adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "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: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6075, -0.3767, -0.0231, -0.0288, 0.9986, -0.0158, 0.7879, 0.6037, -0.3866, -0.0238, -0.0349, 0.9984]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0032 right_z=0.1801 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -1.4974, 9.7573, 1.7705, -0.0122, 0.1636, -0.1587, -1.0051, -0.9094, 10.2222, 1.8535, 0.0024, 0.2173, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67ae872a81604853febd1c6907f44b8865d0cc297f7c3f72f7db723550bcea4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad22ac3d4ac5de3b57d38460012a74e09c97a3980e93674d8bb76bf0042ae54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d561838be9ae88769e595394f96cad3392bfb400521a5b2b1a3bf273993a3e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_0f86157e53f6fd12016ab44140756087d0b712fc9557389b07",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_0f86157e53f6fd12016ab44145fe0487d0be6475e5576432f3",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFQLWaP_cPTn2RhmeHz3Z_yfnEI2lOpmMWmDlXUkyJB1MR-hZ4B5RlMpusFdwJsYH3Em51LfipL6DakUqJ7_AzyYtL3UiQPpqsRsFVWGeLCmIa2ag7u5SQ9YAi12nnnNYvnaWtVcwItRgxXCz00HOCkr9VdZ7lphinTgIS08wBYo9Y7jUuJr16-B4OgTJ8rBpGio1q0nTFTkkfPvvzpTJ4ngO6s29RYthwlbQ-mKRilWMsl6qXg1-oS2hm4UG7bAFjzDxNUfuyc78P8vfiSdqP0DI0YYPe8IT_ZJ-v6Dyc8IttRGMPsEDitgSPQzKS7Vk0tJ6PVevPDEOmWjvVKXi6vBVo5FcFkMG8B_wCL9FSRQ5Y_ik_1sN2n-dP3ZpIDDNVCV2jHZNCSqjG9RE9rB6zqAX9acglqzEJMe0Q0iymbgPu6lpUjeVpzZ9xhAYhnifh5LkyA_A5FilJCwgbD_jXkllQDdJqDubnhCIRNmdHhBOOYk4jgoVt4Fx0BiMDaHNhB5iM3htcf2TZiwCA-BrRdFXP5ZuCGveWllZDLu3hLvBesM-_GJfHwRy4nMfPDrQhgEHNumIX_9DgpdTSmqqaHZGs4JOzX7UmiRWC6slWwaYHMwro5L4-r56OVUK9Iia2B9U5oAnrSj3uPoYyqwe1LiGbgJJMBv24ucCK2SSE7-hwIcfI9Dt1TvBiTVOaZDZvkw9cYwxUzzgEdIgYy95FwwwXaMZE6uvdVo9P6aIon4tTvxWYuAwk5yEVOFJdnJAu7QiHa-pRsu76uefLoX22NpRg2k2wiTDJrQOudsGElFtg3Ef30B711yK88mXOAQBp974hwiq7CWx5EFIaDTs7d7Ypzum-UTsf7-fUn3_W3eljhY1K81ebQDScHOrcyKCx68KL6SPTiauTC9j92Pzd-IcIEPHaN3kFxohPndAl2luyhdXYnQMKu11yt5rsuEORECK-xCp7ngMREeGTdQ74Myn7WkcvQcY7hbTJ3KZjlhGAGwzVezci6_Ssds_RxOESBMD_BIr4FqIFW_6GELCf3gf7PUQhIU7UQBMy9xnkhTIXRZNGG4fDLFT0ZXHSI9Uh1jVM0a511URm4ikt8GqT7MGBeZWkzBadXS7E9aHYLewoqH9c-EblKBG-a9Tr1ZklNh1oq4pLX8ZKZuaoJqKOGCjAhbHx0Krw7D6fMK72spg25URmOg72N6sD2OpSlfJV3l0oH51LstyRiMdLYNIEBPLDUYdWi2pqMI4SZWtAMkXZA7Z8YY-MAHNRPUeFgV5hcACHUF4vQfgmowtGXtkxp1qTdk2DGULi0rgVWpF6qa0JrCVNOiIQ9RY2f3KOjeADh3q98An3-75DSDgnrSsWq4vLzwo6AtFrw-dxgO1dCGbBjCu9my_TvrEGQii2Jon-kFDT_MMFKN_ND4P2luMcDpzx1C87CMwqMQ5ut07_045ryg2YqGDzT1dcNLmBQMqrRjXxEG1Bx_SNbACYwi4c5UMR5YmmW8c_buOPHPhw-eqmxpUBGyEUb7Cbjf7ut4MgqhWMOHam2KpVUXaA38LcnpErC1MDuj39_mcnCPCWuiwIyZaf_2ojwaOkx7Mdr5CsB76los9MoSJUwH7iwo4QujqwKOK18FDUcP99XhOBr6OS8fpjjfb5gLzeprE-RAXe06nLHH8jB5Mq0TSj-xHUE4NXpDqfFvFhnL9vcCyH9VKgssd_AlTzw41LN-i631gi4ku6uAV0_vHxqzPxAhouKKzM9qqYl1bjtd0esR8-d9f8ZZw2VQ1AoYDljpwUxlzxNbkuekfn36Q4SWx3z7vKW36oWPLEZtuPhgMeI1t35oGcuq9dPswrKnht9qg6qvZM52KUtCPmSNqPr7vYb6fptJOnUj4kZfXzF3rIb-zNieectp4P3c52IRZgZsl8CInKLNJumK6p0-qAEI52DloT7YMaFEsBNloLgtZjd-42Qe3EcFJm5o2ISuifTGOimnxPiNI_3Mbz5_URYnEASOST5w9EcQA22B5GR-GMledyfTTJ0pw5GOAMX72PJ9cO3WjlUeS-_l2y2Kl5imnuQmN_w0QttoROxJx5ydK_6KjZkoDaOHjZXVQjUdDRI-kz8CJL-MmoGxf5Zfztv4LLgfvorxUFvInoGAEQSNx-dAid8fFp-YtyBU43plvOONgIAig-qIsLdA6Mp8SyaL3p0tu7u5-TR7CKlW0mnV2dzTlpBOZGqgvhGK0QeDMb5scVyxKAIv_ROtL9WCX1rUDUCej_F--ZLe3akijw-6Y5mQCEcGUX35hs9ktxw-req8Q0F-i32PDl69ZgoCSAC-hVs1SQUUi4u360QYPr_gRkV_kEMkrzJHD5mHqdDBtsE3MK0fl-PYByBmha0Xg9m8LAZvV_c_80rGIIaGO8ik8Zk9wY7OMV4Hij0kp7qAYqY3qf3nsSeA1HbpL1CsbDGhF9r17LaFK0DzRYmHxBipdTdigwaPrcMQGIOEcT_jycrLe35Q28sb5G5EeAgMzjQWtUGsVD8aP8LYqIEY4XLGFVTihXZ9znAWHcs176k-dd_Ja44iHYRo3zC_bdDGuVXgV84tHGmuHxtNxzXUnfmY6-FyMP4JhTWZp8QDBsTY7uj51mNQYD30L2VqzaKKFj4uEqN5D3PHe9NaQc5QHM-v_VsDZGOYGbq9BIg1vGY-bUmrZRavHYBizgLQImmwLQoMi9xIQ8lnU7OnRkRePDJpz99_53PrIw=",
  "id": "rs_0f86157e53f6fd12016ab4414baac487d0b147e7c609664f3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.24,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"All three bottles are lying down; the two central bottles have their caps toward the far edge, and the left bottle lies diagonally. I’ll position the right gripper above the cap/neck of the rightmost bottle so it can be lifted by the neck and allowed to hang upright.\"}",
  "call_id": "call_tDLvkljGj3NbydBnjKLe9ic1",
  "id": "fc_0f86157e53f6fd12016ab4414f6d4487d09307e68744118c4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tDLvkljGj3NbydBnjKLe9ic1",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.614, -0.3805, -0.0231, -0.0292, 0.9984, 0.6884, 1.7592, 1.1667, -0.1478, 0.5209, 0.3576, 0.9984]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1834 left_yaw=-0.0006 left_pitch=-0.0019 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4174 right_y=0.2342 right_z=0.1338 right_yaw=0.042 right_pitch=-0.0542 right_roll=-0.0409 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -1.5385, 6.735, 1.7558, -0.0464, -0.022, -0.0317, 0.1573, -8.6359, 8.9231, 1.707, 0.486, 0.232, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363d4b922672ba8f069f86a400d300509c32848ad1af6994975431b0d5bef7c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e06962f94eeb9c868c69fb3fcabe796d38af9755cee84c09a13448e12c5d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d000834e892fcae46a7347475b23e26ba9d03f28c57378c8f25bb4a18a940adf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 8 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6075, -0.3767, -0.0231, -0.0288, 0.9986, -0.0158, 0.7879, 0.6037, -0.3866, -0.0238, -0.0349, 0.9984]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0032 right_z=0.1801 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -1.4974, 9.7573, 1.7705, -0.0122, 0.1636, -0.1587, -1.0051, -0.9094, 10.2222, 1.8535, 0.0024, 0.2173, -0.188]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.614, -0.3805, -0.0231, -0.0292, 0.9984, 0.6884, 1.7592, 1.1667, -0.1478, 0.5209, 0.3576, 0.9984]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1834 left_yaw=-0.0006 left_pitch=-0.0019 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4174 right_y=0.2342 right_z=0.1338 right_yaw=0.042 right_pitch=-0.0542 right_roll=-0.0409 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -1.5385, 6.735, 1.7558, -0.0464, -0.022, -0.0317, 0.1573, -8.6359, 8.9231, 1.707, 0.486, 0.232, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363d4b922672ba8f069f86a400d300509c32848ad1af6994975431b0d5bef7c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e06962f94eeb9c868c69fb3fcabe796d38af9755cee84c09a13448e12c5d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d000834e892fcae46a7347475b23e26ba9d03f28c57378c8f25bb4a18a940adf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFXi1hUSY0QgEKMj2a99rJAEEM04FL_NoxyizD74MRNFhkCoCqYQ1qcFhEQGfBD_EQwoEvInVbA2n9zDxHt7vCQ00lQbRb1D_w1CW26OTsIRl6tdG7xtxv-IFUb8EhM3SjZRZKq363IocUWH3vmto0A_FLMfh95K6xz7_zoqwgGNrJ9fnRh6Ugxs9KgfEewH9Ybd_aDBrE0PAzxJsLbeXDwXIPE0erfgXn0lvngNXiohAhM_j4nhUm_X4QMtJfPjpiZce-9kE2GSJnXqAcs-OxHZN10F1hlWGWXp6gN_E8K0sUKrdzspJ65z3GK7obUrMxaa8GOdQiTRqes06mVCsMsjld9Q6THzjwjf2NBJkEx2IrA4rgLelpSpzoQkxd9nZZFn1c9wg7jEIXaE5Q1yHYiy6kMJg5-tA8rTXW4dF2l9htKxkkyRp2Sf0PP-YL-LYHo2Z4lF6TaGSY5u5PCwi14wHUwFzOSnBzyTs2gFIEH4i0R8EBo2bIkeJs195581rFkTueCm1N8WkPgyngRMHSPEp8UNT0QmHrpg4aMhHHswKZOZwfMr6D12JgO8V99DPPsZIy5JUEHwidwo_WqjWjBIMTRDzHnx9MkLu-3A6ETTjZAFWeemFYAZHGBpTDtPSrIJxI6ewytFMXbEg7YUkkEsCrLKz6l56tGoFmHQ9_9MGBF1eAKyoJ6g4CQ61S2VNrrXz7ormCQDoIP-6vEcSLxe960jMGpleyqFux8yl_0edKW22zKcN5GKHgqEFFb1ewORo27ZLA5OazrsbQ1T22WtidHx3jvzHIYCCDfpaKeeQV5fRGEH9RRG8bwdIZk-q-8O4kRV4FWH8vxWLGlqGuce3pmXA_EaJy9EcJVWSi4DI-ixTH8mC1reJYbLNXxAXCuj27Pd4_jI8Lb_J3A-tbRYKjI54AFSPKN-WCo1C62j6-_dcHNfePn6ALsTDnMlsriqlnNCkG1oe4DQvGmLm4HFdMsffWIU0nCvbarQz_8EAWgm2idEMnQ2KAArPYvtBDfx37HI4gncsyUYKaZN8LvoIQuf0RlxZ5Ow6cs0yWssQhokY9MTcAnvl5NV4yI0J142hZcf6H7ZQ-8XdaAKZCH7PI9deyfLtJ0f69GbQ_DWtRT1JzomxeEs-CxsPWe8L8ffvhcAytdzjlUQZAD79pqVJPX6W-xe0AqqwNm8HKdkO1-ceK1r_uXmwAxyWi8_raD2X6cbVkX0EeY5Seeff4PD2ZJUl6484s0F8TrZlA79EYj6fFPhLWYQ3dI036S1_AYM40c_FUyE2uA8s9q7g14gFJuSozkbmBddPH6MHyblCcV0Fwzyq3szg9Uy17zYYAr5wFLBVNbNKgKgz7Ilmn5swZ17Nw93fu6I0SDJi1ZYiEicYZmw7HbIQN91QGEGbcBvc594HyPPhJqlZwIVUyHvsnjiDdJmaX263IrubE2eVA-sMS7mYhX8vgNcjCsGU2NRYhXcBXNznVvTIKTLAjnKPRsloxbwUqEvgg0arpSQLpbn6pwjL4nN6RYH4IBVsSVa838FKlxsKN8T2_dNNBbreFk95dt0KtRG0j2_pcaNwy9h9hJdtRi6jWBzCWcheAnp-LVAfivwkOjMquu44cp8XqgB5y0H5IbrgdmkVIR9p3ozYrIyFcX30g-4U4H4Kv6VsO1FDSsSYnd7TJ-DCV005LdV20Zn_JbX_jNth8Z25J248d-DvsQEghxbhXm-s5-eQgLMJd9JfM0Jp3qFI0ZlTwcKsEWmfqsh8FZKhZ50f2Ar4plQuS5qAOWvBWK74Yqy7HnVKbIN74sy7I1dNd8npAY0Lqd5hi0pURThId4_nBxH1OTxAQ_WiVOBC68parFTdLbevaS7uBALlGDyoE815keaUI5wlEECnqed91PWPLWjElRjqICJecNCa8UW0nh9fvBp3mgLuKyipJ_Q-kMpYYVX7U5GXin2B55blOz3PinBV4J7cnt191ycWeuNpVW-kuuKWDmn_TUG1CVWi7jwjKcgsc9rWWUDWnL_xdEoGynFd6mhQiVvI1R182XlwbwOw33XszbIo2TOH6VqXaZInehnwoGaAIQ4b3uh0XNHmU1YmL1r2JnCQC4iDp2EXoHpJtvZy2jPO7vSa11wniiQT_iv-nc54UEg3L6TWrd1YhojYDD4_KKKImW8wFR-1iGC7ELw1vfDUJ2WJN5nQURw2jQoTagEAb7LZvhOfkMFbXamvUGtEGyNkcaFP1usxzLnPjCbM8gzfmApFNk5ZA1JXX1IiL3aHBYv2TZW8-ThI0njESutzFxmO231Ujvgjatr6FQbOABBE5n9gsJCcyWOL5acTvSwvxrpsfA03SpzVp4krDrreDCmDj9BEcMZ4LLQF-i4SyQ938CQGLQJPkm8br2QrUTy8FTKP8pOxqG7IMrMMVu2NohfGsLIedWi2F57Nr-k1t6945t1zD0JU6wRynnyTppqU-pXMViZwCqkUUeiNRCmOdTHZV1j904ap6x1LIHf42at7igEuM9GCS4_lWawEe4gzst2mUkfqrluZaal7BNVnT4YWbt-ZyoTljleKQ_gCG2ouv1cWyPeADppupyd0ndc9lUQhq_Su_-8Ta3ZVkZcL9R2cK1CWFXUCHMbYDxHjRtS1AL_f7Pmtw_B3g2CN4ibOJqbZk6bETI85tiG5AF1UqIwYT1tQ_W84dEN6NihTcnOYcDKYChSqOvwofGFe8O6BxCCTZGcwKKn4Rsv-5TY3ofkWpbcoF1pvDrkPNTIwkw12trQYpyotTpG3c2E_FlJ0j5AsOKuuEH3E4ki56NchR_LzAJc6DHuxkhWfebuH_4zayOl0DN9XG4VL-9DvDv0dCfG62isP7gsI54_NhJ0XdsaNquTTjH3o-O",
  "id": "rs_0f86157e53f6fd12016ab4415342b487d0b136ace93752d899",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.24,\"right_z\":0.12},\"note\":\"The right wrist view now shows the rightmost bottle centered laterally, but its cap is still well ahead of the fingertips while its base is near the jaw area. I’ll advance radially about 7 cm to bring the cap/neck beneath the grasp point.\"}",
  "call_id": "call_IWQuODbjLiyXTMErjhR0Jtxy",
  "id": "fc_0f86157e53f6fd12016ab44156547487d0bc9c240f949a04e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IWQuODbjLiyXTMErjhR0Jtxy",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3813, -0.0227, -0.0292, 0.9983, 0.6086, 1.9465, 1.2629, -0.0597, 0.4461, 0.2893, 0.9984]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1828 left_yaw=-0.0009 left_pitch=-0.0042 left_roll=-0.0004 left_gripper=0.9983 right_x=0.463 right_y=0.2341 right_z=0.0942 right_yaw=0.0572 right_pitch=-0.0863 right_roll=-0.0556 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -1.347, 6.8855, 1.7314, -0.0415, -0.0415, -0.0171, -1.0462, -9.9761, 9.4974, 1.9609, 0.3199, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e926e810a17c8c91e41f506b39990e51ecf79f2d71ffbea8403f64177884fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c6b9f7df4117e8292d819a9e996ab82626b0f8677e81013129d94fc99945452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a773331c7643e16857930c7a04a0f75fe2af353c89721b43956bf8288553e88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 8 changed as sent

message 12 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.614, -0.3805, -0.0231, -0.0292, 0.9984, 0.6884, 1.7592, 1.1667, -0.1478, 0.5209, 0.3576, 0.9984]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1834 left_yaw=-0.0006 left_pitch=-0.0019 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4174 right_y=0.2342 right_z=0.1338 right_yaw=0.042 right_pitch=-0.0542 right_roll=-0.0409 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -1.5385, 6.735, 1.7558, -0.0464, -0.022, -0.0317, 0.1573, -8.6359, 8.9231, 1.707, 0.486, 0.232, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3813, -0.0227, -0.0292, 0.9983, 0.6086, 1.9465, 1.2629, -0.0597, 0.4461, 0.2893, 0.9984]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1828 left_yaw=-0.0009 left_pitch=-0.0042 left_roll=-0.0004 left_gripper=0.9983 right_x=0.463 right_y=0.2341 right_z=0.0942 right_yaw=0.0572 right_pitch=-0.0863 right_roll=-0.0556 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -1.347, 6.8855, 1.7314, -0.0415, -0.0415, -0.0171, -1.0462, -9.9761, 9.4974, 1.9609, 0.3199, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e926e810a17c8c91e41f506b39990e51ecf79f2d71ffbea8403f64177884fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c6b9f7df4117e8292d819a9e996ab82626b0f8677e81013129d94fc99945452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a773331c7643e16857930c7a04a0f75fe2af353c89721b43956bf8288553e88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFdOjHIlEllNjfso9xvGQeht7mkJb5GDvLW3U8UyVw_0rRQSUkbnr6EpU--PKsjkOU2WZQaLc3dQteIm37W_AzG2GiSl3jNeLcIMEvg_64TNuHEAy6H3PD4gL6XjP1aiRdtQ9SLUH5AmvOJzj4YPy9piksHec-KR0iKBXLWTf7FYQhAOwY0ALOGB4ctXE6v3dNhGxk5-SN56ufauKSxjpfMtz3gTIXbUo8QRy0kF9GKqyOytrETjIZ5Cqy7Ru4blDy-aC5PbsaVUMBmzi555RiZbeM5Xx_H0_ViBHVmv_10zVp-AxzVFojVCx-ARsSuJWjRyBm_K8BHfE-39UJjkiW4cqrKRzIDtnX_nQfyCs7aTO8wDwR3IVcO0AG3cbDm90x6-SXK85gmn2z-_lwcXiWx8mlFZYTh0eAQHId6MhfVYIhcxu3ZLHO_j0fSLxoMBmPNWo89-qWUHXWFOg57_E8cUAApzjVfM1DovHq78EngywbLhAqSulyjzW_lDs9EYlMwTh_S5bUVuEOfqxlkY3lhxmgAVlNmfKUS0sJUw2_1cPtmR_VP7_sr2wn34uiblokLj-4b9EWRZl1yiTj-mWzw4-wGq9lk1yaPBoTVFvmm7-A0xhaHOuG-C_uUo8tGrkzgDGi3CnGf7NxZ6_EUX5NZNr3BCUh_5Zh53ZfT-laaa8d3gtLCQ3K-cI3z7AianT7__k7jMgdv2cIuzYqqOMxJrUhj-za6OoRrYOIZik9i1qizsIC66MLDcIDHIDDfgGq1XaGTvn2HdVRhr2Q2lKbU1pnfo_odgpIPcZFBGVYk1f9kMYBaB6mxFBRI0Sc7Jq5Qoru5hkWRdbiuyGLestdl8xI3jbqiOKf-JYX-bIjz65GV4dlBI9X1XIwT0EEVPAOa0uGcCiwSDiLjg5lWngZqP9LdDfJ6oc70pvr0fj8jAOANROk0nS2v-kd_GSmjv8IbQpSlokrSqfPgjZ3uxNFaZuvGUTUbjzEYYEhHolNaaPnqUmTNFQeM1TZarkuIjpIbhgGdpt23EAxeFm1J5nc0FlVIby78b_TMP5aE8rQOUyNiVuegM8Jbtmei9b_dN_GfFaIuKc1SRuUJrbkTXJpNlSAGQTDhuXqvyCEyNDceePAH3G4C83OhtpafhVkIVZjcdC-jpI5ktXQatn7g9B1GKsjOFBIrEXIFs27V5y3EdgRAlEi_uJJmjvAzFoCwev5dSnK1u5s0hMBB5gOBCn7DtfvLvXg8PiLI8oycuU5f7L5Jq95Nb6xOjfXNIB3dvDtgLGX-lm_rLBPfFQTj8_w9xEdoHsQvaxp0hkLVsje00Y5vUptL0nX1IbkL0KJQuMmNOrqTfKSkzn-LgZbndXlRMRVvp5MMjdjmWuLIZsmh-7yMSBCcZUA1hZRKtBxMGQ486Z8A6YhfV7s2Q-axmaAsup-_j8ihBxhWK5iXicjnlsz__xvrTjT7IqJusfH3r2kW9je8-UnJ6C2tdrleuYc_EFFm6B_q49Sjtqkp2sJrQaFePxlTNZFSzM9c3-5wJbmCHQy89I9b197DATj1mqjIxPkoMMkozRTx0khDaHoPlnrAirOhMOy2DrpiOPmNgKqIM2SCAGRftJ2_hW0soGB56Hihyv1vIztW9doxpmjdEQ10yf6CZ4Z4MAJxA6VBqIvorkOHF2D_KvT2PcYM9coqjEi9xAfcAlyu74R9DrLVUjlRuCltdOv8B40dO2ptDMcK-5tg-1UEpJRMho_pHtKFNDdDPFmi9QRfHS2oGmhDqDUtMdAWzHJlf-UAMsL3zR9zFVPPhRSGArM1auQA_a4KL0UqTGHZNezOkXrleDEv0tPN5MFgrhdCaRKsYCBEiycaY2SuNcRrKDoDYWL5cF-lKQ3kaWRXS2gpJXYMTBsigLxu_1GxGL62oSUi2kr3piVSTOGzKUBWHulZV7PxGN6QNeaWxGx8yTGo98yQFpx5MSAcI-RA3RtOitIvNbQtCy-E7ZA_v2z0goHej5tozqnoVL3rK_o14NlJ-BTJB4W7cl2Y9fDLY45xeN5TauOCUTSUh8CkyI1EfjRGQ38yOGsNu5uwYCroHiG1kSMDLjZf98l06vFREs9TQOACcuajIkzO7EpgLAFyGwyMUPV6bGCZ5dGL-3WxxNYkIB3YvDGFxFwIiXCoQHtDQeet5khm_0TEhBTBz7242ZZNP_oSkOrYjxkQdvo2fO6qJpZT1_sCKJ9VSiLCkHLznqm_E9cSODL-wT9iNCv10_fEQ0cEfAmF4IBtoiYqQEVWmuD1zey_ztLKYnRf0pZ0aP254ZsSRFLCtZ5aHXidy2LeEQHeUhDJ-IrdRBsuc4hvo3BAOuPCMaSW7j_xF-dl9QmFJDmi87nDAaSuqq9dVfqdw_MVp5v8XbjKqcmIgmxiuE-H7H9vVCHpKi12PB4GsBKg2iF-18woZcDMpPbWt5auRFji3PjYEsjENUomupDwHJZB6Bg34Cf9ej5fOHHOhIeA4tpBtMwVVHSG37b6bjhmQAb6fMePhfhGA15_PWIG-dXIge57BX-VDpJfh3pkV6iCJRaqaEj3MtN2JpmXsIruqc0YO5ef4Xcf6v2Mmdlg4thmaHLMAijmQ62pKSIoUGFi9_2qIFbvgtcgV6GvZiLZUrLHJYtbPa5NA0TuAGjLnj2eRghCXpjbstBtzBUitJJoHKHTIl6pvL3ENWqwj8h4AnF7JYVISylA-9ohrj1patqQX7UXp1Etcxh5aL-5rYqTWFiBDSxlWOFbIpWkMqFfCNFMeyj176jZGebzR8QI1SGYlafQNxIhEmFMlvXPP5mrjk2D8kEqb00DrYUslI20QSzom_d1cFIVi8KCTP5xuN0HgUGVLIClrzMOcj7FT4QrsrVUaOpF",
  "id": "rs_0f86157e53f6fd12016ab44158dccc87d0a3e88fb325d3f6db",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.24,\"right_z\":0.035},\"note\":\"The cap remains centered, and the lower commanded height brought the whole bottle closer to the jaw region; the arm is near its low-reach limit. I’ll descend over the aligned neck so the open fingers straddle it, using height rather than further radial reach.\"}",
  "call_id": "call_diOcMwKDRs0x5oBcIzRTcjhm",
  "id": "fc_0f86157e53f6fd12016ab4415c32a887d0ad98e99259b52ee3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_diOcMwKDRs0x5oBcIzRTcjhm",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0227, -0.0292, 0.9983, 0.6006, 2.0972, 1.1584, 0.2199, 0.4431, 0.2779, 0.9983]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1823 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4687 right_y=0.2336 right_z=0.0269 right_yaw=0.0587 right_pitch=-0.0667 right_roll=-0.0503 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -1.5521, 6.7077, 1.7314, -0.0317, -0.0171, -0.0122, -0.4991, -10.8923, 5.9556, 1.6142, 0.022, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:322f86a6dcda44d2dcaab4e3bbd309181414f07d1507a630835e8f2c891c29f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb4d168a5994053dba24ee2e6c70b438b1ba7bdce85af29b2b6c5be007c9949",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f1507e926fbc17f73447ca96e1557aeeab96f7b1151bcb2f62bf2b187654d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6075, -0.3767, -0.0231, -0.0288, 0.9986, -0.0158, 0.7879, 0.6037, -0.3866, -0.0238, -0.0349, 0.9984]\nstate[eef_state]: left_x=0.2956 left_y=0.002 left_z=0.1825 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0032 right_z=0.1801 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -1.4974, 9.7573, 1.7705, -0.0122, 0.1636, -0.1587, -1.0051, -0.9094, 10.2222, 1.8535, 0.0024, 0.2173, -0.188]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3813, -0.0227, -0.0292, 0.9983, 0.6086, 1.9465, 1.2629, -0.0597, 0.4461, 0.2893, 0.9984]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1828 left_yaw=-0.0009 left_pitch=-0.0042 left_roll=-0.0004 left_gripper=0.9983 right_x=0.463 right_y=0.2341 right_z=0.0942 right_yaw=0.0572 right_pitch=-0.0863 right_roll=-0.0556 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -1.347, 6.8855, 1.7314, -0.0415, -0.0415, -0.0171, -1.0462, -9.9761, 9.4974, 1.9609, 0.3199, 0.0952, -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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0227, -0.0292, 0.9983, 0.6006, 2.0972, 1.1584, 0.2199, 0.4431, 0.2779, 0.9983]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1823 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4687 right_y=0.2336 right_z=0.0269 right_yaw=0.0587 right_pitch=-0.0667 right_roll=-0.0503 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -1.5521, 6.7077, 1.7314, -0.0317, -0.0171, -0.0122, -0.4991, -10.8923, 5.9556, 1.6142, 0.022, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:322f86a6dcda44d2dcaab4e3bbd309181414f07d1507a630835e8f2c891c29f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb4d168a5994053dba24ee2e6c70b438b1ba7bdce85af29b2b6c5be007c9949",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f1507e926fbc17f73447ca96e1557aeeab96f7b1151bcb2f62bf2b187654d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFhhvAuZHO8kpowrYGmPk3basZso2Yy8MwLvHtGp4DJAaCrcKGpjSDj2lO0mo9EJEqWe4YNq69lgqUJ5igWsUuivJfFsBwr13hZW4tYCNZVNSAB5CBzUKEN-MZQ_bI1w0UEt6QvqDMIryqsB_HGGfRXeltz7iTyzPJ7t20udlTwWSrBlcGCuBuBh1EiqwT5nknDYCAuv7WQkZQepN_dUaCvpUEdSmAW9YAaIvgIpTzbIKhSL2UQ30DaEkXig_4rH3zga2aOlf86RBZJNsLR4UmoarL4a_Pb3cngrSNagDJW_ZA8p8CmHTVv39lD7kzUq1UtG4vO42xpBOsG7RPNrx7gYqa3r-YIZ5DLC_BZgzedraB4-yzJNNwNCn1_7ixriBrqcGN0QLnQ5pFD7R-D68phk5YqrTlY6Dz_XwvEMozznZlNy2jpjdayy5cQRFuFvAPcAwJ6GZXdLImITRQ4emn3G4OsExH7430OeoKNhU13tojV5qZGIjx-dCiEEsurkT6k9dRT_m3Rt3oRdrVe62ss7uI0JL4kwLo6GfT_cssqkvXAaFs6CZZ7LVWAKG7GzrIJsG1Dohw_6fbuuWhKySvf9WnXBZqqda4mHrXwHlv0cSFnI16WNkiwnaF-OfsLi9bdrV9NKtYt4dvgptL-3ww5QbkKzOOmHtCHmM19cvB24ZFMUxEXwXPxndMzwQ4ChJMtwfj5jkjUAtL4B1FokYSyqaAVLaovvN0XDfSxpJHE0z2mN0Dp2O5r7ZDHp-YwpXd0ZbeFjOMfKbOzIBr_B6X8npZumHD92XXkL3DtOZZlgQsRvc4f_87VH5BPrGUGKHmBqbChRxxEE41RYLW7PYpYQ19m0iaoAtwXlXsMfV3gnqB7rXPbTQEezDGSWMGWb46uOe0hrvV3LELY-3WmRXxBY6aApUMvvvQbTzyMVSaVkGygXC2J7F9M4RW0eApHXA0xp_ei36vq_97-rpxe0KTwQRrbxbZ82XFlE_huB-PlL1_ETwrqR96ihPHTaWzflBWuFZYqae9Oha1HX11QP5B971MsfKScKpcInQUQkKF_aoFbNfaC1kS7eUeTS1pm12Unr4wxkgT9bk2tpjWndVgA0kvK7tzQAjKvzxIBkEn6MNaPBpSkeaWu2AgnB5CbrUSejGywmOd79iAbK8DOmuNtOf37gsbM2X9ZLDJATwi2GWUTz7RM047svM1VIxELYNi7rZ9NctaMAqKNWtTzgaGWFE9EQx0xEl8tkm_TrUWjDyNPfm5_Z8BpVw44WoQ3br-9aE8vPqsw5LqztCBkrALlu__DjFkWPWiEWYMEu2PAe5sAn65P3a42ayRgo7rN27osZa2dnFY_sBAheAKDjxlV-4JgAF09lIimf7p5tmvM5N1dMNBjiThqIWzLsTPX_vY59cLfvpPj8yWZFfxkuc7DFVzBHvsh541qwE85KIEY4BHUGRFLVTleK-arKD0E2hW9DcvvxPL_MaEzpnEuIcPNkvDwBqaqo4qqq8BnDQE9TN_pcoBz8oHC_dTvADsnYFhLEtM2YGYsR9F8_ug3u1AgIt-ZdGWQ8oZ5p_6VOhNA-E4q7XUrKrj0pN5xa8BplpQoPguuANo_bkmvrmRfqWy3IcJXplEnLXxCuLme-0cNBR1E6UqcAKzqvHCbz2JgSfWTEfRuo5zVdf1pPokoDjmjRW18uGz19n9OnyJp8JWW1ZIeoqUezPhWv2FPvA5PQv7pG1Wd7bqVKcVsi8_0BHapLUv4z3GvhKOlbVa_vjDKFNp9LBtyF6Vy06APJjwBtC0Lf32RErBgS719pvZtHOLdf6AmlzMds9MdgCWVpNUE4HrJwr3XeoP_RPfMhDLx79E7ObMV9H3-AIJ70K9x40chx2S7K4-fXGoryxCSnyUwDictBq0W0yRGftLtW1zvLYkYyqunaCn6RmUEXaVWvXKwbP-UKcLh7s03Vgbub-devJKZ_jDlFK5N00rpOtp0TOZugy8JnZbqv0rxPLIMQIjeHxwgbCfP_D19oVZkBEL8jtk-7Zkd024kxmRhoc9n_mm4klVKJ-eeXqjTGuaKU8tlQYYfQ2kRnx6OufnoSeOBdyjrGOU9HtNfE4HORA2tpCo-avcYJWVzeX98hqK0KiFpLg58-ALPUrLCcYQ0pksj-JtFJ071SHW-gIcYGXFp_6nuWtA5HfZJipsiiswkY3RambRA6uKXeuMcXaZqeAn7zz1a1ft_5cJJ_TEKPgn3FmuaSnwKr17ViiB7yRduRwe4lzNwbbltY9j8Z01QzhYQlUiH8OQVYNEKAsheBOmpud1cmkdk1ugAQTNLFAtb-0krPIBSUayV4y0PhGZiuQgrn_F3O_0OHTA2JxIibOElSm34SaVfitYazRYNNQQbc8ilSUU-YKzd1n5R81n9yloQtDQ=",
  "id": "rs_0f86157e53f6fd12016ab4415ec26c87d08dc7d1bba3f2d0f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table height the fingers are over the bottle’s body near its base, while the cap is still beyond comfortable low reach. I’ll grasp the body here so I can pull the whole bottle inward, release it, and then regrasp its neck for the upright lift.\"}",
  "call_id": "call_VPFmC9pCC6BMtWitqxoz3lTx",
  "id": "fc_0f86157e53f6fd12016ab44160e9f087d0939ba91969ebb201",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VPFmC9pCC6BMtWitqxoz3lTx",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.3828, -0.0231, -0.0292, 0.9983, 0.6014, 2.1014, 1.1587, 0.3054, 0.4294, 0.276, 0.4936]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.182 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.478 right_y=0.2431 right_z=0.0396 right_yaw=0.0729 right_pitch=-0.0009 right_roll=-0.0028 right_gripper=0.4936\nstate[joint_eff]: [-0.1709, -1.7573, 6.5573, 1.8632, -0.0464, -0.0464, -0.0122, -0.7453, -10.0034, 5.7641, 1.7411, 0.149, 0.0317, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae29f45b19616eefc9460004c5afc71c5f0e3a89db44c5c5d92f1b16d5691772",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc9c5ba0163f3a21bc34a4e29327503889e17ab6b1aa885f9fb3bbacb45a348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a4093d2c271f4ca1c692b223e78aa0e01415c26b269fd5e18f7a97a9e336e36",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.614, -0.3805, -0.0231, -0.0292, 0.9984, 0.6884, 1.7592, 1.1667, -0.1478, 0.5209, 0.3576, 0.9984]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1834 left_yaw=-0.0006 left_pitch=-0.0019 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4174 right_y=0.2342 right_z=0.1338 right_yaw=0.042 right_pitch=-0.0542 right_roll=-0.0409 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -1.5385, 6.735, 1.7558, -0.0464, -0.022, -0.0317, 0.1573, -8.6359, 8.9231, 1.707, 0.486, 0.232, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0227, -0.0292, 0.9983, 0.6006, 2.0972, 1.1584, 0.2199, 0.4431, 0.2779, 0.9983]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1823 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4687 right_y=0.2336 right_z=0.0269 right_yaw=0.0587 right_pitch=-0.0667 right_roll=-0.0503 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -1.5521, 6.7077, 1.7314, -0.0317, -0.0171, -0.0122, -0.4991, -10.8923, 5.9556, 1.6142, 0.022, 0.0415, -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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.3828, -0.0231, -0.0292, 0.9983, 0.6014, 2.1014, 1.1587, 0.3054, 0.4294, 0.276, 0.4936]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.182 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.478 right_y=0.2431 right_z=0.0396 right_yaw=0.0729 right_pitch=-0.0009 right_roll=-0.0028 right_gripper=0.4936\nstate[joint_eff]: [-0.1709, -1.7573, 6.5573, 1.8632, -0.0464, -0.0464, -0.0122, -0.7453, -10.0034, 5.7641, 1.7411, 0.149, 0.0317, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae29f45b19616eefc9460004c5afc71c5f0e3a89db44c5c5d92f1b16d5691772",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc9c5ba0163f3a21bc34a4e29327503889e17ab6b1aa885f9fb3bbacb45a348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a4093d2c271f4ca1c692b223e78aa0e01415c26b269fd5e18f7a97a9e336e36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFlKQ_uAn7ZieVbzGZOs2Qewj3hekZqNfPbq0T5qmTl9pBG-eSyT_y3rbsdrhxReVzTrBokzwaU_W_GOWm99_ni42p8k_u7T5XdsV7TQWkZm-SPjVOG5SibUUt9z46i871XFR-Z63uBDaOk3DfjXA9KK0pwX3eXI9Rqdfkye5oIRy2VSsoO1EFdxkqvJu1cgUrD9-b3NpAEBpmV6_J-6fUwWc2eV2uPko_jJRjXKfHEO-v1EEOK6c9k79DiEPdihCqVPcHStCvsaqdgtXSG98MexIrF3oTRXj1WQabNO1G5axCW8Vj770MMIizoGV3tiDhngqblQww7aus_guiKnwhFI1RYBlWZmQ-pejVsJeRJGLAqLNyF_yxaZHPiyyg2wNmluyOnWz2Rd6WWsqhRmNWqOzMlJuimG1y-eMyapNeyDK-JRW6coSxOTI-94RGpghIHpfusBVPuDc1k3a9faxIP9iQzmOjvOGEpNYDSgx7AkshEwhL31e1fGw0lwKX8zffOhz4uTdbmpYzdVO9WquT5nH8MIn_a1x0BC_GobD09-csu8gTcx24qjcZFAvSw0mp6QhGIkSUqK6-EiboriME_Ky880gkN5JR62HWnCLZPEHn7CPoUdRhpakKkNOj-WntbsjZxiZAoDPceFaJkKo9if6Is-EMySX5ZPzTRhJm8QU_JLA-X208Xz0wHNjfGUmM5V-Xv3fX_wYjYMG50YvQOIzJXPv43Dk1pOeO_0pdtI0C0BMFzmQZffq4Sn-UsyqiVRxbGSGrDalDz48ufGb0DDw2wX8xdRTR1t_Cz1mLErsPxMMiWCKoDa2XvPVdxMUGCMnt-yVwqdZVicPLv9XvqgEW4XTeGVAfnjUOZX5Tii2Flmj-cH8TQHR67qmsxPvvJoK6yMn2KvY_9y4s2PzSn-qoe2-M1MHSnGpdACXtPzMJ1-YuHPPLuWLopHz_BaMqNE1ZBXKU-2vv-IBt4uept0j6T7dB1lAVmVkGyjd1oW4LVQ4lUa7CjuvZVKCwsLwK32FNKJav0XKmPMdMmeqnR-qhkSEPM7vL7eCmkbAA9459VGVJ1Scw0ugSSHvGQBKLcOpjY3Z_StOAIrYk__XQw5wxQwmXwbX-s-CibC2GluV-SxGPDPJz_XUaST17oeV586AbBS6dKNQXBydjvOoVeeHAWUSzOj9kQXVYqRDMSv_78ywaHvQ9ExRDZ1OYa1whBOKS3nlndmplTBsk-HCnI1VCEuuE9cnY8ZE7Ciokwz3zgehfHS9OA_tcxdM7XuDA2W3cMyiBzYhW5ZN9GM8DHdKMDaepH_3uzaUjWmF1t-uw0Zi28OlHGCCM0TAZ2f7Juv514cv7hL9VFOZZF6J7HBvBlXXVyuMcqk-Wn3-W1ZODN46oRyWskonP0TeVBecs5p4OfBjIvvooZetlAMfuSmddP3pSUbUg4wI9sayHyl1_bwFXfFrj7A4viVT5R8bXwdlucEA24xByvyysiuAvK_YhmSPMRR5y4rfsH4pORt6sXLQgNJlHmQMRIrdCF2Tl2nTIlRp8WTIYqI1dDakc6JEtY5_qrO4SccdXmQw_MRqpZYRoHPvkoDS2CF1rYy7QcKy8GtWrh4igVf5tZXrHchA==",
  "id": "rs_0f86157e53f6fd12016ab44163dbfc87d0b7bad635112654b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.24,\"right_z\":0.11},\"note\":\"The gripper settled at about 0.49, consistent with a secure grasp on the roughly 5 cm bottle body. I’ll lift it clear of the tabletop before shifting inward, avoiding a scrape against the other bottles.\"}",
  "call_id": "call_NVVcdexdV4O0ds9zgHlbJGLb",
  "id": "fc_0f86157e53f6fd12016ab44164cfe087d08b09268d56407b0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NVVcdexdV4O0ds9zgHlbJGLb",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.3828, -0.0227, -0.0292, 0.9983, 0.6018, 2.0026, 1.1706, 0.0708, 0.4145, 0.279, 0.4945]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.182 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4568 right_y=0.2317 right_z=0.0513 right_yaw=0.08 right_pitch=-0.113 right_roll=-0.0543 right_gripper=0.4945\nstate[joint_eff]: [-0.212, -1.3607, 6.4479, 1.9121, -0.0269, -0.0562, -0.0122, 0.1436, -15.8154, 10.3453, 2.1758, 0.3199, -0.0366, 0.359]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f90a1a433d51fd5d20e105db4f269cb460a38efe5416300e8ce16ca228348501",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70415166f134f13abd1466dbfc88cfe7c81feab28c400b596d1066b0cd89504b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed2f0d372201c77ace33e148b9c75eaa51ee65aa6cc6f1c32b3f8e0f2171b1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3813, -0.0227, -0.0292, 0.9983, 0.6086, 1.9465, 1.2629, -0.0597, 0.4461, 0.2893, 0.9984]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1828 left_yaw=-0.0009 left_pitch=-0.0042 left_roll=-0.0004 left_gripper=0.9983 right_x=0.463 right_y=0.2341 right_z=0.0942 right_yaw=0.0572 right_pitch=-0.0863 right_roll=-0.0556 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -1.347, 6.8855, 1.7314, -0.0415, -0.0415, -0.0171, -1.0462, -9.9761, 9.4974, 1.9609, 0.3199, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.3828, -0.0231, -0.0292, 0.9983, 0.6014, 2.1014, 1.1587, 0.3054, 0.4294, 0.276, 0.4936]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.182 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.478 right_y=0.2431 right_z=0.0396 right_yaw=0.0729 right_pitch=-0.0009 right_roll=-0.0028 right_gripper=0.4936\nstate[joint_eff]: [-0.1709, -1.7573, 6.5573, 1.8632, -0.0464, -0.0464, -0.0122, -0.7453, -10.0034, 5.7641, 1.7411, 0.149, 0.0317, 0.9695]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.3828, -0.0227, -0.0292, 0.9983, 0.6018, 2.0026, 1.1706, 0.0708, 0.4145, 0.279, 0.4945]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.182 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4568 right_y=0.2317 right_z=0.0513 right_yaw=0.08 right_pitch=-0.113 right_roll=-0.0543 right_gripper=0.4945\nstate[joint_eff]: [-0.212, -1.3607, 6.4479, 1.9121, -0.0269, -0.0562, -0.0122, 0.1436, -15.8154, 10.3453, 2.1758, 0.3199, -0.0366, 0.359]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f90a1a433d51fd5d20e105db4f269cb460a38efe5416300e8ce16ca228348501",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70415166f134f13abd1466dbfc88cfe7c81feab28c400b596d1066b0cd89504b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed2f0d372201c77ace33e148b9c75eaa51ee65aa6cc6f1c32b3f8e0f2171b1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFoVUe26Q51udKudySXmndDi0aPgi0yOB64mdbhmqKZXmJ_aPo2MQ80zL9v1QfVCBFKb72H7xwELNrhrepDdGklPgsLgwTTzsccSWpAuB4nAogXHig8tS7y5ltEzlm1Hi6rj3VJk3uH6Z4raPj-3F0d0gJLgfmWpgIWGenGb6ZIDCJfHSQOZVj5PWFQegWwmKUPjttRu6VOOH6Sc7dmoYl4qIfkkB62Whgd3D0KrlsXZVpzeQQlewBuYBdc2fAz9DvgUHUUf4Fkha8uWyu9Y4N-C7jyIadFhJ8SaKFNp5UtvxRKS4yd9pcJfNXM7eH3KjXkOQ8fKfCdo8RRDDYT_vDSP7o-h2NGUiScKqiH7zhsgc15ee5swQFigNxFq-WxB38yq4Q_P3n-fxCpu1GRc4i7isbiR7G5DQKqvU2s6Cj7m7toP8VlqYhAJu_kjYYEQE6ZBlSHFr9N_tUkFCtBsA8u_WJMJuV2gYGSch-11130L9l1QrZyiD9_Abtb9d-Lvdex75VYaCHDFRaVkSAzL5Qj6foftXkIlN0aulfLUQ4KmT_b3FnSlWaRxpJRFKRjttBdxaWfCjumhVyKmxhl2E0XBqiLa7LzeFbWRtjsEIx3j9pbCU-0woAGMlPAp8W9GymrIwq6-DiFJMYMfseSfepKYh-fBMjejXOVNI0eGUdlr31ZY7iyWNw9Rk6mlGkj0k7750I6Kko3OYSxyyJ6zQOsg2dT2Lgqalpn_T1TnM1uKAacQ0N3ZO3CVXtIBAz29UTVxC7k56uuSfcjkach5OrHPnNtA1tv_2rJmRSI7Hzrx8bz-9XzbJsujreLD2FRBQ3Et-Hhtqz4S0ii3YSMTFzpWgHTHjPD3alaZmieP_DoJHn_VBtdbAxErxDoZXD77t_45O9n-JtSoplxvZhMbqXvJ7QMw4az5djOR-kHAZS0ewOTWVjyLzAwLFXovoKSkk73vNIqMujSzC4pKrmX993OS7l6hxeCYRin9t1K4BlNiZxWs8pV6f85Mkl2jA4apjNOxJovJ5fqcqpYpNy9mvR96ZOGvItFp0guJHW8xu6TuVTBnIknCl6fDMFLOQkg43IY6F1qVotJVwWQZbSdmHLz5hvm_LT8WDzcftYNhiuM7PBHU-4Bb4FuXYimBL1_iebNZaDTZNiXnxUf7sEDGImJ9-bIYOXSFQKTyKjIZPP8k9RvJ6kvoDH8A4MTDS5U5AQnjAl132gQL9Vr_RCVbsGYagh56wrso3moqI6yUG73c4rmFo7FStdsiHN-dOhRDST2kG9SwWdo7E1A_LKz4KA4Oa2cv-RSQj8n5yr5LF7Zpjkzx8vXzdUHYWGVF9poS-VxgRiNOMHpwE0zhLPYxuvIMQ==",
  "id": "rs_0f86157e53f6fd12016ab44167250887d086d50d9dfc8a55cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.24,\"right_z\":0.16},\"note\":\"At this extended pose the loaded arm could only raise the grasp point to about 5 cm, so the bottle is not safely clear enough yet. I’ll move inward while commanding more height, which improves leverage and should lift the bottle free.\"}",
  "call_id": "call_PRhG3NyKxLlct4pBA0jQCTaP",
  "id": "fc_0f86157e53f6fd12016ab441676b8c87d09dbfb13ac89d1853",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PRhG3NyKxLlct4pBA0jQCTaP",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.3824, -0.0231, -0.0292, 0.9983, 0.7158, 1.6951, 1.0729, -0.0875, 0.4797, 0.3252, 0.4945]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1817 left_yaw=-0.0006 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3974 right_y=0.2424 right_z=0.1323 right_yaw=0.1198 right_pitch=-0.0456 right_roll=-0.0272 right_gripper=0.4945\nstate[joint_eff]: [-0.1436, -1.7983, 6.4205, 1.8242, -0.022, -0.0659, -0.0122, -0.0068, -9.9897, 9.388, 1.7167, 0.525, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e54a628131e1c9a02a81f71c37f90fc17ab85813614e13eb50ad8f02489e9148",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b5d7363dd975b05d7dd914ef6c5eebef3e6ded1f8b2d36d61ee3ca267c2e1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:788761d3382f46ce22260cb1b2e04a532fb200f779da826d0b5cf4abe542dda2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3828, -0.0227, -0.0292, 0.9983, 0.6006, 2.0972, 1.1584, 0.2199, 0.4431, 0.2779, 0.9983]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1823 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4687 right_y=0.2336 right_z=0.0269 right_yaw=0.0587 right_pitch=-0.0667 right_roll=-0.0503 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -1.5521, 6.7077, 1.7314, -0.0317, -0.0171, -0.0122, -0.4991, -10.8923, 5.9556, 1.6142, 0.022, 0.0415, -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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.3828, -0.0227, -0.0292, 0.9983, 0.6018, 2.0026, 1.1706, 0.0708, 0.4145, 0.279, 0.4945]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.182 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4568 right_y=0.2317 right_z=0.0513 right_yaw=0.08 right_pitch=-0.113 right_roll=-0.0543 right_gripper=0.4945\nstate[joint_eff]: [-0.212, -1.3607, 6.4479, 1.9121, -0.0269, -0.0562, -0.0122, 0.1436, -15.8154, 10.3453, 2.1758, 0.3199, -0.0366, 0.359]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.3824, -0.0231, -0.0292, 0.9983, 0.7158, 1.6951, 1.0729, -0.0875, 0.4797, 0.3252, 0.4945]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1817 left_yaw=-0.0006 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3974 right_y=0.2424 right_z=0.1323 right_yaw=0.1198 right_pitch=-0.0456 right_roll=-0.0272 right_gripper=0.4945\nstate[joint_eff]: [-0.1436, -1.7983, 6.4205, 1.8242, -0.022, -0.0659, -0.0122, -0.0068, -9.9897, 9.388, 1.7167, 0.525, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e54a628131e1c9a02a81f71c37f90fc17ab85813614e13eb50ad8f02489e9148",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b5d7363dd975b05d7dd914ef6c5eebef3e6ded1f8b2d36d61ee3ca267c2e1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:788761d3382f46ce22260cb1b2e04a532fb200f779da826d0b5cf4abe542dda2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFt5_XMKnCGO8LU334HOFleByP5j6CA3FJ8qmw7i0XStgUUNuXzJFEPh48wr5f_f1FaiecbGzXAqBSgC3C1hT5ICCthjrlOqzPORGtv0wTAJ20BrNFrVNgTfgdz4lusbHj8mGezPYZY-5rzCF8vNuj0HlOrOFEAwCSoaUaHAvDRNXIsqbln07Ld816hvnkn0XrhGUxsSjAeqGX6DaowtSXHHDyt453tNazwzSfXqq8PI8dHVFRldDbkqcifKeqYo2aWEtzQeaS_PLqKDu5I8J-tAxDmzhf3W-NZgaP2QbehA8ENJqB6w984sNEgPSenYW_rjQchCGEHhY2nfsmhyfQpjWfo2uHxDi20c0lAbIRrAVQnE6p89PkWNRgccxievPxuzLNqpRI_6CZCvjYM3UURzYPxIvIMKB4aoOxbP-F2Kuz_IJ1zXiYs5q9qHG6IiGEXjKETjSGEUv2M5mdV6y-jkilGVvkspr1lC3a9ZP9c17TFQjTGxwb4ajW2vHDv1B8_ZuUyjfc-faBz178-c32imC_jTR9bgZRDFCKWrZZWI0V4p-zArzJUZH4sUTSLJkkGvr9W7JMrNDI_WrjPProxT8DiPoxAnE5nNuXEDSlvm73Q6GhdpxSIMThZQMM_hmIWBt1rBgi-H1LhKvkTOaoLZFuVMGnVQ4IvFSLkYWhRn15NoxhhzEU5IhZoVjlqT7d2LWbH6MO_vW0caG1Gmz5F6s91-3nyNg9SDZq48Q_QOn4sYksSPHZ24eG9cS72M1GQ17AGnGeW6AwwvpDqCHWbCWMxF8q0JsUzrxTCBpDcPfqR4zTHHiaXZXEYWK8gdvYdWXNkDoAO_ptmPDaOtOPoaK7e7ehCvvuvPe8Y_2rJ-Vnu45WTUZ942hvqo6LCx_enGTWTCtgCkJCtKh6gNGcYXreTxePX9pPjB3tYhoQHKq3_8Gf9MQDT1w0qo4TR1XTQGmKq7hYddzWUJ22BWS1cZKEBHQRmqNaiIG4tSm9SBPL0qw9ejWpuee1BJFuXjh48c9wFCunXCK4mDtf8-JVCzD8UvpjpolKO5bJdJwBjNFgQMQl5Jgzr18SMiwJcEVASO_MXx5oBB4B7ZAQb7N40heONTfj2BOAu-iaFcsXB_T5qeVd_PfFuieI-5mEqARilQLt1OYEOw4gPCiNLx90Yd_kqq-rl3VbTl52hLMiJap6suHICXWadMp1jDyu6GZQ94ZZ0RzLKgwalLPZMltvMjTBBPTWnrjFdk443KJwyc0EVboVupAW2DQoc5gWrQ-GxoCG1pyn7DY_7acV3fHI9CE9w-KR_WqMQ_n86AdK3XafBYvAwDdAn7vPUOqBkTkTjLch9enGvZ7Er4pI9NuO3RoQfwLF475X3xm0jS3GekmaRuYRfKfgTHL5ujcLYStU5ALpDw5ZcYcJYk5zvRnq1fpU5dLUP5fJ9ILgz-mGILtmDB51gt-8_Meyr8FCUwXG9cZgFEKD5LQ7vKYFZ3Wb3ONSkgrJLvBNy06uX1xSx0J-yhqsaoHkg-vKLXqASbSq7Juhr1yMHCaRJHIbuxN_yr-6BYdx1eXwlx8rCEHmoOXABffCnG5kQVzZOClZDhQQekCJsYhMOnUe-Gw0_E62YNmol2Th5VHBvMiIJM0-poLpj6aRIoq8K0gxsHhZpIkGIezKtq0nG3c8zdbvCos3ylUmNsBLpnYKPvoxJwiqB2ucz0Xbiqxsi8iTTBo9-hQyVWDwLpK1WXhP6xRQmlZvn_SEMNe6SDb-zXnACiodJPSTfy1km-YHHoUEPLFWtmJNueZl4vy2HQ2XW47ABEZGInCDYhDIGL3feMlaxT0nEWmGXcGgropEFxYVc6YQTacbnb7CPBK2uh8NEe685hJpkK7SNqhiMMZOUA2X70fLNbWnsgQBKTP_u8SWxSViBcnjwrC0quRisMzCRUeV24pP0mp-i-aXfzO-UUuwT0jWPZH3N8WnYUOlS1Cy7DNcoKVI45_GrFI_-Z_2Qlhu4tAawAzVK8liOZu97VGdNJIZJYuBySiUHKZ8rd0lmX3vmFmCoJqIaBBF1rfdI3NNjoT8bYrh1GvZmyPadW-tAImnMGUblthmoEx9yoifAq2pXZ4xKcW7vR3zkBUVB0Qlar4fuWKvMrvOEojWd5aHhFTiLIPGkjgoSCGH0BcCUm_OTmA02ybtOgFLT3JL-St68hoIkQaBsYuAI8L0dUFIxx4E5pn5UsO-akP0m7l6A_mEIV7EDkIaYemlPKYjjLEz_fIlCvfXpit2mzP8zMd7r_tT2w4tK6GR5JdxLEi5PS6HsCDtmg-q5WI6MxOWUst6jbdRknIR1I_YL6yD_3Hr3nbc5SpbOW7-v1ipKAqoXbyZ4HKCR-CLogQvnZnxlRJsHt4I1N92GPo5yKrbaB1apL0Fz7M1_Xr7YoM24YWY7LrC8WTLY5vee5kT-WNigXQxnYnHGBYVbAxGL-Z9Rmn6XzYLr7LOhwMQ22fvrBJQ535QGGpInaFUOoROYtOat7vhvvRIaB1S9jlhU-8Df-mXaBwgwkt8pCOqbVtyAh8-X3a4NxW_27K-vBG3osgkQrvrh-nNTsvQgT5ArGsMC7Sm9OZwhi_JSdql64zySiTLEnFGRmCId",
  "id": "rs_0f86157e53f6fd12016ab4416a12bc87d0ab9c27637e921f46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.12,\"right_z\":0.14},\"note\":\"The bottle is now clearly lifted—the right wrist view no longer sees it and the overhead view shows only the two untouched bottles. I’ll carry it inward and to the clear right side so it can be laid down with its neck comfortably reachable.\"}",
  "call_id": "call_e8UHkVMZoH5lOLpQEOTmJpWZ",
  "id": "fc_0f86157e53f6fd12016ab4416cee5487d095b54d462d934792",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e8UHkVMZoH5lOLpQEOTmJpWZ",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3828, -0.0235, -0.0292, 0.9983, 0.4767, 1.2163, 0.6243, -0.0242, 0.3073, 0.1841, 0.4945]\nstate[eef_state]: left_x=0.2961 left_y=0.0018 left_z=0.1818 left_yaw=-0.0002 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.3426 right_y=0.1208 right_z=0.135 right_yaw=0.0973 right_pitch=-0.0127 right_roll=-0.0063 right_gripper=0.4945\nstate[joint_eff]: [-0.0889, -1.4974, 6.5846, 1.8486, -0.0415, -0.0659, -0.0122, -0.1846, -4.7521, 7.1043, 1.8095, -0.0757, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c634c550dd3e95def65b529c8c37a30ff84cf6ecfc21016361d68384f6715c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaa86a5fab2ad9f60d152b034fbeb13fd11db08ff7cde6073ff64a142c5c3a30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7388f1733cd8c0bd7f24789865e31505a6e365b7b0a17cf7160c81c2fc49791",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.3828, -0.0231, -0.0292, 0.9983, 0.6014, 2.1014, 1.1587, 0.3054, 0.4294, 0.276, 0.4936]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.182 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.478 right_y=0.2431 right_z=0.0396 right_yaw=0.0729 right_pitch=-0.0009 right_roll=-0.0028 right_gripper=0.4936\nstate[joint_eff]: [-0.1709, -1.7573, 6.5573, 1.8632, -0.0464, -0.0464, -0.0122, -0.7453, -10.0034, 5.7641, 1.7411, 0.149, 0.0317, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.3824, -0.0231, -0.0292, 0.9983, 0.7158, 1.6951, 1.0729, -0.0875, 0.4797, 0.3252, 0.4945]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1817 left_yaw=-0.0006 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3974 right_y=0.2424 right_z=0.1323 right_yaw=0.1198 right_pitch=-0.0456 right_roll=-0.0272 right_gripper=0.4945\nstate[joint_eff]: [-0.1436, -1.7983, 6.4205, 1.8242, -0.022, -0.0659, -0.0122, -0.0068, -9.9897, 9.388, 1.7167, 0.525, 0.1441, -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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3828, -0.0235, -0.0292, 0.9983, 0.4767, 1.2163, 0.6243, -0.0242, 0.3073, 0.1841, 0.4945]\nstate[eef_state]: left_x=0.2961 left_y=0.0018 left_z=0.1818 left_yaw=-0.0002 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.3426 right_y=0.1208 right_z=0.135 right_yaw=0.0973 right_pitch=-0.0127 right_roll=-0.0063 right_gripper=0.4945\nstate[joint_eff]: [-0.0889, -1.4974, 6.5846, 1.8486, -0.0415, -0.0659, -0.0122, -0.1846, -4.7521, 7.1043, 1.8095, -0.0757, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c634c550dd3e95def65b529c8c37a30ff84cf6ecfc21016361d68384f6715c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaa86a5fab2ad9f60d152b034fbeb13fd11db08ff7cde6073ff64a142c5c3a30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7388f1733cd8c0bd7f24789865e31505a6e365b7b0a17cf7160c81c2fc49791",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEFyWf6aY1lIaPWIvUCNj23CtWNfdXrxMX23TOv4SCKEgONVEyw67lYhPM4LXBKViIWVeJ6UhznqAHr3aWORr5ZOw5C_f1FZ4kUEk-O97j7E9_ebNr0wV4-asQ1tqpiLD-cohzMT1YpElx64vOUeKujEcwe8_Tz0BeBAapTrKcMrxXHz_RQ86UqIvzH4C4y3em-RLxoEbRfI8PUmPUVq9yJxSrEHbmJnfMpVjnmYQsN56Et75B2-RXDB-BjmntkLeYf2gej6hfP6h19DpAL52xbJomfCY30uKC_2vw--rVARkx6nS6-4VRRhidQNVqgtrUZjltxBsy6eavE9gzbcrEgG6s1ZxJpg8V06M05w8rsN-9jvXSVPGlkG63RvnbmwXWgtVTD5Q2uKKl6jJEBBN42W_dFRlDZBssNSoNXIWslNalw-gPbkPqADsD-TRPQ_DT1yagDIDy7xE6lcW1tvLAYZ6cLIbzmlGso47qQr7rFJREFGTFrWmiMl_AXkekK3c3hBCbipwbIBqVr9Dy55CQKAao1UiViWpX_0_SBMZ-4OaWaiYs57L9dZt2FhCBs13GmBJVI6wWfX_Jk9TsF9Vpx0GkBmeE26uVdpy-JGs5Nfj3pjB6hponKkYVLrIIfzvYAfmh45xPR6ymGEq3SSEQHKN2NRyiEcWVX0ZKJE6AqfjM-twwX95H3d6DDmimnuyWvp-UnRATjqf-KiILrOZnjeSbArU0U_Drx85IDDSGGu_cgtw0cO5P63QnGVISu0GmxKGf3zd2MAaLVQbOOhVMTjtTxmShnisDbk5J9WeYHqED7zxXFnG1YNaG_oLr_7mAUoMlgIyLna5qf2YhBbiOk4W-ldOQ-PCbt2sFLcr591XENEB5tj31DtWewRHTp5lrwIApdq2QKUvH6julZutLWoL9srOivAyrJONyx8jfoHZgod98yIiUAqCoLbRu5XNoff8u2Ql2dF8GCIc43HbCXSvE96sUHox0UBZZt7I6WrfhE793RHEv-S_-WTDLQbJn1B8dUeiYVVBuMBn9OWzsDKrms_Rc7sFYTsO5XnT0OcIryQTx3TyecW-CFWBM6oe5j4-NNYe5UtR6Wf2xXR_3gVjk_GRm935LSEh24M1LYq92rcAsDY5rXr2K3504YlpHiY_2NMlGQ77ZQHnoKTV-NnjZcB5z5jENn6rYisQFbGGaSjhx0Cw-ed5RLwTP8lnRyWi3axD3CDpqUlbbu2puwRkkmChWt5_7pieDC7SB8c5yQ2UDVUEvup30cX_regSUQef7tyeGzI7NAqXzGa5ExgatZYDdPQNqG32CdfWFSPM-PSNFXOZafQ9q1VCJeBDSFRTbCg6L3kiIgMDx3_RaRxinI5ogrOb8rLLl5f0dAO7MGuakOmVumw8niXoMD3vuXHMNkQZf2ztsFPSyw7vfkrvoVd3HM1v7m96pCGi1omQmy4fJJN3tjWdiM5UcsEu9fcl19R5Hc-ico7HqkxAdgPTQvesYyrzOiSiktvXsbKjv7ivWOghtODxc_BLJER7eIMedL9a1FmYmuAPQm1hGv0W8MdY-gq2v8Ost5qWrC_R4TSSmQ0iRkHF4buNwNF2PW-wvsyXDKPNU4QlJ_BtsuDTv3HOS1p0E0pL6NFcy4lDBtFXUfjzlujZhXtJw4C_oZemZhfje77TzueqNh85UEXN5OAi0NqHTCJaTtSP_zplWlIGc5J-0LM5dEfJ4wEVa9EJ8eTqyxU1xe0oHkAN3BUWyCbBfWSNWR6xNyhsVNtdqBsKllcst2oo95iINZZHqLMQeJJr4gcbec6IAYK7Bwfwek-s1vfKNmXUOzKhjwhFuYLuhk1nD0kO0gLKibZqXvjxm9AHBT5MLK844FvOrQ290mDFWZsOaaBN3WsVLUTsCY8JYTyeTTTMv7lJ3ZeI-m0QAFlrwYWVEDqVie1BTExUL76mF9Poux9FGDTgSKh8kptf_arECNldx-cyDLEuxKYlVg5uGlSXaaOchMMCwYw6VnD3scyx2s_E-NcGzUw9mWu5yGwKnu3k5FfClKke_xhNkRw3YMD8Pv4GYTKZ3uiCefb_aP7flmUyEOhR4BZHAB9vTV6CC9_rqyIxbcG8kggFyzBBGJ-4qEOXeMFjSBLSs1tWn9gKPp4s1VXoIZhZFc=",
  "id": "rs_0f86157e53f6fd12016ab441701a7887d09da425c45aefeb38",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.12,\"right_z\":0.025},\"note\":\"The carried bottle remains securely held at the clear right-side staging area. I’ll lower it to the tabletop before releasing, keeping it separated from the other two bottles.\"}",
  "call_id": "call_WZ5EynIfdfM80X0oIQ8hI6nV",
  "id": "fc_0f86157e53f6fd12016ab44171f69087d0a10bac1f6225887f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WZ5EynIfdfM80X0oIQ8hI6nV",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8009, 0.6136, -0.3824, -0.0227, -0.0292, 0.9983, 0.4728, 1.581, 0.3546, 0.5339, 0.2935, 0.1753, 0.4945]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.182 left_yaw=-0.0009 left_pitch=-0.0072 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3297 right_y=0.1153 right_z=0.0131 right_yaw=0.1081 right_pitch=-0.0868 right_roll=-0.0334 right_gripper=0.4945\nstate[joint_eff]: [-0.294, -1.7299, 6.5299, 1.7705, -0.0513, -0.0317, -0.0122, 0.3761, -5.7094, 4.3419, 2.0244, 0.2418, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1089fc15344fa480e893a52c41439867dc66587b7c48413fd9568d87ecb284",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac25cc73bcabaf706e758b976c04ce6762b3b625217ba21b46889d4259d5d874",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:300699bc46769998ea206fa47c03658817866a2140bae46d2c3914dd4716eb98",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.3828, -0.0227, -0.0292, 0.9983, 0.6018, 2.0026, 1.1706, 0.0708, 0.4145, 0.279, 0.4945]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.182 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4568 right_y=0.2317 right_z=0.0513 right_yaw=0.08 right_pitch=-0.113 right_roll=-0.0543 right_gripper=0.4945\nstate[joint_eff]: [-0.212, -1.3607, 6.4479, 1.9121, -0.0269, -0.0562, -0.0122, 0.1436, -15.8154, 10.3453, 2.1758, 0.3199, -0.0366, 0.359]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3828, -0.0235, -0.0292, 0.9983, 0.4767, 1.2163, 0.6243, -0.0242, 0.3073, 0.1841, 0.4945]\nstate[eef_state]: left_x=0.2961 left_y=0.0018 left_z=0.1818 left_yaw=-0.0002 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.3426 right_y=0.1208 right_z=0.135 right_yaw=0.0973 right_pitch=-0.0127 right_roll=-0.0063 right_gripper=0.4945\nstate[joint_eff]: [-0.0889, -1.4974, 6.5846, 1.8486, -0.0415, -0.0659, -0.0122, -0.1846, -4.7521, 7.1043, 1.8095, -0.0757, -0.0171, -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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8009, 0.6136, -0.3824, -0.0227, -0.0292, 0.9983, 0.4728, 1.581, 0.3546, 0.5339, 0.2935, 0.1753, 0.4945]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.182 left_yaw=-0.0009 left_pitch=-0.0072 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3297 right_y=0.1153 right_z=0.0131 right_yaw=0.1081 right_pitch=-0.0868 right_roll=-0.0334 right_gripper=0.4945\nstate[joint_eff]: [-0.294, -1.7299, 6.5299, 1.7705, -0.0513, -0.0317, -0.0122, 0.3761, -5.7094, 4.3419, 2.0244, 0.2418, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1089fc15344fa480e893a52c41439867dc66587b7c48413fd9568d87ecb284",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac25cc73bcabaf706e758b976c04ce6762b3b625217ba21b46889d4259d5d874",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:300699bc46769998ea206fa47c03658817866a2140bae46d2c3914dd4716eb98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEF1pboYNg-d0dwq0rkBKocnscJasEt6XxfTDCGnlmxUlgd-jrHV2GvtorMoVwonIy7yFhryqV_QBkiorCifPvZgluhAG8dNoAWLCieNW3T8ffAiU1nxPsoDaTVDi7qYtJ5QWSlgCkvBv1PuKOKSqZNUnWiAXJVVIHyocea5i261lXrIGECirBBaglcLbr3wXItQyEMfbX88Z9V3GM4E1O0V8YsCklZTcx1JO0C2qGL6_wRZR5o-QpL0BvI4nGXYQ0dE2goVoIpT-115sOUgKWCi_isKC88UPSVwz7CMC7EGNHHFXd8kZpHb96osfcq7RmPwGJzp9CD91psba4fEBGcXr2w32d2rm3d1YmWyrQ62RO46HKUS7OQMsBSumsP90LPMVmncnbqJiBHZBAtTiRVlEDOhYtPFyGzY5B9PHCvjhrVNKYh1q-M9ucqnRSHP5T891ePp_d2_6u7Xya5wjCcK479S4gTW4Pt7HYNjQI8a8JWwYE_f6CVwmZlAU2W58jh3XzvMsMMAb2XTTbJ8CCI_JWxV6JtGduRXnJjy-LxcKrvBn4PZp_Piz6cyzhaGrREDmCfS4HFr3FY8xAXjO5-OWSNfV22lm_3utvcuA3NnmIQVG0j6ALD-6gibTSIZhtrVS5fLcUr4H6nTtk6J5W_nX9z5j1GLe55Y_eG9IEDG-QaV_Nkbb1kF0fcRw7ZIpx0i-QHdKLMW54TC1dQqJ1whthGmQuj6m3y0uPa7hEJqsC_jhs9yGROEMxNi131vCKS1SWeMm52_olHqxOIdR2rM_lPSPaFHNUB1LOhgljt_-ZHFqnNB89f0zEUguFWjM1eu8ne_aLTVUEPZoP-dWpzgG77JRE2-oAzlB8dlHXAvSxXtNXpDRNzVTzEobG4V3xioYHkzL-G_SBUPkl6Y_X4Xf_xip402yURM21tubhGAhuRYVkRw5NQb0-BoHyTwcs89LCxb03EQgtJcGkDFzbM_E3SdubhYxbW9hShU15LhR3OJ-1x8Ro7uWSPKTn8RdRvPmSpYf4NLoZtiC69cqCm_Gax0I-qUPUSSBrGNOzNA8R7M1w9d1L6RqOO6z05gHfvYQcGHsKim25xpFx8_cT0yKTbG4zaqfD06prwUkYnzWqpAT8HEHHGdKKS9rbgqiyATgW5F2tqCH0vR1wT1XjtHcvSitXmT86S-lmpWO10QcRaeWA09MRcb8zXw38Iz5YOG2KBOmxEgY3Y2bgkRuBi5vw==",
  "id": "rs_0f86157e53f6fd12016ab44174a00887d0ab0c945a2719cbfb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The grasp point has reached tabletop height and the bottle is supported in the clear staging area. I’ll release it so I can reposition over its neck rather than its body.\"}",
  "call_id": "call_daINAC5Ba99LJepdnRcIvKAv",
  "id": "fc_0f86157e53f6fd12016ab44174c89887d09dfd02b847d7fd69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_daINAC5Ba99LJepdnRcIvKAv",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3828, -0.0231, -0.0292, 0.9983, 0.4767, 1.6379, 0.2794, 0.7277, 0.2863, 0.1738, 0.9956]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3247 right_y=0.1156 right_z=0.0074 right_yaw=0.12 right_pitch=-0.0306 right_roll=-0.0087 right_gripper=0.9956\nstate[joint_eff]: [-0.3624, -1.7299, 6.4615, 1.7998, -0.0317, -0.0464, -0.0122, -0.5675, -4.7385, 4.0684, 1.9902, 0.1587, -0.0366, -0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251666130da3ec2d1a69dac3ddb5e186f49441e0f2ecee693851b85cd16dc7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97216ec9f305cdab982bcbad9c06e88a312f20b3598122e16bdc71fb78f4afe8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bbc1f71707c1c3f2e260b6eb05d49e23fa90a43d1d6d36c6edcf0f2840d8c2f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.3824, -0.0231, -0.0292, 0.9983, 0.7158, 1.6951, 1.0729, -0.0875, 0.4797, 0.3252, 0.4945]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1817 left_yaw=-0.0006 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3974 right_y=0.2424 right_z=0.1323 right_yaw=0.1198 right_pitch=-0.0456 right_roll=-0.0272 right_gripper=0.4945\nstate[joint_eff]: [-0.1436, -1.7983, 6.4205, 1.8242, -0.022, -0.0659, -0.0122, -0.0068, -9.9897, 9.388, 1.7167, 0.525, 0.1441, -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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8009, 0.6136, -0.3824, -0.0227, -0.0292, 0.9983, 0.4728, 1.581, 0.3546, 0.5339, 0.2935, 0.1753, 0.4945]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.182 left_yaw=-0.0009 left_pitch=-0.0072 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3297 right_y=0.1153 right_z=0.0131 right_yaw=0.1081 right_pitch=-0.0868 right_roll=-0.0334 right_gripper=0.4945\nstate[joint_eff]: [-0.294, -1.7299, 6.5299, 1.7705, -0.0513, -0.0317, -0.0122, 0.3761, -5.7094, 4.3419, 2.0244, 0.2418, 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3828, -0.0231, -0.0292, 0.9983, 0.4767, 1.6379, 0.2794, 0.7277, 0.2863, 0.1738, 0.9956]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3247 right_y=0.1156 right_z=0.0074 right_yaw=0.12 right_pitch=-0.0306 right_roll=-0.0087 right_gripper=0.9956\nstate[joint_eff]: [-0.3624, -1.7299, 6.4615, 1.7998, -0.0317, -0.0464, -0.0122, -0.5675, -4.7385, 4.0684, 1.9902, 0.1587, -0.0366, -0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251666130da3ec2d1a69dac3ddb5e186f49441e0f2ecee693851b85cd16dc7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97216ec9f305cdab982bcbad9c06e88a312f20b3598122e16bdc71fb78f4afe8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bbc1f71707c1c3f2e260b6eb05d49e23fa90a43d1d6d36c6edcf0f2840d8c2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEF_JPRBKqKWYxDaYyADAhv41Lw9-nzQIrMg19Uwskm9o_VXoWlWGg0gFApSOvQ5-7AGkWWw0xsUXRbRwZgu2wt54cgW5UKyutZNbu737BvG9WuuAteh70qbO3TrwTQgMC0odHZ29q4waWug4FmKmtYtm65NPLdoeTAh4a3K_Vs9hZV_7QuQ41j4PXfbLNfdLygQ8OJp7ig79XcbAlosJYPgE9Z0nyZx6HvqNOE8zcx_qdI4fJWLuHggI96fcoXWNxfPuKlA6Csc5xZnN--FEjgCgL21PGqUaUEIdRy-U8H2ULwnLUu5gSSrMmxO-vXMByPX306ZGWPmIzxp2Ld6dglHHhakb9zUhHOowWGlkZm4JQHBK6IBCNLXqL98TJTHwW3kp6JYLZ--u_tjAYqS3OdcpE1DXZK_Q45_4G1PqVxVuZRdZaFDfwO05LZjgpzAqDsOS7e30APbdxI5ginciIBJSGt1N8RjYxJSh2peka3IwV4VR4yXkqYYn-yfInuKuYeBO_yQDwssGJKGo1ZwRwWGxSrf9teW6DylndHpFd14HlpD5U2veC-y2rZJyzY7uniQYOepk5nMWhXLqcJJoHfE5iBhPltDgvHvMvslZ7e_oPi_hsh1pllPuBAPFsosH07SSDX1BkT1UOKk3pSjWwlu7qpdRskXAjbaBUxIKS27RxarsKG3qTJXf0DkmUTKLcA30QwGP1vrGvWdg9k1_5tkc2ZAr2nNTOduoQUWRjgiqOlHWjuSY5SeggNA5UgJw38jmOBdY3_Pm0tfNv29Fhv5xiOLoDbfCF0GOB98NKhzULUUm2RXC-nKTdhJzBIOVTLELYLec0O0w82EMLZQ1vFvbE1pc8s5auL7572g2DWUS4dpRoKApSEnn2Zx66Xog3euzp-mmuQ1uEr18zyZbnvTTzuzW1M0rRyQiptSFtqLQSK6TZbrF4GFBG6XNGoJMXBVgze5_Vn9XQjQIVmNislf_Bv7sqZcwEXnDMywfGs4phGHoO_MK_OK8-loG-eRGK7nWDlsYqj5BAkHU2lapvwq4P0a4L9K-19QYrwTaHrZ_ndo3Jy44PeX1sO2qnMnoDKnFfTONt3OwIxfzlNugl67pc0_8J3FGhybCmgJTzo9zXjKjY0xuv81kk9tBUo8379vIrT5iliy1C70yyL5DRo7Aaq9NvG2ASwm6ZfBoZ2EexdyDbBZP2kNYXeX3ZopjSQF0j5xKKJIsnSuSU6TZHjjK33lx6b35i8hEgJFYLHvrhwSI2UeLfjXOwU3rmTugLbdgnsspTpI7ivRRWHoG0M_QyO1rUuzWic95wO_-WKJ2N3HSmuf7ONmcg6XvKSLw8RMrmgK-O5QC1Fu4Ng8Zf1gt3xCVK-i9iweFYLW8wSiBPilHsHmFcF49lqICPz9dlzHAjNDAsWNyovGatOsDcRHM4POJHMZd8WqUgvkDGDXO9GkBaVybGT2V-_YJbxdzjvcOMBRoXM8cwpUlpER9HqzC-xqFKedHNnFj0gTv1imv1h5U5sxCmYT-yzOe7qZLi0jOB1Evyn4y-T9ZZwsxPrq4DAgul6n3ew0UuBuKXGLGKN2mlkr8d1a1cG3AeGmZ338sDYR8isPR2Ol9F9KfsKZBQYw2XUnLYU3HIbMa4BsfUSiB6y8vtOp0LSYb6UiizB6oojiMZk8rNJ1l1LE7Jib6f_fMuLhCiyZC1o2C1DxJqMxudhLS-BQKqbAsyNLu8tC_kRKobu39ovPQ_Vu89qWVURLN_irQCbB2CiJI4xj3v-wj-_EFgYplYXoVWJlwZEl2N96t5H3HTGk2VfxesrsBHuT82QPCrmIX9hFCLk3281uxJZsIdwGy0skVdjG1qxLbcH_qTxt2sUT7ZT7vDBmh3uCXFJ2ezneExVTbIiV-pxyzMFJ8yi7ZbzhBqXRhpsrHjJVS16giNa122UnF6ieB6CMOrD3jqWWCrz2J0bp5rr4OMCDu-j5rSLhfOJMz0ObdYTCX1qD2rXEp6QB-teanKmh2_24Ru72R2x2VemwCO1gniGUf91SMvV1aIIY9uQWYMaeL_HSxVzVwE67KQA5r5hiM21ei0dvndnEUPpZ1ynxYlZLbQR3MP39AjsYR9yX09tQ761QShG2uZZL8ydVDv8pOW718L8pu99qNlEc7QVtUiMpFgbQyAZ-6EjHMw3Y8BOVOGx7c73wjR8FsI7FWrlpkvAdcZZyOUcN_FaIsH1QxDlOvs_nXWTjfy3yeIsuX9fJBt9ubszKsiv2zFAkZY86cBdMVjjEHFxc-ch1wgjhoUzHxaR1R7_xy2pcrsB5lxsIES_jfERwHpg7l2V8Pr92kasV2qSBj34ZyLdZosmDwhHGi9Jz6FsmvevtPv5HEwXgHf95L5w6tpNZBdsU1zru-1923pwsFGmBm83rl6CItSdUNkZ342dI1KpN4DvT4tuJmveLNc_2XsQhPHOjG6zVazwb0Zlt_5iuuDgn6mbPkQOqjbg3hrBMO6BF2dcDywQd1MXveGZQPKOdakiT68YiYhB4j-w7BtVa1v6n2XhySF8eHdxCW_znG39CUqelIN0i7jB1QvSesJ-3SykBw0JNpvmsqFelXy_vic4AN1VrjGKr2uv3DpaRHuMD7CuayARJ1YG08pP_XIkqXWvAQQd0UGbj2rgHZBnvDcuzITNoKCeJZK56kO5GLfipIsHd16h4mPzs0_25Zc5S-xz1Tmzs55zp3fTMHRpNyipNMLEtyQ5hDv2-kKj7QvRyZ69nukceQeXYtNPriRnpIUOkLzXOMWJ1aDFiuNae_4xPwmMJ0onxrYaZrbnC3hx358ih1uLzSq0WDEU-WRbx_a9B95AnPTEY5audldqfgvGexIWXd6FwdjNmMU9iUAYDaDhHprjNYjZxSTsTiPAh639SdAsTkQnEG9wQBiYDswGToaF_uDJq-_OW5SockpgPyXCPKp0bGdGoo8Ta3-NbSCrNcHS-Ce6Hc4MQW3rOV35FzdvjYENF2Khx_D5_3Nr_xd7K4WzuKVxEbKyFS7mW868ZIDnQn8Niyf5BdyrWe4CR4QnfZQ3nsFnOFk2JvJ7MVH-ge0cByJ55ZkJmxUncZEjbAMLVoSXA1FW1YJTbr4grnOXBVW5udjtJY8D-hyBR-91NSqBRsuDnBbfDKJC_MexcpWTbVjl_legsbZpb-gYzWRCEiEC6X21WhoyCAjJUORdxUcekjTrxbHe3AUvlIgXv_3DTVCYqNsMHjy-ac9JDlQ9mBzZKtRpg55Ljsp6OFJjDezu7QDv1wL5fA-kA05Km0A6uu9AdwQsUyilNbexZ4gK02SKC0bhov_2KKdJUNehQTCJNBv2iti2-_q-c907Ae5d3oVo1SSR16NaXtNpuqiM17fsvbEM3t04ON6IiuqBz06XinwOZc0jAarrXaPZ1kxMc6DmozUH9Hup1mSGgdA0WLBW8XFFV4wV_nQo1gwqR3uQF54Lv3Ds2EWPNHAveY8jvbtyEfoxbW-ePOoDEtQ2Wfk0AMnI8eAWBLThbkjfJLvFTjr9ITRcuEibQ_wxdzYV__RcTfViU717yJJO8HJoU2VKSHd3Ye6gR71GH0XBfqz9Y__Voc2XzZK0hVylQYS6hJy4HheysCa66_YxJYqW8nqQXg4eoJ_E0pTmohLM_K1JXp4gRXVDxZbQmgry_H-hI7jIsWJ8jMlByMObMznX-j-4kizxlo3agN91rV8gFsj_QwkAYd0SjYrRCJGJRbDZQv8aGCb6N5oHGWIb1gGdXJnk-La4sJf0_fyO_RZ9FXUejpwFMnR610Tv-wUtxt5-Jkksihe1EBE2Gqd9tkNEYl3nk_XXsa0tY0q14XDFQWhmbrE6uPSqTzK-BuW374-BhTLZZSPqPOhBb49p7A5CHIV3cdDzyjp8MX1adCM1Dq3Cmi7zD4Sz8ohRFe5Nzga95dvdrH_ld5Q0zHK8gnOAlvzc8yWmhotTS72_fSAM9HHTOuonpJR5N4R4zXN5afy-4cwuAhT5eBe03F8hMH60g3yZ_IIyPNkRuhBoC4kyLB6JwR0mvcILn_AUKBib7seiXRFtfxMBgfCWEdNeyi-16-tBVHilzNPo9sCuJ7KQSudwkrrp8YJ3AlyQjsIhXbQ==",
  "id": "rs_0f86157e53f6fd12016ab44177404c87d0a43538b03479a5d9",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEF_84N38USkxFpRWwKC6m8MOmXwvXyYZvm-1bHcRpPVb-7GPFqGtVdj1PbZx-Bu2nCcDmTYCm1tZr9zUcPuf-1lxqO2WXAAJfUvkNgRLJ57BKE3OcWtr80Izk9M52QgmBjrkL0uUsHarHyyh9bh8olfYc_mtVMav52YvC510dQzYiGD5LxDn67_5YswDCZ5gfi3u77vQ8foDvV-8LzDyvtT5wk1XQ9pc5JTyRxHbIwYcB0MZFzwdtBt6YYqZqfBHZtSi14_CMqzeDbz-WDXCRdcoE6SP3wCp6XnGrknbgIfexKEqaxpop43tcIMKQPyClegTBmHUOSc4yoUCeodFfbHCqiO-te9ofu0vx7Cc5NnYCHvDuJVB5SZksG1UTN8t-RmbJztjhWH6wS3kdYgqpd3PMjkdpy9NOVeotR8-ucGAJkWL2yMD7pK4ww57ZDNvTEvNH_CYEWQRCW8SkZJiZcLnmJAhZNYt2QMh5Dk1MEc2NmI2u2FymA4z-ydLxyTcFQdrmxDyyFL9PhuOe4GjhMjNx2cTBuT0XaNYu24Pyp0wYFHILh-sk6TDPo3JxNsuPhi6oOXk3kB0GXso1J7lpTayZegM6BRiH0X_ubQClRXwv-KOjPdFvk-IJtMZOfWHZ2mu_BueJZS0zkjMNOFPi9YBhFK9MdzT5uGN89-JTBGe7nUlrrN7PmtrHsJhnz3ff4pP7jugxTaO3MDs-yCLex5IkQtCRVQm95Iwgv60CmPle6ed4zyJqaSPUm4c8vyNAQm-A3m29q1NTfq5oDuzs_ycR8HpE7BX2ZJgs3wP6mNgSZKYPhkZioIPMgOTzwdZbv5TYOiUbVwB0jXQb-q5nTXjz3xzaF-u1fLXIsk_GIkb-7MsB_ORZBauZbUDNSiVCh4cLQmVzq9338Ivoi37H-MLFTfvNsjd1X45zc1IVgGOM-9I59IyVr3KmSYmmE1fKCYdj176I9p1_yBnNJLpW-upK9u2gIxHIG6Mgh6gO4vq-uV41qA4_lToXXiJ5_IufQXsJvYkl2bUSX6bDQ47epx-aMOU1NGvx0Iz4glsr9B8nQk1JCh2VrCHFRpy7n-kpCrwfuaPUTJrqNQmEr0xuSrFa2h9E6h-okYP9OBtC2PByOpDGIEicjsJpVbgfAmRj59V_uzwfItY_-sQQ_ML9ep8T2Nqzdg58ATh0U_7U86nIiDi0kGLvXlVW1Bd_G2V-29IQwivw-WFPd5AgPrpnom4w8I_fpYOZIUI3Sd_QnIYEgWZIza_ObJPHy3MUNGL6XhEj6AHcVOazz5dU0jB4tccpG6HjvsPq7Fq5O2lMD080E_MYGCCDqfb88kklcn30dK9gWIFE3KxccPI1IyUoh8EWyIB1Lgw7sSibQgrQbnUosDGyKOWOYbE1XlKIsvMMoIkQUh-J121HzRjsjz95pWaV8L-SokgIZa_Rqyn0kFKGjTacw1t57ndr-yAewE7QiypF81JKig1KK-Y1m5AiZi9S78kPDVP1LMDI_q_uVKtt5CkNaMeKC8lfPQ8USHnBcIvS8IANJYtS01_UgTd__k3kFCHsBf0dSB5hKIue9Ur4HAYuxmEsEcrSFIWcZ84JGHzo6oD6sQk3mhSuk50XmwldgjARWg11IHeTdIXO0vjFZosqzyRPdVtbSSAzbd4GSu_ZrcFWSIEA5eZ-Qfx0y1RIp41GhQmZd29NBbkgQ4j-z_SpV7lNe0iSfAHC59PY-1ntHXtslSgG2uVOQv6aiOXTCUKR41adYlwI5kLsImr6etutuHZMDppsU5xJHQ4MO3aLkCWnYrGoypHD7rOc1gSIgGWy184-UYvpa8C7x-qbQbPSnX95HY4KJ6Kx6dNQFj73AGY1NO4SkNeQbAddw4V27CJcxFozknGLUIqj6sm-29EvH6nTzu47cHVWQrJfNiho8Dz_QDSExugCf9hMse_QeAKBBkDj4dvjfQRl_kPSUu2BipRt00MuWpz4Fw3KLrwlWdzaHbcTrDCmG6jObvE7MFAG0wosYJqqiih1EGm6IKXt4Npr6rKHJOzfzY8tqjr1IMXGhwRTSBtCp0rTcvG_09Lbew0KRRAH3FCDFiRWdzdrrqbEMihaHl6VtMukCN0kSvX9Plnd5CSp3t50-OFlTMTkJGr8Q7M48PCBM_3arUxVD6x3LiPZYi31pkXlgajZfNH-sFnAfQwT1CtmFW-pAdMrbu_uEpQNm_AtjZhwiefgtCD14sbmq4Emx-q4C0-ayTHJTrYrXKDIz5x7cl1ZnqNubePS1lhTOvv0prWsE=",
  "id": "rs_0f86157e53f6fd12016ab4417c65f487d093bbbfa3e832a3f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.2,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"After release, the staged bottle is visible in the wrist view to the left of the jaws, with its neck farther forward. I’ll rise and shift left/forward above that neck, then use the wrist view for final alignment.\"}",
  "call_id": "call_pHbpZ2idPCACbJQlIlUNntAZ",
  "id": "fc_0f86157e53f6fd12016ab4417ea21487d083feb1beaea4e282",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pHbpZ2idPCACbJQlIlUNntAZ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3824, -0.0231, -0.0292, 0.9983, 0.6067, 1.581, 0.8421, 0.1257, 0.363, 0.2165, 0.9984]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.1819 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3925 right_y=0.2004 right_z=0.1201 right_yaw=0.1642 right_pitch=0.0027 right_roll=-0.0074 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.7573, 6.5846, 1.873, -0.0464, -0.0513, -0.0122, -0.1436, -6.1744, 8.2667, 1.6923, 0.315, 0.2906, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:674b854fa2790aad55ab133cbb42de6afcfc34c5cd7687ad6bd93b9ba58744e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd37d205b074ecf1d850d08bafa9f8b023775fe129c4e6b3a9e952772b6938cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66822c0334e7f9eb95d9dfa6fa0d73f49d89aa22de2b9e627190fc71de565ae8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 40 changed as sent

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3828, -0.0235, -0.0292, 0.9983, 0.4767, 1.2163, 0.6243, -0.0242, 0.3073, 0.1841, 0.4945]\nstate[eef_state]: left_x=0.2961 left_y=0.0018 left_z=0.1818 left_yaw=-0.0002 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.3426 right_y=0.1208 right_z=0.135 right_yaw=0.0973 right_pitch=-0.0127 right_roll=-0.0063 right_gripper=0.4945\nstate[joint_eff]: [-0.0889, -1.4974, 6.5846, 1.8486, -0.0415, -0.0659, -0.0122, -0.1846, -4.7521, 7.1043, 1.8095, -0.0757, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3828, -0.0231, -0.0292, 0.9983, 0.4767, 1.6379, 0.2794, 0.7277, 0.2863, 0.1738, 0.9956]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3247 right_y=0.1156 right_z=0.0074 right_yaw=0.12 right_pitch=-0.0306 right_roll=-0.0087 right_gripper=0.9956\nstate[joint_eff]: [-0.3624, -1.7299, 6.4615, 1.7998, -0.0317, -0.0464, -0.0122, -0.5675, -4.7385, 4.0684, 1.9902, 0.1587, -0.0366, -0.2222]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3824, -0.0231, -0.0292, 0.9983, 0.6067, 1.581, 0.8421, 0.1257, 0.363, 0.2165, 0.9984]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.1819 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3925 right_y=0.2004 right_z=0.1201 right_yaw=0.1642 right_pitch=0.0027 right_roll=-0.0074 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.7573, 6.5846, 1.873, -0.0464, -0.0513, -0.0122, -0.1436, -6.1744, 8.2667, 1.6923, 0.315, 0.2906, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:674b854fa2790aad55ab133cbb42de6afcfc34c5cd7687ad6bd93b9ba58744e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd37d205b074ecf1d850d08bafa9f8b023775fe129c4e6b3a9e952772b6938cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66822c0334e7f9eb95d9dfa6fa0d73f49d89aa22de2b9e627190fc71de565ae8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGDFWLj9l2fnsGVmT7rb5-Oa0CCs7kgZ0GroZkrv5-FOhLIPMlOi0U1rx_Csx-AG-ptvU7Ols42FxmcVulbL4ZR39kk28ki_TqeVkN3VKiakIiznKv1Hhk6Z9hk1k6J5kz68g8gdXJTgkroeXjAkSImA8up_MN10g_M-GAlL67QMcxwRRWcbulY1tSmIeUM-cQEOebHp1srcQ-VqBBfPBYKk9IkVPaYYl7lgM4wGSAA7Rm_-go7jRXSNum7HvwPKh5fys80HY_0eQxN2jsV_Bs-ZygCVHcqC_aP9Il6C1XdCqx0NT-3TZyJbUzNE_PKczWyddFlf8KvLRW7TeUKUCRqwgNPYVY1wwrfIwTm_98Zgr8Ps3zUa22g_LwN2Q8K0GChxcwaRs7kSifz8NRhVdC5wFzTaKU_UEaKB3z3B9xfm-nVAXg-tXD-zhHYksgnXiyF9szwYRmYOTyogE3sA0q6FOfemh-7z-CCuXdjZS3Bnvsjl-9EPaEvdpcAMe5zSbQqR6dU6KTW18We2dp2azj8MWOCjaLg-Lw9hWftQsntVNTM7lnOtYgIeYYGg6TvEBuAPAzRS-q6aTcn2QdlIp3OAv4qUeDw1_dM1d3sLdtb9NNDEuBRc5bvy0NknyBFYboFvRxnHyXtvQe3P-pdKRFuU76ZpHgpxY7tD-CDGbbNOMnF5mhkqacccTxiUHC8lvBjp80k4-qN5S1Kb0K7yurxDct-gqd4FQ3rBmwObuSdJwcA9L1mNtJok0WmbvohYAQ-SqYc9l-OvQlwbNXxPgdc_BDga1KgUKBG6ifJtL6y_nEGu8X0qc-OUVHmRF134ua0tLwGwKnPqFAV3mbvqtUI7v9rqOcL3jwtul5-YJLrJIEXdyIiWwyu-9d8aafiMnljEBjANSfteT94itbOH4o3cDn8bmnaqnvDIp1yBk84Fcp7QYHdgrFzIDbl4GnLmYD_Eh2RrNYf_mj8NXqBKSxti0Rj5m7l6LlLtRb06muWq6XSNHWuU-o8V7eboE3gpjZ8n6vSO3D0Fd0swuagw4B788BVs9ILtlzKORYrbTmRDuWjfmWuC6puLHSSERI4W442b2uLq1PcRf1na30BzMoURoyWolhRmGshglNOW4K_KTuw2zdm1JgqK2PvYcdS_YStjX942D0179TGbCbEHE3_AI0ETdW26k3UNGgEvlesIqtCva46oZsLRVPU9iD02cTGdgpRKY8XfzfyCoyi9YeHxVjH1FxzDlr29J0PB3hkX6wKp25aRYC42_f6FzUNkwUu0aIBILBCNThGBxpJcU5rXvEsZGgkVUt9eKmL1mOUMhv4yDx36J8hI506OSvHoOeDu7iwsTHECUsVTBUoVAgAB5_2PdglCtqinGO53efVxThj9ov-li40-1qYahDulLzJagwUrdvs4h5SLM8x5zowk8niJxbLUuglJkBqucmrAsl7hXAN4W0XsK3D8E7PY5VUPwOSa0XYndrDREPb_GtvuYu9_G8JZymd2hvxI2KCwQkYXUujISA-1XS1rii8p8-VdOfhHLFs6tuw2NKPmTwT34ywiIPqEKukXrYNQZ3stFHcGr_t0qDV7Xvqso-C9H53g_BWJfNE6vUary1L_1sVsME7396XsC-t3gPHjPIoOWX021vAFRVp1sAE3_mNuUkxmjnZJ47eJYyPwB_FrHnnADkqChp6hfeL-sCuj0tzf74=",
  "id": "rs_0f86157e53f6fd12016ab441814ad887d0b85336fc8b1ed082",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.2,\"right_z\":0.035},\"note\":\"The staged bottle’s neck is now centered precisely on the jaw column in the right wrist view. I’ll descend while advancing slightly so the open fingers straddle the narrow neck just below the cap.\"}",
  "call_id": "call_IT7CC8caF444KuxKnsXLM9mk",
  "id": "fc_0f86157e53f6fd12016ab4418266fc87d0b4902b9ae909f511",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IT7CC8caF444KuxKnsXLM9mk",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.5552, 1.8751, 0.8131, 0.4309, 0.2935, 0.1898, 0.9983]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4194 right_y=0.2042 right_z=0.0382 right_yaw=0.184 right_pitch=-0.0295 right_roll=0.0004 right_gripper=0.9983\nstate[joint_eff]: [-0.3761, -1.6342, 6.6256, 1.79, -0.022, -0.0611, -0.0122, -1.3333, -7.2274, 6.4752, 1.5018, 0.3541, -0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d3e2c6d7896747c439bc3178c9b654c82370534206c0db91cc1efa2a5ce2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b847b3214853d0b8636404c59b5fde21556cb38237940d8fc84507eb5b72c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0378a16171adbf9cec54d8ec9b590a2ee3dae1a4b103a344f26a1f9e6936d51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 45 changed as sent

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8009, 0.6136, -0.3824, -0.0227, -0.0292, 0.9983, 0.4728, 1.581, 0.3546, 0.5339, 0.2935, 0.1753, 0.4945]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.182 left_yaw=-0.0009 left_pitch=-0.0072 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3297 right_y=0.1153 right_z=0.0131 right_yaw=0.1081 right_pitch=-0.0868 right_roll=-0.0334 right_gripper=0.4945\nstate[joint_eff]: [-0.294, -1.7299, 6.5299, 1.7705, -0.0513, -0.0317, -0.0122, 0.3761, -5.7094, 4.3419, 2.0244, 0.2418, 0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3824, -0.0231, -0.0292, 0.9983, 0.6067, 1.581, 0.8421, 0.1257, 0.363, 0.2165, 0.9984]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.1819 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3925 right_y=0.2004 right_z=0.1201 right_yaw=0.1642 right_pitch=0.0027 right_roll=-0.0074 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.7573, 6.5846, 1.873, -0.0464, -0.0513, -0.0122, -0.1436, -6.1744, 8.2667, 1.6923, 0.315, 0.2906, -0.188]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.5552, 1.8751, 0.8131, 0.4309, 0.2935, 0.1898, 0.9983]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4194 right_y=0.2042 right_z=0.0382 right_yaw=0.184 right_pitch=-0.0295 right_roll=0.0004 right_gripper=0.9983\nstate[joint_eff]: [-0.3761, -1.6342, 6.6256, 1.79, -0.022, -0.0611, -0.0122, -1.3333, -7.2274, 6.4752, 1.5018, 0.3541, -0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d3e2c6d7896747c439bc3178c9b654c82370534206c0db91cc1efa2a5ce2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b847b3214853d0b8636404c59b5fde21556cb38237940d8fc84507eb5b72c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0378a16171adbf9cec54d8ec9b590a2ee3dae1a4b103a344f26a1f9e6936d51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGHA1QtfGLAoOhn1HuZm_82VMnOEaQqQSQDNJqEnm9JVOPrSB2NLmlh-QPtQDuDTTk9qWUkpIYMP3zboN_Mo7wWlYcTi9sC_LLwzjT8lzfrz6NPYCNWeSFa6lFWvmL92ZB4Vu5YUonYnH78yGzvkdbqbhn_hiHPr0C2rU0rBcbzVcdSm9pWs6OrFibO6l4NzuQKz3ICJ-ODPnajCfL50nDlFzv5_wsCq0l-MZ5HHYh19IwcOYzbgIRPvJD0E46_q5Y3i3Y-c5CbogbhpzORSOtG6Zd-x0LEdZAxzgr5qv6eHYmHmzQu9S9mFQrY1ieXYRvynEXLOeaHa2sXZSVmJv7hIRQFFOLNb_m5IZVKktRYQnG0JS7Ga_Mxp5YFNDTirIGtODmJiKbKA3OFUdQ3uiSjzBDM8Jk7njAM_cGhwfv8mYa7R4B-IAlUrKwyZ8LktNF9OsdykDZ3_XgncWzZXcvGM5SqnibPjaGIU5oBKwdlFieJ0ytrlTCFsSyNpbAi2yEwntM-4s52pntf0H3l3blZ-KdB5mrbHeZcnngXdRoADqA-Z-LcyzL1cAl2J63akAjZLRmu2sO0bIBEyBQFyOaLOdXSYyUXzAw-9VKlaJR5ZLHmCJ8kDIqln76ug8gf1JHw7xyGBKqZazXw4834HxjuhYLhZ7I7Xu4wm6kaWUOeFaENPHBhH4Ll_lvqvPjxnDKmXd2SaK_htutqSfmCgf41JXXHGSBba0_6-uUUAFdPJvxtO271UBeZVP5sZWQfk3Hq9ts03FYmiKS5JN7IJFibhwU0BM8V-zWAO3ycDYm2t0hGdG8tFnvn2xIaEHEjkWUuEt24xr1m8U-YECl3cQ8f3y5ckK1I0lAFG6uD5Qz-iu3t5RKEL2JpLeFrKNFupe9P0a-marVhphPP2HHeadqteb4bjtbxANhwRDQUngNxjOTU8wrTJ74Y_bpNLfOqyUkCLQq-8YFjIFOCdhgum6YviXdMS0PoHB4jh9iCPGHOL8LBNfKJVW6QavocoeTnzqJSEwedhAVLfrDmRG01cWBP-zwplFIIi9UDJsTzNTA4M3Hynsf3TjGRLI6tZwDa12SSrFphUK_RgsnujS2fgxPHlCDGb65C87ifeEImjUJ-y13b1TvRpQq814v8h9tacFgFtnOIjH2V-ECHfrXna4CSwgM1LSrk9Uduxnd1NFxs6TmO9UgzhpyXQ3CPR61Rjedhf6ngt5jC0hnUZEW8Bz1mH_lcO5Q_aAcrjyglikxvk_OvRiT8eLpuORA5MbZTiegS1pc0Isgbhhu_6OVEc2MMdwsbpf3votc2-YDaTBH-dj1buCyUxDFbQsnfPQSEfNYbECDjMGsbe_I-adKLGNZntFdwh-3VbjG2vArfoJeyWtXX4vc_P8unBxl3hDkZFI5nbHppoLnggBOxcqJopZR2IFwvxfphSQfPveFoVTw_4wOmvNCuCFlFc0-tCOQ7yqFz3Q08R2ARSlMnZaNviyWyh9o2OcGL0SXUO2hJM53XJ_k6aT4rCCS_-ExiS1mjafcAfOuxdbiI7MbGE6TvHmfmXR2QxbFmp09l6WXUrr728PybJrqynEe8dSiC2WLUfegnu1VXv-g43upMdtdwrdFPfvn5VgAYQO0BgDh_kZ0ZR1qznEoWoIF4FrVTSxqfIMhoHEZ-WK5zSnpekHI5ehZsQYPGepU1kYVdkRUEVzG8K4GQ5-4B8wPbk4zWsIht0oRqkRzFmG1GeABdOxDmt3FyhdG76bAYrvcnaYt21-wZvn05YdUfx_py7EO_mEqx_JF0TXlHRNqUBlc9vS6tLycFV6SDL7WuR3gc8oow3y0FriigRGZP49ixrQWnidj7rm2XPnWgaN1Lhln9DeEfHBw-6Z_HgfxVDYMZbnS1zpVbpKQ=",
  "id": "rs_0f86157e53f6fd12016ab44184db2887d0b1ec6b169bcc8ec6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.2,\"right_z\":0.02},\"note\":\"At low height the neck stays well centered but is still several centimetres ahead of the fingertip line, so the jaws would otherwise close on the shoulder. I’ll advance to bring the neck itself into the grasp point while maintaining table-level height.\"}",
  "call_id": "call_cVOCkwUtIZJKVEm64wjUM3ZM",
  "id": "fc_0f86157e53f6fd12016ab441868a8087d0bbc58e4ac26b7165",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cVOCkwUtIZJKVEm64wjUM3ZM",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.4889, 2.03, 0.9466, 0.4931, 0.2222, 0.1356, 0.9983]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1819 left_yaw=-0.0009 left_pitch=-0.0072 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4636 right_y=0.2066 right_z=0.0255 right_yaw=0.2062 right_pitch=-0.0034 right_roll=0.0072 right_gripper=0.9983\nstate[joint_eff]: [-0.2256, -1.6752, 6.5709, 1.7802, -0.0415, -0.0513, -0.0122, -1.2786, -7.6513, 6.612, 1.7167, 0.1734, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821693fabec9edd613cc5639623566feca91dd790a73a5943d3c493b497b23c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0544a3c1e5050bf10e68131b3b3f9f7b5676a0efa679692356b0c8f989e4a3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b18d2223f0899b7de039b72756601a1ae3364ed9295424869a0767633e03bc7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 40 changed as sent

message 49 changed as sent

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3828, -0.0231, -0.0292, 0.9983, 0.4767, 1.6379, 0.2794, 0.7277, 0.2863, 0.1738, 0.9956]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3247 right_y=0.1156 right_z=0.0074 right_yaw=0.12 right_pitch=-0.0306 right_roll=-0.0087 right_gripper=0.9956\nstate[joint_eff]: [-0.3624, -1.7299, 6.4615, 1.7998, -0.0317, -0.0464, -0.0122, -0.5675, -4.7385, 4.0684, 1.9902, 0.1587, -0.0366, -0.2222]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.5552, 1.8751, 0.8131, 0.4309, 0.2935, 0.1898, 0.9983]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4194 right_y=0.2042 right_z=0.0382 right_yaw=0.184 right_pitch=-0.0295 right_roll=0.0004 right_gripper=0.9983\nstate[joint_eff]: [-0.3761, -1.6342, 6.6256, 1.79, -0.022, -0.0611, -0.0122, -1.3333, -7.2274, 6.4752, 1.5018, 0.3541, -0.0073, -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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.4889, 2.03, 0.9466, 0.4931, 0.2222, 0.1356, 0.9983]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1819 left_yaw=-0.0009 left_pitch=-0.0072 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4636 right_y=0.2066 right_z=0.0255 right_yaw=0.2062 right_pitch=-0.0034 right_roll=0.0072 right_gripper=0.9983\nstate[joint_eff]: [-0.2256, -1.6752, 6.5709, 1.7802, -0.0415, -0.0513, -0.0122, -1.2786, -7.6513, 6.612, 1.7167, 0.1734, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821693fabec9edd613cc5639623566feca91dd790a73a5943d3c493b497b23c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0544a3c1e5050bf10e68131b3b3f9f7b5676a0efa679692356b0c8f989e4a3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b18d2223f0899b7de039b72756601a1ae3364ed9295424869a0767633e03bc7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGRfX1aXBVxEUfNo5K7SyMn__81WN3pPMG_XB7_ukFgWBzWL2isg5TeXni5WGz-3rLjXKB24CHRaDPEYFnte-3zcQkX9rG-FN2IBvnZWKVwA5ZFaJ7ITFS4VwaAvs2mFyKvlHmwFdSk1c-dsIifWkgpFXTvoMdPfM3OICVkZ_M84s09m2ai-0E1vi5-1sSXfJZ--Lh4m4MawuK7AFib4gamih5ufrz2re3JPzcB9yC_fHDnEQtO3ijrIESzsc_yAzlb8xDefcou0c4_9KH8JEvDCC2XOPqiv6NK_wrcvuzbXErz-DJXss8XDOU4TTDW4VqmRFfiHvfuJPEBgFKzJBbmZFzpY0W5Dw4Lef3vr3jVo1DBhwt8xfOcJK_sOWCKzm6MZRcEsD9un54osB-zBoZpfOhGW5-DKtND-popqhjMkFk7HwMSh2KU3nwgcM98dVC28k4QuftALcjYXMKiNteX84b_hQLY8xS6ixZbVdjWfvE60PnjTzxN5wNTduw6yzG7s9Yi1m77LT2u27ZFW7mXt8JeFYl5OiplVAmYoGmIuCBj_Uf04kn3xLYplGUvN-Y7nXEQhRB6LKdcVSAzZGwNJXQJf8SWXTA9DhW7kSyYgbVtjm-AnI5ucMcxSKlmtabrIQ0Rc7ZGr2qlMWOeFwJpcC5r8HooyWFm1Xs02EMwhJH-iB7laNtO4YjE5pfif_Bo52u3dhRjWqQRuj4mqdPgd8t-7XFVWYDucFRAboAi2xBOBWSSAM4tmvoThJvozNyBiO1ePMDWIScoIweJjsrXltk92WO7GcHzp9Kw4IwLjzQmwi3zAHiulf8GMjtafGZT4n7ZCvhMxKzxCHhUTcN9AYuW-MMaxxoUNF-Uy-3HPYuF6DfkHUl89WQZvap_DTUtDA5gqYzW6iO34SUZWKs0RXhuQxRTjNK25n2X93L7_PsyhVL53rGRUMpXF3X4ozDFK2mbWY1jsr58__b_lTMvzCatalcFlHX0KFZ4MrBTjM_nBJdXMMYnsnvsmha6ofpvhWZf7aVQBrulRrQR8d_zGNX7eMNmjdV3QfYZzZ9jKVG1r3zSlFwX4tgpTscO775y3W7s-bcDxV7jJXFV7MohoR9fxb_Tk3nYWH2Wx2UocQ91ic_iO6EJnE9DjuoehE82F4_cAtBGdu5VQgVdlBPxl0RP83MkxcHLGoHGN4gooWyjCbsMYcdkdgAL9KZI1dpEP_skNJE1nTJPn8UdQIn15b2T_XlEVPt008Fvycbx4hT7P1g9nadDpl4cK2WIjNl2TUrBByFBgQanR-pB3MpaO5H5yMGZx6v1PZkNCAY3oZyKENTY18wB33MIx6WNgu8-H_JL71AP_npXNLKG5ugv2Pw-fnJOWkmNciXOz1sHBz6afemFW6CV_ipNMyQc1w1FisgWE_E8cvgQj0L3KbgPq4nEa7fFM7-Lk2Ir81NI7SpzXyFMmx2B2cR0Sw6_Y5E1cKQFofaqEK6xO7nnMfKfHsBdUNk0hZgRKDgM476ERTe4Md6pGXXB6Uh5yfJZ-40h36OgCm0PuX3_MnDbMK181tfjvUR78EwQr_n2wp2zoltxEBUobEbaAdVo4k6rrUK1vO43gLxppez8i-PVMSXh1DVNBAeujv2gtZZqeVDAWszkIIP_9zCOIvMLraFNF5nADjhDzCc5fQJmDV6Ti7eBMZjyLbjpWXqpVDEXKrfnJrg0qyytBegF9lnT34TkoDpUu7NEAACRfiXWNmnIZ3xJ-Ue7IdczwcbIFEpaGQ7UZIVi8nVCfGdpKa0o9PyAueySaK8oqW-TrUyvfAnvQMWt_2TfwAn-n24zi4FKZVI1H6JUIAoMorBg5pLWCae14gIOpwsD1ZpN98cTe-cZOwrRvNycHCqtw4HH7up6r9_LWWgavluOrIDY5VndjwBl_hm9bE8NtYENJxx4zDO1SQjt30t8B7Wbs_yDZvGCb42Zi2r280fiNDDC1yKw5T0MyOZ1M5BBcdvsdxKn-nhMH1SWdn5y7X_m3VFRNeCVrk0reWHDGXzM1sxJPuJD6JH4zK1Jr6I1HhKWvR761RT3ursT4G4Ruh80Ay0ZZNoTOzHiOBpbP-Ij1yxUMyVf134Xh3lihh49qjDkbYf1RyxRfQvysc79kUug1DcM4gjswMAeTfuD3w5Y0ZiUBeA7WLefWNzpWHe0INkbiSaDHqRv4cZIq97EF-pFP7k6cArNIboBYTIJ_7SUsgeAGGsrIC84UyWhazSaNA0hgamO2XoFT43eEoQTDlQ9lAhwEDYO6Dx9OcIOuRpvK06OgUoAy_Vdc5kY7ezHDuueSO7PDYfGzv3hIz93WFc5qQUcGryw1d-AAH5RD8EtPaWktOMWEEip5skWVA9N6W8Vejyil51_icAe9f9og1czDsL2O8kz-w8cjd3jgsHgI-fM_uZUPdZSGtos6CE9gZhS8VIcKkzs1qmeg_vHpofWGWsJ-zqs1tMQyArHehuwYeXWTtUzmVPNCQCtWTOHriz25LjT8Xthokar-bLUUE7d4q6bWkJEDK3D4rb9fAQ3RKk1B4T4tdCdlwWdoheX4AoQFU55pEGsAzUx-Ltc97ima1JVCBDFEU-Ky_b5T2rYxxDuzDyLCCC_qBWtYk2CdLpVKMwyKq3Xen8qTENpkq9Eo7cS-4pyKtgcP15IMQrIfQdxboW0Vq_4k1qYs0jTzVs9jY_wfUVYlnDGnP9n3qN2-s-MfxHY8TDM0wexnQDC1E7p7O32Fow5CO23IVgNhPgFzuJisroLe_05yYK2dz3yFlX8TYSlw5DzSHtHs7d7F1Rk-14KTYm0GuuOfT4_faQH6oHWmwjPMfWYHb0pwkQTaXSB8usYzvgcibia4wavtB4FPJQVhuKg1T4E92aAF-nS1-5J8v5tGzl30pIrwSVma3YrWghyL-eKIL4cNY33eiTex5Rle-QUgPCdPQC0aDr7eikptBBI-SJl_EJ2bM0ovp9rDbpptgmlyG71enLhGoNTS07joO8F1RKNuXQR9X4gxM3t874MlwOXYHG_4Y1KLfKHcFRcvZXNWvSelU7HvUNo__AdXbfTPgJpiJ48MbK69d-_hoT96-nQ-8wsVfOPSBXWeJQvKrfkObl9UaSAJzUvITWQtVTUyr35yH85O6YhlmD5df36gd1-sZqAzt9gKSocZC0W4Szd43c3gJmOmFROM_l-IsjL13idm-5jrEdtLd3BiiI6WOt0his4mGqa_ejQQxP4r9d4pL2oGuGWOjbxutXJlq9c2R6bl857gB1sL7z2gBDxF-Egr29IV1eePCNHvRI-MgH5AGh-Hfm9osNSkXmdfaD5gP12argPsECC2C43VSSqS71h_0gbqZPjw-dHynjN5J5590G0tm3ADBO6nrvTawEVBMG0BOCRwTMPI6l1ZrNFs2VMS7nQ5QG8siwDK-TD1fxTFxj_tWkoAmpb99SetQzjnUFDGY5Mzf973RjsgbPywNNuOCPylE-LWUpPYI3gV1bl7DDuFPDZePv4VS-xvaD2dd4AHpRt5Bqp3gkV0IR8de_Yow2xkrBJ1ztKXA1nhIOeWtgxaPLkeB-56J0LCocJHu9h3TpimESB3iQMChqSvx21IYbQ-Zw5gqg-MbUtQpzI6YDARsLRwmIBvjjVFBujdAxXNPgm52GCpbE5BWgmTioEIRQnmUHFxUGE-lBxjWV_Cc3ivTlL6Dr4QbYGuBNk25Bzy1MA4-kS-xFnDqML7vNCQMUa-pH5eF6gOyuX8wdTaE_GwmSQr9umeVjlPql11ODTpgtwp-akdLraV0TRl7LvAdIzazwxwC7fwAePxmmcS-DEiCQ_u11FT0z9afmzwWnx1t8hMCG5xw7Fz9orXLb9lVPeAdQCx1T5vkHerhdcq0Fm1SGo_ud8YTVGfYPmaxSCrTLf16DXycNZBSJX_w422Ou0WTmeODFJ-ATRMXOqBI008aGnr5hvrqVcsfARKVJcaW3ckHIp7wmHZYx5Y2a98AJo4SUOj85jNJlcVkypQHscEl7daJdUWz15MG6WY9_ket9rCLP83HDh2vck4ejQzlwyqgIj_lF9qQWPj_ERBWKhsnijY5THd-v5iHU3inFU0-a_TrpaQ3CpzwE8HAI_-oqwxl8uuyuHNWEQ0qP1hzVau1BCXsLTNoU6AGyQH7pwicW2ClHi3Gdkct2z0DIUF5TTMD5_SfG3ROSAcf3o-wzDEqkdBsX-KTyqU_eiguTRtNML63PCSB56K9doRf2HhRCTt-K77FZo51rk8R745mStABdSHScQIQtJ11gZmdZN",
  "id": "rs_0f86157e53f6fd12016ab4418919a887d08047aceb6157cfdd",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGRc3CZGlSKeh3bWYbt7eZYby3QEor-YZUZvFmKRnpl2uO7Xsx5mXNhsyekizWANrNRXB28NBtxp2lOtKNJqycsN-vFJukzoyytcGi9QeVhOysbTySxrNm3GgoqMckJwJZoWOi3-2YJYs16S3Pr831XvZm7V_7ykoG-0CcIbbkFjfgGihUC4usmfXlPP6qPq_Ig_uU6aZEZb_eIrOJtkyEdFg_9l65od9hSf-G_ecTelwhQg1Jk6vJiTaTBkjF2TFevFG1tZflN4shPADGVd7Ywim_q_kYPPuvOmYg-8qUb3Rb5BdmbhVGS_ouOLINKicykHeb32buLu6Se-fjoaXxQUad6a3bS0JFIQ7KBsod5m7--eKFCfC9rltTCu53KDPTyoxRrc5kQZYbiLnbDiAUh4e7VnNARqhfugNED4Kh8OeLD8mnlQYRk6mscW3hrAlTmm5Cde0oc6_AVvQv6ypvqNRcQ-dQIecP4kjo7wPnTTekOHW6GgF_6hCvl9X2whUidVmG7XgbbXM1Y7tRi0UTk7olztjiMZodFHSsSbeLHz_rBa4IBcLV_91pgOL5S32lbGNoYtXW1tfGqqA94xxSlz5Hj8lFmMZBV5eBdzyJGUVKAzqURD7bbCZUkGwRtkbtKedaQCEigjTCrwhM1ZbkpTq3IRyzofQ4ajMPKDuUgNK6VbxGpmXISppWl_1NZ92XzBegLCavk7WLo9Y6o05JGQRcjonTLiGxXDNBuZZcJFFNByiIakIkgvZtKvLCNFJL5swsdJAnBSYx0Vi0q48jx7rHiToUUvsKY2Fg8BonihtDCvOZW2LhQMJXdi4rb7e-NwncMp82O1frtMTRs5KBgLfZ8kRFzIIj4nFLcTJQFsbKWcBPKG5FDZztWYtMqVyP-dUtR9a2_-isK617dv6o04BYxwg72CtWdV3UqKWZiMEClJ2nluxYkRTlVv78p6H020p8Y1zCY2FNksDQgrfL8P8zFKkcoVRlovyZS9GgcM-rJwPR02s9O8HaTofq0QhDN6zUxqnMrJTNgQEJkgcH7R4okKLkB-r-3NlrDN-ernGyu9BsNF9YyWpc7F8dQ60ZjycYwMYaWcW8zsbGommCvMETxhfvkNxNu3KamZxh4O2QnxYENtbBDLW0QhuH0JMrx6YOPYy9AwWepXL2BVtKH9DjxDN7ohTiWKLewcFUYpDbr-ghOtEPFt1qe8poyZVKjayb08K0P8L0C4CECM4rMsENXI_GcqYMzxuHFKWLQGvlP22G5sZnZXR2GYB52MhM3qNHAf5aoEb0JnQrIvoa0Zbwwxkn8kXpVX8jM9W9KeqtWtu60Q4iUpiNC7wHI6-47x8YIphd-eArZ-IY2S8HshFbvxI5z7FJilHJujrwarwVFXe6mA4ZJ7949rS35FfKZi2Ke61U23Af1AL9J79xcjjo3OLH0KSph9JyE9TDACcpo7gjsmcZKqwlYDR3X0mXoAfyIVAE_ZaAcs7_1dft5rrucuKCfbamB1xADbHrBBmRad_gZKkwX7W-LOtrMqUSuwPtre-xyManci2DcoNJQrBGIUujp3OYqfE4esODJWA4V--e4ae6ps7k4Pu_stmu3TLI_HPF6ELanJA23FvDDu_kI6Y-jKQ9m35aoIR3vKnHjV1Tya_Ts1xJlREZjgoR8gdmoOTPR3HSeSCoHllWSyZ9CYQFmuJkbcC1rmnc0WaCyJZFdnIkkVAh8cIwy4JgY-kbseerCba2XUcaBFGCl5WqA_kuGFvfhJ_rGHPKcBgU6fB_2muSuxMHOzzQO2aK0grkjnQHmVb_RUf-oEnf7apYQFo2HdQkI1ub3fza4BeekWVjSCJ4hKzu43H7ILMh2hSy5MRwYhpZu9vdyfXh5ccCAVXzg5moRHa5ktl6mCSrxeWbdTqPQDcb3U--LV64aVCBfplz6anqqnhH2Khz6ZLqMvTKEzb02sR-GX32i7jayr6BNH1zU2N8V-_jH0HJYVxC5csng_LpLABVas02jjw==",
  "id": "rs_0f86157e53f6fd12016ab4418ef2b887d0a3e95949f9a8b144",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The neck is still just beyond the fingertip line at the arm’s low-reach limit. I’ll deliberately grasp the nearer body again, this time to drag the bottle inward along the tabletop without lifting, which should translate it rather than letting it hang or slip.\"}",
  "call_id": "call_0WiGNWFh6g1WBmcQamPnwQZY",
  "id": "fc_0f86157e53f6fd12016ab44190687087d099a664f60bb20748",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0WiGNWFh6g1WBmcQamPnwQZY",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.4973, 2.0182, 0.9627, 0.5957, 0.2085, 0.1204, 0.0182]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4772 right_y=0.2214 right_z=0.0588 right_yaw=0.2323 right_pitch=0.1207 right_roll=0.0358 right_gripper=0.0182\nstate[joint_eff]: [-0.3761, -1.4017, 6.653, 1.8535, -0.0562, -0.0024, -0.0073, -0.6359, -8.9778, 4.1094, 0.906, 0.2857, 0.0904, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74bcaf7f572a94a399a269c7bbaa952183fef58865c6ed3620040c65c283cafc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc64cf272a145302f7ea0896bd07b4b98262d7b031e27a71762ce4deef925199",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4889a35684068ffa6ea7a216165e42ffaa5f71933c87a96182c1a9ff0a54141f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 45 changed as sent

message 53 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3824, -0.0231, -0.0292, 0.9983, 0.6067, 1.581, 0.8421, 0.1257, 0.363, 0.2165, 0.9984]\nstate[eef_state]: left_x=0.2961 left_y=0.0017 left_z=0.1819 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3925 right_y=0.2004 right_z=0.1201 right_yaw=0.1642 right_pitch=0.0027 right_roll=-0.0074 right_gripper=0.9984\nstate[joint_eff]: [-0.2667, -1.7573, 6.5846, 1.873, -0.0464, -0.0513, -0.0122, -0.1436, -6.1744, 8.2667, 1.6923, 0.315, 0.2906, -0.188]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.4889, 2.03, 0.9466, 0.4931, 0.2222, 0.1356, 0.9983]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1819 left_yaw=-0.0009 left_pitch=-0.0072 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4636 right_y=0.2066 right_z=0.0255 right_yaw=0.2062 right_pitch=-0.0034 right_roll=0.0072 right_gripper=0.9983\nstate[joint_eff]: [-0.2256, -1.6752, 6.5709, 1.7802, -0.0415, -0.0513, -0.0122, -1.2786, -7.6513, 6.612, 1.7167, 0.1734, -0.022, -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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.4973, 2.0182, 0.9627, 0.5957, 0.2085, 0.1204, 0.0182]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4772 right_y=0.2214 right_z=0.0588 right_yaw=0.2323 right_pitch=0.1207 right_roll=0.0358 right_gripper=0.0182\nstate[joint_eff]: [-0.3761, -1.4017, 6.653, 1.8535, -0.0562, -0.0024, -0.0073, -0.6359, -8.9778, 4.1094, 0.906, 0.2857, 0.0904, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74bcaf7f572a94a399a269c7bbaa952183fef58865c6ed3620040c65c283cafc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc64cf272a145302f7ea0896bd07b4b98262d7b031e27a71762ce4deef925199",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4889a35684068ffa6ea7a216165e42ffaa5f71933c87a96182c1a9ff0a54141f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGWI3nClviAcof6x4qcmURL89ZBO5-dc7VYv0io4Wpky8vF7jfHmgHkJFhPlFViUtYcL2JbcGav8MsZjwpd5j_83ep-avS6Rf1yWfhkog5qwSwMQ-3aaFqYMddlF4R2sSqePQD2B7UYkb-wkC_NOkErmvVzbVnNiAVLyBHm9bIwbD1gYhGdvIS6J7kVDspwkNGVbVI6o2G3EZpCHJJe930mcxhioPe1mdTzoOboQy-SDxNTDYg2lY8nKbvzop05OqVr9JoSZHFmxJ9TPxaPMaQH5CCVYVAh_OnbcoE8hJtqjZQBOpKoBxaFwbaVpddFhyhJYJDKaLPE1wZYBTPmwZbULIHzFga03Gk5Y6SIedemyrShayJJQEWCwKSl74f6NfX31jOu3R3qCNnvHb5Hq7VpA-QV119hGK3ZXXqtU0vDidgJdHZibHPgRNxg78EetJ6L3Lx3ujsFW0cD-sYCWg-lfc-F7Pt1CvHrd2WkwvR3wImPGwXp5mmysrBkz2U_xSlex0_Wf2ULcbv8CoVFyJQG82fBptRy4PVJXGOXeDzVr3KZStiMnA8hgU5w-4i5CaOEQ-Xsg2MdzdM8h_mshmNBAO46U2h_JFFm6rgcMuO53jRrwtNAEX7nt_EkAorAmEGRG3tHNpYTi822z06XUsJcyyNvt94hmf43tFD97n-6pI2PyGGmiIKZMFI9fM6funIu5EA7LGZdtuCbswlKYMu_TbnaeZs_3coX0m5jqlG-37C06mI29Kx4g4PoWcI0382nYbV8QN4LsaI31G2kezz9SEjTo5a73bZ_10fu1jJUzey5RqhUR8HLddUIdeVA0wPGPk59f8Vl_-TSNfqW3xx0SKTBi9bEAFJ34ovDGTrEqVyrjr5hwby0FMKduv4b1Ywlo6uqairPURkQq6-gJhC2H1iaDqHzTitF6tgikvgeQFAoRDSTkz1RtD-Hyv08ia3WL2YU6aWvN6ham5jwI8PtQ3YwmdP6ezyFcdWsoW_fu923wZ9QyM_1TXe1wLDqChoQKPh-Pi-deNCuTWsQmSkIZZYbIatl9duez-6YGjqQYfWM7eNEwaL-fsd1qaItgospyWL5U6EhBKwlSN1ooxBMqmd9y2JbMuoRXoZQ9Z8ZIQfTK3KPqVQefQravsRNoGN37M6uBksrGlvfYnyEH9TKudHgdbhkt6RSVK0eajOvHFqqPZS2hobfNP1Thy_VJ_CK6feYLbG7PvZI7OHEicAX1EGqlwpy01gGoKn-v6uem8bdiVW8Mh8hX6S_w7XvJ6whK31sI3PveO4FXb4SWUxYVXxUfKy0dcy_JWrYdNOOXr_S7gLBYlvvnkbZQ3benYj_xHI7KjtwTOFHlRcOyFyk1ki78IS9CPqiCw_Vju_qKVkXn9xF5tiic9IGSMCUZMHY9d0cJhAlHOSonGIiHaoPxseAR6VdKJmkgzdAU9GM5ckB8K9z5d-p9rzRc8ABzQsUg1le8d9VymsIhPxpQjIqwwC1mt9K2cQnvWX2Ni8dfe42zJqh3K7h2mc_lJnpB20DJboQXjt0_xZki-t-nj25rF89GpvgG0nznQUQVaXaa72GvnVBs5ObPCu3pcrLm7uSdXEf3DXJlsplAfxfqcG7PeG3kNp42TYN9_hfY704CormsLVHzUyrVMkGukJEb8-8ceaJRwgLLOnCUK-oRy_ADlhuuhEnM5ftgQOTG3bqHKW2-yjJiGGSiI17TWe9WuSWNPhQxWZHLO-Xgh3BlUPAyvM5DWNkWKTv7ejMnyIYGgOoOvPA9Ztjv-W8ALd_voGqHS9iiV4pZMULg830CBux6NSSX0qlMHmtXJS-HF9SINEkpOlqWp4Kzf4FT9S4tAxo_jUpDdx6XoxhEty2LEH_CB0lOOIbfEOy0RhZp2BXfRoSxzUMXTHYdKey9YE5sP_1mVzImYcFaJY2fB2_tQwlh2W70y3Ch3lCy7wF_aMpbwDIlwAZEhmadZgtDh6iiyLDiX9Nph44KBPLNYBNv6VlD_yj-cnIEY4jROrd8Gsu2LdWL5AHf_J0yeeDBBkMRGYwgpq8eBeMsmJcojUmDIOXHwcdr1eg2cneMRxrMFRew0udT1rkSvR2TRWOboZbXd-MFds62gn5K01EIvmXKARTkAInFRqZEDrnIWkk7lDHPIF7DupPbQ37YtIGX3rdjPlVdDobnHdCcVWUu3jtWw6G__LGRV1afbE8a3TYQViTDYUSY8PnfjTuxZd0uPFQWWSqMIsqmVYM1_0SYYlDrJ-aJ0l2EcZL8-KGSTmoGdP4Tmn6R6pOzhCs73pqoNIOzCpZOTRCYAxqhwbwv-PksCgoGwiP-fh3u_uU7HLgtue9J7gJ6Mr4K39qj8imV3SkN9SSGwyA8YG2Q_rL4aoJU0T63w==",
  "id": "rs_0f86157e53f6fd12016ab44193a36487d0b5b7ebf87a531b89",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The close settled empty, but it gave a useful calibration: the cap is now exactly centered at the fingertip line, and the arm rose because the fingers contacted the bottle from above. I’ll reopen without changing position, then lower the open jaws around the cap/neck before closing again.\"}",
  "call_id": "call_mSnWcOU7ve0ejUqKh6TUfMYg",
  "id": "fc_0f86157e53f6fd12016ab44195b7c087d0a2ddad9bc92e6e69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mSnWcOU7ve0ejUqKh6TUfMYg",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.498, 2.0113, 1.0496, 0.3294, 0.205, 0.1074, 0.9948]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4707 right_y=0.2191 right_z=0.0407 right_yaw=0.2446 right_pitch=-0.0462 right_roll=-0.0178 right_gripper=0.9948\nstate[joint_eff]: [-0.2393, -1.7162, 6.5846, 1.7998, -0.0366, -0.0611, -0.0122, -0.1846, -12.0, 6.8034, 1.7411, 0.0611, 0.0708, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:566b471caafacef9c60b488bddc3cc00f80429a085deb3aa26c59e0b2c8eb0ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8349155182b69104caf544aadeedb7eec4332331a21ae4967381214aa453e681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21dbe7bb15b086a012ad214b18564fa6629878720432f458181d0c2ef8f9e9fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 49 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.5552, 1.8751, 0.8131, 0.4309, 0.2935, 0.1898, 0.9983]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4194 right_y=0.2042 right_z=0.0382 right_yaw=0.184 right_pitch=-0.0295 right_roll=0.0004 right_gripper=0.9983\nstate[joint_eff]: [-0.3761, -1.6342, 6.6256, 1.79, -0.022, -0.0611, -0.0122, -1.3333, -7.2274, 6.4752, 1.5018, 0.3541, -0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.4973, 2.0182, 0.9627, 0.5957, 0.2085, 0.1204, 0.0182]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4772 right_y=0.2214 right_z=0.0588 right_yaw=0.2323 right_pitch=0.1207 right_roll=0.0358 right_gripper=0.0182\nstate[joint_eff]: [-0.3761, -1.4017, 6.653, 1.8535, -0.0562, -0.0024, -0.0073, -0.6359, -8.9778, 4.1094, 0.906, 0.2857, 0.0904, 0.9841]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.498, 2.0113, 1.0496, 0.3294, 0.205, 0.1074, 0.9948]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4707 right_y=0.2191 right_z=0.0407 right_yaw=0.2446 right_pitch=-0.0462 right_roll=-0.0178 right_gripper=0.9948\nstate[joint_eff]: [-0.2393, -1.7162, 6.5846, 1.7998, -0.0366, -0.0611, -0.0122, -0.1846, -12.0, 6.8034, 1.7411, 0.0611, 0.0708, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:566b471caafacef9c60b488bddc3cc00f80429a085deb3aa26c59e0b2c8eb0ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8349155182b69104caf544aadeedb7eec4332331a21ae4967381214aa453e681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21dbe7bb15b086a012ad214b18564fa6629878720432f458181d0c2ef8f9e9fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGaWDQgoe-mUz0rdIHBFJQQgyer7rseBytvVVhG1I1V8XrdV3nUqmtG-mk8G57jC3jfV76YpZyymMExxumGRrpcMPnbvrPOEHA3E8DNbRz4Ry97LgHeFwk-O5HfrmvfeiuGtqNsCHJU2kkz7VMiw2VZTUPUqoQj1BFVC5r3c29-8abN2AF1UZyleRA2ZApi1tNF6sj5QdXSggbySj-GA_1PlNEzaCTMBbja1hAinUsDrprjZJzMJOIKl2jA4S5Px-tBwG79Fht4sVksy3WEz16TadMD3-lEQef58BH_bPr_ET8m8ZC0h2RLscawbEIzG1zxM-ef9_c36LKhcuLQlb2AVVXcAJKOPzFzcYS_cLVMZEfDkI-5vo8i6Qbiy2n94ScWMw3lp5lsu2WBMBJ4LcYGPPdG199Ck2LxjqiEIIFykybXUNxb-ca6VBKo7f0FzgFpW75k-JkUAl-Ssa3-e8o_-ceO6mrv0ZXnDNcdGaCGcZYAuT-MLcxAxhADLXDAEGM_VgnF_Z8SLI4DJ7lLij7pdK25m3QhIT882WZMEpD7DosX3Zc9h5DNI2EbauA-wAQSTl_owPQG2eh7m3WqTkwv2HS_z6ZZmRJYMADV4Rc1hIRby_KTTkgxB8GlzvKMOCGQ2V_A_QkDcp2vkO2p7cc7jv6Xy-eRd9pqHMM2VpKWDKt7a5YTcMspnSytmcP0xUabDyTcDwlBuGLTl2yd94rqB6cwCRR6wxPtE1oTPz55hH0EkoJ3lrZ4EjBFr4Gn58yD5R4GN5VQuEVBAXnba5IjPUvHebZajVAQyPBoHNjtI1lQd8HDjxhyZUDbHdJUaykGYHntbv6czDTpHuUv4fYWH0cthyhVeIbdZZjBzT70dSNxO9IHXgxuHLvIhrRZdLwX0ho1jDZeQyRs8nFUf2rg_r7rioIIGwALY6C2Cm9_GZjRP9bhHHeXBl8EUu7XjUE6TfA6Bsx9Ql-MDnEfp40B5R24Cx9bgq_qhZDfXJ3SUfIWM30A7cRuZLalQswcKOskcOcGneqiHpUbaCWeRX2XVcWjbHwgNx4Ii28l-UZH3sg_YJkjmhhOOxtYlog0CETVdKSvn21j6ZrlYfP1OQnRnu6hxS5ejHJWNQYDS9TF8iMb_aAfnh4ZYFqqid4OykBfu8Ae5k-sBgM17kyfa0BvwMjYepZInlNWistNHiRC0vbj7SwmumezJ-P_7eGB_qrej1uZ18AsVk81taf2168kYWbp2O6Vt53QfSzo3g0ogxnYWws0Yqp-s9G8CaEsjF1fgSCmqtiAnBloJE3v6sFwVFA8V0P0Yj6qvxsVU7EHpalInsQBVe7epraHpGug-NVgWtB5LE4lj7OhaFeQd6yQFsnr0e5XsSGSEkixXbOnH6RgCnrhvNRD-Lgb_kdNQF4UKcb6p67xj-g313lHd0tw-tbAh_NpKBmlEXePsKsdE4heSYdvAIt_yetGpuYCAUnsRBGXk6DRjUbpoDYDEDvk3sIyk3WNhBLA4GfRL4fsdrCT0RVcUShEUi0mngnXBkF9Z0cX4v0XCJtR9L5-jJCXBw==",
  "id": "rs_0f86157e53f6fd12016ab44198dee487d0b181b753394da308",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.22,\"right_z\":-0.01},\"note\":\"With the jaws open, the bottle neck is centered between them and the grasp point remains about 4 cm above the table. I’ll descend to table level at the same alignment so the fingers envelop the neck rather than touch only the cap from above.\"}",
  "call_id": "call_GzcrMyJYauqdytltbs9rLd7n",
  "id": "fc_0f86157e53f6fd12016ab441999c7887d093cabda941bf1062",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GzcrMyJYauqdytltbs9rLd7n",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.4965, 2.0987, 1.0023, 0.6022, 0.2123, 0.0982, 0.9946]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4839 right_y=0.2239 right_z=0.0346 right_yaw=0.2412 right_pitch=0.0885 right_roll=0.0054 right_gripper=0.9946\nstate[joint_eff]: [-0.253, -1.7026, 6.4068, 1.7998, -0.0317, -0.0659, -0.0122, 0.253, -5.7094, 3.2752, 0.823, -0.0855, 0.1001, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d95ffb04ec2cfa67aac34de77329764001cc10f4bfc69b34a5c4268358fdc4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07d0212da7770114e2c9aab5c8b7cffb09807eb59173376c1ed97111a211d70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45551c0fec066c90b88096cf7cb9d2f0d11002e1f680870fa9f55f73ad6390cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 53 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.4889, 2.03, 0.9466, 0.4931, 0.2222, 0.1356, 0.9983]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1819 left_yaw=-0.0009 left_pitch=-0.0072 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4636 right_y=0.2066 right_z=0.0255 right_yaw=0.2062 right_pitch=-0.0034 right_roll=0.0072 right_gripper=0.9983\nstate[joint_eff]: [-0.2256, -1.6752, 6.5709, 1.7802, -0.0415, -0.0513, -0.0122, -1.2786, -7.6513, 6.612, 1.7167, 0.1734, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.498, 2.0113, 1.0496, 0.3294, 0.205, 0.1074, 0.9948]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4707 right_y=0.2191 right_z=0.0407 right_yaw=0.2446 right_pitch=-0.0462 right_roll=-0.0178 right_gripper=0.9948\nstate[joint_eff]: [-0.2393, -1.7162, 6.5846, 1.7998, -0.0366, -0.0611, -0.0122, -0.1846, -12.0, 6.8034, 1.7411, 0.0611, 0.0708, -0.0855]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.4965, 2.0987, 1.0023, 0.6022, 0.2123, 0.0982, 0.9946]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4839 right_y=0.2239 right_z=0.0346 right_yaw=0.2412 right_pitch=0.0885 right_roll=0.0054 right_gripper=0.9946\nstate[joint_eff]: [-0.253, -1.7026, 6.4068, 1.7998, -0.0317, -0.0659, -0.0122, 0.253, -5.7094, 3.2752, 0.823, -0.0855, 0.1001, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d95ffb04ec2cfa67aac34de77329764001cc10f4bfc69b34a5c4268358fdc4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07d0212da7770114e2c9aab5c8b7cffb09807eb59173376c1ed97111a211d70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45551c0fec066c90b88096cf7cb9d2f0d11002e1f680870fa9f55f73ad6390cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGePaZaLc6S9m-8lyUsasgv-QAN4dxHRYnAUX9VrGdsMpNkrcOR4MziuK5_Glj_AEP5eRGF2waJOKECBIhEUMJz8HOqDPM4aaeyXFPqvSIyG9Zl943xQP5TFho4K_05c1oeQ5xMJMKRQY13awTNNejM9qrDTYmSKbdn12SFxEaZl4ttUJziAK1DbXSfa0ZgXdTqLngBuwJO8dw2GLz8MeWi_-616TNZFsy5714YpkrEZIvEBthysH-7w4YMo1co_s7p-Tc1HICycpVoCWjf8Y4yH1h87hLpUSwIWaPqPLG3SqKJMc_rVkcUG6p2_YcYLQxZrrWtizGqgH5dI9rSSFLL_nxGamFYKVtXFKN-TIc0coXus5hCJU4Kkq7WsEuA2vuKGxsML4ES_-BrwHPP9fRNm3CLhUDJsb9WNSYUnMpLMUZWniCOHp2c2hEKWtLmJTfquF2ijDUGQoH4Ac8a59JDEPb2qLZRqPHMODS9fgFdCcxETTS4D54H7d6zPcac0pwF0sO2fjUNyFm3ha6lhn14GlQIYpVWV-x_u8GGPQyz6Zc9FtVNEjFXhU_pkkM95WEIqLV7GMkXKNfrJRuvw74JxXB8PtUiqUmViDQwyPOUSSxyx_lw3tEzq5o8f7lkFC5fr_jD9zElz8bTfO895U0bafQxhPSRN36j8ifvKHYFJE0am3IeaqvY62vCHMaperw4bTcZPQsouxG8B27WkgpQK21OmuQ4mj5YpSK5AZ5yZnIqxzbPaE2GpqxImQRI5GfBvwSa4aeocUyfUk9PEoCb-_y7Pae4MEElj57uBJkiNi9ITkMdFydglh9VxUu6c-0JHNKF5Sys7sYZtJRY-emW_HEea1cc4_imqKeowMHamcRXz9-_Io7CFlUqtRzD6YUXmkIHKUcx-I_0t4UMl2ToctyJkIJZu9RDqZSiFSUZZqX8k1LjJ7mB9yF9pexI6ACBqY_hJm9MoCjAq5R7GP10V2yDW1wYfVrALhOOC7J2mekPxsEqGHlVm30owI796Z9R3Jyg2WVY0_FOddvakS_RSsc56ma-4Abss5V8B9Y192VI0hd4aRAMRyVpg0B1xemvwRiuGijlb67t8oYroD3BBmRUJEXhDTztH1C_rdjsf_G6kr4T59c_rt_TyvMqD4YGIH8xAi1_BBMJMrw6EsCgfPfZckH6tYvL8-B_qTAkibGpY4At6Y8ntHZx8iRf20UJVvnOPg4g_arc73b_C1AKW7XlYEyBptMW8cpFkEB3yt3el8wxiTyS9ZDgmwBJ10KPzwgtdcuAqcbO16Lj0Sa6pVOABG2gFGCRzkmjbJyIEVannIXNvaE6qq7hXl3xs0fqWu2nlqPXBKGMBcEiwxwf6EZ-XhVS7CDZv4gYJzxzg_vKDDTjIaBCSXFQQ9vj7uc92WFLNWlsC279FirQKELQ6HvbyW4xF2Za391CVkfklnXUTQiNZvNXeGbIqdEOg6SlOtt9iPqJ6X8FpUPUylRodXJP0sCDfakFYoOaTicmCEx3j2m4yrkpuHv1KM-kF02zQapUUTcVIwxeqbWwJSbWdwHV-VjwuiUZN_fEBnvPcLv-AztniQIkdhFotbmDFGFo0Cuq_2FODmX82X3ktwatze_IWbB4IBf6stPFfy77kgBol5k9U5xw0eESr859owUOmIxIW1tPswjmbO23iyncow==",
  "id": "rs_0f86157e53f6fd12016ab4419c4d8087d091069958766e3cfd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The low target is reach-limited at about 3.5 cm, but the open fingertips now flank the bottle’s shoulder immediately below the neck. I’ll close here; a nonzero settled opening will confirm the shoulder/neck is captured.\"}",
  "call_id": "call_yPBx3F1isy3OFSNd8RjAezIH",
  "id": "fc_0f86157e53f6fd12016ab4419d3f7487d0a6313eccd4bdebad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yPBx3F1isy3OFSNd8RjAezIH",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0296, 0.9983, 0.4973, 2.0682, 1.0737, 0.5182, 0.1814, 0.0986, 0.0203]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0007 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4939 right_y=0.2359 right_z=0.0597 right_yaw=0.2674 right_pitch=0.1024 right_roll=0.0241 right_gripper=0.0203\nstate[joint_eff]: [-0.3761, -1.7162, 6.7487, 1.8388, -0.0562, -0.0659, -0.0122, -0.3214, -10.2906, 5.8188, 0.989, 0.2271, 0.0611, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:122a0cd5f519b1e4e8adc2c61d1382f8e92784ea3e5f2b596df24cbded3e921d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc284167d1468ad3029b6b4ad70b317ffa3bc545a53a237654945e4f52de8ba4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dcf36d0f00ab35dd7abc2f09bbd4f75a5f2ca96fcb8926d346648b5448b23ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.4973, 2.0182, 0.9627, 0.5957, 0.2085, 0.1204, 0.0182]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4772 right_y=0.2214 right_z=0.0588 right_yaw=0.2323 right_pitch=0.1207 right_roll=0.0358 right_gripper=0.0182\nstate[joint_eff]: [-0.3761, -1.4017, 6.653, 1.8535, -0.0562, -0.0024, -0.0073, -0.6359, -8.9778, 4.1094, 0.906, 0.2857, 0.0904, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.4965, 2.0987, 1.0023, 0.6022, 0.2123, 0.0982, 0.9946]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4839 right_y=0.2239 right_z=0.0346 right_yaw=0.2412 right_pitch=0.0885 right_roll=0.0054 right_gripper=0.9946\nstate[joint_eff]: [-0.253, -1.7026, 6.4068, 1.7998, -0.0317, -0.0659, -0.0122, 0.253, -5.7094, 3.2752, 0.823, -0.0855, 0.1001, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0296, 0.9983, 0.4973, 2.0682, 1.0737, 0.5182, 0.1814, 0.0986, 0.0203]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0007 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4939 right_y=0.2359 right_z=0.0597 right_yaw=0.2674 right_pitch=0.1024 right_roll=0.0241 right_gripper=0.0203\nstate[joint_eff]: [-0.3761, -1.7162, 6.7487, 1.8388, -0.0562, -0.0659, -0.0122, -0.3214, -10.2906, 5.8188, 0.989, 0.2271, 0.0611, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:122a0cd5f519b1e4e8adc2c61d1382f8e92784ea3e5f2b596df24cbded3e921d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc284167d1468ad3029b6b4ad70b317ffa3bc545a53a237654945e4f52de8ba4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dcf36d0f00ab35dd7abc2f09bbd4f75a5f2ca96fcb8926d346648b5448b23ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGik_6oB3__Cwd5DnRf626zdqCb8W1UPqyvhqS7gE4pn1EndmEh-t1U5jnjSQDmVlH6Oq5v7w2E3nM8xLWE8PCJB0sQxtOOtAwa70pJp6nSq08QW0oRvhKa2miJ1TQJs3gs6SXIWuPrJiebPGaKozU0gB_EDfyFIWcaX1rL2uSmVRPgjs8Q98q85kYGc2eTHBG59vErI8OX4xrmAv-YOZzfw6wA3665RGyUSlb7hl8GEcF3BwADX9p49r422FJWQ4aVvuCD9A_ZhxBb9vZWAngvGASYjpkWM1kiAgKzhI0GujsCqV9ghT29eDgiCPlBpyb1E77b8lk_T3-UO0sCMPFm1xX8BibbE7Ne9xEvjOxw3tfuEuGzjRp2830_fMtw9cwftrvLhTh47hwLfOaUD5CZuN9t6G2RD-QvOZQ2awaWVlrffkj4ctaoVgwlLJeKrJ3Ahar1tcx6ZwDln_kJeS5R8jDGbufjHr4248IKiYKZr1CC6tmc11ffcEb9xIEYNqIogsqFJ7S7hlzRBcSBM1mdI4qziEztWpIzL9qQO7YcH7V46E5Xk29vhTOdwWGpWmw0H8JVW7F1X5KoMUh__ECHZVtYwQ8tG0iw4nejsZ1c9TPe2-RVl01G3_9a4eHt97RGlrjIPCB9jyjyfxeMq4JqfcsC0LJ1rVVRcFYpkCIKqz_PcfF1kd3uN19d03o9ZcrfRDm1n-qNVDaZY0o3yq2qnqFLEae5n4DUYOWaZpnPYScvFbrw14S7CkoZuwH1xNtxUvkXTFQtSsw_S-BDQb3VduxpkyXlvaQLF5NM485QRX0qtme9q8dVWr7YC2p6ij4wAo6bUhdFnMETziC8roMi8ebfgyDpKzIU9eqXuLZVAL7ieNIIS3A_aR0xjiirLTmzyQ7LyStPv4U4ymSFYMqe9B73WOCTPvwvRDQishwAMBRWP45FX18_Z0dRrjG_BJ6uCVPWKTgveMveokGBSy9PYwzTgfDJ22a_oo4lJIUUYApNFbx5wbRfXAqLcIl7DHAHNwH9H6kIynpBQRORz1rsgz-aR2EP9gIybZIg_Dq4aG_stmTaurKHkhJSPmlOYCWdSHvpWv_PiJTM0PTQwDosbHN2D3fz0701ASqaQVHc-NJ6rlbaz3NpUITrViBHCjPNNR8mxzShzTs4TRM2A4ofOK7JlrFrCwFREyvNXuY6N4kKASHDfWkWwXiRzd5wUs-WyT0VoAD93CE9f7tPIsyxfjgMWWRGd-FHdouFuz8q2f2DVJYvWdHQDr6OMSDce0JNt7b6oi-YzlwHeEks_w6UY4NSD31zRjKh5IK4uAwhjM3eZIrtVZXUngeBNjZ_dWaBuW8Cy8wAvtskf67ty1BJg_4s2aM6PrGJ4m5oLUM73ycNCNJXbHDivo2KQfRaWkwMImjgM1lolBgRHeAdLdlx8QNL8He8T8gm0dr30U_L9I5qcCDoAl6GNM5_iQLDwPb_3zHnVjVzQrZ_l1nl5l35nlDJHgpLioTXJTGUfjZ3Gl-JrR2gU-GiHZsk9PtPBr8p5jfu9Lu9K_Kmmfh-frQVI3sHnrJs1hKvj2Qpa-aoj2Ax5D7OEEuORZ6o1KHAhaPTvI5JMZnNzum4plJzmlKVQj3CPMCmKUMhsMGTjEuhC38GvnkNMuyDn2C_rFgFBUDpkGthf6aQ8YOT3ukvfI2FnuZSivZX41H9kyidl5L71zKEmpdC7r37WfKmzPENlOHgId1Zi_vH3PyfoYQW9DFqyIiQKtym7xffW1AT62ZAsWyEKscsh-HMfjYrR6OWwV2Wojwk0Op-L3UuT-fWzf_pt9Iq-JCSZ2p-txBneKZS1wfc2ZtPWWOjw0VL0nt77YrZdupnUSpcegmWqgToi811nW7JKoni0-yU-pQg95vDqqVKbkMStvkEXSqLS1-M7nu04kkFxwfXbwltKiLu-ccbO9XHWgEUk_W_CTQv1bqlufiyLxefOaE8bpcjGkU32Mjm2nFGiTkwf2QNmGDHQ8UUtgf4IgnWftE4N5ieTMYlIrVLIrADiit1IPzgfYE-oLIy2dLDNfjVYTsFSAUlL1tpLRgenzxhtOU5MV-H7eaZO2E7IRzvTFykR87KL5_GMjWOzNpYGzA8E9cZ6tqt_NQ_s7vwX16gkfX3tOESLxOwcH06k6YO-wRdGjcl_FqflHnduhQyOt0_ENiglWiiNR3dsw==",
  "id": "rs_0f86157e53f6fd12016ab441a01bb087d0a8711742cb37a6c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.23,\"right_z\":0.03,\"right_gripper\":0.0},\"note\":\"The second close was also empty because the far-reach geometry lifts the jaw tips as they close, but the closed fingertips are now directly against the cap. I’ll use them as a hook/pusher and move inward along the bottle’s axis, sliding the bottle into an easier workspace.\"}",
  "call_id": "call_EUkptVdcNhyUsQEV2MjLPFec",
  "id": "fc_0f86157e53f6fd12016ab441a1d26487d0a29f9e0352f0f328",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EUkptVdcNhyUsQEV2MjLPFec",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.7151, 1.8198, 0.6079, 0.5209, 0.3374, 0.2096, 0.024]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3454 right_y=0.2273 right_z=0.0088 right_yaw=0.2959 right_pitch=-0.0745 right_roll=-0.0314 right_gripper=0.024\nstate[joint_eff]: [-0.3624, -1.7162, 6.4068, 1.8388, -0.0513, -0.0611, -0.0122, 0.2803, -9.306, 5.2171, 2.0049, 0.232, 0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e9087a203e673a726d55a3b20bb61efbe99304e36b8abf771a0d23e3f4b950",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cde573989bc415b2e9b259e05d5cea660e7406046ca6d72ff2367b67d5c7341d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d7c2df03255b8c46e3ec2f6e654ca1a7bf5bf822f0ad68d130185b3c66791b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.498, 2.0113, 1.0496, 0.3294, 0.205, 0.1074, 0.9948]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.0076 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4707 right_y=0.2191 right_z=0.0407 right_yaw=0.2446 right_pitch=-0.0462 right_roll=-0.0178 right_gripper=0.9948\nstate[joint_eff]: [-0.2393, -1.7162, 6.5846, 1.7998, -0.0366, -0.0611, -0.0122, -0.1846, -12.0, 6.8034, 1.7411, 0.0611, 0.0708, -0.0855]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0296, 0.9983, 0.4973, 2.0682, 1.0737, 0.5182, 0.1814, 0.0986, 0.0203]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0007 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4939 right_y=0.2359 right_z=0.0597 right_yaw=0.2674 right_pitch=0.1024 right_roll=0.0241 right_gripper=0.0203\nstate[joint_eff]: [-0.3761, -1.7162, 6.7487, 1.8388, -0.0562, -0.0659, -0.0122, -0.3214, -10.2906, 5.8188, 0.989, 0.2271, 0.0611, 0.9597]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.7151, 1.8198, 0.6079, 0.5209, 0.3374, 0.2096, 0.024]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3454 right_y=0.2273 right_z=0.0088 right_yaw=0.2959 right_pitch=-0.0745 right_roll=-0.0314 right_gripper=0.024\nstate[joint_eff]: [-0.3624, -1.7162, 6.4068, 1.8388, -0.0513, -0.0611, -0.0122, 0.2803, -9.306, 5.2171, 2.0049, 0.232, 0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e9087a203e673a726d55a3b20bb61efbe99304e36b8abf771a0d23e3f4b950",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cde573989bc415b2e9b259e05d5cea660e7406046ca6d72ff2367b67d5c7341d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d7c2df03255b8c46e3ec2f6e654ca1a7bf5bf822f0ad68d130185b3c66791b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGrk3qcJPalosuYg7Lsm68SrH6zGWSq_h8t4_e2IVcYmZLmXsmiLY2ZvTc196ijq62at76ebqGXpAkB04vBx5EtrJO1ZDUgBYaIoPoB-xvZJlXpYwwb6odgLGf35I3IuYedAhKhcxH6tOAVsCPD5nlmVZ4HmhJkgKyvqSdDXBrzzRjzlTJdeECA3cigB6es0gHSJVXchc3HefUbRcfCIiW652YBoYfZGX11i_GNz_pp2h1bJahQ-y5JlS2R1UKUFlxFB0XK1U76CXdinyvP0yFQLmoVTJ5R9A9RPGBvXKu42eHkpLn3ShcYllxdUaXcuzDSXfd0RJziUaM5GR_49g5mZQ0BrPY9WHtOlszvurFgu1EAlo00o9LILWrOdClEjNkQaYCj-RfqooaC9A_fPAny1b2RxY2BxkEE6D7X1vzy_nVbIHBDOBvgxw8-0CAytQn8oNgQ8DwCXyQ3XHqP8dzj89KOl4t0GouKRA_XznswrpJeIP_lmwK8ghaQlSqtbt2lnO7v-5-IVPTL8yo-tt5fFxymyyA2yL4jCDX9kTn5jcuXTRcTprOGPH7q1z5mT6hWXH8M4lW7e4S5SvgB02T7P-ShBUWDK3QZbPVoPSmbvBlKOFOqHYHGZPRwfeUr6ZomtKHTcn9mx10bpojQ3vcecDQgn-0Yx_aCDWUE4sjOJ_a1DYpp23pcPJhH35gWrifDIhimiuT7B5euXR41CSKfWlVkrtQUgYU3pxT8I3Tb77kKa5N5UFvCPNUJM7EV51haHqJKILyj7mQwfJoaS0ijFtjW9o6MzG7q5n0f_7eEorw-KvRDxZ2_Tj9pg7jpLLzviCqKKi9ueGPcBtBJHJJNWpBEu1614XeqI412nWD8-CCinjUIh_of7V9EYRpzBn009qsmKwwy9xZSzdLGrePfs7s7lvK2lN5JftDQ85J2Rlt6zpVhXORIHGBWM3-FdgFcyNL1UpF6PPsv3BtDYGg7JHQ0aZL0ZZtvxqtVbrg8_GjLH5r_S_OJgHRkq10d0DPrswSg5j_B8n6aCM-Ybj9Li1-Z7iZcCbXFoWZTYzKD-dT0m-2Bq3N4sBrf4Hm_KshATHLfuJXVpNGtANm1FTFDLvmEot0fFh8Y2XhsmuGkvZtBncOch0JXr_TeTD7XQ4BlG3Kkwl0t2st5-Yn4N2_fyCWUxxDAxXU7JEEDuffC-J_DBQIws1-MRe_475ctRFxmNFC1IHZqWaclUcdyrOI6DgFavqvLjILbSpUn7mIlYXzruqjduFh688_lbKYDPn9S_XWA8w6c9VTI9zK-BA3nYSy5NFQgPMwbzyxbrjl9PxAkoHPlYaRWWXhgvar3LV-U7L7WW1z-mWJXG-GJf82a3RxOMSLsPK0cB9mBSJ92S0kWPmv66zxGYkv-Lt8EE92HLt7PYiZ4l8KsvHGUY2adbczDSERvbxt4k7ilThrTf8RaubwlMKnviqMQBoLhn5CFlSt_JehhrUMy4y1mECzZxKztp25RCCtQY2DpGcu4J3AExhCLc1RRQb4bMZz3efrAL8ZJjRXkH0aaAMv6MBcyINLsBikXDBlz15NarKsjsKiDqt0aF9kt7M_dt0Wi1LFX2jt2PiL8LODboJQ7QKbsKwFAwg7Mm8KCI1bV_DLsXGKBSpfqre3GXPaF-0h3mvqhPR1j9TMH8l6oylxQSnXHA1gYImbs3G1_AmZRykhyUoywB41AAlN4DU_R4W4zzSEj9n4my96GoIbpJM-IvTUo2qG_LeVCn4pgW1QlZk3ZdrsqEkCU5rTUDT-mMoS2lpzUm9r-nEDJiOkFmgJV4kMhbnQ1czPkAgJGy-dZ6-yyT7wnk6y5fUGuwTQeND05zQutHrnpitzpnZ7QG3yP9_j1yfuUtXKJkyFaL8xHtBk9uWpQvmaeuA8pC0ZV47XKwXYimRCZiV9urSxgbD9jnofwI51j1_srZZz5Bt60PA8nDiZSM07i6owbjK8LGL2m0nVObukpxBjyNWjGk1QvGitCSPRHFPw5wZ7DebabCPhggF2tI9yBnV0VuPI16YpLzEh-D0qPRtlTCwo9-8sMkkWS_S1LZ_rMJDGRAdUPsQgVRjabFMlRM5DGQRTxiFxzRUDkgWDjBeAO8U5pdLvWiTofHS1K8-PPCbv83OaJZ6QnfCd0JoDfd3HdY0jUMXh5DFQdoVhZDa0-sZGwGyPtMtKa6kUkx1Kgm8QGL99xLbhBZ5vdTRLkRMnSNk3L4ow765dE_KvM1rWEXW0nDHDdyklGAzlM2Mvrdem64pU882W8hcChFG7qS--MeJu-akjt3RyApljvtmnMqlB6rAPx6a60sEp3ziij0MbNYDoLFeRXS0dDzE2Dh7GiWWbOjvQqecGp23LC6opT9RgAShKKjQHeqCEbqFfwupNZuJ-2p5cDvgxYMCH81GRjREL-5TGadWzNBfkP0tjfvAbAUeuA3cdJNAEdzhl-r9ygawHvYgiCjdxGio3OsdzkJEzcXFKnuMoAU2rhMDId-6A9Mcs2VhpO3xH8p-UNTwP3dl94AYFY04pbTrffrd4cC1d9X7TgzR6jE6RODVM7o3w6czcWyaYORhwMdVGb_6_tqKbYYxCcYrp5Uda8RUL0KIyfgvkkxTieZZUoKx5snYtJ9Re7WZJbxFyxXTeIrUsf-Jo5EmVxMoOAWuiAueBEKqNg35MQbYwXAhj2q22OGdgIFz3JDLTllA6qxDktyCgkRSqYdH0rxhv29VKdh1C8LdXyhg9YuG36tfeV_5gujUvlOsPZhgjV8idSmkmyzvdIS3LrQlFV5Jlf2hzwiPykAWc48EWsVJ6WGftTz1APxx3sT4tesIF3fRYrlepacfM37RkdvAUmGkDGfVY-u648wqyoUAYnyMBkyy1uCl5iNGgnthbWApboVQLRSZbtk4tIiTF91TWQxBJy_VRSS2zlv0N45lOxiOwuubF7PHo7qZ2ZM-BHp69RUqFX15VEZKD7mMkhzObQSpa2wPeNlquO_TllTfe5KWZAvygP4m3PUqpENA1JuEqfsPUHYy48Pbq9GBQ07Ef7GDcAV1ds4uhQFsR9yIhaNj6zPRx1l5-fJnSNtP5JrFogdzRgMlc4ECHZn2YF1pMgbA7IgO7ZjGwXpRECbkvaSMvKvVuzL39gmyDSzCA4gcUNx7zbslT9nQ1szPfk9N4GSE3L8L3U_Nl513XrtPZvYaNLDeUlG0O5KIlvqWL3b9t4nGPovAHi1sbo_QlyqxcjisW01BL5FRtWoUvu5zBf9OIgZRPSnj8FFgvPm76JQD5TI63l4pPMz8-lyE8SyvpWRVyB6fINI9hodskT3oYd1tECt0--r4J5RgzWorGusevRnq5CTQ1VqyrLcfrtwvf91DSxejM5zcN9-IXkpD4MlLFEWg3ZTFrTMMD_wv5Hbv1BPc2kVpmK6vsmoBXijhRPsP3j6vAmGnQXOzZNWZCwdP6MddwiQ7l1IKBIVbWlLxD5XFcL4SfGZcYWWRiYwk-ETBUq3_kvwhuhXrnHPZ5030NURN6o6DrfniNc3CeDhXgOZg1o1vlBkj08BpJuXzjoW8UMaEbUgZNjkc-FsS7ikaXsGSFbkhsfsccVB7FDSuea7Q==",
  "id": "rs_0f86157e53f6fd12016ab441a547d487d0a84a5b6796ba2e99",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.18,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"The push succeeded: the right bottle is now visibly shifted inward among the others, and the wrist view shows it just to the right of the jaw column. I’ll reopen, rise, and recenter over its now-reachable cap/neck.\"}",
  "call_id": "call_m5zRMOpKa2tT7htEVnVxWmGr",
  "id": "fc_0f86157e53f6fd12016ab441a983a087d0876cc23238c56c6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m5zRMOpKa2tT7htEVnVxWmGr",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0296, 0.9983, 0.4839, 1.5562, 0.7704, 0.1638, 0.1516, 0.0689, 0.9948]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0007 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.3921 right_y=0.18 right_z=0.1026 right_yaw=0.296 right_pitch=-0.043 right_roll=-0.0164 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.7026, 6.4205, 1.8046, -0.0171, -0.0708, -0.0122, -0.5949, -9.4154, 9.306, 1.8535, -0.0366, 0.0464, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d945501c7062d320c0f2cccaa72b8a7888443e8845011242f462123d57efa4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8468ad4f1111bb6d334d2bc555071f597c189b558b41a50073eb2ec0a0f2847c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549d94258b394291e393eb17bc02701c3c3fcb5d1452e8189df087c6a2e55614",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.4965, 2.0987, 1.0023, 0.6022, 0.2123, 0.0982, 0.9946]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4839 right_y=0.2239 right_z=0.0346 right_yaw=0.2412 right_pitch=0.0885 right_roll=0.0054 right_gripper=0.9946\nstate[joint_eff]: [-0.253, -1.7026, 6.4068, 1.7998, -0.0317, -0.0659, -0.0122, 0.253, -5.7094, 3.2752, 0.823, -0.0855, 0.1001, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.7151, 1.8198, 0.6079, 0.5209, 0.3374, 0.2096, 0.024]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3454 right_y=0.2273 right_z=0.0088 right_yaw=0.2959 right_pitch=-0.0745 right_roll=-0.0314 right_gripper=0.024\nstate[joint_eff]: [-0.3624, -1.7162, 6.4068, 1.8388, -0.0513, -0.0611, -0.0122, 0.2803, -9.306, 5.2171, 2.0049, 0.232, 0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0296, 0.9983, 0.4839, 1.5562, 0.7704, 0.1638, 0.1516, 0.0689, 0.9948]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0007 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.3921 right_y=0.18 right_z=0.1026 right_yaw=0.296 right_pitch=-0.043 right_roll=-0.0164 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.7026, 6.4205, 1.8046, -0.0171, -0.0708, -0.0122, -0.5949, -9.4154, 9.306, 1.8535, -0.0366, 0.0464, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d945501c7062d320c0f2cccaa72b8a7888443e8845011242f462123d57efa4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8468ad4f1111bb6d334d2bc555071f597c189b558b41a50073eb2ec0a0f2847c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549d94258b394291e393eb17bc02701c3c3fcb5d1452e8189df087c6a2e55614",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEGvK4vJpObqfpbtNktd75XG8tRuhQBeqn5Iq71gvzAb2dzcgTlWSAeSY8phA-JimJccOM5zmEZJZaprY9eWtnhu3gshHO4esBs0Yt-1KzW_Mn2WWBKVSPkEU9SRT11FqvB-LA9Xn10cGdY-xaU6P0B57DuQuGyMozaJFVTrg8kdXmk0i-Z_20rcTLPuxoxeODtGVSjZ9w8Pr33b7Pp_Svst3sKi3hhyeFUuNlMTxL8IO7FuUWz9dv2Ft1KdA5nSDUMcOssnvr0_blecT6QUuGgTxsnqxEULhERWNylpMb4aUkfVgd0LhHqCtqvTB8vmbnVB2WHR1FV9my5cFVcMOckqPVeOA12eBg72R1yAna5q-jgFZxfK6HLNJxEUXzOYs_yXYYsYeZTDzPk68HD1pVr8lKe76h5KBiaysy18waXtvjbNCDCFU6ZGPOhtpBaGH7Eoeaz7OzxkrRDcn0vYO6dXvT6KgF9tKGsGseO1sbAf7RjsrTKqjl4Ckd6Oz-afGlKC3muH8FcT0aWurspJm1obfFo9uENjm4Yk0gkL-6jTX8ve3WOhjJsuIHDsXtIe1K1OyW5IbNcI0cqampRdZooJIDdA5mr7SM05EdCEkAlLtLuiszApBoZYM7LbCh1QyCh-RyVkt1-ju1TyCFMd4EPYX7dx1Vx8lIfF0CsKCB1dCWg5dF4AGyob0WOrAIF5Ow538q_-ZeGRx30qVs3N_1wS3PFEOIi1g8dDmE00nO1ynynoeYuf4S9jJcnzDQUUyOfl2rFNfzgUiZcckZeH8I8uOPk4tE1b0E5lfdWWWSXz9PcaF2ndBMuqyPVa32315surf4qE4F0w-TgRztD5AEGc8i3u6U1yBN6VUoC2LvcUqV6GmvUHcI1pfDk-NpGzEfM3YP9lRlh8x1-8TewyABEsg3n2IdrYuOTZcZEgUfW1d2hFAM-_ni6jLaVIwshgwyag_Vb8qrvp-wRpKwif8AL8M2PmG25xV_cpRVyvOVHIUAlWmOHLzI46XCTsWhImgXRT-OSZw3a36LM0FkEDIae3l1bubZnNegIKVoJerH0OHSZQ-UScEk8KZ_YVR_uDpt1yo5pr8syMzRd_-_733rMcwFcErjmjlS27TBDH-N46kbaPL4uyKCCz3yKk2_ntFrWqno8oRvdg9biv1mkitmIwOdGjdRG0Q0pKiKVICHUlouRmQPF7RNl_Ih7fI2QT-R6XJpORyBeoJAblfaPzs3oOOkrtBdGPEpC-Ue8OKkBwWf9-ki1uuaYa9vHjjM24zmWmAC8-ZYYDDE9hyIcjjaSXA5YPddDbrZgQNzFjr2WOlolJdW_bVKCXB6b8cQyS1heAJjC8eP8rzxguBZBDBRbxUpVH6sLiXDAmuCLj_TbVjEq9H_9i3S6x51-iPyvHYS9lSs9tv10hquV3kufDYw4hGRkLLIdsJig20Fp1NBvSjgz8YkqbSl5rnEnKJzMdLSoel1zFaCHkAJ43v7PuHJkyOp9LMmLsgXqOXCVwj1gBBr6YkmI2tNRYEfDi5ExGsrQLnS4BKrBwteMzhQmmHRgGl8IR3QLUOs9xUaFD7rXmwAChCV3WVPf2KasukEQhM_8zsm9kE_mZmy1p4auXUuszGfHlckUZpXaqrgebe6ihX-7TRb_HqysTjhRKklQ2y_MYdZQ7pvViVzCiIvRQUFkF9vY6h6dr2dD9r3pji2OfMbHRmklymaaHsbQVYsRx5Y4aTGP8T77ETI-FUBWKXNmYGeS8u0UZOFdr1awKrLg83kD_UZWFzFr4ixcUG4K_1zffLZDWLbu7Ab1JznH73aTofw==",
  "id": "rs_0f86157e53f6fd12016ab441ad871c87d0a11e43a068000413",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.21,\"right_z\":0.035},\"note\":\"From the raised view, the staged bottle’s cap is clear and only a few centimetres left of the jaw column; the other bottle is farther left. I’ll shift slightly left, advance, and descend onto the staged bottle’s narrow neck.\"}",
  "call_id": "call_dOxKpiMXuoR5xccoMRVSkVTn",
  "id": "fc_0f86157e53f6fd12016ab441ae90ac87d0b623439be9c6fde8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dOxKpiMXuoR5xccoMRVSkVTn",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.799, 0.6132, -0.3836, -0.0231, -0.0292, 0.9983, 0.4908, 1.8877, 0.8192, 0.429, 0.1612, 0.0544, 0.9946]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4254 right_y=0.1992 right_z=0.0313 right_yaw=0.3026 right_pitch=-0.0592 right_roll=-0.037 right_gripper=0.9946\nstate[joint_eff]: [-0.2393, -1.5521, 6.4205, 1.79, -0.0562, -0.0562, -0.0122, 0.1436, -6.0103, 6.5162, 1.5116, -0.0269, 0.2759, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70bb0bfe7eb474ce6a042196f78f4444fceea58c8c6b08bc771604a5c117deaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52ee1c669aff1aa08a9ee7c6585bef1f90f1b82ed01244d4c672a95c71592fb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e8ade171d29d9e302e520384d5a084e5d5a4d6216f96de7e9c48ee753234aa7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0296, 0.9983, 0.4973, 2.0682, 1.0737, 0.5182, 0.1814, 0.0986, 0.0203]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0007 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4939 right_y=0.2359 right_z=0.0597 right_yaw=0.2674 right_pitch=0.1024 right_roll=0.0241 right_gripper=0.0203\nstate[joint_eff]: [-0.3761, -1.7162, 6.7487, 1.8388, -0.0562, -0.0659, -0.0122, -0.3214, -10.2906, 5.8188, 0.989, 0.2271, 0.0611, 0.9597]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0296, 0.9983, 0.4839, 1.5562, 0.7704, 0.1638, 0.1516, 0.0689, 0.9948]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0007 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.3921 right_y=0.18 right_z=0.1026 right_yaw=0.296 right_pitch=-0.043 right_roll=-0.0164 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.7026, 6.4205, 1.8046, -0.0171, -0.0708, -0.0122, -0.5949, -9.4154, 9.306, 1.8535, -0.0366, 0.0464, -0.022]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.799, 0.6132, -0.3836, -0.0231, -0.0292, 0.9983, 0.4908, 1.8877, 0.8192, 0.429, 0.1612, 0.0544, 0.9946]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4254 right_y=0.1992 right_z=0.0313 right_yaw=0.3026 right_pitch=-0.0592 right_roll=-0.037 right_gripper=0.9946\nstate[joint_eff]: [-0.2393, -1.5521, 6.4205, 1.79, -0.0562, -0.0562, -0.0122, 0.1436, -6.0103, 6.5162, 1.5116, -0.0269, 0.2759, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70bb0bfe7eb474ce6a042196f78f4444fceea58c8c6b08bc771604a5c117deaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52ee1c669aff1aa08a9ee7c6585bef1f90f1b82ed01244d4c672a95c71592fb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e8ade171d29d9e302e520384d5a084e5d5a4d6216f96de7e9c48ee753234aa7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEG2_Tuog6xS1WNYeXlGrgDjXL63QH6dzRsc6nEnWGki7xlV8SQWFtDGvqp02JcA1mB8872idv5TRwAhH4eHfJMeiVq99SOzuOghDdQyScJ2XrFnCWGzZJL_4B0Rmn5sMxw96TU0ngJ4lwOfSDzjiGf-MkFVJpnuGHkQUmR3He_M_inO3dCKQf02rR4eJrBWkSE2y3AOJnfokCPTHsm-p_SOWthrpG-gq40eY1WM56vAuzyiteRD8jVlgqzIvTdlEPDmkjXp0ZQyu7t4KxmXbobz121u3_AKeBrhR93ijNofexqdX7z_cIoPhweaPjf3v_kx_Q_ywPis81VQmcTT8H_8S3Pi_aFHxEhNGCQyty0LAr_aCDvtZ6oEUNLERg331zvtzhoRTape8UIIJBf7N5E8K6StNuNzWbt-DEgsb_ZWsEicJraSykFJzoUtQO7Dpff9lWNbYZo2DYbi8Qz3YKjHbP62QdZ_HoBlfbJDWwL7PB8POQGUx49P9NVTVV-OcLL9Q8RFXn0AdtJwn-Eli9IQmO-e0e_njxmcof4IM8P6DY1eFmVj6_8eQImqVtUV6ERSXZAx8m3IVcmlpBocO2RjlvNWhWEeC3xqR5Hq_5K4hKNBOPco8Byd9Er7V477h5lpXS54eZmKZxRWsOGVNy17r3mZr5f9oNZBYCQYH_zfqHWwIKpcm6EOYG6htOrJyLdSmYDlNyu66qIfp3fzPQaMcgfbLxaxWQgSk99ntM7tfAqrehtKOn8mRB-t4gIp5eilj3lj3aBHSI5LbxEXzEbJXHakwZJWeGg6Us4NofRLxYJ1lW14-SoVviIFQEQAmZs6nuKSnDml_xZ635m_P3rG6re4wCoJOjoly-0kqh0X3tftZw5TSwSq_Xgc-Ayp-pcPd0-fINsMaAOEyqvNuh_BjG6BcwtK3y714AETVzMLi2kkXPaalY53ZyRk_7RoQugcvD3lWkupK4-RWAPx_jYwClvK-85i_6D5LJwAMhawW1uLQ4kZ3e5cW5izNCK7HBAc5bythO0LGkqnq02VikFTM7nl1uZmgzTIUYLsSMPMu7AHXyA0VV_Hr9Z6jZl_pj0RIOsb7L8S7dS-74OMn-s-CuG_9QR-ggbiqIq6r3kLaY8oOUTm-E69fRQm0zxbPv_Rj1KKAdiPEItq4ZZIAaU53adO2OtpwbxP5mwEMR2KNFkerUDgZ4yWdqNUXKWug6rD73DPqpMRdbFpOnAU5G0f8JZfzQaTphmBq56IISSY8B_ElF8OuW3AQOfxT4csTUYP4LCmH9x9BOjPkWkYDyzrvKebBVyikbxWM4FDfKVu1o8GtlKcZOtwgE3cZAJkHYXr1Tzd5SNpS6OvuilYCN8bkzo9-eWcI3Jk3s7pJehQs2MIIvG70JtbPNJOtcX6RbpSJ2n-bJG0xPEqrKlutpWg6DPV1Yqp2QOX95s0BS-595ysBIAQmeXv16RkxBpKFGOc50GVNQUrnBnb2ubgFEoUyN1vd-fza8kq0yAxSGQU0IWkIED-s04aG02h0pTUJkTw2RCibSBgWdRrKfmia-3UPJUWRA6DR_kzgXZqIMot3LhygZF6jIzLoP7RFR3trDdOxjbL8wx240cZCa5ECOZJqG7tRSSjn93SC7vv2K3X1M5EjTuHOArTkqCOAFPUPgQKLHXs_LL-Zd0jyGRWuIHuWPGn_9wfFN5cGajQ0fQd68_65f2DcQ27LMiQJFKSY7eXl4Ykrn8ovs-iyUxpMA89WikeaFxz2_IoTMZxryQ9FohcCn0ZvQKkPhYaFZcSiTPSHxcEtka56UNhTYmbk5-adfmWoyDzDAvXy6u5s39eeQcE3SO2DZBleAZp4l6i34PjYH7ixEqBms1NYPaZQi8cHykepFZYYnLBXSrKrMfjUdmRe26EjwgN2jUOevBOqbUzhZxKgcDIQZGR__-FZDUOIo6zUY3gnn77xME_SCMRblAlBuSXvU7B6ql_kQAd5k_FXhbR2u21YruzS2MlK2cKS91hE6LKdhIR-DCDb3eOJHVOjYSFM_BQ2PPN01XqNmZAbS-9BoHtNpWljTceQrfGdQJmN8WNs9G2d8Ww-skeK3PmfmCgRTdpAVCf7EfBdlNQUdolQyC4rBQ2Mh8ZY-zJoCsV9JqGUBzJbt9aS_RCI9ONmdSDvwRiD2pQvzO11f7x-3hOKdvvO4-OboGrOlt2upxCjAhPqONIaCs2vVK3G8M5Dail-KKInnmXAeP1Sv-BNjC-5JOVaiYMjShy5f_-qC6mq6U9_x4X4YWAtF-xpBaIsVEtDDQFVuVfD_5tvDvj22YZ45gIUlcInS06fQ7KKHhv2cXWAV7BSc9g_zAIAzgcp-cn6NwOi0N4nS5y23ZEVesB4JIHtRFvo5FQYVkjDPMHdAtaG7dimnvV9NybCndU1B6tc0RyCsU9c73os9B-TzORgQPxGEw7S0McZxAGoQBFDfu-qcKt_A56l5gN50m5wK6TJWSdu766e3SQ-FpzkZX-gBbzAWGagVeUdNjGDWJpo71VpuybXGEQ5CtmJtGL7o6ciDBwqVtki-7XL_1XGLy-8_x3ksUGcux_cK2igxwNO4QpeIAd9kAhpxyC9kNFpClJeisrl_logbuVlbuH493Jt5Xk21OBj8ofSafngc650ViyY67oRC5bzpoGpPxlph9PAzl35hGRLZlFQ1JsXzvYCL0vWis2LQYIrMdfGz3rW7EvBFOs8u3pKvLOLs_l_ePI_EIqPl_1EFF6l-0j6lhfvh1JNy7IdiLwL6EeHmF5cn4BJvgv9vrvoaRdHmlle03IeApGYq2qy19PtNz-a8RUE_IKWkglDLkXADOhm_XTapySalpi0hgv0OQRC8qlQA4cEpKACumSw_f_58gxqBzty0WnjlaXChai_ewMK9q5WDQRZgZ-uP7rgw-ShRz4jIdgvHPAj14re1g8MUu2ZV9KqcCYfh4qywwE2EyNoecYjw7jcTat9-3o4qLkMjj4HhIZbRPrT1kruDjyPSOrxhmb02NpSQnCrICA9Ya9pbnrZE5NcvZcdpjblo1ZJqF1lHKKHCqGodpdsCU5pGrO2iAyyjFR5ZP_XasPLg45sviomt0D7nJWM-hJDRcJl0Ahtte35QUs8ZcHiC3HE72wyLTpFrvwG6Au4tCqkIO_RXRd3nm2GFOkzDah9O8T0jx6AqM0DK5uluf8fbci-F5sfRMnQkxZXTfDjka257Siutf6rIudCuZj0An7SMlsleEr9vxQSOXAqlnmX-dO6XVONAtr1TKXLZzncZ9fOwVGFLC9uZVk40RLyFt3Md5SEt2CAeVCbl8Som4kwBN7ZJGO9ijdmSeh3Ii5dXMViJ3z9iWszD6yaC5BOyg-ryH4qKSxDZRO-XqKoc9BVFzJYzsJzxi83ohlvT_5dK5Ze2vtOLuhcl2MOpTiwstnOsjuho02CJrCCxHtQVHsG2NxRriwZN9Ep5k4la0BNDRmoiW3U4iL57MKITGEqk7VE6iWaKsso38KKwZbaZgHX0JhdAQy8i6jI-sZnfDx0A8QaPphTxvEwrXxMNHxwaMWB2wWKgFfnI__4ETSoU5bLUyx8_gkgHhDd2WeKVKhv-7eWk7T9WoDZzsWT8zCaLTWyFd8OLwSGRAR2CCumCcHszruDlzwcVz-4tGjUDVh7ZW5z72U7M9TvWIDiMgD0TS31mBqcd_HLIm9s7GjrCwomBBSCzK_2bH01WD6dReQ4DizR32sYaMwGUg22c8BTWlgx8Hbmw9_94Fzh-On8Qebjbbm4QDeF8tJlREF26D3E9y4NqOLrQ==",
  "id": "rs_0f86157e53f6fd12016ab441b0bff487d095ea3803a31361d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The lowered wrist view shows that the bottle is aligned but still radial, leaving its cap at the far end; the fingers are presently over the broad near half of the body. I’ll secure that body and drag it inward while maintaining table contact, bringing the neck well inside the reachable zone.\"}",
  "call_id": "call_vx43GPhcyJjp1fc72xGEtRgT",
  "id": "fc_0f86157e53f6fd12016ab441b58eb487d0a6467162ac5c92ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vx43GPhcyJjp1fc72xGEtRgT",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.4896, 1.8915, 0.7795, 0.625, 0.141, 0.0555, 0.0186]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4355 right_y=0.208 right_z=0.055 right_yaw=0.3174 right_pitch=0.089 right_roll=0.0019 right_gripper=0.0186\nstate[joint_eff]: [-0.3761, -1.7162, 6.4752, 1.8291, -0.0708, -0.0366, -0.0122, -0.5675, -7.9521, 4.3282, 1.0916, 0.1148, 0.1685, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c74cb5f4dcd92eccce38581c554b2426f195e6e2996591290048a373160d0a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a627e27e9d7561ae894bf0cad4df73a84c687e386bad3460636eff8356005b6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9cddde6534811813cd3e3f2c8eeb48f8e14517ba3cc1c0214191c8b0bd3957b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.7151, 1.8198, 0.6079, 0.5209, 0.3374, 0.2096, 0.024]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0006 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3454 right_y=0.2273 right_z=0.0088 right_yaw=0.2959 right_pitch=-0.0745 right_roll=-0.0314 right_gripper=0.024\nstate[joint_eff]: [-0.3624, -1.7162, 6.4068, 1.8388, -0.0513, -0.0611, -0.0122, 0.2803, -9.306, 5.2171, 2.0049, 0.232, 0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.799, 0.6132, -0.3836, -0.0231, -0.0292, 0.9983, 0.4908, 1.8877, 0.8192, 0.429, 0.1612, 0.0544, 0.9946]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4254 right_y=0.1992 right_z=0.0313 right_yaw=0.3026 right_pitch=-0.0592 right_roll=-0.037 right_gripper=0.9946\nstate[joint_eff]: [-0.2393, -1.5521, 6.4205, 1.79, -0.0562, -0.0562, -0.0122, 0.1436, -6.0103, 6.5162, 1.5116, -0.0269, 0.2759, -0.022]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.4896, 1.8915, 0.7795, 0.625, 0.141, 0.0555, 0.0186]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4355 right_y=0.208 right_z=0.055 right_yaw=0.3174 right_pitch=0.089 right_roll=0.0019 right_gripper=0.0186\nstate[joint_eff]: [-0.3761, -1.7162, 6.4752, 1.8291, -0.0708, -0.0366, -0.0122, -0.5675, -7.9521, 4.3282, 1.0916, 0.1148, 0.1685, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c74cb5f4dcd92eccce38581c554b2426f195e6e2996591290048a373160d0a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a627e27e9d7561ae894bf0cad4df73a84c687e386bad3460636eff8356005b6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9cddde6534811813cd3e3f2c8eeb48f8e14517ba3cc1c0214191c8b0bd3957b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHAWiOg327q8RZ5Qh_ydPqcuQ02uj8CcVOcNoQZzuSs3fZFLHLfTDraCOLKvD2ph35Qnd0h6GXAZiONVHEnBwCWSkyc51KEQQhfEh11DQPLiJGj3w3Fa9Pa0dGj8_Wsx73EzOcVQzTAEKAlPGMUb_ksmCSADNYC_pVECMqQmV4bPgowzjznUvY_N2azE99WlBi66L2bd-ck3QVEU0ddQxuELE_ZpEXhSG4Rf9bhyk-fhucRGxcfWZJm1SUn4mGIeUQ9F3nuQWRgd8S83UgjxQQ6cKwfhFsFQ80-nslmTPtwdHLLx3crfiZJ4QL4cR3cCqGM82WmJSsTCzNZluPYaS7bGykDW_KymXellhD81hvbfX6zEeR9xxxPTeNMh9ZQ_aFL__HPe_kQ48SiZkWZvhsAp9lbmElPEPSmIhBBgNUwMZUwvVLGILpuUPUj0V60DJuvMzsHF6DIEZVfflE3xZkL99f3aYaZ8sKQX0uYoI4wTx1etlPf8Os39oznEBJxnNf2WQY_rBmtF5YFH1lzc_mgDfEdv-e7YfgRgiptpRIcXrvFSG3P-jg63-YCOrjU6uvUl4l5KG1zeolWf3A2scSQ_VXjeHCzUFa4LXiQ8yIryWxQkoI74RaA8NNw-dzOIXr4YHvYgXN_js5YRq20KaSspRWUgqQxNMBtVwW9Eu8F_xmx0Kq_J0cS6AsJ6eGQT_CX1akZKPM1FrBcY3iQYZLp6bFeQvMA88mgophSEe4fbxmBXCcUIYbFz-d1aU1Vg17eMEParprYarK4TYszPTctlDeSjQZCJfhiA5wZUOplA7b5Fe-bC-e89TJ9qY__f5zEJC8M6ZJrFbCrwDY7ZVU5ototdJ6fXwWl02UvlYHwXDOLEKX2Y3l0RriBD6PGENwU1cg9QYIXYD41FLP0NE6YK9op6E5C4R9Ca6aLmDuWIAThJaRFToZgJ2PI9Mhl1AWX2kHlj-tWabr_Y8fJ4yEJUV9oSGeKNElxTiwXwWlkC4zXiXLUmuJFPGSpEEjypHQzR6AsVvV-oDuUAnT-OgQyQod6MfSUHNnwgDRqr44_AzmImF37MUUELpvUnyN2STmNWLZGhfouCEiA5fR6tnvJoFDc9Gm9BOb0rb4KpQa0g2qiyjp1pC4mWBsVU-8RSkK1ccFv_Hr27ziKya6CfcivrgQiD6d0WifO6g0boVXEE29i-gfzo5H70vWVwug86LzUZirvQ7fhVfcCSgD0VouSP7KrQfV2A08P2ucdV0EtCo6s3oCHKvFqUnwz0ioZKi905ercT7ESEIkzOthSxbVr-2uik6TVK-IdasoCKFcMOHNROrUKwpVSfCrcAZrKPRkMs31r0BSxVXh-U0bM4Fn8HiBnaX5fHyXd5jh-Pn1WZ6x2QTU15en3RJGb6fwCP5AUJ2zehqlF12VcfA_-uyYXBOMrTP5CFbgak5FE0TJ_Psq8cRuiwkakHy6F-dLb8YRMT7g0HdA698ik34jGJBoQqDfqEhtmfnVm6UzvRr52h6TOWrFE69RjTwwqvr7eP9lSKLrRIiYGT4Ghsh_hWCuGCRLqNMizV9wbv9FbDT-iF5I6KNlt3wxCONpBos8PSMIvw9Mmm0F0UBn4il8WwX2ESn6TNqJUHTvOgLmDIBXqugU9rn7E-xJ_ttflhy6ruD6yQ1OXLCYZTnxg_BypMXmrMJgFZ2JYgVlRHysNv5Bbn-SZp8LziAhxCS18mwu2OB5H38D5eZVr-udt3Mf0TEle3Hzscqrl0vAhvPUbRluoLZ_ixJU2hhRA1huvBcH-2wT2I6bn8Zwq72sr4uVTfQrRK1i_OpGf1RVEv0L7eUMAPtkDQ9E2YTXffeQLaQqxdlSFgXN642Fy4CJfPlcE8A5YfabKlGAst9qK14rpRx51QYvV26I58COwt9TapaSYH-i_o7OQAtTnOotzMvO7HcxUFsZUxDCb6EXo75Ftm0ApWwaJ9-VduduTOkwQrRYEATbCgZXrhKIhMdZixauzNj1kM57K64d8oM4tKGMGqSW1wX3d9CYYVyM8CI7rehrZBHbMgfgTaqpoD_aj0vloUQl_h2MAFb9LmQ8zt9KW6nxdF8q0m2bKkYJjHY7F09OWm85_6rZ3nwzvAW_RhqdQ-HTfLADtSEATSWPFatG6vJBJPQ7aMWT_fE959LzAaH4PDa7ukxS6FnpfRR4RjixBG0sfweZ57l1Cjh5AjzhZXsZPGL4d_aH867t04-YsalLIirXcXQQ-3i7aHZMEHvB28VMGTDpOcsAwGWaROZkFfJ5TKyW6vSdVOl-yaRjNLGEb1hyY-MpHv26yVsg9XUjPYxRkQgHA1YbMgxrNmzLAM9FG8ABE-qTr-L446SMvJB7FXLeEXlk9WTqSsjALV9TtDfoSXqrlrlA97EYlQyP8V6l1U-M=",
  "id": "rs_0f86157e53f6fd12016ab441bcbc3887d0a2f4cc881450d85f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.21,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The close was empty because the fingertips landed just behind the bottle’s near base rather than around its cylindrical body; the wrist image shows that clearly. I’ll reopen and advance about 3.5 cm so the fingers straddle the body itself.\"}",
  "call_id": "call_1k52OU3tzOrhhCZmIUQUfuDc",
  "id": "fc_0f86157e53f6fd12016ab441bf1bf087d08903e9ec16aea2ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1k52OU3tzOrhhCZmIUQUfuDc",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0227, -0.0292, 0.9983, 0.4583, 1.9907, 0.9428, 0.4934, 0.0917, 0.025, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0009 left_pitch=-0.0069 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4641 right_y=0.2149 right_z=0.0414 right_yaw=0.3446 right_pitch=0.0189 right_roll=-0.0101 right_gripper=0.9948\nstate[joint_eff]: [-0.3487, -1.6479, 6.8034, 1.7851, -0.0611, -0.0562, -0.0122, -1.1556, -6.653, 7.0906, 1.746, 0.0562, 0.1636, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25afc59f8bfcc4277de791875c20405c83d73b706d8934a1f9ba5da242582f65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea6ec8c38194102cf3747d3528b1104feb0a898a9e7b8e6b0cb4d072233798c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe0d0a499ae8b58791671f11da13d711cd239d85c85e7ae5b6449bf138edb582",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3828, -0.0227, -0.0296, 0.9983, 0.4839, 1.5562, 0.7704, 0.1638, 0.1516, 0.0689, 0.9948]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1818 left_yaw=-0.0007 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.3921 right_y=0.18 right_z=0.1026 right_yaw=0.296 right_pitch=-0.043 right_roll=-0.0164 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.7026, 6.4205, 1.8046, -0.0171, -0.0708, -0.0122, -0.5949, -9.4154, 9.306, 1.8535, -0.0366, 0.0464, -0.022]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.4896, 1.8915, 0.7795, 0.625, 0.141, 0.0555, 0.0186]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4355 right_y=0.208 right_z=0.055 right_yaw=0.3174 right_pitch=0.089 right_roll=0.0019 right_gripper=0.0186\nstate[joint_eff]: [-0.3761, -1.7162, 6.4752, 1.8291, -0.0708, -0.0366, -0.0122, -0.5675, -7.9521, 4.3282, 1.0916, 0.1148, 0.1685, 0.9206]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0227, -0.0292, 0.9983, 0.4583, 1.9907, 0.9428, 0.4934, 0.0917, 0.025, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0009 left_pitch=-0.0069 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4641 right_y=0.2149 right_z=0.0414 right_yaw=0.3446 right_pitch=0.0189 right_roll=-0.0101 right_gripper=0.9948\nstate[joint_eff]: [-0.3487, -1.6479, 6.8034, 1.7851, -0.0611, -0.0562, -0.0122, -1.1556, -6.653, 7.0906, 1.746, 0.0562, 0.1636, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25afc59f8bfcc4277de791875c20405c83d73b706d8934a1f9ba5da242582f65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea6ec8c38194102cf3747d3528b1104feb0a898a9e7b8e6b0cb4d072233798c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe0d0a499ae8b58791671f11da13d711cd239d85c85e7ae5b6449bf138edb582",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHFIdpo39CZm6t1uk1ZJynmNNGfEhTmNubMoogbu2EKcCMarHe2HMm_IVLEdG7WpRxiUleUqg_UNFHESUzCjydxIcmyXPoe00U2RTTdIPkgoEyzShnykXn4XPRhmOpHSJamUwwjwcw2vGBAKB1mvujMibcvK-cHM7uYVwHlgSXnP3hCEMxxkCSaOkklF46sc9x5sQaI46q7r2nc9AdMIcLeSphUxqUjcHQUIrRUmpeCtGVj1DEjA2dkwrA4VkRV-eTKK2-FwpZWTkkPKsotfrsuhlpm07SOwFEAKmvUph3GHYB-y4mwZvuWOZ-Qd7Euc139JcHckrhaih2ZeuVXhXysMTkBn_AgTIShcCCpidOqFJcMtwKWW4CZJCqCqj64HevqVxYHmfsldmg0Ww_C2KlvZQOU5XWETw6qJHDTQPM3HvJhdtw4qHZIsWAtQEB9XotJWqSRhTT-Z6hMvpZtCSSOSehlHTT4xMVBsgkWbVq5XAgUkdToBRkq9ClzgF084EqEgNTa2q7AiVDEpr_1aa4Y-KTumX1IXdpNi65godrwl7w9AwR3WZqFdGrDfZ7EDSNwxX2PCxvCdx4Az0p0gfCkwA8qi6Zcn4GEm8Km0UAY5FAKhoFzhrZDFDcOochpScaR4LCbvYdLe9fXptZ2igSbCcOrRw2m1dgTibEptXjQblW-h674lOMbZtR7t5dsnvD0ihpxOaDUfFnVPuzXf5AAeQVDxf60iQrw6h4NRatXdv2lPVVk117TH6gxasWEx6dznjjYfQPq6BKnZm6DibJki0g7hISw-G3ZbELGnMIlbQT1ntDwOxKbb9b2MymFzY-uZ6uA1Ax0R1VQhdUR9TWdC1KTXyadMlHPpYjoAbS59hUMYKQHDdnCCZqzSnRpJDJtqZhsFjJCiPt8PxWYDWibxvt8pjl5eOnxUk0Kqkh02Xkb_j6OW8r5tuVhkEdoRG-yqes1JwSBuc7OZQsEmd1Lnta5Nzmji0pP4-LUnYy9qZuXtXbH11lRjLflzr_nsQtPhxyKQTtzfhi2hDWsnnKI2wW2g-uX0F_uupY98zOxK7Ywix-U8_-uKkbSuPzQmaTEKAZrfEDQaHQwSkILW0zTT3bq7WBVu0xE6Hc6WRZB9f54dySSJ1bhdcIbizRY4P4CIvQRopi6P3yZ5ZGmFi-dYER3XY6Djb6Wa8xrcvvmZkNaCHwiM9jCk31mxjUCMx1nAgf6XrSkGoh8s7Tpj81LRD9CWP8oYU7rF0BPeYMzQqOGpMGb34s3iCs4aDJxuXz3CEODBU7mlkAJB_eaF0mIBg==",
  "id": "rs_0f86157e53f6fd12016ab441c35c1887d0b41531fd58b1eb54",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The advance worked: the bottle’s broad body is now centered between the open fingers rather than ending just ahead of them. I’ll close on the body and confirm a roughly half-open settled grasp before dragging it inward.\"}",
  "call_id": "call_KhxW7fSzogo9H0PZrwQ2mRnz",
  "id": "fc_0f86157e53f6fd12016ab441c486fc87d08df1f23839cd5559",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KhxW7fSzogo9H0PZrwQ2mRnz",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4576, 1.9785, 0.9569, 0.5201, 0.0731, 0.017, 0.0187]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4705 right_y=0.2213 right_z=0.0585 right_yaw=0.3636 right_pitch=0.0707 right_roll=-0.0021 right_gripper=0.0187\nstate[joint_eff]: [-0.3214, -1.6615, 6.5436, 1.79, -0.0317, -0.0415, -0.0122, -0.294, -9.388, 5.7915, 1.1893, 0.1343, 0.1587, 0.9841]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:677a29024417eb44d020cf0fd37d81bd2ca71111a1739d445de6a62e7ec4235a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b20720e604aa5d1ca9382ee5c39b21f0c29d60d315417ae357a319c6d5b43a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11c5992e10814064ecf3f07dc69335aea42a611c1e24cabe9dbbd04243167fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.799, 0.6132, -0.3836, -0.0231, -0.0292, 0.9983, 0.4908, 1.8877, 0.8192, 0.429, 0.1612, 0.0544, 0.9946]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4254 right_y=0.1992 right_z=0.0313 right_yaw=0.3026 right_pitch=-0.0592 right_roll=-0.037 right_gripper=0.9946\nstate[joint_eff]: [-0.2393, -1.5521, 6.4205, 1.79, -0.0562, -0.0562, -0.0122, 0.1436, -6.0103, 6.5162, 1.5116, -0.0269, 0.2759, -0.022]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0227, -0.0292, 0.9983, 0.4583, 1.9907, 0.9428, 0.4934, 0.0917, 0.025, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0009 left_pitch=-0.0069 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4641 right_y=0.2149 right_z=0.0414 right_yaw=0.3446 right_pitch=0.0189 right_roll=-0.0101 right_gripper=0.9948\nstate[joint_eff]: [-0.3487, -1.6479, 6.8034, 1.7851, -0.0611, -0.0562, -0.0122, -1.1556, -6.653, 7.0906, 1.746, 0.0562, 0.1636, -0.232]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4576, 1.9785, 0.9569, 0.5201, 0.0731, 0.017, 0.0187]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4705 right_y=0.2213 right_z=0.0585 right_yaw=0.3636 right_pitch=0.0707 right_roll=-0.0021 right_gripper=0.0187\nstate[joint_eff]: [-0.3214, -1.6615, 6.5436, 1.79, -0.0317, -0.0415, -0.0122, -0.294, -9.388, 5.7915, 1.1893, 0.1343, 0.1587, 0.9841]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:677a29024417eb44d020cf0fd37d81bd2ca71111a1739d445de6a62e7ec4235a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b20720e604aa5d1ca9382ee5c39b21f0c29d60d315417ae357a319c6d5b43a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11c5992e10814064ecf3f07dc69335aea42a611c1e24cabe9dbbd04243167fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHKQ0_bBFlwXCsG68qza_5oaFohRodSIfafpBxlj-jAVadsWCCDgmAAIh9xqmptsXawwzgOEx8M4N5tRpNPrVIZ8KkhFtD3rW2d7qxT_ARndep_SzN4pDJxfAAsNI1YWT7RIIm4oONiw4p2l2UbY-7OMMV6L4Ohz99JzmOfc5VQ8a1BfH3hnIFdKBCYQIWyWJ1rmIB2_MMiui2JC6HU_FWak7GSLiYHwTFCnQutWLOdKEQt4kIcKwIHbP_1RBDjm1OqQexMhGiC3ihvCda3q_1ioBYXMsLgUevrbQ7PpwWF_WK_k9fqtFHg5Xem4dyK6EAz-MKIF6H7thD-qEZ3HWNbBvyXlVTI5825m0_tXUNe-OpGkYmfuZNsW-JTWVI7cNgHd8ff4NXMTr0RLiFEW_NQLE4WTGTLyVyqGypOiW6K4Vn1e6bYqke_pogscs5PC-KOwNcPFnvgpuX1eyaSpjwmTIZHVfREoIG0vERZtyL7tRtFfb9o56rvES19sAW410hCoMe5YIqnO--ymc7n2DzUNJ5Rsvq3WR04tVf-rL-hlhbXxv8nu0cKtS0MSnDo7xivY1uaxkhsJ22eM7iIfzqZ7MKHYI8ixGV4Xu3CaBYDvmFF4T3Vc_7cl3IPMju1JQLsJg-pShk-clwwzLiD43lVcVEMBtv5rx0Evs8mh-S_ZpoEupMrMC3HZ1fuM6KC-qCh2rTI1l8_D_XMiZd-xxKWIuzwuZePrPxaUb8Cv7PmvUHjFHYTzowuxUw9UHrQVNnPbFimEh3qtRTV9NaIjbDRK7s0-vGhBCyxzQgF6o9lKqKnprE6pA9PacRMJo5NyF-NCSJY71pAGOZAlkbd_Ubh9HReY7_drEfzBDL_yYGphMQTaMb0x5A2dW0R2LBLo-4jzN8TxaBgyWtAeilUhG4b4ZLx-Wk3uFQhqXf5Xemk7-e71hKIZXfUpajJUrYbp0PYeJr8ss87zzjx4Om5rKOfKh3rOhGm7q5_T4iK_GpI2KC8PaIZGZ6tFViMxJlfnpSHGsEL6n5PHbDiB_D6CnAQcJ-qHwgN3LhKULAEdF2d3HQBNFm6-eyHa73WHzQBuNcpSNbxeC8PsGEAq0KD88tOA9LsBnp1KwDQr71svvTnxKQqoMyEHkI-71PuqLUPfUa6_cWS3vtwOD_psX5M88MV1nWmw6HE3uMCZbNtlnLT3ejNntRZP8ors4m9sNsN2srrvuyM_tV5BI2d_3YgpcQihqFLSgMjmqvg5x3lcGgQSVzogCvaPA5tDzd3dyPsIAgw-rSRql98CwwnqwmNXm9VxrKBWDfbT1JFb0N5hES3bAu0r6icXNu7_yqlNtRYYd8fm1y7wAsQAL4B2E42O52juWOvhVMvu8t4C0nUl7a9pi8Zo1IzI_q9mM_nwYpCYVJg67l639no5AyxuJjd4kkl0zMENEdQ-d9A_tlTGKsUCoiOYbgmZ-EVVFEOO7yzx36IDLgcElrB3Fv1vQcinAMHA8FnGkcMijsqAAxv7BvKLUMIujl45hf15cXXKJuYqIxBHoNhOAtixhvTA6jPlJQTW86QsSMRy8ezkQgy9nK5EXf0eteZ-S5H0OthP3Jr9k9_uCxT8nEMI8Y-9pNlFLegX889dcN3CiS9WllOBRioFqQha31WHGiwuH1LpusbmSM26UhNYS06zqU9Dty-MTV9NIRPQ1kUO5LMumX5muB72qTDa2X8QirckbwVDAY6t5VPX8SMFEC6a6-jYpXGIY2NgIHX3zL2OspsxbQImCw7gyXy-BuMC-3BLZuGFHLU1sS51CTdCsya-RUMt-H1jIFwnF3LbPSuyJuLxc-RF-zh3SlL8E94uPPDqwL6ITYmPMfZCQpjx8wH2-8QwD17Dv2Co4MgGijPfQ6srKTEG8NE3ALv3sFTrvlEVTRdiGcL4Wkh",
  "id": "rs_0f86157e53f6fd12016ab441c82dd887d094888204a9f5a2c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.22,\"right_z\":-0.02,\"right_gripper\":1.0},\"note\":\"The gripper again closed empty because its fingers were centered on top of the bottle and lifted the arm instead of descending around the sides. I’ll reopen while moving slightly inward and commanding the table-floor height, where the geometry can place the fingertips below the bottle’s midline.\"}",
  "call_id": "call_17aB1w7ZLHoQRdvqCYCleIcr",
  "id": "fc_0f86157e53f6fd12016ab441c96ac087d0ad17a828aebd2909",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_17aB1w7ZLHoQRdvqCYCleIcr",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.4786, 2.0865, 0.9161, 0.783, 0.0925, 0.0093, 0.9948]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1821 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4753 right_y=0.2323 right_z=0.0467 right_yaw=0.3708 right_pitch=0.1851 right_roll=-0.0059 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -1.5521, 6.4752, 1.8095, -0.0415, -0.0611, -0.0122, -0.0479, -4.6427, 1.9761, 0.5836, -0.1001, 0.2906, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87dcdcc982690459a4a35f0302f389f3432e3065a81cbbd5d85eae1c2570e903",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e180329a57514a336d6c0746dc06e1bb79f78cff8d57e26c1f31114dbaf75bca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab4148b3baee84fc839b1c583c27009ba2a8c9b98bd85d8ed1e4f407b5289ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3828, -0.0231, -0.0292, 0.9983, 0.4896, 1.8915, 0.7795, 0.625, 0.141, 0.0555, 0.0186]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4355 right_y=0.208 right_z=0.055 right_yaw=0.3174 right_pitch=0.089 right_roll=0.0019 right_gripper=0.0186\nstate[joint_eff]: [-0.3761, -1.7162, 6.4752, 1.8291, -0.0708, -0.0366, -0.0122, -0.5675, -7.9521, 4.3282, 1.0916, 0.1148, 0.1685, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4576, 1.9785, 0.9569, 0.5201, 0.0731, 0.017, 0.0187]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4705 right_y=0.2213 right_z=0.0585 right_yaw=0.3636 right_pitch=0.0707 right_roll=-0.0021 right_gripper=0.0187\nstate[joint_eff]: [-0.3214, -1.6615, 6.5436, 1.79, -0.0317, -0.0415, -0.0122, -0.294, -9.388, 5.7915, 1.1893, 0.1343, 0.1587, 0.9841]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.4786, 2.0865, 0.9161, 0.783, 0.0925, 0.0093, 0.9948]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1821 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4753 right_y=0.2323 right_z=0.0467 right_yaw=0.3708 right_pitch=0.1851 right_roll=-0.0059 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -1.5521, 6.4752, 1.8095, -0.0415, -0.0611, -0.0122, -0.0479, -4.6427, 1.9761, 0.5836, -0.1001, 0.2906, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87dcdcc982690459a4a35f0302f389f3432e3065a81cbbd5d85eae1c2570e903",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e180329a57514a336d6c0746dc06e1bb79f78cff8d57e26c1f31114dbaf75bca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab4148b3baee84fc839b1c583c27009ba2a8c9b98bd85d8ed1e4f407b5289ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHV5ftBtmxInt1-hh1fg23kLUcK_7ThRABqGXfSxDfM-2BOSP00MnUMqeJOAlI1Xyr1EMVyK-bSPniR3DxmmrNCm2J0JM5S_Em1UHKUOMvdl8fFv9FXbIm37xhwBYxyGsh56G3llf92gO0PynXtDzIwSQKKndw6FJslf7aPM2gVf1VSAzZ3uogS58UbGEqdTfnNzlkyp2VQFbFAfA_w9iopwt-qPOTpWUFBzBikZYbSxzlA6q2C_vgFqKjZnyw9y8lhK6xpT3jSey9FQJ2tA0GljUZU3oNho7vsxka5j12y121Grbvj7poD537ss6HT1DCMew_V4OK23M5WNW7l_9RuWbhTJAPi53rgPrxA6eLiUVtMpjNnBRkq1MiM_HnNbRUh-6nLDlBwZ0ifZ45tZhKYMoEo67jFJMRali6yla3m0x-X3BmPQIQBtJEtFZ8tT5bD6h42HSvqoRMXu3nNMwF-nuTW4N8C5bMN0fEJQTM1iZ0Irbln866yHbJEuDZfR3jJ8BAYWvA5mUc39Qpmgh08Agtgoa6Gn6susUDpTkzBifzV77j5oHWBJfE4kT6K8V4pbtLoIobByyxRGK1cEdGOI41q7d-LFXaUxmcOKsUi-r2jAABs8MzXYMuFSf32trxx4uxA4UtO1ToB-tvkGcaQyCE3qUs3bn1shdSH0tDGKLzUxhY42fstSNCUlKLALzDebjKbSP9QZOzdDRal-sP5s62ZJvjERf8veQMhvjTlopEdrAXvBmNvPXVD_0M43VnnD1FvgluZ2wo9poa0LdFq8rtMVIGYCRwX7HgX-7kY4BbqQlMKRSkU370yPAmz5nU4X-eA1OAkXW5bmTy71NxuZek043C44ShsGy3mGJr3thwQUDz-vlYAgjnKtrmor1bKD7ACeltkrlYraFH7idotnx0WzbYXKr1N3UdQADjL3KIU54ExEas5hMiJJeQmRHZdYklm1WcUTdv-iR1TziHkpujS_lrFRz5I9SU-2XC2g8vYvdxNejRoC3YMSehRe5dzaxZ_RvOHNT9kdC1ZmwKoY165eae4zIS_hxAxbIR2NURxVqHu3_yBwKPCNJUKIE2IYh_oq9pDBTmQJxpFmja72JCx7zPMIUBtrttYRxgnN6e3jG59wAkxC5joA3ntLGn-ODq6ZS94ZYDZsQs8Gg-P6NBUS3Tg3czeAoiFNcg1DyFGQKgbz4O32dxtOuAyTy4sbEpV1asg5VUzVw-hyLAxqNSv6YBeL6oVOnswP_Idk3tZ5vr7SkAu_JTt8I62bEGN6ALeNRLH1vIXGtzrkV17UuQe-ilLJfQEIS4RkVGlo_Bl8Q0arPiwJZOOZLTARD9XWHh3sxpjWdtzj_TBw8l_XrhPmH1PWDYrH3CZqLUrb6_Xnm9UzdDJAaCkK1kvdliN4aFg6IWHs23MK4Kkl3tLCuP27e3y2mb8Pz76Dij1ZgkMUkywlnLA8LrQbE1cc73mmx689F5XdOXgNxTgzbSCv4pZCq5AnbCtADXFipfziJz2l48NJBa53PQGxbcUaF_FspM9fDt808qvJ0yHoR_gzNG-rH8PR-CbbtEEE2LV3JNYORgvZWfVKo7EXZ_nBprWEuwDAFUAQOFoCf116IqSpmn0e40YfrWrU6i0rlPZJDo=",
  "id": "rs_0f86157e53f6fd12016ab441d0da0087d0bc63f4b1f599d5c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The open fingertips now visibly extend down both sides of the bottle’s near body/base rather than resting over its top. I’ll close from this lower placement; the settled opening will show whether the cylindrical body is finally captured.\"}",
  "call_id": "call_2K95iyTDQ2vaVwYJpuVjVP4W",
  "id": "fc_0f86157e53f6fd12016ab441d2945487d09679625d8a723b3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2K95iyTDQ2vaVwYJpuVjVP4W",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4767, 2.022, 1.0374, 0.4667, 0.0734, 0.0162, 0.022]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4795 right_y=0.237 right_z=0.057 right_yaw=0.3829 right_pitch=0.0544 right_roll=-0.0045 right_gripper=0.022\nstate[joint_eff]: [-0.253, -1.6479, 6.5026, 1.7998, -0.0415, -0.0366, -0.0122, -0.6222, -10.4684, 6.4889, 1.1648, 0.022, 0.0611, 1.1306]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b4a5116aa1d2c51e7867c387943a6c4184fe8555f0ae1db83e101d27e9ac28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c9d9d07b947fd03ff6cf729b4b76c6cf242853c160b60d0e51f14c57aee3dce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44907ffd1ad3c0115bb3a60c9ddb61d7207be6f620d5f1f1d0bc513512e4c139",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0227, -0.0292, 0.9983, 0.4583, 1.9907, 0.9428, 0.4934, 0.0917, 0.025, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0009 left_pitch=-0.0069 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4641 right_y=0.2149 right_z=0.0414 right_yaw=0.3446 right_pitch=0.0189 right_roll=-0.0101 right_gripper=0.9948\nstate[joint_eff]: [-0.3487, -1.6479, 6.8034, 1.7851, -0.0611, -0.0562, -0.0122, -1.1556, -6.653, 7.0906, 1.746, 0.0562, 0.1636, -0.232]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.4786, 2.0865, 0.9161, 0.783, 0.0925, 0.0093, 0.9948]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1821 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4753 right_y=0.2323 right_z=0.0467 right_yaw=0.3708 right_pitch=0.1851 right_roll=-0.0059 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -1.5521, 6.4752, 1.8095, -0.0415, -0.0611, -0.0122, -0.0479, -4.6427, 1.9761, 0.5836, -0.1001, 0.2906, -0.0611]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4767, 2.022, 1.0374, 0.4667, 0.0734, 0.0162, 0.022]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4795 right_y=0.237 right_z=0.057 right_yaw=0.3829 right_pitch=0.0544 right_roll=-0.0045 right_gripper=0.022\nstate[joint_eff]: [-0.253, -1.6479, 6.5026, 1.7998, -0.0415, -0.0366, -0.0122, -0.6222, -10.4684, 6.4889, 1.1648, 0.022, 0.0611, 1.1306]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b4a5116aa1d2c51e7867c387943a6c4184fe8555f0ae1db83e101d27e9ac28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c9d9d07b947fd03ff6cf729b4b76c6cf242853c160b60d0e51f14c57aee3dce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44907ffd1ad3c0115bb3a60c9ddb61d7207be6f620d5f1f1d0bc513512e4c139",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEHaL8_linkJcmWg5No8sXZWrj-N6XizN6RjMwrIyFW0llJwB6NSaJXGQE35y-QFgeJv95IewF1DJRK5G0hIL5mQtw5OtV3to22IgvIYLmvvzNKq8_CtWigphdLIV8lVCD_pu4-MrOeCpl4kIYu2yVsSV5f_bi26TO0P9xsJdN1i1iKi36VM7-jCQgzVRl_U70D65DE4PaXaeRSRtD0S_cBQAICShOvl0hGW_5my97wTen-SW-MaViIcNeW_vs5RE1lrz1aGThnocL6bz_aEg4bncHd9emKujE4Wq-sKSb4shcWNDTjsK2Ekz3SaOCBoq4jdJ6gdCAgf7nZOUwRMGBkvnBTzGiuAeng6c8UFkV_sufj1pK-ZwazCI5KjaowAtbfruE5RVwcOZ9NUEqzIccDxl-m4XxoqxKju5GLsIt03-gu7HjZG4__ehLjE6CXJJzPdduYUvElofPabumhusOzNgKDNTbfAAZwic7vlwnbR-JTK804ZsW_NMCmIBwt3b6Mvyg-GF0gkxWnirw7Ww7YnNQY9zGmKMYbXTAUfhzAnKnE2GPXphdFUDiOEtBEXRGml9vh8Nm1mD-74otnPpQSFqa5gRj_tO5qgOge_T_SPFA3KNKJOVmqVyF_EWTQRkcAkg2-pXgIRHYV5McSR-rulxX2XKabP3f7N2igm3CsIZdWoHKAGnE_JF2Rk05EKgN-C7Gsr9VyytJ7mNoHiKo5RR412lXHBtI81r2mqBeSUtTXGVcTpghGf-hoL-5yF1wY6LneEyp8FJkDMbq4hN2G-alkZ5lP9T71foysDEKOvbRVDd0k0XK7L6JyroR8LmGnf09aWc0zdqYMTUVlLOk9QIrCpWtDedTz3jBSS0j7mzBvbP-Sx1cQy06Rtc29QOB_rkKsy1_dvpj3lY_hNmg3ud2YysDHd0YwecqBRuh-J8kv0r7qoReKNs2Dc0JACltDsdxZB6KwRADc2ZuPtmZHWnEChjZih3DjL34RMyMIBuFF5ZimpZmdVomwi2kB7UvD3XZ-KtMiImz1LgG2jZZ_121F_NhY6xMJd8X9PF_rdGQn10FjFQa836yzGnjaKb3S0bS9gaoe395lpiRi-UqbApQFezRi8SyWBjHuaqvOMDdQ8NQP4N-2F93DAEWAMRlY0pQastbNMKYGcIs9VJp7VaVScb2lqStXreItg9i9N5yv3XhT5AAUX9mNUqlc0Tz3LfJJa0YvP1TYwikB5Luxs505pTUruajqrc7IuNMMvW1fpkHeoZwCR2WdTw2yXfFK1sD7A3LZHeb6aEefnMqDFmyen8cfnUmdEfY358YIYSuaeQ_IMaSy1oNGdANyjA12wN2yuUAOeLWw5ABSFrtJsnpvZmuKoU3Imqguhesur0JDER_jtQbiDJv8lVk452EgxJvJOdrbdjF_cs6aIZZS2QKdJjQcK3v4iW-fFP4dgG_mnqUN4YYNlMPPcqLJ-EdFfKIXGCGyLX1MZOeKfcIGw2WZGoVJnElshAVBOABiMhQv0eD16rsss5onBn9_xwSX0bDc-dzghyOH6RvIgVtYOElHI98co4bbL-L855NtKphNzNdfobpiZpcNni8Q-VgIjV3QQ16ZtgVb_dJhP7tIBUTiGRrTAaxM28CZuX3SvFKUAwhEukBCHe2d5JkQUAqOZGkQLT5TvZiU_Z94_S8h3nStKOl3O2tKfir_2W38O97j4sLPhQfSS5Tx4SbuaKOBlAfCPlhlBgoSdaV1CCXOuiXEKDPKw_NSHf4UGaFCx0kE3eKKwFrULO-6IP5mmkLw-7zrKFRUj9JBF-BJkq6LdrZl6rFSAGIGS85W_iKgCtlWRbM_2XFVw7hPccV3Hc_bp8h1ZzxgsK-vxy61QWwnGSw==",
  "id": "rs_0f86157e53f6fd12016ab441d861a887d0a79a873315f6fdf1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.23,\"right_z\":-0.02,\"right_gripper\":0.0},\"note\":\"The close still slipped together above the bottle, but the closed fingertips are pressing against its broad body. I’ll use that contact to shove the bottle substantially inward along the tabletop, where the arm can truly descend around it.\"}",
  "call_id": "call_vejAmpa4nruMZghKy5Own1dE",
  "id": "fc_0f86157e53f6fd12016ab441d97e5887d08d6d6bed0e704464",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vejAmpa4nruMZghKy5Own1dE",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.382, -0.0231, -0.0296, 0.9983, 0.7273, 1.9388, 0.4732, 0.918, 0.2657, 0.1501, 0.0241]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1825 left_yaw=-0.0004 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3316 right_y=0.2379 right_z=-0.0041 right_yaw=0.4003 right_pitch=0.0442 right_roll=0.01 right_gripper=0.0241\nstate[joint_eff]: [-0.0342, -1.2239, 6.4752, 1.8681, -0.0171, -0.0806, -0.0122, 0.294, -5.6274, 2.9333, 1.116, 0.0757, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:addc8d99a5e9e9d57f874a76618afc8085bab6cca1f7bfbf6b66a4574aefa6c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8932d1047005d79d56b432059472754f69b8b8eb6f2fef01e16770872c60312",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f3722547013919cd4cfe40ed6ac3679dbcb2150d8a78557fa0d34be7881f70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4576, 1.9785, 0.9569, 0.5201, 0.0731, 0.017, 0.0187]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4705 right_y=0.2213 right_z=0.0585 right_yaw=0.3636 right_pitch=0.0707 right_roll=-0.0021 right_gripper=0.0187\nstate[joint_eff]: [-0.3214, -1.6615, 6.5436, 1.79, -0.0317, -0.0415, -0.0122, -0.294, -9.388, 5.7915, 1.1893, 0.1343, 0.1587, 0.9841]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4767, 2.022, 1.0374, 0.4667, 0.0734, 0.0162, 0.022]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4795 right_y=0.237 right_z=0.057 right_yaw=0.3829 right_pitch=0.0544 right_roll=-0.0045 right_gripper=0.022\nstate[joint_eff]: [-0.253, -1.6479, 6.5026, 1.7998, -0.0415, -0.0366, -0.0122, -0.6222, -10.4684, 6.4889, 1.1648, 0.022, 0.0611, 1.1306]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.382, -0.0231, -0.0296, 0.9983, 0.7273, 1.9388, 0.4732, 0.918, 0.2657, 0.1501, 0.0241]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1825 left_yaw=-0.0004 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3316 right_y=0.2379 right_z=-0.0041 right_yaw=0.4003 right_pitch=0.0442 right_roll=0.01 right_gripper=0.0241\nstate[joint_eff]: [-0.0342, -1.2239, 6.4752, 1.8681, -0.0171, -0.0806, -0.0122, 0.294, -5.6274, 2.9333, 1.116, 0.0757, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:addc8d99a5e9e9d57f874a76618afc8085bab6cca1f7bfbf6b66a4574aefa6c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8932d1047005d79d56b432059472754f69b8b8eb6f2fef01e16770872c60312",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f3722547013919cd4cfe40ed6ac3679dbcb2150d8a78557fa0d34be7881f70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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  "id": "rs_0f86157e53f6fd12016ab441dcebac87d0953b515731fa79c5",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHnYbrWfdMnCX1zVNwogz62pYXlN-jp0FF6oQKdv93XMFpjc69zPBBoI9XUg9C9tJkWmYNEJ6rSszyHNoWLV-ApYg0S5ysW_rhvwzf-I8xnJhYiAfCKrvDBOM8i59ABo_-YbyaM18cKVt1TcMSxtkmkjLPifbYpPlh9eD0tD3Jq6eicC3wnptdnq6LvR18vr1OMEKE3AD-bgYSMR8ZfnBpKgimUqY0pGzAq4gvmOYlG2pY8rfunKYl9wftInZ3i-DG2R1aRap2Ef66HIdIvlkrE2cr1VA7FadDL8NrX35HypcmTT6aqIPnS32D3Eg22NasaRAHLC-wXUsrsbO1w5AKYTJfYa2KVdddVtDOkG-wKn1qss6dTbmBTY2ojzQcZlaVJCjFMbWGWaTLfvL4ai1UflSUvN6ApvU_kbOeBP1iACYLKw9bK9AZV15s1FefWrc5ws7Xqr1rLgOAIqJg_AsFsMLewOx9W4eH0sYa0_OcCF9ng9mL8p-Ge9VT4jFlAUcR2zUgcIZj1pTbxGtMQBqQHE1l5zZq5yra-up4nTxuMrlTItEc7LQZ2GtskEqXnt8UNYPt_9teEXUOnuldLk7K6o7lKBimsV-9XbqF5zRokGg_nIBWVUMBgUpItFeu4Oe6PGTPXyinQlWS4kusWTq7JuG1kmckklki2tRZ7BLZK_i8A9Q9aLpK8pAzb86PJ3uy3SRtLYi9EPsZBfX44NabAhP9LTRZZrqWZdV4-oyz1fnyNUeAnYG3febFaavI7Lw80DYYj2KDMkfLTsVhgdlSD2449_K54baQWWIrR0wWa2E4TzNZyJJpOOGPNXCz6OgH22C4CJ21Qmtj2COw73d5ih0Kyw2XIHns9yePc1V61bJQGs9RE2smCNgtY7z843EipSE3eLwsADG0jPPfkzAEJayGUQAW6xyJfxBgUug_VKIZF7jrJE4deEXT9rJccAexO9icVzPKSHJYyAm4W2SM-PN16k9pletmWLXKtcw3GBnR5UBF75-Fh3WYCqrIbS81ixFxBab9FRn6AsZnFjbcWaCFSyBqO2Uz2wQ1NgZAH4URMQvBBoQ2eGrxTdcOSbl5Fl-_q2dga6XYZkiG_0x_uz7_rvonqhFcfKkJjcv__WMK1Gi2JHyA7N4O63nZIiEeOi-9YypQ7eEs0KnGYMVematVOAFv2sA6cRFq5y5UbTGqBKlB8FaCP1ueeCOctsFLdo8KchPE1bu40K5vP41EotgtXoq-ZAarshQqZJmGyeDzL0NzxY6Fgr60ypSsM1WIPtZHkQlbeP3zjCe6LUpF-Rz4J41iYinHuhBePM1mXCZ6qUqpSC1_0bMDY-if0575joyEBUojO9Aw9dXZ2Ww8XMzJmCkVPjCS29oTCCwlQstvTe0TRwdzNFOFAKMLLWjxXP7ipyuDmnUNHWWf54gyPDUDD8w2Inu2lwgX-b8d9xsI-VLT7_GwnnBidy-S-jN24vstQzsLm8VlcdK9y4ZdXQvJA1sTs8pf_C5NnHR1Csc_4c9Rldxs-O5g2RqDlfvJWy1vxYC9iAJrv7akDvUikRnzlyJHkvfz1TtUCrq_bRus2L6hTXw2v-ynsHxfjvc_kI20crUB-8M9L_XrSrOnMssq6kCQ6CNcJuO2ep3rs9tk7bkd2zidxSokQg644KHor78jADotZmMdulauYey_oBW4MJF3kbIbRoZDPbyV9eyx2iSuw9Z3X7l18K2XUVCsVFHyM_Mo1A__HZ-d0EdXfMvBvqE2B81GI5D5X7Aok_NbAfblbCjMPKlJuew2_vUR_0H482b2Y-bQ5-L-yN6vtZcS6mi3cGudOn4pwMJQB4UTUg4a7Tj6ryDWDknhB6oSMAGAFk2nZRlkiNsjEJqAUuSDmc__FDQGRyBZEmF59pszgt-nMHBo9Lwp98OttsnbzMLYbLSudDQre5iWS3-FW4rGBj0KBpEwrQAO76ZX362T5saBeGeQtBXwWcXKcdemufchgT-SM4UgWrF5OX6gPD8C5kvfaUXcQhmVQpuqZl21sebSmRYIMUYEj_72mHprFCzmDkaZM9UGplEY3XmpMKwVt_V9TJpBY2cfaTfrGKj4l8Ggb-48xbug6zVzBsvg-ACu-l3LqGqkOj4SeffFWw7J2XBCnSpPtqKs6T03JW7zvUTKej96LTMxXEPmUSFf1AmV6WE4AUANseyhKLBLd6_7rVvyv50nhPPZyFDGsnHJGIwanAvZ_sWHzJkdjo8jzQrBBLbkoxC3yXJTKu6N1JiOcK5jA9C_D1dhm2cpBP7i9hHcTVUZvgN_lUsLz0o2__G4MB703Bat9rG-iYJGN4yE_Wj1TDYciK3trlP4KdqDg9P8Qsw0COa8eJXJ_TPvzLtYat95QeyVzmP2ecl2A2BmbYK6aifJXIBiSDRHiFKZvgdvSQRSfFeq6h9aDZ6yAuO9GODi2tv1vez6f1IsiZ7oA-uSz3xlukFom4PUl1FdaiyX1SLGkSU7f7CgWT9z-NpZNlCdLuseIwXondauous-2H3tkWmO6uXSRToJeETEZB8Bkf7nlspehicUqPbh0NzyNFwL2z7skAHSUrTAPpS77K4YTk8yD5ep2fOc0ETanURw7mvg4Lh-AjI-bm2LcQpgq-6-uBzpWGzDPBMo12CsP_F9qbIkwir0GrgUtyxfWngWpYR0kAJOFbYDaz5iWB1dNEyJaG1C9nP4XmqVoclSwwXubFvcKgOSVyIGHRJapHZ9PNA0x9GZ9Awq7t2B-NDXcDEgCmZSMDWUMW7qyoNHVJ8onceLRhVq19OE-vfQkGsRT6SRrIThMGO2Sa5ujILxAZ5aRjQU9jaoF05EGC87BiKpTueJaEsLeLnUeFsN5_fbwIxpAk2t7xpujdG2sYNyli-Rl7Uk-eBQFoZMlcB6uF9RK0HaQPMhhm-8FYkj_otUIq_4tfVFYun_2dgGcIhNGooaGjtVv6nx-B8v-R2AYbdWSKaslZ9xLpkOHml-NiOVsES-S_NEwDuu7q0MYD7c5ecsP9Jeoea4q5xjS-OADHCUi_BcSh4VuSiwGgJBfV7mSb60qMTwTJ_yYdvBYiE3TRTJz6SMyBJUvyQoXbqSA3NHYLtPcAoR2zAqVHrpN9TEKr22tcCXV3wF51LnLzrd9hwWqZUzwUQ3auRacJtAsYFaW1obN608IPdZWcGU4yGjfEfUeFj0xgik2ZmcRseJIzzdBFCvKdwvF1niZ-stYh85LllNKKYXgMdeNMNpYV5C8w1aBrkBse-vASNmZGbeDigmVZDocYzpr3JpV3w==",
  "id": "rs_0f86157e53f6fd12016ab441e2bd0487d0a98d80f09d0a30e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.18,\"right_z\":0.0,\"right_gripper\":1.0},\"note\":\"The shove brought the bottle’s near body/base into the easy low workspace; it is the bottle on the right side of the wrist view. I’ll open and move slightly forward/right so the jaws can straddle that reachable body segment at true tabletop height.\"}",
  "call_id": "call_raPvPe9epTNtQgK2LVGeT8jB",
  "id": "fc_0f86157e53f6fd12016ab441e6507487d084f17b42cd125d85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_raPvPe9epTNtQgK2LVGeT8jB",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0235, -0.0292, 0.9983, 0.4919, 1.8801, 0.4591, 0.8528, 0.0738, 0.0288, 0.995]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1823 left_yaw=-0.0002 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.3605 right_y=0.1825 right_z=-0.0022 right_yaw=0.3912 right_pitch=0.0042 right_roll=0.0012 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -1.5521, 6.8171, 1.7753, -0.022, -0.0611, -0.0122, -0.2667, -8.6085, 3.535, 1.619, 0.0073, 0.022, -0.2613]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2e9578b59ed129b9d241ac657d659358d2280ff7cd9959a492f9846747cc5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5b2261e1f36b06e0a91892200aeae6dcb485eec4ed199f8777a0a9db46740a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e4f8c23fc3afa31cbb7e3f4f8a5d2e2f0529f07ce0980625aaf64cf5e65c826",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 98 changed as sent

message 106 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3828, -0.0227, -0.0292, 0.9983, 0.4786, 2.0865, 0.9161, 0.783, 0.0925, 0.0093, 0.9948]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1821 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4753 right_y=0.2323 right_z=0.0467 right_yaw=0.3708 right_pitch=0.1851 right_roll=-0.0059 right_gripper=0.9948\nstate[joint_eff]: [-0.335, -1.5521, 6.4752, 1.8095, -0.0415, -0.0611, -0.0122, -0.0479, -4.6427, 1.9761, 0.5836, -0.1001, 0.2906, -0.0611]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.382, -0.0231, -0.0296, 0.9983, 0.7273, 1.9388, 0.4732, 0.918, 0.2657, 0.1501, 0.0241]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1825 left_yaw=-0.0004 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3316 right_y=0.2379 right_z=-0.0041 right_yaw=0.4003 right_pitch=0.0442 right_roll=0.01 right_gripper=0.0241\nstate[joint_eff]: [-0.0342, -1.2239, 6.4752, 1.8681, -0.0171, -0.0806, -0.0122, 0.294, -5.6274, 2.9333, 1.116, 0.0757, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0235, -0.0292, 0.9983, 0.4919, 1.8801, 0.4591, 0.8528, 0.0738, 0.0288, 0.995]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1823 left_yaw=-0.0002 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.3605 right_y=0.1825 right_z=-0.0022 right_yaw=0.3912 right_pitch=0.0042 right_roll=0.0012 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -1.5521, 6.8171, 1.7753, -0.022, -0.0611, -0.0122, -0.2667, -8.6085, 3.535, 1.619, 0.0073, 0.022, -0.2613]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2e9578b59ed129b9d241ac657d659358d2280ff7cd9959a492f9846747cc5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5b2261e1f36b06e0a91892200aeae6dcb485eec4ed199f8777a0a9db46740a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e4f8c23fc3afa31cbb7e3f4f8a5d2e2f0529f07ce0980625aaf64cf5e65c826",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHtASd971x6o7iXV34afM3L2yIswiYYy57BqMdi4zlaKsFkf-e7G6mt1D-eUCPx11HZnUY1Bna7NRkBzAiS-TIbq0fBdVRQCBvXFa9h-WdSDjx5mRaISuK0Yw3QDgsOxTHQLo1rd9bnKvl583hC0idHm_bJT9MHHAZA3SY8_anZoHxKzI9wNDE01f7z1Jm-7dljwM6Nw8qNgUCFnh2LKCr2XewcJq9Qi-DK6w2UhoEMoWwatP__4Rh7xLH-O4CJs8GPvUELa4iFsnNaYrAytvGS5ZJSm5BwmtPQACtAkWn4Iz81jS6Za0xUYyK-0ARGKk6m4IWWJYyRyOwn9fwcDRbJ_Vmo5Bu_Omyan3ycNzb5GMmcPcHMvHzoCRIZMAIczydZ0oRuRzGmc8c3OBy8ea8M1e2O4P9--LZ7_yXd61ZAfUVVHInriUGHLTLfCIdyija_CGLOWqmNKpDdWAcaNfOiuh7_IzBmuqjsNpFnPluwZBUyse_w-MVVyCxiF6hDUO2B3FV-jTroFd7J7IsX8vPuhbN5UfU2QBjdyUbGFhtqrRCyJvepbsBDV62D8jBApSBinJyyrWE0jA-z9xAJZQBCJtzb3ofxSpNSp6IMoGa8anRp-ypZHwovO7sK5SmOBk81bDqtHrIblsUax927LrCZ0IHXhG0Qd_wqM8ixiEz3sWfhBxHlBeGbiMZHUF6Uo4YiWSU_Wz4d-bmJ1FxiNP6kgAiJOd32npkuDdYq1LrAFYZxOOFw10qVjWNVaohcypqA0M9PZn5hV-iY6ncNsY7e_re1ZnGJ8toQpHMykrC5TyscGmp4LZM6SlWd64qR2tUo3vc47NvUj3vOXeGOcFLqm05LF1Emgm7LlevCl8M77b_JwCS6WNEYBixAoJOC9jfoqQrFMuFCWdOpnyfxK5qMSsGWy_ydfXLYRLrNXobHJ3xtE4NrhKPW6iKQwibxylmLovdbWF0TVCl4mtkJjeIh3l-sIm31JVCB3HytXEjsigKfietrbOOP_lY7P-RSEPUVZg3m4HyhpTsLPmFRlsSKx_xznb2alP7BXpBXMFmlyt4op34DqkijWkHEPe_dUHafZjJZiQjlxE5uF10M5LmMQBUODpk1x7vmB4FCV3wjLcSH9DYG6aCKame6QbGEB5sHKNkt5LjSxVAszao-xDczroqZRXZyuMbdj_SiMR5k_PW0Miu_mQoeBXd5KcdpP6To64ECZsuRMAUTXM9RR1z0BObVvQ9zHiVqqyQma2w-j2RgvEZVg519-iKk43BJTzGZn3hhzswa5OYC9p3XgRc4r8q-dQovQcb1NevduIlv_tXJpycikTnUz6PJJxl_pNlM",
  "id": "rs_0f86157e53f6fd12016ab441ea555c87d0aa298eaf8d6eba19",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At this inward table-level pose the open fingers clearly flank the target bottle’s broad base/body, with room below its midline. I’ll close now; this should produce a genuine body grasp rather than the previous empty top contacts.\"}",
  "call_id": "call_LkHuKG22hcLSUhko2P03H2Y2",
  "id": "fc_0f86157e53f6fd12016ab441eab97c87d0bcb5b7030ec2b9cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LkHuKG22hcLSUhko2P03H2Y2",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0227, -0.0296, 0.9983, 0.4915, 1.8782, 0.4587, 0.8463, 0.0666, 0.0242, 0.0206]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0007 left_pitch=-0.0061 left_roll=-0.0007 left_gripper=0.9983 right_x=0.3594 right_y=0.1831 right_z=-0.003 right_yaw=0.3994 right_pitch=-0.0011 right_roll=0.0008 right_gripper=0.0206\nstate[joint_eff]: [-0.2393, -1.6068, 6.5846, 1.8193, -0.0269, -0.0464, -0.0122, 0.0068, -7.3504, 4.0547, 1.7021, 0.149, -0.022, 0.9206]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c877755f55a1e3144a661fc13e948afadd091478193c5e11b49eafe22419b003",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d75eb7c0895267632b37cb8d8ea08ec6703b68ea3caccad68e31c04dbc5a00c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37c8b7a4292bcc2c0331bf99d747d7b1b4fb6552ac30f18cf31041962583a470",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 102 changed as sent

message 111 changed as sent

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4767, 2.022, 1.0374, 0.4667, 0.0734, 0.0162, 0.022]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4795 right_y=0.237 right_z=0.057 right_yaw=0.3829 right_pitch=0.0544 right_roll=-0.0045 right_gripper=0.022\nstate[joint_eff]: [-0.253, -1.6479, 6.5026, 1.7998, -0.0415, -0.0366, -0.0122, -0.6222, -10.4684, 6.4889, 1.1648, 0.022, 0.0611, 1.1306]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0235, -0.0292, 0.9983, 0.4919, 1.8801, 0.4591, 0.8528, 0.0738, 0.0288, 0.995]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1823 left_yaw=-0.0002 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.3605 right_y=0.1825 right_z=-0.0022 right_yaw=0.3912 right_pitch=0.0042 right_roll=0.0012 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -1.5521, 6.8171, 1.7753, -0.022, -0.0611, -0.0122, -0.2667, -8.6085, 3.535, 1.619, 0.0073, 0.022, -0.2613]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0227, -0.0296, 0.9983, 0.4915, 1.8782, 0.4587, 0.8463, 0.0666, 0.0242, 0.0206]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0007 left_pitch=-0.0061 left_roll=-0.0007 left_gripper=0.9983 right_x=0.3594 right_y=0.1831 right_z=-0.003 right_yaw=0.3994 right_pitch=-0.0011 right_roll=0.0008 right_gripper=0.0206\nstate[joint_eff]: [-0.2393, -1.6068, 6.5846, 1.8193, -0.0269, -0.0464, -0.0122, 0.0068, -7.3504, 4.0547, 1.7021, 0.149, -0.022, 0.9206]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c877755f55a1e3144a661fc13e948afadd091478193c5e11b49eafe22419b003",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d75eb7c0895267632b37cb8d8ea08ec6703b68ea3caccad68e31c04dbc5a00c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37c8b7a4292bcc2c0331bf99d747d7b1b4fb6552ac30f18cf31041962583a470",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEHwIHOTredJXm3UYR3vxu2KCZ3Xax8bLlX9wWB3WzGgPiflo5CXs7w1q_U7fUVXEW4RYbXaeiACK8qDRlNH7pqK8NkAgbCLMTQ9yBtx9-fJvqr64_iwmG9up_1QKT8c1ydaoOv7F1SjxHSA3vo93HN3IXgSANBZvmFl4XIoMVYTs1QZqexMNmF6WNRzS8SQ_Z_F7lpZHlPZHV6PXqXmNaj1TMBE3B3-reMqUfkAZfQ3v4HJ1gdsfTxb0x16qqQLXKRQ6eWFlSHCHD-oFUBvmydXjVEdR2_zxt3rJJqLkxrw2BBlJcH8-fFBbevPEe6gp_ipO5ly7OuPqHf1iBDqklAw3-r_T94MQGH3TrK2r81dBdV-28pKPGjrOPaqlHmxnSmQ16a-B5q2EXz78s-uVKW9X56uuAiuAx7VtRkauZWmyOxqjtj9Uw5_bbLkPQX_34H9A-vYWTQZm8qdoP-TmUsfyrfT9RDI8WQYx-y2KFLf4M3uX_ccljWH5YsqQCQ852YpCeRFTqDAXRCpJpq2LM8Wllpj6L3a6d8qdjCVtJXcsW-SfBOo8gLMHavc5XR18Z6rV8t0i9vydmTJQOIytJWEa8S1ap8WjZdWIkWcZ2TrlcNW-3nZXFFqSzy_qHKjbU8BnIcW9gktGbF8GNjXaHFBpdccHFsz-h5A8fKcgaxFafgdBLJGed1dKAlQyEpfo-PmA_K4w8HfN-N_iWbTrnhWLAZZM3QHj686GFQA9d1NPDPmXvC9j74csUmhIWl3ysoPuOhPXZi_P5F8jQuei-Yxhn0p9A4TUWSdrbHWkdDMty7_pDVjunuwnWmmhuF9-nSbcRYscLvnLoee5-T3qAOAZbJ1t-2rL72k2f6m_qwNyJ2MmmFDn9BqGHipA0AQpXUIxp-XfB90rGmnMvnHszLsmeoXZYDGVtMApR7keyeWYJTjbrqp67IxBjIYLtj_Kr928drN3QoH4VS0HIXMsmE6_BFklLYtUBIIMPLWBcpqjebUWxnOwoxp_x1hmlP9kWmQiY-9Z-r7Yek0JWTRzEAmzmLuNfOyhCGizhy1jK7Ip9MfqjwXXw1q2-2oMWatqgMiq-tSiVhAlUrlsCkEI7HYMoV7YlHo1lsuboVLpoNST1bhtALZCMxruM7SX0V_rmpQrGCoOytCpQcXVS6Vx5h2Tgvt6ssO_7kJYwDIk-sEycYz5cF2MGQo9khV_CsNpI6uFafQ__14shc5DcVBk0ZwrPzFMPUGWWJr767i-DWFfIjdcEIuI0beLjhVbnzIH3e09gGDIA93JFnI72kBNoadGA4apm-PN3QfuA6_fnkXQ4FlIoRsekSodDCCaGvOnQRpMdm7H5qZvN7t3IivJT9K40xK_OePInSor3MXsoXeI2MveM9_7cLM__aVsiHZWyJEBbf9O19ceJY5lChX0dNfPQ==",
  "id": "rs_0f86157e53f6fd12016ab441ef1d7c87d092e6fc6fcc6f088b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.18,\"right_z\":0.0,\"right_gripper\":1.0},\"note\":\"The close settled empty, and the wrist view shows a small clear gap between the closed fingertips and the bottle base: the body is still about 3 cm ahead. I’ll reopen and advance that measured amount while staying at table level.\"}",
  "call_id": "call_RxWczcP8ZtWAbEKK8uDPPJyV",
  "id": "fc_0f86157e53f6fd12016ab441efa5f087d09823fbc6be99f55f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RxWczcP8ZtWAbEKK8uDPPJyV",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4397, 1.9053, 0.5396, 0.7891, 0.0181, -0.0143, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3819 right_y=0.1801 right_z=-0.0006 right_yaw=0.409 right_pitch=-0.0057 right_roll=-0.0055 right_gripper=0.9948\nstate[joint_eff]: [-0.3487, -1.2103, 6.5573, 1.8095, -0.0415, -0.0513, -0.0122, -0.8821, -6.2701, 6.2291, 1.7753, 0.0269, 0.0073, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8048ba1fc5ca10e23d9f0ff5252b72859e6109c5d9d583c4dd6b4aaf1d9e723b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85a8e08003cdaede4fdd29f4275da457d6e4b35286ae0bf956d5ee8efbb58b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2db502714652bc09bf39d772a78a31c4aed3be9df64a46cbae04d618e975ec7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

message 115 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.382, -0.0231, -0.0296, 0.9983, 0.7273, 1.9388, 0.4732, 0.918, 0.2657, 0.1501, 0.0241]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1825 left_yaw=-0.0004 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3316 right_y=0.2379 right_z=-0.0041 right_yaw=0.4003 right_pitch=0.0442 right_roll=0.01 right_gripper=0.0241\nstate[joint_eff]: [-0.0342, -1.2239, 6.4752, 1.8681, -0.0171, -0.0806, -0.0122, 0.294, -5.6274, 2.9333, 1.116, 0.0757, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0227, -0.0296, 0.9983, 0.4915, 1.8782, 0.4587, 0.8463, 0.0666, 0.0242, 0.0206]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0007 left_pitch=-0.0061 left_roll=-0.0007 left_gripper=0.9983 right_x=0.3594 right_y=0.1831 right_z=-0.003 right_yaw=0.3994 right_pitch=-0.0011 right_roll=0.0008 right_gripper=0.0206\nstate[joint_eff]: [-0.2393, -1.6068, 6.5846, 1.8193, -0.0269, -0.0464, -0.0122, 0.0068, -7.3504, 4.0547, 1.7021, 0.149, -0.022, 0.9206]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4397, 1.9053, 0.5396, 0.7891, 0.0181, -0.0143, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3819 right_y=0.1801 right_z=-0.0006 right_yaw=0.409 right_pitch=-0.0057 right_roll=-0.0055 right_gripper=0.9948\nstate[joint_eff]: [-0.3487, -1.2103, 6.5573, 1.8095, -0.0415, -0.0513, -0.0122, -0.8821, -6.2701, 6.2291, 1.7753, 0.0269, 0.0073, 0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8048ba1fc5ca10e23d9f0ff5252b72859e6109c5d9d583c4dd6b4aaf1d9e723b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85a8e08003cdaede4fdd29f4275da457d6e4b35286ae0bf956d5ee8efbb58b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2db502714652bc09bf39d772a78a31c4aed3be9df64a46cbae04d618e975ec7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEH0liNYvYXejSgKOCbhc66LTfX1NE9pzJditYbC6R-hj3njchq7I7ujxNPJjfTpaqhxZqJiWZse9X9t2U_hbDI36n5vZspzb_SKiUa1Qk57S8ANAQlWgDzgVW_dUfM1_uHR5lTzpdQeE_d8youvy0R0mmwdQYLRuw8MwT0Hb2jIeHy6EibxDLqKMAX4lwMGBLEgfU0xUtpAzP1sRT7t48h6zrLfs1FBXxK1MgD2CEFmd-_hERlGE-ERhOfdfOO9-JNiQqSUvgKmXH6HD8Yf3Z9EGXodqeS7VxkSToUQuM4hq0EyrWCMzzMbHTUH8Y-EXYnCWx26YNCI6ywEuk6SoWrYxSDGzYkzGu2U03tKk-zVb_hqK7-uRsx317to6qz2wI-73Z02Uce2CmKbONxKEKCVI7BweZxTlwKlHnmqFvVX3A3_J4HNYZszeH0dOC8gny8qLFp_tNTxeDNmrBfhM65skTqNZs7zUfydtLmR5iL4PzNIRcAVhKAeUFPpUCbVjg8h8ox6YLLiiwvINxw1DxpfeYDbqJCXvO9tdLqk_J766zuDQHgx_j6mhXysiNetGkgO1rkIEQbLrkXcMuKClnO_Ymc2lC35Pnbi0M7YOkQ2Jy_gV9aPrcfBTnknS6i-IGKfw4VukoxHmhoabDDLDmA_K9FfKZp14y7Ac8-7M1Eb1JYbjP4u44DhWMQA6Mg-hQENdFeSp2CjrD8hwXa9MzfoShi3ZAzJnTDjddbtLnFBGtnljJ-e5tY6P-D-aFMcPQCYtRIU0GyneEX-y0KbekzHlhR97ZwfqYr1mdXs4GtA5fZyZnWFr3lWIWsgrP9yC_s-e-oaIRQid8AkKjE2-eOgPuSLSC56E24s1TPmTBFujgtfokyV9uaQW2DunNW54guE7jgIK_PUcGq16K7nJOi7wvJjwgx0-RDfgZmUvLZiE7S2k_rlaHXZrelJO59LeogtshHJliGEfTdmqNRGR-XN8NdR3HGaDqD2Xvo6DjnEIUN4sTQAOX5TjiAG9Ui76ov87nMLjdMeciDbAsZcQsk7ZVImgpcQK4xP_TJ4CSQfkziaWfFA89DfQ9sSsvaiSlUTX6-BdFVynSs__Xck_yC5fnlRG9re-3GajcAv_eYnyeQImBB7qFp4D7mzLlvvEqBw0-tTYRIglqOU38xOcXLSdiRpwuCiAMRsz2EGl9vr5MnNKE-sYj4f6LViYGETpP9_syuHmPhTYWOMQDJi9XbYGOXQ_wHBagIFp5x0r3rPg_vvDdVGNJvTTn2B2WTB8Q1a",
  "id": "rs_0f86157e53f6fd12016ab441f343cc87d0b4158fb9b2f852e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the 3 cm advance, the open fingers now extend alongside the bottle body and its base sits directly between them with no fore-aft gap. I’ll close to capture this body segment.\"}",
  "call_id": "call_xLKK5yZWAuYIttAM4x4vi1ti",
  "id": "fc_0f86157e53f6fd12016ab441f367a087d0b23f83430b18b981",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xLKK5yZWAuYIttAM4x4vi1ti",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0227, -0.0292, 0.9983, 0.4374, 1.9053, 0.5377, 0.7849, 0.0132, -0.0128, 0.0185]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0009 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3809 right_y=0.1795 right_z=-0.0021 right_yaw=0.4101 right_pitch=-0.0119 right_roll=-0.0017 right_gripper=0.0185\nstate[joint_eff]: [-0.253, -1.6205, 6.5299, 1.8193, -0.0513, -0.0513, -0.0122, 0.0479, -7.3641, 3.7949, 1.8877, 0.0659, -0.0024, 0.8962]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4032c045e33fb07438048744e73e10dc49101e0a179a34049b43303c59fb11ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4beb3d220c87267528b2b33d205830073f05898c71eb1a663c17f7ceceb7f9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:591817d5848216bb881bb2474380b4a168d2977093cfa339d8c5940addd6d8ed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0235, -0.0292, 0.9983, 0.4919, 1.8801, 0.4591, 0.8528, 0.0738, 0.0288, 0.995]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1823 left_yaw=-0.0002 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.3605 right_y=0.1825 right_z=-0.0022 right_yaw=0.3912 right_pitch=0.0042 right_roll=0.0012 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -1.5521, 6.8171, 1.7753, -0.022, -0.0611, -0.0122, -0.2667, -8.6085, 3.535, 1.619, 0.0073, 0.022, -0.2613]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4397, 1.9053, 0.5396, 0.7891, 0.0181, -0.0143, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3819 right_y=0.1801 right_z=-0.0006 right_yaw=0.409 right_pitch=-0.0057 right_roll=-0.0055 right_gripper=0.9948\nstate[joint_eff]: [-0.3487, -1.2103, 6.5573, 1.8095, -0.0415, -0.0513, -0.0122, -0.8821, -6.2701, 6.2291, 1.7753, 0.0269, 0.0073, 0.0317]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0227, -0.0292, 0.9983, 0.4374, 1.9053, 0.5377, 0.7849, 0.0132, -0.0128, 0.0185]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0009 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3809 right_y=0.1795 right_z=-0.0021 right_yaw=0.4101 right_pitch=-0.0119 right_roll=-0.0017 right_gripper=0.0185\nstate[joint_eff]: [-0.253, -1.6205, 6.5299, 1.8193, -0.0513, -0.0513, -0.0122, 0.0479, -7.3641, 3.7949, 1.8877, 0.0659, -0.0024, 0.8962]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4032c045e33fb07438048744e73e10dc49101e0a179a34049b43303c59fb11ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4beb3d220c87267528b2b33d205830073f05898c71eb1a663c17f7ceceb7f9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:591817d5848216bb881bb2474380b4a168d2977093cfa339d8c5940addd6d8ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0f86157e53f6fd12016ab441f66be887d0b026866f111e1d41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.18,\"right_z\":0.0,\"right_gripper\":1.0},\"note\":\"The jaws again closed immediately in front of the bottle’s rounded base, so the grasp point must be farther into the cylindrical section rather than at the end face. I’ll reopen and advance another 5 cm to place the finger pads around the body’s midsection.\"}",
  "call_id": "call_W2DuOs4hoPODlpuCL9nIAmu4",
  "id": "fc_0f86157e53f6fd12016ab441f736a887d0874a43a109d7687d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W2DuOs4hoPODlpuCL9nIAmu4",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.3828, 1.9854, 0.6914, 0.7189, -0.0509, -0.0559, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4202 right_y=0.1827 right_z=0.0005 right_yaw=0.4328 right_pitch=-0.0035 right_roll=-0.0028 right_gripper=0.9948\nstate[joint_eff]: [-0.1299, -1.4427, 6.5436, 1.8095, -0.0269, -0.0611, -0.0122, -0.9368, -6.4752, 6.694, 1.7705, 0.0415, 0.1001, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6347a8923d6cf29d541e28141a5537ea49b21130d6f7aa64fb974457cfe8d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd65a4d4339975e079848a228c3c3ebe562686979f5af4349167aea0eedd8bf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61c2c98497a93314566cfa6589b78d911e4f594133ce73771e33520c84852d0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0227, -0.0296, 0.9983, 0.4915, 1.8782, 0.4587, 0.8463, 0.0666, 0.0242, 0.0206]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0007 left_pitch=-0.0061 left_roll=-0.0007 left_gripper=0.9983 right_x=0.3594 right_y=0.1831 right_z=-0.003 right_yaw=0.3994 right_pitch=-0.0011 right_roll=0.0008 right_gripper=0.0206\nstate[joint_eff]: [-0.2393, -1.6068, 6.5846, 1.8193, -0.0269, -0.0464, -0.0122, 0.0068, -7.3504, 4.0547, 1.7021, 0.149, -0.022, 0.9206]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0227, -0.0292, 0.9983, 0.4374, 1.9053, 0.5377, 0.7849, 0.0132, -0.0128, 0.0185]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0009 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3809 right_y=0.1795 right_z=-0.0021 right_yaw=0.4101 right_pitch=-0.0119 right_roll=-0.0017 right_gripper=0.0185\nstate[joint_eff]: [-0.253, -1.6205, 6.5299, 1.8193, -0.0513, -0.0513, -0.0122, 0.0479, -7.3641, 3.7949, 1.8877, 0.0659, -0.0024, 0.8962]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.3828, 1.9854, 0.6914, 0.7189, -0.0509, -0.0559, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4202 right_y=0.1827 right_z=0.0005 right_yaw=0.4328 right_pitch=-0.0035 right_roll=-0.0028 right_gripper=0.9948\nstate[joint_eff]: [-0.1299, -1.4427, 6.5436, 1.8095, -0.0269, -0.0611, -0.0122, -0.9368, -6.4752, 6.694, 1.7705, 0.0415, 0.1001, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6347a8923d6cf29d541e28141a5537ea49b21130d6f7aa64fb974457cfe8d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd65a4d4339975e079848a228c3c3ebe562686979f5af4349167aea0eedd8bf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61c2c98497a93314566cfa6589b78d911e4f594133ce73771e33520c84852d0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEH7wWi3gEwcntlAD2NVmyIJhJ5fHUf0J9F_gX4kR-n6yoky-UI3-PmtcBWQFXmJKfkj_th19D82Fkq1d9enEdy1ITDSv3UpUu97_SUuXo70lcXWuTVHiKFxXraIfSSJgG8_l4XcC2XeJv0g68R1Sqs54SkkkQQDGlOAXdXkuxP5afTQ6o-_7PM9O0l9iiugmZ4t1wGl_7yBzrMGHXy7gaztZ69Vk-HIdLe_XIUp7VcBd4IssNXPGaAV4nEY2XXtX4om1sXxvjFmAAGL5wzLcDXXSLP-yX52ThG5eLi6HLWj_bqqbtPmXm2kZoUp_El-8Dl9Hrjj7poumHUAmAE1cW50R-G0OcZV6vW7pmmh2hoD-9ulxVEysDelxCGceESWu91YR_QhUbV8GrKJY0OM2gYFK4OkWaGO1ZFJMPE11lmz34sse3eguZwNFJqHfNiEfzNhARnYTOYDPuiF3u9zj0hp4PL2SEZD-S-D_5enJKZqs1NvAs4fR0A7KkxS0Q-a9SUAUi8Ag40PnBZWiEPQTdM7nvl6sXPYbvqXL_c6A5lDmBt_E_Pr73D5mOp-EH4Iq1dIsMZuOlzQkzV2wdvecl_mGP2747YY2FPvPTGe-PQhYhxdvnV8H6_IBLsD_fARTeQ23pEpetkedgahjSdzRaZ_C6D3gPn2K1Y9tYERS6DGeOXARgmvvEb3m-BfKS0IUXn1ipW-cETDEyXv6DlDlr1tuzVY6BRBwC9BjYmpfrh14swF7g8EURSnqjjioDYRxcxaAsC1BkaK1DGsydDwjVODqHGinzyPQdwYaWQ9cEN5xypeqZglRt3rM1lLSCMAnc55iLVCFPb_dh3__S115shFCpjY7P_UcbsYqGq7rPHLNYk65uWuvakYJTm1AdlLXqLHK_W7Y-QIIfcwNRlW6kSnTtFWkLbgkI-mFOt98d4bt9FyLU3bSvL5nHm0uP4_Pa73LgmfNfjjwK1TBZwY52KgKlBX8lGLqOpYj570OD_dQ_01iUDrj278fhctsLIZyq4f0rX_Y7eCbfG2nD3mP0yW-3JL8pZObKkxr8Z6yQi2o-BslcXdHP8WfaoeKa6C287Ew7g30bcqu9ezR1Vtnj-EM6wmNt_vFWZDXoU9IZIOeTOEZ-jd9lfwjUEY8vNLyWVjvP81YxA0jewuMTIg-Tge-OYQNCusLy8cZKhHztPTEbs13t2WtC90KZezW40XrVn0b2yRpgV1nftn_CGP1xuGMJQ4m9P8PvgYvescTGfKGMI=",
  "id": "rs_0f86157e53f6fd12016ab441fa1ba087d0b204590523b14266",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The further advance places the open finger pads visibly on both sides of the bottle’s cylindrical body, not its rounded end. I’ll close at this table-level pose to obtain the body grasp.\"}",
  "call_id": "call_akehb5mqixmwXI5m4dCUjkjX",
  "id": "fc_0f86157e53f6fd12016ab441fa521487d0891ace1342af5b9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_akehb5mqixmwXI5m4dCUjkjX",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.3801, 1.9854, 0.693, 0.7078, -0.0582, -0.0586, 0.0199]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4192 right_y=0.1824 right_z=-0.0013 right_yaw=0.4376 right_pitch=-0.0128 right_roll=-0.0006 right_gripper=0.0199\nstate[joint_eff]: [-0.253, -1.6068, 6.5846, 1.7802, -0.0122, -0.0513, -0.0122, 0.1436, -8.6359, 4.041, 1.9316, 0.022, 0.0122, 0.862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3276030560e7a84640cde374649be09ed94beae0059ca246de4461144bb1b1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:330a18cb3a3b646cf937898069a9bbac7af8c252125829a985dc4e382763ed6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3694053d917ff1c9818adbcda486ca9c6a07362166fd2a5c6b32d2446d913593",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4397, 1.9053, 0.5396, 0.7891, 0.0181, -0.0143, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3819 right_y=0.1801 right_z=-0.0006 right_yaw=0.409 right_pitch=-0.0057 right_roll=-0.0055 right_gripper=0.9948\nstate[joint_eff]: [-0.3487, -1.2103, 6.5573, 1.8095, -0.0415, -0.0513, -0.0122, -0.8821, -6.2701, 6.2291, 1.7753, 0.0269, 0.0073, 0.0317]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.3828, 1.9854, 0.6914, 0.7189, -0.0509, -0.0559, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4202 right_y=0.1827 right_z=0.0005 right_yaw=0.4328 right_pitch=-0.0035 right_roll=-0.0028 right_gripper=0.9948\nstate[joint_eff]: [-0.1299, -1.4427, 6.5436, 1.8095, -0.0269, -0.0611, -0.0122, -0.9368, -6.4752, 6.694, 1.7705, 0.0415, 0.1001, -0.2271]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.3801, 1.9854, 0.693, 0.7078, -0.0582, -0.0586, 0.0199]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4192 right_y=0.1824 right_z=-0.0013 right_yaw=0.4376 right_pitch=-0.0128 right_roll=-0.0006 right_gripper=0.0199\nstate[joint_eff]: [-0.253, -1.6068, 6.5846, 1.7802, -0.0122, -0.0513, -0.0122, 0.1436, -8.6359, 4.041, 1.9316, 0.022, 0.0122, 0.862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3276030560e7a84640cde374649be09ed94beae0059ca246de4461144bb1b1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:330a18cb3a3b646cf937898069a9bbac7af8c252125829a985dc4e382763ed6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3694053d917ff1c9818adbcda486ca9c6a07362166fd2a5c6b32d2446d913593",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEH_2mla7moDH4l5MVQVxHXK1rkm9SbHs8v0H71HhzJQZSqQvgkxD3SnAgG4gCJWBA0ekrsUDAtWQx3rI7BXQWddHL3vDjrQTbiOp8-TbDZF3qOREzlNhTEwh0k3Cp8EPldJt-RDQfi65l6pVbAO73ePH3gKeAzQZL87J4j044ZeDR9ks34O1hOQffi6Izr4d8s6HSWMDBlTeWgQN-ITOJ6eIc8oFUIWGdgYeaKPCmWBFypNde_IKa9gsYi5dgYrAKlDYRz10orqDflUriZmEUjkC4B_Opvvq6jKI_O9ZuQ4xiYcq-5wtmZYMKxZJc9FZfG4UZJCS7yylmdmakfCPOi2kaAmXCaPZm72WX8u3YOwYvBu0xv7Bnodp0_OsUGE8B1nrZNgZ24bnlQo_twfqxeZTcl4rcdLHmWh7eQ8If24Y9c8MzJ12tvJALVVqAZZhlPRgMG_67RhoXKPg5K3PQKL38WX1phIe4gjF_yhXsMM9eHiZmLCYtGUa0cTjusyz08ynQvqIVC6hl3rYTozIOiygKAr7MwoVVvHyYExHQ412BJfIGmPniAGanWjFJ8YHrv3zLSr33I_ja0-77c8QoHSChxJue8Jun6FcQ_e2B9YpuvACmJZ7PmP-553z-EUBojisZZ7JyWzz2NLZ2Ut0nZbkwAkvw6kUFtDhvXZkPZMHI80Kx25BLR8v4mmy-eRgyyWN6feiY0YZMaPA_E9bj9Fu1bt812g58VB4Fiw1UdaVvtoMPSFJ_dJptj6gJGsxCKR0PoKafELDggLljrt3ti7CGLBQA2GCAldTZ18oKAklqdCNaDtxZPlfzjq9STrQmJ84_B4SLMJAHxV3R5MhzDlIduPWCJ9ZcZbpEE3Gih2Ir23hzRKQt_KQyQROWJRYkDt59zi3sjq4KX1iW7fcoQwBuz6G1WwJEifbFGWZjaZOsJhs-df0WM1INMXm0sw48xp1QQMbLORHPMJS_Cc7QfzWpXz70sTvUZgwJTuQ5fi7fdhXb9uKmyGF8f2WHE8NqsJXD4m-fbzmdADmOgkRoLM6LkshOK2bz5b2t2XiGUhd2QFRGTPXSb1n5IugrlO3epw90DoJDfksaip3weuopNJedupp2gEUFLriLc8Q_OsEGQc-0wmhShKq9k0G4q7iIUMU14BkjADJuSujuA2yURTRLayt1pqOk8lpDQm_uRyEjysJpCMA_-tPVrgHbWho1RehNGmalrJ7R7u-nCbWooRwzI-ifjP04XG4AiERoiu1RDeM0WSFrMSUSyXQiMPcbwllV9bZmvbbXaf9GL15g3jppxsmXDW-SNvCQtFnUwoxtRR8L_23O4viGx1vnmB8yZC7EwuKsGT6e6WH-JAoiFUe7-MvZemktHwFxUxVQuJDcrtsVqhrsBs09SzVsNXm6iREKPwtl2V2r76dHA661qjcdHHeYNrMWBTtxWIJx_tkzMllvebDAH1nItE9zuJli_Br5rS97-YG1rDB8s_ypWFQ1grxy07pzfT2_h4eD1OUuC44YPl1sQt3dBuRs1euMnOxXWbaMaaHtzZEE0odXttDAz5nMQXW5GAFVcwxn6kp6acDSZxE1YFsSWj4vMF9QJ-Z4fdj0gvOjFLJ5HbbL6bXTfJZ49SO2q2S3k1Gw_NOFQT8BD_vVXygOMqxOASQ_ikhM7ljfgvv_RW55EnxYJfJg==",
  "id": "rs_0f86157e53f6fd12016ab441fd4c6487d0a5f60f6b1dd1269d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.18,\"right_z\":0.0,\"right_gripper\":1.0},\"note\":\"The close still met only the bottle’s end face; the successful body grasp earlier occurred about 5 cm farther forward at x≈0.48. I’ll reopen and move to that known body-grasp depth, keeping the low target.\"}",
  "call_id": "call_HReKW3eDGGynK0w2IxEivZNw",
  "id": "fc_0f86157e53f6fd12016ab441fe364887d0b4ffb725b7a6b512",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HReKW3eDGGynK0w2IxEivZNw",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.3321, 2.0701, 0.8589, 0.63, -0.1162, -0.1032, 0.9947]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1824 left_yaw=-0.0006 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4593 right_y=0.1838 right_z=0.0009 right_yaw=0.4624 right_pitch=-0.006 right_roll=-0.0065 right_gripper=0.9947\nstate[joint_eff]: [-0.3897, -1.5932, 6.5983, 1.8144, -0.0269, -0.0513, -0.0122, -1.1829, -7.7333, 6.9265, 1.9902, -0.0269, 0.1099, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:870fb9997b2a48c8ad51e5068b260b749b180608873bfe6586974b561a69af8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbdfa4bee94a5f55de93145a95da3d30158a6f99ade7aa49f874491d3a88fa93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edc21cc3312ae7c60c3cec513c85cd078a540bec376879d9241211dfce581651",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0227, -0.0292, 0.9983, 0.4374, 1.9053, 0.5377, 0.7849, 0.0132, -0.0128, 0.0185]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0009 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3809 right_y=0.1795 right_z=-0.0021 right_yaw=0.4101 right_pitch=-0.0119 right_roll=-0.0017 right_gripper=0.0185\nstate[joint_eff]: [-0.253, -1.6205, 6.5299, 1.8193, -0.0513, -0.0513, -0.0122, 0.0479, -7.3641, 3.7949, 1.8877, 0.0659, -0.0024, 0.8962]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.3801, 1.9854, 0.693, 0.7078, -0.0582, -0.0586, 0.0199]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4192 right_y=0.1824 right_z=-0.0013 right_yaw=0.4376 right_pitch=-0.0128 right_roll=-0.0006 right_gripper=0.0199\nstate[joint_eff]: [-0.253, -1.6068, 6.5846, 1.7802, -0.0122, -0.0513, -0.0122, 0.1436, -8.6359, 4.041, 1.9316, 0.022, 0.0122, 0.862]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.3321, 2.0701, 0.8589, 0.63, -0.1162, -0.1032, 0.9947]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1824 left_yaw=-0.0006 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4593 right_y=0.1838 right_z=0.0009 right_yaw=0.4624 right_pitch=-0.006 right_roll=-0.0065 right_gripper=0.9947\nstate[joint_eff]: [-0.3897, -1.5932, 6.5983, 1.8144, -0.0269, -0.0513, -0.0122, -1.1829, -7.7333, 6.9265, 1.9902, -0.0269, 0.1099, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:870fb9997b2a48c8ad51e5068b260b749b180608873bfe6586974b561a69af8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbdfa4bee94a5f55de93145a95da3d30158a6f99ade7aa49f874491d3a88fa93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edc21cc3312ae7c60c3cec513c85cd078a540bec376879d9241211dfce581651",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEID8PKp-4P-T2w2Y2b0ANZzGwFNqwsfXr8QKS-vVICoSu1c9abCVGkud-Wx7gm9E4yOGJCQC3yy3mAGGSK9_DcoA-zQUQqjURsZ4qM8ynVUfZsZypjCUV2LCrL0ynouoP6YA-Gq4Rr--GQ8ItowW7-XmJhgA_TxYL_ofWJcAsZdGTEgCW6eR-VDdOFQ8vHaFhS2tJre0y3AqOru4qA00GXSg7BlUcQEOaOs65vr2LZ0L-R_xgiP7u-hoYrpd6RCB-RTRrDpKV_NwMFEJvcir3pAwXg2tP9m7--MjBbJk2EwRxp2tGEmeH_PPnmjhqLOHxd4Rrn7pgQW914ruR9p43WDYN4CAJa78bxs_al0I_QTAnnihiYsrfLBijWsOE0YgPzw13zzVHuEafv-pCBnake5cvXefTcyFBkkC947_1H6EXRHp_hyhGBx7_YXp8uGVvHp6e-FnzG0TaQ96u_Ctf2V6T2-cRbv-Har91RvaYOrZQvFctHYLcfOcZqqd3hFEwhU0goCDyfHvIZKSU99bCVu2BcCmqujEDSoSJfH-nRVQgeqn6rQMCxEEOyQYI_EOd5RLvEDKp-RECrjeyrT73valBbFPYNO-F_fCMuBTYRrhQzpdKniKvYnzrTaGwwM4-p_MDOdwWNwBpwgpotHcCiYC-e9-maAIs_3GPphbs6hhoxnxRQnIqx5OLnUIxoIP7VzERPGx2lypnrJ6CXMDSQsLunK7mSSmGpIidsct4ED5zoub4TEGw9a1vlGBAHsztt2xlaZVkOxJX7VO2OU57m9FA_cD_Lao7uYQA8U5k_o-wFPHQtRkMt4dG-Os4F2dDL2zgatXLOwYlZpo4rCrwciRSGN7o1cvuIdknJpdwDMTJ1djHnOZ9TZYub7jIlt3CmwdjCPzz0qe8NDyG6w6pIjDfXJstNew74yKk8IwgZp8cY5eb9Wt_AumJxrBLREKwh62MBkNlK1-LqCWjFp-3KkeRrcyjBjsifTZQLLfmkV49ScMitT97Rlc6NWGp5NvzjP6i_ON488qpNu8xHxFKcKtEvxC-i9fAffWdA1uVqyujjsfS6ytCMQXp60Gcan8d1DtT2H6o1bW6aP3VyKOieJ1s9mW_GjQNMou2yleokuNJl6cA61srfKUXOC7uyYVIb-wd8IGFAmix03a64b8Fk3Mfr6MqjPyFgtwAebTLN-xX0fbvOL4UJ6Qb-XZSByGO1gyhexJaRbzyAR_xCBwLPY6iOt4lBERmBj7nhDV0pprcsl6nlB6dvRgHuEtPsi6G0-8rDHQcFZr9cJKfDAWTY3UFrZQUsEJByCitPL_VXusqpB_tEyaxGDzS9_zMi4Y-Oh",
  "id": "rs_0f86157e53f6fd12016ab4420187dc87d0a77d48a511009f48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At x≈0.46 the bottle body now fills the gap between the two open fingers and the pads are visibly alongside it, matching the earlier successful geometry. I’ll close here.\"}",
  "call_id": "call_MgkFkXIhelpvdjrnjrGB1u97",
  "id": "fc_0f86157e53f6fd12016ab44201c7e887d0839ab2a0dbab5613",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MgkFkXIhelpvdjrnjrGB1u97",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3836, -0.0227, -0.0292, 0.9983, 0.3332, 2.075, 0.8585, 0.6361, -0.1341, -0.1028, 0.0199]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1822 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4579 right_y=0.1873 right_z=-0.0001 right_yaw=0.4784 right_pitch=-0.0039 right_roll=0.0035 right_gripper=0.0199\nstate[joint_eff]: [-0.2667, -1.4291, 6.7761, 1.7753, -0.0317, -0.0073, -0.0122, -0.3897, -10.0855, 4.5744, 1.8242, 0.0464, -0.0024, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c208e6838ac077dae0fb1f6c8167240d5df935d1318265f7e6ca086b3f0004b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13f11c27e0d4e38e5b71e95a111afe85a488e330f68c82d429418a03f16fd103",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4267c01841fdef60f5bc74cf62c749eb5bd8cf51b4e8c97fff1d08e0d522ed8f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.3828, 1.9854, 0.6914, 0.7189, -0.0509, -0.0559, 0.9948]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4202 right_y=0.1827 right_z=0.0005 right_yaw=0.4328 right_pitch=-0.0035 right_roll=-0.0028 right_gripper=0.9948\nstate[joint_eff]: [-0.1299, -1.4427, 6.5436, 1.8095, -0.0269, -0.0611, -0.0122, -0.9368, -6.4752, 6.694, 1.7705, 0.0415, 0.1001, -0.2271]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.3321, 2.0701, 0.8589, 0.63, -0.1162, -0.1032, 0.9947]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1824 left_yaw=-0.0006 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4593 right_y=0.1838 right_z=0.0009 right_yaw=0.4624 right_pitch=-0.006 right_roll=-0.0065 right_gripper=0.9947\nstate[joint_eff]: [-0.3897, -1.5932, 6.5983, 1.8144, -0.0269, -0.0513, -0.0122, -1.1829, -7.7333, 6.9265, 1.9902, -0.0269, 0.1099, -0.1538]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3836, -0.0227, -0.0292, 0.9983, 0.3332, 2.075, 0.8585, 0.6361, -0.1341, -0.1028, 0.0199]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1822 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4579 right_y=0.1873 right_z=-0.0001 right_yaw=0.4784 right_pitch=-0.0039 right_roll=0.0035 right_gripper=0.0199\nstate[joint_eff]: [-0.2667, -1.4291, 6.7761, 1.7753, -0.0317, -0.0073, -0.0122, -0.3897, -10.0855, 4.5744, 1.8242, 0.0464, -0.0024, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c208e6838ac077dae0fb1f6c8167240d5df935d1318265f7e6ca086b3f0004b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13f11c27e0d4e38e5b71e95a111afe85a488e330f68c82d429418a03f16fd103",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4267c01841fdef60f5bc74cf62c749eb5bd8cf51b4e8c97fff1d08e0d522ed8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEIHye_s4qlYrQEvF_i_gIxp0E7V87AsyeeJ2y5eDGVpv_nVgdBtXmxq_vyNLUN0xmcE1XsTsp1NyXssrQcaKayP2mH5UkkJW6f0aD2UIIx7GNEsQN1EdGhDf6PSM5rq2H-YueX1vUOM9dR_Gtudu7dK4v0IsNeM1uK4nodwHVCE8gKBlXY04OiKDnMbPlhb5JrQ_6NwL6nFhwAfyp-VXGkwkwII-EsC0xxdcT7iiFFdHe9C5eQNIh3-e5IzZmURY6Ye-JbrnlUKGNxPR8xlSLxYMV8TuxUTc18NhzaY6yMd2gySmXfvG_44nBpBPSQ8kJnfpz3VN7YrfvrIuXhjpsPOc0eMsdGT1trhMzZZQorHv1CfZjJ3sf_6NDBqjhu7Bb9i-5V6LQp_NmWQsZdSG6FE--H3ctKCG1NwQBw_JdU94DQvM6gdMS17aDxPD6ieQt15c_dVYbKWX1nB7lBiQHpuxNKQ6EfIBw4IwU2AK4LNR4BqXG1QlJ2LcJhahyAow9E1N8jkU4JuE6e4Y-P6Ow6M-_0AbVvBvqxs1RcA3JjAEusO1Wbt-layzLrqfqeQgsNZAcWLsNtNaMzpbSA7LcYPf-sGX8lZ5E83C2JPY2bi28Rcj0gRKnmtClBnY7JmjvIrP3TvFycXkxahDaPBFP3jN-rP0q1BEBPMZrBPclemQAU426Scbc0t4vCJxKgP4iKh6iTZ7F09jBWjd8MY6izc9skeM_fHnAdLYQQDcOsNqekjLYtD8edNcm8zeFV6cEJjzJsb_DQBrDqI6izlKR3hSfSWGdgxGMugp-5caEYCxc7WetqmfJDFmMfxmb-blXuMn1SZCQV_3Js1AGwuV6BgANNLGqp2G9s8Phis-02C98Yer9WkXNMEjE0GodtbvkxP9X6nSwVTqy5prsorhh34jAuk7zjGVKeiMWE4ngbJa8v4SDng5WR2D0qbZe9Ywnfm5OIBpb3fZPl3idle25lbA_ablkZGmYGejUV9jwnboXgqqWda2YiX0dH0RMuHIa-UUjxp3L1HMUpREOaR154hIihr8xuRQMb8KAvkPHfopvN8_ZZIxabm_e1hwNZpww0JjeA1X-6ArDpnHnrc6B2iBKYmSyA0XmsUYPzXXCOVYjaR7GlcCQJOU-3kwyaWnOH03Ma4lJd7CA0Eb36CxGzjFRI27ggBcIDgXTrFdm84LwSntvmOfLIkNN4qG-qW-yISKwfohB8Kk9xcvzyLrlKTqiRym8QgjFHbO-e6Pbg9_rhWoTP7LYEyQkENhHWi_NcvtB3JaVmzuprhfeLAH2EA4iO-bKsVNNjsmCgJAjmYzRmrIhcFt85pT-ormy9COnoaGUtcg-dVSU16cbq5zciTE3nlyO2B2zx3mH1TsZm0Z4DVGEhhmPnfmDlU_ime80kujstatCqykZKdvSFiXihOxdsy4a9fv8q7TsFt1KtKwajoaYISzGuXa581T0v7PqjjhyJpyYqQVdsJ4mnovp7b61I9A2MbrVB66X5qo4s4NcuLlfha7JOiv8TzCAcf3npEIGqyHVfWALK8kb3gTj6C3-dN21yxIoF8sGzUvu-NL3mKd3zwbYq7KYmHUDNE1RvyNXOvV9ylJoWO4mx66xkohFWj1BaeStfmXAX4aVnTxa75lXaYzX6c4HC0szP4RwVW25Twd17x8tUau9gcDvW8-ryTPVm_WRPCP3Z0a2VQmomWzeF-4sJL94topfeDcLUMo5lz7FeRveqF5q2IpcTB2OFaRHHBFtJmWX_1vH1_1hg0w9UOvage9lo0mJGGENTIyLuxg7eMBX_7Q80AbkN_cHw_2QlY67uLcxk476ksriCDi09yeZRPYZXc3VJoan9CbTntHO86AVBzyifBiUrlNzRuOKItd2DsgULdsPuj1hM=",
  "id": "rs_0f86157e53f6fd12016ab44205227487d0969578bd8819e7ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.23,\"right_z\":0.0,\"right_gripper\":1.0},\"note\":\"The close missed because the end-on view reveals the bottle base is left of the jaw meeting point, so it escaped sideways despite appearing large. I’ll reopen and shift the gripper about 4 cm left to center the bottle between the pads.\"}",
  "call_id": "call_y83PY2XogEuuze9Nd9FGF9qD",
  "id": "fc_0f86157e53f6fd12016ab442064b8c87d0bb4abd9322091ed3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y83PY2XogEuuze9Nd9FGF9qD",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0227, -0.0292, 0.9983, 0.4362, 2.0998, 0.9119, 0.6125, -0.0582, -0.0589, 0.995]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0009 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9983 right_x=0.454 right_y=0.2269 right_z=0.0011 right_yaw=0.4939 right_pitch=-0.0036 right_roll=-0.0014 right_gripper=0.995\nstate[joint_eff]: [-0.3487, -1.5795, 6.5026, 1.79, -0.0513, -0.0317, -0.0122, 0.1573, -8.1162, 7.4188, 1.7656, 0.0073, 0.0024, -0.2613]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84f242e104e392ec0683c09fb066e40943629783f3202e534aae9356fa88215",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45781cc6bedc6af918541f87605e6e596e90b18d089dfb18aebe0175f0be1544",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0f3cce7abcdfb0bd992b5852988fd56f66993e0f66ff91f06be08b5ba5fe4a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.3801, 1.9854, 0.693, 0.7078, -0.0582, -0.0586, 0.0199]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0006 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4192 right_y=0.1824 right_z=-0.0013 right_yaw=0.4376 right_pitch=-0.0128 right_roll=-0.0006 right_gripper=0.0199\nstate[joint_eff]: [-0.253, -1.6068, 6.5846, 1.7802, -0.0122, -0.0513, -0.0122, 0.1436, -8.6359, 4.041, 1.9316, 0.022, 0.0122, 0.862]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3836, -0.0227, -0.0292, 0.9983, 0.3332, 2.075, 0.8585, 0.6361, -0.1341, -0.1028, 0.0199]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1822 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4579 right_y=0.1873 right_z=-0.0001 right_yaw=0.4784 right_pitch=-0.0039 right_roll=0.0035 right_gripper=0.0199\nstate[joint_eff]: [-0.2667, -1.4291, 6.7761, 1.7753, -0.0317, -0.0073, -0.0122, -0.3897, -10.0855, 4.5744, 1.8242, 0.0464, -0.0024, 0.8864]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0227, -0.0292, 0.9983, 0.4362, 2.0998, 0.9119, 0.6125, -0.0582, -0.0589, 0.995]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0009 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9983 right_x=0.454 right_y=0.2269 right_z=0.0011 right_yaw=0.4939 right_pitch=-0.0036 right_roll=-0.0014 right_gripper=0.995\nstate[joint_eff]: [-0.3487, -1.5795, 6.5026, 1.79, -0.0513, -0.0317, -0.0122, 0.1573, -8.1162, 7.4188, 1.7656, 0.0073, 0.0024, -0.2613]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84f242e104e392ec0683c09fb066e40943629783f3202e534aae9356fa88215",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45781cc6bedc6af918541f87605e6e596e90b18d089dfb18aebe0175f0be1544",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0f3cce7abcdfb0bd992b5852988fd56f66993e0f66ff91f06be08b5ba5fe4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEIKDDfGFzorRYlincrkg4kI11HwrmeioXW-rq9piiz_jSVyEhfANzS1ohjotCJNEFMk_8GalUMZtylV7SYkMe4M_oyXzTDssIcwSM3JuewJPaO4Zx0RAFD5QMs12zZ2uUwmcUwoB82NxZ8bSZwU2nJO8yksS5j0D90hhhMbucn_Qo5nPMhAuEAXQAqCantYPHZHVaNqKZs8gtcYQH_AjVFoV_mO8QSt4aOfALy-f6_gFd7UxIa0PfQC5RqRpL1H1L2eHBP1u0lb9mt9VuEdmIKic5jSAMce6SHpb9OEWExw97lFN8eY7WRWNpA4CBFEPeqALsfS62AGCfjt6LI5veM244X1WVQzGPg4UITq74OV9XIIxgq4lzoc0gg-xMHxCCASQiX9eDRaqp5VqgkBuYsX4XDmgiNri1FFKCyOnRQ4phBlpA6SmOuMcSh3HIdhMRrftaLyRQmxfKIqhzTAnVu3DM3OcS6_HBQcbV9l7EvHuQsDTwqB3Ks6yFRJu0Be9hTsuYdU5FF1PmAYAbsrXzrFNmNRSok7ZaYrYmTZhpvJhlQ-HG1Z6kM2G82LvKjKzaHZsyGGAtCBMEo1p229xo_IY4rSqYqcsr5WiLIo90A8nrzGY_45wM-lxeWKt0sTYNGju2U3EIKSFUp1K92MpjYRW1qJK1Jpj_258GuK1c0s3Z-BZoZWQ93CwbdnYI3ifmezo5sFB9zYcToJT4WdeiM3-0kSeI1B-RpYiDkA93UNFgQz6bZiKfnLYc9fqoFuBqUAj6WsD7harV28l4Cc_z2n9WWHhKaR5olMOY_f4Y48KkLAj4xBDn3Xh4aGyYc1wXEiRBK8MDyo1hisxBDPK2-HYUnXe8Ym870krxWdTiIU7FN9aqkSX1IKPEs0Wjn0VmauMp9k-Tb1znZdctNgRQP2RvdAKYx_uzBlsRHdw6Yrr5Q7rVBWuHUaGEqqK1TdWfzJmaXfyqAFqtGPuUylnVnyXlsqnHWavz_qo2jtwkyvksBIH4LXhUm1UR0HES49Vz2DVT44xry8TMnOhwcDUSyhautzsBXwONUPCnB6GDfSAADOF9Ms3uuLEWXdWAtfawiBtO59At5OADB7grcIvNCMDmgQVVKP6BvEM8HZ-bDqWMQAZGsfX_R767lpNx1ybuIgoTmp-iVFPF29_cTjBY1bHT1QX3i71WYw72apsJy0aRRMAcV3lEDFkiMhmBTAZDUVwsvKDeGc4o1aX6My_SooxcCjMP72Vg4cDQzHypLZ1SQ=",
  "id": "rs_0f86157e53f6fd12016ab4420973d887d0942c032dcb408092",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The lateral correction worked: the bottle’s base is now centered exactly on the jaw column between both open fingertips. I’ll close on the body from this corrected alignment.\"}",
  "call_id": "call_WiaDSCjXy8KNEMIBh6kPsTm4",
  "id": "fc_0f86157e53f6fd12016ab44209a1dc87d0a9e5be1618bd3478",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WiaDSCjXy8KNEMIBh6kPsTm4",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4374, 2.101, 0.9104, 0.614, -0.0608, -0.0601, 0.0183]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4531 right_y=0.2277 right_z=0.0004 right_yaw=0.4979 right_pitch=-0.0047 right_roll=-0.0009 right_gripper=0.0183\nstate[joint_eff]: [-0.1026, -1.4564, 6.7077, 1.7851, -0.0659, -0.0611, -0.0122, -0.4034, -10.1538, 4.7521, 1.8388, -0.0171, 0.022, 0.9402]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c70e0381f42fa20473e3ab71b4f9a35a9c197516c7ff0e68270b5d0845efce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f16e6506a294a697e6429ed44da84e4a0d5164e7f9561973c42d6f2362881d12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99dadbd354bd4eb721204af2e77c14104722c83aedaba1039d9f48906f14e337",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.3321, 2.0701, 0.8589, 0.63, -0.1162, -0.1032, 0.9947]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1824 left_yaw=-0.0006 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4593 right_y=0.1838 right_z=0.0009 right_yaw=0.4624 right_pitch=-0.006 right_roll=-0.0065 right_gripper=0.9947\nstate[joint_eff]: [-0.3897, -1.5932, 6.5983, 1.8144, -0.0269, -0.0513, -0.0122, -1.1829, -7.7333, 6.9265, 1.9902, -0.0269, 0.1099, -0.1538]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0227, -0.0292, 0.9983, 0.4362, 2.0998, 0.9119, 0.6125, -0.0582, -0.0589, 0.995]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0009 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9983 right_x=0.454 right_y=0.2269 right_z=0.0011 right_yaw=0.4939 right_pitch=-0.0036 right_roll=-0.0014 right_gripper=0.995\nstate[joint_eff]: [-0.3487, -1.5795, 6.5026, 1.79, -0.0513, -0.0317, -0.0122, 0.1573, -8.1162, 7.4188, 1.7656, 0.0073, 0.0024, -0.2613]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4374, 2.101, 0.9104, 0.614, -0.0608, -0.0601, 0.0183]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4531 right_y=0.2277 right_z=0.0004 right_yaw=0.4979 right_pitch=-0.0047 right_roll=-0.0009 right_gripper=0.0183\nstate[joint_eff]: [-0.1026, -1.4564, 6.7077, 1.7851, -0.0659, -0.0611, -0.0122, -0.4034, -10.1538, 4.7521, 1.8388, -0.0171, 0.022, 0.9402]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c70e0381f42fa20473e3ab71b4f9a35a9c197516c7ff0e68270b5d0845efce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f16e6506a294a697e6429ed44da84e4a0d5164e7f9561973c42d6f2362881d12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99dadbd354bd4eb721204af2e77c14104722c83aedaba1039d9f48906f14e337",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEIUjasNuaWzeQ4jAyjBW0iumU8-KGvmazGBFnempZQOFIJKboq_p9JCu208zblIwp8KHd6jJrRN5ASClg6dHQZo77t7B5EpZQBkiKiC-d2iYTuFWfCwsydI8RLeXobDOChiCqbuuUylYOiRVN-YSsc4svnRzTPYJ67ur4NBEX-rZLP9y85ey7M-0hGwGjCDIkDE8puoOjkT8IkEG3TBuc1ApsZavzEP_NPfyb36loWFW1FIsSuu7BjcXp5eMMEM0JrHDVJawG6yG3j_oOfeXkghW9dFJ4K60369fsFS-S8Hr-6BdvNCa-rJ5ULliDiEdLyup8tflfLztjPmUoWwixCziz2O2K72GlQQQDhxI14s2C-5Xn77poILHLjU4uLWeO56sPrk-rC6CDUImkKikSQxtScOyr02QJTPuHPDLgfKj0OtfnSyBKgWOAFer3AUWUHIDc79lLeNKWJEoCksZPIFazNXuzbnFrkjqxSsOLvsDnDEdb0Jf78nxw-UvSoDhhvTANCC6AEmVc4rlJeZPfB_o4ldfu4NmIhTTnqxYY2yFBlnwXDDpGv4bB6KKo7k4D2iLWbbQ3SZr6u9LsQw6PB517yahupAgaoxv6ydTcnVlqj37qDZRgy6qOgUD6BdH7-bBD_h6v17Lelb9jDCBTqcYMBlJrbeEeBlORcaFdmkKA4Gsb_saFCOtneUvt3Xbtxm_SvAuS-22nypFFpyZj1FMLFNlandfs8N5MPtNthjmmpoDl-L4xgYUXTEu0CCKcbHxUtmfMkvLjb0HTBt_qu5Fs7q7LRuv43kg0dPqhPYu2czipAflLsU5f7E4MdQupU6CfSheeCNTohwVx4HwzuqEyw0nyJIKJul4yUcRRDRbXUXuhApnHSJPnGKgph0c1D8wqbDCHvM46O0lyZHKlsZzaHG_f8mPHJP-A92cQissn65EtJheRIcqbRHGGZMrD30xWx6VCYJccE-i4A-vTvzEMehmxi1KhBbrKE1q5nP5LoN4DKT09TjDSUkrrewI5mN-FH9mObtcmQ2iK4YyA7pUrQNo5srJzKz2F4WGZyf1QURQr1Jlh0ONrIvU4__wI7WoyDONi_AROVDv3vQ6hKA086_wTVP50NCms1oLKuy6re7cRLkRAE64mNkICev_E1O1hbKkk3hZDvOa137HUc6lBkCNKZxRhMSz96Cuk_NF3FgyD4zFZPDr-qUrkeI8YHmVwO8EvpiMCIe4l_0IMk6sstmWnSh5vzktxjqutb1KrWZ3C9YXKp7A07fDbHgHk2JhoORZBlODDmUpiCKBdCyzoh9WHv0NQ3DhhhBRZFptsbLPF8Bl3xYPZpyo0ptmSSPm3kDI6wI_U3n9ISDahvWqCMAqCxfSAkGqqsjiGCVGXPlSG7qoRQ9p_BdmwZZ9Wt6zius5a6vON5F8H7i0YuXjg6QR2mi5Tqrgnd9NIbqnvK0v3WztLgylNINdgmiNKqnqPqw-dBJyeFK1sDWtFQ00W8M7CzSgfRCDLZvXiAsPEklNHWaCPM_9Jz8t9M8vOHCJD8TEokPyeIsYyNyxhTCcGQPVnZQCY2mhcFeeLhutfeW7emr2cEtDolnlJbIRF2TQyDr96x5fxNXJeNmByw8pNIn70IK0qoqatyrjj10yumuOa5DAwUflnm3L8AaftKOahsGxx3TIyHKCwECrO1eecXLUFD8AbmxkIi_w7DyonF5DWqjhZlhG5gKxB81RA9xPXdH1AT2UoRhrVsZ4Eq5RUKFppPco6xBW2DgCGbxEeJ6s6RxNGZYvPAbaEB8cdQ_8l1zG2srDD91Xo9MUQcw8DWSu98tJhARW16m7ou9mRD_ylDNOtNEpwDi8XBcN0ymv7Gkz9v38ag940RZt9RQvzdfLPGoJ4BWekthGSt8RXmXu4rATqOfgZAHVceMbaLkbEQqkrSL32JESSEoSPfCpyQVaGchFxtpTj5RgkcPGRBi6DrTjBtbzVsbr2ez2_o6lH9woHPrjBIM76JuisWIwwe7HMwX93gKPzMaACSsfQfBE0h3JUSgS8SW200Oth_fngm_JMXHGxzIU8E5xbyNVNb-BYc218Yz22hRQZYh1UEowVz8iOLCw7rSl0OilWVwuZUfn1xsnAReqS-lYx8IYslyihmVHBVnyI0_X5ASSDeJzvXlDZphgNzCPIJay9tvLuOTH9oFUPvKUOQ6GKb5ZHMcI-PFKMXP3CLdvDqWR7Lr1fgFFcks-vdL9jaRkQBq42APAFzRNbpkeKSzHRVCrZd3RFof2uQTQZjBIx4ypnMctlpCgvY5r1aY9RmbUjD0uDCP6J4InB5D9Fyz5lLsvhTNd_GiiY3YG1rmdWHywz1CC89fu9FT6dpS0IRNJvXMXjmhQ_holNTTBtWXfzyrzAYVssgzAsA-ydIUF5ugA0-0PxnI19MBh6254upEFukMjeFkKyLspavSw7kYJB8x4iXJvWTOUyVHzAy4MiUsVoh66VIXsMqmRMFcdQ192jwc637f6UEKo4_BowHHDLWmsKrHedgShtn6Trai8fA4nweBMc2B9w-NdQhC-8DJM7H-iFHJIprahsiC6d6YmgLhmLtuoL7I1DfRB5fb5Nk2ys9bHqKLR6rjkdUEokf-i2VD28orsWT-5ExvJ3ECxrdI2ejuOoZtl64UdcACPjHnirxloOo8z9vj-gziofOcHw-tXfeGuJtBXYEQUnZlKxQlc2YMETAi16H5WuJn9zb4f5iolTf1WkBEyGlU5ZHMDs06zKCqMfJGxEe3HZTEzmRLpwbiqmD56jjiPMc9MMfZ5wceIz9AAQeXv7o_24-ghnjjyzhTLQy-Gou6jPXRDZ5ysZzydrf47kOEJMcgWBdHjuP-bEUx_OE8b10pDLw9nDlgqwiakN4Z1UBGuD9qFUJ1iSJxxIdTfACEELCZe24DrW7RyCybWNehPF2ljUuAIqbfAufVRYzQjK3Cf0ieh7uNvTR02gp8pyxqrmfaHIXcXLkxwtoWHTOGErfELrbStWgLhh0-1BxuF-iIJ4n7iib4MHPoHeCgkTbkeFV1TMVrD4UdaiVW3uE10I7t2dtxpWleOcz8XMUvrGjMsL9kbL96J4EvIFo0yYnSfd0RxJ5yCbHN7rx_v0kgRU2_uClMhqJyryIhCZ0cn4SS4LP0rE--08VLX5Yw5MTzKnyjSqe8Sn7bxqP45_JadJTCbmHlIk-h-fAenh6vl5Vrj3uZkb9rGge-u_IxFiXiXNLkfCWhjxCxKKci0DfA6iaPhERDgSRIXN-8o72E0ZmBkEWdNQ1S6_RCZA9T4p57oM257I9DzSZMJCdtGkBfRHZ0m6J9avDvQBgSpCdfKK4UoFQ9skZ7mi12j7JDC5q4kcWKF2c0Zve2F1iJlVumE2Cf82w-JIncrEBeKXTWqvaf37QpoKT62vXXSCLK8lonNLHvwnrmgbhk78fk4hGWjxUKf2xjwRPimaJC4xCigxv1Pi-uTgURO5N4ReuPuEEzpGaWw88FR8BW8NkANPQlD7XFak2wr2jWa0dvTrTi334ndbJwfhSMzEJyLu0MwIcV72MaxsX9f7g8mQzfipJrymdr_aXBNO0JooHcjvlsVCIKaldXyF4tzv6jgr3Z5ztQol4pSDKBCgRM2DBVYIJLmfvxmcmAORTqy_RAYZQQhCfTaKjPV7Yg5ujNSLuvm4kyinqUgglNYJ0aNzN8lrgX5n8Y5IhkG4gZdSuQmK0wRMk03kh0XVvVlO0fzjBHN3kCsSoMmaTIFmzHUSzdWUt8RjrWCpwMaCL5rUqhq9l3ueAzRtOAK7jEJ4PNyQKI3vp90naVuNmwOLLgHOf1IyzLjhV1UjNfXPLHtSXPCtp5VQjQIpIyauOrYyZLu3hW7GC2DwPhrYVXvCcffy9xEReP1TXQNPWFn1bQgw6GORts1_q-RnOtWPAVB2ox-g6bSSZw_SCT8ehOEpLDsRBXuZsjiBDGfNnrfivc5DKnz_vjYQswdKv5E68AvxANbNBcjt0eNpv1R8gy4u_l5WMV9xSkOHxbOiB69tkdUTpgJ0SifIjVt3s3B6x2QZAhjfQ-3jl4Nt64J6qMpOL4F7xiE2ZEOIupl-Y4ibGbYp8ByKhQptHLPaigbijldEJu634L8RgdUM-xYpcVyAU--ZiMMK8sBZXGg-fGu0j5U13KOAJWsSNJPzR-mkquIYTeHhp5n5VMyv_QQ5XH2G54TZj3TRuiDDZRGAe0JzoGV9uapj3M2OFz1a5YVlAnIfwEvhEE2T0t_aQw0CCrjQY=",
  "id": "rs_0f86157e53f6fd12016ab4420c656c87d0af0e1b356d2e1f5a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEIUZd_11Utm3ioQSaWiYtmbfmi2ZjgCqisMZtyTXNHi5f3XlcwyOOFu1ZzoQkU_ee3ZjwREqwDf9Np5lrayNhjJGdiG-Yz16m_Myt3ByXXeG3-hymsWgANcLBg-Nz2HWQHNkPsXZUq5iBX6AYCsOlxZ66be0EJDsVo7kasafHm3oz5ah6aK1rUjJDyi0ock3j85gXqyYfj1y0hbBB4gt3-DImUD3P4pihioCjDx_IwlM8gQZEXdh-Z6N8dZkRIlWICwYeRKK5GqOX-N4f86IJc5kcESl4EknxX1fAXzekQGLRN5VPgtM8KkBFNihdcKRMGa_qNwDplKhYnMdHDXtG7_dgszDctcAcTp_GupsMEwKHdqs6ovwpafkudXndVZ3xSFk7na0Qr4Guq0RfuMFKFf2Qit5dxPNP5EQcIxwLx8efT81AUAERmxej6_kMl2VE6JMN20mxD0YbtEVkTVsYUkFWeRcs2hCDFk5uRoHMU-jRlhl71j6UT_CBKXV5bHcpZvdaWtJGZhXrbCKlwxH1w_pWPnOKPKpWiORw1NhtDbL391KKWmzU2HI1fUZ5g8QW47BNIn-Y3qWS1zSc6fPrAoz9Y63rV5Vf_Tx0pVVjqtL4T5s6lczDIn0NyDN0gO0nwWq_pHcTnEEA1AXumdb0MP21eBS-wzKwHNeWVcPJMMiJ6R3ypHxuDgxN-S-FhHLlyfL1opXwqIfSlYzvl-AXnlXwteHjH7j6-GtjSvxU1bPwU49xLisviidTSREAOrUDsAJPZcEfqcMt6BQg_W4BG1CiefVev8QwibsNUrwAKTQSVAjNu12MngW4Lgw9QtM-XUINFRjvyxsGh0bxPeM832mUxfOSV9LlB9UhL2asR6leYXv0ok4Xs45jsh9Be8qsSF6eugD_6K2BlKOQlOfB7mfxpeGIpzMdNOVf5KGCUahlhU3otYiTEUD4xzmiHUVTwojSBSLTjOMOJwEgXiS53zaTDp-NkzHjOJawjRZXAxCuk02JAXZvNIiKMj-U2SJH_uIhzZRBRA3lmx9h3FfrrwiQ7v6HW6qN7rWmyq5zaXLQJ1hMYNkBNf0qdxBkvCrW-JUOpQIhaHoVoqmnIL0bJQ719H5Berrt3HQnoqHtKz2z_aa5gPCTOyj0PjMHTA92IorZxtQRechsYKb1nzFpMd9nm2GHFuUcOWhwZvCAbNKwrzHFvKqwDa9R72Gm_KRXyWPuj7mHTRqB73huT6XwCzCIVk67cLX1X5M_ydXEdrlEILmCOFAeLtSP4FmLxWlHlWVgvAJHt9fmVUoN6jQXHOlAoV-BFfaT8ym1rEsaxmtHrMB72wIE4FISkxqhGfatlU4psjU2fLMkdW2EOJyfse-peXkstvkiTqvZ0dshXmZtlQjbqqPZz0myG4-aSlS_nknk8Ad6PGnoFWPJjO-5PgnhERVTvZcMxct1urvwdOG-hHDe1aIiVyxBf3XdRSeKONFPDMB03e-LYn7oI5FjghGEjhypayRkCbfQXB5zxDV2Yxzzeu3uG-oVPelM8scF1gwOPWuSNRiOoSqRn2ymZH4Yj34wyNpKMr1whyxlKvwVpZ0sH2BCvASY3t2l6SJrGjgcWGbgxFEHfa4OGY4SXq4-FQQ2HksKgTlUmmdEI3eqx1mJ8LrP-GkibiqXYNR2KgMIucf8bT3kVoO3bucq3WmY5JH9CWD30lYPWEtgwugl7lYRyyfwTgQAJXJA_cwf17Fsu1uCA3Kt6P2ZMmhiCxaKcmeZGBk1-mXqoiT9VH58QsiJ84efZa4gUxcFcJi0P7D2B7arnbD166zy6MnOIsnLpnY44FDBMam_GEf5yBXz3iQt8zO22DtnUSdvTubQmGwnJ1Drt50wU067Tczf8FJOP38bAxu5hsm3FxsObp3zj2s1UGQtNeoZLye1HZV5cxO5IX-181uu2DmBl6LOZLJG0kUsw_sv5Cc1f7pgJydiLoiJ6LpxCRbNvM8izjnEPph7icgxYBRz3p-XbdoTFjXIncb9Oq7PvSwXKf9oRL4tYgbAOsFF2geTo4R9Y0yJvUNmI5Qf3aztiiDXFCdgA6Hg==",
  "id": "rs_0f86157e53f6fd12016ab44211741087d0af9db65fe812f0d5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.15,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The right bottle’s rounded base cannot be pinched from behind, so I’m switching to the diagonal left bottle, whose neck is visibly closer and unobstructed. I’ll place the left arm above that cap/neck for a direct neck lift.\"}",
  "call_id": "call_HKPrMatfME6myRnRJHGj1212",
  "id": "fc_0f86157e53f6fd12016ab44213520087d093cb844fc87815f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HKPrMatfME6myRnRJHGj1212",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5125, 1.5963, 0.8345, 0.0612, -0.4183, -0.3122, 0.9988, 0.4374, 2.101, 0.9096, 0.6174, -0.0605, -0.0616, 0.0238]\nstate[eef_state]: left_x=0.4052 left_y=-0.1415 left_z=0.1011 left_yaw=-0.011 left_pitch=-0.068 left_roll=0.0254 left_gripper=0.9988 right_x=0.4533 right_y=0.2277 right_z=0.0008 right_yaw=0.4984 right_pitch=-0.002 right_roll=-0.0025 right_gripper=0.0238\nstate[joint_eff]: [-0.5812, -7.6923, 8.4718, 1.8144, -0.2711, 0.1538, -0.1392, -0.3761, -10.0991, 4.6017, 1.79, -0.0366, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4727091095538d0bdf3e985ea6438a20d5674d8bcd481e7367da03340a4ab198",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35824574e73c88e29f9a4e79bf230841b2fd16e5d9a027afdad03289572ec48e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36dace02f6d8cbbe07d2199a22260e3b87fb98c851540fbc2ad0a5382e24603f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 139 changed as sent

message 147 changed as sent

message 152 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3836, -0.0227, -0.0292, 0.9983, 0.3332, 2.075, 0.8585, 0.6361, -0.1341, -0.1028, 0.0199]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1822 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4579 right_y=0.1873 right_z=-0.0001 right_yaw=0.4784 right_pitch=-0.0039 right_roll=0.0035 right_gripper=0.0199\nstate[joint_eff]: [-0.2667, -1.4291, 6.7761, 1.7753, -0.0317, -0.0073, -0.0122, -0.3897, -10.0855, 4.5744, 1.8242, 0.0464, -0.0024, 0.8864]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4374, 2.101, 0.9104, 0.614, -0.0608, -0.0601, 0.0183]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4531 right_y=0.2277 right_z=0.0004 right_yaw=0.4979 right_pitch=-0.0047 right_roll=-0.0009 right_gripper=0.0183\nstate[joint_eff]: [-0.1026, -1.4564, 6.7077, 1.7851, -0.0659, -0.0611, -0.0122, -0.4034, -10.1538, 4.7521, 1.8388, -0.0171, 0.022, 0.9402]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.5125, 1.5963, 0.8345, 0.0612, -0.4183, -0.3122, 0.9988, 0.4374, 2.101, 0.9096, 0.6174, -0.0605, -0.0616, 0.0238]\nstate[eef_state]: left_x=0.4052 left_y=-0.1415 left_z=0.1011 left_yaw=-0.011 left_pitch=-0.068 left_roll=0.0254 left_gripper=0.9988 right_x=0.4533 right_y=0.2277 right_z=0.0008 right_yaw=0.4984 right_pitch=-0.002 right_roll=-0.0025 right_gripper=0.0238\nstate[joint_eff]: [-0.5812, -7.6923, 8.4718, 1.8144, -0.2711, 0.1538, -0.1392, -0.3761, -10.0991, 4.6017, 1.79, -0.0366, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4727091095538d0bdf3e985ea6438a20d5674d8bcd481e7367da03340a4ab198",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35824574e73c88e29f9a4e79bf230841b2fd16e5d9a027afdad03289572ec48e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36dace02f6d8cbbe07d2199a22260e3b87fb98c851540fbc2ad0a5382e24603f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEIYjJKIINxvKM_RHhMfp7hmzd-9zw36DbEu2fof-j-l2V-j5-4IIEh4Kd7Dd9xHUxao4e85xy1qo6AW4MAzMmNrhnvYwtJ8lL37uPOKxgmgp3kLKUm712GiwFSo0lnsuZiV5lqhycDGczu_tIIq_Q84NxIggfLTVOwkzzLgg07yZo7Lzb1iHLizkq2x1mFAQENbvUtueOZ4pSWPUAobHKdYCU-TzJ1YZzEwf0cCTN7TNAyJkkeHZTcorrEcIQBJCanbCj1oBRxv5MvKHZ_Mdyv9_2sQJZRiEKtEDyJSDA03c0U-GBuc4lWvm9ilIkQz01mqFekOUqp-INBQkybl_2djRj3X3QlcPFZKz5xopAp7OdjjSy2Q2k244kIXQmJJ7oj48lg4gz6hAg55Kn9Hk1ynZhbW5IGMMtafrtG7ejQsAWh997hbe3IK0QjXy5LLkcZCDj6Uekd9edFfTVt4EbFBr-YbymTHbMjKnrni4dFIdQL1AiM3qnoX3HDs0tOhHn6xPjyOA1Qojk2AJR7uPeN3DEagxM5R79EL6ySYbsHAUvyhqnk1pqy2udFmE0Zjw5PxnDDJmOgdR5gv8lAHLpp83aK2mRQeQ45V8AeTIFLfJGHpsd75oj3JbniC-frur9l-hZeQ4AxBGsa1BvkQ8KyllmODv029hkxaGMav0LDV8z87O4kle1KzgilmH9LMD74ya72geBzp0Tu1se4DJixpyl5iLjQbf7XQx93HPrkEcIERIXKzAQyMqnfb7EPaG_w4dG4bkLvl4DNJDMxMEVhjcgoiXhBdhKl2tIFGMN8_QPzG_a6B5V-iKkJk0s-mAdmrztRKrVIsN6Uiuvlhvh139o5JFq5thCiMzt0ZTARN4haGYtXtUdwcD-KDLmXwnMVfHuX6HlNqSsvB5Jo6IE89AtzeMqcwnDfpwWm6E1dDdC679ZppddeQCZ0GHW2IVhbjIiH3XcIXz5AeUkCcRxeFDgDhO6LnFLculpTPL_UU0PgP3AI1GFrDJ4HvVN2HaMEpUUNc02ugjLGNCSPSmlIEXE5OPo7Fi6hjLK6Px4gMnizrEVMqpOooTPW1YGHueKJHE1TSJy8_prtUBkoKEzNlhHUVqcKof2Ts4onT25mT7hK9Zw0pUHACwHvBv7SAooG3Se-HcKIF4PKreeM18ub7B4Z13ICG9inyFOsispABLdz1FM50P75sNLPMVHeMSEKRnHkU2aUXmZ5vhktLPT6Pg9E4N0fBwF4_xj9pdQSWWonPebuZThLYeEeZUUskkDxmpQL4PD1v-Nl0wj1XNJLE1SNW1HmzFpZQdaWZKF4CHp3oDbaJQHuLBmxUpGhshVukuokVVObWxtg-TdFZNMZeWYKd2FeV16CrnHPlIABQf1UEwJ9MOs67u_YxsrsYjKkuAKcB_lbDUPtZyfO0IyY-Syj_rYZGsTFk60PfbaPFyal_10DjHenWci4-Id0jFwHNt8ZwRM82UX2K-zop1to0HX6P-fQL6c4DSm5PEUU7T_IOy9b6eDX0zBnOVFfqpWJxN0r3yttRtb8veWOHh66hOI685yu30gUQGpaPCunK2thImcILBnOOCo5Sw-dCWeI7ZkzKXtYCnv-_G9WT1HhruoItHMw3GBIEnN6mFW2JjWNyOouGEYSiOWfaOy-HMCnOsot1ZUlNA1Kmhv8tqBmHE5OAqR5njJoqk-OJKYNB3S4=",
  "id": "rs_0f86157e53f6fd12016ab44217335087d0ac3503d03a820e60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.12,\"left_z\":0.015},\"note\":\"The left wrist view cleanly isolates the diagonal bottle; its neck is slightly left of the jaw column and ahead of the fingertips. I’ll shift left a little, advance, and descend to straddle the neck below the blue cap.\"}",
  "call_id": "call_ub13nFA77cRNn0tZgXHE2rRe",
  "id": "fc_0f86157e53f6fd12016ab44217f96087d0a61bfe6739280123",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ub13nFA77cRNn0tZgXHE2rRe",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4076, 1.903, 0.7589, 0.5846, -0.3439, -0.2829, 0.9984, 0.4374, 2.101, 0.9096, 0.6178, -0.0605, -0.0616, 0.0238]\nstate[eef_state]: left_x=0.4498 left_y=-0.1254 left_z=0.0381 left_yaw=0.0165 left_pitch=0.0387 left_roll=-0.0522 left_gripper=0.9984 right_x=0.4533 right_y=0.2277 right_z=0.0009 right_yaw=0.4984 right_pitch=-0.0016 right_roll=-0.0025 right_gripper=0.0238\nstate[joint_eff]: [0.7316, -5.2581, 4.8342, 0.8083, -0.022, 0.4762, -0.0513, -0.2667, -10.1538, 4.8479, 1.7558, -0.0708, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef93b0fa5a309b9b42df2722810812170cf670e3e4d8af0f3f628fb48c565327",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b675aa47b5f914505df7d155632e637ba673d8cd59fc3e6a55fff9467d086e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27b2485eb70e059dd90c25f34e11644c15afbd1770805f34db7495e6bffa3129",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 143 changed as sent

message 152 changed as sent

message 156 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3832, -0.0227, -0.0292, 0.9983, 0.4362, 2.0998, 0.9119, 0.6125, -0.0582, -0.0589, 0.995]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1823 left_yaw=-0.0009 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9983 right_x=0.454 right_y=0.2269 right_z=0.0011 right_yaw=0.4939 right_pitch=-0.0036 right_roll=-0.0014 right_gripper=0.995\nstate[joint_eff]: [-0.3487, -1.5795, 6.5026, 1.79, -0.0513, -0.0317, -0.0122, 0.1573, -8.1162, 7.4188, 1.7656, 0.0073, 0.0024, -0.2613]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.5125, 1.5963, 0.8345, 0.0612, -0.4183, -0.3122, 0.9988, 0.4374, 2.101, 0.9096, 0.6174, -0.0605, -0.0616, 0.0238]\nstate[eef_state]: left_x=0.4052 left_y=-0.1415 left_z=0.1011 left_yaw=-0.011 left_pitch=-0.068 left_roll=0.0254 left_gripper=0.9988 right_x=0.4533 right_y=0.2277 right_z=0.0008 right_yaw=0.4984 right_pitch=-0.002 right_roll=-0.0025 right_gripper=0.0238\nstate[joint_eff]: [-0.5812, -7.6923, 8.4718, 1.8144, -0.2711, 0.1538, -0.1392, -0.3761, -10.0991, 4.6017, 1.79, -0.0366, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4076, 1.903, 0.7589, 0.5846, -0.3439, -0.2829, 0.9984, 0.4374, 2.101, 0.9096, 0.6178, -0.0605, -0.0616, 0.0238]\nstate[eef_state]: left_x=0.4498 left_y=-0.1254 left_z=0.0381 left_yaw=0.0165 left_pitch=0.0387 left_roll=-0.0522 left_gripper=0.9984 right_x=0.4533 right_y=0.2277 right_z=0.0009 right_yaw=0.4984 right_pitch=-0.0016 right_roll=-0.0025 right_gripper=0.0238\nstate[joint_eff]: [0.7316, -5.2581, 4.8342, 0.8083, -0.022, 0.4762, -0.0513, -0.2667, -10.1538, 4.8479, 1.7558, -0.0708, -0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef93b0fa5a309b9b42df2722810812170cf670e3e4d8af0f3f628fb48c565327",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b675aa47b5f914505df7d155632e637ba673d8cd59fc3e6a55fff9467d086e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27b2485eb70e059dd90c25f34e11644c15afbd1770805f34db7495e6bffa3129",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEIcGu5BhKPIcIvcpy6QJkiR-_DnOCrhEhZxSlGLRnp-7w8JSEaJvcxEGsENM_J1IYWbsQK-VpQyVLbTK-EDLOepykd4zwamVeidjNmrbYl1Tma4PkSGGyLpdTXdtA5crD2plMGmi7VvEG56y4F5DzXWWNmqUzZPnUUBxWnKzZzxBy7c67wGP7DwYFi0N5NfCbH6AhgLmI1wKH0GfOzrT7fOb6xqclaSPuDJB4VOH8U15lieuzzG__Yunn5Wl5QDu-wTpKP8AWYlrbOcggvjTzTCQH3ba9ep52uk66UwDNPowaOlcApxbPEfNs-ZBREFuvqq7SWlvv6Q70WYW5zG_478Q56LehXZaSb42ObLYgQeJeNHKf9J78jEa4iMQc5etyPxgvOBOzDA2Cw6hHVSzThTeOc4lEftaVPnWfhPiuWnYk-LY0rDbqd-fujh34VTy_6Jq-WJE4H-OqrB8fznb9GfQtWuyPjZ8QsL_vGswUL4snt5-NeTp5rJ7P3CTp1KhCI5fOM7hDiesjzlXMMLV8MR4CFXL4rLlW3W6Iu_i67K4xgs0_bEIECxoP59qdXg0AlTTo1C4n6ebOpzQVNybjtxUbCMJMcZwHhVrzbBldHOQpa2ulZbvavXLdEHSFbQdxBPCKi5HNILKFxEQkodH1cMuU1PVl2Nx5bgLw0PLv6-kmGyb19g4KeLr-HTyCXhN0SaENkRSZA7a-qyAyVrAgrcdhKyhtg1R9r8GfOcxWHFUijQRcJrv2oWUz7YB9ISKB31IvVnPDDIDeYQL7gelcec89Ygd9PETCp_zRlFrynCIYC9exEnx8z5b9yh4SbY1DDd0uFmrRrI3golO7GJ-SfCFyWbnV2LqvzvUThehRDNeYIYNXIS6UFyUKK9wRWsWpcnhlFW_cLu87mkLfW3mYtd261P8GNtmpsk7kM43DC23XHch_WZoiI7FjNrL8UZ3fPMoky4l3SA02oXwc_uvim3Lszy2gUAOgScDt9GPHEyT33YcR0ggQvV9jUBqvh0DnhpqJOtQoIwY8JV5G0hyPyfMUYaHybatEf7rusfFe8nh9200S5G5id5uf7QGcWCLHAyikFgQ3zEUpPci_3AjCNQy_1HSOULVuGnVSjExNUO6Q0he3jt80IqHCUCWEnKQ0p-T0JjOEXHgGclXzf6PmcxAaxYNFSo6_Q7t7vxU0IWAxUYjb3R3I0CFYGW6fTp4uDIvlVVsH6VdJILprjcR8aXJ7KLkRad3Sv-qNprQ527oyIrY9bBGyDo6zYZUaeNq7YgmFouhd2qjyHdr8P05X302L1qqGOBMiJl-2wD4DoAo-yl0fR-k5wSPlZRu9CHMVosX7aDC5ahpXqBH-E0WINAPQwcGZUsfBuhUiFJujGhzTgi_76ukVjzOzVmcPJjmzdZODYbBFEgbiYEzH2juIJR9XjQK-CxKfDyR-qZLdMwlKZ50IYhkBq_doEVaMLhF89r",
  "id": "rs_0f86157e53f6fd12016ab4421a8e3c87d09c2db70ede679a72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.09,\"left_z\":0.0},\"note\":\"At low height the blue cap is close to the fingertip line but remains about 3 cm left of center. I’ll make the small lateral correction and advance slightly so the fingers flank the narrow neck.\"}",
  "call_id": "call_gTH6EV0wM0LHnGhRyCpOM2nG",
  "id": "fc_0f86157e53f6fd12016ab4421b5fbc87d0a9816526688527a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gTH6EV0wM0LHnGhRyCpOM2nG",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3164, 1.9884, 0.8051, 0.7219, -0.2844, -0.2543, 0.9983, 0.4374, 2.101, 0.9096, 0.617, -0.0605, -0.0616, 0.0238]\nstate[eef_state]: left_x=0.4822 left_y=-0.102 left_z=0.0426 left_yaw=0.0454 left_pitch=0.119 left_roll=-0.0913 left_gripper=0.9983 right_x=0.4532 right_y=0.2277 right_z=0.0007 right_yaw=0.4984 right_pitch=-0.0024 right_roll=-0.0025 right_gripper=0.0238\nstate[joint_eff]: [0.5128, -5.4906, 4.2598, 0.5592, -0.1392, 0.6471, -0.0171, -0.253, -10.1949, 4.7385, 1.7607, -0.0562, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8fc5aa9dd2c216697e76872c0c2bf5e025a54ebe9f5f45f99d6932328c1813",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e05ba816276b16e6cf86e01cfd449f3bde1ff31784146dc98804df07439bc9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9cf80e6b9324a65be4a409baccabafa29d65c9854857760332033d94364f1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 147 changed as sent

message 156 changed as sent

message 160 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6132, -0.3832, -0.0231, -0.0292, 0.9983, 0.4374, 2.101, 0.9104, 0.614, -0.0608, -0.0601, 0.0183]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1821 left_yaw=-0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4531 right_y=0.2277 right_z=0.0004 right_yaw=0.4979 right_pitch=-0.0047 right_roll=-0.0009 right_gripper=0.0183\nstate[joint_eff]: [-0.1026, -1.4564, 6.7077, 1.7851, -0.0659, -0.0611, -0.0122, -0.4034, -10.1538, 4.7521, 1.8388, -0.0171, 0.022, 0.9402]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.4076, 1.903, 0.7589, 0.5846, -0.3439, -0.2829, 0.9984, 0.4374, 2.101, 0.9096, 0.6178, -0.0605, -0.0616, 0.0238]\nstate[eef_state]: left_x=0.4498 left_y=-0.1254 left_z=0.0381 left_yaw=0.0165 left_pitch=0.0387 left_roll=-0.0522 left_gripper=0.9984 right_x=0.4533 right_y=0.2277 right_z=0.0009 right_yaw=0.4984 right_pitch=-0.0016 right_roll=-0.0025 right_gripper=0.0238\nstate[joint_eff]: [0.7316, -5.2581, 4.8342, 0.8083, -0.022, 0.4762, -0.0513, -0.2667, -10.1538, 4.8479, 1.7558, -0.0708, -0.0415, 1.033]\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: Stand all three bottles upright.\nstate[joint_pos]: [-0.3164, 1.9884, 0.8051, 0.7219, -0.2844, -0.2543, 0.9983, 0.4374, 2.101, 0.9096, 0.617, -0.0605, -0.0616, 0.0238]\nstate[eef_state]: left_x=0.4822 left_y=-0.102 left_z=0.0426 left_yaw=0.0454 left_pitch=0.119 left_roll=-0.0913 left_gripper=0.9983 right_x=0.4532 right_y=0.2277 right_z=0.0007 right_yaw=0.4984 right_pitch=-0.0024 right_roll=-0.0025 right_gripper=0.0238\nstate[joint_eff]: [0.5128, -5.4906, 4.2598, 0.5592, -0.1392, 0.6471, -0.0171, -0.253, -10.1949, 4.7385, 1.7607, -0.0562, -0.0464, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8fc5aa9dd2c216697e76872c0c2bf5e025a54ebe9f5f45f99d6932328c1813",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e05ba816276b16e6cf86e01cfd449f3bde1ff31784146dc98804df07439bc9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9cf80e6b9324a65be4a409baccabafa29d65c9854857760332033d94364f1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEIfnNZtSNSVXY9eoPeUVWOmAyYsziNcUtgMdTdPsu3K_Y3ps6J8kl3DVewy3ts0XloAHG3lCfk0c5OtU8PyLov0KpfMzmiuh3HRykAO47UkDu-8JiDzyB0ICbsTxdm6cGFHgeDqeLl3YyuxWeU4En9n182wDjxRfrqfeLKaxfohyyGLtIpYhighe-AkIPZ4-rbaUVaQ4rKLpbRObZy7dfw-RGT8Mdt5z1EsRpUEOvVmjgjZ2e5TpHI_Jx_boOMCLk0zzbYCj_8rzU6so8PLguVE7AEhV_3wFVxmtDdgxXNeeSAI5TEorwfo5DY-yQ0Q2spKEYKaKhhtAzcj4SvpVMLR-t_dxBtjxkmcJVllHo1ydgsPsTsjxrZblvj8TRO2s9CgvfzdTFu62OMFChhbaJjK1Kmsd1IAiaa2Bl7Hwq8Vkd3YGorMLubLVfUK26pJmY0aeTVmeFghd4s3q8igZ8clMk96XT-yOj8eFUFeO7wngVWManGWFD695dghudA9EPJRBx2Ypf9VJ-RT7VE5WEbudWkHLsCw1FkqKzy_W9Ws3-L96ha1IEzsAQECLLA_9IN68Vsf0szqcdQQO9JnJJgY4v9_HessoNmnRpTIaWdKyqALy8UxK-eSkBGr6chwwla0qcQVVG4bIa5PmOte3v5ojo0FQTIqimKH8PAf2aGs7DeteNg52oXxin_rs9VmThOBvnrzvJ7EVo98gf6eITDPd_FCIPpozxussxG2YayKXaT4NiUSpnS6tdMWwbzYYxv0vR3II3kuzKeUw63K_KqJkp0cJAIR_x5eMZ8A1XZsZKkdlq90LE--40aQyxvIhjNB3si3QlciFSvp28KMwrITjmQ8KoeMOgxs2ahSIaoSLU740xO2KuCdF7uX3OHcXNnzjqQ2zBs37k6m96CBFhxn-gQr8zy5YmGpnIwTRedGU8TFtMDk4XllTDAyrnepvS1BOFknZKP3JXT8MCu5raAACpRYoWrvpOaCCvhYiTKX7JJBPtaZhZd7UmZwWurpeUSZDQej4mvDOAOSDoIUVUykrOmvibHXf7hEtUABKRSU4CiTiTMMRW6tIOHA7smCCCdlSYA3K4aqH8vEFhTzbwbrlUR7_evkyUED7QbEn1wFggsGASUsNRZ2Ab6Mgluxl6WuSs7jM9Ed_tHpur7lhrXhoJgMpGy9WPxO1G-JfjaItWpDv3IjYgCERqSmEXKe0ZpQu_hZiKa5UbyKiU29Z_tao6Sqvs_OgJoOufrBgE7GkHevJrHtDOgvywI7FYMobuTNA-_WH9bhj5tQnFiQmVVNg8m8PAcgBaRqrDL2vCapky6S5pUXZ8F1goP7nqJ6-4Xdpt4JpqzRP65jjKnIGadsg_UhK7az5E9Qcu9rzcQ2kjSW76lB3W14YofMwtaAIxc0fuxgO-VL12Ozb8Eh4O5bwpbbV86raGFk5xctO2BuKfXICNvotZ-B3_zIbMqPsEdn3i5-CV0llGamEdX35f9f6R-rgnoAS4_Zw-IAS2_EfOs9bC2B63zqx9r8Smh2SsUyC4vC-ZHq8DeOEUX4jdVKrntMwqGSppOJ6k34sbS6kGClpwoYfgyHekKxRCA1soNmnriQOR5wOUnBmR2G3rPe9AFH_RRYASCmJBP2CKFj5Z7X3JyY4snBib11Sw9_7B8RAD5Q9YdK-ZpnZ-1llV_dKeDkrsc2diMIXUhRPajK9cA=",
  "id": "rs_0f86157e53f6fd12016ab4421d8c3487d0b742c9c8d3e79a1e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.05,\"left_z\":-0.01},\"note\":\"The cap remains left of the jaw center after the first correction, so I’ll use the remaining safe leftward workspace and a slightly farther, lower target to center the neck at the fingertips.\"}",
  "call_id": "call_ObsvVU2MBmgYLpatYm91T6sF",
  "id": "fc_0f86157e53f6fd12016ab4421eb3b487d09719186876d6902b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ObsvVU2MBmgYLpatYm91T6sF",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2939, 2.0029, 0.8108, 0.7597, -0.2768, -0.2359, 0.9983, 0.4374, 2.101, 0.9096, 0.617, -0.0608, -0.0616, 0.0238]\nstate[eef_state]: left_x=0.4888 left_y=-0.0938 left_z=0.0459 left_yaw=0.053 left_pitch=0.1458 left_roll=-0.0878 left_gripper=0.9983 right_x=0.4532 right_y=0.2277 right_z=0.0007 right_yaw=0.4987 right_pitch=-0.0024 right_roll=-0.0023 right_gripper=0.0238\nstate[joint_eff]: [-0.1162, -5.8051, 3.9863, 0.8571, -0.0464, 0.4029, -0.0122, -0.4171, -10.1675, 4.6838, 1.7509, -0.0708, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1cb662e64ca483b9395b58ed498b513cf6aa8b68d38db058c10825b10c7aa88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c86020311c1cebc35f8e4d08cf116a834bfc0d1c0f07fa2b868a12958c2cd50e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e280fb8026d657bb6a9d53d8f24a1d4388fecf5819cc7c7a54cbb3b900b5a91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}