 left_y=-0.1047 left_z=0.1578 left_yaw=-0.0325 left_pitch=-0.1544 left_roll=0.035 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1728 right_yaw=-0.0011 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -4.6564, 7.788, 2.0244, -0.4322, -0.0122, -0.0122, 0.0068, -1.4427, 7.0906, 1.7216, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c494637a6166fb98fbeec6fe9fd56d2f6f8a394ca48e17c81e7d6259a62dd35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ea89e139e3736ea5d44d46f7934e3a25f56c66c350822e86ff86efca162035",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74fbf066dd1793822efe6c1a1ba4e9ead200b788fbbe64264bdbc12ed493d68",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3141, 1.2053, 0.6975, -0.2058, -0.2584, -0.1978, 0.9995, -0.0219, 0.7979, 0.6003, -0.3931, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.349 left_y=-0.0621 left_z=0.1344 left_yaw=-0.0053 left_pitch=-0.1153 left_roll=0.0294 left_gripper=0.9995 right_x=0.2928 right_y=-0.0 right_z=0.1745 right_yaw=-0.0018 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -4.8615, 9.2513, 1.5751, -0.105, 0.2125, -0.0122, -0.0752, -1.1556, 7.0496, 1.7411, -0.022, -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]: [-0.2802, 1.2732, 1.0534, -0.4541, -0.2424, -0.1982, 0.9995, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3814 left_y=-0.0619 left_z=0.219 left_yaw=0.0144 left_pitch=-0.0805 left_roll=0.0074 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=-0.0011 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.998\nstate[joint_eff]: [0.4991, -4.0, 8.2803, 1.4188, -0.0952, 0.2369, -0.0171, -0.1709, -1.2513, 7.0359, 1.7216, -0.0659, -0.0806, -0.0171]\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]: [-0.4614, 1.2766, 0.8742, -0.3767, -0.3401, -0.2893, 0.9995, -0.0216, 0.8024, 0.5999, -0.3943, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3509 left_y=-0.1047 left_z=0.1578 left_yaw=-0.0325 left_pitch=-0.1544 left_roll=0.035 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1728 right_yaw=-0.0011 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -4.6564, 7.788, 2.0244, -0.4322, -0.0122, -0.0122, 0.0068, -1.4427, 7.0906, 1.7216, -0.0415, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c494637a6166fb98fbeec6fe9fd56d2f6f8a394ca48e17c81e7d6259a62dd35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ea89e139e3736ea5d44d46f7934e3a25f56c66c350822e86ff86efca162035",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74fbf066dd1793822efe6c1a1ba4e9ead200b788fbbe64264bdbc12ed493d68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpNFBBSH8okqMLGyuRuDRKOu5LNLcalb-nnZs78N8f26Sr4y1Z3Q7KEfruoGhjzPiUQzajcyxHOi8A-q11jFpOZ_EeGIz_PgS57qd82RvqhW8Zz8HFA8Vdt_O-tKqTJM-saO77yQfZnd653R8trqodsxFmfH7gShZDBEwgaKOwellBYXw1CBdZle76N5eDNfD5bD9GPf8uNdCA930vFp4aJQpP66oBrmLJ-arQZ4VTq-jzSztOu1sYF1mSp_K2Ac8qSuT6-X04VuYOGE9QipGYLWcNRv7vFq8PL8IxTN_KaYllowMOBTOd99hf8HyzWV-NGhpQkl_ZdJUnq0Ooz0lOEmqkLFYKJSewtH6Tt5ZIMW-LfRtKhp2AVRUkFDIdBpGBK87dBuAA4Ao0r9KMefUPOVBHy44vnQc1hRHalPiq7V3tCv4kArI69mHkOVct03ut64NkE03RAK7noi3If5yKuX6ABV-IGb78KU2aa9HI16FiVr-bwB8OWXh6n_FK44NLxIQIxXfOfBchGAzTr3Sfu0a8WK_FO0p6USEOsIKak--5YsyiBC6z0Jtvzz08QiuvRFm82yR_wjZhGQFecyo4JwaXyhyYQFuc1pVCFHR_MxTu7sgPUiCUQHZiOcyA5sVpw9wb_s8EbYoxyAJe0V4hDM8g1CnlQIxEroOxKyX_V0cjNIYXi_kTqD72mCRcIPhq7DsIL-AzX-E6yUfgzMTs0fk0cxpJY_GCyRYsJi4xFz1tSTT1OnX1BU-cx5Dug91g7xm66y23-mj85dDFE8RbLhfbyMpwO2x-_X1ctYY75SC_mYmwEtK4TO2qPA1FEUrMW8JG5rxpTtyXTKhqi4U7QTZHyCikikWWTb9fHmo-RG_CvL1vHvFChzUVwVmmYk-5DxqylepsGauIoan6jgZur1g00SsqA8x5q9y2y3l4EKYAxccg7hLJo0OI8aXLlEQVRIZJhpDw4IdaVkEt5r692m4ddMfOAEiQhxfAnk1-0IiXR5zP5CRIkGLEN1ziec9Awa5wuuU4FOoDx8YbmC60yJWGs29JRV_7rLmmoR07alE4xg32ENt1I1mPAjw53abO7yQv70vtU9I9uE8zbiOkiDzDhngo3NUtEfSXVof4BPOzw5gTk2gZbd0CN6Yn8wgVjdENRAkJZ8etlKRuJsbzRBNDGxvQ_RiCMXZqTy_zw9lmXZEOz5xrr_9xAMvNi50E_1tSinpDXvSo3me7meIfqxuEV1slHy69907PSCKyYHzcTzR-58gt4kmCc3-fEHJ3bWa94zsEYlngXNVe9u7-Xn_HQVwc6vS7nvC77EggYDttlRw6KzghraofmC5Uwv6lXyjQ7hqZz7r0jr4VCKdLE8ZlP53m0tMd7xhP3SvcjO1qA_TTUKLzNWej4EcacrValobUZdnVYXSBPc74NnfiLMBHKcRzJpf1SOxBBvS9tiJQ=",
  "id": "rs_0ae432ad9e695f52016ab41a4c63fc87d09cb802def532543b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.075},\"note\":\"The left bowl’s rim now lies near the inner jaw rather than under the middle of the gripper. I’m lowering at this offset to get the jaws around one edge of the bowl.\"}",
  "call_id": "call_w3uYDCdMspZCfSCifjKv2VdX",
  "id": "fc_0ae432ad9e695f52016ab41a4ce89087d08f4c0580e930db96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w3uYDCdMspZCfSCifjKv2VdX",
  "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]: [-0.4667, 1.3949, 0.6346, -0.0845, -0.3408, -0.3103, 0.9995, -0.0219, 0.8024, 0.598, -0.3962, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3406 left_y=-0.1015 left_z=0.0698 left_yaw=-0.0205 left_pitch=-0.213 left_roll=0.0483 left_gripper=0.9995 right_x=0.2923 right_y=0.0 right_z=0.1716 right_yaw=-0.0015 right_pitch=-0.0313 right_roll=-0.0 right_gripper=0.998\nstate[joint_eff]: [0.212, -5.2444, 6.1197, 1.6972, -0.1685, 0.1636, -0.0122, -0.0205, -1.306, 7.2684, 1.7363, -0.0513, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3687371dea963fe8e7632f281e954a8ef91c47e5e313daf09e2f7d299c334a9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cebb0c987a3b3df9b6addf0717011d9746871231d74cfc6854fe0350d231508",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9094926e24b543808afa53f5098f98d0996d293a456a72120e233435fb9f67a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 28 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3141, 1.2053, 0.6975, -0.2062, -0.2584, -0.1978, 0.9995, -0.0216, 0.7979, 0.5999, -0.3931, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3489 left_y=-0.0621 left_z=0.1343 left_yaw=-0.0053 left_pitch=-0.1157 left_roll=0.0295 left_gripper=0.9995 right_x=0.2927 right_y=0.0001 right_z=0.1743 right_yaw=-0.0014 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.253, -4.8479, 9.2376, 1.5409, -0.0757, 0.1929, -0.0122, -0.0889, -1.2376, 7.241, 1.746, -0.0415, -0.0415, -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]: [-0.4614, 1.2766, 0.8742, -0.3767, -0.3401, -0.2893, 0.9995, -0.0216, 0.8024, 0.5999, -0.3943, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3509 left_y=-0.1047 left_z=0.1578 left_yaw=-0.0325 left_pitch=-0.1544 left_roll=0.035 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1728 right_yaw=-0.0011 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -4.6564, 7.788, 2.0244, -0.4322, -0.0122, -0.0122, 0.0068, -1.4427, 7.0906, 1.7216, -0.0415, -0.0513, -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]: [-0.4667, 1.3949, 0.6346, -0.0845, -0.3408, -0.3103, 0.9995, -0.0219, 0.8024, 0.598, -0.3962, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3406 left_y=-0.1015 left_z=0.0698 left_yaw=-0.0205 left_pitch=-0.213 left_roll=0.0483 left_gripper=0.9995 right_x=0.2923 right_y=0.0 right_z=0.1716 right_yaw=-0.0015 right_pitch=-0.0313 right_roll=-0.0 right_gripper=0.998\nstate[joint_eff]: [0.212, -5.2444, 6.1197, 1.6972, -0.1685, 0.1636, -0.0122, -0.0205, -1.306, 7.2684, 1.7363, -0.0513, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3687371dea963fe8e7632f281e954a8ef91c47e5e313daf09e2f7d299c334a9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cebb0c987a3b3df9b6addf0717011d9746871231d74cfc6854fe0350d231508",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9094926e24b543808afa53f5098f98d0996d293a456a72120e233435fb9f67a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ae432ad9e695f52016ab41a4ffe4087d0a27b2e8294858167",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpXK_tcM_KcPPZJgPeO8PxULXBR1AUblPfPgQFalfY8P8YhvbY7y0W7zEd0K1Yle1FRwbiqkX1qDcneb467ED2ScPqS1o0gk1QgrawHdSckeSHxWJ9unZ-2MSCkBixRpGkwNgB2pS4myxBSHnzwzBMOLxfYdKMeU0cfrY62pzh3EloMiQLFjflWKRq79kalIYEH67RZFWzi3PavYorNEJsERoahLtyKIzuN_NjjSWfN9Ognrx5iy6Ds1xDTlYbwb9qndloz05Bd68uetEBfa95dwtxv9v49bEoLM1Y7iVPzJvpegFHRS4NzDtezrT4PdcatVblwxfVDzH2lpx8OYbdoDU2sAgWd9U-OiTbPPGqP--vZmurIGiM2JrwFtlcPeXmSZO8ORzL6Lkn3aZjIUHHAoI0a8fzJzQiCQTeApiPFP1lzkctCBzX1Agu31yJ5mf9FdMZr_W3vxq6PGStRymRYbukdkH3tknuOi1m5E4Lvr6TDYsPMbeOtoSCc2jpi1p-C_7AcGHYFvc76IZqSxuFFO46Rym83D5Buax4EjPhXVY0kqOfy2bek42ygWO0mfsbYcHZ1aMr0-PNz5vZvQqXoW-Xb37e_UYXTe-U0SjJrb_gGbeOBJpJveSyzarJ9F6EXxqUaa8osyxzdHQjiXbCasqB3_mOHaqTgol_NAGRfT7EcE_diJoK6-_Hfp-wNCtcOETG8Zr5Z6rrvtXJtsef7EFN4iUDQgCQCiRYF5V9VTm6GiOkxqe7FNpQSMLHCD-XHDZFXFvCn7cXRHYu3C33n3m8I5l4DWIhZ1PH18DeJwXR0l2XTC5hACZ0b41kOi6Upu1atl11LJQlgPLjAbJ6GD0ibBwuuvdj-cHdDLITcKF0-7tI95eUG8H7TP3wI0dHkixJK_1Rrc9mybvAxYJsiw3bN9Haluq6sQVcFFx_jqomKJM_zRY9SXWZv0Gv4LT1iYRI0MykCwW5umogyyD0c8Fjq-4bEki4_XT6XlEpAHsl1sDMlL09-122PPnH1M7QbDFrQQsoDah8jlXNrgwtngGdOvZtWi0JyFmW_7DO4Y-17P2rWH8eLP7W3rG9nLjJywP1_jxr2Fh-d7rHM5ks_xmluoYr688ayH-TRJE-D3O70UJ39h8_S38xLFQxHlwPOPsPz7RYyUrYMsCOczO0e3Gbm33zjnqnDMmfhPb-k84iPVXa5KRe9K5CMrZ1EGTeAjU78xs2059rnsrfp3x9Exk8P3aPabrD_HDUaTKBClLAu-sT0s1dAceycSR1UFOJXaCed7LmMmfdJ0e9sUxVgF8tKfNNgSI2k7eIHxf5XL_yx82B-vKxIzh3oSLfhdqzrHhvbWROae6hFN25NGQQuYBtS5_-6GBpfd-ICnl-TCumPmFlVWXlv_uA5uaCAYokI-21yfbBLopZqINxbx_-qNKbk6VkiXW9MgADMTTjQaU3pBtN4LRYDUjNTYn2HYXo6Vf2YOuiBaNEPQg7ceXp7FaP1AnR_G3vELglaXacM3kvQg88bj9oCCgmHGwghBw8c72T0TUCNOEZ7atkchp9Ry7vVGad2_-vWy9aqpeY8pu_VSyRoQqWceP-m4oXzH3HvtU2K-JrY3H6yJv2VJbfV_GA21mJLTM__0-EHRKtYb3zlIjsU2N-A5VrdWSdmEcaKlsi8vYzwH_AUAz4CLMQ6oGUAoHT1_1OX8cNTZe50CoxhDPnIOknigGQqFfmj8mb6fk4k3HksmbJwVS7lyP3Vgo2SQwqdpuAIhAZc9sKkk48SBmOSZ4VnXt-G-Kj89JP5s5BeQAZ1kEkJOlvj0J_DFvlevlnf24vvc3eAXFy00CPthTGwzuNpJGc5Uiy5-J8Z2_LXn0tn5k1bUWV9Dm504N4cIxozuUzdcqbrzVawmSdaTwkmE4_M-MOjJD2TCdn38xh1BaDHrpScv1Pg6t8TGpJd8YKejCrs0inkAKEQ0NMdRiv-dx13NHKogxl1duaQf21JQdBYebg_vTopugW0ci4SkpHM2OxcJop6qy4VhZQLujvvD44wTDEa4wCI1ZhxrH5VK48UgmEeObSZ5rhefV2ZMIM-BZaQ_5AERLeuoEaZ9RWP6E2_MllSOZW-JVlbNZ6uXZzuo22I8ACoOISYmqEA5dAVIMlHcHoFJnnxbJE3QJ2_fft5FMRKdlTgHPt4k_abRZCb1ii1U4BaDZ7xs8xlzADsY1_5DBUDeYHWvjC9eN58dxM9bHC_m2ZJCX-4D0aDPE62Q4-xcmp_FNHPSg==",
  "id": "rs_0ae432ad9e695f52016ab41a54f25087d094af5bacd7331439",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The offset descent reached rim height, with one jaw over the bowl and the other outside its edge. I’m closing gently on that rim, then I’ll check the gripper reading and lift to verify the bowl is held.\"}",
  "call_id": "call_QKt1P0lFInjOSKzzgfnZs3Ua",
  "id": "fc_0ae432ad9e695f52016ab41a57005c87d0b786db73d172a086",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QKt1P0lFInjOSKzzgfnZs3Ua",
  "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]: [-0.4641, 1.412, 0.617, -0.0902, -0.3405, -0.3126, 0.0111, -0.0216, 0.8043, 0.5957, -0.4118, -0.0162, -0.0353, 0.998]\nstate[eef_state]: left_x=0.3343 left_y=-0.0973 left_z=0.0568 left_yaw=-0.0127 left_pitch=-0.2495 left_roll=0.0644 left_gripper=0.0111 right_x=0.2899 right_y=0.0002 right_z=0.1668 right_yaw=-0.0009 right_pitch=-0.0511 right_roll=0.0001 right_gripper=0.998\nstate[joint_eff]: [-0.3897, -6.6256, 7.3778, 1.4237, -0.1783, -0.022, 0.8962, -0.1026, -1.4427, 7.1863, 1.8584, -0.0708, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033270e1c6b92798d7bff3ff0f9da9096d4785fb6b51fe5a0b88973914b98858",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff1ad2cf33657a6db90b4260b657c273b44277b200f16b4903be11931194ef24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b76a8ac2d3a69e0b7cb9861c8e1e408d1c184037ad71483a42e64396465a17",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 32 changed as sent

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2802, 1.2732, 1.0534, -0.4541, -0.2424, -0.1982, 0.9995, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3814 left_y=-0.0619 left_z=0.219 left_yaw=0.0144 left_pitch=-0.0805 left_roll=0.0074 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=-0.0011 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.998\nstate[joint_eff]: [0.4991, -4.0, 8.2803, 1.4188, -0.0952, 0.2369, -0.0171, -0.1709, -1.2513, 7.0359, 1.7216, -0.0659, -0.0806, -0.0171]\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]: [-0.4667, 1.3949, 0.6346, -0.0845, -0.3408, -0.3103, 0.9995, -0.0219, 0.8024, 0.598, -0.3962, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3406 left_y=-0.1015 left_z=0.0698 left_yaw=-0.0205 left_pitch=-0.213 left_roll=0.0483 left_gripper=0.9995 right_x=0.2923 right_y=0.0 right_z=0.1716 right_yaw=-0.0015 right_pitch=-0.0313 right_roll=-0.0 right_gripper=0.998\nstate[joint_eff]: [0.212, -5.2444, 6.1197, 1.6972, -0.1685, 0.1636, -0.0122, -0.0205, -1.306, 7.2684, 1.7363, -0.0513, -0.0024, -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]: [-0.4641, 1.412, 0.617, -0.0902, -0.3405, -0.3126, 0.0111, -0.0216, 0.8043, 0.5957, -0.4118, -0.0162, -0.0353, 0.998]\nstate[eef_state]: left_x=0.3343 left_y=-0.0973 left_z=0.0568 left_yaw=-0.0127 left_pitch=-0.2495 left_roll=0.0644 left_gripper=0.0111 right_x=0.2899 right_y=0.0002 right_z=0.1668 right_yaw=-0.0009 right_pitch=-0.0511 right_roll=0.0001 right_gripper=0.998\nstate[joint_eff]: [-0.3897, -6.6256, 7.3778, 1.4237, -0.1783, -0.022, 0.8962, -0.1026, -1.4427, 7.1863, 1.8584, -0.0708, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033270e1c6b92798d7bff3ff0f9da9096d4785fb6b51fe5a0b88973914b98858",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff1ad2cf33657a6db90b4260b657c273b44277b200f16b4903be11931194ef24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b76a8ac2d3a69e0b7cb9861c8e1e408d1c184037ad71483a42e64396465a17",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ae432ad9e695f52016ab41a5a161487d085184e980376e31d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpg_JnT20gg9tiW7_hZyzpkqDAyFSI1VWsgrwb_-hgqDQRFICql3_UIirwcypK8LJ-xIpGLD-oWq3E9bwQb8BTKd0lROiSKlgdQZcDk9omCgJpPy_fyaGQlVEBJOOIGnK27fY_hma4naJ2iSHSwwmLxvv43AQ3o8B55__SWdYQSv9O5Xifp6WkvyYD9c8VvFkc6lkG6kNwxyewrC1zIjedTAc5lVj8JU6dSxeeskw-zWaHp6TWU4yJIAfHtKsypYd1LQz2MwbfDrP-XeMSwqcT_gq3hsjHt6VOV94iBDDpAqQFcMJWK-ZSAdPzw-HQGYsamnp3qbh8-szCohmKkK8GKRQDTyIThwavIt49i384399Uaw0lESbmXeW0FAmRzxjdgIPKg_AiowgIfKptjjwehuD3pLFouGPoDKYH29JFA3nYPKZ3tQGjDQRcaJuRWEIPHOaKlY-vGsbujm73zHCVjPbtv2hmaWGnVeZ570Ktk3STuJB_X43h0_9DiH5mU7YoWAGtiQOjbpgB76eOGjU1ybb5B-qUXvnlLuomaIHTsQkPr2FvBkZXqWsluKIpR6vwbnks0hzd0Itp4WPfOyvfnJcMG2p-lzk2z338-tx-gWX6u94-tkn2pKiedlosPSs90VfZ7t2J1Zqz84-Mqf6vMvZbVz2CHSdrYhVTNFV27SbBIr2nuYkmNX7_arGJ2CBAwKmPV7eOmqmTWeASZnw8Xa2F9EjqoEk9TtHwccsTUtlm-tMAmazZaHEWYX1VU08GbEaf72iPN81yMnO-CIFUONW3jJtWjXykuI9PPt1JkGXGtKv8Q-hfJ9t1IEspfW5QjR1B7wYSOmtwn2KsnrY4VZjQfZP0DHt879udsmpLyUhkrEICpc4--Y1bSyyiFVuMizGQ9kq3FiIRuXn4LFAxREUJGE7w5zUTxMfCZQ8avCkgpx2bSmnKOISBpIns4JkYMIKwSPGddHSSWXhJeRHyibCK5zJnA4SQuK8GXRu6LPDmsiPvP68AgVBEBnOy5yx85hNnve4zemnm2zrKUaWpsH9kcuyu9q9hXUbbarDvb4H9LgRAFtIXOUL_JJGgVC9krYS1Xuw5Vz-m620MVEKUl7p5geWepyUGA_hqslOjrVXHnbIpXaACx6zZijzaeRNyDzT4dGEaHIqqX7KIovsjilk-7BSDlaIEtwDOEkI5g2MlmZn1n9fQuMwSZY0ClkbgUzvYd8WpEt33HjsFLB4msMvQohBMDGI5q5Ipg6R9JLeqxqhp29yP1oTbH4doWX4cvM7kP4Bkqtc5-MVEkaD7jVpD4lTt0X0xuIadLh2JpgqKNRGuGYzwbS-uPQoNcBwRxTJ9bgKMnvHlk9kv7z7Hgt4kHHle4hB8VgXTUWsCyCdtZf4oiwqnT0e5BUceBHPCSRV0s1DFwv-o1pLn-tbxtezQ2kUpkqpzMRfMMR6iHqLHCx4gUTUxe8NcLKtClxKHyqFwl6obFmGsmba7Kimk6gun0diAXlmfuHaQ9EYH3729sorD2fjZfkpfNflsS2GQoPwuKPUQI44fWdef8ljNEI3ygQL9gB8qEsguOW7otBh2H8YJHO-iIG7YPzDuv6lCK3dL08tKr7_WeoOqNYViEYpdT6g-lmVYtLRS6b7zA4xHowofA4C_0sH_3Z_0m_GHKfFfqFzSYWCuXsmiqOi-dEZSsvWhYeHqFs0WisNaXdlwgJlmLgwEb6s6fc9yaseD-xFRO3EiexkljpF5rTYOf3RNFKV5VtY751lyvtRMDZ_0=",
  "id": "rs_0ae432ad9e695f52016ab41a5ec37487d08e4a08465693b05f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.15,\"left_y\":-0.075},\"note\":\"The gripper closed almost fully, so it missed the rim. I’m reopening and shifting slightly inward toward the bowl before another attempt at the edge.\"}",
  "call_id": "call_vkPcSdCidrb1nNv4uZhvBVih",
  "id": "fc_0ae432ad9e695f52016ab41a5fc75087d09e1c0aabde956fdf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vkPcSdCidrb1nNv4uZhvBVih",
  "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]: [-0.3828, 1.2545, 0.8349, -0.4694, -0.2947, -0.2665, 0.9943, -0.0219, 0.8082, 0.5953, -0.4156, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.3329 left_y=-0.0749 left_z=0.1324 left_yaw=0.0057 left_pitch=-0.2693 left_roll=0.0647 left_gripper=0.9943 right_x=0.2895 right_y=0.0 right_z=0.1649 right_yaw=-0.0016 right_pitch=-0.0591 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [0.6085, -5.9009, 9.5111, 1.2967, -0.0611, 0.2271, 0.0611, -0.0342, -1.5385, 7.0222, 1.6972, -0.0122, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9290cf1068e3c44794621f5cf0d28741368c2a299b63766d0d55501ba12d620d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fef2cc39ae5b775a549632b8e2600dc2c0083e1364e8c6c460689cd4f73f6c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf1228ca294ececedfc844566a22eeac0304f3ee487fd8d1083a27447d0ff0a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 28 changed as sent

message 37 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4614, 1.2766, 0.8742, -0.3767, -0.3401, -0.2893, 0.9995, -0.0216, 0.8024, 0.5999, -0.3943, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3509 left_y=-0.1047 left_z=0.1578 left_yaw=-0.0325 left_pitch=-0.1544 left_roll=0.035 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1728 right_yaw=-0.0011 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -4.6564, 7.788, 2.0244, -0.4322, -0.0122, -0.0122, 0.0068, -1.4427, 7.0906, 1.7216, -0.0415, -0.0513, -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]: [-0.4641, 1.412, 0.617, -0.0902, -0.3405, -0.3126, 0.0111, -0.0216, 0.8043, 0.5957, -0.4118, -0.0162, -0.0353, 0.998]\nstate[eef_state]: left_x=0.3343 left_y=-0.0973 left_z=0.0568 left_yaw=-0.0127 left_pitch=-0.2495 left_roll=0.0644 left_gripper=0.0111 right_x=0.2899 right_y=0.0002 right_z=0.1668 right_yaw=-0.0009 right_pitch=-0.0511 right_roll=0.0001 right_gripper=0.998\nstate[joint_eff]: [-0.3897, -6.6256, 7.3778, 1.4237, -0.1783, -0.022, 0.8962, -0.1026, -1.4427, 7.1863, 1.8584, -0.0708, -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]: [-0.3828, 1.2545, 0.8349, -0.4694, -0.2947, -0.2665, 0.9943, -0.0219, 0.8082, 0.5953, -0.4156, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.3329 left_y=-0.0749 left_z=0.1324 left_yaw=0.0057 left_pitch=-0.2693 left_roll=0.0647 left_gripper=0.9943 right_x=0.2895 right_y=0.0 right_z=0.1649 right_yaw=-0.0016 right_pitch=-0.0591 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [0.6085, -5.9009, 9.5111, 1.2967, -0.0611, 0.2271, 0.0611, -0.0342, -1.5385, 7.0222, 1.6972, -0.0122, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9290cf1068e3c44794621f5cf0d28741368c2a299b63766d0d55501ba12d620d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fef2cc39ae5b775a549632b8e2600dc2c0083e1364e8c6c460689cd4f73f6c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf1228ca294ececedfc844566a22eeac0304f3ee487fd8d1083a27447d0ff0a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpo0SvcV1R7dlWkT2XJWI52rj7Yz8zNjO_aQ50eglfe1rzXf3MP50HPZbZHkzT6Rmt8Lm-SAxNtyAsvz8zI_t2GyEMXXw_xnwovl-ct5NOLt2iVAFIpHIA2uSAwul2SQUozGoIPM9gBWPLkkLGQh-CFhQztBX9mh3elfN49JBKH3-h_OgH1YJwWC-GLQ_-zEqFvFgp_gpLjiG164-c_CIjRA_wbDpZZKESxfV5XcZxAizXyX0uz9OJ13ULhA1FCsdywcN7UwwWx4Vm81nW4o1QwMRCgf-fA4mwvxm1mBHqeQVE-Y2BdXN3K67Xk1uBOYhpyXp9eoiTHUUP719vjFwMI5tmFtp0lM_YSzvYwsIOZdVSOpAMnTHVruZZdKGRPPKtETN2eI5RzDvR_ANRBwWxDd-O10jyK_LktiofwnE-k8M7QeP7dgLUbjG77eYWBYVu6SeuaphZrC5yICL5jcf22Xzh2zUOSlFj0SbkSoEGu5AS96u5Gsj_eXb7iS6iv-qETQBkG1SuCqi6_niBsWMBrl_SDNnQLpDWfu_3feq9hAaALD46a2BZJjppX54vcCbMctCZrRZdRoLg3qEJxUeB7JS5bVLiV21Oq-eNw0-1VfjuFQV3iYLpSikcdJEjZHC5cTtCK498b_FeDV7zBGwceEhvJ79qSDzfJAxQsRPH08HbuWyN6PVKFhUgtkshyf4XcvQKkvGPQF2z_RF6FKIca3jS-tiTPMhUvJ0m27hKbwA1BFUOVL4KuxcbbR_FzN6lgJSw10MLGSbEgmqbf8vdJMmRw9HTG8SeVzOdyf9ThVAUfvfs04mME4OWIyY17oXbQLC0XwXfod2b9OS1iGaqODalnHqhB1CUH6_tIKvR_uLU6n8r77baNmDuXyv2LsO8ssmMLngfqKtyhoUFOJvbdEf_lI_nqfcEvnoFl5KR1wfHGC5Nk6zvKZM_skAWc91_baIylG4YvIGzgbj8h_KSrqjinidJrkCCKdod7j-LfohgY1dY6k5sQFoDhuSr9ZSTTzAcIxrNxyS2RBB_PXFcv2zWjK9gghkbbN4P6uSEMHYK1bUC0CqEHU1KTqzJ7FNTpg8sbrozIv75BfsTRGOO-yOkXCTO1q1YzwMgw6mw220Ho-kelWYj8Qoyp4OjNzjloHjMSt4DErXObgj7VNyD6zIAsH7Pvp1H592TVowrVsTP1kkvSswgId_SKG-zpyfYEeCuMKEwT1hMOFxT_yIBQdoogRemVNmgCBwo5fBrybHucKmDCZSF7qYcTPHzB_nXm2R26mLk0RHuWBdu8-DJDogn_acHc1BwLGiRqwQNb7He_RF79xAKCwNj1GjTq8cjgacTkNFjGM1AyGvgYe9Wt-goZHfd4-LP9TZW2oJN4RnYw1lXJAILzuYqoZE-BQpZ20j77nZBxnjyZEgYMj5QMx7e5WvwpnfU8tTB-eGxeYo7_2srFroTJigSP7uvgtI94OL7WO-Os06HHqumMyTncLDnu7qFF50lnTt4hPtGEtn83iNm_563YiL1Ua9JVD1TX9zZ5-yx9oF9uUNiiSvP_144t4IWeuf32uMVokdAqFQ-xGbdz1TbozPzzPMjzjipHj579Tp1Sfh11jB-kgvrUVxJaQNI-_n69MHto2zEyDA9zWwez-AuCFMDEJJ9dt031cVWOcKBSr1kgxBQ5JeiIQOV374pS6lKTAFoew6TWkgsp5hvctdDlObOQzmJm6WQglPdnVYG7wIcONr4VS3L6LQeQuMgBq-OklAZFE2-CG2Mu_dWCkY1KbUvNLDop8VNvQM3iYLNISgzwAVlBUrX8EIDjdPAI2fPFEB6m9kZQLSK4EaUBLLhvp7mixbQhhzm7N1qLzbKQsTyCNyCso3PE2gqcfsjtQgTMJbv7dZTv7QkVWn-65gbU7i-R_0-9DrhgS2tvJSMZ4RyDzLImCgDARTphYUab2zUYytGRtsMgH2ugMg47144DxY69dy5JKS7dtl682YhoPa-4sPxxY2iQXFeShWrjxrIeR3AhNYN-u7wVHGnYXKAeGc3OU5aK6MWa46y5sklJJKpbBqDczZZ6g7OvOeFUNTa5lcyWEN0s5Cnf-daC3jzGwpPRxcEH90AAkptNm7xLBpa6CLTuP5hPsO0hwsZKmQvCQXAO9LTSZFGdQtCN043hg1A33AUe_yWOWonXlB49q_QmZfw13bATScCVfbsogqbkL-PIIC89n9akXtYArDtZXvljn1EZN9p0gs0ed0RNAi2PI5w1L3w6RclLuODJSwXQS2LXNBu50xEqp3Sipgz8rEsIDn5QTNCCBACrVy3YxCtQP5TidWh8wxPmVE86qkMmdDp3wztRx2GouFpE80vE8HdABSinDMUsABYD_DU37LwF6r8FkRB-tF5ZsoR5RPTP6a5bOp4bv6oQKHGaPzAT--KEC3NJl8yx6f1RwmgOh1QxYebY1Sdb1-uooBXhQ7CixKIG2Qrn8uSb61XMr9lyh-7wN-6-u2SyKOK_o5ID41KmgCYjAU0rKPMBwYbJD9BUXi3HJQkfawz9EeAbBUUceZiJJ8SMXivvb04Vmoy3UUGN0auF2aXnxx8ttIpIlQZXmHgQpNJtbpTaiXwrpjKtnL-i6uBpSTN6qY8tk8kk96zNCw9u26K2dRUC7CqfRmXHgJuSICJ42xxpBe53WvQEDZE7qVNPf0X33f5bPxt6T13Hr9kNMnxQnLbsyJXNEHDsOhHcLiMRV2ksB0oGjJJiST3H44fEibZ5k1xBn24MHg4jr1RkszrjFR7vZfM4DlysCS62zb4pTXRT_6whgk0lhJugRuYx31mxSlHV3tOsoQLlVRuRDg89DJdphkBTZ6gSTaqf-fQc4wrMSfA3Qxz1Q6iMTcwCHJPazq69DvwpNBRGQPK_GtkHymsIPBH_KPooP2EeT0e158VqCRkSe19bVi7VvHsvnPDgR4_FJKoG3UgApuAvxLs0HV1xmehUTlUipe1W0YPDCa6qaRQuH-hQqP2qbNKzsZDMsNGKbEbuK3qlNsKW1_TXdQ_aWixTJrTkUYaBDQi9j1f6Tvqh5-6IcGy1oroK4fGslxLWAyHtGA3E5vK37zt2YZvS2CENq_VzHYl5u9u8RRe2KO2GIaw0G75061NxwBjLNPDHgg0V9AKfHkhx3Aoc7oIlkOiPujViBslSkd5LnNd4XUYUTqeuzsx3p0CE2XU1GqnMdpUigXXixxNzBqW1eeB6BQDSSQNrngdmoxIq7WAEWkmCzznjc5ORUMcwH1cafL0QUqNHXx4OTUn6LHufpa9K4unf8ZTAB1mKjeho4Mjsc9ecIgd6F2OHG6raC_fbu198rYMjBv4vL6wm-p-pTqe9Lq6ApPpYxDt4rBEpXQxgsIHbx1pMyHp_43iz_zkuEIAgSBQvVRAxBW4YjhAcXwvqc18Nl2aMrtKzp2bqnSo=",
  "id": "rs_0ae432ad9e695f52016ab41a6255c487d08d01902b91c22242",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.11,\"left_z\":0.075},\"note\":\"The bowl remains in place. I’m approaching its side again, this time aiming lower on the wall so the fingertips can pinch below the rim rather than closing above it.\"}",
  "call_id": "call_WMxdU7YTQ2F8lVGGA6kmC441",
  "id": "fc_0ae432ad9e695f52016ab41a665e8887d098c72f710713c533",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WMxdU7YTQ2F8lVGGA6kmC441",
  "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]: [-0.5064, 1.3941, 0.7166, -0.3237, -0.3412, -0.342, 0.995, -0.0219, 0.8097, 0.5945, -0.416, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3187 left_y=-0.1051 left_z=0.066 left_yaw=-0.0217 left_pitch=-0.3513 left_roll=0.0999 left_gripper=0.995 right_x=0.2894 right_y=0.0001 right_z=0.164 right_yaw=-0.0015 right_pitch=-0.0618 right_roll=0.0006 right_gripper=0.998\nstate[joint_eff]: [-0.335, -6.106, 6.7761, 1.6874, -0.3687, -0.2369, 0.0659, -0.2256, -1.4427, 7.0496, 1.663, -0.0366, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61a24755e9533db81e259ee3a9cfaa73844ce269c2681bb3c546fe57acb7ae36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48cf19678273195524de8e63a3c354a26c7ca63605e95dd69fe579798d4826aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23178a7d6c76c4cadcc8fbcd8ef4e250afc8edbda4cde678aab1e8ef0999da3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4667, 1.3949, 0.6346, -0.0845, -0.3408, -0.3103, 0.9995, -0.0219, 0.8024, 0.598, -0.3962, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3406 left_y=-0.1015 left_z=0.0698 left_yaw=-0.0205 left_pitch=-0.213 left_roll=0.0483 left_gripper=0.9995 right_x=0.2923 right_y=0.0 right_z=0.1716 right_yaw=-0.0015 right_pitch=-0.0313 right_roll=-0.0 right_gripper=0.998\nstate[joint_eff]: [0.212, -5.2444, 6.1197, 1.6972, -0.1685, 0.1636, -0.0122, -0.0205, -1.306, 7.2684, 1.7363, -0.0513, -0.0024, -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]: [-0.3828, 1.2545, 0.8349, -0.4694, -0.2947, -0.2665, 0.9943, -0.0219, 0.8082, 0.5953, -0.4156, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.3329 left_y=-0.0749 left_z=0.1324 left_yaw=0.0057 left_pitch=-0.2693 left_roll=0.0647 left_gripper=0.9943 right_x=0.2895 right_y=0.0 right_z=0.1649 right_yaw=-0.0016 right_pitch=-0.0591 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [0.6085, -5.9009, 9.5111, 1.2967, -0.0611, 0.2271, 0.0611, -0.0342, -1.5385, 7.0222, 1.6972, -0.0122, -0.0464, -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]: [-0.5064, 1.3941, 0.7166, -0.3237, -0.3412, -0.342, 0.995, -0.0219, 0.8097, 0.5945, -0.416, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3187 left_y=-0.1051 left_z=0.066 left_yaw=-0.0217 left_pitch=-0.3513 left_roll=0.0999 left_gripper=0.995 right_x=0.2894 right_y=0.0001 right_z=0.164 right_yaw=-0.0015 right_pitch=-0.0618 right_roll=0.0006 right_gripper=0.998\nstate[joint_eff]: [-0.335, -6.106, 6.7761, 1.6874, -0.3687, -0.2369, 0.0659, -0.2256, -1.4427, 7.0496, 1.663, -0.0366, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61a24755e9533db81e259ee3a9cfaa73844ce269c2681bb3c546fe57acb7ae36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48cf19678273195524de8e63a3c354a26c7ca63605e95dd69fe579798d4826aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23178a7d6c76c4cadcc8fbcd8ef4e250afc8edbda4cde678aab1e8ef0999da3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpsNbustjFjFBJPKRGaoYONoq6hlu9gOjNWqhrR0fBLZQ5_cd10GJkGlSpFkd7oIUM-NkXbq_iVr3oB_oEFG744jbs1ShjZ1tx1QLaXPKDdQi5dURrnjsDKVAS5gE3UYTlwXcpYEHpq159GH8yoD4kSuwvq6_ZJAQX4LjTyM-GAsknVk8WZw4Br6z8HsNIDZH_DktGwhD7vlzn2XHAlv-d5V9B1C1TG0GoStr2pu7tlKsJolB2-Qh6Wx7AEsBm93b2KCRt7YEVdrQvdw3ZZ7HNd2cR6IrkSnp3iVVIhPsQFAXUZIrCDVynWtKM1Dilg-lHPgBSZ_K_75959bsaRYxU5TS1Ocu9nClOeE2IA2B95PMHmT4EhPg9Gnpdrgadn0dkInyO-hisr4L16iRw8vs2pVmchxF_fsUFQlsDVswAmGufBrghAo9CRW8jaBj68GxXRxmtppO959JBb1R0LgXAiSpLVp40S-X8NUzqCT_WOPvetqq0uS0Cu2T7Fxqpq2ZFnPO6oS-qFGhbUOTkp5Li5w1o_nPv8NfoNAFDAnx0LYZZVHd0-3MHQpE3nd4iUCjRy38dDUZk9y1gd5SEzze_N4s2zWM-MV3U_Az8dgU6GY6819vIsmI7Fz82q9RBU79WYJKwq2hCcW6fqULF7hngvSvgBSKmyyiuoRpOGNVIWzlexeRmWjkS_wfe3dAS-AnE2qhZWI2zFjvcSear72WIBEPKTrDLhBU8g64W_PjOOddvlZSO--ssZgyOC-4d3_BWfkN2atdkufLNZIuNfFxqwp_MxcZI3eFTEV6l6ksoiS9sLXSGF-fua7q33UMaH4eRb85HrcLMheOrT3OLg_M4ygBjyFn3pI-nC5PiCbKyQ7svivVTvjcEC2mUaGOZ1ePT4T8H4_ZdcBpM6hBL_E9UVCyR8JK7ySjoRWNJ8Vqkm95XeS2p_Sa-drgMX6gOgI2zI4hc20QRqXPdYMFhnkseDL5AHlQKbWovR8lKzZMKJm1ELRHs1n9SAvHSVywsOUIUlT0-WBHw8rDm_XZtKtGFPd_PRhpg-qZG7-XdaPzynexSTqvbqDB6zdIIyY7LjPsmtO8yjwZu8O3koiOJe0GZh9vYdFYiSJiqdhEvsqiVy-cnCR51VDe35MHeL1xtugbw_Ac0renrywz-WUsvHHO7Hcjtmic3jx8eI6NE8hes6XZ7LE5ss3T4l0u0mkT8BmFGtb3QvZWM-B0ELe0_PtQrBDLvDWqau2TRiE6X_qhw2kdBHe7ChKGJU3gqW2JVkNa6fU6nqK-sVwDW1gyQjIUfIpoy_OV4ebxkxrpLoLDbPU7NeAOjFDt-h5zYjiJPChcM0CfVycWXGvQWmTqTXRswUHwrnt0mGoE5ppgSgSkCOY5MfEaJ8ZSiJNs622GDT9190Ya_IICnFNEdsGr-UPeMeac4I4KXbH1Hq3gDuwWF6LlgSOupc2SofqxQP5Dg56TuAiGj5qHlEH5e0lmAUFf0i62Utiy61GRkgAI-WFSjZFt6hwt-SRgmaabJDePHMEyxiSVGxQPCP1RpM4-ET284LIP9n-gAhqI-iPjxQIf_R_uPntvoCDCHG7GtKmcuf9idJb3kNppitQwq_EKpb0ersJBS0UXkRk5xjV1fWWEH8J830cqvzlUkoov5FQ4YTTv2xoQWp93nv2Izdlac1qgte5dx7Ue5Y4U1A8baHdXrlG_-P9HZIUF0YR_y3JF6_J-E5u4oqKqm6L-xwt1NZ9nTOg6Qe_wlIdCr-DNisxQrcarzJNYVXwQgW8rqIUh1vCn59T4rt_1ZsZPqK4OKW_QimZunqFnzPl1jPEvol1OUJRtiBnwyT8neW1YmWRjgq3h7aSCbeN1MJ30QDpD-5JdGj9q2ngfxH4dCcNDbZXPyofCHA8C_qYNMZFI1YIyKg0fApBIKsXtzzV8V0T317iHUgRlQpenRQPO155kElbqabjAyhlu6Rco7OBc6Qcz3s8EaohVYZfY2KbRIY6CQnGBq2j46aPzxnB9FAZG3eGIlgObmzKfsg8RhswIyulU7OMSV9aaYzrsFmy7336V6_mjlJT_SrPu8gba36_Ny8NVdOunBS8IPlrOpZ3AiGly05N-ks",
  "id": "rs_0ae432ad9e695f52016ab41a6a87e487d086f815648223b07e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_z\":0.025},\"note\":\"The bowl’s near edge still sits just short of the fingertips in the wrist view. I’m advancing a couple of centimeters and lowering toward the lower part of the rim before closing.\"}",
  "call_id": "call_Tp2pM5hyd7ZvAucecljvDu5z",
  "id": "fc_0ae432ad9e695f52016ab41a6c2d6887d08e4b79e03af05856",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Tp2pM5hyd7ZvAucecljvDu5z",
  "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]: [-0.4664, 1.5604, 0.704, -0.1692, -0.3332, -0.3355, 0.9951, -0.0219, 0.812, 0.5945, -0.4168, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3366 left_y=-0.1008 left_z=0.0277 left_yaw=0.0124 left_pitch=-0.3765 left_roll=0.1097 left_gripper=0.9951 right_x=0.2895 right_y=0.0001 right_z=0.1633 right_yaw=-0.0015 right_pitch=-0.0648 right_roll=0.0007 right_gripper=0.998\nstate[joint_eff]: [0.0889, -7.4872, 5.3265, 1.3944, -0.1001, 0.1636, -0.0024, -0.253, -1.4427, 7.0085, 1.6679, -0.0415, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:635b4ff83a29186d557f863b7b922753d5de97d9931b948054f0bd995a0d459d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d57dba444fad4f0bb968b2a3ec44b899c900ec86e448b9d5a1efbfe7c7d7110a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61737af7b469c961cf0680a23521866c88f911fe7b5ea1094b26e808783860d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 37 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4641, 1.412, 0.617, -0.0902, -0.3405, -0.3126, 0.0111, -0.0216, 0.8043, 0.5957, -0.4118, -0.0162, -0.0353, 0.998]\nstate[eef_state]: left_x=0.3343 left_y=-0.0973 left_z=0.0568 left_yaw=-0.0127 left_pitch=-0.2495 left_roll=0.0644 left_gripper=0.0111 right_x=0.2899 right_y=0.0002 right_z=0.1668 right_yaw=-0.0009 right_pitch=-0.0511 right_roll=0.0001 right_gripper=0.998\nstate[joint_eff]: [-0.3897, -6.6256, 7.3778, 1.4237, -0.1783, -0.022, 0.8962, -0.1026, -1.4427, 7.1863, 1.8584, -0.0708, -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]: [-0.5064, 1.3941, 0.7166, -0.3237, -0.3412, -0.342, 0.995, -0.0219, 0.8097, 0.5945, -0.416, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3187 left_y=-0.1051 left_z=0.066 left_yaw=-0.0217 left_pitch=-0.3513 left_roll=0.0999 left_gripper=0.995 right_x=0.2894 right_y=0.0001 right_z=0.164 right_yaw=-0.0015 right_pitch=-0.0618 right_roll=0.0006 right_gripper=0.998\nstate[joint_eff]: [-0.335, -6.106, 6.7761, 1.6874, -0.3687, -0.2369, 0.0659, -0.2256, -1.4427, 7.0496, 1.663, -0.0366, -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]: [-0.4664, 1.5604, 0.704, -0.1692, -0.3332, -0.3355, 0.9951, -0.0219, 0.812, 0.5945, -0.4168, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3366 left_y=-0.1008 left_z=0.0277 left_yaw=0.0124 left_pitch=-0.3765 left_roll=0.1097 left_gripper=0.9951 right_x=0.2895 right_y=0.0001 right_z=0.1633 right_yaw=-0.0015 right_pitch=-0.0648 right_roll=0.0007 right_gripper=0.998\nstate[joint_eff]: [0.0889, -7.4872, 5.3265, 1.3944, -0.1001, 0.1636, -0.0024, -0.253, -1.4427, 7.0085, 1.6679, -0.0415, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:635b4ff83a29186d557f863b7b922753d5de97d9931b948054f0bd995a0d459d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d57dba444fad4f0bb968b2a3ec44b899c900ec86e448b9d5a1efbfe7c7d7110a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61737af7b469c961cf0680a23521866c88f911fe7b5ea1094b26e808783860d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBpwdQ14Pet63LVyrFz0GTj5vZHmolgIIa-W3xj1hvZLkqonoBEMQXOmR8tZZS8LIw4fEIkRxp9LjK94_PkxKmcE0mZwSRSwp_HtSvSSCqVwQvU6CziMt-WCgTuKSiG-L_LCOUPyxsAg51q6g8JYk_wwsTSQAPe7cnyvFwxsNJ6xtHmNiMD_iklcMZrNIQhve1AUTsQIOp6hVcPN_QzoW_U6Wow-Ye9s_qcvMssLa9Ga4mOx7kzc_Ivh4sunsIayYBmsHGeOv_W6Rn0srJNB5oVk6zX_AlJ_4-jYmyCvDjvnmILeirxTLe7KLg3c5tZ8HKRbT7X3sDr32P6SdXUX5tkEsAayK5BZ3GhVIMt7nNSRKJv2ektVaNXCx_jQ6fskHuDOmEcbXCVttouq1CJN4huMxsdEl9Zb0WCvjijx-r8Mcl5dU6NOcq08pFDhkTPqlDhRIKHCdtXX0NIo8DzGJnLXQbJGFy-L2_2MHYr_mVVCAPKab2sZ1v26wnKfbVi0PluGiehWxjzQJrqH0HwU-xJNULmR0IL3mQ-KK2cpttrbguv3e4s9wYwZpY-Dfkj7sScXR--9MwnA-36mQCMOFWnkZlW9f_KSBlG-CwmxB2oPx0HBIQZaWP84Su8PCFKENInEU6B0zTDV1KOBua5Vuzh4rslpIN2Dgl2rFEGjqUD7C4I6QGvbYlYqFnxHQqDUaGHVIImTAEUkKHi5T6l4SCNxPlwiEezMCYMD3XrP6uYG8Ixb-7VYdoeUZHFhdgvXjdmp4OJwCPsXxF1svki6cVyroGoxtScSQriuIxXblRUMGaLe5_2FFoEMSKxUizrvIz7RYxSPtz3Yxzo85ipMMT0d_HqAmK5rIHpF6_8xjjhYzenXeOU1--B49cc7ACaPlWHJJj_pQXM6TUMkv7Ps5qm0gN4Ck4Apxe4NPIIjo41vDUg9TWZzG4167D6SQCbMl2Jy8v0Rmlq5bdu2wfCVUTC5hEKueLvwrIL4HoeR-tuk85D5qdwi09bl_8XSyy8j5Y1B6XvAmbGOF6dfQNXnomUuVIGzqmDQ_NPvRBHCl5ZTr0moCD5HV3MqXhppfzuR9kvqPeIZ3Pb-qhdLdNypiFq6T1q2egr7tbx3CjYbeCFHxBmPRTt9SCfUw3jzELfL7ZQO6FXJA_ibK3l_BhVJthe-aFFDjVVj7ZG9dnwp8SQwK12SLvQVxMpSiHLJWgmg834PVMbytuMo0RtA-_8trqAsiXUiTx5qrJjvafJcmQtdEUpu35O-wC8w8egxOcmvrg-5ktkdWmnu0fJ0vZy26qasF4acFuJwpTDarVpMLHioszqARLF-o2WGn5fTyxDVXXXdkp--qGhELIB_6QmddrL7ixJiQx7Ed3BptKO8k39uEDsamYQjrow4WwpodkmG0jnUCFFbHMJTSboBGJ5d_TRkvRfvKIzHPbR17HGv1vaYifUbj3EtdWUANMhgX8JZoNeJaIbk1dn7dpqAobySobKcXWznhQNTtFa8IHfSbx3mpGzidWqDsmM5mLk3izfMK61LUkg4lWaOBNc-B92KjDbyvxr8yLSAotBJV1EGeyfwEDme7FPljdet_qR8_JN_f2cndoMQZDPSL-WMlfraSRqqzV45akx0eiZ2remx03zX-R3HhnaaLKPQU4ztirDYBjG4gThM6N_rdsMgl0IeaPsNCFwiZwDR7sMcCqxPaDiaZkvhoeGutkH0gPRV8UDW23z9Z9vM58-na1s-i4IdAhbBK_Gd7u_tc4maxhClTI_6sLTVtq_Cszo6Cm7kKUN6IAhdnb6g395OIlnL9UhbbmUsLPeuQZIv6PWxyvZhKhKt8pOSZ4q_FmnEvOCs1cixR8lu3xs134PwYNWhysiKTODLiw==",
  "id": "rs_0ae432ad9e695f52016ab41a6e98ac87d08cc994c94af36110",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips are now low beside the left bowl, with the outside jaw beyond its edge. I’m closing on the wall and will use the settled jaw gap to tell whether the grip holds.\"}",
  "call_id": "call_2D10jqPzjqzij4G9bKEi8E2l",
  "id": "fc_0ae432ad9e695f52016ab41a6fd61887d0a29a535c6e1405ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2D10jqPzjqzij4G9bKEi8E2l",
  "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]: [-0.4644, 1.5803, 0.6933, -0.1719, -0.3229, -0.3378, 0.0107, -0.0219, 0.812, 0.5945, -0.4187, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.3309 left_y=-0.0991 left_z=0.017 left_yaw=0.0135 left_pitch=-0.4099 left_roll=0.1163 left_gripper=0.0107 right_x=0.2892 right_y=0.0 right_z=0.1629 right_yaw=-0.0016 right_pitch=-0.0667 right_roll=0.0002 right_gripper=0.998\nstate[joint_eff]: [-0.1573, -7.8291, 6.3248, 1.1502, -0.2564, 0.0171, 0.8425, -0.212, -1.3333, 7.2684, 1.7216, -0.0073, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72179226959708119e1dc5e04c489bebe58ce6ef91e668c9f9e12bb93d23e640",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19adba496ae095c0fbae75ede75e87c5f9b1c921629285b41316d9ea5cd3ed9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:799391934f7a2c3ee658bab9642ee89c18d45337f6ac0f7ef60fc4ba101df7ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3828, 1.2545, 0.8349, -0.4694, -0.2947, -0.2665, 0.9943, -0.0219, 0.8082, 0.5953, -0.4156, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.3329 left_y=-0.0749 left_z=0.1324 left_yaw=0.0057 left_pitch=-0.2693 left_roll=0.0647 left_gripper=0.9943 right_x=0.2895 right_y=0.0 right_z=0.1649 right_yaw=-0.0016 right_pitch=-0.0591 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [0.6085, -5.9009, 9.5111, 1.2967, -0.0611, 0.2271, 0.0611, -0.0342, -1.5385, 7.0222, 1.6972, -0.0122, -0.0464, -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]: [-0.4664, 1.5604, 0.704, -0.1692, -0.3332, -0.3355, 0.9951, -0.0219, 0.812, 0.5945, -0.4168, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3366 left_y=-0.1008 left_z=0.0277 left_yaw=0.0124 left_pitch=-0.3765 left_roll=0.1097 left_gripper=0.9951 right_x=0.2895 right_y=0.0001 right_z=0.1633 right_yaw=-0.0015 right_pitch=-0.0648 right_roll=0.0007 right_gripper=0.998\nstate[joint_eff]: [0.0889, -7.4872, 5.3265, 1.3944, -0.1001, 0.1636, -0.0024, -0.253, -1.4427, 7.0085, 1.6679, -0.0415, -0.0171, -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]: [-0.4644, 1.5803, 0.6933, -0.1719, -0.3229, -0.3378, 0.0107, -0.0219, 0.812, 0.5945, -0.4187, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.3309 left_y=-0.0991 left_z=0.017 left_yaw=0.0135 left_pitch=-0.4099 left_roll=0.1163 left_gripper=0.0107 right_x=0.2892 right_y=0.0 right_z=0.1629 right_yaw=-0.0016 right_pitch=-0.0667 right_roll=0.0002 right_gripper=0.998\nstate[joint_eff]: [-0.1573, -7.8291, 6.3248, 1.1502, -0.2564, 0.0171, 0.8425, -0.212, -1.3333, 7.2684, 1.7216, -0.0073, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72179226959708119e1dc5e04c489bebe58ce6ef91e668c9f9e12bb93d23e640",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19adba496ae095c0fbae75ede75e87c5f9b1c921629285b41316d9ea5cd3ed9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:799391934f7a2c3ee658bab9642ee89c18d45337f6ac0f7ef60fc4ba101df7ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBp21OMdPKNzd29fWLMUVbytToWkRxLMNJRV1ekz4vfsdax7HB_ziNoSnb0z-PO0gO7S3sZjxf9f5F69C3qRG4GbTfqOMfPgfGxiLL3YENWT5U50XD8YOkb8wKTv3mRdgjR7imNoF61ahrrPXSIrDRfidTwFxZFYsbZMpj604NkwZaw1fntSMU5DILiY5PH0NMJtDWCgj0kb9U_15yXFOPIOS8L4gopYAxqkNA4KUCCrY_b1Unr5JLWCPxGhpCdEu3ingsXsUpdD84JHNqeyPCuWB7ulWJ-2lxe4FyIZ2oKzGeB86gom49InPYfgnbj_wklfl_FCiFnz8I-v1VFp-ldhNik1XvkfsBVKCUg4S5oqYQFjwxyjDMtf4HG2qWIwXb9IhWQkX9dnLwg3wUiWj83TleiZRKAiuhtM3hEb-DasDdh_NYZHR2K0qz-1BU8ka40CNMY-dV-_AOJh1do5Jp2Ehbpi1LWHfPHwvujUbYTk9r-7bFQcr8FHvUDHl_dSxY6wxUDGiEsa6WzTTQSpYJ44ijc1BeJwSRH9NjWRqmcnHWF1Vp3EqZoscEVorgdvu_xxRNg2IQy_5muPmuxrZfbPo-UdaSyXDzLB-ULA_LoIO9oGBa1lcgJAuVYHbrIme6qz6auGnMl1EdwBf-uHPs28HKDLN2gxr8gTNLP7qJidTpLU5ocamEO2vuYbCVsgLyN-tWHau4vAFnGGSny5K5o_ltB5UUSaVWdjLnOku6yJO4LPgP-MC5nhu03OyoJHmlTo0qDTb2CbRNZtkO4RSWXemWtfqjAIWsjdChwkfPAAt1ZmkKtGHjybpB3jUDP3WsXHjsfXkU-_W9B_3Rn1skITUtt5WCjXmdE8AsDrxbOVmpOjThDh20ldHuycES2iVawOEfIaWnVz_MwvgnlSblKy9W0XwKxfy-tieDFUpgInLSnCHLL_ZWP3HkzRoiIQV1635RyxglOSQnkTjCXFPK_0wOsm3PBAA5PF_HFrXSBz-jJeaKyJUoBcOJt4U041JSEUERCd7DMreYT2_zz-77eWVc2wL64hDLzgZMKjkLDQ6Wmzx1l-dROg7gBl7nNoA5V3gfMj_hyLRRp-Yjg5VWuyyA9QcusNh5QKOxi1tFdnHvrmvxo7Xs81jw_6syxA6t9e36WzIG56dgIEy7Hw139GcMC_2H3ps-3ZXkTH8D3dCy8YQOleUhcJNcHYNuoUDMVPbndpysg3teAyJcQZnzg2cgLXtUl-4-aCJPPEzQgpcU3I1V046GNRkSFAtph_GTwaYVRe8efD04Tm9aDvWkJdZRX4VG19PesRp06lcyjGLbBSfMBk5tAZQKhzhtQLL2C4JJCF6k9qrLpH8cYcpLTFTmjjOiYYD2suztgE4v3Kv9yI_WvG7Ue1-RWUe4D-Lml_27ChLV0aYdTl3KxMX6WGaPm43wk73odnW6nCyZFbeH-RFuoBJrXKi-F1UA4BepAIzN5TGmH1IlISmbbo4JroagEN4ajIqQfxnGcd_EeMNR2fz1B7BjEwDcT_brfqjE0sGXYOsrYYhT2i-mgkC280zrjpHSLizyrpK8XSWCXLpm1TCMq7LazsRdQwVzp53SVSI-St1cyOrpeRdglD_Rq2YqcdZFe6tUw0ZaZgBgL_NkCje-KWlAY2HcZbc3HXGxr6rl7mPKUYvSnE-N-FdH7Bt7my5WWI6L6spkFMtJ0OxHCXNEqNTXmEuc7t9ZinKeQ-fp3a4qWWctz5r1APpRezHW9i2Z8jNWlGizrd9z00-wCp7d7ecoU2wvwL5PotZvI0sKkAUpOzOuJL3w5WoNua0h4SFXtPhc3mIkDg2DwxLZJid7Gyu-tXZt_Q0isj2Qo7DKRfq4mRyRCQz296lDy56A5GusZPQJtbDFSC1mqLDpj9O98nnhcDXGyvp42CyiIcSV2qxgOlqcpUD-DK_eNnV3-VNz-ayUingRvJRxVEpAGIXvOnGDoBaZ67-GSoFNtVWtfJWo51lIEfEnrQROfx9OCGe3Y0SfgspK45fr6xjnhCqXs8FF1QPMNN8bQVvHrtr4U_XmNWEIQiUv5iBuxhZ23PiPX45lBgA3avgxxRkzgGW4rKnt-LgZfHVWvxyeaQuor7NFe7DMl5wdcOmCz8md1zy_8E9k6NHZyZKdZtBk69au63W1T0kbtqmcSCRm_98lLAT5_hXIu0PbSmBoOKRxrOXlhGFwlnM_yp1xfGiQg9sGZrnYR1HbR3w4DHG4tJNMWUUREgMzobK1_uV2CMS8fKItyC49BfXr6c5e0Zp09yTZNRqhcDwn67HjRsdQXwyeKsNtpgBpVQ8c6FpfuPKHOtM7r9yyjZwWzYDE9XQsWtNZh8xfLJsapgqy0niVnYuqCs2nwDn1HKs4F_o7XH6zL5IADk1JU4H3YyJbpJhJjlOKdNBZHe3qxdvAUmDUS713-xZnUAEwdRzEpu8W0zQKA9HHYnXGhSD47U_8nzff0QsTahbeZADkPBI_K9_b0CCSnkFRI-dPdV6cfWsHa7YW_CImVX07YsZJniFa6tK9yzsqBoO9XCda8AAK3VH8VLYGu1r7KdFy-7j7x5fdIv6pKk4ttDP0eleLi5xti52HEYZ6axK7_Nh89HczQBwp7CbF7NZf3EyVlYHFP0iq1OzxYIt5CwUlBMhHycNtIjpO1YmmBr51KAVY8jsJy4F_ikDK7QZk7emCIJriP_mFpO5Kdyd7LKRqMVOhwnNLwTTN2EO57ShhENgtO3HHyKLfl1xU8-x5gSPEOB3T0M45dsftld85jpj9s7o9oI2RFY-rsH4aTs9RqE3rGYgks8nQRp3TupMUg-fKv0n9c7SraMafvGLVwUq5p70oZeH736kQFTOkBUzafNaH0DkGyV3EobnD9lgLnXQyiI_YYJuE1fJO5o1NOB7oJz9kC9JH76irq6XdIM5cEINc25ZFcRJsXW",
  "id": "rs_0ae432ad9e695f52016ab41a72c47c87d0b44d8c11354f3653",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.43,\"left_y\":-0.08,\"left_z\":0.17},\"note\":\"The second close was empty, and the bowl slid forward during the approach. I’m reopening and repositioning above its new location rather than repeating the same grasp.\"}",
  "call_id": "call_84f7MoExTdcPltn8rKiXbInG",
  "id": "fc_0ae432ad9e695f52016ab41a75d9b087d0823f80bba75777b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_84f7MoExTdcPltn8rKiXbInG",
  "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]: [-0.2924, 1.692, 1.4117, -0.7219, -0.2417, -0.21, 0.9942, -0.0219, 0.8139, 0.5945, -0.4213, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.4288 left_y=-0.0812 left_z=0.1605 left_yaw=0.0326 left_pitch=-0.3933 left_roll=0.101 left_gripper=0.9942 right_x=0.2889 right_y=0.0 right_z=0.1619 right_yaw=-0.0016 right_pitch=-0.0713 right_roll=0.0003 right_gripper=0.998\nstate[joint_eff]: [0.3761, -8.0752, 8.1162, 1.0427, -0.1343, 0.2027, 0.0904, -0.1436, -1.3197, 7.1453, 1.707, -0.0317, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de79fb0619893b066104044a7f658f71e0693080469fe30688a142c9ab30063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdd344a0a3ccc50e24bfdca6726d03e69d9ed36eb26d7845f06f7addc69a01a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b50358f5ebe7c1c564ff5cc0e154387fc3cbc467a1e75ebd4956018252ca83",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5064, 1.3941, 0.7166, -0.3237, -0.3412, -0.342, 0.995, -0.0219, 0.8097, 0.5945, -0.416, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3187 left_y=-0.1051 left_z=0.066 left_yaw=-0.0217 left_pitch=-0.3513 left_roll=0.0999 left_gripper=0.995 right_x=0.2894 right_y=0.0001 right_z=0.164 right_yaw=-0.0015 right_pitch=-0.0618 right_roll=0.0006 right_gripper=0.998\nstate[joint_eff]: [-0.335, -6.106, 6.7761, 1.6874, -0.3687, -0.2369, 0.0659, -0.2256, -1.4427, 7.0496, 1.663, -0.0366, -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]: [-0.4644, 1.5803, 0.6933, -0.1719, -0.3229, -0.3378, 0.0107, -0.0219, 0.812, 0.5945, -0.4187, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.3309 left_y=-0.0991 left_z=0.017 left_yaw=0.0135 left_pitch=-0.4099 left_roll=0.1163 left_gripper=0.0107 right_x=0.2892 right_y=0.0 right_z=0.1629 right_yaw=-0.0016 right_pitch=-0.0667 right_roll=0.0002 right_gripper=0.998\nstate[joint_eff]: [-0.1573, -7.8291, 6.3248, 1.1502, -0.2564, 0.0171, 0.8425, -0.212, -1.3333, 7.2684, 1.7216, -0.0073, -0.0708, -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]: [-0.2924, 1.692, 1.4117, -0.7219, -0.2417, -0.21, 0.9942, -0.0219, 0.8139, 0.5945, -0.4213, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.4288 left_y=-0.0812 left_z=0.1605 left_yaw=0.0326 left_pitch=-0.3933 left_roll=0.101 left_gripper=0.9942 right_x=0.2889 right_y=0.0 right_z=0.1619 right_yaw=-0.0016 right_pitch=-0.0713 right_roll=0.0003 right_gripper=0.998\nstate[joint_eff]: [0.3761, -8.0752, 8.1162, 1.0427, -0.1343, 0.2027, 0.0904, -0.1436, -1.3197, 7.1453, 1.707, -0.0317, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de79fb0619893b066104044a7f658f71e0693080469fe30688a142c9ab30063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdd344a0a3ccc50e24bfdca6726d03e69d9ed36eb26d7845f06f7addc69a01a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b50358f5ebe7c1c564ff5cc0e154387fc3cbc467a1e75ebd4956018252ca83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ae432ad9e695f52016ab41a789b0c87d0b41cad17bafdf980",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.125,\"left_z\":0.07},\"note\":\"The displaced left bowl is now directly in the wrist view. I’m offsetting toward one side of its rim and lowering there, avoiding the blocked centered descent.\"}",
  "call_id": "call_TZoWj9kbOq4JjHhBVuRkpOQR",
  "id": "fc_0ae432ad9e695f52016ab41a7a386887d0baeadd0bb214db8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TZoWj9kbOq4JjHhBVuRkpOQR",
  "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]: [-0.4046, 1.8072, 1.2171, -0.4881, -0.2829, -0.2935, 0.995, -0.0216, 0.8165, 0.5945, -0.4221, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.418 left_y=-0.1215 left_z=0.0711 left_yaw=0.0175 left_pitch=-0.4457 left_roll=0.1173 left_gripper=0.995 right_x=0.2889 right_y=0.0002 right_z=0.161 right_yaw=-0.0012 right_pitch=-0.0748 right_roll=0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -8.1709, 5.9009, 1.3016, -0.2125, -0.0757, 0.0757, -0.0889, -1.5521, 6.9949, 1.6972, -0.0415, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e40c7674302ae6bb85bacb46c24fea2895b8faa056e506249ad56d1fc7ec841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f3a482420ad3eefff65df412076a5932d1ced254ae1c046eafb412b9538c1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e6209bab0e0a27e28fa8fd6eb259aad82d845520de2b7b6bb26b6bc65f19727",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4664, 1.5604, 0.704, -0.1692, -0.3332, -0.3355, 0.9951, -0.0219, 0.812, 0.5945, -0.4168, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.3366 left_y=-0.1008 left_z=0.0277 left_yaw=0.0124 left_pitch=-0.3765 left_roll=0.1097 left_gripper=0.9951 right_x=0.2895 right_y=0.0001 right_z=0.1633 right_yaw=-0.0015 right_pitch=-0.0648 right_roll=0.0007 right_gripper=0.998\nstate[joint_eff]: [0.0889, -7.4872, 5.3265, 1.3944, -0.1001, 0.1636, -0.0024, -0.253, -1.4427, 7.0085, 1.6679, -0.0415, -0.0171, -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]: [-0.2924, 1.692, 1.4117, -0.7219, -0.2417, -0.21, 0.9942, -0.0219, 0.8139, 0.5945, -0.4213, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.4288 left_y=-0.0812 left_z=0.1605 left_yaw=0.0326 left_pitch=-0.3933 left_roll=0.101 left_gripper=0.9942 right_x=0.2889 right_y=0.0 right_z=0.1619 right_yaw=-0.0016 right_pitch=-0.0713 right_roll=0.0003 right_gripper=0.998\nstate[joint_eff]: [0.3761, -8.0752, 8.1162, 1.0427, -0.1343, 0.2027, 0.0904, -0.1436, -1.3197, 7.1453, 1.707, -0.0317, -0.0513, -0.0073]\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]: [-0.4046, 1.8072, 1.2171, -0.4881, -0.2829, -0.2935, 0.995, -0.0216, 0.8165, 0.5945, -0.4221, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.418 left_y=-0.1215 left_z=0.0711 left_yaw=0.0175 left_pitch=-0.4457 left_roll=0.1173 left_gripper=0.995 right_x=0.2889 right_y=0.0002 right_z=0.161 right_yaw=-0.0012 right_pitch=-0.0748 right_roll=0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -8.1709, 5.9009, 1.3016, -0.2125, -0.0757, 0.0757, -0.0889, -1.5521, 6.9949, 1.6972, -0.0415, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e40c7674302ae6bb85bacb46c24fea2895b8faa056e506249ad56d1fc7ec841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f3a482420ad3eefff65df412076a5932d1ced254ae1c046eafb412b9538c1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e6209bab0e0a27e28fa8fd6eb259aad82d845520de2b7b6bb26b6bc65f19727",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ae432ad9e695f52016ab41a7c994c87d087da1d98ebf06bc1",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqCFxT5T1Zr5fvyWPXDrUJxGal7wmwemrYDiO_EKFitjnx4z8jALgoCmSTznJOv9jgXy93jziTd2ZWeKZO2Qz2nDDwuja8dXMUrKrW6h3cmhp1lheZ69xWDu0Rc9ptX7dOted7EQegeHR4Mro-AHGzmwJkAAfJcJqNE9eVMPSg-z7pI2urZUhz562v8zQK1quXVBv0gaQQf5vzuHh1V4vxdWmm3UGJnsRqMUN9qL1SsLaEiRkUmmhYMmewpNbMWW1Jf7rbk2h_Ok_Xx30fHvvfRXC4BdDvmxLiNoXpXJvZf__WH57uom8wj4-yh9OK8qfY3WtDi-IswcUrgwY2LubVcAoTnRuS6UyJIaVTvGIQRxNHZyCM-J_MkbhU_jU8DIGVonxH3mYi9iHko-vLvRdSKg7cq1CxqP0ir4LdM8ce8RWuoU-Vt-pevOWOpvPYZWxc3vuPbcF1FRFFyiWggasXH_tfrKb2EYLJ3rXrBGNU2plnTCcTl1z_yLUddlDkx6OxFDQrraM8AFj_npKTx5tU_rp2AkVjFO0rVpxHq8pghjUCP5TZhCa4J928zVhJu5ZUHMDAnVgo1TQ2N8yR3hXf7XjPU1sKLJxk9i34jo0V6AQW1D2Dmo8VysqRD_KLwmq4e4N1coTFGnw9zAVrevDXLNMLpw-SYQCTork23v713QFhAAfZowyqtVnxGRgVVWLpPDZ8MkjTL5GxYMxdPRK6P0uBbXL-OjwfISbtMr6Ggf6OkobycNPsM_ogR6ClTLFwm098JuZE1zSXnawfuQDeyNKHpoQpHnT8kqM5tJbdWgJ4Cmbzjrkn39E94WDQZHfLWmcDCBF8jSeULMti_pcxNKDXe0c4zGbX6Rf_xtzxyH4PeiGkmGHwC2b9f9lUMaqPfnDUy1cpxc30e5lS_u_L9e36GNw2Vv0bJxFCF5lHTlH3FlhWfonpDu19Bxn16Sbc_4GbMFI0RXRkaXDngatPzo3Az5I4jWzYUPQmBhPBPBqLEepUqXcgIyAQZVu3Pd1xi_3e3Oob4VnClpc3K4vWbpDEzaWyAzZNmIwyfzCR1JZjnTaK1-EQx4bZVTZ5ky6VxfOLR_MVoxnwD2fxuz50qUPnG-56gm4hU_ZxAc7qlBqI09Ffqk1eAVE1mR0i5GDHhgT3TnaGpm_jn4MwcT_hi5EUtxi4q1y_iXKSW3F94YRSdVpxfSRhuXGqvLLraQpQN85jTRytDuO5TKWf5OBgUnzDME7P1xOs9Q7cbg7X7A0HnoIFfpVYHzUW4HnQ6JlFz3giAN64OJT9fXJFnA8-aqCm5Gi2Q8OjS5svBkoviAseyGwNOaAutS0M6ONbYK-mNstpU9rrWsrg7aoNRhBumKAtXOFLnKYqIX6N_23weOvoT2vD53A4T3kuTaIVRVYOZBqkeRujvY4PGvhXGWWIXMV6M_lZa8HTvglJs9iITvtIeuaAgEXLkgEq7ap_4FyCkj889GebWyNBkBWjKDHi9cqykwzW7ulS_zpSLH7RDkIYBVc_0Bdn5oUn5zG75aPaQklI0XHNe3MAOtliPRf32fQ==",
  "id": "rs_0ae432ad9e695f52016ab41a80e80087d097e53ce4b4022eb0",
  "summary": [],
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}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_z\":0.04},\"note\":\"At this side offset, the rim still looks a little ahead of the fingertips. I’m moving forward slightly and lowering only to mid-rim height before attempting another close.\"}",
  "call_id": "call_OjcxeZarjTWrnLNbiWtXpyvR",
  "id": "fc_0ae432ad9e695f52016ab41a81661487d08ebb8638cfcee65c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OjcxeZarjTWrnLNbiWtXpyvR",
  "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]: [-0.3843, 1.9137, 1.2312, -0.421, -0.2829, -0.2966, 0.9951, -0.0219, 0.8181, 0.5945, -0.4225, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.4321 left_y=-0.1177 left_z=0.0388 left_yaw=0.0447 left_pitch=-0.4684 left_roll=0.1271 left_gripper=0.9951 right_x=0.2889 right_y=0.0001 right_z=0.1605 right_yaw=-0.0014 right_pitch=-0.0767 right_roll=0.0009 right_gripper=0.998\nstate[joint_eff]: [0.2667, -9.7436, 8.5265, 1.1941, 0.0122, 0.149, -0.0024, -0.2803, -1.4564, 6.9812, 1.6386, -0.0708, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b2d43a2283872c240734a99d3246be9f9c22914a7b7e774913e8c442d0010e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a5e7dad604462202874bed0277c11d5b39cb9033e9c5db2a7a42b637cdef85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a7daf61949fadf8092c0c648beb7f20707a859906751c47cf98669f9472d55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4644, 1.5803, 0.6933, -0.1719, -0.3229, -0.3378, 0.0107, -0.0219, 0.812, 0.5945, -0.4187, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.3309 left_y=-0.0991 left_z=0.017 left_yaw=0.0135 left_pitch=-0.4099 left_roll=0.1163 left_gripper=0.0107 right_x=0.2892 right_y=0.0 right_z=0.1629 right_yaw=-0.0016 right_pitch=-0.0667 right_roll=0.0002 right_gripper=0.998\nstate[joint_eff]: [-0.1573, -7.8291, 6.3248, 1.1502, -0.2564, 0.0171, 0.8425, -0.212, -1.3333, 7.2684, 1.7216, -0.0073, -0.0708, -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]: [-0.4046, 1.8072, 1.2171, -0.4881, -0.2829, -0.2935, 0.995, -0.0216, 0.8165, 0.5945, -0.4221, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.418 left_y=-0.1215 left_z=0.0711 left_yaw=0.0175 left_pitch=-0.4457 left_roll=0.1173 left_gripper=0.995 right_x=0.2889 right_y=0.0002 right_z=0.161 right_yaw=-0.0012 right_pitch=-0.0748 right_roll=0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -8.1709, 5.9009, 1.3016, -0.2125, -0.0757, 0.0757, -0.0889, -1.5521, 6.9949, 1.6972, -0.0415, -0.0611, -0.0073]",
      "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]: [-0.3843, 1.9137, 1.2312, -0.421, -0.2829, -0.2966, 0.9951, -0.0219, 0.8181, 0.5945, -0.4225, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.4321 left_y=-0.1177 left_z=0.0388 left_yaw=0.0447 left_pitch=-0.4684 left_roll=0.1271 left_gripper=0.9951 right_x=0.2889 right_y=0.0001 right_z=0.1605 right_yaw=-0.0014 right_pitch=-0.0767 right_roll=0.0009 right_gripper=0.998\nstate[joint_eff]: [0.2667, -9.7436, 8.5265, 1.1941, 0.0122, 0.149, -0.0024, -0.2803, -1.4564, 6.9812, 1.6386, -0.0708, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b2d43a2283872c240734a99d3246be9f9c22914a7b7e774913e8c442d0010e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a5e7dad604462202874bed0277c11d5b39cb9033e9c5db2a7a42b637cdef85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a7daf61949fadf8092c0c648beb7f20707a859906751c47cf98669f9472d55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ae432ad9e695f52016ab41a83985487d086726843ba894613",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqI3HZy8U38GL5lc8uDRPmy2RCwfApNarAoO6wWzWPzqa6DrODcKEarQDNlLafh68m6Vvzpqa0HuvQ-XI4fZZYwnABLRi7VMvBDGNkXkHeVD5Ts_a652ppthvOxNvowf-NlajubmsmfRvbrE4Zvqm-gQjz_akFxKIucr9TuJ5gwG4IhitWBQCKtKepObIiODB5JHRELcmt5hQ1Flh7aOfF3TfhbnPgyr8K65YsPerNwHHoxEqifPO3OouOVkCOHDZgesyf-67Npq3hWzrICtiabn3pzs07nluSHnM9-SiiXMRidv7GDeXL0L__l6cAWvi10o80AIdGR-A5dHW7Nr4-YRUVTAgv2Xzx6ZJ6u09XQmawpC3INnZgV26v5ArQMa8nCjbLdvElFGj5DN-X_SSttxqvWiIkprcDOxJgJj2TRwkCuoYnMkdGX2WdcvlzBUpNHj_sxsYYI_ZP093x-Af6y61UwLcugE17N8-KxsmIBwKDhKCzzYLj_upIQnv9JUP7sLN5PghvGMZyWRFnUv8Ibo6I4OKVOsLxS0O5qS9NL16c2q8UCrmEaqT-oIwyufhslI6iyjDf3GcdrJlUD_gY9RJxcqMOu2XUaaJ4UHOwaujDwtyq_EtM3S3gejnYbD0pChxXbmykkZj-RuTCoRNIFto5TFxbGfgb39vPtm1hL5OCiMkrCPdLwnzzHL9v4CZA2wPiAJtjTe4SxAj7GlxxcgNUZPvJP7CgG2NFsX05ibbZdNfrhpPkaYHZeTHTnnZCZROAtKHjrGgkYLHAflymY_X5KtJz1PzWl47mbvpqzznywQSMIaAtBH3bJXpjT8-ZI9rir_7fwc1gsr-KwLasE2g34J3djMpeEKE-B6zHV8Kkmn2-atGH81eh8QRN00TB6hJGQI3aRR_aREDSGwbtN3Tv3XsnwjXj9lYS_mUr1hR3IM2YL9VQNynK1P6rQJeeJ3pnT_XLXo-IfcHmrUNMRR99-qjm8CiCQnUlwEE57L2ScDwaAN8LL0lFmzHMf6ZJ2KzS0AvxxzhU1y9yxYm3MeKj5b8zMbgab5qzyeXZ-gHdC1f2AR031dGUy6RWozmt3z8WrEGZsAOmztAZJBu9qx9mXT_sCg0-glyD29xS0ZZ3cyqcpXjHZSi1oquW43ohRQGUUr6cQ24ZXqMormQNyUGG_ScyYqQNdj0tzgOmgUueebKiXHsJLAE8VrFB5niE1Cjl4dpKUBgBfADN-xQeVhwoKGi7RxruGUviCuv1OULE=",
  "id": "rs_0ae432ad9e695f52016ab41a87feb487d0ac87c79d1046d40d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips now bracket the side of the displaced bowl at a lower height. I’m closing and checking whether the jaw gap stays open around the rim.\"}",
  "call_id": "call_euuCXP7E3WhDexcdt4REE9Ym",
  "id": "fc_0ae432ad9e695f52016ab41a8847e887d0839e0da258b8b323",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_euuCXP7E3WhDexcdt4REE9Ym",
  "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]: [-0.3729, 1.9488, 1.2381, -0.4034, -0.2962, -0.2691, 0.0293, -0.0219, 0.8185, 0.5945, -0.4225, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.437 left_y=-0.1117 left_z=0.0286 left_yaw=0.0534 left_pitch=-0.4755 left_roll=0.1599 left_gripper=0.0293 right_x=0.2889 right_y=0.0 right_z=0.1604 right_yaw=-0.0018 right_pitch=-0.077 right_roll=0.0007 right_gripper=0.998\nstate[joint_eff]: [-0.3624, -10.7419, 7.788, 1.16, 0.1343, -0.0366, 1.4481, -0.0342, -1.3197, 6.9812, 1.6386, -0.0464, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc7b6c172725330b5f6eb4621d2b5e6cab9a1c06d8bf4bac00cca02fd14efa1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67722b030e2c3bbb021e976496d870f4c1ec772199fa62fc3d1793abeec3b08b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:098b020ca6c5738540361e49f9b0f57f6ef5bddef044baef6f2cb85d07f884cf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 67 changed as sent

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2924, 1.692, 1.4117, -0.7219, -0.2417, -0.21, 0.9942, -0.0219, 0.8139, 0.5945, -0.4213, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.4288 left_y=-0.0812 left_z=0.1605 left_yaw=0.0326 left_pitch=-0.3933 left_roll=0.101 left_gripper=0.9942 right_x=0.2889 right_y=0.0 right_z=0.1619 right_yaw=-0.0016 right_pitch=-0.0713 right_roll=0.0003 right_gripper=0.998\nstate[joint_eff]: [0.3761, -8.0752, 8.1162, 1.0427, -0.1343, 0.2027, 0.0904, -0.1436, -1.3197, 7.1453, 1.707, -0.0317, -0.0513, -0.0073]\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]: [-0.3843, 1.9137, 1.2312, -0.421, -0.2829, -0.2966, 0.9951, -0.0219, 0.8181, 0.5945, -0.4225, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.4321 left_y=-0.1177 left_z=0.0388 left_yaw=0.0447 left_pitch=-0.4684 left_roll=0.1271 left_gripper=0.9951 right_x=0.2889 right_y=0.0001 right_z=0.1605 right_yaw=-0.0014 right_pitch=-0.0767 right_roll=0.0009 right_gripper=0.998\nstate[joint_eff]: [0.2667, -9.7436, 8.5265, 1.1941, 0.0122, 0.149, -0.0024, -0.2803, -1.4564, 6.9812, 1.6386, -0.0708, -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]: [-0.3729, 1.9488, 1.2381, -0.4034, -0.2962, -0.2691, 0.0293, -0.0219, 0.8185, 0.5945, -0.4225, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.437 left_y=-0.1117 left_z=0.0286 left_yaw=0.0534 left_pitch=-0.4755 left_roll=0.1599 left_gripper=0.0293 right_x=0.2889 right_y=0.0 right_z=0.1604 right_yaw=-0.0018 right_pitch=-0.077 right_roll=0.0007 right_gripper=0.998\nstate[joint_eff]: [-0.3624, -10.7419, 7.788, 1.16, 0.1343, -0.0366, 1.4481, -0.0342, -1.3197, 6.9812, 1.6386, -0.0464, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc7b6c172725330b5f6eb4621d2b5e6cab9a1c06d8bf4bac00cca02fd14efa1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67722b030e2c3bbb021e976496d870f4c1ec772199fa62fc3d1793abeec3b08b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:098b020ca6c5738540361e49f9b0f57f6ef5bddef044baef6f2cb85d07f884cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqNFpp4nKLkCp6IApyzX5U_Vet5b8LsjujTCcyq9b-hs8p9iujfqLnU_evwpy51pXulRkhnphrB8T3pq2F4b5-f2RCW_3mRk6LUTjdbrL17OXf4mpSJQEB6aYs6dZS5WeQ9vojy7fdmh1CqAtQA7-591riqKynFwYAvseMfoLX1YLB-0HhrXAfqucO0QpSFYgYJrgmnGiWkDrwm2au3W4S0wuKaT6EdPCf7H1yv40IsTpNJqa172FpqEDLWjAVT9qrmy2v2P7kYFPgMyEEBRRdXd_t9ef9YprksJJ3-8zlBV_7SFHcp4Oc6_mhyRIwoZISjR_O2b9sAxSSd5BODy_veAK8NrVzTDrow2ENyvzgnLHmUBCv2-hvI9xaW9MCVCPJ4mkdsdvuZvtQSICZi0R3WGPaZsxfxZoGwclF8Zvjs-7D7DQFNc1I27sSsHSPNPbvjfLA-J9WfZz-g9wVRdf7GgIVRjzk5SWnv_IygBGDZ_F0VtLzEmS8HWtKKBRU6Atid0mp9U_Wfz_OrMSEGscFt_FNFgWM0x7LrUfX47mV786i6tvdWrhMX3ZnsWosKC-l5BLzlxFLP2dsvrMQDkHURQ6p02sTtZrdy0Vf5SoLujCRQk4lntIjzKo2Hw-tkM8AhaidKP813KEZkuZT1kzKy_eghDERI93Y-hdinjQNyAFHrjtxSc6P8skCnl61tKVskh5_vTMx_pC1aTnmTRKDhFreigYgKNcL8Qc0dxiVjtYw74Jgl1FNdcMrP93Ko4d0oIOzbIU-ETa0mHPnNNDXKEVfrApKerVaaJP-RpevoJ_19NfTy_PMbJtlWMVaRMTbyx8mzObmcPUioCiB91B_z9spXX8Umql5ER5YCuHexzfcCScZf4OpHgEqqb0ldpCEvxCR6D3qWq9PFapAibP4fZQCP09bD8ljuUXsA4WeGN-lNe1y8nFfi5PVi4tR6GIfQ2509rY60LvlWUK0hojoFt3U5i4G0bsvmo31LJnhk2gkzd-LkgXENd4BIZTd6TCW1A6pohidqjGQPEsqMUHhmrSvC2bbJdXGsQJxiBt6ATUOvuCmCp5EEx4SvMZjWNXLE7ymCcjaDHwk8jBAtyldMm6Cu3y4K1WjGTblyhhgVsJ9xnA3EqDUqFZKco5pQRiqoZO6ZyLt9eOPsCf2B5Ojloi4jmWzvj6m1MyYut1ndazwBcwY9Pt0UftrCwV4xQiwoY9Tl52UTUxq5KjGgkJHK6SHS63YVZjfYjF_T_5OEhzA4V7fWIPRJZTQ-DyY9n-ZOaoFNbQc0YRMW7iHNRRsZLgU5CEUqTCqxnv7egmGxNK6y7yq8K2BEQh5vA9KK6GYz6mXylXucotAMAgd68_d-wddQuKo2fktEw8RPlInWvJrEpuxy4n00rYnyguUKxu5ZldRDJVBuiR5GOJBCbL_jcTgNssAsVkNbLg4NGwEbqIIF3lDoem5ZYdXEI7f8r20JZ3kpmBv-Q-IBZNIqmT7oRAfOiplz8tze7zPiJW5doI2oIMOvhOo5xhgDQObWUJbDwLlRV8wAgMkgN9c_NcwsvVW33jnsag-59UkCXWcONELKIcUJnp1-zY_XJgJD73ptd2yKsV-WTbN1pISXd5rDOkV-SxXByiZElUXp-xqP8FBj08Dov4VpbSEGUrM5v1M53wwpHUbN_izNYYwuIVFjhiqyaC52jKRjXQDeFW1AlEKQHx2NE7GFS-bXy3J-ovFD_3pHRvSvbo4UCYek9cTn_3t9ZrECM2FQBnqMc9RhR1p-cxPO8Sa34f4k_Ag77oFWtNCBB1T56x9FYziJI0-sFrKeFZ81HA_dnAJaEGJf_keAWP5xHyd_w2tVqpkmd6wO_lgN1rzjN2PFc-Hjf8XZyI_7r6URwViU9PS5Kf1_xEfEjRg0u1Mp6B9F31mekX8S8Jsmv4HAcJCsQtnNp_i6jEuLMwOWrZSnIjgYdWWTqR7TOaMF0BQqVp9kmlBAiZOfCBG1mLJJZaIjOziYvvqlUw==",
  "id": "rs_0ae432ad9e695f52016ab41a8ae98487d097ea3ce5dad59035",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The gripper reading is only about 3 mm, which usually means an empty close. I’m lifting a short distance to confirm visually whether the bowl follows before making any transport move.\"}",
  "call_id": "call_YIN3eYnwJzgXYVGhoMRNI72Z",
  "id": "fc_0ae432ad9e695f52016ab41a8c5fe087d08e38595454f03d65",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YIN3eYnwJzgXYVGhoMRNI72Z",
  "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]: [-0.3729, 1.8843, 1.4368, -0.6956, -0.2913, -0.2775, 0.0347, -0.0216, 0.8181, 0.5945, -0.4225, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.4365 left_y=-0.1124 left_z=0.0936 left_yaw=0.0606 left_pitch=-0.5029 left_roll=0.1643 left_gripper=0.0347 right_x=0.2889 right_y=0.0002 right_z=0.1605 right_yaw=-0.0014 right_pitch=-0.0767 right_roll=0.0007 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -11.9453, 8.3487, 0.9939, -0.1832, 0.0317, 1.0379, -0.0889, -1.3197, 7.0085, 1.6728, -0.0513, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1edb968b621b036646747222905e61448b64d7c7d494d6c7210986ab2f8df496",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33bc91b381b3eddf3dc596f341f97d90a231d0856fc26f99815a8395355add5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:536ba18d2103b1ff67101bed91a5b004651e6f8e4824d9d13680ec8633cacd83",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 62 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]: [-0.4046, 1.8072, 1.2171, -0.4881, -0.2829, -0.2935, 0.995, -0.0216, 0.8165, 0.5945, -0.4221, -0.0158, -0.0353, 0.998]\nstate[eef_state]: left_x=0.418 left_y=-0.1215 left_z=0.0711 left_yaw=0.0175 left_pitch=-0.4457 left_roll=0.1173 left_gripper=0.995 right_x=0.2889 right_y=0.0002 right_z=0.161 right_yaw=-0.0012 right_pitch=-0.0748 right_roll=0.0004 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -8.1709, 5.9009, 1.3016, -0.2125, -0.0757, 0.0757, -0.0889, -1.5521, 6.9949, 1.6972, -0.0415, -0.0611, -0.0073]",
      "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]: [-0.3729, 1.9488, 1.2381, -0.4034, -0.2962, -0.2691, 0.0293, -0.0219, 0.8185, 0.5945, -0.4225, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.437 left_y=-0.1117 left_z=0.0286 left_yaw=0.0534 left_pitch=-0.4755 left_roll=0.1599 left_gripper=0.0293 right_x=0.2889 right_y=0.0 right_z=0.1604 right_yaw=-0.0018 right_pitch=-0.077 right_roll=0.0007 right_gripper=0.998\nstate[joint_eff]: [-0.3624, -10.7419, 7.788, 1.16, 0.1343, -0.0366, 1.4481, -0.0342, -1.3197, 6.9812, 1.6386, -0.0464, -0.0611, -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]: [-0.3729, 1.8843, 1.4368, -0.6956, -0.2913, -0.2775, 0.0347, -0.0216, 0.8181, 0.5945, -0.4225, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.4365 left_y=-0.1124 left_z=0.0936 left_yaw=0.0606 left_pitch=-0.5029 left_roll=0.1643 left_gripper=0.0347 right_x=0.2889 right_y=0.0002 right_z=0.1605 right_yaw=-0.0014 right_pitch=-0.0767 right_roll=0.0007 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -11.9453, 8.3487, 0.9939, -0.1832, 0.0317, 1.0379, -0.0889, -1.3197, 7.0085, 1.6728, -0.0513, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1edb968b621b036646747222905e61448b64d7c7d494d6c7210986ab2f8df496",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33bc91b381b3eddf3dc596f341f97d90a231d0856fc26f99815a8395355add5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:536ba18d2103b1ff67101bed91a5b004651e6f8e4824d9d13680ec8633cacd83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqSLEMM1ATzpX-DI6d0gRaA8hMnXD_kNinExp1wUeuDipcporEu0hVhgcEP0c6C1f-05gTpNEn4L6OLfGjZmjV4USIkGLMAuRs9ZQ-ynEocv--iyjtGzS6WWeBJuz37cxmYicESYzARVVuCENnlV5rCxarOqlckPx9akJsYQ0HySCG5qCauhXzoG4KBBkxAl1MIBnbJ50OuUS193Y2FWimgiRa79yD37VUO-ZK8rHOPwl6QRa_a7a4aQxt6isyql14N601Txk7mneKDrJp87SLb2vBx1rE3rhpmPTPzBV1KhoiQ5gry4Q5lqBW57tWjut3sxeD2wefQFyZf36kRJM-UKLsLzaPedEqa2FVaoNtUKKfe1S2jP62AvPlM4ngjR2n2llpyVMFcOX7eoHEILf79d8mjXv7Qou_tyq-QRn2SGo1GIpqjGQ9eBdz7_UZdwyXaJUYVaCyciF6SEU1n-M7yUZbR5FOzMPzZgu09wlo9Z0M3LXr2wvqFbF4iiDw4C0PcTnFkDklpMpdqV3HzMZHz5R6BJJt2H8WgOHR4dzAt3lfKpm__ukCNgxak4vXPM7T40ShthD89YY-ceuACIn3YeCiD6Fi-Wr9wF75druyBo8lTV3a7eAomIVgrLWrhseOq68EZPisYyAzyvqFNI_h395pDp3g4iuM60JplxJICMN9VBVXt0tuklIPImEoogtTz8ryc4rTr3Nb_wDaZzYXwJU9hfx3PPsXLs5pvHGrtbZFlafJ7Id71Im7F9aRx5oLHRYKWhgofunAhMMeWgL6eKvlP42GCXFYWNtGcNOE3NMxpulWMciihiT9TN6wufRLd4w0bpfFW5gbkJV2l7yd5e2BUdwIHD1hN4JV_wm0loOmF-PM3ShEDe_2t-lrdp0uiiuHCLuNod0IR-ZRZ4OyLsngNkK9UB3UHvJagjg94nNi5DhhVukXENXC7YeQIZxA2aMdGYI5Wa0OYuPVkPaF2M0OORR6Vjn7WPsEcS6Sr4wDNeiH7uIx7drgaKDSdmtvPu9roD15IkRCK-CD2Yr8VzyMcmPLEOEtTW7WPIT3r0sKb_bkxnbXSEw96CgPWFcLa2SV873ZoFvfctotRtsGgz2Z_L8DuQdxU4bgRj_t3-_r10Y-WJRepWhsj5WJalzMwSR0hFhdwX6TDv2wgzqCav6gamyonzx17aiP6cUA9-75g_EoOfrP3NyuyPzbJORRVhjAMUcRUBOTb011iaLRP3r9fn2Rldft_xEZqgYvTqdDT3pbyTFc0zf-GDbPEFSM-MdodYG1LA2mlx943mUqz1KPCmJRZ000vkdiby9P-C5F1NkDu18R6mIovGsG830CfvQX2u-i8GfWNJvk8jHnGQWbelDyaG2Yb81q5IQZ7_Lqlp6Ouz73czY_2gS1YK2YfscFFr3IoKPFYbDnewkIZLgu_IupKKHzNnHPYwElzsBg5gRHsWgO-deT5D-L6e1KZz5CXGi1Fo9pfv2zFiNgS5KF4YR5sh4aiYshJAbtR5gMdtwgSyTvkwmUq57y9zVbR65e3MtkDCJyijXFjfjayxtJdWniH7pOQc04M20QffrCNoIsPPMEnU32aVndQjcVD8Bsxg5_8piovf6fj_MHaUL9c6WgeGWSTFF674tTfYAjBDVYomLnJ4E7G6fX_nFYy2EZcYfSK56ypBs0n26QkOzFQahZ6pygqPk-h1MnqdF8RHCKhHkMfbTDV9s6WAiRzaJ6Cd0tv9VDqKz0fCjJeb4dIQknKpRxYELBCNtQ_qWzj8CZH3dyHJXXzlKBT4aW1AP4n8mbQPrsb4OMZumVJKPqagbLIjZeeuI4e1C81IyreMhzia0oTSkrKNkE51vPCydC_bGLEHTfgWq3p3bGVWR4t6g9gdQNzlnUtpI5kbheUyy3kkSalYGSI9K97FGqjRRNmvHn6fWkxjTtoZQwGzstBjeBqT44UntwOb2jAQiyaz7FxM_sNiHGBRQHxHR5P9VB_Skt0q2UeSib7cz8mQbtBC4xMm7wg0IEuMYNzr0uCU49Z5srtFYvjZmG_Zv9CiCH5m-lnA9WEUTGvHsKYBrh7Y8agcBL34UVpqmvKMhP8zfzw0iU_2K9muZW9caAtV-VahOlW9ShDB1mRg1aWS_EV3kK-MRmkUJAqQdp6cs9grYoJmKxVzFFQX4EA26yI3LTpvnBO4nwa0kIoQYOSvwWNmzT0rcGSPR6mPTRyUuGZEztMs09pQSgfu5vZOTosiLj1jTXQEyqiKiadcDSiOKDkNIgx9tp8oif35yIGAx2klaQ1B8l3_VZyOSl2rJovF0O1aLGH4eH6l5kigaUMnVUFahBE0dKd4j0T-CBI7yoRrzQ4Y9Ms1AISz51W57j3tsCJEgLK_za8_Th7_JMTaiEIs1mkCcAD3ThJ6mW5RiBfLArMJdzoJrakkRpN9r41jFsaQ7O6y5ICjVPAXrvOelQ4S1W5oPeSgn3WnL5rUK832QnhU7OKnIeT1v26e3KpuPq3kwTmycY6P5VuP9kwNio_ncRv7FzxEXmMmYdNQAwtup3w467xXxicWjNeDY7WTXdu6vZu_5Cdq1jfCD5in6hyzZRavhgB5TJoaui88EfJkHi6lpBLAsYhybl4Wfp2xK0ktrhlP4qciwAw3lJYjQ1ULuLDFrjilk_4tgsI_mM=",
  "id": "rs_0ae432ad9e695f52016ab41a8ed49887d0bf7999605290efe4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.36,\"right_y\":0.12,\"right_z\":0.15},\"note\":\"The left bowl did not follow the gripper, so I’m leaving it and trying the right bowl instead. I’m parking the left arm while positioning the right arm above the pink bowl.\"}",
  "call_id": "call_k0rzoi3bXdhrvs5KLRHvKPY2",
  "id": "fc_0ae432ad9e695f52016ab41a91659c87d0a927807d187c3514",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k0rzoi3bXdhrvs5KLRHvKPY2",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1345, 1.2545, 1.1278, -0.9428, -0.1986, -0.0921, 0.9951, 0.4789, 1.3033, 0.7681, -0.2485, 0.3386, 0.2455, 0.998]\nstate[eef_state]: left_x=0.3078 left_y=-0.0029 left_z=0.1783 left_yaw=0.0909 left_pitch=-0.4767 left_roll=0.1517 left_gripper=0.9951 right_x=0.3442 right_y=0.1167 right_z=0.1263 right_yaw=0.0459 right_pitch=-0.1599 right_roll=-0.038 right_gripper=0.998\nstate[joint_eff]: [0.294, -4.5607, 6.4342, 1.2381, -0.0513, 0.3639, 0.0024, 0.2256, -5.5316, 9.4154, 1.8584, 0.359, 0.2613, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:621f65137336185bdc37c0823a3cdf1bae5fcf1c4a4759fed68b6a628a72cc8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:601b8f1543f5797a6458ad1cf435c90a9965b61c42fba729dbcd63fd13cfabc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8b49b0a8585abd0fd41f7f5f73cee52463d8e4b448f6ed756d207ffd1c08999",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 67 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]: [-0.3843, 1.9137, 1.2312, -0.421, -0.2829, -0.2966, 0.9951, -0.0219, 0.8181, 0.5945, -0.4225, -0.0162, -0.0349, 0.998]\nstate[eef_state]: left_x=0.4321 left_y=-0.1177 left_z=0.0388 left_yaw=0.0447 left_pitch=-0.4684 left_roll=0.1271 left_gripper=0.9951 right_x=0.2889 right_y=0.0001 right_z=0.1605 right_yaw=-0.0014 right_pitch=-0.0767 right_roll=0.0009 right_gripper=0.998\nstate[joint_eff]: [0.2667, -9.7436, 8.5265, 1.1941, 0.0122, 0.149, -0.0024, -0.2803, -1.4564, 6.9812, 1.6386, -0.0708, -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]: [-0.3729, 1.8843, 1.4368, -0.6956, -0.2913, -0.2775, 0.0347, -0.0216, 0.8181, 0.5945, -0.4225, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.4365 left_y=-0.1124 left_z=0.0936 left_yaw=0.0606 left_pitch=-0.5029 left_roll=0.1643 left_gripper=0.0347 right_x=0.2889 right_y=0.0002 right_z=0.1605 right_yaw=-0.0014 right_pitch=-0.0767 right_roll=0.0007 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -11.9453, 8.3487, 0.9939, -0.1832, 0.0317, 1.0379, -0.0889, -1.3197, 7.0085, 1.6728, -0.0513, -0.0659, -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]: [-0.1345, 1.2545, 1.1278, -0.9428, -0.1986, -0.0921, 0.9951, 0.4789, 1.3033, 0.7681, -0.2485, 0.3386, 0.2455, 0.998]\nstate[eef_state]: left_x=0.3078 left_y=-0.0029 left_z=0.1783 left_yaw=0.0909 left_pitch=-0.4767 left_roll=0.1517 left_gripper=0.9951 right_x=0.3442 right_y=0.1167 right_z=0.1263 right_yaw=0.0459 right_pitch=-0.1599 right_roll=-0.038 right_gripper=0.998\nstate[joint_eff]: [0.294, -4.5607, 6.4342, 1.2381, -0.0513, 0.3639, 0.0024, 0.2256, -5.5316, 9.4154, 1.8584, 0.359, 0.2613, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:621f65137336185bdc37c0823a3cdf1bae5fcf1c4a4759fed68b6a628a72cc8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:601b8f1543f5797a6458ad1cf435c90a9965b61c42fba729dbcd63fd13cfabc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8b49b0a8585abd0fd41f7f5f73cee52463d8e4b448f6ed756d207ffd1c08999",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqXNRryMBc5ASM6shk1UjSSof4nXByzeY3ibEkNhI7_JrXKBcacFtX95WSGhucGV2uNKFiOjTs3T3OndHcy3xVXMUFLcEKGablvA4Ob-ZV9LQ18mjKUpIc-CU07JW9Lnz4LnfKuqG0y9niUwwaHiUzt_Zu3SGzheVIimD4fQkoyVm3KeIBBW_mpWK_-yFs26z3QEFw_-bmiutQwB7a5p48-xIIYbcU4J5WrjvQaKF_362YaPX9h2D9pJpmKUEm4UUNvZw5k4Sip4elzf8Re5TX47ROap6rPYc2sY0xg9JPfxkbC9M83chpIkQPpKwnHwJf5BLyhoey0TAEGTXT43g599zg_6oCtcKFOXh0gYKCj2m117cXzra2zIglJcawi2ZOOHiNCyR9VZyPt4O3G3IOMjT4OUEJeI9gNJv6mdhTlrNi6doYjlTAPupKKKXVaGgnJPEcrHq45YNl7MAWbc2BBpiCgKRriTa39ct9UdWL5h6mUmdJysJ_TS_RTTatdIBOd5O_aZ4ICj4pali2mFA9WBeRlSS96R7sFySg-ZxNbDdATm4zUVa93bHCcLRF2fL8173paQUQE5evsXKnPKNiy7smEeFZGQ6EW4JyqmEJYm16Vrs3NJ8PwZZ1FBUhUp63_l0DpjNxgc9fDGmSBVBIsrL4xf-SiZQUE9VwN96TaVzTy070fX6RnN0cXh4eFyfMZgqYTm0xQVq0XB9Q338owSLASfMnQawG2RJnUwq9wbmI0MyDhllifW7Zam0PaRqTENENKNCgvTWoR73VyWjaVIVNOxDM3MoU6u7880gjq4wkjNmDXVhq_UVMxxDwXep1EtKE2BVEUwMtSrZiDILFcsnubGhzA9Gs260rODEnQns_gl3NgwHQ3ogrUq-Ggb3--d9UsGl161NngQWm1C3Y2BWHtqD-1bUu2YdcclwP7sza0b1x4cJ7b0DyIadMVEAl9J96vqL6Tf1bHkKvkIQMhtbqGA4uLF5Kus5R2G-W_B9HosVucFoUn2plMWca_0MnDOY0REzYZL2qcyFSWaoQVOSN5Fj-4majVir1hPU7zLyL2qHDAoPaALf280nCdnXQYBD00sYWilyiduIMLM4VgUuijfxA7HBRGURlN9fMHyJGt5gsNvmLlzwJalD1c-0K701klW2n1jDXVIsLb53dO_97yoJTYqdjZSWoKJSCzWMDMONq0XJcOPL80LKOUnTcz7eyvO-T9f_rP6d1vCHPiFRpoSr8Qv9nK1HZuRHVQ5Z4qTR7Ey4pn98jGHg-EcpQqlqU8seak2PXLugiXE1GS74seMU_BxGavlaeng9bSc5KOlUnpE5tgNszBVDvEQ06XxJ7I85fbMKOj4WgonrfWVX_G-muxWxDeWbqa4aoUxq4T9BY7Kosdl0bdmRLngguy3eYY8NDFI7AWuQTgUb-sbJEHP6et_2P-tGkxIsLnBfb9Tz31paVmf0Bf2sbtGgtVT0uWJ5fBox0VzrrjV7-8duxsRIK5L4tMYwKzGxRq14Smut2eRH5Ed45FS99wcxt126TdjQovEXcae-KoR5DTB-DYl6YFhDQlcMDDZmV_aV45tRCA9c5MPDXdRZP5Xkmnf8wIMRHa0g_gXAMSgzUmN0ff5c3WJ6BmVCpN6_NvCnfWlXBQgJmCTlI-fVqcvokRkMxfnYm2fTlrRtnBCslOLLT23eBmr3ydViovmcK7rbv0gF-Z3fB3n_EAPtqwcjzViomM7uxWHfSTN-VvY1Gr2BMvrGC6lkXe7zEpyx-yNcdNlijJ629f6Y-199ArxSiDq40-bHPvuugJeRBmDmFlfjBCPJaA8DOXqc7Baznryg5Jd0wAXu43F6ET0unQjia48HV-MFXWr53XoocR0D4nSq6GJPOdTwRCwgztjWYiCu9UeWtCix0m6FYocVmfmGy6bsIc2vz22_dKuwiQHX5Evjl_m5vmtWSaBosP_JtnptPWrp00W55im04RZC3tt2WRjIS0k9abfox8AmlU-27l-2NcOBOsKqyntdY4mjJ0fFxiVUKt1jh0VcqB1irhiZVDNY7u4JmqyJb-bTtDbOiuVHPY1-VQxnR4LCapb7xLhYyBqGGPwdugH7tc1WLURsN55wgGBwUT4eqcfbuJfF3KONZq_qhj0eTeArnOdwRrJhll1KZGjs0Hemq3VwtQWh9H3ACW_JF8QxWNpQ3bR2xl9C4r2fdnZfulOvuNx0f8qc-KliW4aufYl2kjcF7rwmpYu1G7J5DTj7Jy_ncnwMa2EruUjb--szwiU18T3hapHa7ciHWbRod2JUQWuhX0HmzK0c9n5_VfzpNMLP0lkgdxzVaGaVyegqt9fQ81zpTsmbg=",
  "id": "rs_0ae432ad9e695f52016ab41a94476887d094f3b78e5089562e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.05},\"note\":\"The pink bowl is centered between the right gripper’s open jaws, and its full width appears to fit. I’m lowering toward its rim while keeping the horizontal alignment fixed.\"}",
  "call_id": "call_JXNI0hq3cVgFf9zCu8DL0Zo9",
  "id": "fc_0ae432ad9e695f52016ab41a965d8087d0ba77a2003d58636d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JXNI0hq3cVgFf9zCu8DL0Zo9",
  "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]: [-0.131, 1.2587, 1.1263, -0.9623, -0.1844, -0.094, 0.9958, 0.4816, 1.4662, 0.5659, 0.0181, 0.337, 0.2459, 0.998]\nstate[eef_state]: left_x=0.3035 left_y=-0.0037 left_z=0.1739 left_yaw=0.0853 left_pitch=-0.5039 left_roll=0.1431 left_gripper=0.9958 right_x=0.3287 right_y=0.1099 right_z=0.0372 right_yaw=0.0409 right_pitch=-0.2496 right_roll=-0.0792 right_gripper=0.998\nstate[joint_eff]: [-0.335, -4.6427, 6.5983, 1.3065, -0.2466, -0.0415, 0.0513, -0.3624, -5.6957, 6.2017, 1.7167, 0.0855, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb41b68dc258504de1c15154313ea0d373a6a9c99a7fd8fdca2fe40f1e470569",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c1799c3a54da57ba21a3e9ea649a19c75d63bc991cd0c4005ae7cc82418e930",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c42d54f3405221c94648187d12bf68d894f2032db8ef9b8724a8ab86e508631a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.3729, 1.9488, 1.2381, -0.4034, -0.2962, -0.2691, 0.0293, -0.0219, 0.8185, 0.5945, -0.4225, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.437 left_y=-0.1117 left_z=0.0286 left_yaw=0.0534 left_pitch=-0.4755 left_roll=0.1599 left_gripper=0.0293 right_x=0.2889 right_y=0.0 right_z=0.1604 right_yaw=-0.0018 right_pitch=-0.077 right_roll=0.0007 right_gripper=0.998\nstate[joint_eff]: [-0.3624, -10.7419, 7.788, 1.16, 0.1343, -0.0366, 1.4481, -0.0342, -1.3197, 6.9812, 1.6386, -0.0464, -0.0611, -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]: [-0.1345, 1.2545, 1.1278, -0.9428, -0.1986, -0.0921, 0.9951, 0.4789, 1.3033, 0.7681, -0.2485, 0.3386, 0.2455, 0.998]\nstate[eef_state]: left_x=0.3078 left_y=-0.0029 left_z=0.1783 left_yaw=0.0909 left_pitch=-0.4767 left_roll=0.1517 left_gripper=0.9951 right_x=0.3442 right_y=0.1167 right_z=0.1263 right_yaw=0.0459 right_pitch=-0.1599 right_roll=-0.038 right_gripper=0.998\nstate[joint_eff]: [0.294, -4.5607, 6.4342, 1.2381, -0.0513, 0.3639, 0.0024, 0.2256, -5.5316, 9.4154, 1.8584, 0.359, 0.2613, -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]: [-0.131, 1.2587, 1.1263, -0.9623, -0.1844, -0.094, 0.9958, 0.4816, 1.4662, 0.5659, 0.0181, 0.337, 0.2459, 0.998]\nstate[eef_state]: left_x=0.3035 left_y=-0.0037 left_z=0.1739 left_yaw=0.0853 left_pitch=-0.5039 left_roll=0.1431 left_gripper=0.9958 right_x=0.3287 right_y=0.1099 right_z=0.0372 right_yaw=0.0409 right_pitch=-0.2496 right_roll=-0.0792 right_gripper=0.998\nstate[joint_eff]: [-0.335, -4.6427, 6.5983, 1.3065, -0.2466, -0.0415, 0.0513, -0.3624, -5.6957, 6.2017, 1.7167, 0.0855, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb41b68dc258504de1c15154313ea0d373a6a9c99a7fd8fdca2fe40f1e470569",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c1799c3a54da57ba21a3e9ea649a19c75d63bc991cd0c4005ae7cc82418e930",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c42d54f3405221c94648187d12bf68d894f2032db8ef9b8724a8ab86e508631a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqaIQZBZpRvl3HYLAWI3ykWTJUaN8Oo0mtNOYd4YDGdw39rRmIVsx93usZREOa_CsZeJ7UD5Sdsbwgp-ZYdGVRSkGQ9jEO0ZeUbUXu-xczXrm3O9Zey3rPW9JAPjpDZjQtDCF29j98L991rWBSPS7s-vH_T40dsq97vq0Yc47yWm4igrY5D-eeFbsmieJxGiMeUPusbPJOvm_FOkc7c0-lIkSOC3Cff6Br6mkh6iTpwvznmTxpdggfnh2DtdirNAxdz08VwiQnLOYP1BOnkr4xmeBgjFrw00p1klXCWuuboVNY-fgKJtPkXQ6_LOGH-CFs8qcwHudYFYC7pG9N_nW0ndGUMocfgzlUn3g17PgCCp_diEQ5KOlT1xfRuv4N9TTj-Hgv3jLTu36njxTxxZqX7_kGLArt-hWDleJoyUQReUYHViT7B5tdQWkv1RDNimqbRe8Tct27cEHPkpi9wq3TwuucjVViauKfUwxBdCOWPgljMKmU7GLTPwOp9ys2Q6GOCmWuo4b3IRa_8aUwGwPKOwt0tTa_Fg3hvs5WIu2bwDbO-XnpyJms2z1PwQtOZvqbSRfaEklrXYNhzrg-ZsdvnqBYJFrSGW-ti4HuRkRJ9PmEetTl_oa7jR3jlPyJfex0r6_yz0EkXY53V0NLd5OCG1lfWsN07mrkWfBfKfQNxnNHr_ShGovyZ7XFqnrxps4GfpbFsTfjrAG2l8438UBQcZNkPIvEHI-HBs1yiZPP0K9EYBN3edElYpWCrTCsQDCilkOerf212FUE2HfZf0sJlxy6hJrOWcse238EL_SesVOcysKSZuOogRotJ2XbxdrLEBr631395jBdQK1KuQpi7smO_3OgxpkAvuGYnC3MyciG7zu1eWcFD_eFuxg0HQMEb4Kz30ZCMxJWhYjllj6tO570pOpwnn6xRvUrBcwoffoMJU_M3K_zK41JOvEtHLMDw5AS5n1LVHDcy7MByP_uUo-jyKDlhQGqQEHaPiKn671n8lUc2_wtaOPtDwon-3qXFyebWFTZFMmoNTgSB8ByVLD8ATiFyxxLdKP8SA4YCGvCxFXG4-IIizmp_Yh_0KLcVbf4G560c_eefZkiJNAdepJlnWiBNLttPk64HDe4ZZuGxwvvzxYT97QthygsMw_JpkMexJrHd9AbQfEa0s67Anhkf1XFd4R_XMnoLSFRTD0BvW-nazdxNENBeTOeEJ01k5P_diGKL2ChTWuAk8-tcti4hGeanmlSIaFCii2P_VyIblv-lVZtfS2k7hLh-QaZItT-6HDqNm_NuAtv7Pvp49M9HyLXfa6I-SNMS_p76t7N94m4KVpZvlmOTSRoYIWnZpI-wwfVPqaiT5R6OKXWJWCP8s6vpZu-7lFmFQExYQHCQdccktBOVGLSLETS3f7RnwM09jnypEDsSOMgGyJBdbMXH_I6TKjVrJnrTSNnGOn9oWGe-JC1diVzkJJVW0wXO8RhIYK7CYODCih7thhYf1cLx8048-cBHpWpb_8GOZirEN0ma6TcRDw219CEyf-8qZWt13-mWtmHwReDY1aOm75QabpKHpOSH8zHzhsHsDQjZ1-UdURFpqXAdRAEh-oIfDy_7LbbhzkvpKC53yGzxB4-Xyvj1UlveGKj1t_Iu4MEd8QSF-dmt33u2VPvW1rMRLbBPJaq-KXjXsQhyo761xdlKUvS96Uu58Q-SsPHn_wQpCjEGtmwD7voWcX8xV2RQML4-_n6eCQo9G9kukbI1MI5KqtfGpxjxlCIMw7-h0uT3Zr6WYqIyQfb4Zspak-4PbBAYXMGaq3oFRLKs7tPUnxKSR9zHMMqGs8brWDpfM2Up_MuCMMdm14aShnAXdym3Lq_x3NgeP0msLpYPBng0iVNfIzscL77ShDQXkgLtSJjbiTee3gSRBOFEtgjIXsD9JVSgHnyk2IPwonv_AM36bO73YOxMYl4Rq5EoskApvCjb3dKdgvJccM7Ut2_ZID8jpvrVVUEYP5oJpeo8l-uRXtr21PUvKi0uiDAP06XrNi1YO48TNB7XYIACMh3cCNNXXB63ktzygQiXpSM_NxMcpfq2A_Aags9am6z8aQ1roGTnAAemg5hRlAv_1IHR2eeNXtC0SccGBcVD_KdKjbPg4J4hlFSXC3_j8zf5gjViFxeO2bH6z6A2W6lBO8OMcqo3YSkwsPtuJnVmV78Ef0gn7A==",
  "id": "rs_0ae432ad9e695f52016ab41a98601c87d0b1815986898cfef4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink bowl is at rim height and still centered under the jaws. I’m closing once to check whether both fingertips catch its sides or slip inside the bowl.\"}",
  "call_id": "call_9t8IGESqfW8L5Wmn4EVYadhs",
  "id": "fc_0ae432ad9e695f52016ab41a9a570887d0af85a4c81963d3da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9t8IGESqfW8L5Wmn4EVYadhs",
  "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]: [-0.131, 1.2587, 1.1263, -0.9646, -0.1833, -0.094, 0.9958, 0.4816, 1.4822, 0.5541, 0.1101, 0.3321, 0.239, 0.008]\nstate[eef_state]: left_x=0.303 left_y=-0.0038 left_z=0.1736 left_yaw=0.0845 left_pitch=-0.5063 left_roll=0.1425 left_gripper=0.9958 right_x=0.3384 right_y=0.116 right_z=0.0419 right_yaw=0.0548 right_pitch=-0.1932 right_roll=-0.0531 right_gripper=0.008\nstate[joint_eff]: [-0.1709, -4.3009, 6.5983, 1.0965, -0.1734, -0.0366, -0.0073, -0.294, -6.0923, 6.0513, 1.6581, 0.188, 0.0855, 0.6032]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5addc796cdf211eb4612c921d2e970f2afcc43af7565a14600ac6c003ded95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a07e7f7015d61973866305c36d923efe27df585f5db4023a8e71ac2bfc6e15f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa7f4b09bbd3e34e590e2e506b3592d5eddf4d3b25f16cfcf31316513b7ea32a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-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]: [-0.3729, 1.8843, 1.4368, -0.6956, -0.2913, -0.2775, 0.0347, -0.0216, 0.8181, 0.5945, -0.4225, -0.0158, -0.0349, 0.998]\nstate[eef_state]: left_x=0.4365 left_y=-0.1124 left_z=0.0936 left_yaw=0.0606 left_pitch=-0.5029 left_roll=0.1643 left_gripper=0.0347 right_x=0.2889 right_y=0.0002 right_z=0.1605 right_yaw=-0.0014 right_pitch=-0.0767 right_roll=0.0007 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -11.9453, 8.3487, 0.9939, -0.1832, 0.0317, 1.0379, -0.0889, -1.3197, 7.0085, 1.6728, -0.0513, -0.0659, -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]: [-0.131, 1.2587, 1.1263, -0.9623, -0.1844, -0.094, 0.9958, 0.4816, 1.4662, 0.5659, 0.0181, 0.337, 0.2459, 0.998]\nstate[eef_state]: left_x=0.3035 left_y=-0.0037 left_z=0.1739 left_yaw=0.0853 left_pitch=-0.5039 left_roll=0.1431 left_gripper=0.9958 right_x=0.3287 right_y=0.1099 right_z=0.0372 right_yaw=0.0409 right_pitch=-0.2496 right_roll=-0.0792 right_gripper=0.998\nstate[joint_eff]: [-0.335, -4.6427, 6.5983, 1.3065, -0.2466, -0.0415, 0.0513, -0.3624, -5.6957, 6.2017, 1.7167, 0.0855, 0.0757, -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]: [-0.131, 1.2587, 1.1263, -0.9646, -0.1833, -0.094, 0.9958, 0.4816, 1.4822, 0.5541, 0.1101, 0.3321, 0.239, 0.008]\nstate[eef_state]: left_x=0.303 left_y=-0.0038 left_z=0.1736 left_yaw=0.0845 left_pitch=-0.5063 left_roll=0.1425 left_gripper=0.9958 right_x=0.3384 right_y=0.116 right_z=0.0419 right_yaw=0.0548 right_pitch=-0.1932 right_roll=-0.0531 right_gripper=0.008\nstate[joint_eff]: [-0.1709, -4.3009, 6.5983, 1.0965, -0.1734, -0.0366, -0.0073, -0.294, -6.0923, 6.0513, 1.6581, 0.188, 0.0855, 0.6032]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5addc796cdf211eb4612c921d2e970f2afcc43af7565a14600ac6c003ded95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a07e7f7015d61973866305c36d923efe27df585f5db4023a8e71ac2bfc6e15f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa7f4b09bbd3e34e590e2e506b3592d5eddf4d3b25f16cfcf31316513b7ea32a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ae432ad9e695f52016ab41a9cbf3487d096ec0934878a5ea5",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqigiLzn8R-oGla5OqAzuzbTyZcm60ZefJULHQ1QqfQ7FkAFbbogS8_DALSfczppGEYzGsFmIBGfozly_Z85nPIE4BMkAPv9yOecj8cZPPKPKbetPU3-0L-A-sZyoVjsqMjXiq3PRARuH7LotErGxzZnBagNbx0Lq9KpceoaOsBfiWmWe6Eq_4ZklAI56UBxiURXAmSvrJlArgiDR1-EURR8S83TlNSie-Yie5BxNfO8MAIkYBx4elbBom3GQJqvGlmBSzkLwR4VXJU22rCUhEGO_58YDOtM4G20lzoLdxXhgIplozR5U22Ific5FJQw0g-Xl0TRlzTKWzi_Jws8xhLCF8lL6HojI78krMvgCtCNIGa5k-zBfk_WwHgHbK9Ty9ABNw_1a8rs97hSt1mp8f-fBATr_Joh3XLdz9wMPk1jdq1mSxw6eIkjme-_wJan-Qn42q3cdnZbULs9jvTlzRLpq8W5JmfLuyn-jOvuLHeaSQqO0m91CHhyoFxZKtZPKt7vPeCzwzL6Xbf3O0U0zM9xbwDknLUkIw8XQ9POLb7kXTxO0kLDm4Gw99cDpXfouxZ3ij4i9V4aLCkdsAPvBWzFPRQm_O-3STVyR6V613wnRfCRKdJ5atQuC7VDW61_xO7FCv8q7pweQvIQAn_jzpjoB_5f85I81FEUUq6LefglujCmiGZxOlTBV_RUuBirOkpe2YMcBZp3rBLBi4AXfFn_fhFKOtMZKHmDjRWBBnHJ0EeXDQhQafR_WZn0xEptXHpRdGWcPa71ubQQYrkI4uj0osYu0-HnPOC96XlhpMX8eNPuULqN_K9y82KEkWwhoZEfVwovW9Enuil8zv_W3wxxtgdHRgGjREX4TIhCSeG5JPBoeoXSWRThhljYcmgtubYhUkoqd86xCnqJlyikOxpqYmSYXcEvmBaa4LkKVi-Rgtx-td8E5ACMMNEeKhEl-OPOOP-AFD8biO4L9PCWFgeGIU0JNvC7ZD-tsgrExeyrtqPpG6qE1-iUIh6qopRGgAFScBXsTxcbCY6E7WEjrQWpGTOEgMFeF769_qDdfT81kLE78zdsY6SGq_bwi7Xrr-D-a11SGmS24mbJeDK2NLzn9t9pq7ivUXUYYSXothqDlPR4ctfzdmIAVkC6bw6bImB3ou8Y3J_WiVJXDoFL7m6W3HkAMDNOcLuxMscYHPaRQDp1NVxuVdCc9IueEctHqbYkeKjkkhD4javHd1eXswgojYSZIRz9FfQerqRKyBCdSL6zr3M1CZgqv5Mp266ULUpOLOJYhXLPs4vtvbfY_dkdvB39nYIVrnYlsVCVPRYq1cIWffxrjUjTEvW5qJR1vUcEiYtCmIj-NKNOPhjDbKNwCmQRXKyO92gpGXqOwnDp9IT0BHZ0MY1XOxWyzA_AN2H_Y8DaooGGf3nB80ZaMs2oOi0P0CD5LVnKziZmV51kupk6Jf9wBoen0CSFVXdzXuiCwfSnPj4SA7tWt8zLHPze00aZoinAh8S_xRnLeX0OA4=",
  "id": "rs_0ae432ad9e695f52016ab41aa0db2c87d0a61a0edba779f750",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.075,\"right_z\":0.13},\"note\":\"The jaws closed empty inside the pink bowl. I’m reopening and moving to one side of its rim so the next close can pinch a wall instead of the open interior.\"}",
  "call_id": "call_44NYwEvVJEY3hmXbnwjRvfPL",
  "id": "fc_0ae432ad9e695f52016ab41aa1636087d0aad7aa51c8b7ab43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_44NYwEvVJEY3hmXbnwjRvfPL",
  "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]: [-0.131, 1.2587, 1.1263, -0.9649, -0.1833, -0.094, 0.9958, 0.3256, 1.2362, 0.7021, -0.2829, 0.2291, 0.1226, 0.9954]\nstate[eef_state]: left_x=0.3029 left_y=-0.0038 left_z=0.1736 left_yaw=0.0845 left_pitch=-0.5067 left_roll=0.1426 left_gripper=0.9958 right_x=0.3343 right_y=0.0743 right_z=0.1119 right_yaw=0.0482 right_pitch=-0.2219 right_roll=-0.0654 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -4.1094, 6.4068, 1.0769, -0.1538, -0.0513, -0.0122, -0.212, -5.4222, 9.2103, 1.6679, 0.1001, 0.0317, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd21739718e6e0829270342f433d56fcd319780dc8f67301da82880e26707b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b35f6014ec894fd0cf4070af2e3c8dfb7eaeb9004e4e9043d9edb4c7e62afec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb66bf226711f204920c9665d4d7ffd0ebccf787ada358f4ef9857299cee1dcb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 80 changed as sent

message 88 changed as sent

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1345, 1.2545, 1.1278, -0.9428, -0.1986, -0.0921, 0.9951, 0.4789, 1.3033, 0.7681, -0.2485, 0.3386, 0.2455, 0.998]\nstate[eef_state]: left_x=0.3078 left_y=-0.0029 left_z=0.1783 left_yaw=0.0909 left_pitch=-0.4767 left_roll=0.1517 left_gripper=0.9951 right_x=0.3442 right_y=0.1167 right_z=0.1263 right_yaw=0.0459 right_pitch=-0.1599 right_roll=-0.038 right_gripper=0.998\nstate[joint_eff]: [0.294, -4.5607, 6.4342, 1.2381, -0.0513, 0.3639, 0.0024, 0.2256, -5.5316, 9.4154, 1.8584, 0.359, 0.2613, -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]: [-0.131, 1.2587, 1.1263, -0.9646, -0.1833, -0.094, 0.9958, 0.4816, 1.4822, 0.5541, 0.1101, 0.3321, 0.239, 0.008]\nstate[eef_state]: left_x=0.303 left_y=-0.0038 left_z=0.1736 left_yaw=0.0845 left_pitch=-0.5063 left_roll=0.1425 left_gripper=0.9958 right_x=0.3384 right_y=0.116 right_z=0.0419 right_yaw=0.0548 right_pitch=-0.1932 right_roll=-0.0531 right_gripper=0.008\nstate[joint_eff]: [-0.1709, -4.3009, 6.5983, 1.0965, -0.1734, -0.0366, -0.0073, -0.294, -6.0923, 6.0513, 1.6581, 0.188, 0.0855, 0.6032]\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]: [-0.131, 1.2587, 1.1263, -0.9649, -0.1833, -0.094, 0.9958, 0.3256, 1.2362, 0.7021, -0.2829, 0.2291, 0.1226, 0.9954]\nstate[eef_state]: left_x=0.3029 left_y=-0.0038 left_z=0.1736 left_yaw=0.0845 left_pitch=-0.5067 left_roll=0.1426 left_gripper=0.9958 right_x=0.3343 right_y=0.0743 right_z=0.1119 right_yaw=0.0482 right_pitch=-0.2219 right_roll=-0.0654 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -4.1094, 6.4068, 1.0769, -0.1538, -0.0513, -0.0122, -0.212, -5.4222, 9.2103, 1.6679, 0.1001, 0.0317, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd21739718e6e0829270342f433d56fcd319780dc8f67301da82880e26707b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b35f6014ec894fd0cf4070af2e3c8dfb7eaeb9004e4e9043d9edb4c7e62afec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb66bf226711f204920c9665d4d7ffd0ebccf787ada358f4ef9857299cee1dcb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqlNJFbyWXDlF_oAFxAyd5OvpHfr8ChxIE-hIk2Oz1XqnMfL3hywDNCjT6To1LhMykn73phVQ2YNrNGIobv2jknkLgEtyLGM1ztDhvZZuKetvpoumHB_Cu2VJwLoQ_Mj_GVXwFaJil7ihjaEdvzt93qH7k_RexBRhpFODKsW9sF4uXBLv9hPqo0RXaUmMumzsg-si6V3F_Bm_sFy0si89PdXqBIWmPLpwtmRSyi7yTj89xloYAxXqR9ky8zd92ADDOaayYJ8N5X2sL7hWPz-H_hwywmMACKGeHW5siXOKwOEVTF0t25xoXcre87XF9rT0yeD2SwTn7FdVIM8PfggO1gjkAK9rA8OfPrmMOyrrOoO50ipksKa8mXpf47_LhvIdXvplq343fWSEl2sF909AXCjHZHHLpF2yWU2NrlUt5wQNEJVdnZdg4jQFW5RgGQsyT3Up-GPwxwWD7lIRt9fLx8gzGyc2c-toAsqefrTpm9y3kuNb0v9X1zsJYnmsmlDzOSwOci3lcxm7ceUvWAL-q3CXGJ2LZPXdK9D7KsiCZKHFjC-PTdAAaQLuV-157Lwlx5h1yvADts4xeECX8p54SjZpLVTYjxtYYpEP1LS9t-YRah41az9AGmx4pl6o0ew5alDF7fHFwCQd1J5eBSXijPDbiJHrcIkyeJ8AadQYwn8FgAfPO4qRz9ouH00_b0-V_Sc0RaXYBZD7yd_wlbOdq32RLZi3-fGLuqP-g2unLsmMd29jq5DAuUU5lMA1ZMgzH3EtoUba44s71u4NNMfedEoWVO1DPVNrg0Ilh2uAEPsVJCCCcTuIb9EEWh_wpDz63Z3FvYOKJGQrqAZGMXs1FyYrlq68JF6wlcD1HLnJwYYU4wdnDqWjIOGKzDl0DRFZttLweqpfhFL4KLNk8eQQ5ApXcGUx2w_YRfFHFHg5pn5pJRl_hZ_zo7emkr-UB01LF89x1iYHGKFxW2Sc9rFas182xIY89xaW6vKj_VC7qlrGMqzkzRt-PS2f5hW8UyMpiWVvpEtWZGthQ1p10t2ZPV2ywU3OZM2E2pz0UYn_Qun_Z0DsufN1TE2cTJajh-A3WJFsazV_snZQUlyC6vStDzkCZmRups4apQX3bg0EkEYFbOEtoox91bfiUj3kfzjWVVMM64uwd35LKdHcaCobOCylugtPjv7-ieXOD9TS8bPV21Iz_BbbpvmhJrlXEn5IQTei2mNpjK13R8hPjdX638HuCYJNSh4X6rfMkgtJ6L90frEda8NqcfaWrO3khRJewin_WG_D_7koudcT8q2H-JYo6El27Vf1V-9rAhe0gj_cbgPJbX8KukP7aSRSo6ZY5QC_v_42sj_JDAsCmEti8_WkJ1eZ15baiES2r6-3mmychYg5Y28_7Wj_Qi5mCIYnM7RjUuf4bMvRgaOwEde8qWT3ze1-jenGbrnQthImSd1InZ-leinMnNmTI5F36DTRw59rdvjjAZdoQ4R4Uhi_cirfvfXV3PY6mtgTRiR6IDhNUhUm2YONoEoAN3Mnu2RH1pJdZij3ZOKx1JVAC7te2AQ5hGGH0aw8HlANhmJWq7O2v0BrtoU-XwNkbGB9eoH4-eXvswu8PhfHG4FriH8GzpD2K4eQKDt2AXXH9V7wNFpRoy7p4TMoeev1TlNzlccB1_",
  "id": "rs_0ae432ad9e695f52016ab41aa46d5887d086cdf85f27ce2064",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_z\":0.045},\"note\":\"From the offset position, the pink bowl’s edge is still a short distance ahead of the fingertips. I’m advancing about 3 cm while lowering to rim height so one jaw can sit inside and one outside.\"}",
  "call_id": "call_R5WMCMP6f8CIeTbNiP76rEU0",
  "id": "fc_0ae432ad9e695f52016ab41aa52ff887d096d014a20c0d0740",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R5WMCMP6f8CIeTbNiP76rEU0",
  "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]: [-0.131, 1.261, 1.1263, -0.9653, -0.1829, -0.094, 0.9958, 0.2913, 1.4925, 0.6117, -0.0257, 0.2092, 0.0978, 0.9965]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1729 left_yaw=0.0845 left_pitch=-0.5094 left_roll=0.1429 left_gripper=0.9958 right_x=0.346 right_y=0.0692 right_z=0.0333 right_yaw=0.0382 right_pitch=-0.3134 right_roll=-0.0919 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -4.4239, 6.4068, 1.072, -0.0806, -0.0513, -0.0122, -0.6632, -6.106, 6.065, 1.6044, 0.0464, -0.022, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b6163b52e7db8abc2bcd2c63a8978b8655af1412f5e044dbe26ed501d5c84d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faaa351adfd29d7de21528f26ce5b64f80f551f25697bc445d14aba890409903",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:026aad7dbb5af1335d5b13bf58f56bc921f4c4aae60900af359df40d4cc57a7c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 84 changed as sent

message 93 changed as sent

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.2587, 1.1263, -0.9623, -0.1844, -0.094, 0.9958, 0.4816, 1.4662, 0.5659, 0.0181, 0.337, 0.2459, 0.998]\nstate[eef_state]: left_x=0.3035 left_y=-0.0037 left_z=0.1739 left_yaw=0.0853 left_pitch=-0.5039 left_roll=0.1431 left_gripper=0.9958 right_x=0.3287 right_y=0.1099 right_z=0.0372 right_yaw=0.0409 right_pitch=-0.2496 right_roll=-0.0792 right_gripper=0.998\nstate[joint_eff]: [-0.335, -4.6427, 6.5983, 1.3065, -0.2466, -0.0415, 0.0513, -0.3624, -5.6957, 6.2017, 1.7167, 0.0855, 0.0757, -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]: [-0.131, 1.2587, 1.1263, -0.9649, -0.1833, -0.094, 0.9958, 0.3256, 1.2362, 0.7021, -0.2829, 0.2291, 0.1226, 0.9954]\nstate[eef_state]: left_x=0.3029 left_y=-0.0038 left_z=0.1736 left_yaw=0.0845 left_pitch=-0.5067 left_roll=0.1426 left_gripper=0.9958 right_x=0.3343 right_y=0.0743 right_z=0.1119 right_yaw=0.0482 right_pitch=-0.2219 right_roll=-0.0654 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -4.1094, 6.4068, 1.0769, -0.1538, -0.0513, -0.0122, -0.212, -5.4222, 9.2103, 1.6679, 0.1001, 0.0317, -0.149]\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]: [-0.131, 1.261, 1.1263, -0.9653, -0.1829, -0.094, 0.9958, 0.2913, 1.4925, 0.6117, -0.0257, 0.2092, 0.0978, 0.9965]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1729 left_yaw=0.0845 left_pitch=-0.5094 left_roll=0.1429 left_gripper=0.9958 right_x=0.346 right_y=0.0692 right_z=0.0333 right_yaw=0.0382 right_pitch=-0.3134 right_roll=-0.0919 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -4.4239, 6.4068, 1.072, -0.0806, -0.0513, -0.0122, -0.6632, -6.106, 6.065, 1.6044, 0.0464, -0.022, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b6163b52e7db8abc2bcd2c63a8978b8655af1412f5e044dbe26ed501d5c84d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faaa351adfd29d7de21528f26ce5b64f80f551f25697bc445d14aba890409903",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:026aad7dbb5af1335d5b13bf58f56bc921f4c4aae60900af359df40d4cc57a7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqrR6IknKLfulunkzBSCAlT4o2tgvlABErhVFxzdZDvI6TFKpY_c4quF2quFXFn7MZTuzZdFg8qoNFxC7z2SVrhnF9hIN52J_fLEp_18Pj3dy3SV4l96XfHuk6rOtfxmKVO1aFS0JCFKmyNxW3L0pBv_fExCOaLeAh2ffNxaaBZ5LlQ3zvc-E_7-9Nj_TYMPivLiqSAIzYdZfwNDwIQmUiatr0Wn_buPmbbE3A_MHDAY0R8fpA8dKF3Xca7lgZBn1-w4N0NoYbozgL-7U-v5P-0oBs-xgfo_Hrv1CuzE5LjtmUv8Xin-Ls9B6jNP42dzzaGAOUiIqosVmNwd3e9FmzddNXvw9nvd9usS_VM2LyMjqXmFJtQCNQHaG-yQ291p3361cvMGddxVuF_YZ5wV_yh0bNyK--NedIQhkXlCoZXd1pS8vRp_W6dU7COIdjduf1Aj2zVwNL0wNHuzeGVDK0L9ph8OQgvo0jjOgbsNqisdbVOuvObRcBW1aZ1PVhYS_O5Y0tBm5HvKThLIyZfC1YW2x9N3zVuzFToKU5nqG_y8P5zNmj-Hp3yyMyubv4yr5pML0kuwb4c2AmNxKbvDJlG5t7VHLkEPRVGU6uxRR_pG63qmmtWjGRrMntLa3DlDb0dnviLALnA8U4p03IYz8muN1pIFmCmcq3Zmn2Qpyuc33z4Dd6aRO-pZTU2fGHekz0-Ry_wodwCwP4opm3b_we0HFpAI4ae5xH--2k4BopsV4VyXgI4SnaK2ZCfR3dQbj1hY40FJtwYlDjEn_qJ4TcAFjBj6W7H3aMivjwOx6LSJ1l2c03NLP9P1CZYsYGW00arPbA0_a4Hj3M04e-OEj3uH9-Ukm1kt9OTojJdkQFPsXVJhokwfKtyLZAof2B8NAmj0z-EDc-m5SJv6V9ytpuFZ5H_EFfOfmF_RLlpGP6oJxZP9vmGZd2ZliA6b5ZqatDKlInUmXXmrdbQtlAeWJEEW35Gt-ydvPv9k5ulfKr09phu3WPSQpzf2yUXp2yLR5awnyi7qoBtGSVpTgjn5PBn_B3UFMmSaK13yxuzW7zBjzjO89K1exYas_UGJgp0LenwCJJebhNoiTNB7su20PiIIJrYZ-xfypTzputdazL35pS_QxhZL63Irk_Lc1WNLWvw6DIY0k62M2jEKUHJODqGHxL1hpE57pns0hlIzQW9vZNlhsM7IkhxQU3qTjqLxKao3kkY5rwwHzAr9L4vwwKGrEzzlsQrYc44b_ZYK0wHF3SPDysrhd3wIsoQZa1OU1nZsallgsIOrbAkh7adaugsnW2BQdfbKVPvPYlBeyMJcnqd3rDzv8_T6DCPq3KDgNlWgQ0hZ6K6cQlXsyCfrhAVB6Zg0YZNCJf33e6k14c7dXp1i9Ps3XxV7Rj4RZj6AwQQHKbHY49X68RZzTFEgN2APPJfqJaijNF2iKr5MjdLdixtrT3N4kA3cEU67GPMRMWjDIPY_ZV1vayLvxZ9QMmrKqioaFWT9AAAw3nRoEu00RumxhSfEw0RXaRFKPrZndwAMEh7GxgZlPe5SttybomBZK2Hq5CAFTJ_vc6WKc93XG1ouhiVTNuMMNAWs1PGqarR4cICFSHIYM5g0HpDHGv4yOvysYQlgA9wn5cZkuT6uf12UuBZTIBeU-SF_wrQM0elwnP7qgZdvc0Dz5ChFroDbpDwHr3E2nwCPkku7FGlDa2FUyS28rm0H-Ngid9c3YdkVE56OpDVFPm5wGXdhzU2p8O6wmbEJyLTX8xe5GeA_JImbJyH_AlwLU17T-YuvuyoOEhFWdIv7-wc5yiwl7NhJyQ8iKQ4VMvsqU9K8b3--1h8ZAtpk_aaCIvhNPFyPjrHTqiKou0mdGyfQYUYhQuhQx7ZkTxBfAegpwtnuy3T853WYiQcGpc3-BK9R8ehhSPg7DcDmippj4lvU4c6rY9Jkhp12WpLArTrNx8UlduS-fCBaThMADEQxjgiErA3vJawIe1AU87GothdDWoYlwchdqZS9e08XikLL5lkTeUiCp4NV8fGx1AEKzs8yNIQLve19FyxuzX_eb0bl-pHzq3dO6_g-0TeTQh6VCYVV1tgFCmowA2EuCEpyMnaxk9-1WjwiHNTM2_wklq3TfnzUQhxMEp4_9146vk73hm5a2Ct_FLmQEDzo5BNJLum-2qxBuvC1Sq3aHnJu5Y7FC-2ewVfyV4b0S8gbL9Ntika01WcV1YpYh3ItAKaT8KTyDIJu_qCbe-kNuI0rhTB_qml6WPYnp5KdBE1nsSO-sepfdkwcSvYHRdEXnUaNdCweNkCZbo1LolQTIZz4gbqvoLpSy4IQv7TkzK1DHvZf8CWCzpjqIzS5UAbOtDLasZFuG6setJjF9rc6xy_7J-uSmMNMHCwo8MfkE9AGxnepGvCThp0SJxZcha2gf2d7ve2M3tW8ndykEGU-RnxTj_r6OBa_rz4zm1Fcj4VfOsRiqAcjG9G6wzEZ3SaoORtkNx9ls-5qiYcPHGLxWesTxiwKCzR_yaUbvdyLXwNegGSrsmOxi5h-9Rota1wrMJy2Fj7T2-IskTTcMiRCQzsrSfEwNwZnPeTpAmRj0QSKIqeo-YSjU8t00abbLeeaQuqqbCQz6euirP0poldz0cNwna9FfjbT60MegCvyl_TiKpF-fFQaW1yAIeayVXJKTNZdM8mw2jSAqe-iCc4VQ-im9VVQ_tVi08DnKoljRr35WesS2HEt1ibwlylroHKwjzamQeLdpnlIP71",
  "id": "rs_0ae432ad9e695f52016ab41aa78cf087d0b3c05e7c5a779dcb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_z\":0.05},\"note\":\"The right jaw is beside the bowl, but the overhead view shows the fingertips a little behind its center. I’m moving forward at the same height to line up with the side wall before closing.\"}",
  "call_id": "call_VpdIdOc7lJrMFWn1Z8FEYqJM",
  "id": "fc_0ae432ad9e695f52016ab41aaa7f3887d08d997ff5a0c736ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VpdIdOc7lJrMFWn1Z8FEYqJM",
  "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]: [-0.131, 1.2606, 1.1259, -0.9653, -0.1833, -0.094, 0.9958, 0.2543, 1.6005, 0.7597, -0.0795, 0.1905, 0.062, 0.9967]\nstate[eef_state]: left_x=0.3029 left_y=-0.0038 left_z=0.1729 left_yaw=0.0848 left_pitch=-0.5093 left_roll=0.1433 left_gripper=0.9958 right_x=0.3786 right_y=0.0675 right_z=0.0397 right_yaw=0.0366 right_pitch=-0.3321 right_roll=-0.1039 right_gripper=0.9967\nstate[joint_eff]: [-0.2393, -4.2462, 6.4615, 1.0623, -0.1441, -0.0171, -0.0122, -0.6769, -6.5026, 8.1573, 1.3309, -0.022, 0.105, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13462478f310132f095aa155171f925ef40164b1324977a7472de55134620040",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64190edd40c4f8f7958bb2a8404faea2b5cc0f93d6b46c4721013e1a28d64e45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b55679cdc24cba90465d8c0501938dc13565ed9541ff73c1c9a363cf17d00cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 88 changed as sent

message 97 changed as sent

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.2587, 1.1263, -0.9646, -0.1833, -0.094, 0.9958, 0.4816, 1.4822, 0.5541, 0.1101, 0.3321, 0.239, 0.008]\nstate[eef_state]: left_x=0.303 left_y=-0.0038 left_z=0.1736 left_yaw=0.0845 left_pitch=-0.5063 left_roll=0.1425 left_gripper=0.9958 right_x=0.3384 right_y=0.116 right_z=0.0419 right_yaw=0.0548 right_pitch=-0.1932 right_roll=-0.0531 right_gripper=0.008\nstate[joint_eff]: [-0.1709, -4.3009, 6.5983, 1.0965, -0.1734, -0.0366, -0.0073, -0.294, -6.0923, 6.0513, 1.6581, 0.188, 0.0855, 0.6032]\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]: [-0.131, 1.261, 1.1263, -0.9653, -0.1829, -0.094, 0.9958, 0.2913, 1.4925, 0.6117, -0.0257, 0.2092, 0.0978, 0.9965]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1729 left_yaw=0.0845 left_pitch=-0.5094 left_roll=0.1429 left_gripper=0.9958 right_x=0.346 right_y=0.0692 right_z=0.0333 right_yaw=0.0382 right_pitch=-0.3134 right_roll=-0.0919 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -4.4239, 6.4068, 1.072, -0.0806, -0.0513, -0.0122, -0.6632, -6.106, 6.065, 1.6044, 0.0464, -0.022, 0.105]\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]: [-0.131, 1.2606, 1.1259, -0.9653, -0.1833, -0.094, 0.9958, 0.2543, 1.6005, 0.7597, -0.0795, 0.1905, 0.062, 0.9967]\nstate[eef_state]: left_x=0.3029 left_y=-0.0038 left_z=0.1729 left_yaw=0.0848 left_pitch=-0.5093 left_roll=0.1433 left_gripper=0.9958 right_x=0.3786 right_y=0.0675 right_z=0.0397 right_yaw=0.0366 right_pitch=-0.3321 right_roll=-0.1039 right_gripper=0.9967\nstate[joint_eff]: [-0.2393, -4.2462, 6.4615, 1.0623, -0.1441, -0.0171, -0.0122, -0.6769, -6.5026, 8.1573, 1.3309, -0.022, 0.105, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13462478f310132f095aa155171f925ef40164b1324977a7472de55134620040",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64190edd40c4f8f7958bb2a8404faea2b5cc0f93d6b46c4721013e1a28d64e45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b55679cdc24cba90465d8c0501938dc13565ed9541ff73c1c9a363cf17d00cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBqw5X7K2qjdlTfc5xc4NtFsZNfjwvNTiIMGpJ5BJZt_u0CMLgwjg4YmcVETUa7LShbM9-uRTTgPiYeuFZ0VZjSrA_W2N68uhWYmdZHfYiadJ2GaJTJ0rXea-mRZRpsKk0-lWVBwfGZK3qiQNQWz-H1KyLNOuDTjb-c8pGGHfzv5GaEXsuafEE78TELqjmmaeoIYsMIi32r9Z3nYoJhmPkZC-Spv_R7DGwJjlIPVn9NYyL_wqIfMGQQ1z73G2adAjRHHmVYxyy2wscDMzs2qb5BI3MATj8tCA07zzBdYyZdgild1AHW8Lugf7FF8ZdHpCeeuw08bJEbNPLY4JgTsHGqchTGcMFwFj0sfBE7wZMCVq4MJqEEzQ26s3QzT49NwN5vg0VVTz2yhKCZqQ2K3D4oPQv4aqE-ekukOXd5RZS56oJfVjVY370bKbYN1MGSSlGgcPy-MOAVW0aJWGEAK9Z5MlppkNMFdz49zkYWqENWHHDQ04pBTj2wCDjNkLXyFWUD0mVYZRp4i5GHALuyb9iPN997xxl7N1KVYgAlspGopA880oMJDXhHdh-oETV0lqIWch9xT8578zcelxl3IDSEfaE78A8WanM30j7Ry_7T7ANsqgtEw4wF4mLtJJqnuNUsRZVI2FT9UErNpdhEiUo7EXHxgotP_aclYkuOeAZSswywWLnHwhQpvUO7zwaKsk4odre9chNgm4qBLRsnTR1nzMXpxRYTItoEMmWxPH-3QBYXP7-2fgzymjkvaNIEpf0iJm1pdtQwgYTldUJmWDCCr4fN1M31gTgJmHQvaBKPoNGdLLbKgUXBLe72wPkTNL38dH3LReNpFyT_PYfAn0sqtDeBp0pED1gCRyJjAr6xmJV_433eP9pYXmQl2azm60bZn8nVDG6ZlTIlPz-pms8IK2LV2SKT3uPQdP7v9r9bN4Wto4D-vim8bEt8hxkU89UfZRDVxKE1bAR1j2aoP3CeOb25W7JxPVXNFb2cyv7XzPzsJmd5fja_Kdar6HkN0m_pBCUrxKDu-OFSDeIL7-92ddzPjTwwpyM_I2SgGmukxTyTSw31yjK6xeTVaz6cspnaqKFjDfnD_S4A3mWtfEQPjScOuOJ7-OuCCd10kBf3qVScAcfwobGx3GbJOGWkXrtUh8k9q0efA9X66J2fdf0w5MtE2CiXYDh_9b1diBnefuWsxOp19MywUH5ro_8ugLW5XA2T5tnmeK7LLfRBVPGszvotj4iJ0J8BNKI4BpIHb9xTXOwKKpjtA4-huF9y-RQq03YGZqEnrSjOO8G2QYSYewBdpJxelck0GWbsqXJWBbcZkkXO7eK0fV89_wbN38HUfiqPUmiJuCAVlDy0AjfBmeiDXct96B5BiL87MGYGAPBvZDgTr12X1gxRyD06dUhNz4uipZUazDp7Q8Q7XtY0EEWM1ZY2wCD14zdstvWVs9TuLikEIC-bP-R8qHe8lFvGSG8OCk_SQUyUmaD7A7YBIJ9-m75oNFoZ7nKqQuG2D70uXLKufMZ6ZCt4nQ91xSUtNo1pjpE1lNCocy8LtRLm09mq6bfELe2__DCMSk3rxIzTy09rlzIpgFSaPTEvrq_HEPwciqoLCo7MD3VXBZ5kli1mUZ1mqn8IjZtr5maCJUqC5ezt0-b55Mfsg-6gwCGnn-dmT2CMvW1PimaMEcadC_AIAE8hRfgKa9D668wYT8N5okl2vEIuj2kMvnzYkg0VIZsAjTsbIu-LLqWXt4HTTYyUj85J3X_3lpVCOB-k4c1dm3vcA9szQcWq_N3Z9J_yXhs4UrGd9MJ_OItOwREVFY_FUbFgWLud-a93hQUtGET1S6Gtzor3NiIJoNMXLjoUVobjDv3Q7TUR5YlUe3kXMvglpy6QMovnZN1cIwq11agR4OUTd5OpvCK0Dx1rvzVqMOQo7Qbp_cQ1oD2bK7aU8dt7FXikQ2YxUXRKjL_aa3lKAesixJ2ASyncYpEBwraCvIhdYLN24YE4Rx7yv9GgdzQIas0g-BR_ylxs3ZRqRvEiYLCrEYmuKJheDmPqooM20mNDefOeTR0J_zuO9pW2YmJALzGlj6_yFH4tkMTmclK1j4N7Ew1WQNhsRGQ889DYf4SX1HUNWQo7tHnIeScSiNQBTe3wZSoaEwXQG02kA-4V3J6nDoo-KOhhdAsggORsilQ4MUMW9VqZIj__Z5wqHu4ZYo8XJrONtO1cociSg0WPEqvp8oH4koYx1mdvIZP2rFZ0y4PU7P3vhMvIMkHr4RhyDl2unfG-w8RhF49O_4GkynrrQa5qy36CdKEJaJ788hkJt93zPqE3IPNcdWjqJr-C_PxUpuQ-PXMWet2_uA-khMvHJjHBw4bCSFi_oO9NHePtKUIofdOzjlhDKOr_KhsuPtBXVb5Khw7ZaSIQ-UjExqOBGF-THdRknrQsbUYIRsGKvR5NYLkfY6OirexkEA15aqUOsjAqZMXYCLM3Yz6eZxy78mGAEL2qk7CuhI6UltZRNYvXgv0orGsohO90YvLbwVgY59wdDveIVFUVauGC3cWgn9BuN_9k_z8E0T_i_0Trhflr_ZsX_bpcfZBtbHjSRFA4nvETO_pgm4-2vyLLLKBRqwjLXtjY7x4lLS-fvt-b9KEGJu-liBxOchNqac-xQThr-JEDkQwR0doA8KK5AueoPz4XznurvXf-2ZvdK5UD5Yz_XpDB6KeCK3Z25UFLhsEJMGt5ilVpaeI-Mih5rkSJztlTvvaugIW4ekVBQ43C-9sig27irGxco_Og4YIw6ZEWuzsPWP_Kf3MtOOtl3BaFY-bwb_IMskcuW0IaGs0z1TpZevbJGhyU58VLAF2bE9OCLelAyYEdK_mZb5YCBESVNBfNeCy54i6oGTlCl9dyePsKMPGBCOVqIWz4_BqB4-yeG-3q3s53amN3XrBr8Czje7PQX_Bfvjxng4laNlH8tqKTPSf6yrRpHFDQyaVAdpBsEBISMwh-55v72rpTSGXIbQ5gKHvlH54xnrGwznI2qS2ogz4Yjr2DHXRABRCo0N1p6jLJQpyRUjxIL4Brb2SOnHMtz9ZrUUX6SjuUSIh89KaxH2cO-HWeaIVv3leYjCym6W4OBZIxy63TWFRHArt8oXVr8fPKEbvvg_tRUtac6qjaSir9kOkMoBCPapB9GrhkdcdWTgfStGcVdt_8=",
  "id": "rs_0ae432ad9e695f52016ab41aacd04087d08e30b56e60e24ec3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41},\"note\":\"The bowl moved lower in the wrist image as the gripper advanced, so the fingertips are approaching its rim. I’m making one more small forward adjustment before closing on the edge.\"}",
  "call_id": "call_XoVzhvjTcx7vlz76hE1cYGKQ",
  "id": "fc_0ae432ad9e695f52016ab41ab042bc87d0b74394c721daa695",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XoVzhvjTcx7vlz76hE1cYGKQ",
  "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]: [-0.131, 1.261, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.2474, 1.6363, 0.7826, -0.0982, 0.1772, 0.0547, 0.9967]\nstate[eef_state]: left_x=0.3029 left_y=-0.0039 left_z=0.1726 left_yaw=0.0845 left_pitch=-0.5098 left_roll=0.143 left_gripper=0.9958 right_x=0.3801 right_y=0.0676 right_z=0.0316 right_yaw=0.0432 right_pitch=-0.3658 right_roll=-0.1045 right_gripper=0.9967\nstate[joint_eff]: [-0.1709, -4.2872, 6.4615, 1.0916, -0.1148, -0.0464, -0.0122, -0.4308, -6.7761, 7.159, 1.5653, 0.1197, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2845f385cd21c03a8ae2ccbe9b71499ee36a39c221643724b21a0a1fc43582a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc0db1ce8dbf501579e598e3ab3e7b0d614d6ebe4e059f36cb7cdb14b52b3414",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f691996a7131cd3119f4b2bffa07ce9c0ca75762826d307b72bdcd98baa9ea71",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.2587, 1.1263, -0.9649, -0.1833, -0.094, 0.9958, 0.3256, 1.2362, 0.7021, -0.2829, 0.2291, 0.1226, 0.9954]\nstate[eef_state]: left_x=0.3029 left_y=-0.0038 left_z=0.1736 left_yaw=0.0845 left_pitch=-0.5067 left_roll=0.1426 left_gripper=0.9958 right_x=0.3343 right_y=0.0743 right_z=0.1119 right_yaw=0.0482 right_pitch=-0.2219 right_roll=-0.0654 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -4.1094, 6.4068, 1.0769, -0.1538, -0.0513, -0.0122, -0.212, -5.4222, 9.2103, 1.6679, 0.1001, 0.0317, -0.149]\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]: [-0.131, 1.2606, 1.1259, -0.9653, -0.1833, -0.094, 0.9958, 0.2543, 1.6005, 0.7597, -0.0795, 0.1905, 0.062, 0.9967]\nstate[eef_state]: left_x=0.3029 left_y=-0.0038 left_z=0.1729 left_yaw=0.0848 left_pitch=-0.5093 left_roll=0.1433 left_gripper=0.9958 right_x=0.3786 right_y=0.0675 right_z=0.0397 right_yaw=0.0366 right_pitch=-0.3321 right_roll=-0.1039 right_gripper=0.9967\nstate[joint_eff]: [-0.2393, -4.2462, 6.4615, 1.0623, -0.1441, -0.0171, -0.0122, -0.6769, -6.5026, 8.1573, 1.3309, -0.022, 0.105, 0.0073]\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]: [-0.131, 1.261, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.2474, 1.6363, 0.7826, -0.0982, 0.1772, 0.0547, 0.9967]\nstate[eef_state]: left_x=0.3029 left_y=-0.0039 left_z=0.1726 left_yaw=0.0845 left_pitch=-0.5098 left_roll=0.143 left_gripper=0.9958 right_x=0.3801 right_y=0.0676 right_z=0.0316 right_yaw=0.0432 right_pitch=-0.3658 right_roll=-0.1045 right_gripper=0.9967\nstate[joint_eff]: [-0.1709, -4.2872, 6.4615, 1.0916, -0.1148, -0.0464, -0.0122, -0.4308, -6.7761, 7.159, 1.5653, 0.1197, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2845f385cd21c03a8ae2ccbe9b71499ee36a39c221643724b21a0a1fc43582a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc0db1ce8dbf501579e598e3ab3e7b0d614d6ebe4e059f36cb7cdb14b52b3414",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f691996a7131cd3119f4b2bffa07ce9c0ca75762826d307b72bdcd98baa9ea71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBq0PWuIbXeLc6IbSZam1VSfm4CzuC2zoc8vJHbd4pzDl7x_JXb8TFjsUleG22n5hPeymA_kUR66TFYlJVoHz6V0Yn4g6Ff_mJXZGxnD4Yswjc3w3Ny4v8J8SM6afjmc-jtRjeAYreoaimSrJgWxRyLW2kISwjGEPIQjPQ3nKC7e3h3S2GmbLkFkLXkQwQMptKCTEremMTAqwebB3KVWQM54xKwYJq4XyJsCKEyjgBPnJifpv8eCKX9f3e0WamN2RH5e3kBskX_mn4j9e1JZGaRqQutNbybtEPzmhXElVs7uZTQA1-GFblsAzslVr_h3S9gTVVdq2O1BBEFYQNFn530AXB0OKW4yjyUpSXOJw-UFnoMVNbSexNi_uAJ8FagV0biRkAY3PflSMILPOlWrxyuCJmGmCl60KfkdWVe3B_REQYleD4mBjVVyZ-IYQ6uNWwTmuPZ6pCe5p9CTfRLHQz6wwvNRuPeiPj2gNLKVONIBso3t119S-6s2SU95N5sJRtI13aseEj5UXM8xJTbaNTA76_5VuMvg6e9qgJ37EZuaz08dLGwCN9Mnwsc0yrouBuFAr7R3wsFZOHLaeM5MfZ_jg57enytL0k4c2ZkrWunNaC-ahHsNWUPZAZHRoSf1gb0voK4RQfA1uu59ldWQ2GmxBwHe7hYajo5aMzGeW4wNQ71mtitRdlFWqe-E5uXIRDvOQjqY_Pvb434FbMdxxfFQn7APue_uDjogCPKGt8n07AA3NRemIQ_fLB2RFt_3hpcKQeRrdqIcGkxYDbonAm7atT5uhiCBk60iEocTYo8c7Zxdn2G7gvlGNoh0YQFPdk3SlMqRyYmBI6GN1SuCsg-cR4_O2KXB2je3a8bGXGM3k42ZeY8n13hHhMWt9gq-oeHhoAf2NnUHHuy665-waCCGD6TcLLyjC257qC7epPcX8B6KUQ_D2UcGvCkKyw_xSAdORxCtKw-MKrGq498zWRLtYzok4B8gq_SHHEXzlcbCE3mcS_1h1IDnHNUIGjnI6ny2sREepKgsxZzvXGjNeWEluSO-KdZhyylPTwx0ELqr1VYvAO1XToVWjkbz0fo2qwNkFAiKRGtJ-nvjxhGzN7--58KKcTEBcwCZVIvYGljBr9wB93SEZRV90mD0Zc2PGCuL5YhTsGQITuN_hEIvbwPFS4rsjOFEBnAIsYshJKqdk94jpG9_g8beAitw_FEo9kIzS0CCQ5NfjniQIDC0TyjyX10f6Yzyd9QQLBtkBM8gdn66dddaUfEhRAqWUAKZHwQJNszpOtNDcKTbzjBkPlHUzlq78fL78ntZUg6Z1_ECH1cT1WF8yScKWdMMMhbmx2ZQbuxRhD527Gr7NrldFuX8AzwXB_G-T__FNwv8mFdf82x2M4CP1q3OzrRvDbuvSa8JyhbRWj5q216DoGTx-9WK8w0ZHl_4rm3ljAsJbj6InLjI6F8tP_PfgexHX3aVe9gWOckZ79c3K2R1Nffnxl7f0RsLzKx9XorW_36GSPudXjo=",
  "id": "rs_0ae432ad9e695f52016ab41ab24c1c87d08fba609b69901693",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper stopped advancing at the bowl’s edge, so I won’t push farther. I’m closing at this contact point to see whether the rim is actually between the jaws.\"}",
  "call_id": "call_E6zLtBIbkmt74wG2O3TxHSzV",
  "id": "fc_0ae432ad9e695f52016ab41ab2fb2c87d096a7452b3477b50c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E6zLtBIbkmt74wG2O3TxHSzV",
  "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]: [-0.131, 1.261, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.2466, 1.6386, 0.7818, -0.1017, 0.1741, 0.0494, 0.0086]\nstate[eef_state]: left_x=0.3029 left_y=-0.0039 left_z=0.1726 left_yaw=0.0845 left_pitch=-0.5098 left_roll=0.143 left_gripper=0.9958 right_x=0.3789 right_y=0.0675 right_z=0.03 right_yaw=0.0478 right_pitch=-0.3729 right_roll=-0.1066 right_gripper=0.0086\nstate[joint_eff]: [-0.0889, -4.1641, 6.4479, 1.0916, -0.1148, -0.022, -0.0171, 0.1026, -7.2547, 5.9009, 1.3407, 0.1099, 0.0073, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e97fe07ca865d3bbfa35a275077aa4145c072bb391f4e4c8dfb700f0ccbadf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d42dc88492f9d737196e8da7ced4753711a269756f910c51c8d4dac3be5364c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bdee996b7cec93ed4382d961e2ee34f1cdb3c38af318b72eeb20b32297aed92",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.261, 1.1263, -0.9653, -0.1829, -0.094, 0.9958, 0.2913, 1.4925, 0.6117, -0.0257, 0.2092, 0.0978, 0.9965]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1729 left_yaw=0.0845 left_pitch=-0.5094 left_roll=0.1429 left_gripper=0.9958 right_x=0.346 right_y=0.0692 right_z=0.0333 right_yaw=0.0382 right_pitch=-0.3134 right_roll=-0.0919 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -4.4239, 6.4068, 1.072, -0.0806, -0.0513, -0.0122, -0.6632, -6.106, 6.065, 1.6044, 0.0464, -0.022, 0.105]\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]: [-0.131, 1.261, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.2474, 1.6363, 0.7826, -0.0982, 0.1772, 0.0547, 0.9967]\nstate[eef_state]: left_x=0.3029 left_y=-0.0039 left_z=0.1726 left_yaw=0.0845 left_pitch=-0.5098 left_roll=0.143 left_gripper=0.9958 right_x=0.3801 right_y=0.0676 right_z=0.0316 right_yaw=0.0432 right_pitch=-0.3658 right_roll=-0.1045 right_gripper=0.9967\nstate[joint_eff]: [-0.1709, -4.2872, 6.4615, 1.0916, -0.1148, -0.0464, -0.0122, -0.4308, -6.7761, 7.159, 1.5653, 0.1197, -0.0171, -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]: [-0.131, 1.261, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.2466, 1.6386, 0.7818, -0.1017, 0.1741, 0.0494, 0.0086]\nstate[eef_state]: left_x=0.3029 left_y=-0.0039 left_z=0.1726 left_yaw=0.0845 left_pitch=-0.5098 left_roll=0.143 left_gripper=0.9958 right_x=0.3789 right_y=0.0675 right_z=0.03 right_yaw=0.0478 right_pitch=-0.3729 right_roll=-0.1066 right_gripper=0.0086\nstate[joint_eff]: [-0.0889, -4.1641, 6.4479, 1.0916, -0.1148, -0.022, -0.0171, 0.1026, -7.2547, 5.9009, 1.3407, 0.1099, 0.0073, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e97fe07ca865d3bbfa35a275077aa4145c072bb391f4e4c8dfb700f0ccbadf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d42dc88492f9d737196e8da7ced4753711a269756f910c51c8d4dac3be5364c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bdee996b7cec93ed4382d961e2ee34f1cdb3c38af318b72eeb20b32297aed92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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  "id": "rs_0ae432ad9e695f52016ab41ab6b82487d08412a8b02d02c4ab",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBq8sDJxRrfHsY8Te_PJD9zyIePDCIr1_oNko9VX32-iop-0owFntMRnm2CnCpRSzHnlYy_bk3Mx3gZV6S0ZjWGaVlvLjoWHcudttYExCPJENlFgm08VPGclNFe6NFMDSo3Y-j5ZBqekYN2e8FWiQ08a2B6Gpf6NyQFph8tDXcVnEE5HyL7bh4z2yWByGk8NGAjVMsTYsb5y921_b-fjwGqZ3bWB4Ktya_ffr-Z_5IKOVR03Ve4o84SqJMq3bOnbE4uNg5fS0rL4BiHsGMgUuuO12KOIYWGi_3RoNHommORwL85cZbSfijvW74sbONuELOepQHlE6bayfsP40bZXZYXGfFTZg08YBpZyKDHRgk23MvwiksON5IfBM07OJn6drZIqnPZcT22qH3E4-q1Mv5mpAJGcVBl_LhxRzyuLMpAd3Oadw4D4_0KxYan6VJg9yVUbHB4Oq_NAVll2al2X6_2vqCbwt6Boy7jDnRNjkk9boOpx1iuglrtcNNVck0ZUIjFT9A8cdLtrAw5F3Es7sPEIFTusf5O4-8P8xBBuJ7uzhg3qbBTOi3alQBE6MhIynb98qMSecsz3yhEnh79yHuiLE01JnB86FjAQYTrK_WbIz53J00OXwS9t_00sM0oJBREopMa6sx4MyDNe--1rlYPriXpw9NGb5XNLjeAic6AR4o5OKCBf5E-WgyhI6H0MYJjN-hvg-KGGKSmwTdL3vUyWJieyGRXV3mMtEyCEqK4nYC67K7m0HNTksAPgH75ltLibxa92Dszig1NK62rFmh8dXoyK1YzHn7cGHeBh3ywq4b9z42LAtvwueIppgi_MbxbnB7GKQWDXcyGGLOAq71ONhQgjQvaGohFTn7ReNcgj7V7ItONDkDlsrg1SKs1dAoF48LvANewBYNr2xCikYnDZtgntODBLnGkf6eoU_y-vp6QOj93P6ZkK_pl-sQh7hzNitMdFyWSZ1JxHEe4mMUO_rf2jkR-IU1c_irPL7Ruz0uZQ8dC98vOc4uxm5zvMEciI2csbr5y59emgsP07hIQN5IsRk_eVnMzyYDtz7lOHXI7CUYAtobsj9k3bvdPl4y3jDKKySN6IXKw54UnZnB2TWNCh1xXX_rojZqa-tI8bbjkYi_IiTzPOJ2G-SxWNZmw0q236JWCkYS4GPXhIwKPMySdHG0bE_lRwdShCLbxjPvGIO5XbrP15wmYCj3fSHpzNZBnEVRPgNhvKx6rxPGqzvYJx44rc15DGksXxrUiIxZk1cWZGSM8YFp7IhIU-VYaYu9zO7Fm7v4sCufpxCkNGzZWQ7v9o1d9uel7lgpxm0XA=",
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  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.355,\"right_y\":0.15,\"right_z\":0.12},\"note\":\"That close was empty as well. The bowl’s near edge appears left of the fingertips, so I’m lifting and crossing to its other side for a lower rim grasp.\"}",
  "call_id": "call_BNdjz4ImacC9nW6TQoKZNuTj",
  "id": "fc_0ae432ad9e695f52016ab41abbe31887d0956fd31f6b735b60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BNdjz4ImacC9nW6TQoKZNuTj",
  "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]: [-0.131, 1.261, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.5327, 1.5612, 1.0431, -0.5282, 0.3046, 0.2611, 0.9955]\nstate[eef_state]: left_x=0.3029 left_y=-0.0039 left_z=0.1726 left_yaw=0.0845 left_pitch=-0.5098 left_roll=0.143 left_gripper=0.9958 right_x=0.352 right_y=0.1502 right_z=0.1004 right_yaw=0.0861 right_pitch=-0.4084 right_roll=-0.118 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -4.2325, 6.4479, 1.0623, -0.1392, -0.0464, -0.0073, 0.1983, -8.5812, 8.6496, 1.1648, 0.3297, 0.0855, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a94eaf1bbaaa66cb169195d9e832ed6d7b6b9b6211b285900deb862506478ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38dd5b962ce9c1af895638ebd4fbe3ce9ec1cfcad5c64b2be8321675059d79ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6abd75c6f2bcc7bdaf9493b1e24a8abc1dbad18969dfa384f200f1cf1ba61c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 101 changed as sent

message 109 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.2606, 1.1259, -0.9653, -0.1833, -0.094, 0.9958, 0.2543, 1.6005, 0.7597, -0.0795, 0.1905, 0.062, 0.9967]\nstate[eef_state]: left_x=0.3029 left_y=-0.0038 left_z=0.1729 left_yaw=0.0848 left_pitch=-0.5093 left_roll=0.1433 left_gripper=0.9958 right_x=0.3786 right_y=0.0675 right_z=0.0397 right_yaw=0.0366 right_pitch=-0.3321 right_roll=-0.1039 right_gripper=0.9967\nstate[joint_eff]: [-0.2393, -4.2462, 6.4615, 1.0623, -0.1441, -0.0171, -0.0122, -0.6769, -6.5026, 8.1573, 1.3309, -0.022, 0.105, 0.0073]\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]: [-0.131, 1.261, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.2466, 1.6386, 0.7818, -0.1017, 0.1741, 0.0494, 0.0086]\nstate[eef_state]: left_x=0.3029 left_y=-0.0039 left_z=0.1726 left_yaw=0.0845 left_pitch=-0.5098 left_roll=0.143 left_gripper=0.9958 right_x=0.3789 right_y=0.0675 right_z=0.03 right_yaw=0.0478 right_pitch=-0.3729 right_roll=-0.1066 right_gripper=0.0086\nstate[joint_eff]: [-0.0889, -4.1641, 6.4479, 1.0916, -0.1148, -0.022, -0.0171, 0.1026, -7.2547, 5.9009, 1.3407, 0.1099, 0.0073, 0.6178]\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]: [-0.131, 1.261, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.5327, 1.5612, 1.0431, -0.5282, 0.3046, 0.2611, 0.9955]\nstate[eef_state]: left_x=0.3029 left_y=-0.0039 left_z=0.1726 left_yaw=0.0845 left_pitch=-0.5098 left_roll=0.143 left_gripper=0.9958 right_x=0.352 right_y=0.1502 right_z=0.1004 right_yaw=0.0861 right_pitch=-0.4084 right_roll=-0.118 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -4.2325, 6.4479, 1.0623, -0.1392, -0.0464, -0.0073, 0.1983, -8.5812, 8.6496, 1.1648, 0.3297, 0.0855, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a94eaf1bbaaa66cb169195d9e832ed6d7b6b9b6211b285900deb862506478ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38dd5b962ce9c1af895638ebd4fbe3ce9ec1cfcad5c64b2be8321675059d79ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6abd75c6f2bcc7bdaf9493b1e24a8abc1dbad18969dfa384f200f1cf1ba61c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrCV1Jz1ai0aYxFU2jf2Sw_PshOD3YGqtBLLw5BV1pFWdvWhWZik4-4wcT_6jmxR62BfTXGDK26r__xbZgmytA0TlupCN06Nn46jgeV7DtUl5PoJGdrH2dtRIlt_suCj4ztE5F8pcltj60u8HQhOvereUfhG2AHi_rAF3qU0orENub9Ii3W5SPoArH3JK7Ikzua9qFtMJodPDpZTA79w9KhNWsZwNI4owtayXUy_2XWGTdYE-RN1ora5c8BAvC45XRbqJIIfKzYJb-BkXgJD4FOYkK42i71vf5Os3xisoa9QoQ1SxID8r_ofVHeU020bYxM7diukot9bPSghjcV_lMncyaKr3rdaQXRNnXucWVje03BYZvdglMIyoUXT_IMqHDIng5L5UhxN1TGecCeNGsMGIFWc1F0ZCYKizLndduS35sL-aGsNfyQCxZhncdV94pTZc_ZO3QI9DmGzrE0VWOhUyog60f7gX1uhk0Eo_oL0EkZNbuz1Ifrw8WyDBa4_9gC70JREvrU2weryaHIlzTPKiVUXBoYhBHqNMnmQwuzJGXwKHKeDTZsEZ47uupYfjaMPKvJNrbHRnFQY1EKUd08NJFRl4nf4hAqFG4TlIREm_wG1YN5nUu77vFiPzTJ2K_EXCnxYR-d_n8kMGwAtQ4b6Pcw8yXLVNObpLD9RIna4mePm9jfl9TCTB_R7brUvlHePv4yqSujbWEOAa876LcoRH2jhoN6oPjJ1RD5Kmr54fXhivE6UFlpUiOpGw0OrqKZx8M5mBfENReyOw-WokHWd63-N0Z-WZkLsJTe_SZBg07xHO2zJ09nLJRh4oFxh_G4SMxUUI2DyVQ7LD9LqCNynD-lYdO3-hw-qXBaB73l9soGJGNYwHae3HLDsdMAxIYafmUrQ3IkwNQ4FnxECDQer_F53iyZPBerYXJoya0ESIB5DqmBQBZQJEPCndJhSs0xTuxEq7yzw4unuYpI429iIGMSd6tO74fD7p6klnwnw3bYLEGRAnZi8XEHNnW1FUs7znTskH4g6CIBDiQthEBN-d40zBWBbW4WDaRrZAJQSVTVZpdnxTVRWXaGQj2DPcjswpzN-AsLCp29JzgfhRBTWuJjEvhPoLu5zULYGqoij3uCcX1nYKPA3Q4EjD6s7IygaQne6qi0mvLLZXxfY9sh7d522wAkb4C-eDfse2Lw5ooi0xLvPd9F4fTigHW0UkUro87CFFE-4t7byKmvkz13PKGJoPbkL5YznhfSEmSg3J1IrLNq2CTKCV-6XPYiBHluX7TcZF2fu5wCuWBO4ctGsIDPzL-K81P1CFiJj2Xrk2iMKe6qEjorOi_34khc7r4QtPHReYP8UaKqyiRr33cCQMJgeikqN6JjcWkHKVOy-MWu8WYxtom02sCI-45LUA2X6wjQtnxyGXa9S-rrw5wappTfiTklAlJeFTyvnvL_DvJCWOPdKdu7T8odvfBuI8nLs0mfcstKN_e6N18jy_-_7UAsOsr-185wSgDrGMPFGitdGTGuXiwlk9OLGynJp5Ji3ez5OP3CmboJfEM6LJWgD5gMl1E4QC0LFKi7E5XnYM1j5KHQa9j86g--s3p11uSr8yaWV-iGyBIAIRQufWhcKUGs2oH53UhwH05NogdQtCTw6IWnhoyViYKQcL8yDYMgWG-0PF9ZIEkZB4yYEA_xC_sLeFPE6Gyg5hkxPEIe_1aPV0nx-dIq3j_D1-u6-bzPJZLtUa5pbfYddtIs0YSEFsMNrXsA-sH0AYo7Tm4xpi48pA6l_kZpzLdTqVvdrkQ4FmtFbDVt82aO6E04QwxTzEAzazHHox3cRKXE8L5tWy6U3zri-IPdKuWf2B18B2GwI9vw0c18Q8PjAGVtX3WOOz3nxJJNvHAQjfsdZSenQcYIPVloFS54R2dfPIZzAT2MScfDJH9IQu3iHqLYvELHBHsq4D3xOc9l8Gs8WZfGjWWRJuMwhIZk22ye7jEUMgoSJIWHLEJ7GGkBvVL-6sYim6HwadateTQA-kR6rif3ndGIQVKzTNE9Y6EI88tQ-QSoDIbhv-kVvLjUJCkHbajVhj_8PfGbFj6A8WCltaUS-gYoIbenaydnNqCLQ7J2YR4IMCAEeOLY-CrG4FerMzXUKVScl4vUf6oHG_1yCg-KDqV6xSDShg1TLH__a85cZplxOeoK77W_ZVddZ2904iYo4g==",
  "id": "rs_0ae432ad9e695f52016ab41abf974087d0a04f9dd712c008f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_z\":0.105},\"note\":\"The pink bowl is on the jaw column’s right, but it still appears ahead of the fingertips. I’m moving forward at a safe height before descending beside this side of its rim.\"}",
  "call_id": "call_L3OWGXBHYuOiqMwg6CWdPUOI",
  "id": "fc_0ae432ad9e695f52016ab41ac16fe887d0991a29cb28c1f8ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L3OWGXBHYuOiqMwg6CWdPUOI",
  "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]: [-0.131, 1.2629, 1.1255, -0.9653, -0.1833, -0.094, 0.9958, 0.4843, 1.6627, 1.1339, -0.5663, 0.2855, 0.2295, 0.9966]\nstate[eef_state]: left_x=0.3029 left_y=-0.0038 left_z=0.1721 left_yaw=0.0852 left_pitch=-0.5119 left_roll=0.1439 left_gripper=0.9958 right_x=0.3717 right_y=0.1434 right_z=0.0903 right_yaw=0.063 right_pitch=-0.462 right_roll=-0.1427 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -4.1368, 6.4752, 1.072, -0.1441, -0.0269, -0.0122, -0.1983, -8.4718, 9.0462, 1.3748, 0.0904, -0.0122, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fbc1d9968cb7bbfeb4c34e3540d7c80aa5de203bf50f67ebd25e6b14c407c54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45defdc321f95890b196aa081f763ba8d82da191800cd76feedcb6da4e00a69c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c65c944bfbfe6cff8679e67e72918770ed36fbde3cc5af6c084121f6be3a1bb7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 105 changed as sent

message 114 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.261, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.2474, 1.6363, 0.7826, -0.0982, 0.1772, 0.0547, 0.9967]\nstate[eef_state]: left_x=0.3029 left_y=-0.0039 left_z=0.1726 left_yaw=0.0845 left_pitch=-0.5098 left_roll=0.143 left_gripper=0.9958 right_x=0.3801 right_y=0.0676 right_z=0.0316 right_yaw=0.0432 right_pitch=-0.3658 right_roll=-0.1045 right_gripper=0.9967\nstate[joint_eff]: [-0.1709, -4.2872, 6.4615, 1.0916, -0.1148, -0.0464, -0.0122, -0.4308, -6.7761, 7.159, 1.5653, 0.1197, -0.0171, -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]: [-0.131, 1.261, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.5327, 1.5612, 1.0431, -0.5282, 0.3046, 0.2611, 0.9955]\nstate[eef_state]: left_x=0.3029 left_y=-0.0039 left_z=0.1726 left_yaw=0.0845 left_pitch=-0.5098 left_roll=0.143 left_gripper=0.9958 right_x=0.352 right_y=0.1502 right_z=0.1004 right_yaw=0.0861 right_pitch=-0.4084 right_roll=-0.118 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -4.2325, 6.4479, 1.0623, -0.1392, -0.0464, -0.0073, 0.1983, -8.5812, 8.6496, 1.1648, 0.3297, 0.0855, -0.1441]\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]: [-0.131, 1.2629, 1.1255, -0.9653, -0.1833, -0.094, 0.9958, 0.4843, 1.6627, 1.1339, -0.5663, 0.2855, 0.2295, 0.9966]\nstate[eef_state]: left_x=0.3029 left_y=-0.0038 left_z=0.1721 left_yaw=0.0852 left_pitch=-0.5119 left_roll=0.1439 left_gripper=0.9958 right_x=0.3717 right_y=0.1434 right_z=0.0903 right_yaw=0.063 right_pitch=-0.462 right_roll=-0.1427 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -4.1368, 6.4752, 1.072, -0.1441, -0.0269, -0.0122, -0.1983, -8.4718, 9.0462, 1.3748, 0.0904, -0.0122, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fbc1d9968cb7bbfeb4c34e3540d7c80aa5de203bf50f67ebd25e6b14c407c54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45defdc321f95890b196aa081f763ba8d82da191800cd76feedcb6da4e00a69c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c65c944bfbfe6cff8679e67e72918770ed36fbde3cc5af6c084121f6be3a1bb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrFPlfAZUrYLobtb9WM-aC5sdrxCs43on08Da8E3McCzZhy-kd2e_q7sLmtIzzenFDZh0RyzOx-56Bdmgt7aGwnEkPq0-5Z4y4ujeHZdgb1Ss7kECk9RBIGUYdW7nUSkmV6DiE4RllFphYM7qkfFfOslT6SfdOlxmTgNuHyQ32oR0apLZJdnE9qDakIQl-b-VzRYwo1fG2w7gPsrIssHAaXMOvf-4c149gHypMevwk1336V-SrJ_s2Xqg6RB2mVvTJJFGzGCpq0WOlF-Il-cybwUjBH3B91P3tXf7DytoJXh4tph4clD7_qq5pnJKgzPBOS00reZFjdHItZ5aC-wneN8GFZo0_LPg9BmVWOjKha3j6OwB68qz5Uy0fqWsv0rd_M3wR5yvFklaQlNSzEtXCiMS0--LB-MdQA5vcip9VQX2_8q06SvtvrJyJVs1kuRKptzO3FL4-hJtC0LmWvkGIdV3ryu3lf7fBgxzc1uLIlW5IpNvQHAt4zXebekvnnrnhFdD3PUO5RhNHvRqMUBrOVVhFYn_3qcaTJxOWanYkYlNCYZWHw9K_nIhGfyAN0N2Tlo06E2DysTWDf-5a3F0wtljKIqjykzAaqpaRocswbFD0TVBK0VGWFzuDZ55Ev0kZ-B5l64fytBHvaMW-ToSVQH0w0jLkj7McrxTsqHxq0XsmEOMAzs2qF-Ap46cIFHdbCF929axNnwGMUMJMzbi4SxPRQqHeGSFH3yyHXh46DUGIyhvrMkIS_7e2l5c_hPM-ofax_s7Jw-fmDihXEGzsjMGr9SGUNJNH7InDPscfp8JTYchaTk2VEjLBN8SVRmh8xtpq2lXvPT-UbyM-ix5nyelpk9KG_Bgx1sfXQubYNkAR0FCwSebtnnuRPRKM_rXVicRxA7OnLIQsDtDQyz2fCOwvEWK-9HHL_mH07r8qL0_LQhxtUw8nTHaSEDWHI-JGYWbfMLYLcSEnxaR671yMWlS-Gy9kYbd9L2YruQqm79PZn1WrF0cvuR6mxGe8WPl9SIOnAMlcql7R3PEnrJz-zDsBXkQ0o80a-zJFbXz-5QYylYcSgCpYQFU9SqZNGXkwYleWNdfRwtC3--moJ2nn09KCycnrSSxM3kQ15I4BxVTCNSwuCFmNlOdX03C3-O8QpdiVh6OdMyiO-RUYNV-JUQprOdgoRg_sOwxEiDXDVVSXksuxZRn1GeR_stmPw9AjYpK4HGYgG9K8a6sQOuFpumDnwqO34sF_0vsxk1BDY3gG6yJ9f0IyOCw0dNEuMFHZvnRVaHeNaECho8QZZhFXW4qrAfCWNF1LLwR1QjfKlmMtPKnxnuWlP5UCGPeO7P0PXQKEcQqRE0zpQ2hO_khZ48B0zSlleJ3lhnZBKUKLQuoM8frCMas2WSlYI6b6nONi1ibDKxh-S_MrT7aJFp_KLkpn-Y1Ylczq8ulgcR-KLzoil4rvrIKayH0zxsqq0GnZ1Np2JhtoQoxgJQWXC5eWExMRsDYlHtI_gaxTx44Y9wgjK7zDkpKpOwDatqxbSfphW_pUdxwIi0VbWrmkGnNZ4MCN7jO-KVOBV3NMHfX_eZiwKcv4kMJe2TZ-L2qT7THBgOwuTt1103DSfl9ZJxHjMcep4YzIYNFardh3TyAeSW-uhAV6aEDxDC5670KQbnwbhGUN_NX9H6xqIlafAtmxD7j4vx_rfp3qLgEhntbXHZ-ELv9jIou15Wx-OzgCz0dpoGm0JIZlN3Ij1wbEFAoYpOseiat6guK0m92GG8WGUHlfFe4CaLRtDzIMjJEcahnzV",
  "id": "rs_0ae432ad9e695f52016ab41ac3a80487d0ab167be26ae34bcb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_z\":0.06},\"note\":\"The forward move brought the pink bowl closer to the fingertips. I’m continuing only a few centimeters while lowering along its left-hand rim, watching for the arm to stop at contact.\"}",
  "call_id": "call_YplsWu6DfirUIxjzq1hJcSiu",
  "id": "fc_0ae432ad9e695f52016ab41ac5006487d095552faec070d2c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YplsWu6DfirUIxjzq1hJcSiu",
  "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]: [-0.131, 1.2629, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.4709, 1.702, 1.1481, -0.5495, 0.2726, 0.2062, 0.9967]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1721 left_yaw=0.0848 left_pitch=-0.5116 left_roll=0.1435 left_gripper=0.9958 right_x=0.3788 right_y=0.1435 right_z=0.0816 right_yaw=0.0731 right_pitch=-0.4761 right_roll=-0.1479 right_gripper=0.9967\nstate[joint_eff]: [-0.3487, -4.1231, 6.4068, 1.0867, -0.1343, -0.0269, -0.0122, -0.253, -7.8564, 6.4479, 1.2332, 0.1685, 0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d5a50d7635d2bb584b73586f78f9b6fa3e9715c6261ba707ad46b6ddf134a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51ac2e0e6b937a6630fc7c4d9cc4cba0acda96a122ed5f33eea77dc7ebda7267",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:185c1644bf74949f11542389ce550cb73477b43c1e8c1eefee7d33aa50f2f7b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 109 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.261, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.2466, 1.6386, 0.7818, -0.1017, 0.1741, 0.0494, 0.0086]\nstate[eef_state]: left_x=0.3029 left_y=-0.0039 left_z=0.1726 left_yaw=0.0845 left_pitch=-0.5098 left_roll=0.143 left_gripper=0.9958 right_x=0.3789 right_y=0.0675 right_z=0.03 right_yaw=0.0478 right_pitch=-0.3729 right_roll=-0.1066 right_gripper=0.0086\nstate[joint_eff]: [-0.0889, -4.1641, 6.4479, 1.0916, -0.1148, -0.022, -0.0171, 0.1026, -7.2547, 5.9009, 1.3407, 0.1099, 0.0073, 0.6178]\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]: [-0.131, 1.2629, 1.1255, -0.9653, -0.1833, -0.094, 0.9958, 0.4843, 1.6627, 1.1339, -0.5663, 0.2855, 0.2295, 0.9966]\nstate[eef_state]: left_x=0.3029 left_y=-0.0038 left_z=0.1721 left_yaw=0.0852 left_pitch=-0.5119 left_roll=0.1439 left_gripper=0.9958 right_x=0.3717 right_y=0.1434 right_z=0.0903 right_yaw=0.063 right_pitch=-0.462 right_roll=-0.1427 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -4.1368, 6.4752, 1.072, -0.1441, -0.0269, -0.0122, -0.1983, -8.4718, 9.0462, 1.3748, 0.0904, -0.0122, 0.0952]",
      "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]: [-0.131, 1.2629, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.4709, 1.702, 1.1481, -0.5495, 0.2726, 0.2062, 0.9967]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1721 left_yaw=0.0848 left_pitch=-0.5116 left_roll=0.1435 left_gripper=0.9958 right_x=0.3788 right_y=0.1435 right_z=0.0816 right_yaw=0.0731 right_pitch=-0.4761 right_roll=-0.1479 right_gripper=0.9967\nstate[joint_eff]: [-0.3487, -4.1231, 6.4068, 1.0867, -0.1343, -0.0269, -0.0122, -0.253, -7.8564, 6.4479, 1.2332, 0.1685, 0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d5a50d7635d2bb584b73586f78f9b6fa3e9715c6261ba707ad46b6ddf134a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51ac2e0e6b937a6630fc7c4d9cc4cba0acda96a122ed5f33eea77dc7ebda7267",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:185c1644bf74949f11542389ce550cb73477b43c1e8c1eefee7d33aa50f2f7b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ae432ad9e695f52016ab41ac7928487d0902c573c14ddd9b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The arm stopped at the pink bowl’s side, with the rim just above the fingertips in the wrist view. I’m testing a close here rather than forcing the arm farther into the bowl.\"}",
  "call_id": "call_AlzGZfPJ0CPdZbjIO29HB79A",
  "id": "fc_0ae432ad9e695f52016ab41acaa0dc87d0bd23eb08810b5522",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AlzGZfPJ0CPdZbjIO29HB79A",
  "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]: [-0.131, 1.2629, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.4702, 1.702, 1.1473, -0.5499, 0.2722, 0.2047, 0.0078]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1721 left_yaw=0.0848 left_pitch=-0.5116 left_roll=0.1435 left_gripper=0.9958 right_x=0.3786 right_y=0.1431 right_z=0.0813 right_yaw=0.0733 right_pitch=-0.4774 right_roll=-0.1489 right_gripper=0.0078\nstate[joint_eff]: [-0.1299, -4.2872, 6.4342, 1.072, -0.1587, -0.0806, -0.0073, -0.0205, -8.1983, 6.2974, 1.1355, 0.1245, 0.0415, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c6c8c7d55eee74f4b9051721069485235759c7384ed08670804aafa4745182",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86284c14343c9629695c71298bd76f9d60c34cfeff3a93d1367b0de062028237",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55979faaf8da61db99d6dd1e21b8bd80e733f8ac9d388c02d7028ec0b49ccbc8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.261, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.5327, 1.5612, 1.0431, -0.5282, 0.3046, 0.2611, 0.9955]\nstate[eef_state]: left_x=0.3029 left_y=-0.0039 left_z=0.1726 left_yaw=0.0845 left_pitch=-0.5098 left_roll=0.143 left_gripper=0.9958 right_x=0.352 right_y=0.1502 right_z=0.1004 right_yaw=0.0861 right_pitch=-0.4084 right_roll=-0.118 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -4.2325, 6.4479, 1.0623, -0.1392, -0.0464, -0.0073, 0.1983, -8.5812, 8.6496, 1.1648, 0.3297, 0.0855, -0.1441]\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]: [-0.131, 1.2629, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.4709, 1.702, 1.1481, -0.5495, 0.2726, 0.2062, 0.9967]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1721 left_yaw=0.0848 left_pitch=-0.5116 left_roll=0.1435 left_gripper=0.9958 right_x=0.3788 right_y=0.1435 right_z=0.0816 right_yaw=0.0731 right_pitch=-0.4761 right_roll=-0.1479 right_gripper=0.9967\nstate[joint_eff]: [-0.3487, -4.1231, 6.4068, 1.0867, -0.1343, -0.0269, -0.0122, -0.253, -7.8564, 6.4479, 1.2332, 0.1685, 0.0611, -0.0024]",
      "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]: [-0.131, 1.2629, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.4702, 1.702, 1.1473, -0.5499, 0.2722, 0.2047, 0.0078]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1721 left_yaw=0.0848 left_pitch=-0.5116 left_roll=0.1435 left_gripper=0.9958 right_x=0.3786 right_y=0.1431 right_z=0.0813 right_yaw=0.0733 right_pitch=-0.4774 right_roll=-0.1489 right_gripper=0.0078\nstate[joint_eff]: [-0.1299, -4.2872, 6.4342, 1.072, -0.1587, -0.0806, -0.0073, -0.0205, -8.1983, 6.2974, 1.1355, 0.1245, 0.0415, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c6c8c7d55eee74f4b9051721069485235759c7384ed08670804aafa4745182",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86284c14343c9629695c71298bd76f9d60c34cfeff3a93d1367b0de062028237",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55979faaf8da61db99d6dd1e21b8bd80e733f8ac9d388c02d7028ec0b49ccbc8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
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  "id": "rs_0ae432ad9e695f52016ab41acd71c087d08db256c6ff22c07c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrW7bBmf4M6YE2Bt5OPVdWSWJI2FlAdXl3V-EnPNCJvlxk2aK3fhlt0DIxB1f2LRQrq2_m8VX7FiuHg0k9A5NQDlXR6ddKzrPLlY0dR4TrRRTYGvtY5HYC1ZDhHREpmbI07MIHFkCskIx23NYYIe1cTjQ6B1ygKhWsIPksVwJ1K6hgbOitPM08I4tfuLidL2X_C675W7IWWaY-zDPfQGUYXR7i50Fi18LjrTlRuPPcSVNK-VKCvV4Acm--8j59zu7HYaFAyum94HKS_3wCGsFpUhfFsRLsrnr76WRn6ANEJM0MBAUwNzy08Kzlorn96JTdtAnf0v9d27ibZ30sSGqnMbEoU54UaPQwF3rdWA1gsPt9lc8ZgT3_AQvZENS4KNwSQ8_QgBxVo9TH36BCbONmHqtyQWrQ_jPD_pxJwTVZod_qkETSjAKJd-be8omi0i8zrAlvRLJwZzbrA1KQ01kCtsFtOw-ZAGMyfeV3rITb_x2O359Zp_GshSRW4X7K_gb_2GQJhnq6T6hb6UOxOi4l6-3Te-cjhtlfoDeUjR3AEiRqN66_VJEIv1Eu2T52Wrk5WQM6Wzcc78zeSgoq-CqNO7_9RrsYLATyeEZKsnTy_kWsh0yNmEf4-avNylgDoOn37Ey8eZNnjCT4qjfkeolNMF9lXNskVa8-Z08FkTGf-TjknPBtPKTi2A4ZN5vn1C87ErKhKyqNhc4x1dmgK7I1xCv84BAQYJKnyKfL6D36E--K3UuecbZqiiha6L7vHO2GDkuJd3_4Jc995VUbGbhwEjNgHNj-Gt5BIgKfmrLEH1K6NCdqbt0rrENnytRJ3y2VqN5opcW8XBhP_CVg3ZfnJCzwbUX_mvWgu2rflC5QtdgNeu7rqroIWxyvCz2aDr_lDPtjjl4KlnP-VBpQx49Nj1laEoGon6kEN9LbpsQV-kUqFPQWWL0kbB7Il1dH8PtLS_KN4QsDP0ZunxPME_qD9hrv28F4AukVXazk-phwPntFxFtZP_uXXlXkRhbPFqFKVpCw8LFH2tryPvAFjBlUsfEBYm8KIGhxBJ8IjpQ9dJsFuRVECnTeRkXa45-JuZ7XOu7LkJrhHSurdeUM1nD7eQRo4DBfB8T5g1HtGprFhgPPMUDjNxq7F4xWTcOdegdfpy1dU9qYlKD_BtqJ8SYXtYE5aeiIqjteH5NzvaMPclQZd8t9A-6fmftKgGqf5yYCrGCfnpTKDhlT2rikj0k6JbGwYX7AUY2-JcieBVlxFQW7WCF0Tlmzoc6HK0fSqoovDRj2Kj1vewClr6P9inyh2m0aWhdiHb4YGl3lOIYYOfYRldTtG-KmWuM4XHPgJwpckm3tXru5mHtPby-U7TseXTefkqKbkRgjyrrzuj3tIOgid6HG99nzikhabEpdgA3dIg-6YwxMebHv-a9iH1UzzIdJoOgCzepepdI5hARW7HOojkY09ofPMLkKBqBumJVkhke3Fyt8zRn91xDAir1O3TBUc9ttv1Sag1nuttsnd6B7aJAppOt0b-zvdGwrx_ktK1vBHdh8VDG3fFDafVSuocM8RLn4BGY7bbIKIJgUCbJkawSZEv2GYqPMvN4K25LkeTS1HgGerpeWb-8zf0_smQWbL4KmxF6oFeFlZKicRfQX8r5Dnjbofi61FZhM85sg2OkESXuXbIA8cq1voHyF2F7yw_bs0eaFe89Ks9GfPT_L22sHrsRcEliOEkVGN28pvdxUGwjy0foyDvwwweYMlO2M2oRuDGioD7YiAAU136vSmGvPU5YVb14Tn1cvavVNotEUR2YT-P8NFfj_2PjqknFDESeHCBeUFoC9DFg5NGRjiHqmepIIPK7TeKDyafVQ-CjfeF5S15h7fRBaOAImP-PWUmUY0zUoSfgizeyjQ4YmU5zLclxs6xLX0qEF5B-urV5NFSIvNUabPdeaKlAY0PFAiRBElHG08jfFEzyGYYg8scf59FFtbzrTF-0fepQJXh6R_WNSIcWxbP-bQpPdwXFOhnZB0jNKSasMn_rzhCkjuencHIeewB8_YQ5PZ9g4KaMONEbMYp1ZlJRmjx24Q6UKI6tGICUJ6FRW88wLT2bmYLM3xmaqarjhyeVREwQRb40VhwTH-ZrPQmypvD_qMk7OPV0U5ZWgNAw7FVvv6-ileWg9SmpidFaOVDTBp_jC1wxg6SqcrrkT18HZzJHVHqJtsGWeWsIbyMErp5BUe0eYZZo9xDqtXwZFzmO7HpOSthM2He_T2rHoQvE9i2OhyBB5yp0PXIdiS7GcYpJZitrWFeJzvRqHr2SvONh2GEfueQ3jE4RghUBsme_DdRn5IXc_PrTNLksy-NQ-9C5L74ReIOLNL8vqoBHSE5IccWpNOjRWHBS5v97gmu5BiEMO5d5fqumTjaBXoMlG0j4H3YgBJ0DYGRYGAVrpMj3RhjwaS7PiIWHIM4MVl2TxXjheVxCN6tl2ZDuAUaDmL6C9jjVRKnjLbQrg0ddw88s5fO-YJGaHizigyjc2MGEAHEP3n1H-aSHDUH2QBu6eKw-yxqZ8hZ_so0unK89ylV764Ccceo4QUI-1GJYcvpBYvNNrsU40yTlOaVpeFTnbIzYLUQKaAMyDqIBxsTcLD0HQ4HBXFHFop-QbEsGgChQOx6yM3IF8Z5n6nEi8cNPm6X2lcYwL3yld5iM2HZFGB6ZmBQEcAewki1gC0obvbW2g4kfawr2GVSO3qFvg6DvDtz3sI41yrwKVMxX4jAjtuJf9bCira2Q7xFGn5qmI3r_fwBFMAoQ7NQq1_EWIaY_lNPI7AouJI0ICQZAAZxRU9Ra-r4BkHnkPq26h7HWO05SjDzGNjthJnnBiIfAPETyKonTkZGfoQyBlI14CXM9pQTwnNvslv-pHPNdOjv_c8R-GRETNhUf5FtJfZyOu6DCGl6-g-N4Usxg2lgFx5knTjbV7DwO9H3lbpiZKM3yU4bru187BLpixGYOzPcAuW1J2cxhjC0_acE1dJISfSDqZKTA8-siXWESi9KGPkqIMUVTKCdeYExTUYbNSk7nBHkGRqSov-q00=",
  "id": "rs_0ae432ad9e695f52016ab41ad1f4e087d0b73a2e6a77cab76e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.335,\"right_y\":0.115,\"right_z\":0.15,\"right_yaw\":1.57},\"note\":\"Side grasps have closed empty, so I’m trying the pink bowl’s near rim instead. I’m lifting, turning the jaws 90 degrees so they close front-to-back, and moving back above that edge.\"}",
  "call_id": "call_zCKegJfFoOrcn4bu8kmqYldv",
  "id": "fc_0ae432ad9e695f52016ab41ad54dc087d0bf7fb0fcb91ba881",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zCKegJfFoOrcn4bu8kmqYldv",
  "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]: [-0.131, 1.2644, 1.1252, -0.9653, -0.1833, -0.094, 0.9958, 0.0772, 1.7004, 1.4288, -1.0416, -0.4416, -1.3632, 0.995]\nstate[eef_state]: left_x=0.303 left_y=-0.0038 left_z=0.1715 left_yaw=0.0854 left_pitch=-0.5138 left_roll=0.1444 left_gripper=0.9958 right_x=0.3575 right_y=0.107 right_z=0.1438 right_yaw=1.3508 right_pitch=-0.51 right_roll=-0.176 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -4.4376, 6.4479, 1.0476, -0.1197, -0.0562, -0.0073, -0.212, -7.6239, 7.4735, 0.3394, -0.652, -0.0317, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4e79a7440f23057692da41cb0731b117a1c3fba4f15ecf15f1870f7e50f9d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc77f46d507765862bcfd5a216289a6377b4255a3d6f3ea4883a61791a1fff87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f33457072cb5e578ba43c317b469c2405fee3adb77838f2ab63055b2d49f53c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 118 changed as sent

message 126 changed as sent

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.2629, 1.1255, -0.9653, -0.1833, -0.094, 0.9958, 0.4843, 1.6627, 1.1339, -0.5663, 0.2855, 0.2295, 0.9966]\nstate[eef_state]: left_x=0.3029 left_y=-0.0038 left_z=0.1721 left_yaw=0.0852 left_pitch=-0.5119 left_roll=0.1439 left_gripper=0.9958 right_x=0.3717 right_y=0.1434 right_z=0.0903 right_yaw=0.063 right_pitch=-0.462 right_roll=-0.1427 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -4.1368, 6.4752, 1.072, -0.1441, -0.0269, -0.0122, -0.1983, -8.4718, 9.0462, 1.3748, 0.0904, -0.0122, 0.0952]",
      "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]: [-0.131, 1.2629, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.4702, 1.702, 1.1473, -0.5499, 0.2722, 0.2047, 0.0078]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1721 left_yaw=0.0848 left_pitch=-0.5116 left_roll=0.1435 left_gripper=0.9958 right_x=0.3786 right_y=0.1431 right_z=0.0813 right_yaw=0.0733 right_pitch=-0.4774 right_roll=-0.1489 right_gripper=0.0078\nstate[joint_eff]: [-0.1299, -4.2872, 6.4342, 1.072, -0.1587, -0.0806, -0.0073, -0.0205, -8.1983, 6.2974, 1.1355, 0.1245, 0.0415, 0.6227]\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]: [-0.131, 1.2644, 1.1252, -0.9653, -0.1833, -0.094, 0.9958, 0.0772, 1.7004, 1.4288, -1.0416, -0.4416, -1.3632, 0.995]\nstate[eef_state]: left_x=0.303 left_y=-0.0038 left_z=0.1715 left_yaw=0.0854 left_pitch=-0.5138 left_roll=0.1444 left_gripper=0.9958 right_x=0.3575 right_y=0.107 right_z=0.1438 right_yaw=1.3508 right_pitch=-0.51 right_roll=-0.176 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -4.4376, 6.4479, 1.0476, -0.1197, -0.0562, -0.0073, -0.212, -7.6239, 7.4735, 0.3394, -0.652, -0.0317, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4e79a7440f23057692da41cb0731b117a1c3fba4f15ecf15f1870f7e50f9d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc77f46d507765862bcfd5a216289a6377b4255a3d6f3ea4883a61791a1fff87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f33457072cb5e578ba43c317b469c2405fee3adb77838f2ab63055b2d49f53c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrbZK_1C040jZP6ranL9KNNPAN0JibF2IdlJ93JFesceuHBbfKECI_Jc1uxiDgQM2DMmL_U1_ZhfUq-82DoVcnEmt-3DEVIF3DXDSQfm-AAL0tXVVY38mp7DH8KSIUmUKF5OqdzNQYxiPrPL8SZMMpiHftUnD53ylnrcOmvu4EdgOE1GPDPyChJjK8cX5USp4o_DGZ_Pb-siaT4FyS-8NlCDemk4nYIap0iEaqkGnyXO1i2D9UtiaoNBWzTLECjqcBCOkoV7H8PoNQv1D12a1wmf_hVGIQlOhfw9RSaOCAE-eqBrqo87Wz1xN8VZUpHWz0rQNnaUqwvz0aVw234qDWVOI-GuzWIlIfCOvkqVdWnz8yCi6PvRkQSxQ8R0G7jIt-mQT3YyARrHvV5aHZnlJw1TriyNgj3aZuvZBcazYBHuCz7dBMM6Zq_QccG6nD_PeAYWZS5hxzD9p2F1Vd6EE5WCSufJh2Q8Y6eg6bHxCz-otCFh33PV-YXPBZeRII2MS8yr3ctQQnrIOWTjcw87mXPPUv00fpIUEbibi2F_cQuezNGN6Mh_UnkNR621PuQBAGvOXV4OQ9bq2wLgq_4t8dSPnWUD_B0rueE49WUgDpbckXPKtGsA5Af1AR71pzmRwqu3TYXXIHWTxZwWc1DXZZ4fQwBjrDJ6hYQZQIKJXK4NW4jmaAzaQUKHrX9b5APRMYDkZL2jGGfvb-Kll02bK9bylnaPRHnT_8jdjMxEMrlODgl-3kaYp50a6V7dJzE2CocniZr0A7JYocqu0PlKmwg_wf8JgIByl9bN5G3uYb83PkozHZ99VeU8IWjwaK-x0BjogaXDhGXhRc8qk_eU5hqS3rV6ttBmudHBvYbFzRbcCeihXajeD7tEo0zdl25ITo1xUfwXF_gcV0OVVKD-vLk_fu_RcYDltBmlS762RpdwlWSSBg5yD-wLarBtET1kWw-iLV8H-CrLAqJBn39M36yuPWGYu5Y2dmTu0pNgeSxQy_0Hs6-FoGfm1C6ZMRk7VR9LnJLZO853OKlpErh483xORUC-D64tumBx9heFhLX2f1yMw-z--bRb2W8oFxUq5PesgxQCS88ksROrsBGQy36BfEIVLRcYvAp1Z5pblvYbDJhpWVspyZGyfrB11_GbYPhqF7NRPstWcFG84Bx9OsyfxkGdibai1t9n1kABTDWMo9lPNPgUw95N-0ssK0jxfW3f50T-dXQdHXtUx29JmeCukX51n88ypm4xT9nEYVO_05c3NXtpxFAdslMMhbmmqXeNjhF2SmPbFInYZLoaAqXhXZMoLpEsaJQh9-qYHF_5VPD5sAcnpWdSRj0SdFwXn0SCZNLcSpo6CJQf5KE-QpEag7rzFqJTrGXYDJZ8C8A5wj1VTBAk0NUalD3pZDy6WpyGm8zOZWc8bBbNV2BCgwuhUGTQ3RAC5kJ7dq2oqGsswGkt8w4bhYuNxxQm9pl7yC3viYTs4BAF26Dkvlb33XSVxdQGqUOoB3M9hxAZlL2xP5PVeR76XReWw8QbfRekuuPtpbGqzeQrunSb27HL1TUq9K_TlSrnQizaxGScVxXBOI-gj_tE2DzBL0X-DoML7VKP2MGNc4cQZGsU7rNCsKipNphuSIzjiajDT7U8dsGeEywDEaljQb-mlFFEKwgKj1DyVUbXB3V4Flomep1v7OXiaunkb2rh8lwHE2apaxiF904n0Puy9N-ru4dfZByhTe1N3eCwT2CEW5WKtnKTfQ7btt-1EDIhGAlIoasbfU_bDsdClY9o4eliFoJYgwKuqyemf3JhoAnUM4WolKcZmljouza1SPwOBKnPJTh7JEdsz9jhWRysWZ5o1QFciBke5U_7yRsSaCk3PzyZWYb_x9JdtlRPlzWqbUvwNHN_u5nzExUoM0xMbU-fJVGKByUYcrk9-juu9cnpHj770Zlt7F6PK9DAfVumqJP5PE2_PHhAWlBHbOLlUnOIekfXp39X2zR-J_XVt4ouyagXPUOXdpQULYBCSZkl7pQjqbSOBPTdDj7Riz5RQOj-E1i_Lc56ggNJG8TS0W7XFYxEBBFDAL2xlpfRpReks9IrLQBcWc_1UcOYo1mcWFxEe_v8cRJ0viYFlO7gAScOoBjMuNyrnc0GXQPr_PIYiCgzInRW-EDtb-BcyLg5SVS96teU23OoeUmTCSRAvncYWIyYBY5an73bZs0x82Y6t6yFzvlj4Ocu5XYbUpBzSOhvjxofpg51kmTZx1A1oojp6lNKGhkc4W6XDOjBx0zjTpUiLqwySxXY25VI3dxst00tfOULFhDf7ni2M8iCKdh7EjDPnKbHJtdrSpBs5C-4n4Ed-5UEVCCvg_gQTpgfNBpyMbCewjFA5XAZY7BV8DaUlWZaiRWzinmrd2309QqHuAIRusiHh3Yr2NtcwkGnI2VjhgX7mGRuoHLtjA3jDPlv5gQADmkDNjLgr_mrrRnJwO9cPeqfaKpoiADmz4sDElzAzUE1qvYLrxpXX92rfAsWlXQYXDeHAfurIKZvysCaG8ddlmuZdHbhBF1nUym2GJkG3rnntr8mG9lo2Gpjl-P5J59eGUwVuqBCcDLqH1mcl0w8MxKEZ3BOlITxsOkpMB4PMPCkLBLNX-_",
  "id": "rs_0ae432ad9e695f52016ab41ad83f8887d0b4d00e64ca0828b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.15,\"right_z\":0.13,\"right_yaw\":1.57},\"note\":\"With the jaws turned, the grasp point is still to the right of the pink bowl. I’m shifting left and slightly toward its near edge before lowering; the bowl has not moved.\"}",
  "call_id": "call_EJUSMHjFkwQQbfZ5HMiElZnT",
  "id": "fc_0ae432ad9e695f52016ab41adab7e487d0bd8944a0b6c9ec72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EJUSMHjFkwQQbfZ5HMiElZnT",
  "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]: [-0.131, 1.2644, 1.1252, -0.9649, -0.1829, -0.094, 0.9958, 0.1932, 1.7073, 1.3605, -1.0561, -0.461, -1.4757, 0.9961]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1715 left_yaw=0.085 left_pitch=-0.5135 left_roll=0.1439 left_gripper=0.9958 right_x=0.3225 right_y=0.1468 right_z=0.1218 right_yaw=1.5919 right_pitch=-0.5218 right_roll=-0.1314 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -4.3419, 6.4068, 1.0769, -0.1538, -0.0757, -0.0122, -0.5265, -10.0308, 6.1744, 0.7204, -0.3541, 0.0562, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82244a7ad32d84c6363396b56a90500c3269aadfd50bc27f01ac3d19bb4f7d86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91410ab5bf3fe0a4a61045934d071ecfbaae886f2a954c12410c6a4e2abd9ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a3a1f7b3666f585bb05a88fae623a360a8888b4935ad7611d60de79e34dfe1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 122 changed as sent

message 131 changed as sent

message 135 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.2629, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.4709, 1.702, 1.1481, -0.5495, 0.2726, 0.2062, 0.9967]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1721 left_yaw=0.0848 left_pitch=-0.5116 left_roll=0.1435 left_gripper=0.9958 right_x=0.3788 right_y=0.1435 right_z=0.0816 right_yaw=0.0731 right_pitch=-0.4761 right_roll=-0.1479 right_gripper=0.9967\nstate[joint_eff]: [-0.3487, -4.1231, 6.4068, 1.0867, -0.1343, -0.0269, -0.0122, -0.253, -7.8564, 6.4479, 1.2332, 0.1685, 0.0611, -0.0024]",
      "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]: [-0.131, 1.2644, 1.1252, -0.9653, -0.1833, -0.094, 0.9958, 0.0772, 1.7004, 1.4288, -1.0416, -0.4416, -1.3632, 0.995]\nstate[eef_state]: left_x=0.303 left_y=-0.0038 left_z=0.1715 left_yaw=0.0854 left_pitch=-0.5138 left_roll=0.1444 left_gripper=0.9958 right_x=0.3575 right_y=0.107 right_z=0.1438 right_yaw=1.3508 right_pitch=-0.51 right_roll=-0.176 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -4.4376, 6.4479, 1.0476, -0.1197, -0.0562, -0.0073, -0.212, -7.6239, 7.4735, 0.3394, -0.652, -0.0317, -0.0952]\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]: [-0.131, 1.2644, 1.1252, -0.9649, -0.1829, -0.094, 0.9958, 0.1932, 1.7073, 1.3605, -1.0561, -0.461, -1.4757, 0.9961]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1715 left_yaw=0.085 left_pitch=-0.5135 left_roll=0.1439 left_gripper=0.9958 right_x=0.3225 right_y=0.1468 right_z=0.1218 right_yaw=1.5919 right_pitch=-0.5218 right_roll=-0.1314 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -4.3419, 6.4068, 1.0769, -0.1538, -0.0757, -0.0122, -0.5265, -10.0308, 6.1744, 0.7204, -0.3541, 0.0562, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82244a7ad32d84c6363396b56a90500c3269aadfd50bc27f01ac3d19bb4f7d86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91410ab5bf3fe0a4a61045934d071ecfbaae886f2a954c12410c6a4e2abd9ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a3a1f7b3666f585bb05a88fae623a360a8888b4935ad7611d60de79e34dfe1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrgQTUbv7cjfBZhj8wEp7pyS65P_Qsc2a3UNc_NI8XmDWHFQWO25hSrTwpIULQtqUosUj1uKe-d0MgovLvz39MtO81WUxWmla0q-uNxwptCkFD7MjRr7xjmrpLrLr1rPSv5zKJv0On2PaZ6CwIiyAuoN4pqh7aZcxtrmsaOGrzj7BMizaqI38N9PCyxyFDNPOfnUP1QBrhRxGymMbKx98C_A0Vwb5ykIKt-3QPN5ATZKPSOyCQOqqk9GZXkHSZf7H_t8DQ6vRYN5elT7Ny945GD306ZjICSptR5yXANkSCsJjk5Ie_s9AxA1O02GB_K2YAiMdSMwydfViJCPZuSoabcu3BO7gLhvXxvunEPmuggmdAWe1aUp5JXQyoCoXEblRL6iDRvBJ9hXZ3c2Vd-PVJHsfxQd7oC62839T1Y76_D-r1fHCS6PV8NPuolNx_ute48B5lHClAc1HuE6Q7g7Qag_lNu_OCtQKQ-WFoSJwZTzpx3fu2Y-NtsuV94D0V0oH14Q2xEHFE3css5SjRI0_QXs2svaNN0hmfUjPjlLmsuImhAR1mudIO5MB6IEzC4hRgrQ7HWmTZ-n8siib1sev_l9zOE3j7lQtpObjEqrss1mMzdLL91ASFYq0L-syhxzds4lBriqK73xDLw-BaNTuC6RdaZ1ZOsql1-FxaIzxdbPcMJK-uTq1l2szur6tKYXxp28pbpGF0bPXsrXp8POmog3xHW1WQ56X_9YgSQP_4-kSUE9LuPuCxYm62gghYXPBqsBECk8llvyAgAP09TpxioflsHHYt3P33fXIUJeiUOySvK9NMJNeziJmq-eMsuNBH4Y6t6pf1ihdNNDVIrLRYLR8bfVQqzw7nE96XTJ1GlsvpcysPTBSQXEF3-4ANzTo6TLI_EwEHlCg5JlcSyWzJiKb-U6IOkwvXUSpaUReyXyIMlaPgx2DWp9CgVwjYHiWbNoCT-RrM7BUp5qsevOhC5G3f5gHx59hkSoVh4R6lyZZ10P17a2PDYKXThdmdsrdsURl7Y2KoDWEXOHOowO8bPvEK1xbNJy0elSb8eetEdEoKYrCN3CYGzHJpamezUlxapgvuU6eQXCl_bpBYkvLpwtbBoFIkHU1SK1TtHGAE-TuxOxWV7PE-mff8Rf1G2Vqh6ZUAjVZmDNegeToSCzBONehFpbljiYZpzMQ63O9VmxylyBSCBLLT-gZiuVjRMO9BsdsalSok7pNtMPX2HlchmyKI_FWDARNM3SpuzNTvjuV5JeIalv-vO_98vMLhNtZw8g7VpVFLFrk2TIXWqLHrCSyQ6hL4IyFvK8WWboXNai7iixAJjKvIw--nu7AN4sTUQIDduGyl4SOxNAbxIUomKUZK8fG1p1Vx86UeDM7OcPR_LyCjuE_-w_Eh0ovghib470mO6PEQIBO0bf0JgmpqCpY_U1PFFOmSL-jIr7IJt4smLfRM-vXxciwrY8i4kmvMEYHjygIb0d4EtgF7ukv9s_Q==",
  "id": "rs_0ae432ad9e695f52016ab41adce72c87d0b8daeb16ee719cd4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The rotated jaws are positioned by the pink bowl’s near rim in the overhead view. I’m lowering at that edge so the front-to-back closing motion can pinch the lip.\"}",
  "call_id": "call_mltOLQ7qB9cJqVvJU8iCsuXG",
  "id": "fc_0ae432ad9e695f52016ab41add858c87d08b395e656aa394de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mltOLQ7qB9cJqVvJU8iCsuXG",
  "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]: [-0.131, 1.2648, 1.1252, -0.9649, -0.1833, -0.094, 0.9958, 0.1951, 1.7683, 1.1442, -0.8257, -0.4538, -1.4738, 0.9961]\nstate[eef_state]: left_x=0.3031 left_y=-0.0038 left_z=0.1714 left_yaw=0.0854 left_pitch=-0.5138 left_roll=0.1444 left_gripper=0.9958 right_x=0.3111 right_y=0.1441 right_z=0.0494 right_yaw=1.6179 right_pitch=-0.5362 right_roll=-0.078 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -4.3009, 6.7624, 1.0769, -0.1685, -0.0464, -0.0171, -0.294, -7.2274, 5.9692, 0.6276, -0.3687, -0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7206d9e22b5db05fbecade3631ffbc06f9622746378e02f599a75b8597949e8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc3bf2ec08a341fbc3198747839ec4ee4f7a60e65502878821c77c6ce7d78f48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04100bbafb4e31f5ff9a857dcb610ca901ee6b7523d645004c6dc3fac3e133bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 126 changed as sent

message 135 changed as sent

message 139 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.2629, 1.1255, -0.9649, -0.1829, -0.094, 0.9958, 0.4702, 1.702, 1.1473, -0.5499, 0.2722, 0.2047, 0.0078]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1721 left_yaw=0.0848 left_pitch=-0.5116 left_roll=0.1435 left_gripper=0.9958 right_x=0.3786 right_y=0.1431 right_z=0.0813 right_yaw=0.0733 right_pitch=-0.4774 right_roll=-0.1489 right_gripper=0.0078\nstate[joint_eff]: [-0.1299, -4.2872, 6.4342, 1.072, -0.1587, -0.0806, -0.0073, -0.0205, -8.1983, 6.2974, 1.1355, 0.1245, 0.0415, 0.6227]\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]: [-0.131, 1.2644, 1.1252, -0.9649, -0.1829, -0.094, 0.9958, 0.1932, 1.7073, 1.3605, -1.0561, -0.461, -1.4757, 0.9961]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1715 left_yaw=0.085 left_pitch=-0.5135 left_roll=0.1439 left_gripper=0.9958 right_x=0.3225 right_y=0.1468 right_z=0.1218 right_yaw=1.5919 right_pitch=-0.5218 right_roll=-0.1314 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -4.3419, 6.4068, 1.0769, -0.1538, -0.0757, -0.0122, -0.5265, -10.0308, 6.1744, 0.7204, -0.3541, 0.0562, 0.0904]",
      "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]: [-0.131, 1.2648, 1.1252, -0.9649, -0.1833, -0.094, 0.9958, 0.1951, 1.7683, 1.1442, -0.8257, -0.4538, -1.4738, 0.9961]\nstate[eef_state]: left_x=0.3031 left_y=-0.0038 left_z=0.1714 left_yaw=0.0854 left_pitch=-0.5138 left_roll=0.1444 left_gripper=0.9958 right_x=0.3111 right_y=0.1441 right_z=0.0494 right_yaw=1.6179 right_pitch=-0.5362 right_roll=-0.078 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -4.3009, 6.7624, 1.0769, -0.1685, -0.0464, -0.0171, -0.294, -7.2274, 5.9692, 0.6276, -0.3687, -0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7206d9e22b5db05fbecade3631ffbc06f9622746378e02f599a75b8597949e8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc3bf2ec08a341fbc3198747839ec4ee4f7a60e65502878821c77c6ce7d78f48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04100bbafb4e31f5ff9a857dcb610ca901ee6b7523d645004c6dc3fac3e133bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrkb4CRWan9CabQvjMZxAAkRrhzIzS3vUaA3hJ369IzTC3TtUjOX8xVkhFckU36PUU4EUXntS7DXtVx469i973H4TWfpfatuaaKNTNHuZz-oylMhlOjMGnFKNGhrZIza4gH35y7S9uM45aZp0hW-mii9FtlvkLHhVMvDxiPeFq-vJ9Xwa99GOS2k27uuP8rAYExUZSRcuC1fpheIKeVjpRnxnUGGc0bdmn_4K3BkShRjQbV50P-4VLnbsTTztSLU1XMejyraHnzDWLuWmaix2rXCGXmBITZiX3tjnpb6Yg62vkbtvQUxem_L8oQK0yNP5Yd8qKYhkZpizqUG-rIWaqPd-KGDxs3ne76FrGxzlX9I2m_Lrl0oswKRKcTk8xR1V4slhJ53g4nmW-auqOsTjn4ZoWyvowIFB_OLKHraOVcYbW5xEFMVzDFERiF4SL7Fc9vLIN5vm-2bgihgqxikWk0sNwfSp30rzTZ89RDg-XqX8uCejVZwhNCrFqwdKZOYi6JfyNXLMplsqgQZl12tFpbDxNbT3OkS3zPaQvCGYWk01bKX9iQPrylFC9-HdnT4BG5P8QV01WW1JCYFCHZ-dgfxYoF1VhPi_YskYot-JWWDsShhADJt1-3qe7bzBaM7CT8OsWJm3F26Rs489Q-THeVG9zAlUtLq7FHH_SGe-CPzxSlBB9jTyAmTP3yqWn8rm8e0ui1BVPiIUX30U_ZpqunuoZiPujGh6ivCEbxb37_Ymq9yQkWKsUvnnTTI8prsQ-gHjR_ibdQjozxdBE9p4xAo7xN8LAiWJBj3IgJkUgMg9ZA9TkGfPwgcZemjNTv7XUyxo6Vj-exhtN5RF9ntBa4qVQlc05gHCm-wmQ3S1tnre4ggOEQUiarDA-L9ilJW72RSFmWvySAQH50stQUfFfUJal7-jRbHA7Wsl2KwQOcH5J3bk29bl-B6Q7BQp7pfEbtt0sH3uzGNqvqJUeTpiOJQ6IuhofFpmsBdmg36bEzHdtOLq62w3scw9tESqijatgvkmZxwK20ZrEardY78L57w-mHGbwGGSE88L52OoVC6epdKbo1zYFXjxZq7oehTIqTrepPs2S02cDXvw2uPJ-IPbNgtfX_q9DeWhBWiNot72zrd-PHh76zvQLSgP-NboktOzDh37ZRhDK4E1dDXK-dIwKxk6O_88JGwEWliKEf5MZUiZH3eCIZ33HcoF8Sh3hSLJF4I9tV8N04cTJgE5T9C5-6HmJ68UKSSwPtIrwlpiP4taru9D9GpAWUi7vm2OfQUrRJDWQhrjc_lF5i2mkE9ui2yPwj4iR0vnJ28iqdBhQ6wsbCv6fp_wPLDIYV4JVfWR069nXd1V7ZHQ2213jFFtdjgWODQY5JdVfdxN3tQnsbn9tej76eeCs1AUt5K3vS8g8KTyy2pWVszuzUgRc-VesX_D8-pAn9mANdjaGr8oFUSQbxNUDHjexMwses6bT0aAZ7cih81V7-RqdCm0jpOSjCq3uK3dQZA6F8UeclTPjJbDXZYKn-oz7FfPbAhCPC_a3gfCmO5UTb_yeCoLIGRtwJE3Zz0SErCghxEJFbBqu-tmpY82Xkgem52V73-OikS3WLQEozStqPsVyF8FR1YCXe0ubASuT7HM0dJTf4uqV9FSt2V7uyC_D8OF-eMxwxCi0gSLxvR8rW8AS5Zved0UZYAUZXSOmfDqnSu9wAP0xHdQaux29GufUzXGifkI2gVeK9sE5fBrLKnKvXfSLn4GCb4nt3dXrJzteEieEgVEHpqbnc8h8f_-u84XEogDawYnguWAhMmDEUEnoSWL-nC47fQkne17xSk_N9imsYITgVQWOdLkeH_g7vpQMxixDUD28n74Fgz8Y2nOjtkXr-ORNd5aXEWimrksmYyUJXlrlu_JZw1XRT9t4CfowaIkteayC4Ou7Ba_TWTcfQs-wXFPfFH5r4IZqR0iBQGtUblPDLZ5Thahy6vO83FcUltjyrxK46SOsFBkzmGpaTk77qeH1pDTSNB2Hs_g49LLiLiXgD3i1UOsFWsqGTPNDe7DzWE_Wpak4IEUJzKCGo26TPhyF4MuA3Y4d5BARrmp8HFk51oV-Dtf4YmH7_XFQA358aIjX2CrD6HlhQkUbIDrNZOzypFgUT2ETg3-5JehnrPmDJ3KL0BeDZyacr82ZRZwnK7cBMEg-ISFFQt8SubiG9d-EYSsBMKu8BPtSgr3g4vcJj_NLSkpXYEKxZfjb2a7J6ed-3XomfydyT0aP-IIU9FZXY0iEtu-n8gip9nVwiKnJLVTmIljZutr7KvcWEQLOYJrC91alMOjemhKwfi9mWBdPTWoJxPXEI3T4KUY8406ambYRB9uaShyQC7SRB2jtx",
  "id": "rs_0ae432ad9e695f52016ab41ae1eed887d0bd2025615e6801ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_z\":0.035},\"note\":\"At this height the fingertips are just behind the pink bowl’s near corner. I’m edging forward about a centimeter toward the rim, then I’ll try the rotated pinch.\"}",
  "call_id": "call_vFO01opTm5jFZphwdN49JQna",
  "id": "fc_0ae432ad9e695f52016ab41ae3d5e487d084b606d9b33b7295",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vFO01opTm5jFZphwdN49JQna",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.2663, 1.1252, -0.9653, -0.1833, -0.094, 0.9958, 0.1902, 1.8305, 1.1763, -0.7845, -0.4534, -1.4822, 0.9962]\nstate[eef_state]: left_x=0.3031 left_y=-0.0038 left_z=0.171 left_yaw=0.0856 left_pitch=-0.5156 left_roll=0.1449 left_gripper=0.9958 right_x=0.3271 right_y=0.1454 right_z=0.0389 right_yaw=1.6117 right_pitch=-0.5354 right_roll=-0.0952 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -4.4376, 6.3795, 1.0672, -0.1099, -0.0317, -0.0073, -0.7453, -7.3778, 7.1453, 0.2662, -0.3394, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a17e4507b718269f1c7c8564d49e54725e6a159846f77941a98dd833d1aada09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9196d1da56e1fd11a02850a82c33a204e37b2b9b020054a7bf10c9aed7ff3aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c60ae817096bb98c202c7ffb4b031e69bf0b5cf6b963ac3366b547c53ea331a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.2644, 1.1252, -0.9653, -0.1833, -0.094, 0.9958, 0.0772, 1.7004, 1.4288, -1.0416, -0.4416, -1.3632, 0.995]\nstate[eef_state]: left_x=0.303 left_y=-0.0038 left_z=0.1715 left_yaw=0.0854 left_pitch=-0.5138 left_roll=0.1444 left_gripper=0.9958 right_x=0.3575 right_y=0.107 right_z=0.1438 right_yaw=1.3508 right_pitch=-0.51 right_roll=-0.176 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -4.4376, 6.4479, 1.0476, -0.1197, -0.0562, -0.0073, -0.212, -7.6239, 7.4735, 0.3394, -0.652, -0.0317, -0.0952]\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]: [-0.131, 1.2648, 1.1252, -0.9649, -0.1833, -0.094, 0.9958, 0.1951, 1.7683, 1.1442, -0.8257, -0.4538, -1.4738, 0.9961]\nstate[eef_state]: left_x=0.3031 left_y=-0.0038 left_z=0.1714 left_yaw=0.0854 left_pitch=-0.5138 left_roll=0.1444 left_gripper=0.9958 right_x=0.3111 right_y=0.1441 right_z=0.0494 right_yaw=1.6179 right_pitch=-0.5362 right_roll=-0.078 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -4.3009, 6.7624, 1.0769, -0.1685, -0.0464, -0.0171, -0.294, -7.2274, 5.9692, 0.6276, -0.3687, -0.0611, -0.0024]",
      "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]: [-0.131, 1.2663, 1.1252, -0.9653, -0.1833, -0.094, 0.9958, 0.1902, 1.8305, 1.1763, -0.7845, -0.4534, -1.4822, 0.9962]\nstate[eef_state]: left_x=0.3031 left_y=-0.0038 left_z=0.171 left_yaw=0.0856 left_pitch=-0.5156 left_roll=0.1449 left_gripper=0.9958 right_x=0.3271 right_y=0.1454 right_z=0.0389 right_yaw=1.6117 right_pitch=-0.5354 right_roll=-0.0952 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -4.4376, 6.3795, 1.0672, -0.1099, -0.0317, -0.0073, -0.7453, -7.3778, 7.1453, 0.2662, -0.3394, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a17e4507b718269f1c7c8564d49e54725e6a159846f77941a98dd833d1aada09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9196d1da56e1fd11a02850a82c33a204e37b2b9b020054a7bf10c9aed7ff3aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c60ae817096bb98c202c7ffb4b031e69bf0b5cf6b963ac3366b547c53ea331a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBro3gKDtZK_2IieFljEc5KCXv1a1F2EVhMKjhtJ4abrkaExr5ARtkZteDv6XuVT6dshzhhaoIS8MrEcl_4PEUq6TcQ5-S95VZzYBtvJwtz-5f2eABd2UXgg7O0Cm51D1uwA2hNqpxDJH1F8HSPu4SBbDC13z-qQfnu1uck96hV-pzI16EAG36udLRJhbOdNwz7N1W-ews9s3wYSIExZIucJEhNlSk_n_7mjT4Dhiimi1Xt9YEVDKsyuw7HLXE7kLOiZMKktdv31dtXZCgfuk_xtjIenSZ5Py8dI4yMsDcJMXXbPYEF8RWJnVznIcewXJVXsmc1p2FWeI4ghXOHVOBYiL-HPnNdrJFNqjgjS7GU6wv3iiI6El2Qq1ZZoDPF9AMBvC0u7djKu4LeGJd4rrta2XdVja5km_GBebjHsdjx1-R5g6oD1f6JBejVVQ-FyuN4wIJwvadKOcQACIQt4nr-BbsSDSSYFHElBsHYlBhiMQ-xwm4Cj6bvIBOyXQjkAin9tGnVmMHZ6YGPHd-A38fwi5Z7RIbmxiwCCE4OlL5hfvU2BKFOw8yrGFb-m-09pKy877ZbV68hoyBm-01RvKrDTKu6DjO6kIgwVtJ5kFuPLZfGRuLv9W2hkWk72M4oHnR2HQ_gU6NCKarA4YQf-euwZ-kM0MH4SrwyuZWYvGrGg4A3bfpoZxPqNTilOo2suQBnc7CR8zOHPdABfjh9-ls8BrVHMnmjROSjVbAfOwvOG9UxPl5cGG4Vq7V0Derms7d4KzpR8wjX34vFSTrgAARCPkxby9Yk63hkCv5q_XXGDbvp4RHXyq9p0vpScS7NFKNGMlnI9Jo527D03E6U7QQYSnQmj5GRPQq9eTHRR0u-O7H-RngXJi-5P_wsBYVeBNN52kYnneRuDQUKtjZAcat_2N5Eo5q6D_RDQ82eZUQdaCKcYuIypdXxTvTjNqER6CLzzmsy1b72q7gycaTEx7AbdcnglsppzlIIE1bOMLn1QoMWneQVhlHfhTu9XKM4cl48rckP_XiAHBVYq6BWoL74n_LeriPmaWHTu3VFJ1VyolY3Yt8bOy0PBwEY-k3tsbowqKHB7uXSVvZwP-4Y6PerPNG9s_CTfRDHzMDtFyAfO7J6C3IsKo6aM7l3wAhwttNfvhEnyoYGKil2qLdWrXaLNJGxjd6ve_C-k6t0l0ZtzC33C7vkVVbzz_AtL1GFIoxS5FAjB7b-I7O5KH0878xBV9sMd0uiI6Eom-intvwYLT15xiAHhG2IqlGOZZ-iMi0kTuy8bJSILPj66dfHhw4B6fBogq17IjYSUpet3fD_JdOGmTek-xejnbL0QNYbwXPnIx8G8s4QMhUq4DCifbfcWssqDTq2RppPCIEInQ5qxYQO6tsFUd7jpymJ2FWJhPh89haFfPLCOufSVX37FsEdFac5P7CtwfesZz629Lt_rSuEskFbNzRU8TVqhcGVDrX1G4s3mxekAq4C3SwhwZHWHr6bbZ7ytAZqJyVK6k5wl2f22NjMl5zOFoHdnvgtSzm02ZbpZbuL2cxDPL1zWJdTbRGfBsmsPDjU_J-MwKPuotBHxEmK9siLfUV9Z826GRWkI8hF0NM1JyKEqk_FX9J2_R9GkxIH_Vbr3mm8jBLxcHz5bwnBYgQaOK31huNPEemG2mY_CFlDPc5UAKQRINTPWMg_WhcH_gvdQTDWn-ippjJtt4ccbZp_s3Ok6GEjjkN4QkG-dnTQo3tAltIMmIT_RIUuK9eig4TihR_E4pmwGyVpITLnri04sD9KGml1KwieaB5fcRIR3hjuq2RmTgpdmW2WITvYeyoLtBMkCPrFqYqxta3Gr2J_C6kAjURJh3_gWq-S-lzmkmPNEVG3Nh8h7xcI3sVl_ZelKqyRaCLIgkkruzT3zKMxPYnY3LGSw79pRWslDVfgrbAwAXPxbGhi3wXnKcET5GGCOiuYqp9WgnQFDAvBm3FDrcTik3rUcBYmyyxkTNMgL373oBOhgRuhVCX8DdBKukebfhCamv2XsjzgMFbKmREG4XSCrtaDOeVpwURy5zqNAttms-70b_VzRWWJge2cqclNEuUsO7UuTCJQNFH_tjbX0JNDAAGGkVlcIEgEgMfGzQq7yyZiXUf9-mQ==",
  "id": "rs_0ae432ad9e695f52016ab41ae5fb8c87d0bd6fd97e5c348e0b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper is now at the pink bowl’s near corner in the overhead view. I’m closing the rotated jaws and will check whether they retain a measurable rim thickness.\"}",
  "call_id": "call_PlGe9rtXUArUm9243fRNxuC0",
  "id": "fc_0ae432ad9e695f52016ab41ae77b4c87d0be68e9b65a7759a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PlGe9rtXUArUm9243fRNxuC0",
  "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]: [-0.131, 1.269, 1.1252, -0.9642, -0.1829, -0.094, 0.9958, 0.1879, 1.8568, 1.1797, -0.7799, -0.4503, -1.4849, 0.0088]\nstate[eef_state]: left_x=0.3035 left_y=-0.004 left_z=0.1703 left_yaw=0.0855 left_pitch=-0.5172 left_roll=0.1449 left_gripper=0.9958 right_x=0.3277 right_y=0.1442 right_z=0.0311 right_yaw=1.6212 right_pitch=-0.5411 right_roll=-0.076 right_gripper=0.0088\nstate[joint_eff]: [-0.0205, -4.588, 6.4889, 1.0232, -0.1441, -0.0611, -0.0073, 0.1299, -10.7009, 5.2581, 0.3785, -0.3248, 0.0464, 0.6276]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c561cf27c4d94eb5c6b999620bc2c17d92215bf10e29bd87d59b24bf53f575",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a65ba9d4e6f0fabb15cce94db1da0a85dfeac12b51e181d8ab472715250160",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8743084453ed1e97937d4d9093869e8acc09521c8bbf0ccb112c548d98a6093d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.2644, 1.1252, -0.9649, -0.1829, -0.094, 0.9958, 0.1932, 1.7073, 1.3605, -1.0561, -0.461, -1.4757, 0.9961]\nstate[eef_state]: left_x=0.303 left_y=-0.0039 left_z=0.1715 left_yaw=0.085 left_pitch=-0.5135 left_roll=0.1439 left_gripper=0.9958 right_x=0.3225 right_y=0.1468 right_z=0.1218 right_yaw=1.5919 right_pitch=-0.5218 right_roll=-0.1314 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -4.3419, 6.4068, 1.0769, -0.1538, -0.0757, -0.0122, -0.5265, -10.0308, 6.1744, 0.7204, -0.3541, 0.0562, 0.0904]",
      "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]: [-0.131, 1.2663, 1.1252, -0.9653, -0.1833, -0.094, 0.9958, 0.1902, 1.8305, 1.1763, -0.7845, -0.4534, -1.4822, 0.9962]\nstate[eef_state]: left_x=0.3031 left_y=-0.0038 left_z=0.171 left_yaw=0.0856 left_pitch=-0.5156 left_roll=0.1449 left_gripper=0.9958 right_x=0.3271 right_y=0.1454 right_z=0.0389 right_yaw=1.6117 right_pitch=-0.5354 right_roll=-0.0952 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -4.4376, 6.3795, 1.0672, -0.1099, -0.0317, -0.0073, -0.7453, -7.3778, 7.1453, 0.2662, -0.3394, -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]: [-0.131, 1.269, 1.1252, -0.9642, -0.1829, -0.094, 0.9958, 0.1879, 1.8568, 1.1797, -0.7799, -0.4503, -1.4849, 0.0088]\nstate[eef_state]: left_x=0.3035 left_y=-0.004 left_z=0.1703 left_yaw=0.0855 left_pitch=-0.5172 left_roll=0.1449 left_gripper=0.9958 right_x=0.3277 right_y=0.1442 right_z=0.0311 right_yaw=1.6212 right_pitch=-0.5411 right_roll=-0.076 right_gripper=0.0088\nstate[joint_eff]: [-0.0205, -4.588, 6.4889, 1.0232, -0.1441, -0.0611, -0.0073, 0.1299, -10.7009, 5.2581, 0.3785, -0.3248, 0.0464, 0.6276]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c561cf27c4d94eb5c6b999620bc2c17d92215bf10e29bd87d59b24bf53f575",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a65ba9d4e6f0fabb15cce94db1da0a85dfeac12b51e181d8ab472715250160",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8743084453ed1e97937d4d9093869e8acc09521c8bbf0ccb112c548d98a6093d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrun8TlYGGuWI19rVRCUPjSrV7Ia3IyvGd1ihUFoT4fcbZsryahYkHgi2HaIrekJo-SsTS2yiBDuZUWEF1IhFs0s2ZmZpGi_-J7OD0oAhHflQPwEtUmgDHvH0mKO92m3Hu6nUoqA7tyOUzPMyLNDYAI_9xfbA8gvgCNQhZRMYqmaHLDxJUy95-FJc17WLDJX8ZfZpcEPWd5t2EuwDsAzLHU6aQCOASa6pdw1ok7JoZhHPMOD4sJEvwep-j2i1rx4fgLRQ4MsAZrgqViGJr-wuAzHjpfiuq1R-lHIayckPNY3VUgsrUKDTV8sMpQ729gbSjAt2hJw1K5VN-w9s-JLN92LCJdpG38O2rfF7z3MZwmhzoSBYhBNt2nghDglyX_8LhsvaIwBoezmKwUahmDvedeqAMbewgwedIfBVruBmt01TlFNuEqChd3wSXQzUNM1FvMyDuO8IBQVvwW4p5sruo1opq-NBA5QqHsgHYu-mAJU-bTopPVuaaJlGvCTQdRM8f0H0Nh0Wz3MEUTWoIy7307DvyzBMUOmdTymNf8VVDp5M5sOWCVjtco0ceSrHoqxofCY_ppTAeTVmVH_oAM3dE7Qf7IEAmGJT5s7mHzyjyCUrZgPIqFp77vy5ze132kmMT3leFFZmwEL1T2YljwLc8Sam0n98MrXksSfSPrA6H3hkho48Ytb6pXpJd1cyQ82rfYnel5beWH0EIGBEdifGg4D69YtkaoeNPgkkCjnYOcQ9gdBloq-CDmRxFIwTH4wgWdhb3wtdCwkbgPTWPfLTKmPGuVZJai_ioXPv4dRBP4dloGbFkh53ppA3hKg7fhIbWmRNY57-XGeSZlTGnrinnlj89byTAjAWKaJb4K5Io225idZTgS2gsGQf22AyBfaUQvu6tEaJQM_-RfrYzRIWaDY5gdN9FgIi2WCTNgzfYg48xXJT3ChMhbLCua_904xfUaHm3snIHHXWSS-94C2w-WcM2q2FrlsfigyzF8QORnHNopjrgaWgl-8WNcg6zWhoGUehWyXOg-Eg2MCqktfKd78GM2UeGAcW9PN6J1DYnxMbCsS_pdal4sAOJCRz36vgfrwANk1iDFoYVchaYkxIIJ3kCpurbYj1YjUbV11DC1pTCbrDmml8Kzzb5G8cWUx6tVgaclurXwqh5iSt57AZJOKm-zjZzuxuAyqyLSpkhWfWA6cMM_PLCDpOW-GrzfQs68TRKlwCFaz8-has5TpSOQekSi-D7yLyWIRspDwUzqn1P43NuBabdoLXdjZHMaYCUNRvcc3W-aEIsiteSCpz_gX0y2pQaws_PSIrX6vbQiyaAjDG7CvmsvEKYb32bgx_0oXp_cl-zKEnOl4XQNcW6DBioXiGBdb5xGkp1YB_ab3JvLFhwFaJZLGXj8OT44SKzlcqVXOKEPvK0LxTL63QrdOCIDbPZLq-LxXu9Fw6CsCSkvBiEJGNgTZRJ9WJOQcmSyYMYbdC6EAjwcsSV2Xk1sWE8_jl7vh5WNFtDImIr4RwbA_YPNjPnXF9sYQ54CeRuYooRmQ0ISHrFT48woLxuQeF7zvjkrCujnPkpwL1T7qqFri5mNGXITcS93niGnkc46pZJN4eRMtp0N7UlKX-mcxwpzsmAkQ31kpznLCvnK9KzKGb0SgzdkJvm3aCkNC8t28QcZ7P9ikEW8IzEXWMGUJBRVlP9vhcZAKRk8I4_XJpZ3yCAXxgBhRKltcBaAoQ3mvPFeS5dQF8q9WqNCLbroC9yObr4wCMwa_ouUxP46HwBkz3bB29d07ZZRdYFK5qgf2MBcY3gXky6ZosTj3-5EsnyW8zHUtJcZ2GJR0FxfEiAFrflIhF483l46jkNuYLc-m3TiWmbkXtRTo_j1a_hE_L6yAUtLg8YHYgUYy5XUdMRBrENcq-6lMfLGZ-I_blZYz2CGKGoC-6kUPVZLpkwLMBh-idAze8_C8zaNpZPiam8wkySeTju0LINh2omnLuXdrNfcHCHOqS1oJrha3pdDs6K4ZLqTkhQxIFYBFvZQUcPKd8dpSuClpI_NBCLyR0d99VpxR45fj7sTlbWl0BWLBfVIXtkej-54tI-fgbnoAfvVcTq-hSO3j3UaJyTd4V8g3aRxQ_8h3zPtTBy93QQPyj_MZoG-q4ZTUq8pRVo51EmuyaiHKRIhul1x_VZAKJlylBh9wRrHTYntwDcZPzSqnIFBnFy5lVFn92LNATnKrj0Uv5qpgqguYEVm7C7TkXm5jlPjfhwlkLnuuLuHWLeEDFDSoRkt9Z8IGSNNK-zwkXpRiwmqxUOdvD8qB_vMMDFOYm6yumXCAA0O-EkX3aL3pOpREX9cbMvAet_gI1kqZS7F1Z7tceqtCSgJz_Y1Y55SYGAXkzD-JAmZH9xBVevgIDXfiD8HFqPvmtD5KXRAyHKxEIKoh1q1wRgwB_RyFB89iqKZME19u2psXE-WeKJdPzz9ToXv8WqSUEnFfPsyVxU1nX0WM9zuCMlghTUaPzUOI0rxETCALJNrNkh2dsVSH3sGCGi0pNtuXeHnfRS2DpmfyicXGfTa013qzvikIUiqtoGY444IN_qIoYMBUccMmaFXIrHA4Udgyg-AI1EAqgs3PZoUsokVHtVlfoh_hCLl2GM7SQXyFRgGNv55uHvxcsWpe74PaFH8SkoaRPstk4KaXyrBhSZ6x2xHJUMHGQacdcH3S5XuV0-XamX8JhHqNm9hWU2hJMQ7j5P1iw-M8AkiwN7Yi238uWKvlTPUmpJI9ZhHEKKNVOZ_M3TxFoHie5346eA092nJfGXeZRgcuyW2NyzS9a8wrupjnLLhN_bRbOuAfR50dRjaC5Z7vW830SPMxY8lXHMkOtqkWCAy66Vtk01wehnIvNqg3c36M9h-EekH35OpbVpYDH8gCpwJLTpiVkp_5H8c0oyzg1LJTs6WAwBlfj4vsFVJln0zOYr4qfFncTBWEiTuIU-5-xQyGg-vD2HqGy5fPpy4oL_n_JJ-0SNitUqrJjl9OsxmK4Y2WHVOeaLW7LZ23zkN5rnjlDuX0NpoIZjOfugUQfqnRzA=",
  "id": "rs_0ae432ad9e695f52016ab41aeae91887d0ba2cf5f190d795dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.35,\"right_y\":0.158,\"right_z\":0.065},\"note\":\"The rotated close was empty too. In the overhead view the jaws are slightly behind the near rim, so I’m reopening and moving a small amount forward and left for one more precise attempt.\"}",
  "call_id": "call_k4bgARiUvBAMJuQLUmHdxTIU",
  "id": "fc_0ae432ad9e695f52016ab41aedbdec87d09b8b0786e7b245e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k4bgARiUvBAMJuQLUmHdxTIU",
  "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]: [-0.131, 1.2701, 1.1252, -0.9649, -0.1829, -0.094, 0.9958, 0.2096, 1.8835, 1.3411, -0.9043, -0.4496, -1.4635, 0.9952]\nstate[eef_state]: left_x=0.3034 left_y=-0.004 left_z=0.1699 left_yaw=0.0857 left_pitch=-0.5191 left_roll=0.1454 left_gripper=0.9958 right_x=0.3454 right_y=0.1556 right_z=0.0609 right_yaw=1.6233 right_pitch=-0.5394 right_roll=-0.0769 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -4.1915, 6.4479, 1.0623, -0.1392, -0.0415, -0.0073, 0.5538, -7.7333, 8.212, 0.5055, -0.2418, 0.0708, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519539cccaa573c6f9fc4a152c073e113e869581d4304466a47f60eab064cc8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f79e51ad64b3913f258ac1c40d72355d90097f16e59d994e7d0913df592c3164",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:925074bea11b9eb33bbb85c65330e245d37ef9d33093349d9f7c4276baeaa779",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.2648, 1.1252, -0.9649, -0.1833, -0.094, 0.9958, 0.1951, 1.7683, 1.1442, -0.8257, -0.4538, -1.4738, 0.9961]\nstate[eef_state]: left_x=0.3031 left_y=-0.0038 left_z=0.1714 left_yaw=0.0854 left_pitch=-0.5138 left_roll=0.1444 left_gripper=0.9958 right_x=0.3111 right_y=0.1441 right_z=0.0494 right_yaw=1.6179 right_pitch=-0.5362 right_roll=-0.078 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -4.3009, 6.7624, 1.0769, -0.1685, -0.0464, -0.0171, -0.294, -7.2274, 5.9692, 0.6276, -0.3687, -0.0611, -0.0024]",
      "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]: [-0.131, 1.269, 1.1252, -0.9642, -0.1829, -0.094, 0.9958, 0.1879, 1.8568, 1.1797, -0.7799, -0.4503, -1.4849, 0.0088]\nstate[eef_state]: left_x=0.3035 left_y=-0.004 left_z=0.1703 left_yaw=0.0855 left_pitch=-0.5172 left_roll=0.1449 left_gripper=0.9958 right_x=0.3277 right_y=0.1442 right_z=0.0311 right_yaw=1.6212 right_pitch=-0.5411 right_roll=-0.076 right_gripper=0.0088\nstate[joint_eff]: [-0.0205, -4.588, 6.4889, 1.0232, -0.1441, -0.0611, -0.0073, 0.1299, -10.7009, 5.2581, 0.3785, -0.3248, 0.0464, 0.6276]",
      "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]: [-0.131, 1.2701, 1.1252, -0.9649, -0.1829, -0.094, 0.9958, 0.2096, 1.8835, 1.3411, -0.9043, -0.4496, -1.4635, 0.9952]\nstate[eef_state]: left_x=0.3034 left_y=-0.004 left_z=0.1699 left_yaw=0.0857 left_pitch=-0.5191 left_roll=0.1454 left_gripper=0.9958 right_x=0.3454 right_y=0.1556 right_z=0.0609 right_yaw=1.6233 right_pitch=-0.5394 right_roll=-0.0769 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -4.1915, 6.4479, 1.0623, -0.1392, -0.0415, -0.0073, 0.5538, -7.7333, 8.212, 0.5055, -0.2418, 0.0708, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519539cccaa573c6f9fc4a152c073e113e869581d4304466a47f60eab064cc8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f79e51ad64b3913f258ac1c40d72355d90097f16e59d994e7d0913df592c3164",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:925074bea11b9eb33bbb85c65330e245d37ef9d33093349d9f7c4276baeaa779",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBrxyJuHoOKOLemyLCfFGJD0r8WVe0WaTzGgkH9Y0nP4YPIF9uvkrDFpXvnJiVjVfO14jqyqfCz-Q4IsWR-xfBsFBLWMrrEmXTdZIpiMeDJ67iHTBMQIjMz8xmiHA-w-3MhJrbOl8QUEyYsbsF95RQ8Tbz9MPDHh75aiLRPRGPitQ586VeTJ1Gaqs6FkScvW1tsGPgwNcjloxx3Ec0cFv471WrODLv6XiEnL8Omlv_9rHOhevpy05NQQwzNIyo0VRGNmjIUomTuPH29qOUsB6nLmOl3efXRWUhrQyHgVqEM829lUq0Opss5Sf74osILcL-BwZVFn-OCpvZbFW2dmfnqqFGBR0Y1idx6CpvCsxkJE3bif4HFIsGSd1m6sbjC8Gs93qAhegKZqi1sPB_4_Y1YD6M4bLGA_A6AqhMSprb9sd8qLz-I0JTXRjld84UHrKHbuwForlNksFF4dyZFNS_jEJiobBgK5-LkFaydlNxT_QQ8LR62RG5TBREuPnQAnm5tVSXcZiC3sM7KbsFhgNorCUzBpe94L_s_xzYUTx41-wmg1MirMTp2woun_iVoNqMKjy7RYXNas7vNRLgqeJs_HxqRaUVEUa0HT3wd235x4xCm29JswyWU0TcuIXVeq0pooCabj-uDYVxYcwZzAF4SQe42YEQZxt60fbZXtCZPoBbpoHj8ff8fUqfAJiYv1bZfAe9ybvu764X8D4Bsy4GjOZMUiMPneHEEuVLqJnBjvtWT74wINFg9r7GqFNNiG72-I1JBDPiUUmxbaTTuGWXnOdZBAgqqQcOBCKEQH4_-ctO-rw1xesRLuHx8ewBYMdS0ztTbBOx11pW5vUKSDj7JW_hCtlovSbm3yal2t8BNu8723uWxnZ8NTqTpQrbe7TuCr3-BYKJXfc52czq--NPiS28gsgDYxt4jK5ny9Pe5Sabq_xGZqywNSYmeL33t91aUW16vAkTn7VWcsDT3HxkmTFzn64XTzCS0Ih0E0lRMgoP-ZLkY7ZXRGwV1P5rwXqONkOxKLzWaLBAS1OPv4tLg42VKnQThQ3Z5Za7qPgrhLMnjVZnyDEKecLhmAZL-YjTttYvn38JEL1PcjPUt8S-sPGkB6onRh2ei5_zxPlEPU9NGX2EPzFBWz8iG6W8MokmRUIjPRmtI-iTNbFo2oWGYwFL92nOR-kNYXmqhPK6_EV8REtkyGbZ82m_H3EQ-yotCJ4DxyIwO8X2mQw9GisD736fDaOf1Zw_muI73FFwTD-a0wJkGiJgsDLHZ4DSDP15ILww7bdwKa1475o0LQiDl2PzrFIaMr4blwaoGMNV2vKD5LcuzUsVDmzv4fSrsKfYD6_awROXV9sVDYzWtBrYpdoAnq9_u_qckzLKF5SQbJrv0zuoeyNC3OG0d8PiRpUXL6-ptf2gQGeVi2rknnkhKpG88u4LySKvCmZWoY10l-LJv_oRzC2WbYeAVc4U3KJ044NxObjpRo_wuZjPOF4Qk3FQ==",
  "id": "rs_0ae432ad9e695f52016ab41af0b36487d08cd612fead85d594",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.012},\"note\":\"The fingertips now overlap the pink bowl’s near rim in the overhead image. I’m lowering to the bowl wall’s height before closing, rather than pinching above it.\"}",
  "call_id": "call_78cxZi6laWu2VGYK9VK8dFF8",
  "id": "fc_0ae432ad9e695f52016ab41af1329487d08f2d44c4cb963f41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_78cxZi6laWu2VGYK9VK8dFF8",
  "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]: [-0.131, 1.2701, 1.1252, -0.9638, -0.1829, -0.094, 0.9958, 0.2092, 1.9442, 1.2407, -0.7792, -0.45, -1.462, 0.996]\nstate[eef_state]: left_x=0.3036 left_y=-0.004 left_z=0.1701 left_yaw=0.0856 left_pitch=-0.518 left_roll=0.1451 left_gripper=0.9958 right_x=0.3374 right_y=0.1538 right_z=0.017 right_yaw=1.6434 right_pitch=-0.5443 right_roll=-0.0347 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -4.0274, 6.4205, 1.072, -0.1245, -0.0415, -0.0073, -0.212, -9.3607, 5.4085, 0.5055, -0.2564, -0.0562, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:966b57104547c7b99e9ec6e7ea03322b1caff3767f917749a979d112e61fb9dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23037a49211acf1c5bfee228df6e409f47fdd27cf1c6230d70278a42a9630477",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb597dce1fe26f97b7d16152c09d265f15fa3a2f18fe238bcf9d26075d5a5d6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.2663, 1.1252, -0.9653, -0.1833, -0.094, 0.9958, 0.1902, 1.8305, 1.1763, -0.7845, -0.4534, -1.4822, 0.9962]\nstate[eef_state]: left_x=0.3031 left_y=-0.0038 left_z=0.171 left_yaw=0.0856 left_pitch=-0.5156 left_roll=0.1449 left_gripper=0.9958 right_x=0.3271 right_y=0.1454 right_z=0.0389 right_yaw=1.6117 right_pitch=-0.5354 right_roll=-0.0952 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -4.4376, 6.3795, 1.0672, -0.1099, -0.0317, -0.0073, -0.7453, -7.3778, 7.1453, 0.2662, -0.3394, -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]: [-0.131, 1.2701, 1.1252, -0.9649, -0.1829, -0.094, 0.9958, 0.2096, 1.8835, 1.3411, -0.9043, -0.4496, -1.4635, 0.9952]\nstate[eef_state]: left_x=0.3034 left_y=-0.004 left_z=0.1699 left_yaw=0.0857 left_pitch=-0.5191 left_roll=0.1454 left_gripper=0.9958 right_x=0.3454 right_y=0.1556 right_z=0.0609 right_yaw=1.6233 right_pitch=-0.5394 right_roll=-0.0769 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -4.1915, 6.4479, 1.0623, -0.1392, -0.0415, -0.0073, 0.5538, -7.7333, 8.212, 0.5055, -0.2418, 0.0708, -0.1343]\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]: [-0.131, 1.2701, 1.1252, -0.9638, -0.1829, -0.094, 0.9958, 0.2092, 1.9442, 1.2407, -0.7792, -0.45, -1.462, 0.996]\nstate[eef_state]: left_x=0.3036 left_y=-0.004 left_z=0.1701 left_yaw=0.0856 left_pitch=-0.518 left_roll=0.1451 left_gripper=0.9958 right_x=0.3374 right_y=0.1538 right_z=0.017 right_yaw=1.6434 right_pitch=-0.5443 right_roll=-0.0347 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -4.0274, 6.4205, 1.072, -0.1245, -0.0415, -0.0073, -0.212, -9.3607, 5.4085, 0.5055, -0.2564, -0.0562, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:966b57104547c7b99e9ec6e7ea03322b1caff3767f917749a979d112e61fb9dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23037a49211acf1c5bfee228df6e409f47fdd27cf1c6230d70278a42a9630477",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb597dce1fe26f97b7d16152c09d265f15fa3a2f18fe238bcf9d26075d5a5d6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBr0QOo8DXhWx5CgLEUFV_eZw2dBkGvj8vEE8HWJe9FrdDcFQxDrfrp20Z6yKR-yAl8cGUyjk1bI4E2wd5y1UsuUbYmQb94k4NXnT5IsSmY1lSM1WagRxkzEe2mYcfGw9XC6SOC-ahsA9FiJe7pl1bM6FFZY9CZIACqTHSFe-3tAS8qZU8xo_jEfuZTMl4LgGz8nyljqkAHySMDOnnU30eIhK7AE5oCORO8IZSluy33d5sP2cryJxIT7-S1_Z47eDYXxyEaGAfLrSXDreQJLZCWO8xlrfDeO_0_v_U3hbb9nw2pkvXNJ4XPrL_T4JLmRq4FWb0pIEBnbYmfmu-VLcUb7VKQ1Yxcw8edxoPlpI2sb02WgCNXofCgl8RdXGx87BfSVhw9efmvCAxAqU8ljb_MvLOLvlhPjazaa8pm4-EvFIHbz5h2ySW2r0adLUW4WTuVCDmlKt65IaKqbw0jm7V_Amtn8jl33SzJTM_d6mHsvPSzXlD9vNfQW6FJlQIZa6IQYyiU9dqiTVxyD2FNEPWqqpOUX8hXHQ5ER3HoY3cHH1wqnplZ43Elwtd8aFLh9FCVgrNBUI0jFos-lC29tIfYU6G5jmKTjpCRCx17kMkxewPSJ-oXl7zpE-dPmJKUXf_CxHEbZPdw0l9GJA7TmtzpG74j3tijCN6wVzp3oYwXyjyOqDVoLVx3lVDI3N606cmS6YdBrwN6gJLh5twZ0p0uZ1ocGmFgbBe5KMbx6vtgIzCfAKvfa_yXYSRwx3Iaa6CsiwJ9eunrV5rQG1XCTG-3WpwrSDEzgwCENIdwhCTQs41i5fg44RkYBmIa70IWqNc7CNIM2ZeIGWqhlZziMfLcRacS2mu6t6EuMC5Tjh1X03sbzbQZ1yLjkXhZNE9SXashoxPWuj0pdQ4gZ_nqOf7AyAW60qxe1PhHMWnji8e79WOa9OMlQtZZT7cMQEJkAhybPi2VC1eJkIYAcFMajeGkEGx8rq7eC0d5FZ2g4DNGK7Q2ehRpHqakRM14yRm7P-k9c-z9GHvY_mp4zAZ7GvmvswSy7nMnkTm8gEyCwm_CZP0NI25BD0xsH7jd2uw2EvF-oFgLhxhL7Q7NL20QV0hY_vS1yJ4fTYrWVSMD7ggSjkR24JMY4bjLudmexfukrZuTwh_QM0K7hfY53z42tmLO_pB6tYaghbseiZ8kGzKJiichCKbHQWkVfPMNahIRw10UyUCxWES4T8oC_ogw9yCmh2XzS8a-uie1SpQfCDk-NM-Pzj7n3bNgZY-z96h13joSyRe-AHV9VH1aiGqbZron1_oOwMQU-CmN-uGNAMaQ3rTTI9nMg6Fk3mo6DNs-0f3x2qd6ja6ksjtKtlgLoqkxligCBEVqC9CfQsHar2eNPP_squQyfso2kTem0FG3MQNjzHZVc94D1FZDhfHDtGamK9RXrutgEn8GzfGFeK5c16BS16CM427D8S_P0A8Tzd2C4asRLSP5nGjj1NSItr4wTNwy5DivrFrsZ15-fSlHBq7ZweXoqlBL8cPWxiyZMDKjFmpdu7RFKLZb1NJ_HkHDl-fJ4azVWdaNCJd2AI-l1DGI=",
  "id": "rs_0ae432ad9e695f52016ab41af35d1087d0965c23cce68dd064",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are now low against the pink bowl’s near edge. I’m closing and checking the gap, then I’ll lift only if it looks like a real hold.\"}",
  "call_id": "call_WAUKQjAbldNEvlbDiz3Kl2MA",
  "id": "fc_0ae432ad9e695f52016ab41af4241487d0a4d8d52a09c14bd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WAUKQjAbldNEvlbDiz3Kl2MA",
  "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]: [-0.131, 1.2705, 1.1252, -0.9649, -0.1829, -0.094, 0.9958, 0.2092, 1.9617, 1.2266, -0.7776, -0.45, -1.462, 0.0088]\nstate[eef_state]: left_x=0.3034 left_y=-0.004 left_z=0.1698 left_yaw=0.0857 left_pitch=-0.5194 left_roll=0.1454 left_gripper=0.9958 right_x=0.3312 right_y=0.1525 right_z=0.0077 right_yaw=1.6616 right_pitch=-0.5481 right_roll=0.0003 right_gripper=0.0088\nstate[joint_eff]: [-0.1846, -4.3829, 6.4205, 1.116, -0.1343, -0.0415, -0.0073, -0.1026, -10.906, 6.3521, 0.3736, -0.2515, 0.0122, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6edbbd9b963274702264c9b578a098e8d97340f06f51f36582ecc06eeb8668fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9090290b602a8d946ed3f30c0f4e3e385438e67d3d1ff0e25f8c8839b0d3d144",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db22ea2234cd764f0c5f4cb26836083f1669918ea43b71a40c5b1db3d0313f2f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 147 changed as sent

message 155 changed as sent

message 159 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.269, 1.1252, -0.9642, -0.1829, -0.094, 0.9958, 0.1879, 1.8568, 1.1797, -0.7799, -0.4503, -1.4849, 0.0088]\nstate[eef_state]: left_x=0.3035 left_y=-0.004 left_z=0.1703 left_yaw=0.0855 left_pitch=-0.5172 left_roll=0.1449 left_gripper=0.9958 right_x=0.3277 right_y=0.1442 right_z=0.0311 right_yaw=1.6212 right_pitch=-0.5411 right_roll=-0.076 right_gripper=0.0088\nstate[joint_eff]: [-0.0205, -4.588, 6.4889, 1.0232, -0.1441, -0.0611, -0.0073, 0.1299, -10.7009, 5.2581, 0.3785, -0.3248, 0.0464, 0.6276]",
      "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]: [-0.131, 1.2701, 1.1252, -0.9638, -0.1829, -0.094, 0.9958, 0.2092, 1.9442, 1.2407, -0.7792, -0.45, -1.462, 0.996]\nstate[eef_state]: left_x=0.3036 left_y=-0.004 left_z=0.1701 left_yaw=0.0856 left_pitch=-0.518 left_roll=0.1451 left_gripper=0.9958 right_x=0.3374 right_y=0.1538 right_z=0.017 right_yaw=1.6434 right_pitch=-0.5443 right_roll=-0.0347 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -4.0274, 6.4205, 1.072, -0.1245, -0.0415, -0.0073, -0.212, -9.3607, 5.4085, 0.5055, -0.2564, -0.0562, 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]: [-0.131, 1.2705, 1.1252, -0.9649, -0.1829, -0.094, 0.9958, 0.2092, 1.9617, 1.2266, -0.7776, -0.45, -1.462, 0.0088]\nstate[eef_state]: left_x=0.3034 left_y=-0.004 left_z=0.1698 left_yaw=0.0857 left_pitch=-0.5194 left_roll=0.1454 left_gripper=0.9958 right_x=0.3312 right_y=0.1525 right_z=0.0077 right_yaw=1.6616 right_pitch=-0.5481 right_roll=0.0003 right_gripper=0.0088\nstate[joint_eff]: [-0.1846, -4.3829, 6.4205, 1.116, -0.1343, -0.0415, -0.0073, -0.1026, -10.906, 6.3521, 0.3736, -0.2515, 0.0122, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6edbbd9b963274702264c9b578a098e8d97340f06f51f36582ecc06eeb8668fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9090290b602a8d946ed3f30c0f4e3e385438e67d3d1ff0e25f8c8839b0d3d144",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db22ea2234cd764f0c5f4cb26836083f1669918ea43b71a40c5b1db3d0313f2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ae432ad9e695f52016ab41af7460c87d09de2ebc4a008636b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBr_n48hhZtbjawOptepw8w8WFfVCCmf35QeV5nl1y7PO45X8lsGsOg4-A7bEBNpBZ0MwYOl1x5FT5iU2oK-0xdMDtk7FsP1J_Gw-QOG0JteiRm1PsOmenGQM9tA2D7Z5Gm59TtiVfZF9WY8EVRsK8BiJ6KBP8zdo6gT70EcvbW8La63N2WbUchJOOkf4MuB2mGlmW9pA-1BopuwUC8c22oglV1FU-ittNhSE0FrXIxImUzCsGszknEfiI2jeAIGER1rRtcGdfzK196qsn19VnEZgSoB6eR_VtOzEXizockEc-iSQHMGTpNdozvlHkzU7gqUSOKDpjg9mAGk5QftWJaF7pMU161dladGqqA16c1_8MzPBSLZzCXxhm_AokynZLvgotxYipadLb8hOJJ5g8OVx3YWBbfPV99HYwBkLo7HFV-ujV39hvx9x_MCJc2MatoygUSM8gXXiNzKDMGIG-4pO_8xpp3LBgfzwKj_5k-TmZ9n6-CcXQVNKGWmJ2FOxFnYx6kNf7e-o-MmETn7OudZCXepYWHERcrTAy3UHH3wOKTpyxEBoEd2yVIPOnvmFG2_-esWBwTROmFBhwj0w2kUsc21Axkwp6LsleDTuNuok-lonyoayACeMxYkEFS2WgE0tUysE_ppO_7eCX7rdKVTsGR70kxdb4q-JA3DoIYdWk6vn0Gk16Q9ZMalcdSq_CGgKdza-6l9aTtV8CSkCSfxHvGFohN-TAWjSxcIMPMKButIuVwk9cCKsrl8v5xELyQBwkAxH4I_ok7l3RYIABzbYXGFxswzo3kr_XrPxyot64oMaCiZ9-SkBoFG0XVLfwDdER6fdbDLzC1N3cL_MYKICTnvY6eSmfQzfUE-LUKP7bgsI-btL5Lr_ackz8QfhZQ6yi80_5VGQajNnJRtwXTOeDn0cejaHrUMVbZdPfYebc5vt6KyZrVY2RT_OQuJAssDD8AP6rC-HAhIyn8KvlnPVvZG1HVFivEEvrgo1-d6axpmpCewNymxIp6RUYGUABL6rSSfaTfXS6xvOL6kBIjcisdp7vZVEHzoTXa8TultqZJRT1gwOgBW4uZkKz9WABMoAs79ouin8zjFQxOP61FoM3dHdeOin9hHUss30UMp-SWOp5kSxfEfUxs4zS18vxoiZ0WG-KcNpP8fShvb7oZVgB7JHrfO3fERdSKZR0cU_qY6_rbFYROVtqg53m6GIbGBuyGiQRQY2cM3xNkxBEIpB9_Jt7rYi02079HGmkbTg8hEhf_s_bM33tPi3fdo91O7HpMhj680MjM-eNpGdRJz0-v98KMjR8btrXruFQOz89LRbm5js6uCccKrtKgnEyPE9w7DvRu-V3WuFz4VRWmSU0L9D0T3EJBVdTyORegjR_B2Dbz4kDWnSdTv_ZS2ITKF6KwgxcK2r_MbESfWelSk5dll6-_OzWZGKtfTh-8m7FP9GWJG4OVCSsz9yLKtzZ1FOSMdS_5pnfONbkYse31ZoQFfCEZz2hQ68u_TRf6UdGbzNy-e8PFsqY_gJPVimWym4CX1RmGBZPObujagOa8h7avLYTpqK7DrqhnBJtwUM7JyysOFVd9NOWl3Otu30nrJ8AiYoG7CYO4afOkOkUQ1DILTZPz6_qoDYpeIxvndS9CPdm4MlnywqGWRmy4S_rwTTjaw25RH70a_QUk0BRK7kd0fkG3M6jF2ktfvV3rSMTLImOfvjEjiFc-li1CHQsYnWMTA9xsFxwvxjBdpmjrvpbkJ1iO-2F_LLw0_EZ6TxuXENmWeIG_FO6nTSMclxCiNxlIg1MBxjgTnKcViLOnK64o9s9V_oX9QAYT3N-AcIyj6LAMGja3dxXVoF4xk8s2BZiPIllTZy2MWzCOKlH9KOhwQ-tNya5QQPzwNH2zJHfd52SssFhGWs2ScQewZ4MDoads7Rng_WwC-TOEu-KcsS8uSpbctSEHdoFtd44_-GWUXrncWSnJp6WN5_cSHOcQz9O3pFWIPh5QmpHleVI3hygL5NeEuggNJaVRTKSjl5cSs0LuK5R0ZkVEhsPhJp_QXWoBNMtSCHM55K4n114WESGDN0DHMOKW_G5899musAn1zwZvW7FDnbuAmMOVULaWvtfUaWBZ7WmsS4iFt6hExVyLb7eldUTN0lco2xzULMPMuHGd4F-qfzYHiciSYAkSYwI5VTuamaBGfDHOW1D8lTg==",
  "id": "rs_0ae432ad9e695f52016ab41afbf0f887d0a338ff6992dcb630",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.385,\"right_y\":0.132,\"right_z\":0.08},\"note\":\"That low close was empty; the overhead view shows the fingertips still behind the pink bowl. I’m reopening and moving forward toward its actual near rim while lifting enough not to shove it.\"}",
  "call_id": "call_BLew8OMzmHizzpAfuj0QB9Tu",
  "id": "fc_0ae432ad9e695f52016ab41afdbf7887d0b63667723fbc4012",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BLew8OMzmHizzpAfuj0QB9Tu",
  "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]: [-0.131, 1.2705, 1.1252, -0.9649, -0.1829, -0.094, 0.9958, 0.1356, 2.048, 1.6382, -1.1191, -0.4496, -1.5452, 0.9953]\nstate[eef_state]: left_x=0.3034 left_y=-0.004 left_z=0.1698 left_yaw=0.0857 left_pitch=-0.5194 left_roll=0.1454 left_gripper=0.9958 right_x=0.3848 right_y=0.1336 right_z=0.0752 right_yaw=1.6502 right_pitch=-0.5505 right_roll=-0.0236 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -4.4103, 6.3795, 1.072, -0.1392, -0.0659, -0.0122, -0.4444, -8.9368, 7.6513, 0.1929, -0.3248, -0.0659, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9566612b82d9fe8b8794b3641daa7b77f0ca2c31c5792fa28e3081c7cc0a939d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7314a075fcc86d5f75a3085b728cf2f05fd2ba4220746cea861a1cce51e9f903",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b50b7c0db4fc7d58da80a4bdefe78f37f19b3b5387ed3b99c6d7c16dd71683c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 151 changed as sent

message 159 changed as sent

message 164 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.2701, 1.1252, -0.9649, -0.1829, -0.094, 0.9958, 0.2096, 1.8835, 1.3411, -0.9043, -0.4496, -1.4635, 0.9952]\nstate[eef_state]: left_x=0.3034 left_y=-0.004 left_z=0.1699 left_yaw=0.0857 left_pitch=-0.5191 left_roll=0.1454 left_gripper=0.9958 right_x=0.3454 right_y=0.1556 right_z=0.0609 right_yaw=1.6233 right_pitch=-0.5394 right_roll=-0.0769 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -4.1915, 6.4479, 1.0623, -0.1392, -0.0415, -0.0073, 0.5538, -7.7333, 8.212, 0.5055, -0.2418, 0.0708, -0.1343]\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]: [-0.131, 1.2705, 1.1252, -0.9649, -0.1829, -0.094, 0.9958, 0.2092, 1.9617, 1.2266, -0.7776, -0.45, -1.462, 0.0088]\nstate[eef_state]: left_x=0.3034 left_y=-0.004 left_z=0.1698 left_yaw=0.0857 left_pitch=-0.5194 left_roll=0.1454 left_gripper=0.9958 right_x=0.3312 right_y=0.1525 right_z=0.0077 right_yaw=1.6616 right_pitch=-0.5481 right_roll=0.0003 right_gripper=0.0088\nstate[joint_eff]: [-0.1846, -4.3829, 6.4205, 1.116, -0.1343, -0.0415, -0.0073, -0.1026, -10.906, 6.3521, 0.3736, -0.2515, 0.0122, 0.6325]",
      "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]: [-0.131, 1.2705, 1.1252, -0.9649, -0.1829, -0.094, 0.9958, 0.1356, 2.048, 1.6382, -1.1191, -0.4496, -1.5452, 0.9953]\nstate[eef_state]: left_x=0.3034 left_y=-0.004 left_z=0.1698 left_yaw=0.0857 left_pitch=-0.5194 left_roll=0.1454 left_gripper=0.9958 right_x=0.3848 right_y=0.1336 right_z=0.0752 right_yaw=1.6502 right_pitch=-0.5505 right_roll=-0.0236 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -4.4103, 6.3795, 1.072, -0.1392, -0.0659, -0.0122, -0.4444, -8.9368, 7.6513, 0.1929, -0.3248, -0.0659, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9566612b82d9fe8b8794b3641daa7b77f0ca2c31c5792fa28e3081c7cc0a939d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7314a075fcc86d5f75a3085b728cf2f05fd2ba4220746cea861a1cce51e9f903",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b50b7c0db4fc7d58da80a4bdefe78f37f19b3b5387ed3b99c6d7c16dd71683c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBsDEJCgZU-XSLml5Xx9FWVhWSlmimqdHXqRhv4O165rNT3pFXoJWWWX18tV13FW0CUu-VF2_rpvtHlDp7_dQrlde2NVETMdYnOVScm35oNulJaSm2ERfGUQ9a50dbEIFc6gMkJHQUNxbEQoS3XcSBean9JBlQNDIptLwWQhb5NHV6FscoC3Z5G4gUrYEB1DehGynBABclXe8zghbhdLWT5spPHg9WgwZXLaDbnfId1lIomwRnmMMEmveeQ9gJTeFzJ4Mj6dkv0r5Qe84Gd72q919NPbJ_ZZ9KqkpMF86NtnhmjwYBnAiEpXm1aK9MAmcbYzIwisgK01Z7ME_IhI1apTOv7Q3Opldky3O9BYoBv7wA2DSUhWtMlmSswzeAbBsc-4XQ4EhMykwwE-PQJC1-gvGH52nZm0LVJt3Bk4BFNtXjFujjwV-VtrErDsJhwUTxvgQEGFtbjFqNU7e0xRlXZjLdVN2xH_nlHaIuNqwyY8YyRcLpH6NEXJePYL9vDBhePbNWyk-iAiZ36LygteiFSU2iFo0lrzWIsS5XLgUemNHAl9E8IhcV8voo32BrxR0O6EK9IziLvFxjz9iPjoLNGHelOJ73chQZt9El8PnA_Vgd8X2gU2P3qfbhkFdT5V-EcT_bgWNw7qITV7IprvafgZnhiXbhQU7Xof2WqtiezfRqksCDLEIzFuEakemRxfGZ3pqGM5Y_uDr0Pk-vGOYWZVTlPxxrbOnSk19eCEdHy71A9-fAzOSnYFqN0bf7jKrFndDglHRtyBcyauQ2ZivJ1PunaNFzTDiMNT44QmIrmgTbqnXvU-FJh-HPlz2lNWd64Xn9QOfj-bzCRvprr7YNGQCPSLWXSiJ0r_eQcZTxYiAtfeC16kQHV_jNcynNc_xsL0-LFD3jb_kp00oeJsGIIBf8TpTX3fG0GVDt2nteWVken-woQLi9jeVFYfTyJFAruvYLI0CWK2JYs7czRoPN8SmK5oaLgx80K7Rou0ynd-wIDPdZUeoCZmX-1it0wSSAiP6f8Egoy9uhse6SKJjmZ1KWozg2uVPQh6yy7STnlaxVfPhYUg7wmdY6RKZ_M3BqNdekSXTJBjcEhAPlFVy5PwC2WkDSYo7z4iunW5DRYs_UKXd6T2w02oWZ7vJQw2RTzK0Q7Rv6g02ENEMPEJp_sPSxTC5bv4LbRjTRQlQeH2ygtWhIkLstYmApYOhZKEntRt3Eg4xBTnFXSxMoVdtC15VRSyDPacRgecvTjNTwK3tV3YShZ-5o0d0F3_PimGoXi-bhHq6qwzLT5BAHxKDU5gcvU8d2sOvGYAAlKcz04gHadya6RZUN90i8w4kWMkEg70IMfPpt2JnRCBbqj-AQmeRIWIJFqKy75kfw6Ca9JoSrtAAdqJlQq3KBOi3kSORBTR2GlRoXuYdM2TL8QVP6TQunzrdxtfcrBeoemVYQbuYAa7QMh6MO05DjIY4-lZLxaRd0CYiwWIpPvh2yemFVTYJLqsITGbaovu3fE2VkaCum1H8Xjr1BsCrwmP8_LELS0ggcYI4eZR2himlXaRcSPGxMRhSDDWotCxxkZhagiznQWqVFGsLh_qXGOxwZFv8laL1epX05j2qwo3U1d_7NiQMWK8IYtGuUCYc8bgrHW2O-X6Jy-dyylBLvDhTSfw9OmP8YGmEBWwXaFGQ4gcQ1mOYln888JkgQv2kyXozAnjj7AAjXuqzt36RRgFoxdH19pSWVjO8wOZJnZB5nJozBVkldVDl-D5Cf7p8B2o6Doo2Nn6NpzP6ihUMsdQVXKhP0mwWbAwB-Ao6uwrxauOfhgr2cwdxXX9CgYnl6WG-gNpp8Fep5RLXV4WmczWqbBgOCrE46l_adU-IXc1sx7siFBR0HGnJDXC3vt18aqF-xbk8T5rOGiuyxdzhlvPYsF9BNj5It0WD4S6kMn-Kk2sLbwSL5ac5sxewUzgr2c50A_uaacBUGhRcFPQ2F4x_RR-LSVlMBBwFkzJwFHv3FAJ9n1WOQ==",
  "id": "rs_0ae432ad9e695f52016ab41b01c08887d09c19dbeb404a6018",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The pink bowl now fills the right wrist view and its near rim is directly under the turned gripper in the overhead view. I’m lowering to a few centimeters above the table before closing.\"}",
  "call_id": "call_xLb0cfAyh1tRnMoI6Crjga4C",
  "id": "fc_0ae432ad9e695f52016ab41b02dbfc87d08469c2aed1ec7cc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xLb0cfAyh1tRnMoI6Crjga4C",
  "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]: [-0.131, 1.2705, 1.1244, -0.9653, -0.1802, -0.094, 0.9958, 0.1352, 2.064, 1.5452, -1.0389, -0.4503, -1.5448, 0.9966]\nstate[eef_state]: left_x=0.3031 left_y=-0.0044 left_z=0.1694 left_yaw=0.0834 left_pitch=-0.5211 left_roll=0.143 left_gripper=0.9958 right_x=0.3759 right_y=0.1324 right_z=0.0463 right_yaw=1.6674 right_pitch=-0.5511 right_roll=0.0106 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -4.3145, 6.4615, 1.0867, -0.1832, -0.0562, -0.0073, -0.0615, -9.4017, 6.3111, 0.5201, -0.2906, -0.0269, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9954a899a6d0bec78994a80cea0880593ac82ab61be4582c83336e12e3895a29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3a99800d152248aa0a46f6ed610558eee39f38d6aed24f3bcd01906f418b7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d73d103405308c3985c1d36c5564563ae4be8a5a9b65d51405798807f58000",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}