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]: [-0.02, 0.7933, 0.6083, -0.3767, -0.0231, -0.0288, 0.9985, -0.0158, 0.7891, 0.6041, -0.3843, -0.0132, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9985 right_x=0.2939 right_y=0.0013 right_z=0.1804 right_yaw=-0.0002 right_pitch=-0.0008 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.4427, 9.6752, 1.7411, -0.0024, 0.1441, -0.1685, -1.0325, -1.0598, 10.4684, 1.8242, -0.1148, 0.1978, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7df487440274b0b60406980085918fe3b40c12287c62b207e91d7fe68481a79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8357367f743834bb1aa36423daf15ad53a6954840dfeb2abd0e6e4937ca1571f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af366f3100742774a567b3325a6b0b6f0fd88b704c40ec819f08aed0cf8f949",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtFF8rq8i10cvaZw5FWQQiaVyF764aEZA1DyxclTjcTeLQ7lh7dwiDcFtb7JVdChN0sFxinRSdxphBbk_lpG-Ibo_QRC4yQOa22XLGiBY40iHhTC0gtb817ouU1K96KXyYj32EW4zdCZW8ataSni25pI_-BC6o94Na2AY5j71X5XMmZZkzLbhtPxA1QAGcOV0Rcm7Lxv9spX7AsMAg0uJCHuLur52BBRk2eumpAWc7tr2sc1LSHONye3XLd_Miic0jEDMqfDuv2wzDFF403U_f-NmK4Xahc584c99_DtlYTRYZ6aIKmj7Y2zFCCwD22BIRzIbQCkbBY-WfzajJNQCZWUpj3TkCKL5Dj0QGPQiLgXofBq_vbeGPJR2sPUpSY9a-wS6LFKm198sCf5fyi7Jxf0HUlLuDMHBZ_OBg6VJkhJ-E2W_brojyJxEo9KoWFWE5d6jQG1lyDbHsggLq9GqKWROE1J0Lq3LGWdX2YySPngIFooioUqGCjF1Ixbld8Ja306Py9Y8TvFsOAJg-3Rkihnlgf9mQ9NaCecwylxAnGHEhsiWMnLYe_uMIhdUmx5fMjmS5izjUqCG3gHHqgQfHTCBgUk4HOTiC0GIUBjMe38bcNnzz2o-MfmYJ3mp13a26fbpJWZiP25fJQIsSW3LJhYJ_P1deYQFHnXL3we6OlyMnnglOKhBbN96lIneQHlKv-c6C5YeFPei0qqeCYNniw8LUq5p0gY5Ayec8Vc2smtBrflik6AuPMqYAIsSoxCl7SpUhp4uI1J6z3qVJZQjuu71_sGNopyyt2f7XzCtVwPiwbZCrs8MqyaEa4bK8yh5mM5IRz-4d_5vPhdCAk6d3-OCBsyPXRviPUtSUn13HgOoBH0CVnpope39lNhYe9Vgt_4TltRVugO1Z67zIJBL7N3uolTlX8lNnY5sXSbZY5kczG7s8FoIg5v8IBOPZinVgNWD9PZiOJh4PcxZCFa78FRpGehLCvCrD1o9J_aeeYInwEd3A8Zh2Gn8CbNUm3s7nyanK74u_PD_bDLmftBRXoH4pjJRrMmxn1O4JXnT2iWmSfNgh6g2cxhHp4ZH4zJusGaSAho07smd5iqdmwtyVHyTG4Euf_99pBqY43zGnj58YDgtu3SY_0OIgVeACoq6akyDl8Sh9cOm7Yljo3hemUbW30Jay9346huAkkGdFOhqTmkTmthUC8k-pBsyqaaS0keyz40amI8v9lzZSQeNVp6mNAyc9yC4LlyIz-Igoy8pZal-CXeV5b5yFIPJjH0s_ehIX4YsQaaioauACUBh2AUQ57iwMzAUMat6C54MFETUrbch6HRqQInksOVV3e3-OvkZ_KKLYbixOuu1VNFkYRpIMGjzOmqZVGNEShsdlAwGsYbAWL7q9X6WkfCmekGwXjRuLivqsq7ll7CUtq1-vVDqdZskwHHt_ow-R8ckVGbD5KRF5aYV95FMe9PELxpq2y-jc5P8_wR9i6YptPEAZQwMzqYAFsmU5IY1kd_9EHyutsVEULyhYh7jBvKiBT0fdNarxVyCDOyC5nmcTMAVwilaTC0FHTkV6R6T_Fiwh8ZcPbZDPTypQatTv7I9YPBH0DLVxk6Nd3ja8sqs-wSrrn4sCE8BLTaWTo3WYO9W9Im-nuKUJ1Dat5cJ020y_kEHaFwnpCsqA3TCxLXLWUf1RC55R_rTJYzgjO5NCor1GdCNoMNo5bYV0n4AeGH6RtSoRteJ11yAof7EtkuV3MjNcp9yEKlud8ERVtRXhW9iwM4wKGoMuknDUXk90_lELQpEO0VLlaFEiyxB_t5m1Ewp0IuhnQNFFOUc-NqxzTF_gQ6OjGnxvHIkhJArlZjgYqfisCjoRgUGX-0B2U_-iU-gaFr67HvDNLuTZV-EhRsg0RWRHvJvRX-ZZwNMX7pGqvw2Qn6iyhT1K28wGt0OwW7NUvZZaLjjzrgvN_Yo7acmnMEfn87ssFCOkBuCHLVw3_QccHsQ",
  "id": "rs_0514bc374d65cb91016ab45179e68487d0b4291a31b180d5a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.11,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"Three bottles are lying in the far half of the table; the left bottle’s cap is the upper-left end near the left arm’s workspace. I’ll hover the left gripper above that neck area so the wrist view can guide a neck grasp.\"}",
  "call_id": "call_VEw8bg3OCTswzHknsl2m01jB",
  "id": "fc_0514bc374d65cb91016ab4517bc7d487d0abcf3150e7ff8ee1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VEw8bg3OCTswzHknsl2m01jB",
  "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]: [-0.3813, 1.5089, 0.87, -0.0296, -0.3092, -0.2264, 0.9985, -0.0154, 0.7921, 0.6033, -0.4038, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4142 left_y=-0.1043 left_z=0.13 left_yaw=-0.0146 left_pitch=-0.0699 left_roll=0.0187 left_gripper=0.9985 right_x=0.2913 right_y=0.0013 right_z=0.1752 right_yaw=0.0008 right_pitch=-0.024 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -6.8308, 8.8684, 1.8046, -0.3394, 0.0513, -0.1636, -0.2803, -1.4564, 7.0085, 1.873, -0.0269, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fea3c03f39e8a8bdc4cb36d3da0b4751f3438100b3aa1f32aa5e63d2eae344a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3698bf94468dddb25f4ba96926526988fd2ebe1a1485bd06f947d4508d094ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e92b651c0fa3c4b5b3b78962dfe5bbde97446e3bc20fca00e86396ec7ae5edea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6083, -0.3767, -0.0231, -0.0288, 0.9985, -0.0158, 0.7891, 0.6041, -0.3843, -0.0132, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9985 right_x=0.2939 right_y=0.0013 right_z=0.1804 right_yaw=-0.0002 right_pitch=-0.0008 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.4427, 9.6752, 1.7411, -0.0024, 0.1441, -0.1685, -1.0325, -1.0598, 10.4684, 1.8242, -0.1148, 0.1978, -0.0317]",
      "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]: [-0.3813, 1.5089, 0.87, -0.0296, -0.3092, -0.2264, 0.9985, -0.0154, 0.7921, 0.6033, -0.4038, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4142 left_y=-0.1043 left_z=0.13 left_yaw=-0.0146 left_pitch=-0.0699 left_roll=0.0187 left_gripper=0.9985 right_x=0.2913 right_y=0.0013 right_z=0.1752 right_yaw=0.0008 right_pitch=-0.024 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -6.8308, 8.8684, 1.8046, -0.3394, 0.0513, -0.1636, -0.2803, -1.4564, 7.0085, 1.873, -0.0269, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fea3c03f39e8a8bdc4cb36d3da0b4751f3438100b3aa1f32aa5e63d2eae344a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3698bf94468dddb25f4ba96926526988fd2ebe1a1485bd06f947d4508d094ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e92b651c0fa3c4b5b3b78962dfe5bbde97446e3bc20fca00e86396ec7ae5edea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGDN_y95lgYp25d6_MBVtDl4a9xlGP_GBLxK6tiHQ8RI9rBqb2fL6KahCQA-OxbB03nxrQ0Lu0b1LFjXqgykU2OfznBa2GiXGie7_S9y_-eCixIdgO6EzBQLrCnqDcbk9bJvOcG6PWpjXE8eKcSmdmRuUrp9p3WyTv70j1qv12eN4MoAiGD0GsSVDvLTs7tG3uf6MQDa8_yJmBtM6PX01JXxz8YaeJ2NnlxI6hB1oixQnvEEhLeVNqLrLcJ6_t8h6zqYol8erZnJGWollgUjpxdPvmzdQAkv1PKXAy660O-FXjMQHO51SB15dhSBPrwVJovjq9FTiMwdryA8MA6nBQUuh7BF_O11uANpEZwVn6kJWcn0oGRqxZiJdc1d45XF1YLfTmVfKt6ynGH4xm9GpSAge6oWk77_XCnr3tFQtofRQuUJEe8HYQ9vY8oxlAQZ008KL4sxumFpYRyC0tG226fM-BR43E-XavAKA3RFOnS4oXCdJ9MeFjg5LqmzyS3oL9LX97H8_xCPb6goNsjpx5YuSho1-e425002OYfcm2ivKRe5NFjijwNMQJLRIZIOFzzClXd6s27_Fam0eKBfuzMSjkHLVf5rzbhZK6mQ7vPbbTnGc8WGimxIz61wEoIVsgVmEXg5j6jRukUKjMQZFnawbHU8uuwTslGSSSsnkGL0QHYYkZPQ-199EP0vExLvvgs-czBfjOAuk7kQN3nWuqIV01YGPU8HldPtoXpf3JpzM4luqkZfOiCRS7VCsjL7THEz2Vildmz1Njyf6yxbi3PorBlm-fQaZyrJ24FIj3X2-vXPEJIZwlh_He5eYQqwvqNxNvsqT-xtcA1AIzUK0Xm59kQnwETIOVpi7D47Rm39YbmTMAY5flswWXL4CRJawAEALe8OW5MnKCg9EU4wHzWgW1uO8e5_RKNgTmrOiQj-Kg12Mi8xCQsILR3Y5TFY4mUpoywQ-c3opLSK5aAR3oXF4MuNMhG03Y7vHaOWAEybq6N_LB6dRFLJk3Pp2TasqnzyvfaRDtazn_R5JPTZJEjzGB_HGwBnrjEZnLhBvqri-1ueg-GwfhC84wSMhHj6KPcYdk7yWBnDmVj_zGNK_frefw_C9ai_XK7eYeUdO-W_kiQjAcePJojk7ldhqRVHvEt0iyCqvOSFq4pNpD0EJS3f9sE70Mxh_vkmS6rkeVlz9NQf2EmsenknRs9WM0Oaw7RSRlno9kL4QuKTbXCMKJrRvdKHMDP3Fsx_Ua2Os2IMcvBEv_54nwBdbnDNPOQR1DqYFUhwfWN9Akz5GVuoGUHO-wwN3cciFq6iYxLguyRKWqulbMyMEmUhJcajK465OuCuK5a-sI9wAhqjyODrDZ2H_3VuhJtBpTPUaZRlZuIaaBkeLTqFRlkXuYw39cDxRYJGt5r7-X57B68-TJF0FLZ7vSdbXyJf6_8DKHpWm9w-r_qH9WN1IAy3-2v5-5zR5XYtkdBCO2_ORTJySLYHJoVbgOF3SewDoKSOGeOmqz9ulYWAeavx84AwBkSAuL1ASzZQw7KSmOAYFKnPEHsJHrV8vtRysqzfcDJD56wqPaM5tOwO_LPNG7Nxm2rsu75H7yTNvdV5Gujq_4kkJCWDl5HTKH3rjgqm61W9K6KC_DLd3Ei1WUFkak-VdvhytHTuOXKnfseWKPLEF4bTuLDQWWiXZHtGLmSPs75K_w3XTGb94H55aFKLpudqBP48WvYPNV0aYeHFfGZ4N2nktRnB4TjUtfudcvBXNgjKOui851raI6uwPIrsS0mFiyATxKhHA91JduYNd-L3P_PW4ak2CMlmQRvr-pUG0HLbcZIdsKZwsEhRvqClVn4mHYudH43AR2UsPNF7QBLJkyv2DItsqe_lBgeHLfSzNwjOnMBviNvjrTFSTPm18zFCsTAvg9S0AuIGnnsIBqCCTBLl9EXuXDctrqwdbEoAIqDa9euIktlGkOhjNCMfxRi1etpRBU79Znmcd4nj8j_d6FGiZ9WvEbWZ2SVIeen0BRky_cGL_p_yzLZWBMa2FSMr6mq74ma4f4lrTw6xQaIz_BYUlx7K6xoSzRRCOYyUREZfeVCVCkv6omZnNAGdrc6qjNYiEpw6PYN6J7h06lWQMTkO96YuwQN3I_ibrYczOQdO758zbcncLYYT4x1UpnTt7Nu4VjksvBGSN_Uhdfm96Cy0nbq4deArEDbyYP5gdFD3aBK7GYH6KMMVBL8lyeC6m1JdmDxWQN4ctg5DXZ0Na5HgH8Rcy6lS3zO_lpyvuU8ZjktbiVk9gT2q_5B7UBTp1-5_PldgEaRGQfGBbVWzq4cs-MeFXvmVoMboRcz0OlPbzoQTE9Bc7iT08lKRXF1hUNJMbfz1sVUqT2_dbgtD2OPkOJxlPK5R_6MC5yY8khIx8u9oMBcdmFh9CLaoNeBB_Y_tvOH0Q7sVhCdzBZh4CqB5FMRPAOljIKVkjVSTBO54uH9QRc2mdHgAiqAQbJuA6AC5YftcMTU963DBfwwPLPeMzl8Ogjcb_S5D3tUB8g8gbptnMXt0yvgWcq-oT10ELflKSIbk6V6gIld4WAuk9mC7DqDc1XQ9xn6BbBQq7sfOKIh4wZ2rhNO41NmedFZvnJgN7R_V3rI6YGbAYGEap53Y0gBWEKvzBS6hVcueZwUfa5I7PkKH3Hj3sR_R1ClbaRzmSF0bkb9caAsYMrgMA7Q-CtFnXf0YnXQ6pBx2Hp-_PkUcWxbCNmTLBCq-uTjn173JbJSzZ6hLOoSEefFmH5_5I_lwz3cOO00llpH2p_cjkY0wUhK4lHMe8pbVJJeYYtu1F_4Ex95aD0vdvYy9_IZ_Wt360PG05MfS54xpDkfp6vNgJlYRJlE_-FMi8VDMKMy5GKQ5YAud1fii7jKFMwgm8jQv8QFMedhADD4HSmdpO8509DIXYjCjdqBV3AaUO2hZXVAMd56ziKepNgcmXv0kRVqqizCEKb-ZimgBGDEwHBUZAwOkX3Dv27nQJahJd6YAdaws58MFX4KU1LMBZW8QV5Tkl-rWGqORiYTgydZP94Q_mGo7QTxabq10vFYv6eeD2-XefMjn1lPZcDwAhuPr7g8PsstvZvQ--yq9lV1ZyzuRYki0tY=",
  "id": "rs_0514bc374d65cb91016ab4517eb17c87d0a45f4621a16c225b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.075,\"left_z\":0.15},\"note\":\"The left wrist view shows the bottle cap near the jaw row but about 3 cm to the gripper’s left. I’ll shift the grasp point leftward in the arm frame and slightly outward so the jaws center just below the cap.\"}",
  "call_id": "call_0W9S889jqFfqVc2tRFEcD58t",
  "id": "fc_0514bc374d65cb91016ab45182a63887d09c465a26cb513b75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0W9S889jqFfqVc2tRFEcD58t",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2882, 1.496, 0.8402, 0.0189, -0.2653, -0.1982, 0.9984, -0.0154, 0.7887, 0.5838, -0.3973, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4212 left_y=-0.0728 left_z=0.1305 left_yaw=0.0264 left_pitch=-0.0494 left_roll=0.0059 left_gripper=0.9984 right_x=0.2895 right_y=0.0013 right_z=0.1686 right_yaw=0.001 right_pitch=-0.0336 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -8.9231, 7.5829, 1.6825, 0.2125, 0.1978, -0.0269, -0.4308, -2.3726, 6.9265, 1.9219, -0.0855, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486703d0cdc5eeb7acae79d1f3b9a7852904addec1ed5891d7dd15cbed4f9483",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5be8407c74c1b47548ea67ab51a6e641a0f6c2a0a00708fb4e1dcaa83d8b14f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37db855e05030dcc782ec885fcafab58b550cb9c28e55069c54f33fbfbba0b6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3813, 1.5089, 0.87, -0.0296, -0.3092, -0.2264, 0.9985, -0.0154, 0.7921, 0.6033, -0.4038, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4142 left_y=-0.1043 left_z=0.13 left_yaw=-0.0146 left_pitch=-0.0699 left_roll=0.0187 left_gripper=0.9985 right_x=0.2913 right_y=0.0013 right_z=0.1752 right_yaw=0.0008 right_pitch=-0.024 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -6.8308, 8.8684, 1.8046, -0.3394, 0.0513, -0.1636, -0.2803, -1.4564, 7.0085, 1.873, -0.0269, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2882, 1.496, 0.8402, 0.0189, -0.2653, -0.1982, 0.9984, -0.0154, 0.7887, 0.5838, -0.3973, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4212 left_y=-0.0728 left_z=0.1305 left_yaw=0.0264 left_pitch=-0.0494 left_roll=0.0059 left_gripper=0.9984 right_x=0.2895 right_y=0.0013 right_z=0.1686 right_yaw=0.001 right_pitch=-0.0336 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -8.9231, 7.5829, 1.6825, 0.2125, 0.1978, -0.0269, -0.4308, -2.3726, 6.9265, 1.9219, -0.0855, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486703d0cdc5eeb7acae79d1f3b9a7852904addec1ed5891d7dd15cbed4f9483",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5be8407c74c1b47548ea67ab51a6e641a0f6c2a0a00708fb4e1dcaa83d8b14f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37db855e05030dcc782ec885fcafab58b550cb9c28e55069c54f33fbfbba0b6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGGJUU80ZyQJ2VhLdrYFgharenSh-Lb-CSQ75H71xT4XaHlhNKg_5DtG8RbOTJMq1TLv3Wezi1Sebg0G6kmcptMX66J7HDTV4CouEhDqCkXviPFlVNWPsOMrPXVwGFx6CQvcynXJNIEsDP9h1Dt3Oen38dxnfvwh0Oe58Ontv9MBBotT-cZX4AbX6tHQlDnNbyphGbgtnrE5tKGOAX7ihIcD74Qy3aHH3zL-U1I0o8PGV3p0Q1R3wy-J5qq3IuF1CmTH-0Em1vxXm2cNY_2B1X0ZM5zqnzhMFy9TomrbxXq9TPxRprwd4a-PyXy2HtkbTQuKjwtLDBqMKUhMInIPNX7-k0u6XBmTHlGr3tXLG--LbYIcFxW2VoRuYDuOoH_kfHiH3gYhjOt68J_2j_epIfdbppSJC8Fq8C_qQ6pOGVhBIKAWeFzMwHcpEUCYWgJy9vlmwuq0MlFaSgyxQkLpYu81o4QYY_QWb5CpURrcsYF8Q1iYpp__KMhrfv6WePLgPI3uDOs2Na0QEur4EjTZWrB8tVrOsQfRQAIPM_rLI46uU4JXX29weIzgU9fdWbMeAek5INFIPqIKhG2YFx9Jmcn8vRF5HsAdu5dLw6mbrEpMFzmtHQ9r3TumDL3WEJXJ15b_rTGL7B9WYUCdn8ixsf7r3xUndk71GFTzEtFxKhjQ8KJx4EDtsbwji_nZipEj89dihZi8f_52jAHi_9NqaD__pnwbFG-UhT73Ci9YkrtJg-MQwgxb5vCBCKW5XNxxe73MGgYPS8k88XRVgWybqAeWGIslw83_I8LflWt09u23UuRjQb4rG_Lodh_MHkBISM2jkVr53Y0VqIbx82uSJHjYfPpqPiUz7mceLF20-xcoAkf6RpoTRj_mNcWt5goT5Vilat0dyk9aokTT1GNOujRflMdrU4NWuKadsrfmD4tCsvlJ0xxQg4Wk8RNg1eCqiYXnP5IUxCxP3-KGuNJWW-l57Y7lO5oa98N9QBShSgG3jhYFuXs-cI677mO_7GCvrtmXegp0DpB7HfksC3_y7UC4VJLmVSt0IM8gnrZfWs4yNuLEIyAipA9PLGMCiNQzRn7twgTiTHh3jjsjU5VQT8DaXtZeg-C5LZpsV0NlgZAMWVzQALCYIa6b50z1h8g32ZI-dcUoAIDsBmccECOVpG8U-uXuOV7FSc4EvLKVFxvhGnCuZE1Z3U_cEtdMp-9vTtQCXg2Ykq-llPU1pAPBvRBkS6CqXYh3tXwA6bAWoMseNLOG-EgCfPEiHEw8SDCLnohDcrjYHmqLb8NZ6kwHEyj8DLicBksPHL5GcjLEMnrOr5PpAjqkGSa97Z0f1am9lkR7Iei_8IbRG7nKhi1-4VVDLfc3eOV8b606z2mBva8xIVnWb2d0Dhrs0UKKna94t2U3T_1TpXAXvhc7qSicBOxzbZ0_O715PZpWdANloHmP7LTGUhBD7B-7wdiiEZjw3goaVQvcRaqS2G18u4bFF3SMh0D4p1LHcI9XYD-BDqtfWvI7d8ebaW7qfxuqpml6V4RNYAOO-G0NLaPuJQra6mOX67mRYAzn3iR5RJClmPiODJQJ3SUB28yTI2WllY3rrjirYwJ5Dk6oi-iw4yPV6GnnJ4V6mEZ59T8rUdusIe1FVsQ0PqWR7umzDRQk5kX1ZwSCueLJYKa4JUeoDCVgFkgGg==",
  "id": "rs_0514bc374d65cb91016ab45185001487d0bcccff93a294fa7c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The cap is now centered on the jaw column and sits at the fingertip row, placing the neck under the open jaws. I’ll descend to about the center height of the bottle neck while keeping the horizontal alignment fixed.\"}",
  "call_id": "call_iwT6jAP9K6h7CWSkgLBfq1X6",
  "id": "fc_0514bc374d65cb91016ab45185e9e487d0809d643a516f393c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iwT6jAP9K6h7CWSkgLBfq1X6",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2752, 1.4918, 0.8402, 0.0193, -0.2401, -0.1833, 0.9983, -0.0154, 0.7742, 0.5507, -0.3817, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4218 left_y=-0.0717 left_z=0.1316 left_yaw=0.0104 left_pitch=-0.0495 left_roll=0.0025 left_gripper=0.9983 right_x=0.2865 right_y=0.0014 right_z=0.1606 right_yaw=0.001 right_pitch=-0.0366 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.8547, 7.2821, 1.8095, -0.0122, 0.1929, -0.022, -0.4308, -1.935, 6.9812, 2.0049, -0.0611, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a9194b3d9901ca120771e2b6c11d383215efbf9ad7f4150cb6d1798c12036f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27639ecb4c8b0a256a5b631f838f1c614694bc17908f0fe23077567363bd4d6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:321a9903bd986b83ec0ecdb8d9af0c0012415264df2bbf053d3c33ff1497001a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6083, -0.3767, -0.0231, -0.0288, 0.9985, -0.0158, 0.7891, 0.6041, -0.3843, -0.0132, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9985 right_x=0.2939 right_y=0.0013 right_z=0.1804 right_yaw=-0.0002 right_pitch=-0.0008 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.4427, 9.6752, 1.7411, -0.0024, 0.1441, -0.1685, -1.0325, -1.0598, 10.4684, 1.8242, -0.1148, 0.1978, -0.0317]",
      "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]: [-0.2882, 1.496, 0.8402, 0.0189, -0.2653, -0.1982, 0.9984, -0.0154, 0.7887, 0.5838, -0.3973, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4212 left_y=-0.0728 left_z=0.1305 left_yaw=0.0264 left_pitch=-0.0494 left_roll=0.0059 left_gripper=0.9984 right_x=0.2895 right_y=0.0013 right_z=0.1686 right_yaw=0.001 right_pitch=-0.0336 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -8.9231, 7.5829, 1.6825, 0.2125, 0.1978, -0.0269, -0.4308, -2.3726, 6.9265, 1.9219, -0.0855, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2752, 1.4918, 0.8402, 0.0193, -0.2401, -0.1833, 0.9983, -0.0154, 0.7742, 0.5507, -0.3817, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4218 left_y=-0.0717 left_z=0.1316 left_yaw=0.0104 left_pitch=-0.0495 left_roll=0.0025 left_gripper=0.9983 right_x=0.2865 right_y=0.0014 right_z=0.1606 right_yaw=0.001 right_pitch=-0.0366 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.8547, 7.2821, 1.8095, -0.0122, 0.1929, -0.022, -0.4308, -1.935, 6.9812, 2.0049, -0.0611, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a9194b3d9901ca120771e2b6c11d383215efbf9ad7f4150cb6d1798c12036f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27639ecb4c8b0a256a5b631f838f1c614694bc17908f0fe23077567363bd4d6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:321a9903bd986b83ec0ecdb8d9af0c0012415264df2bbf053d3c33ff1497001a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGLXWWZAeGaaOY1kOr42sGyV1T5U95vRGJB6RvzaIMJyKRuR1xdP2PjbsDBXUuExJJdb2iFRoCgnlrDSb-rCsZyItCYSzv3xFfP71iSyMAAf9ZWszoBIPh0owuw7wpsbIwe8XDdtvu_KaMI87QWvHaZKyuwz8Hv3mAHPzE5XIoH5TqZSd5j1_p5GInydkgagHJto9_WroC2omIS4nLbdu2L6zk96v3KfDeMHlVBvc5RaVRujneXi5T_wygGcY0IlwuxprDOheIWntSsKU9_qBBzsALMAHLhyeX9aevP5z-EkNX0O6_fTkAofRwn3rsqJHJGJ_-huGFQ_MzdduObKNWDQKauXPP4J-CXCpe1WG9JdDVkWX_1p3Fmd71vuTYeWkq0epRwZg361FSz51GLqGeqIb_5xXy0K08EChlt8bHyKmH_CjEfhjq_ynhRCoFYLosknbSKiu4YSKhIGCkIrrBTAMjtqnbJgJkOFdXKflCilaXFBZ4-i3bedjrjz0ATRqrg-hr3ZqwGir6Jv-o47Zrv2ZMH6pBhUPTU33wK4Wn9gj2HcrNIhc3hGMtYJi9k_BZpSj0vG2XqhdFb5tXvW56_zC6Df2404dKnCiisDGPHke6diHgftbdu9FYnbc7x4EgcJCi6hv6HrTqk6Xuja9qU0Uf7qWmYv2wXrphas6WPVnq4x11EGgdZ3jRpcmwe5K1kvBycixKdXjxn4719su56oc8Gieq-JFRuwXXs1rtihMC_e126-C64q67kuuAbaIAVlkNm915tgInYUurtvqumgYuZaCrjQNn6f5LJgAAICE7kdYOZdfuDXJi-XxpSGA18qIGMcVA1qnQw5pxLLu5w-YsHMa8VV18t4QAFMS-OawTeT1BFrxmSYag2Dh8XNQjCN3tw5CaUWaWzSPY3O35-z9zYSomMCRt_wMSVJa0YXSu25Qpjn4nNF-FVl6TAvZJ24dYpVStiU_aKpPK-TxwawmrmUdGb0Uzrv2M8YaMR3r-QVKSFwriNnm2JTXDbPajQQNsWqVP0be02QsZQFynJEFr7-Y1Fn6nvaX6QPK3Hl5RhoRgugIpK5ES0HW-Ehj1fZjD0HuwCMstYzCv1jJ43V1YIL-z4wAMCBK-8JrfkMigUDWEZsAXf6yPwz3VioxsV4OpOwunCQqvIM2p75RKcBNxlpw9IBDEBJKFnB8XOku2xxRCR7Ddzha7XXmxmNOHiYJ-OvP1Wq36Q5iUkCjhOMyq3gurdLjD0lUqd1qSHl__dBH8FcgiypEwpOdcT198S2NJOn4_pfXLUy_6UjZjSU2o_w3iaYn7Pnuq1RvZLc6wWmy6gmj2nYkd-XzI8KRG-sDHW9tawYSP08wwMNWxjnzrw9VJvVAqx0t8ROY10kFec15zmGsqQ1ZVuiwgXBJLRcAYvbeReTQEMsrFZoHl-p5HZL_Kt1mbp4Rxw6UPALYWy5ZMVJbd1LyilZ-QrR-iOOgpsswQCS36ntjFK90tzgrRjqea2C-vBf14hF6f3ziL2hdtTYH_A3zDDMzXkYs6Rb_A5ciB_KS0GhUJT4F8Hm4V1-vEjUcI8W9aZvBP4ca8CvKA77w3y5EA3tydeml1nAcLhHRmVvvgzYP2-RDtc_s0p21YYbLh7sbYw6-jQXCdlS3Kmd0Rp5dqs3Gt-ETyMxZrkvT5SYax3dsMF0aC7KAslFUuCsw2igSLmdUzjFB7euZcEU5uaJjTkqotBNuIRtbz4IB2fHewSYB-j0rmnpwjBclhsKZURnxkIJF5Aa6Fzfb3PWT3gKOnkMa_YSNDXLsDFEZ7Lhmgo6YCzgymU1Gh7rJv00JvrpfpIgMNxrjc1b8BbGr4A5hCTng0yCvoN0UH78hRdnHdlRbYA4kGVqeyQtgRjKIn5-6NFo3XOMcgy1mcIGl2273VX709pOZ8IYYLzj7vgCRGIaptqEBEQagkWMViA2GM4FOGURQAjXkDHARFp2EiST6xcJwEu4aMCFLHP_VrUOyVwJTlXORyWq90UA3uwzLkRN5p0ap-IA4U3EXWMPXsEb5_Hp3-69ztsYHp_6g2AGi1OZ42o_rzQEYwyq8Ni3Lu8RRyoYNbDXenRpg6QwRQAdRtR_xQXp37qyZIu3wiDcIfTF1EcU7sfEf1HOWpAPeSaSd20_QjMhrkHw3PR5yXzryyYQinyl-RaWJ7jIN5kwTGavnMzSNJ6Ew==",
  "id": "rs_0514bc374d65cb91016ab451884af887d0a4a7b4e079d29cc2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_z\":0.08},\"note\":\"The arm did not follow the direct descent—the readback stayed at 13 cm—so this is an IK stall rather than contact. I’ll fold it inward by 2 cm while lowering to an intermediate height, then re-extend at low height.\"}",
  "call_id": "call_4FLpCGqKOt9GtaXnCN6fdDiG",
  "id": "fc_0514bc374d65cb91016ab4518a799487d0b63ed3d24aac58fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4FLpCGqKOt9GtaXnCN6fdDiG",
  "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]: [-0.2752, 1.4918, 0.8402, 0.0193, -0.2401, -0.1833, 0.9981, -0.0154, 0.7578, 0.5171, -0.366, -0.0128, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4218 left_y=-0.0717 left_z=0.1316 left_yaw=0.0104 left_pitch=-0.0495 left_roll=0.0025 left_gripper=0.9981 right_x=0.2834 right_y=0.0015 right_z=0.1528 right_yaw=0.0013 right_pitch=-0.0381 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -8.5812, 7.2821, 1.8046, 0.0073, 0.1636, -0.0366, -0.4855, -1.7436, 6.8034, 2.0049, -0.0659, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11523cd610c342c40408dc10e134500acd5ce6d6f2ea3f63a4904f5c29ba3843",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b06f826a9e2fa56558f837801a96570b16dcd06deb06242df019b704347aabc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63d9728c88bcc56bfe105d80d81eca701538a078d8f9724ba005ec470e785281",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3813, 1.5089, 0.87, -0.0296, -0.3092, -0.2264, 0.9985, -0.0154, 0.7921, 0.6033, -0.4038, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4142 left_y=-0.1043 left_z=0.13 left_yaw=-0.0146 left_pitch=-0.0699 left_roll=0.0187 left_gripper=0.9985 right_x=0.2913 right_y=0.0013 right_z=0.1752 right_yaw=0.0008 right_pitch=-0.024 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -6.8308, 8.8684, 1.8046, -0.3394, 0.0513, -0.1636, -0.2803, -1.4564, 7.0085, 1.873, -0.0269, -0.0171, -0.0073]",
      "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]: [-0.2752, 1.4918, 0.8402, 0.0193, -0.2401, -0.1833, 0.9983, -0.0154, 0.7742, 0.5507, -0.3817, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4218 left_y=-0.0717 left_z=0.1316 left_yaw=0.0104 left_pitch=-0.0495 left_roll=0.0025 left_gripper=0.9983 right_x=0.2865 right_y=0.0014 right_z=0.1606 right_yaw=0.001 right_pitch=-0.0366 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.8547, 7.2821, 1.8095, -0.0122, 0.1929, -0.022, -0.4308, -1.935, 6.9812, 2.0049, -0.0611, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2752, 1.4918, 0.8402, 0.0193, -0.2401, -0.1833, 0.9981, -0.0154, 0.7578, 0.5171, -0.366, -0.0128, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4218 left_y=-0.0717 left_z=0.1316 left_yaw=0.0104 left_pitch=-0.0495 left_roll=0.0025 left_gripper=0.9981 right_x=0.2834 right_y=0.0015 right_z=0.1528 right_yaw=0.0013 right_pitch=-0.0381 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -8.5812, 7.2821, 1.8046, 0.0073, 0.1636, -0.0366, -0.4855, -1.7436, 6.8034, 2.0049, -0.0659, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11523cd610c342c40408dc10e134500acd5ce6d6f2ea3f63a4904f5c29ba3843",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b06f826a9e2fa56558f837801a96570b16dcd06deb06242df019b704347aabc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63d9728c88bcc56bfe105d80d81eca701538a078d8f9724ba005ec470e785281",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGPNlkmfUaUrTAt7SYgs8MfP7r0eEAwJKp0llMlE8NhWz4JpjTPB5cz0jtkiyBNOilz7bbdgdx30QVYB6C4TnCF9qxbryy-v30Viaof5u2DgClLGTvSTY5V8u09qTBigY3AHjTq2CjzSvJmxwltJIL1Xii8nAtOtcQ4jGg61QfsKqmKgT1Onnll8HmDwAmQd1zelCF0nIxKZrqZSAmm1Uu8exJshjs_D_wAcUwxAdX3KOR1kQTOIM01zcfCCy9aylnm0xs5Ig9RGxscFt2Se57h565Ppd_ZorkkWlme9I2j8TXWucLiCdN4Heaco1yAoL5TxXbHscfPdRMI0GXBccHV8Nq_S3ZX67sqf600VrN_6ZjysWOgkzzNwiwxce94_lwhMMJui1ctDeJkSgTt6GrL9UENTsFloGyA12PGa4UF8x9MlnnWK_TJ_NABr_jwN_NOtO0ACNp10AqJzaxpftB6f7QEX_9WXkFRWDw_83M4XMX2pqNlXpF_ivlVyVtC063zMIMy83ZMg36RporD9FrgbrWbKjZeSkbqSSH4k1_02_Q8nG_6Jo8C4FOtyyZRWht_GF02kiqxijmsArMHQauqXm7FefkmqTjo9qyueSiHQ4xev882uU9ZLZzeB2gBoI7LXHOtFD7qNaAW6BnBcMewQx7XUx0ye4-UvVAuyIGjZLRfBndp-GXshwBfHM1lAzXhCgpixVwG90Q-OzTchg7OmYMN5k1TwDFpS8DTH3Y2y7YWCelgcJyMjLmeBmgcLVvNJdYpTcbyte1eU6IUYCg0nsCUAwdG5CNafrltHBwkS8J-a_A-PYswNod249okm4fk39NpIreOBHsRBxOSzcGKxuMcDmEZvoJliQhmFBks_wBYokFW_4UFLL1JwTPm28C31kxwVN8QRACOQqBhMk5EECAmMsTDOF2GJTPyuehMB0XjabHzzDboYNdt_IlYKRW4mttmrr17rsyJgseNncl6eFvZgYQTdaeoHydiX0VWE70K3BYBqhlJzUxIw6048DTUAbeCqxFHCYZ33d_RztPtrFd1AkgRSBUOef25eRggZHbbt4tEXHWzg0bydE7RFJnRZcimF-u0iaHT2EwTGnQDailgN6fjwJ3e4VHAsIzgxSCigugGwIyIytvK36-x7AJ6MewUYqaFFgtdQmEkxdiNBChQQSZLiotUQpyQO22U488DTTaWzt8wcIOnGruci95p22n1lAw817MmCfxntQfc5Uo4wYAtcJlP6wB6IrPAx7aFFbX1TIiAe635Nc0D74_mmpgTOSbfJXOi8jTkO9HCK-37fw1kpvswzygPSuJxTzn03_qexgPpYrwwoXjCqNZLFeq7ywsCJjqIfHZOjmDCzMZ6mg1w_nP31uozhYg2zclytccaDcuuf-0CdM_F8U5ReZCspD_Qw8K0PtRI8szCGx9BDHxLrtWE2Q_0Q1peOil-ubfTCqQEjxQLffqXpd4H8tyF_C_gSgSO1bosxByuS8t8NJL9Rc3qGjKjI_bR9D5Ft-wf4Xz9LrYa0IW70i0uoGa_MEr04B4EmRBbB_1FFw==",
  "id": "rs_0514bc374d65cb91016ab4518cfa4c87d08c86b52682c30eff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_z\":0.15},\"note\":\"The combined inward-and-down request was also held, confirming this pose cannot descend directly. I’ll first retreat radially at the current safe height to get out of the stalled configuration before approaching low again.\"}",
  "call_id": "call_TUKvB7qNlS8d7bqY9zDmSCDc",
  "id": "fc_0514bc374d65cb91016ab4518e111487d09c3770e656f85643",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TUKvB7qNlS8d7bqY9zDmSCDc",
  "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]: [-0.3222, 1.3281, 0.7258, -0.0013, -0.271, -0.1913, 0.9979, -0.0154, 0.7383, 0.4786, -0.3496, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3864 left_y=-0.0753 left_z=0.1427 left_yaw=-0.0068 left_pitch=-0.0168 left_roll=0.0045 left_gripper=0.9979 right_x=0.2794 right_y=0.0015 right_z=0.1437 right_yaw=0.0008 right_pitch=-0.0408 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -6.4479, 5.6137, 1.7167, -0.2759, -0.1441, -0.0269, -0.4581, -1.3607, 7.0906, 2.0147, -0.0659, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b6b8be64f195d232425836aff59aa6610bf1b737be62131b88befc8a9ed66e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae7f812099739d642c108c446bd3259c0bd2659238d56fd3d8f059b6085ac97f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f11947f9de98bd6f05a076fa8666935c9f347139a2824ba5f9a4e57ce39416c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2882, 1.496, 0.8402, 0.0189, -0.2653, -0.1982, 0.9984, -0.0154, 0.7887, 0.5838, -0.3973, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4212 left_y=-0.0728 left_z=0.1305 left_yaw=0.0264 left_pitch=-0.0494 left_roll=0.0059 left_gripper=0.9984 right_x=0.2895 right_y=0.0013 right_z=0.1686 right_yaw=0.001 right_pitch=-0.0336 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -8.9231, 7.5829, 1.6825, 0.2125, 0.1978, -0.0269, -0.4308, -2.3726, 6.9265, 1.9219, -0.0855, -0.0659, -0.0073]",
      "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]: [-0.2752, 1.4918, 0.8402, 0.0193, -0.2401, -0.1833, 0.9981, -0.0154, 0.7578, 0.5171, -0.366, -0.0128, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4218 left_y=-0.0717 left_z=0.1316 left_yaw=0.0104 left_pitch=-0.0495 left_roll=0.0025 left_gripper=0.9981 right_x=0.2834 right_y=0.0015 right_z=0.1528 right_yaw=0.0013 right_pitch=-0.0381 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -8.5812, 7.2821, 1.8046, 0.0073, 0.1636, -0.0366, -0.4855, -1.7436, 6.8034, 2.0049, -0.0659, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3222, 1.3281, 0.7258, -0.0013, -0.271, -0.1913, 0.9979, -0.0154, 0.7383, 0.4786, -0.3496, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3864 left_y=-0.0753 left_z=0.1427 left_yaw=-0.0068 left_pitch=-0.0168 left_roll=0.0045 left_gripper=0.9979 right_x=0.2794 right_y=0.0015 right_z=0.1437 right_yaw=0.0008 right_pitch=-0.0408 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -6.4479, 5.6137, 1.7167, -0.2759, -0.1441, -0.0269, -0.4581, -1.3607, 7.0906, 2.0147, -0.0659, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b6b8be64f195d232425836aff59aa6610bf1b737be62131b88befc8a9ed66e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae7f812099739d642c108c446bd3259c0bd2659238d56fd3d8f059b6085ac97f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f11947f9de98bd6f05a076fa8666935c9f347139a2824ba5f9a4e57ce39416c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGRxpLNInfzcKEIJaGWfn7kHVW11uIF1s9RA4WrXot994W-iZ4uBLuXnBy-uaLMcssU3W_Qsh1hyuxx7U1uhZSv8fm6fhs8O0bv_qHB95OT836JaD7Svxq6r-khdWmeh-B5qj2pfobvOI4Q4aGW-sUeR3YmwEfiYIAb7e8CjXEPCQleCmN2fDpHLCqDb2R24W48oM3_MZgUju2PgvIJrey4EdJRmG3jLfO_dLrCvW8ZY94AqhDPiVNtvlwkVSg4rnmyt0yKCeexbHp1FygBw6Q7D9VgnBuQQ8RN5NGYFGAo6eBRJTYoEtdjxa7_xqLXpG4nQ3U52EmdOHU8ghgbuy1KFrN3MTlrl0_1YcgVAO-4e92koVIdVgUAcSblclYVbNNv8m8e-La66KoXwuq_HjKPBj1znF1KQV-Rkg_XtqJoNup3BV4RAo39tXzOvOqiG0RhH3WNN9jDtDurkjJsrpKis1TGHrJXnGKO509gIztnNVcJ72V0KqIQwC-ERmvU8JccIFRId1pQT25ZqVgQfGKRUrarOBeu-W_l0ur8cXPgWpLVuu4SKup_PxklzbL_cWYI5xnpgOd6pb4QrGhACKKHhqxaQVpTH-cUCrUtcwRMwyaR4aAGHX5sCgtELKd_XZeVWRTEs_iVlPOiss4TcbZ0Obv3DjoSKz7bD9_Fz5di0SXzIAafKsMfuj1P0pz6LpKuIggTEENKnvHQELlgXYoJks9_tx2BSqjdjXYPbyvLxCe616CGl_v8YZfvDu7jjSR8VtTi7A9zP7PH419O6XfBFOc2CzMvFy6eD7fiIJPzZOgUeHo-Tt91GOZ2QIjtJsIGE-JM0ktlfnivoGVOnemBS_lVyA6xZPp9pvz0GTiZrbXE78C9YLVH1C0QiI6Xyg7pRSv7ENElGOcG8Nd9bOkCPZbxCHDut3d5ov_HqcPJitMK5qW2ycdyu-XS0aDZNtB3wxDVjy_l9gM8Ufbji4cVZM9RTZKu0P8--54YKZUi8JhhhEB1eTrlNdIwGHWEg2F-MfOHsVlsZkA-KUYjL4CNrQdV2k42VvmX9qqxJVGkDKGW89MCRlr_rJO8-uTLhdfre343N6qc3XMfllGUTrZd891Yz1w8XA05QHE6Xs-fzYTVQbhM2LTVpoHAfQm3CS_vMGpdz1MWFl8iwvUEq6RazlQ1zhW2UgBA6su9Q4-9JpyqQQ160_qebY8t7f0H4kQ7P3N04ZHntfeSzj4InFAecWPr_U7pU-mJQ41zNRosPwo=",
  "id": "rs_0514bc374d65cb91016ab451907f4487d088328db41fcd27f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"The radial retreat succeeded and the arm is now away from the singular configuration at 14 cm height. I’ll lower vertically here to bottle-center height, then extend back to the aligned neck.\"}",
  "call_id": "call_mOLQ1jDL8REK5Z6R5QmX5X2X",
  "id": "fc_0514bc374d65cb91016ab45190b0b087d082ef5ce2d13418be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mOLQ1jDL8REK5Z6R5QmX5X2X",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3267, 1.6058, 0.5034, 0.5331, -0.2687, -0.2108, 0.9979, -0.0154, 0.7143, 0.4393, -0.3279, -0.012, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3912 left_y=-0.0793 left_z=0.0549 left_yaw=-0.0029 left_pitch=0.0154 left_roll=-0.0239 left_gripper=0.9979 right_x=0.276 right_y=0.0014 right_z=0.1364 right_yaw=0.0007 right_pitch=-0.0343 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -4.8479, 3.3709, 0.8132, -0.1148, 0.1538, -0.0171, -0.4444, -1.306, 6.9538, 1.9951, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:507987797a92c269eae56b3d7af7d00578a254534c605c4d0027ba53cc9ea78b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:247223001bdcd35d487b34fba66e0a398d15dd5ccbf06618696035b40aa37084",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb7b4b648f252c88716021c3941be29edbafa2fa656913bdc7be07e2f1625b87",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2752, 1.4918, 0.8402, 0.0193, -0.2401, -0.1833, 0.9983, -0.0154, 0.7742, 0.5507, -0.3817, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4218 left_y=-0.0717 left_z=0.1316 left_yaw=0.0104 left_pitch=-0.0495 left_roll=0.0025 left_gripper=0.9983 right_x=0.2865 right_y=0.0014 right_z=0.1606 right_yaw=0.001 right_pitch=-0.0366 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.8547, 7.2821, 1.8095, -0.0122, 0.1929, -0.022, -0.4308, -1.935, 6.9812, 2.0049, -0.0611, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3222, 1.3281, 0.7258, -0.0013, -0.271, -0.1913, 0.9979, -0.0154, 0.7383, 0.4786, -0.3496, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3864 left_y=-0.0753 left_z=0.1427 left_yaw=-0.0068 left_pitch=-0.0168 left_roll=0.0045 left_gripper=0.9979 right_x=0.2794 right_y=0.0015 right_z=0.1437 right_yaw=0.0008 right_pitch=-0.0408 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -6.4479, 5.6137, 1.7167, -0.2759, -0.1441, -0.0269, -0.4581, -1.3607, 7.0906, 2.0147, -0.0659, -0.0366, -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]: [-0.3267, 1.6058, 0.5034, 0.5331, -0.2687, -0.2108, 0.9979, -0.0154, 0.7143, 0.4393, -0.3279, -0.012, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3912 left_y=-0.0793 left_z=0.0549 left_yaw=-0.0029 left_pitch=0.0154 left_roll=-0.0239 left_gripper=0.9979 right_x=0.276 right_y=0.0014 right_z=0.1364 right_yaw=0.0007 right_pitch=-0.0343 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -4.8479, 3.3709, 0.8132, -0.1148, 0.1538, -0.0171, -0.4444, -1.306, 6.9538, 1.9951, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:507987797a92c269eae56b3d7af7d00578a254534c605c4d0027ba53cc9ea78b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:247223001bdcd35d487b34fba66e0a398d15dd5ccbf06618696035b40aa37084",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb7b4b648f252c88716021c3941be29edbafa2fa656913bdc7be07e2f1625b87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGUcq4kcTnGpv6166AjTSRSapAQI8g6ncwAjjflboM1LSdI5_5HmCaz5N7FIu4ma-CcmmZD-9YK1kVHzUummkFL-JX2WX_LC4HWeZuwC-VroCA8YhEiubQGr_8FxHJrttR0cRw0jD77rfBQhFJlONMhCx_o_D_myNFoDU0FQa2O0u4DS32aeciNsaEZA1zijO7RCBrLD-d9WM6EpkhFonyg-uGNr5IrLpYh4F4jroMc4G2VPNXXYNaf2HCfX3SiN6VNq5coYgFhmpcerBcgmX5_2hHx2n5I_UfF0Io5yct_0tUgx4kQYK2SG5Dxb2a9cIPzWZmLql3WNYE2NC3kYJkkd1y2RAWAOb30bWrD-P64vFpmnvDNyGHAJJCJxcw3gej1ksPYANYUhv84KeBRIREdY4dHjgc0OsYtmGjgS4LHsUpxq1Qem9ySFlrxvrHTNXtm5YA8RIyGuQslOvLO3l_w6s52F0vqzzChaiU5m2XH1kC8RJeRXRbHr29pFyyRy9BVmVitugcuSkEadhXNxn1N2knRLp6JIJLkGRBfUAjOqa-A6lTXSW5JnKwF7wLRl17jj3vPcYptY886gmew2lnc4H43WzwXlMgmyGx2YsbBpd0Gt4P4Wt8zMIT91RSJPiZCHw7xtmaJIETn7UtfmGXwHPgxH6SwwfP5XRXOIMRVGJWP6vwUWLmb4XhxbeCugf_tG9VpXllcRmxls8gziW-CP34utCow-JkozcVCW8b84DERT-_6NT6c4BZ2RMYu7NNQ4r0U_j8xWrbqZ3DvNsywua97XduiYQJZ-2E7KwsCWK3QHNWW-cT3A9sup7hDTfExketmneyKkYjZufJt9h348tYxR5Euy3KikveKlcr2y0-zY280ovNLJG9Vd3vwWA712enO3IonHw6vbG_YWxEThaEhuDjwLK4arFz420bpQ5cqQynVqklmOsX6eEbVge0_IVccL2mq-cs6mPIPTni_qX2gCxODzfUYcRcVpqtI77uRT8WPZjbUA4y-76iqC99S4nVVhG2vNHlRM1mWq9N0iQXqSEWgOOUyt2gBcrkpfZSIYNNr2cC2mqXOrM3FZvqd-IMX-FeucvYXaOgX3FavXshEt70x7kZDkj4yoSfxruImEIAg-ddDdBDrZmbWI-Ae1wzvZCbFVi-BDVt-jwEa30eNUaI9gBUT4PNPYYlhT5CHsyUAmujV_8K7hCU8TrqVcUdIQOYSLtpUUOL4uf8QLFFkOchHi4lahTRuAXA_XghfOXtW3UxleGXnejoFBng_",
  "id": "rs_0514bc374d65cb91016ab4519339c887d08824f055afd49f59",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.422,\"left_z\":0.04},\"note\":\"At the retracted pose the gripper reached 5.5 cm, appropriate for the lying bottle’s neck center. I’ll now extend 3 cm at this low height to put the open jaws around the aligned neck.\"}",
  "call_id": "call_xDYZXSIAAPak0EOaKBUD5TaP",
  "id": "fc_0514bc374d65cb91016ab45193730c87d0a7b18d7a17199d56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xDYZXSIAAPak0EOaKBUD5TaP",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3058, 1.734, 0.5953, 0.5953, -0.2661, -0.21, 0.9979, -0.0154, 0.6971, 0.4072, -0.3153, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4213 left_y=-0.0805 left_z=0.0509 left_yaw=0.0156 left_pitch=0.0396 left_roll=-0.0329 left_gripper=0.9979 right_x=0.2726 right_y=0.0016 right_z=0.1288 right_yaw=0.0008 right_pitch=-0.0366 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -6.5436, 5.4222, 1.409, -0.0415, 0.2466, -0.0122, -0.4171, -1.3744, 7.2547, 1.9902, -0.0708, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fdd5d3dd131258ccdf338f7a3821c7ab5049529e60f943c6bec28c2545a8657",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb696c1a232f5616e4acc4ce5b98b167ecb89775dfc449afb58eca2bd15b679",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0635c218243026e2d5a9b118d49682ebc9ecba887a05201b9b7e8f032f02d4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2752, 1.4918, 0.8402, 0.0193, -0.2401, -0.1833, 0.9981, -0.0154, 0.7578, 0.5171, -0.366, -0.0128, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4218 left_y=-0.0717 left_z=0.1316 left_yaw=0.0104 left_pitch=-0.0495 left_roll=0.0025 left_gripper=0.9981 right_x=0.2834 right_y=0.0015 right_z=0.1528 right_yaw=0.0013 right_pitch=-0.0381 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -8.5812, 7.2821, 1.8046, 0.0073, 0.1636, -0.0366, -0.4855, -1.7436, 6.8034, 2.0049, -0.0659, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3267, 1.6058, 0.5034, 0.5331, -0.2687, -0.2108, 0.9979, -0.0154, 0.7143, 0.4393, -0.3279, -0.012, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3912 left_y=-0.0793 left_z=0.0549 left_yaw=-0.0029 left_pitch=0.0154 left_roll=-0.0239 left_gripper=0.9979 right_x=0.276 right_y=0.0014 right_z=0.1364 right_yaw=0.0007 right_pitch=-0.0343 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -4.8479, 3.3709, 0.8132, -0.1148, 0.1538, -0.0171, -0.4444, -1.306, 6.9538, 1.9951, -0.0464, -0.0562, -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]: [-0.3058, 1.734, 0.5953, 0.5953, -0.2661, -0.21, 0.9979, -0.0154, 0.6971, 0.4072, -0.3153, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4213 left_y=-0.0805 left_z=0.0509 left_yaw=0.0156 left_pitch=0.0396 left_roll=-0.0329 left_gripper=0.9979 right_x=0.2726 right_y=0.0016 right_z=0.1288 right_yaw=0.0008 right_pitch=-0.0366 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -6.5436, 5.4222, 1.409, -0.0415, 0.2466, -0.0122, -0.4171, -1.3744, 7.2547, 1.9902, -0.0708, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fdd5d3dd131258ccdf338f7a3821c7ab5049529e60f943c6bec28c2545a8657",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb696c1a232f5616e4acc4ce5b98b167ecb89775dfc449afb58eca2bd15b679",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0635c218243026e2d5a9b118d49682ebc9ecba887a05201b9b7e8f032f02d4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGW6VKrSKczNvdKIFsAPMwMwTaJZak0Qrm-83asqRyU46vp8laA8H6JeeQiiz8RvBkZlfytaRiojL_30aR-YyF01iwDCnYFmc5LMbdTX27ZIp73c1muVktDu9rSQSzR37h6IRlUXBbIxOlAee8s03kPvbOdfIgfV6Y0BLZ6ySAdkkZxO95JZRJIIwIMON1X5mhsCNJ2lhteyX3HOPGBDUIbaV_tUavS0lcO4UcTUGIDr7SiXxZ5TL35irYh_WA-1TkXjU5rUPVCiGt2wWza0iwDfOTSaBEJj_MQWt4OVTGcPJHttxdBjMYm3hgFwgYv-Ix5cfBVHYCX0qApADeE2SMfJw6LkfLrnGt1dGEOF2QIAKSD2FbaZByomBcdpD28W8GEfgc4fSzmgp4ZdMHZeUhW_mgm-xnbbcj1KqgdsQ8Py1NKuOHStgv9VHXbtLoFNgJdX8pCpW4Jyh70zNMLgTGKpvdM5Hx7vXw6gDDXBQ8nXX3Y7l3r08BPlzrdpESPQsg23F8L8K9Nbaax5ZRebhByjM8gPF9XBrmbXKsUJzkEBRjJboGHH_z_-0Kp3BZtWW5Q93kn1-NX_As5EmRF0Wzr6Fc-AQBfxkLsijHbNJOWwZtMbXboHUt3RB2C5Epd_-xo0OaS653rHmqrTqWFdAQCWlUrFptZDS4MfQWb3p08Y1pReeYaFy9iYjFmdsl18QbKL6MKsyZc1O5NwqTZGqs4q5mjN56u75WYYLZ1ibC2LoNh-TZjir1hM_NKo9FRGobofZc1x3vZr4vxX90D9bo7Ngq6TtfkgR_-K1_HHvL_mWOA5TuAci5C_v5v4b6XR4jNJLxzduHB6m44UAE5AjuQFYCNcGO1uIWu85YecQACVEV8nJ2QlF_j7geybST9h_fiLoNmYFjXf4uLs8YJjcqEgov_DjZhBjKBMY4JbWjoc_k78RtwV9bjy_PAj1DK1VGlVc9ww7azzqUZ5Kt56U_8-VOZ9fx3W7kXG2AtGawTCVCqLSRdPohf-JFsJmhCDCFDQ6zhwlO4rF9TXrnbSkqoAAwKjbJX_eOgLt0niZAIgRB0h0Nf_o81QOx3PlHp930g52XpRfTH3eopEdOWsuyregNWs5Uaeh4iunY1nM-cwf9S9T5dKHYjfLpuYKipdylPpC9buSdvHC3QgyFF7Bg1SV7pXmjorWE9BcamH46-7MakDqUBoLQrVn7hRYj4cYboGZFmscLYZ1A-EdMp95-ghuYZwJCLwtTlSZSkR98GYKRuiIGPYW7jgHunVTDvFesSoyHPUipo6S2dBFhYNMnI-8LZNmSCsYULLT7NiTe1h2tOWyLKnk6EWyt_q2KVI01jlq8MYtJPzZyg4Uhd_8C2dXyj6UYOlq9OCC2P8g0i5X9okEgyC_rBd7v7Fo2uHNTzJdV1hv5_AovXJytGTrQdPqtpo0kJw_rX1AuHW59Q0VV4_padkRFHbCJfHB1hKjERYJsh3OY47OqaQ4qZ5aAF5HUJ8VUUYbrHUlfRCltSm8kcu0mAND6RH9AyhlxwTfAue99nP-_UMEtgomdWFnqu6Q==",
  "id": "rs_0514bc374d65cb91016ab45195677887d0a458708c5deb6246",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The low wrist view shows the cap centered between the jaws with the neck entering the fingertip area. I’ll close fully to secure the neck and check the settled opening before lifting.\"}",
  "call_id": "call_8rfL17GqzHLEI42nqbURXdv4",
  "id": "fc_0514bc374d65cb91016ab45196156087d08e1b68dfe18cda26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8rfL17GqzHLEI42nqbURXdv4",
  "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]: [-0.2993, 1.7485, 0.6128, 0.6327, -0.2562, -0.2001, 0.0108, -0.0154, 0.6758, 0.3737, -0.2977, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4305 left_y=-0.0822 left_z=0.059 left_yaw=0.0092 left_pitch=0.0766 left_roll=-0.0414 left_gripper=0.0108 right_x=0.2696 right_y=0.0016 right_z=0.1224 right_yaw=0.0008 right_pitch=-0.0313 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -6.4205, 5.3265, 1.1306, -0.0855, 0.1734, 0.8523, -0.4991, -1.1556, 7.0085, 1.9902, -0.0366, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f8370bd5bd7c37fdc9355c5f19ae8d785b0551291fa33477032e5c05fca78b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e61e1e30fa0dc82bee328aefd4039c1e58df3bd53488b5e0553c2b62c140ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d80241edd32ef20a11f6acd24909770087a3c938d066fd9e9ebef2e94a98fa6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3222, 1.3281, 0.7258, -0.0013, -0.271, -0.1913, 0.9979, -0.0154, 0.7383, 0.4786, -0.3496, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3864 left_y=-0.0753 left_z=0.1427 left_yaw=-0.0068 left_pitch=-0.0168 left_roll=0.0045 left_gripper=0.9979 right_x=0.2794 right_y=0.0015 right_z=0.1437 right_yaw=0.0008 right_pitch=-0.0408 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -6.4479, 5.6137, 1.7167, -0.2759, -0.1441, -0.0269, -0.4581, -1.3607, 7.0906, 2.0147, -0.0659, -0.0366, -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]: [-0.3058, 1.734, 0.5953, 0.5953, -0.2661, -0.21, 0.9979, -0.0154, 0.6971, 0.4072, -0.3153, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4213 left_y=-0.0805 left_z=0.0509 left_yaw=0.0156 left_pitch=0.0396 left_roll=-0.0329 left_gripper=0.9979 right_x=0.2726 right_y=0.0016 right_z=0.1288 right_yaw=0.0008 right_pitch=-0.0366 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -6.5436, 5.4222, 1.409, -0.0415, 0.2466, -0.0122, -0.4171, -1.3744, 7.2547, 1.9902, -0.0708, -0.0269, -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]: [-0.2993, 1.7485, 0.6128, 0.6327, -0.2562, -0.2001, 0.0108, -0.0154, 0.6758, 0.3737, -0.2977, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4305 left_y=-0.0822 left_z=0.059 left_yaw=0.0092 left_pitch=0.0766 left_roll=-0.0414 left_gripper=0.0108 right_x=0.2696 right_y=0.0016 right_z=0.1224 right_yaw=0.0008 right_pitch=-0.0313 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -6.4205, 5.3265, 1.1306, -0.0855, 0.1734, 0.8523, -0.4991, -1.1556, 7.0085, 1.9902, -0.0366, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f8370bd5bd7c37fdc9355c5f19ae8d785b0551291fa33477032e5c05fca78b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e61e1e30fa0dc82bee328aefd4039c1e58df3bd53488b5e0553c2b62c140ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d80241edd32ef20a11f6acd24909770087a3c938d066fd9e9ebef2e94a98fa6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGa6BJmEulaKnQtCYTNp-onBsYW0mw__yzpFEJEWs4wSsFagGNmj1LSHowN9VzwTXRSkPm1h5P41r684uXpkIzNk4MPzN_IuS9WnKN4DUXSMSWa-M1OkJIuOA19XizRuInDOoda_VeydrZV-8xhGKnZK6wzYwhlMPCkfg6XwlzsepMbmbTOb3Tog7EQloeo-fEYWVYJ1Q_FV-eDxW66nkAfFpd-L3WvD3tq1ZH7UvJdrH9RyAvz6EjrxcC58UL_0_63qvM0l-4yt2Avg-k6devIOycR9frLi2cFmSO_GIh_EEVLYUbWnFbsYu-wwTjexJhST7QdLuXvV8EEwZalDOzr3EpcvU3DQSPJ604qI87ua067tIP5S-lEcAyjBfa2KJtiYIxNmaDUNOwiB7O-0pVZUekgcTKwfGEIn3VhstdxTt1q0kwmyhwDEtzr06Z5xxs2Lh8Z4IquMfpCNvj04aUK-VSeFdqGSE7DMEL9uVD0BYgvroJ_KJRaRA22aR2L3juPZGXseGNFW867W077Ggt51LWHkht_dcshHARS2JFa0k230nYPc5iAsuo72qXz0Y7QIMCuSpCGw26NYVbqCEo3HUmHeX_Z9_Vi1mUaNVqC6UGQ0Xjoq1nDIUsvsF2rrKz1DV9cDhK0mQDh6MHYKxk0Lb7JY8Q2QRXiLTRVdPwlS-AdA82NYLhQarf9TRRDuxuiXGwl5nUrKF6ot2xgJttBN6d6LBT2Ph_IPeajTnx-fxxsYyufKBf9lAr0IA5PW5jgoowvmYYxY1CxJ0isTc_1ekeJ2zpyB7tIAlCnLmX_MQKB8XagbAeIZiAvPNREMKB9xd-mThxtMdJN68QJ7Y0nId7Sqxclt7twJ0P8yCKLVAMFNQHPTigLAqORDT4D2HIXxuGGpopyt9N7uxu1FA5VH7zFifdfkMriWqLTGUzadZCOXU_1trAscx8St288l8iaEGkJ6wWErlK5i8fBYJDGnYE_IR_ECxm4iVkx2tatJNIUpuvBU2maxGavHHiqc1ktotY7U3oSlhbJH1OdbhLzbLYWG2i6Lpl0ipIT_48QrehxiqBb13F9D0ZqyWaRj8m26wJLgyQT3fmpeh7m1ecWevirOtlltApemGszRnfc0wpZTV98G9Flymh_LYFusIiodHIEOW6WdBSeU6oK-azRbs_Iimyc3I9A24mqlMesZbYYQPdl3rOLoNv0OKbPBdkxhDaYcGLfWEsh-1B_1XkIm3pjA5XiLg16Sv7NkgFvxdBtKlstNjlaq5UAWyfSD3ippPiby-_XVGAbz5dySgtw3RScDiSSQFHWqLaISdCIXnGTik5VZNNs0Z0XWf-MkydbVF9evqz7ME5hDqp76V88H7kYpwQy6G48xNEefkOJKlaottiJBpfYqBRKXXS_2wGNS6c-ktQDyIn_UHYwh-b0iFjWUOx_M-iCsgJho9KNT7VhY_d6vPijl7tsXCYTAf9BJ9aNWqghnybGl6QKkK8XJyOCmsNxDC61IF-nPORNbnMXe6B-5S7SxmEVJiu7q5TTQzWOT3Uxh7bsFmlrvft0e1XQ4rW0vERA2NY5jan1LMCF-hJpDsOdBA5LPJR2Nd9C9T7rYYUxlR0FwiSeofOzLXFbBZqDzxUffoIoOamsvT0=",
  "id": "rs_0514bc374d65cb91016ab45199225887d0b7d866af99defae2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_gripper\":1.0},\"note\":\"The gripper settled at 0.01, so that close was empty; the jaws were just short of the neck. I’ll reopen and advance about 1.5–2 cm outward for the single corrected retry.\"}",
  "call_id": "call_5c6YL7wut82mJjy4dJeqpJ4j",
  "id": "fc_0514bc374d65cb91016ab4519a30f887d09fbb9248694bfc62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5c6YL7wut82mJjy4dJeqpJ4j",
  "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]: [-0.2943, 1.7588, 0.7071, 0.4389, -0.2699, -0.1871, 0.9946, -0.0154, 0.659, 0.3447, -0.2897, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4355 left_y=-0.079 left_z=0.0503 left_yaw=0.0179 left_pitch=-0.0258 left_roll=0.0102 left_gripper=0.9946 right_x=0.2661 right_y=0.0017 right_z=0.115 right_yaw=0.001 right_pitch=-0.0355 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -6.9949, 8.0615, 1.7363, 0.0024, 0.0171, -0.0366, -0.4034, -1.0872, 7.0085, 1.9853, -0.0513, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d63fb615ce9a1d4747786dde35f6ef8cd1c4c1f555cf1f40bcaa95e4e785de7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac2005f54af4dc93d66e2ad0dc4f34909fb812f3b52614fdc140e9b8ef54b26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:184bf2a5619e128cd5f4ad98161bc0b02a9434f05bb68a980dd19a9c69483770",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3267, 1.6058, 0.5034, 0.5331, -0.2687, -0.2108, 0.9979, -0.0154, 0.7143, 0.4393, -0.3279, -0.012, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3912 left_y=-0.0793 left_z=0.0549 left_yaw=-0.0029 left_pitch=0.0154 left_roll=-0.0239 left_gripper=0.9979 right_x=0.276 right_y=0.0014 right_z=0.1364 right_yaw=0.0007 right_pitch=-0.0343 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -4.8479, 3.3709, 0.8132, -0.1148, 0.1538, -0.0171, -0.4444, -1.306, 6.9538, 1.9951, -0.0464, -0.0562, -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]: [-0.2993, 1.7485, 0.6128, 0.6327, -0.2562, -0.2001, 0.0108, -0.0154, 0.6758, 0.3737, -0.2977, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4305 left_y=-0.0822 left_z=0.059 left_yaw=0.0092 left_pitch=0.0766 left_roll=-0.0414 left_gripper=0.0108 right_x=0.2696 right_y=0.0016 right_z=0.1224 right_yaw=0.0008 right_pitch=-0.0313 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -6.4205, 5.3265, 1.1306, -0.0855, 0.1734, 0.8523, -0.4991, -1.1556, 7.0085, 1.9902, -0.0366, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2943, 1.7588, 0.7071, 0.4389, -0.2699, -0.1871, 0.9946, -0.0154, 0.659, 0.3447, -0.2897, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4355 left_y=-0.079 left_z=0.0503 left_yaw=0.0179 left_pitch=-0.0258 left_roll=0.0102 left_gripper=0.9946 right_x=0.2661 right_y=0.0017 right_z=0.115 right_yaw=0.001 right_pitch=-0.0355 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -6.9949, 8.0615, 1.7363, 0.0024, 0.0171, -0.0366, -0.4034, -1.0872, 7.0085, 1.9853, -0.0513, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d63fb615ce9a1d4747786dde35f6ef8cd1c4c1f555cf1f40bcaa95e4e785de7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac2005f54af4dc93d66e2ad0dc4f34909fb812f3b52614fdc140e9b8ef54b26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:184bf2a5619e128cd5f4ad98161bc0b02a9434f05bb68a980dd19a9c69483770",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGedMjaPRYnrLMfXnadd6rSzZ3WP60LgUy48ghQJY1Z7lq49siNekzleP5f25CxTOybAXCCBNdQ1nu0izpgCGwWzv7-4F9SjQfDEOvrdWgSnePFw9yBgUbaec6gg69ox-Vy4B5vtJ6iibFruoD4AYDjXkzBgI00X11W4dV1nzywPrNUy3RKn1m6NgxWWd7Svyzhqn4NpbSO80cvcQgtNZ2eoIQq8DGZQLLYSRvviY6PsnYMqzvb9a9zrB1fCI6C4iWuJsttAzY4n71tsrC9CFg8oJq1tzOBmdr5EXvkrjLNo9I3p2DsSR3wTWVCvPtNJ7e8IbczjP0YOlNCNhuzUT1vD3izCDx-gyuPn9wATUvZaUrLPJvKxMPw-aYHhZPijPasLxlsi2gb5IiXxkP8RQ9pJ33_YuT8MtDk03VK7rVO8wSdhg8kIy6GizNjjcBMmXD31d4LJkMGbiThJV-aZVLhQ5sl94jVATssQR8rEz2AHNFh4bh4wlFwt0Y8HGF4uGkH85b22VOA3EZ73ZllV-kBpS-X5nws4vfGRirQNu5swhI2hOELzsCf1VQkQvIQ28HMpURKZ-6eOphn8G9lxHE43onQtaF0yxPD2rZpDWKUAL7srV1cvHlbbtZ_eVW1Nt4YUg9TlTXhrRGVDsGyTRx-RfEsjeo2VuNNcGiz655xYrgHQ4O50qOJjcsVsNTfGLxQzBbZXnGMqr1_xKGRaQRV-WjMgxlSB_D_2sdRCZJCIlFFt0PYW5-W-z87-KcOFlCM3XdIp7phrHY95oV6-XaG2YJugaKQrXsUP7PerEMJLDzRr2vrewh4pchg7tMEowsWG6hvWm41NDPQ7_6297b1NtUNm2rk-L9fEpbm-HqUJ7F6T-M7JD300XjArVY24LBSjp7Gc2vRh8xCRiFb-drA5aWSB_P_XfhRvtQ9sP2hRW01RCPCwrQ1TDiYhRaIz4YZV_Iepuj9BIUlOlF9ybaq_FEYlklWsD5iwKhnrWUduXROuIty06TuJDxF50QjG0x0Aq6tOG4y4TNHb0IGvk6filOG5jCTzDUgB1rEImMpFJYnJWQo7TvOl04Un8GdMUSBW0qGKUl-nytBtEDWTftQAtZP5o_PSRiEa64T6fyEhj6u750rpwjFyNz6bMPOcozm13ZX6fs2AiVuKGUhDEwO2EGtz5hBH-zKWadm_qKc_bON9a0eBo4o15xW6qQvDZnvkJ-FvD7NE-5rnNS3SSut1cC7GGGRFUdQ0Y15NHRsTOQkxcwSVvGGVh2FOy2yMHCJcvdNR13J8mm4lC1bd8SaCg==",
  "id": "rs_0514bc374d65cb91016ab4519d4bdc87d0af9457e28b451306",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the outward correction, the cap/neck is centered deeper between the visible fingertips. I’ll close for the corrected grasp and then verify by the nonzero settled jaw opening.\"}",
  "call_id": "call_dxBLA3b0ki9pQOETml1Oet5a",
  "id": "fc_0514bc374d65cb91016ab4519d9be487d0a126757e024ebd1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dxBLA3b0ki9pQOETml1Oet5a",
  "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]: [-0.2939, 1.7645, 0.6949, 0.5129, -0.2703, -0.1905, 0.0111, -0.0154, 0.6365, 0.3111, -0.2714, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4409 left_y=-0.0804 left_z=0.0582 left_yaw=0.0204 left_pitch=0.0277 left_roll=-0.0098 left_gripper=0.0111 right_x=0.2633 right_y=0.0017 right_z=0.109 right_yaw=0.0008 right_pitch=-0.0282 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -7.7607, 4.5197, 1.6142, -0.0952, 0.0269, 0.823, -0.5128, -0.4171, 7.241, 1.9316, -0.0757, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e808ebb96f66f1ec313f96f8572901f25542a24048c77b2997020b15e5a7850a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693b4889c19ea4c726c44630f1abe86a87a892d6efa4c9221e012f4e5eddbd29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e7297b12907944cd483403a8b5149b48ff0442af2f32555548afd8cbefc766",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3058, 1.734, 0.5953, 0.5953, -0.2661, -0.21, 0.9979, -0.0154, 0.6971, 0.4072, -0.3153, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4213 left_y=-0.0805 left_z=0.0509 left_yaw=0.0156 left_pitch=0.0396 left_roll=-0.0329 left_gripper=0.9979 right_x=0.2726 right_y=0.0016 right_z=0.1288 right_yaw=0.0008 right_pitch=-0.0366 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -6.5436, 5.4222, 1.409, -0.0415, 0.2466, -0.0122, -0.4171, -1.3744, 7.2547, 1.9902, -0.0708, -0.0269, -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]: [-0.2943, 1.7588, 0.7071, 0.4389, -0.2699, -0.1871, 0.9946, -0.0154, 0.659, 0.3447, -0.2897, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4355 left_y=-0.079 left_z=0.0503 left_yaw=0.0179 left_pitch=-0.0258 left_roll=0.0102 left_gripper=0.9946 right_x=0.2661 right_y=0.0017 right_z=0.115 right_yaw=0.001 right_pitch=-0.0355 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -6.9949, 8.0615, 1.7363, 0.0024, 0.0171, -0.0366, -0.4034, -1.0872, 7.0085, 1.9853, -0.0513, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2939, 1.7645, 0.6949, 0.5129, -0.2703, -0.1905, 0.0111, -0.0154, 0.6365, 0.3111, -0.2714, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4409 left_y=-0.0804 left_z=0.0582 left_yaw=0.0204 left_pitch=0.0277 left_roll=-0.0098 left_gripper=0.0111 right_x=0.2633 right_y=0.0017 right_z=0.109 right_yaw=0.0008 right_pitch=-0.0282 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -7.7607, 4.5197, 1.6142, -0.0952, 0.0269, 0.823, -0.5128, -0.4171, 7.241, 1.9316, -0.0757, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e808ebb96f66f1ec313f96f8572901f25542a24048c77b2997020b15e5a7850a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693b4889c19ea4c726c44630f1abe86a87a892d6efa4c9221e012f4e5eddbd29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e7297b12907944cd483403a8b5149b48ff0442af2f32555548afd8cbefc766",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGlJL9dzrW5exKAGK2OkyVLu6Vyjwt8QdMs8-yy1G1smjc8pGE_wEFxwynE9M9DPNzij8dQUmLEy8VxDFuoP8sToIZh5Zv0GLh0f9S8JOGCZaUB5gtsrzEKyT_PNtsSc7PfdGEy-NGSXqUdQu-iaYT71kLmWZxm9yjS_KOwdSqXiZvCeKDk17sb9W9HDOiA51eIu8QU_d6YLEFwChcK71rbo_pqGDey94v2NVn-dQnQ0w1YJeNsZqq1c78GWiZr9wi8HjDpHc6rh7v2C0hZlXd1u-lptRjy0ixPo6NWWWVgHWw3gwwrITFJ8BC3K_1v4OFfs4aytv8dOOWY1wA7elQ4j4Ichc8RDu2VXHwolQjlG-WnBpbovznwWJABmSYastmZxSfRHtoFIkwB2AKXbN3-Kv2V5K2vKLf6PeVFGowNoKNTGYjXMTjSmlVCXfRhee8KpIgO1MrklKfLnxGCcuGGI8t2YnLj0mGD1oVlafXLKLN9xSFHJX8_a4xhzdKDoH7GQXsO6ELCQuAc_un-ACJpyMPMMIf3SFMskgi7NYtC6_mq3wmVtAUsNL5VPO2Eo3HaEATInV0B8mqe_SHZg5MbrmgnH9VNQdAv_qQR74VMmM0V1j3Bls-fzn7TUJ0SaYWBIV7O8lKVd8GEigndWk72cXJh40ZZQeb-OdOtrql0E2rs6BRoVfdE7stMc4rZmPlxmu8H1e-pK3cTfgmhf3Q0MP8EtUUgGWmUIbfGUbw0r5-PZNpX5qwqUVDWnS9uniI1uu7JgcwZvWb0WqiH1ZzgtXzCgEd77wtVDNo55ujMVXfI07Pe0flsrMSH4Ms4PePc42ThA_skApj6nD5C5AcOra63IgpWBiH-rug4HubVLy0PWQiCfX0Omti15jyRT5DDKbKlKCk5MQCQPrOAW4taS00fVTX74GFDSH00AOyBU81pZqUeUngbS_hZOnbpWAEemrLBDqn8RRw9ofUbZbmMnAqWVt2nqBd-ldNCp-89v6BcCN9SnijmeH0vZGvIcAexQae5pUBNPlsxahsjL99LDCnTfDdkMhQPPyUhjOJrXTWzG2ld7-seHHyZCD208gNg9b9WbDnV_U4ARNEmQVNRJ1G8_CUR4pxAyXIgDQAjxG8zThyHrr2zpshIMfseAmcC1_NVBtpqGmvLx0ove0VZ7uIqFaKcUIsCNajriztkY6uD8v-_6yPWqJM5PZyhwJWO5UY5gaCSFAHtkZqshL4pcNcyaOU4a-jO7ZdwEZrxfoZd0oQZOaNOrwoatUmgwgEa1GtEFVcXLvnR2XCVbvK2NvnmWCVYrFdwcI6csCtBFZZXdy5NPvM77Ws_yh7qU4Mz23YjQscYLVscYBpblAGZW-Z2eLpYj-SJxIoOlquTiOUDpHwlTK2U8fHqzVbpUy1_vpfBijZvZLD4lyhx3qeVeWET-6ajsg0DKbxnmBwbTzVKVYo95gLbRdMeqlku0o_2YtwYeNpfV7ve61rWqqI3kcipGVYRtVLdsdX8KMmmXu_KhPWo1ENlEMJA89R7qQOUCwq2dGsx54awDfA5HhZPCvNpg6Wc5YuSLSgrw8Gidj1vGcNnkPgZt_uWDChaeoukhanwLMDp9eE_bbA3ZY8WRvNyZgb7WZdSts6KW_hDF2DRzIvAhmKf4yywMns-gG5L_QBgJyBFoxeFoFdSRHsNxCgHpqgaH4wV2YayeetBLKORBbLhanTJaKPcdkc4rB-s-TjidgwLuQhb4k0OmUTq-vuSqmwDqMefkwdaGNiWM_t1ycwKx9a-RXw5mGKb8qORWGq1bzECCAC4Xk6PvQvQRMJllsSxdW-_uR1Dam04JQHR47ffPg4Q3g6AUD4Zq8CdYPDKdByqs7oIBUSzvuG0gMwGI3la4ytWqKhMrGHazlRLMvXnV3VzY6ZPw3XVI5m6_h84GaJmp1oo8cVfUSOdKK4HRYxvBsFWzLZn1ARGQnt34wY4DW-Bwi6Zhc3ORFxTossVGU5O3AS_6UZtt5EagHiOwGvFQngST4R28Afp-jOLPrPVcwyvbBxKIPS9dShQzV2R7ADY7lojhkqkbwEo4oXq7ObO8B2_Rf3UC3pzzO8oXtkXRs0E3kJ_k4egZ4ou8suKQ165ktd-tQiNtfI1tsTCT7uruenTBf90cB1XgbJ_c_-PTbl0_ZW419PY6-3EFrRfxq0V_CEFjs1gS8DfpPgA2H-Frz_DiUVafRkvzqiQRicaLTpJavry4SHRzZYi7tXmdQbUKuWQjj_BgTt9vae3iHJ_96JV1bfrHJF0NagQqJRz7Bc1i53xoLSqDZ8gvWDe3s-xYJqqddL66BnA8g_zxUS9r_3UYPGocQp15fSDfB0X2lEb-OtyWN150R-9hmbMDoSnc9Wz1oRSU7IMzD1FPX6eYneFrU0HPnbW9ZzYiJaq4xYxUMb7UokuRYbztA0MGNJ4QB4YU3wJVk8F6XIJrGThxMM-wZ7I32XpIqB9pIi6pRFrO5DmVeCgCjESshl5Df9uILnaJMiMAOvHdHMAk6A1okyjiHno5mDMxAjdNRGBKFOr12ub8yBNxUB1ixxvsX4UQAyuUe6WNgia2WXOxvzElYjRpS9-zkd00m14d7wtskc2e5b3c0xjge3y9AOZM5NTKbg157v7vHypW63eg961tRDYNRLF0McXSlo3boPD-OrK0i5Rb8csYyMU6h7xwGtXLX_DHDxIUF9jkpgaIHPYFivhbjR0DBbfLido6oZ56OpRYA0LS6l2s2u9saFEKW6xUSagCd2F3w5PkbJZ7X3HOzZiybk4XZ40c_eMAnw78td1gHUhNwiCNvFKAAs7DCfuPghdu7rw8nlDK7EUzcpZqgKcsKiHif3gHuK-oId41pkG4_fktat5hE3m_jkz772BSQ3XnF_AnEXD4hySxD_rtGXKDzV8OcNciS0fe_GxkkbxOHnPNL--ZQhkYpNq79qJhc8mXXuPLJKNSXeLB6pOkFwdSgaaV5bgDjO0qM7ryGXRItX0Q4pqyPlckw115QD4ZTFGL5ye_YhwfempeVg3A1fwc1jK6jdjrr0nzAVo6FdljSAPzBOyiRyVXBStIbuKsS5WN_qW-C5CwwvBFN2bU0Q662trRVBF3pFKQeq9EiY94F3XvugnzEecC6oNU9lISGu26NY1zARu_uRCD5RT6j0fUUGjnugjaBRPQmsdTPqJBeDhljUcpbVHIDSQ0xjC1VEV-QZlUQhVuGrZ7D44kkpmtmmiWhI7ERKwj-bZJUsRznEUJjCm_XPw",
  "id": "rs_0514bc374d65cb91016ab451a0408887d0bb9b05241f0e3135",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.05,\"left_gripper\":1.0},\"note\":\"The second full close also reads empty; the smooth neck visibly slipped to the left as the jaws met. I’ll reopen, recenter by shifting 3 cm left, and use a partial closure next so the rounded neck is not squeezed out.\"}",
  "call_id": "call_pZdvhBlDWKKeMvGKQFZ5bWkp",
  "id": "fc_0514bc374d65cb91016ab451a3f27887d0911f6b605fe43ddd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pZdvhBlDWKKeMvGKQFZ5bWkp",
  "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]: [-0.2016, 1.7596, 0.6956, 0.4805, -0.2054, -0.1566, 0.9948, -0.0154, 0.6205, 0.2886, -0.2646, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4428 left_y=-0.0501 left_z=0.0525 left_yaw=0.0403 left_pitch=-0.0077 left_roll=-0.0072 left_gripper=0.9948 right_x=0.2607 right_y=0.0018 right_z=0.104 right_yaw=0.0008 right_pitch=-0.0279 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.7299, 4.6838, 1.6581, 0.0659, 0.1441, -0.1001, -0.4718, -0.8547, 6.8718, 1.9219, -0.0513, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e13764abbe7668f77375f0ff2ac73cb828dc3ca0ce72200468e5ed56f662fac4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb68bdef6ef78c3eb51ddfcb9e073a416b70b990edc331ec4ff3bcd954cfed95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44156b050a6a44ac5a38e187b5f3a998d74140bc41e6152016042d87f6db2001",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2993, 1.7485, 0.6128, 0.6327, -0.2562, -0.2001, 0.0108, -0.0154, 0.6758, 0.3737, -0.2977, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4305 left_y=-0.0822 left_z=0.059 left_yaw=0.0092 left_pitch=0.0766 left_roll=-0.0414 left_gripper=0.0108 right_x=0.2696 right_y=0.0016 right_z=0.1224 right_yaw=0.0008 right_pitch=-0.0313 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -6.4205, 5.3265, 1.1306, -0.0855, 0.1734, 0.8523, -0.4991, -1.1556, 7.0085, 1.9902, -0.0366, -0.022, -0.0073]",
      "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]: [-0.2939, 1.7645, 0.6949, 0.5129, -0.2703, -0.1905, 0.0111, -0.0154, 0.6365, 0.3111, -0.2714, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4409 left_y=-0.0804 left_z=0.0582 left_yaw=0.0204 left_pitch=0.0277 left_roll=-0.0098 left_gripper=0.0111 right_x=0.2633 right_y=0.0017 right_z=0.109 right_yaw=0.0008 right_pitch=-0.0282 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -7.7607, 4.5197, 1.6142, -0.0952, 0.0269, 0.823, -0.5128, -0.4171, 7.241, 1.9316, -0.0757, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2016, 1.7596, 0.6956, 0.4805, -0.2054, -0.1566, 0.9948, -0.0154, 0.6205, 0.2886, -0.2646, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4428 left_y=-0.0501 left_z=0.0525 left_yaw=0.0403 left_pitch=-0.0077 left_roll=-0.0072 left_gripper=0.9948 right_x=0.2607 right_y=0.0018 right_z=0.104 right_yaw=0.0008 right_pitch=-0.0279 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.7299, 4.6838, 1.6581, 0.0659, 0.1441, -0.1001, -0.4718, -0.8547, 6.8718, 1.9219, -0.0513, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e13764abbe7668f77375f0ff2ac73cb828dc3ca0ce72200468e5ed56f662fac4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb68bdef6ef78c3eb51ddfcb9e073a416b70b990edc331ec4ff3bcd954cfed95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44156b050a6a44ac5a38e187b5f3a998d74140bc41e6152016042d87f6db2001",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGp63QZIr1M1dFprFFtFdejQhNInty82XcXvJQykz83dqnS0YbnQQ8x0lBefOswQrOwPyokE9qgNmdvxdrZFzdN36BxvIDAeP9yvNJtho88gK2mtWM7hCDL0wzsWRn4w_wU-e3R3i39TqtzIu_kQVH5Ti6F-bgkIZuvPR_mVdqGB1Tjo0qwk7U0g7ytfLu13UwewLXvLstfGuyjS97sxdRa1dxGmIjUlBc7bO1s-EqoUD5zrkpsVxkFIUQNR11KRbeP50hfvH1Ni_nuLirPNYYA3GSejdPAYn8VKToH_BHK2jnnwgQu5RgB2dUDxIx7yc8eSsdOQU7-eYE2xhyXEJYL64uyrgr2d0-cSu6NED8LeJdwu0PmYOlgFnaYjmXjg1Eva8ODTnB1tWhPPQ6yO__9AOymhC-7qDV4Xkv3KsRbAp2QncfzOhmIcof4m4GGEt9tCDdJqy2sF_NBoOlL0lyimPinmuTk0u8IX6YWT9YA_SdmzVU_-VkAlre283jTsgsoVCiNWNaPktHCiKOgizGyhrjbqf5vzcMZCBE-jPZjwhX91fkWhpZ76vQTAeXGuf7QP3AXedhHCzNNqwWWSJkjJJ-cUT_AbdPskCAAvFr2moTSXVqACcnqsRsag3eEHZGd7Ezl3egajHOCup0wG7NaaaPZfy-646KkudQ02HznNgsX8uZxSrhA87lKgXC9LXK7_RiA-5vzYIrlTEtesWNttz3k2a2ccvSRp5pJt0mOiWccCVxgNdLCS02QHNg5slp9i5jyzG3MkGIoDCMlBgWWlrqedquhiUhqQpCO-Hei_BV_gRTAa2xVTE7zlnDIerNSz3N2WIZscJ4xJzcrQxj9TyqW-cR8nanYTCdgMzTfMbGMk7KWtkGaineXkrdwcHI-LU8EO6Peo_B3R-echcreqPhu6hINyxu3lEpuE84L66HvAfXOs0W4cDnkGTATI6Gwv-IDXB9Rbg9IXEX8A8QuEKssW1hNOxKbX7iAxwtQQz-xUug8iYjRALGdHp2016lv2dEk5xdJ93FWeVC16ueAPQEO_EamSYaJ7z0J0qODIElYpVwLfjm_ISJBao4C4UM3ikmgeHOAzMPGfJqiJe6PW4rmlyLxyqJHZLSihLRrLmOEKz9dP5zomNZr8XsN3XzjqsbNHKeTdzm_KVPRJAk_AAD5AY8c5lLgeccM_Q3s6hCNGFYge7SRFcu-kYHTZZ2WK_xX5tBth1h2bglSoftFi7J31lCPR8vx4jfJ5M3KjeLmkHpiJCJK-owhj6Hwgs4ugRdV9u9rTjDP-bC6CJdMvG6vGY0K--c9TzJ8KKJTCyW6JLkUVkuichmQP3Rg3IJeh0xQzlIFcZiAeNydEQvf3akFCMG7dRaF-9ClM4o-tp7Z-N4btCr7Hc52R5r6YGWHpmdZGjJArjiXUjcAxDge68fBALmQBHPBeQ0gHubUgFXCoihHLNP96hmSFhdf6NTzaXImJVqL6OAh35aztJq7oQ==",
  "id": "rs_0514bc374d65cb91016ab451a7ab0487d0b6b7b3c77a8cfad1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.35},\"note\":\"The neck is now centered directly between the open fingertips at the bottom of the wrist image. I’ll close only to about 3.3 cm jaw spacing, matching the neck diameter, to capture it without the sideways ejection caused by a full close.\"}",
  "call_id": "call_pznBrpNuSV7oiZq0kIHLqQvP",
  "id": "fc_0514bc374d65cb91016ab451a83b3c87d09605affdef3f1c2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pznBrpNuSV7oiZq0kIHLqQvP",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2024, 1.7603, 0.6956, 0.495, -0.2108, -0.1574, 0.3553, -0.0154, 0.6018, 0.2626, -0.2615, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.0498 left_z=0.0553 left_yaw=0.0444 left_pitch=0.0064 left_roll=-0.0083 left_gripper=0.3553 right_x=0.2571 right_y=0.0018 right_z=0.0973 right_yaw=0.0008 right_pitch=-0.032 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -7.2, 4.9299, 1.7509, -0.0708, 0.0659, 0.2027, -0.4308, -0.4855, 7.3231, 1.9609, -0.0708, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0996a489cb81e0a16b3e91f625563cf741f4fd05e0c6c0fc60ecd0126e234c65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b72dec9592e62512a25b660b687d3594b948f25edc330becc475784cecab72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:906f27055ef3d3fb9e4070ac8947a242bb0b13c0bb52fc52d10fa0c909671211",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2943, 1.7588, 0.7071, 0.4389, -0.2699, -0.1871, 0.9946, -0.0154, 0.659, 0.3447, -0.2897, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4355 left_y=-0.079 left_z=0.0503 left_yaw=0.0179 left_pitch=-0.0258 left_roll=0.0102 left_gripper=0.9946 right_x=0.2661 right_y=0.0017 right_z=0.115 right_yaw=0.001 right_pitch=-0.0355 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -6.9949, 8.0615, 1.7363, 0.0024, 0.0171, -0.0366, -0.4034, -1.0872, 7.0085, 1.9853, -0.0513, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2016, 1.7596, 0.6956, 0.4805, -0.2054, -0.1566, 0.9948, -0.0154, 0.6205, 0.2886, -0.2646, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4428 left_y=-0.0501 left_z=0.0525 left_yaw=0.0403 left_pitch=-0.0077 left_roll=-0.0072 left_gripper=0.9948 right_x=0.2607 right_y=0.0018 right_z=0.104 right_yaw=0.0008 right_pitch=-0.0279 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.7299, 4.6838, 1.6581, 0.0659, 0.1441, -0.1001, -0.4718, -0.8547, 6.8718, 1.9219, -0.0513, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2024, 1.7603, 0.6956, 0.495, -0.2108, -0.1574, 0.3553, -0.0154, 0.6018, 0.2626, -0.2615, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.0498 left_z=0.0553 left_yaw=0.0444 left_pitch=0.0064 left_roll=-0.0083 left_gripper=0.3553 right_x=0.2571 right_y=0.0018 right_z=0.0973 right_yaw=0.0008 right_pitch=-0.032 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -7.2, 4.9299, 1.7509, -0.0708, 0.0659, 0.2027, -0.4308, -0.4855, 7.3231, 1.9609, -0.0708, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0996a489cb81e0a16b3e91f625563cf741f4fd05e0c6c0fc60ecd0126e234c65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b72dec9592e62512a25b660b687d3594b948f25edc330becc475784cecab72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:906f27055ef3d3fb9e4070ac8947a242bb0b13c0bb52fc52d10fa0c909671211",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGs6MpFqQ4AY5Ts96W5bdWw1Y-zuR6Z_WRNC4yL2ZfBbQ87RdkEdu6pWVT9NPvdvoGjexvNailMzzLNQfIM9WlmZECRFZK6_O7CXcJDZWg3lYsExt4oCjKrtBd-WWTWWU4tCY6MLn2MDsMT4PrJvS41VE4eMFEJhPzwKssTSR9NXGOCkPyxD4HqdtErQkzFcRnrdPLEaTjqAOUpU7-5iUGRAIXHVG4zKL4B38MlYwQ8Gfhk-EfFmWk8Ztvwd1Tp2DG4gYJFl8nQiDwYIoBvLH6QDVx-SXLK_E703QGr-nQqSWRuL0Afm5xGYkDlVVf7MrQ_X9lM3Iy_4BhimldQ7vSz3SQwkqcu04rq7EUQTh4ebZN1wnBvYmwZDA-BgbOvIYK3hRurfBkIwS_tnx2ZS3r4rywjMkPvhiwI_p3SODWmKx7dfp2AfdOtCy1RTYCemZafA2Vz8-G8683Mb2YfNAna8PWvAAxDcPzhhMrTEZgtvuiLEWsxPW8KpG5qF5vpkwiLlMA716gm_fejxzHQJhx0ftmiPZ1fYG-pr_BZAkk7Lx7PWNC4Df2mrKlU3ZAlrfxsfh3lH_yXZBW1tWo-EYDBFJLxHhNc74k1DtY5coc66dYjr2WKzQ4HJmhMCltLKpDCtFD-bXG5RnSECSZ36vom-JXPaBWBfNiYfFg3l8gdOTOc1fIblW-fncUW5KzGJ48pTaxAzJmYKqm5SdeifyEEy92a5gn20jumDq22t3uWAuZ8Fede4yG7sraJq6mjSJuJeMvF4-y3VOSp-_S6CC17Eo3AY79jV-CaHKQ1Zc4gJVc-QN0veufsTvlbePoni7tfjXAzS5mdSBCXeHXvW-gs6zt4bV1ZzjM_C02ZjBP0qSXZkBUc3c-Ppt2E4adluupfR9dHlBzW_zX7xMj3qBMNUQCLUYzzBCjKXF5nt8nMtY2yXhf2z4hNZ6x3Ox6H8oJfnFRWt2O22Br1sMGUFujG7K5Fk50x29TpJkxNIXNSZyc0oLusDrDwtCMF_nPe9c6LkM_2HF4-ecyhcNQqnK2oqk9WYXEIcfYXVS2ZZs-srqmsypAiJpAPFses2-MIOPa1TJtQzl1MxLxwv_V_YnjbQMjRJb1WhW9gIRIQB98BtxKDQWPlGqrGj7ZKO5vMuB9S1_EVj9OFc-iJ7JotWKm16Glhz0m6QqYTGFL6F0R6j7-vBInK5-FzQtn9a_vKk1PYs2dllICeCr49U52-_PA-AhfPD5ZDiqkLTyM1WEPG4N1o7Yv4x3hTvFfpWspWKSM85lmBlLA6hfQH7upwx6l691YepeG33E2HxKStBLQldUZzFLBqCPgj1ABzFYicK7HvHlIT6p6bYGPwEl9hvlUyRN777OJQxfIHLsrIeL3DJVtGh2UPHfjQQXoSuT85X4j_S3eANhF9-hoctfSNJuNrfw7j8UEXk1-9wyrH8HqfU3R4wVtF_7MzZQeJbv6u5Q-hTVnafkQ4VO2t0gSkHBqzbPW_1x2WwBzRYo3YRXLkHn8PQZt8wI2V0kia1RKQ_I_tKoFdRcK3gRD09tQHFQ8h7fJR1k62G-tYXch6W2C9x-c=",
  "id": "rs_0514bc374d65cb91016ab451aaa6d087d099bfcd3b24f9f0a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The jaws settled at 0.355, consistent with the intended neck-width closure rather than an empty full close. I’ll lift about 6 cm; if captured, the neck should rise while the bottle base remains on the table and the bottle begins pivoting upright.\"}",
  "call_id": "call_vegm5zrUZx6FPwKwd1c4aM4Q",
  "id": "fc_0514bc374d65cb91016ab451ab7de087d09f0ce5c6c15531f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vegm5zrUZx6FPwKwd1c4aM4Q",
  "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]: [-0.2031, 1.6218, 0.7864, 0.2424, -0.2108, -0.1604, 0.354, -0.0154, 0.5797, 0.2359, -0.252, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4429 left_y=-0.0498 left_z=0.0987 left_yaw=0.0453 left_pitch=-0.0162 left_roll=-0.0052 left_gripper=0.354 right_x=0.2544 right_y=0.0018 right_z=0.0923 right_yaw=0.0008 right_pitch=-0.0271 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -9.4701, 8.8274, 1.6728, -0.1734, 0.0269, -0.1392, -0.4991, -0.3487, 6.9675, 1.9805, -0.0562, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4665dc63bc7b727471e736e7857cbf0db99c566580ba28ba4798dcdfd8c641b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf65c05c079e28233d11ced828509bd716e5232861a1dad46772947adece9dd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:859242042b35f14153208db0c49fd07ce6c4f14d0b15aab6e738076ad03d71c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2939, 1.7645, 0.6949, 0.5129, -0.2703, -0.1905, 0.0111, -0.0154, 0.6365, 0.3111, -0.2714, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4409 left_y=-0.0804 left_z=0.0582 left_yaw=0.0204 left_pitch=0.0277 left_roll=-0.0098 left_gripper=0.0111 right_x=0.2633 right_y=0.0017 right_z=0.109 right_yaw=0.0008 right_pitch=-0.0282 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -7.7607, 4.5197, 1.6142, -0.0952, 0.0269, 0.823, -0.5128, -0.4171, 7.241, 1.9316, -0.0757, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2024, 1.7603, 0.6956, 0.495, -0.2108, -0.1574, 0.3553, -0.0154, 0.6018, 0.2626, -0.2615, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.0498 left_z=0.0553 left_yaw=0.0444 left_pitch=0.0064 left_roll=-0.0083 left_gripper=0.3553 right_x=0.2571 right_y=0.0018 right_z=0.0973 right_yaw=0.0008 right_pitch=-0.032 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -7.2, 4.9299, 1.7509, -0.0708, 0.0659, 0.2027, -0.4308, -0.4855, 7.3231, 1.9609, -0.0708, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 1.6218, 0.7864, 0.2424, -0.2108, -0.1604, 0.354, -0.0154, 0.5797, 0.2359, -0.252, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4429 left_y=-0.0498 left_z=0.0987 left_yaw=0.0453 left_pitch=-0.0162 left_roll=-0.0052 left_gripper=0.354 right_x=0.2544 right_y=0.0018 right_z=0.0923 right_yaw=0.0008 right_pitch=-0.0271 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -9.4701, 8.8274, 1.6728, -0.1734, 0.0269, -0.1392, -0.4991, -0.3487, 6.9675, 1.9805, -0.0562, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4665dc63bc7b727471e736e7857cbf0db99c566580ba28ba4798dcdfd8c641b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf65c05c079e28233d11ced828509bd716e5232861a1dad46772947adece9dd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:859242042b35f14153208db0c49fd07ce6c4f14d0b15aab6e738076ad03d71c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFGzj41DOLJpxtDIE3QaQEsxsKCyDcKujbej8KLZ2zdeWgaXiNG_6taxyfctoPKKFzbplXAMfAFexPrmq6rhkNStJaNpewJZvmfL9EtpeA90yCQB5Lul8z_QfQPwSdalHYAG_YTVzYCqWXRzOHnrQU086hwnMaWnXAyH5NVRb8HKM_ABf9NeAS_mG6WKXq3zaQDBxYITYsrMOLZCDVCqZZcx69ufS5pjg8CsEN8TWDxKWHELGiGGOdLgWgOmLqnBOmaMAwPCWDljtWFbUwKWE6Xjc3PK1fEZ6H4a6RCBjFmO9CoPYDwbs9PjTcJyzdywSHo0qbA-HS4bWcICuop0I71ccRFcit-c7nb_GSVvJrLUn9dcD5PwB39co38UuXJm43N8LfsAdNMhGbEAPNNfrG5HRujnbCrfJ46rccBdmy2JqCYMG6SsljE1FCOg6hshclappb-IL1PJW0n2h-yT7Q8UiZNm7KVSYOWDmU8gewn1iXDGb5iTJ6WupXlnRx46VMcfZw4X-Doe_mHFMv-0AgP09XVQu1_qv4DIJDA2PMxwz-EOyH38zRVCc5i450Y2_5h3ShaJjhhblOOvnmJ0sYao9_OkJKPdozOzdqdSS094FwISWJbdTug3yEkVFF2VdCVTgtuiOf9TXUvJHoEDGYHLW9avOhjrFn1IQwKnaNsoAa81bVPEqt8JPpqSgkPxqK8GvDdQusRb_nC3FV8i1BWVzWP0U41Wn-6T10i5qaAZXaDJ2HQb2xabC_6jWHUhr02ocQ4PGpBnSKMQDnZUdcRTxcaMwSDsbkvQdA1xwPTk0Z6WOPUK5WyUFIaT80_EbKs8nyZLLDoOg4G5prFBzBP2LN_kVFyD3fzvd6_9hzEfM2VchJysj9sSSXCbGviolSjiiCfb2qQa2mll2mfYhvBkpmhnwSKE2YAThjwMqT-1UyWzYT6ANq4_ShrbjRMRom0I7uBlVED-xNppAbaR62sQAeWSBUBdxLQi5D9PjQVDzj9pRiIfyhLXfzkLghL6elq7xLBNye1CEln8cez-e_oUcIcFYSsCOkhK6-SZ4-K8t1ilHX2IVbKuNq8gap-XsDcfPxenMETuVckYI2Cps_3B8v0IfOut0u60E1wO-o0TgXU4Mgs6vrC5seHs1Dt7NNjmR5wAGuMw4CPOdCZP3d5qebCgaLnuYO8bN5GM5gHQFD1BZBq03a5hXzrapVy2AmV6JMP0qLBJcWTUwa7bXU-7OIC_UgMSWl1bsADM51nGXR5bHPaAwtUiK2zDT3Ir2LHwxQqkoLU10WDdzJAZdWsF8vz0fmJ9VLBUL_ndYMGLHOug7NTZvjlTI6dJMntz1H8KY_y82HLqEDU8qqaBX_W0PfOSQ0txzRr9WfeixvBFMpEaon_BzUGM40ERpkJui0s5uTXvYRPwJ-BVWDzP2riVHZcS65r5G_Dx22YXQSIdox3wpZtRkbjpYLnn0s8QNrB2YRMWQID3PjsSGPZwdeaA1cpTutk1EvxnrFCpPNqzr39xoZR7DIXt6G0mFo8Yr8-QU9KX_i1nMv8oBfnI4xCYHIC_YExqUPyFV7z8jlD4G4m4W_d89k5OVNtOYwDaC6PjDGzGiU_tymWIRu5pj-JXfNhm_5lN65q1R0uut5uusoWY4buOV7MjSEOFhiXdj4F8uwlouW2F0rdyhPAi82_vZgcnmckHH4RfxS7LKJqDXom0h8_IgfFY4eHaZ55msTpIhmYmo_Z3LrtHsDL5rfvowZYNM7_O-_ywdvAxjjUTI5yVsUDeeJLVv24gof5VAFQIGKDxJ04x8druE7fldeyZnCOOKHnAjmUGDgMFKCCEyFp_QnELRjRY-t63y9gJ29JNNOIGP6O1bV8y6jmNddSY84wyvgaS-GYx6GJyG59BmfgJAwfK_vukYk8oDhjg63BKIOJkCd1Os5C0zE_k6xE36Coa6H7MHBBm3BaQOO2tmJz-3nJibgZ0eZJp0LhNrAot1KlzJGmKA9oX6cyY7sIRhywWGmR5OBhkskea49MFIc6244JQOe6HeuO-4kMgBt7EFm-1udqKQcbZoF7Divva3H41os5WMW0gzHqIoPwWHTR9IS8wpNWYqbGhhgY3Fo6_GQllRCi_7IF2uh66sbxtrqfKwc5CK337BN7n73Um72ArgE08hubvQMg4vzMaoOLOO6kNGk3c6_wTHIDfE32JbXHARNTINZ8qXnCQB_NZSEt4bmZtY0pgu3zghyuUBQ4CndKSxyiUSug77Dr3RqadKFCYXlhqCFAfDUQkdz9HnnTzGH4UMOEk5KP_dKZIu6U9pVGeeB7wL2-xXggdCF6wVpL9KGHjRL_V4dreBw_B3lGgae2IxKHI9qXAEWY5_36x8-1IJvz5uQ2mrGiEdxURqydiyG8ww82GRmDKcuDcEYjdmpRJS8dqfStEQcdAMPx9GJHHFP6IW8Nxzkr09MGQeEpf1z3QmxPyTU-TC6uu2cRl8u-DqHzJ1wENeZrP7FJkU99TbT22gu7jhXN8q0qmagIQ3iRRzurmIVIGCprWbE3OzKwAXq87bdixTO5pQUCvUOHQphfLVO5VRahjFRtMtxyOfY8f0ZOALZdA4ZURWH-niuPGQzmsMJgUx0hB-MnAAPEVqJ8aCRf-iwT9Bms4WnkTrA8kKvJk-sUem3IsaQ8MsTeOetnejytIJpjKrtJgysCyZ3-EZL9Y63jHq2cCSetNF-utCn46JOVqyCNwLGoN4gm3A3Z64uDJsrRJStXeo4JF5ippmevD09FI9r2KGYcDhan6sLhIZ22f-z65t-t-nyKCrNqQL072BxHsNJKVjUJsocKw8o5KShg-Hs9MGUlenLH_onubkHN-BEu8MUfVOEEEuU-UPcAXk4F4impMBEO_LugQfovqGFDFifRVNdkHh8svHbq6s-cZCP86UqziZwXxLy5btsNFwF2t2f8r42972oV7087XOidz_6nKWbI7tGn9lDoarFg7T2W5Znhj3vmXnsj8wNcOt_tozjIxqOVtxSSJGBTgbAIct8QQ0Jx3jWky97J42MtG6J7QEWa5bX8q255wg3Ip35CeTIg5DkV20JnwCKUw3w7I5jsv7_hhUVFKeMr04lzAxQ5e85OdcnvuyXllUCDWX5BcOepaJ89LfTO22yyneLtGWarEAWOrP5yIeSFOPLVDHccA5DXog2g3HuXcr2CvPb2xTkLnVR5qzeMT-wuNFT67GrK-89WAz1Nhstk_FGOaGlN1EmRhQA_iBb3sdyTKyILjeUftK3XN6KGLw4C0te_AjGFdvnn_B7aeDlhM6tvXHYbV5mgkbFhuwq3lI0iBLvjh-CQ4f2pMe5CapXvkC-HXMFd-bPkSfQboNZXg_sjk5mQA4qMkl75Aqymidqjiy4m4ais_eme3LPAJ-SjuQdIjU1pMitD1_IBP7FDIZv-Y0ZLs3yPxdV75Kfm5wBfkaisMaYJV7teYwfvsbpT1LGL1lopOL_Ra638RdcBwKm1uwxvsgaKAJbGCwistsmaenfIEsF09E2cP-yc_zXsxDb_iC9x-LHHGn95Yy6HCNXyaxTDijafDZk0xdlv9hZF3koudrcCskLXJZ8wq8SOXGLwWL7-enGz336QNLBmIRPX_S4bAGJtvslpp4hDJoDJk_8xCj4zIDiMav9yDpW2qKK-Yu21lhM2kguGJMy5aPUMxdh63VGE=",
  "id": "rs_0514bc374d65cb91016ab451adc9bc87d0b0d1afe0fa81d160",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"The bottle did not move in the overhead view, and its cap remains visible in the wrist view, so the partial close was not a capture. I’ll retract the left arm to reveal the bottle and re-approach with wrist yaw aligned across its diagonal neck.\"}",
  "call_id": "call_WI280dQL6SuGEU7E1dJRt5ln",
  "id": "fc_0514bc374d65cb91016ab451b2aba487d0aa76d51d2ae41ad8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WI280dQL6SuGEU7E1dJRt5ln",
  "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]: [-0.07, 1.0515, 0.6754, -0.1429, -0.1253, -0.1028, 0.9961, -0.0154, 0.5598, 0.2111, -0.2447, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.353 left_y=0.001 left_z=0.1855 left_yaw=0.076 left_pitch=0.0475 left_roll=-0.0147 left_gripper=0.9961 right_x=0.2518 right_y=0.0019 right_z=0.0871 right_yaw=0.0008 right_pitch=-0.0248 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -3.3299, 7.4051, 1.8926, 0.1099, 0.2466, 0.0171, -0.4171, -0.212, 6.9675, 1.9853, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25b1b489fb75cb5c4c05ad3030206f0d21a90d2d49eec41450ba14889043a88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8068671f9d4c350d1dbc1ba3eb70a92fdf566745f68c79846d8ad554d504b8bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f9e1ea91f76b5b59d05ba89c4a63fc4e4febccbed3ebfd2114168ebc2153475",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2016, 1.7596, 0.6956, 0.4805, -0.2054, -0.1566, 0.9948, -0.0154, 0.6205, 0.2886, -0.2646, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4428 left_y=-0.0501 left_z=0.0525 left_yaw=0.0403 left_pitch=-0.0077 left_roll=-0.0072 left_gripper=0.9948 right_x=0.2607 right_y=0.0018 right_z=0.104 right_yaw=0.0008 right_pitch=-0.0279 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.7299, 4.6838, 1.6581, 0.0659, 0.1441, -0.1001, -0.4718, -0.8547, 6.8718, 1.9219, -0.0513, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 1.6218, 0.7864, 0.2424, -0.2108, -0.1604, 0.354, -0.0154, 0.5797, 0.2359, -0.252, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4429 left_y=-0.0498 left_z=0.0987 left_yaw=0.0453 left_pitch=-0.0162 left_roll=-0.0052 left_gripper=0.354 right_x=0.2544 right_y=0.0018 right_z=0.0923 right_yaw=0.0008 right_pitch=-0.0271 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -9.4701, 8.8274, 1.6728, -0.1734, 0.0269, -0.1392, -0.4991, -0.3487, 6.9675, 1.9805, -0.0562, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.07, 1.0515, 0.6754, -0.1429, -0.1253, -0.1028, 0.9961, -0.0154, 0.5598, 0.2111, -0.2447, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.353 left_y=0.001 left_z=0.1855 left_yaw=0.076 left_pitch=0.0475 left_roll=-0.0147 left_gripper=0.9961 right_x=0.2518 right_y=0.0019 right_z=0.0871 right_yaw=0.0008 right_pitch=-0.0248 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -3.3299, 7.4051, 1.8926, 0.1099, 0.2466, 0.0171, -0.4171, -0.212, 6.9675, 1.9853, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25b1b489fb75cb5c4c05ad3030206f0d21a90d2d49eec41450ba14889043a88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8068671f9d4c350d1dbc1ba3eb70a92fdf566745f68c79846d8ad554d504b8bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f9e1ea91f76b5b59d05ba89c4a63fc4e4febccbed3ebfd2114168ebc2153475",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFG56rnRPz3NvVMgb3a_zvvbPTceogsZftP4Z8maeO5MUexTeijs1O9v52G_np2UrTgkAjN85Oq20w6lpvXMH60BBH1zcmLxaXYB_ergtsQ-be1KA9W6oBPTgxolOQx5Y9PuRK19S8Q471PT6bk2iRxuuzMj5j_7p8dyEa1Lfp7XQFkIy3wIS5IbA0kiD7Tu2SpU7Yl6Gq2_UYaBFbm9HhfB-dyeECU_AoxPDU2qwgT2yXTExsHjTZ6llals5cugpqxouQw_1TROKbU8AQvKicUWj7gMAsXtZB4IcbnHMFOpPJdOlQ24Os2JzHJ-aPXo4n06B9I2Ar-l88t0zy10id8NiQRefKEbQieSsCwKcUFOoErbLKvVUum8F03muqQjXu9EHJ8uNkNQiSPGmUk5XHwGWVeCY_0o5qloRAyQmBAnpI86nmpV6P2WfmUZbISxT_b2UCwdiH8u7NVDxAg950tzel-zLQDLOiaGRbtmU5Eg6rtZIPRnpz1ryJ6xAG-ITOooWoku7zax6ovVxJQ97lkDAVjhGmvxEgJwMCuhva5Trhb7x6SfTV3L3LSZ7LJjl2YB_KX4wG6xro2Ke6vp38zlPWkxW-eLRrN2i_hOULHp-DbxQm2toiFm61_jDQ37LW8A8Qibpcr0SpqMNCnATXARzys8Dj3AX2-v1ePEI9eqKCy5moWB37aWoCggFjyY1afMQ6Teq-cKwedfNSLJwqORJZktX5SIH5QW1VlYEyfBnC2pv1uUA8Q6_tmbafW0SGNHWRI_TRnlE9GIkadS4nrdevZ2UD8ghbOncjpfrPpI-EGGKgWjzhSa2eBgsirMlAnAe-kecS0pOvx9U5qnob8-lztS8DXX6gDqW5KA_kgOZGQZnzC9lCuHxu-p3IBpAl6jafx16DyYroWJHv5bQMrQLBR3zElvc_y5jVtwTcFINwwKg-Sx0Z9bdC3jpVxILdVZ8wbokZo42vuW4lSkuBUnIuiu9jzWPpxtNvl4EhYLgSN0Hrw77tUVdq8s2raZbuQr2BYWhrDpM2CaT9_mIpEzjdoChF4jJS3xlMuEfFdBAaxuRhYff7j8gOIj6CwfsKbyq5qSEM7kpKHHYxm8xk985aaFflajnjGYRxnchLrz04I-2EaaVFxChoA5KIeo0vFNJZ-k-Y6TmIt22LjPmCMdMI6ATtYPzEp4J0QUPAhd-tJ1t_30l3yZPyODN9vYgJMMTYhy4PsLgBjoOGxKOMIA2qIZtS-ZoKpD1UvqhveHhFhDx5cHjMeX8BKXJ7dztVMhQC4DxfULckziKEqCNNLnHkRucs3ghbc1WOYG1O4gsVAOIiVfruk-5h3bBa0NWWhU6pzzO7llQlkCcsstC3zBlVc__BPfJ9ZnmyqtbglM-uaxKg1cJUDtgLVcvnJTdEeCG3UpeuQFAhwXX6KwP-0l4CU4GajtCpf3dZha39H0rDz6hlgQ28dXRANPKywerr5rZbYMUVz6XUdTc18i_r9N9UeIJBzHJCrZV7udCGgl2Injm3gny3fPjb7Csg0HyQgobbiHzWf3Vb4Efcv1emdVSi1p03oIRSa2bZltPTDET6DZSJ03m9eFR6ejnUnhGSPNZhjOLOZvanmniv6JGC9QsEQtrnjGpq8uzAKmyAzhIintGwrEA4L030Az9HFC9Y6cfV1y2CyRIfSUWPTC8Llyxyn26m5kK2cbCgiWT2XyPMO1Qbd-IdIoUxljZPQ0Chx_yfYsWpxqs7JzuG9iWTaqaRhAJ1GqRbo64FEGTerc9gsjCs52iW4NZimzAkKRcBYn72qt62ghCM_cJeDXmX36N2WpuyWBn1Y_1dGwzeiV-Rqj5g00NY9leMJq1xXCouc2t_eWwx-mDT_XBawX_EeKHBqyYKe6NbjCU0eFU_IA3ww07d4uE3vneCD1LNpQha-O_sDxX-W36-eHLaABThw4OmrPi1AVTsJRU_EDe6jUPDVsqU6vhBMAm5VOoESzkRoHyWUYHARLAH9iy7qaVqsQ5FRZQCDI4k0seXVlhTBMFslIglezST4azB7P0mtQgwnKLA9puIFrtlzfej-mh3y9quhUAnPMwZwnzVB-Cc0XZgmwTYhhoBoDDYWtO3lTH11pTYQNySvakZk8T6ezTj8UWie3XfHWzlnhT3Jmd8bZUIklaeME1GO3-YoHo7BG1sZFW-nASiYmqkOFjBXNiIhXPaoUJBRHq4ReqKeDXGpQq7RLAbuiPRnA1geFXhycnjrEI5_MsuxxPLFoBrGt0q8FCB3XJSn-SW9FZCesdrScA7fnY3AWU-7a4b7aTsQ5_qtnomFpjsTJ1RgH3CL9cF-pvphcxeujaqRALQIXx2WMux8AZXOmzR7uxmUp5zDAdqKFa_g14yL_SoUY56SdTLxzG96XXCgO2t-PLTQBQP0E0ndOlwajcs8-Cv_HvFJAhLW150dmpyNWRA02G40mM1Y6Apc-YfrhVxN7sfXs5t953ps-5vtw_kDxw5gSnnc49REOnxZKphf7pVfZHrMsmd7Zz9SPvI993zKrq8fvrvaxDIZqyk8HgMo9k5jnEcpFPMgDh5hhJjqQxoC-61xJAXg_uTVgHCeLcoTxX-Wvz32__EOSdskxvTV9qTHsZixHf3rO1we2C1RoxKukYGaNC16zzGymOt4caII82SU__MxVhZK4h366WPBmJlr_-BYGYz74rNvGn2YPxtlMGCtE-7ksP1ssWd1VrSr5PA99PrhEZGAA4CCi9So1vLFqiK-8JVs5",
  "id": "rs_0514bc374d65cb91016ab451b5827887d08025499d6edaba0a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.05,\"left_z\":0.15,\"left_yaw\":0.75},\"note\":\"With the arm clear, the left bottle runs diagonally down-right from its cap; the previous horizontal jaw line met that neck obliquely. I’ll return above the neck with about +45° yaw so the jaws close perpendicular to the bottle’s axis.\"}",
  "call_id": "call_dSw56cB2drai9bab9OItPBgU",
  "id": "fc_0514bc374d65cb91016ab451b85f2887d0b45306ae7410119b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dSw56cB2drai9bab9OItPBgU",
  "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]: [-0.4408, 1.7508, 1.2278, -0.4278, -0.7818, -0.7815, 0.9965, -0.0154, 0.5404, 0.189, -0.2455, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4372 left_y=-0.0647 left_z=0.1424 left_yaw=0.5871 left_pitch=-0.0539 left_roll=0.0092 left_gripper=0.9965 right_x=0.2486 right_y=0.0019 right_z=0.0813 right_yaw=0.0008 right_pitch=-0.0282 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.2769, 5.8051, 0.4713, -0.7448, -0.0562, 0.0317, -0.4991, 0.0205, 7.0222, 2.0928, -0.0562, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e621228894f021693b97772da7b5d9af4975567dfd6aeb8960566b4e645d00a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:babed6fe6ac6825be4fe37c082875581f7b9c2c96927ebad496eb71d853f3d3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e753fe47cf4e90c396165b5e5e61875588ef0f43a2bd5bc7df09717d1cb43956",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2024, 1.7603, 0.6956, 0.495, -0.2108, -0.1574, 0.3553, -0.0154, 0.6018, 0.2626, -0.2615, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.0498 left_z=0.0553 left_yaw=0.0444 left_pitch=0.0064 left_roll=-0.0083 left_gripper=0.3553 right_x=0.2571 right_y=0.0018 right_z=0.0973 right_yaw=0.0008 right_pitch=-0.032 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -7.2, 4.9299, 1.7509, -0.0708, 0.0659, 0.2027, -0.4308, -0.4855, 7.3231, 1.9609, -0.0708, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.07, 1.0515, 0.6754, -0.1429, -0.1253, -0.1028, 0.9961, -0.0154, 0.5598, 0.2111, -0.2447, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.353 left_y=0.001 left_z=0.1855 left_yaw=0.076 left_pitch=0.0475 left_roll=-0.0147 left_gripper=0.9961 right_x=0.2518 right_y=0.0019 right_z=0.0871 right_yaw=0.0008 right_pitch=-0.0248 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -3.3299, 7.4051, 1.8926, 0.1099, 0.2466, 0.0171, -0.4171, -0.212, 6.9675, 1.9853, -0.0464, -0.0415, -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]: [-0.4408, 1.7508, 1.2278, -0.4278, -0.7818, -0.7815, 0.9965, -0.0154, 0.5404, 0.189, -0.2455, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4372 left_y=-0.0647 left_z=0.1424 left_yaw=0.5871 left_pitch=-0.0539 left_roll=0.0092 left_gripper=0.9965 right_x=0.2486 right_y=0.0019 right_z=0.0813 right_yaw=0.0008 right_pitch=-0.0282 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.2769, 5.8051, 0.4713, -0.7448, -0.0562, 0.0317, -0.4991, 0.0205, 7.0222, 2.0928, -0.0562, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e621228894f021693b97772da7b5d9af4975567dfd6aeb8960566b4e645d00a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:babed6fe6ac6825be4fe37c082875581f7b9c2c96927ebad496eb71d853f3d3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e753fe47cf4e90c396165b5e5e61875588ef0f43a2bd5bc7df09717d1cb43956",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFG81SF1Gom9GnrFS-zD6fZLEtsIwROQ3ra97S7A8deoz8fqZ9yZZ3zFJT2o8UKOT1FiZQsoX3XLwSvWNKDShDT89sJygccNHzZ7Ln2q8xSWb3-dYOXHwbx9h9ycBBVpoI8zioCiPyNWEcBd-TZcIKRTIQ9dOz4huIiQ2uuiO229IcbEhWwXpb0esgbzT--v-valiexqq2_8dOr0WdpGX4QglNb2jP1GM0W6P9ZoiBcM1RkkXZFIJVtBZb9AkGtnNXeI4TSSCth9rogyMfnTtNBIsyyJyf8SOYctO8pPG2_k0M6-oDw_PuyjDMDrTSEUHVucCIqMBP96qLQFVFjnXOHD-JrxL3C-IZprOHp_5AbKb_7Bm6_l1HyuFZvyW4Ma1ZbM3pk3uwQfJmQt6C2JOtdKdnWqAi-b2OmZuPe6cd_eYWT5lOKg8-8qw7EaNQzeHtdOPtSMoyst066IZwjyHiQR0mE406rB4RTFnw985PgCJrCrAoqm8Ph6k4nPbhA4ysAhzhe7NjPDmSXyi1pyzfdo1uUZg6mL0HwnIK9itfvfc3tgY5k4tqYPSDJhIilREM6RZ4_y6ETJ64IE3S5BGgsXT1_vvrW956gXA2asIrY7x6_TdiHN6eaa9q2IyYXWKZ8krRoszWGgK9Dxe7DUbL9r0MB794Xm2S7ue-Eiwcctf3QAfJbZOVUCZBFJOE8HxHnNuCY_xAgI3jKGfXbaCR33rzkKVlUXr7I1xxDyt9iev2W3qNf6sWgw7Kl77AcIYvlo2gtoXyOXgp7n0v2lpZIfh0mioW3qixZN2Q4zcA6nLZuNb4NHhftgN-_k3HNL33ofuKbk6f9tNyxkwDqi5rKisWP-P7eBJpBYXgUjocP3hdH_1pfO9-Rwuh6_riQ6_hbd1fo35zVXNEMhzNyBI06VzVqcOHt7btW8_aGsksxXP7MR1bkB-RYy7GmSCNeJRHjliopF11ihnlkQB3R7M4wWD-UdWwGaYubeitSB3lXUZqJyiCF6HsmfwOgdtTYOUr0gv3x1QV2Lz-pI1FSfJSxHuPiwNscoj5s87uIQ-HW1c0uKVlOxyaD8UqJGDnd0nBGgaKzupALwtbboSHdfThovIJwqgqau_QjVfJb1QXkIxjfDt3Zim9j9WENmv8w9ftm9_gsY2yElRiVFJisqcLk5JBgNKv_fA335FHaFPT-d9j72juC18mjHNwQZLgRfrnHjRgKjeFuRESpyMx_7-B3EXjIjuq7k6ZcRgTA5dIw2JTzXI5eqFQKc9LA8pPIMt5BcfTXCQEjgsVtWEB7ieIjyWgN25pWILLKzySsriihHmk9yVxfLpYTGNlJoGSV49-gQohT0a5udYFNZkFpJYT6hLTa5QmIfL1l0EwdYyCjt1k27aYUiKYeUGSa6qtaT1UhA8ipnBCCssDgaytSxsYaEXv0exE1d3mtgBEe7-TmTR6Qx9k_-W9e0faBVnCzZHwPedsev7FAlCuUA63o8P8z3-9gdX8gDwF3MZ7yKkmzKkHtYmycpPtjcvLvCHUJ3p_qbht_WgWe3S2g3s0-YK2PW8C-rXHap-wA3VoEaPfEmRGGpvw_b6CnIur8zzQfhiwMDX5UAMuzRC4s7VkwhcuMEWyHWrorRG4Tuu0HOMzFwHTo=",
  "id": "rs_0514bc374d65cb91016ab451bafe7c87d0a2d09e9c8e139d82",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_z\":0.14,\"left_yaw\":0.75},\"note\":\"The yawed wrist view now puts the cap on the jaw column and the tool is roughly perpendicular to the neck. To avoid the earlier descent stall at long reach, I’ll retreat radially at height before lowering.\"}",
  "call_id": "call_fP6kvTFaWbEuoKpH4WMenTHa",
  "id": "fc_0514bc374d65cb91016ab451bc0b4487d0b459c52d9597952c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fP6kvTFaWbEuoKpH4WMenTHa",
  "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]: [-0.5438, 1.7515, 1.1751, -0.5682, -0.9104, -1.0321, 0.9966, -0.0154, 0.5159, 0.1654, -0.2443, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3986 left_y=-0.0738 left_z=0.1261 left_yaw=0.6924 left_pitch=-0.0311 left_roll=0.0257 left_gripper=0.9966 right_x=0.2456 right_y=0.002 right_z=0.0764 right_yaw=0.001 right_pitch=-0.0263 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -10.865, 6.5573, 0.9011, -0.7643, -0.1538, -0.0024, -0.5128, -0.0615, 7.1179, 1.9853, -0.0513, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d51d8a6f255334fe4b67c115a7d3c0ab77f60633d9b0a76c2dfab726e7ad24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9959bd5bd7f9464279c76a301c7125f1188d7194c6505d5e5187f000ea4ced3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c4ba703ac06412a5a28e948b57b557cf4a4a353875a0d3237fdd67f6342e02b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 1.6218, 0.7864, 0.2424, -0.2108, -0.1604, 0.354, -0.0154, 0.5797, 0.2359, -0.252, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4429 left_y=-0.0498 left_z=0.0987 left_yaw=0.0453 left_pitch=-0.0162 left_roll=-0.0052 left_gripper=0.354 right_x=0.2544 right_y=0.0018 right_z=0.0923 right_yaw=0.0008 right_pitch=-0.0271 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -9.4701, 8.8274, 1.6728, -0.1734, 0.0269, -0.1392, -0.4991, -0.3487, 6.9675, 1.9805, -0.0562, -0.0269, -0.0073]",
      "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]: [-0.4408, 1.7508, 1.2278, -0.4278, -0.7818, -0.7815, 0.9965, -0.0154, 0.5404, 0.189, -0.2455, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4372 left_y=-0.0647 left_z=0.1424 left_yaw=0.5871 left_pitch=-0.0539 left_roll=0.0092 left_gripper=0.9965 right_x=0.2486 right_y=0.0019 right_z=0.0813 right_yaw=0.0008 right_pitch=-0.0282 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.2769, 5.8051, 0.4713, -0.7448, -0.0562, 0.0317, -0.4991, 0.0205, 7.0222, 2.0928, -0.0562, -0.0024, -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]: [-0.5438, 1.7515, 1.1751, -0.5682, -0.9104, -1.0321, 0.9966, -0.0154, 0.5159, 0.1654, -0.2443, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3986 left_y=-0.0738 left_z=0.1261 left_yaw=0.6924 left_pitch=-0.0311 left_roll=0.0257 left_gripper=0.9966 right_x=0.2456 right_y=0.002 right_z=0.0764 right_yaw=0.001 right_pitch=-0.0263 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -10.865, 6.5573, 0.9011, -0.7643, -0.1538, -0.0024, -0.5128, -0.0615, 7.1179, 1.9853, -0.0513, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d51d8a6f255334fe4b67c115a7d3c0ab77f60633d9b0a76c2dfab726e7ad24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9959bd5bd7f9464279c76a301c7125f1188d7194c6505d5e5187f000ea4ced3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c4ba703ac06412a5a28e948b57b557cf4a4a353875a0d3237fdd67f6342e02b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFG_z4CQTuovcEhRPzayGXFtmitEDQS46aI57P4Q0gJmLaHhnq6m3S2RbH_N9XF6QX_cYTd7T8a56j8Cme7G4gPPe5dGrE5LjCNnQdI30avf7Sty8_wkEfsD3FcbaXs3zaKNZ7G_HsxNZR_n6cV1DOy352useeVqrstxa0hU4BHTLbPuefxLu605FoHCY5y_J31bpN8959U-XbXYMlhtVknvQIukJg8mr_vn24EmxHK0BPqZHIeX_LgAwiHT8TnL3dzSEPKohUVyqxJMWKQU3H6gnXqk8Bk-T9NyjsVNhOYz5hjou1OdYeTY2uCi4h72Azn99YdzuIRIOMNbEouSZTiLuDzXvJ60MUVGrALvYBg84oxcyzpRI4OWoqI0LNiqcujiaG4GuZ-ouRyl2xFjMcdZjTxSGb2Ud4yTQnqO0liOgxhk-b9KZd9n62iOgKMZnZbO35OhqaP7KYOWNc8ZWyxulaSkrtvWYPEpbqpAGh8ArxFHeps38r1-LF5bSLMUWuH0AAqHk0uhFUCgat_4SNHoUDlmQkRXzq_OnbX0PCXBfTJ8rKYrXgCXURn-7GBOOjkuCvFLTQCB3yqqgb3G87788VUdyTPyXY28q2S_LP6gZ0JG9vbry8CIZVOh2cm_97XGxhDH0pLc0zawWfOf_r8wRjKcoUSITUV0U4goultl9-oSOFvXwzEfxLOMMWmYz16zulMCqz7Y_Wue5Ur4l6X3ZJEy3E2iYeIX5rHnEo6RLBVatjZgG4LDHfiMmsQ4xtPG4TKNldBPc1LAnMrYWgFO7HKuVNRx_7YTCAbKziToJtXiq7vWEevlqYn15dU5SHHoQWVJlAvRg3tE2HYaC2OqLgY6r1bIdRVb7GstXpdcT5qMS1yjMhO4lYqj7cI35PRWM5IH17n_CSjC_wN8aUWREKOe4mkxXz6ERR6Y_HGM6lgjHf7Sacn02I2NyXlVRz734C1c2sE94hOGB9X47Bk_q0RaiPD4EzIB1Aa7dnLoWQbfnpvEVApc_ntjKAcu12cDC6HHlJHCgC_1V2TbSYxHP1IDrLQw_fPpZDhB7uqy0EG6qbttuVaDdniCt-PDMQ5G-tZxG_Bb5g7JVfJ_ukwuTkFunKVGYeKvXsl1axWa8HePbRK29KLBB8fIy5SdvMt_zbBWDf4u2_WcgfAUnmOYQMftrSxuN2fqTQJxSGnwZcAmlzu_bf_KL7WA5cMmnPD-mrHs-G8u1m9vTs7F0jwTHGo-0rm_ugw2XWw0JyqBRTgugGvzdooytzs8ugKvIFEi",
  "id": "rs_0514bc374d65cb91016ab451be38a087d094a745b62eddd9fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.04,\"left_yaw\":0.75},\"note\":\"The arm has retreated to 0.40 m reach while preserving the useful yaw and clear bottle alignment. I’ll lower here to the lying neck’s center height, then extend back over it.\"}",
  "call_id": "call_NZ6F2gW7JYhyHLLePmfLzKOi",
  "id": "fc_0514bc374d65cb91016ab451be6d2887d08b2da8840afecf3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NZ6F2gW7JYhyHLLePmfLzKOi",
  "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]: [-0.5495, 1.7481, 1.1751, -0.6224, -0.9295, -1.1019, 0.9966, -0.0154, 0.4923, 0.1448, -0.2447, -0.0128, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3908 left_y=-0.0691 left_z=0.1261 left_yaw=0.7329 left_pitch=-0.0286 left_roll=0.0214 left_gripper=0.9966 right_x=0.243 right_y=0.0021 right_z=0.0722 right_yaw=0.0011 right_pitch=-0.0237 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -10.5641, 6.5983, 0.7057, -0.7399, -0.1441, -0.0122, -0.5538, 0.1162, 7.1453, 1.9658, -0.1099, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:456d6ca1931942cc8d847b20a70f8fb42c504b027428410493a0962f9935f4ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b9707a166205800ac987c1094e7e654d97b197e748f572b6057265e8a160ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cfd3108c6f22df56b02bdee21922d2a1a87fbadf4b9f845d8fc981f5e48edbf",
      "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 59 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.07, 1.0515, 0.6754, -0.1429, -0.1253, -0.1028, 0.9961, -0.0154, 0.5598, 0.2111, -0.2447, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.353 left_y=0.001 left_z=0.1855 left_yaw=0.076 left_pitch=0.0475 left_roll=-0.0147 left_gripper=0.9961 right_x=0.2518 right_y=0.0019 right_z=0.0871 right_yaw=0.0008 right_pitch=-0.0248 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -3.3299, 7.4051, 1.8926, 0.1099, 0.2466, 0.0171, -0.4171, -0.212, 6.9675, 1.9853, -0.0464, -0.0415, -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]: [-0.5438, 1.7515, 1.1751, -0.5682, -0.9104, -1.0321, 0.9966, -0.0154, 0.5159, 0.1654, -0.2443, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3986 left_y=-0.0738 left_z=0.1261 left_yaw=0.6924 left_pitch=-0.0311 left_roll=0.0257 left_gripper=0.9966 right_x=0.2456 right_y=0.002 right_z=0.0764 right_yaw=0.001 right_pitch=-0.0263 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -10.865, 6.5573, 0.9011, -0.7643, -0.1538, -0.0024, -0.5128, -0.0615, 7.1179, 1.9853, -0.0513, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5495, 1.7481, 1.1751, -0.6224, -0.9295, -1.1019, 0.9966, -0.0154, 0.4923, 0.1448, -0.2447, -0.0128, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3908 left_y=-0.0691 left_z=0.1261 left_yaw=0.7329 left_pitch=-0.0286 left_roll=0.0214 left_gripper=0.9966 right_x=0.243 right_y=0.0021 right_z=0.0722 right_yaw=0.0011 right_pitch=-0.0237 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -10.5641, 6.5983, 0.7057, -0.7399, -0.1441, -0.0122, -0.5538, 0.1162, 7.1453, 1.9658, -0.1099, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:456d6ca1931942cc8d847b20a70f8fb42c504b027428410493a0962f9935f4ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b9707a166205800ac987c1094e7e654d97b197e748f572b6057265e8a160ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cfd3108c6f22df56b02bdee21922d2a1a87fbadf4b9f845d8fc981f5e48edbf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHCZmRfzv-HuNBINfZBGFBUpg9Pw_ZEXEfKT_LucM_NGyjHwewT6pHSsI6dbGDOcb3_Rr9RA0joy5QOfFM318n7eATwKJXiBP1t-Nj57cDMLjcv02Q3aSVTZ_A2_s2UdIkdy9niYUvQVfbp-wfZPb6ALef_r8abplNJg_21ZvsnAXhsOxWh38rpwiM3TJHBN5CBhCvAQPsOz1Vh9Tn_HNi0tJjt2wGz7y7111SvC_WzTvb9PvHSZWXTV6QNPzn_7exeARAqtYpKAorpgaHo9lEwpdIzQnzSNFZdasqPPJvdxCJiu2C76lQLATJqu5Zb2n9MSdq_q4qhXNMCEDJ4z4LlhEQ_4kf27yc7TmdWP5RvePwmxpyIq2Cvv63h5zGiaNopUsY9W9u9LSWyQjSQqqIoeZahLI7euY11Q3enmixEeG2sYJAIo5HKbbfYy0NIWodvvDO7T6TPYC6O2H5AYBc7Vn27i9gUcO3bSaQYTqltsSpkuHPHIn1t1M0zFnFWUr1stk3bJw-cJxqH3qJWKjGuost0lzmIUaXYpkgASuIAcyz2flwU1VRTA0I42kj-ToQEGqzYxeF9upPetla5H_-WFzwZg8k_W_J-I-UVXt3meTco7Dd_kCEsF744qKfnippbKUoON2PDAEn4Z7wG6Qfz5pMikLPih3GFzDukxjQbwS2ii8CJIid2PEcMGeN-2rFuid2oidn2neW0GmvzfwYYy1tadxr3lV0jc5oZkaE5V4HZY01QQQXdo98_ikBJ9x4julW1OmX80hMO5z1LokM94hEWuGAKZ7U0eys119E3x_9bT-A6rTIf5L0oci3ua_mB-Kc5P7yOVyoRtToYl8IqacufgCZnUpMMrQEO-_qd4JSJzUg7NACTiDqZ2wegCxudzPFR8w7H6dydFlBlYMFwP_kSMEmMxl6-P7kjc6ycUydCwI-YfLGgdje_hzIewEE360_AiakfwaqBLDJH6KxyPkpCD81xBmD2KnFpsYAqb3vPTQoGTIIFcV2JjluIBdxJREt2GvzcUrtuCpq_uzTltRUUnoPpEeEB3YTP1w0qSQ3bxp0PGm3iqP_c9fqyc4vGKdqk9LLzrSq2p-fEkbFLSkrUY7_e_dVUAy7yf1r4hmCXgoI_TCDd2E9bNF2-ciGm1HPWrPZ9ybuI6717dBXCeuJCaTbcyuBSZGQpbq6S5dmWWJLjxoeLPTF-FalaJrom-rKUZ5o4BCRQbUy3ie0WOVCsF9AeY7kQ_4y7d6BUqnvQzpH9pOQ0u994GuTsI5S_EbOgHXAPn0spxhb7mm4UaacjmrS5Q23W6jVmCdXKrqvslN3gl_GBm8x0FtJMIK9JooZpOBhdTXovM8QLOL22t70cBt3qJ5nxUsB5x8K-Ax9INHd2dn0jLWLsbhXx8HRx8TNtt8u2xkzM7Asfji_Og0xGws84i2QzG-hQZXjxw78UpG7An-iTQY2ScuF5Mpld3OBo_e14vFJrVXgmKKKFOjuDD18vzeC164VNfsndImrDEQdRLS_7K_T_4y_JbGwcZwHmv1oXZBypl-q5m2FmaqLZNXKV4Cg9rjjzorKP4fjNqXZXf_B91boDTjNh7N54WYT23j06ZqwbslO-pGhtTdsQ7NOZ_dSMjfbPpBNpHlQ=",
  "id": "rs_0514bc374d65cb91016ab451c1345487d0a8d7fc2d20f41c3d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_z\":0.15,\"left_yaw\":0.75},\"note\":\"The yawed arm again held at 12.6 cm instead of descending, so the current folded geometry is still constrained. I’ll retreat another 5 cm at height to create joint margin before lowering.\"}",
  "call_id": "call_cKNf5uKC0i0cR0X91iEqYO3F",
  "id": "fc_0514bc374d65cb91016ab451c1cc6087d0a065df189cd8037d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cKNf5uKC0i0cR0X91iEqYO3F",
  "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]: [-0.5495, 1.7481, 1.1751, -0.622, -0.9295, -1.1042, 0.9966, -0.0154, 0.4709, 0.1272, -0.2447, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3908 left_y=-0.0692 left_z=0.1261 left_yaw=0.7341 left_pitch=-0.0285 left_roll=0.0192 left_gripper=0.9966 right_x=0.2411 right_y=0.0021 right_z=0.0689 right_yaw=0.0008 right_pitch=-0.0198 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -10.5641, 6.5026, 0.7692, -0.7546, -0.1294, -0.0122, -0.335, 0.1983, 6.7897, 1.917, -0.022, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a7ed74878140c72de8d0d2f5da457fe1d69466f28147c62101a5569f1da025a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:825f7a6dee7b2c806a7edd0a414bbc7b58c7b7c54d5f0b27ac99fef844664c77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63ad745549ce53147d1bf74366370a310599bd59eaa0dcbea009b06b20f61c0",
      "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 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4408, 1.7508, 1.2278, -0.4278, -0.7818, -0.7815, 0.9965, -0.0154, 0.5404, 0.189, -0.2455, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4372 left_y=-0.0647 left_z=0.1424 left_yaw=0.5871 left_pitch=-0.0539 left_roll=0.0092 left_gripper=0.9965 right_x=0.2486 right_y=0.0019 right_z=0.0813 right_yaw=0.0008 right_pitch=-0.0282 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.2769, 5.8051, 0.4713, -0.7448, -0.0562, 0.0317, -0.4991, 0.0205, 7.0222, 2.0928, -0.0562, -0.0024, -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]: [-0.5495, 1.7481, 1.1751, -0.6224, -0.9295, -1.1019, 0.9966, -0.0154, 0.4923, 0.1448, -0.2447, -0.0128, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3908 left_y=-0.0691 left_z=0.1261 left_yaw=0.7329 left_pitch=-0.0286 left_roll=0.0214 left_gripper=0.9966 right_x=0.243 right_y=0.0021 right_z=0.0722 right_yaw=0.0011 right_pitch=-0.0237 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -10.5641, 6.5983, 0.7057, -0.7399, -0.1441, -0.0122, -0.5538, 0.1162, 7.1453, 1.9658, -0.1099, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5495, 1.7481, 1.1751, -0.622, -0.9295, -1.1042, 0.9966, -0.0154, 0.4709, 0.1272, -0.2447, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3908 left_y=-0.0692 left_z=0.1261 left_yaw=0.7341 left_pitch=-0.0285 left_roll=0.0192 left_gripper=0.9966 right_x=0.2411 right_y=0.0021 right_z=0.0689 right_yaw=0.0008 right_pitch=-0.0198 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -10.5641, 6.5026, 0.7692, -0.7546, -0.1294, -0.0122, -0.335, 0.1983, 6.7897, 1.917, -0.022, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a7ed74878140c72de8d0d2f5da457fe1d69466f28147c62101a5569f1da025a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:825f7a6dee7b2c806a7edd0a414bbc7b58c7b7c54d5f0b27ac99fef844664c77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63ad745549ce53147d1bf74366370a310599bd59eaa0dcbea009b06b20f61c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHGDx_x84sx2SvtoPGG_YkqupubxrcNqEAJyumqlMtecHtP2V3Ni74uE75O31yqnqhWFG11cyP-KHKWK5eUOBC3-LhlVr4LysF_7aiiJeOwUfa0Rt8K9xxRr6pJfBKOYwPsSneiQvixqUY3KpWxuzSCscM2nLkwBDBzeMYOwvkKGLf9QuGE_wfF69wRXmpL-M7PnmYJatIGpyJlbisanoCxzy9KIZWuHb0F0hsVww1VV-m7eCkmA3NqnLUQWlwnZPbNnQfsnWkDIYn1Yw8-dH6KGgfNISJlrAEl3razotbeUisT6mVQ8zxGNBH65WV6xIgEZSa6v6R5c3lQoW5u2YYu7wTrYuPjLJcwz6WA1Ai4udVPzemKypIVhRi1Bv1Xpmk69_m8VJHXTgcRR1XY8U10d0XIacRNFBZTfFVBFWbAcP6Mt66Ju3YAIukYr4s0b6qPF5XoD70rCj1eTukTOV5uxh300qV49bcIX62bjGxsFf0_x_nGiJr4_lqyYXSaaod_4i3YCzjTT8czvXu88lxy2SaX5q8eNj90xevlzCXpZhpSnBDw92O-S4K8mILOnjt9twNgoBek7ttI0QhKU-A2ddTh979JCO4jhlGnOnyGkX4PihFS4ZfUn9sjyCnE_IIdR1VxqoV1TvKz3W4s1X-o1E9m5ftbk3Zd7IYxco3HPEPonz-VrVS80uvy06TKb-i44C6xuBHpMj_LWVD_lNJbljaImhD_baagBUWyoChh7dxzlNuoWlNZMHPP6p6m3Vv2ylXRXvqDdE1pJtaxoMWxU2M6pfdL_o0GyLXW0LE7BrxDeLQOBJmvrb593wRPtseatWWE8_CQxI7Eh9IcPgFiuwDy80I6-PxAEZCAxghhzglL33jnWxd6RNdoIDUCoYfrFRn3-KDMIYQ6C7XX_J73g7xDqsHrxo5HcrEhPEU-OqNUVr5VsCuqGzoleuIceRrMuTd-oDGc_w0xHtFwCukfOjacNBkvCVRroVsSkGmF-yZHqng5jyoFV4cmyir5yxcmB6KKde9tq_O_wLwLaL3wi9MnkJefGDycmcI-JAl5JKMQ0kB07WJJSRB2m3CdysM4jGrVjKmxkl9poTVE8zv115gYEqObHIsNBch2ftUk6pcFY4avLYBgI-u3msvDnFl0fdVoYT9d4R2pQj2A9gJoeroDk_c_EqNh6v5ICPDmKfR5Q5WHKwCP8OgIVNuU2wnFkoZqsXrNSW3dI4KKqx2QZblMRxE9m1_Ce9Z01YE0lpPpHDNHHFRdKWJ6izzcptQT839AlaDgmdPep2NBW_1e8KryTfhfr2KNdEuyHxcATfNCWbEI6o41Ms3yXjvy5_EuMU2UEM135IkJK83dzUc87Xy2Vl1BkRNUXiMz8khFDuUd2Izjud1QeAUCMGt9HthYe1BuIh5-zHbsRWTmcE0hGlbkfK9CjMB64TVBWCmHi8-AZ2pAJyKw2eLrS_U_TmwkS0nMMYvqLzPyFKK5Opb5yMdF7Km7umu2JlS9DjL85Je8xBbFb_9mWDfW6HGks0a0xHp1R2l0X4PSibJ5-0pEBbgTBTJkMcJB6v1uvz0L4Gecs3QIp6WtXWDOB6jhGiZ1PQYnh7pJyhKL4sVI4s2jKmVzIbm3GdyCczY1-BV4dFgeHk0as89nt67J4lx-wrQg77lggI1rYieywcFgQgANqDtbKgTZMCNvwzaHUnTIY3J7_J_iO33PfOsJSs1IuLGNS5az_lkhDKejB2aR0XmA6w==",
  "id": "rs_0514bc374d65cb91016ab451c3e54c87d08c18bbf7d99e4d1e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_z\":0.16,\"left_yaw\":0.0},\"note\":\"The arm could not retreat while holding the high-yaw posture, indicating a joint-limit lock rather than table contact. I’ll unwind yaw while moving up and inward, then establish the approach orientation closer to the object.\"}",
  "call_id": "call_HQfQsYNy9Qm9thf9fV4r7EXW",
  "id": "fc_0514bc374d65cb91016ab451c4ea6487d0a342ac29781c7d61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HQfQsYNy9Qm9thf9fV4r7EXW",
  "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]: [-0.379, 1.1759, 0.68, -0.2195, -0.4892, -0.5499, 0.9966, -0.0147, 0.4515, 0.112, -0.2451, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3416 left_y=-0.0428 left_z=0.1438 left_yaw=0.3069 left_pitch=-0.0595 left_roll=-0.1211 left_gripper=0.9966 right_x=0.2394 right_y=0.0023 right_z=0.0662 right_yaw=0.0015 right_pitch=-0.016 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -3.8222, 6.7897, 1.7802, -0.1343, 0.2076, -0.0073, -0.5812, 0.7316, 6.8444, 1.9316, -0.0806, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e96877f7de84cc98d8868d99ca6ae72137c17506e9b57e53af45e6ff70543e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7aed2c67df417e4fcb2d134066e000e475295dcdeeda20107c10f83134ed446",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e4aacccd07c273be98271cdc89ef0f6898f9e378bb3e0200d81c815508d193",
      "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 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5438, 1.7515, 1.1751, -0.5682, -0.9104, -1.0321, 0.9966, -0.0154, 0.5159, 0.1654, -0.2443, -0.0124, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.3986 left_y=-0.0738 left_z=0.1261 left_yaw=0.6924 left_pitch=-0.0311 left_roll=0.0257 left_gripper=0.9966 right_x=0.2456 right_y=0.002 right_z=0.0764 right_yaw=0.001 right_pitch=-0.0263 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -10.865, 6.5573, 0.9011, -0.7643, -0.1538, -0.0024, -0.5128, -0.0615, 7.1179, 1.9853, -0.0513, -0.0513, -0.0073]",
      "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]: [-0.5495, 1.7481, 1.1751, -0.622, -0.9295, -1.1042, 0.9966, -0.0154, 0.4709, 0.1272, -0.2447, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3908 left_y=-0.0692 left_z=0.1261 left_yaw=0.7341 left_pitch=-0.0285 left_roll=0.0192 left_gripper=0.9966 right_x=0.2411 right_y=0.0021 right_z=0.0689 right_yaw=0.0008 right_pitch=-0.0198 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -10.5641, 6.5026, 0.7692, -0.7546, -0.1294, -0.0122, -0.335, 0.1983, 6.7897, 1.917, -0.022, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.379, 1.1759, 0.68, -0.2195, -0.4892, -0.5499, 0.9966, -0.0147, 0.4515, 0.112, -0.2451, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3416 left_y=-0.0428 left_z=0.1438 left_yaw=0.3069 left_pitch=-0.0595 left_roll=-0.1211 left_gripper=0.9966 right_x=0.2394 right_y=0.0023 right_z=0.0662 right_yaw=0.0015 right_pitch=-0.016 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -3.8222, 6.7897, 1.7802, -0.1343, 0.2076, -0.0073, -0.5812, 0.7316, 6.8444, 1.9316, -0.0806, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e96877f7de84cc98d8868d99ca6ae72137c17506e9b57e53af45e6ff70543e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7aed2c67df417e4fcb2d134066e000e475295dcdeeda20107c10f83134ed446",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e4aacccd07c273be98271cdc89ef0f6898f9e378bb3e0200d81c815508d193",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHMoe0YjWU0IPfMO3a8NllhUKeiv3_raHNSwMs3Wh2uHudqes-yvFhFQc9lVCl-5cgttsxrk1FxLtQRfZItizttiDDzKI9Jr-y5XDurbkPHIAbSAuVVcNOFxyaRI7lbg7tWKDDza2_U7xstjxcRF-gnUxiiKhUyHyRlk6TLxaJEZkgZ056V8jCIFsbxLZNkUGz_IVpj2ItWr1t6PP-rZ6cRgefzDZmrJux8O0HEHHlLJ8xkLZI38cVUoPM3ft2xXOs84fE_pyqrZ4L0-9V303EcFD-74UP138DH2VzL2KPRokeTipuB6M-9cNw5OPJLv1ahX-hDgLx85MlNhPKfcXt9RgT-NBcZ-AYwC2SybDVxw7t00qcZZr6WHXrldCiK885_TKJd3vhmazj_I3J4wr4suz1YPNblqTnKoRJkLvkiAnxt4vJ8IKgc5UnVOan-nEqZJtdLhM8Ne0RP-4i_dgFzkYx10jIcwV92IObDSDL-y71pJlAbWyebsNF8LFvG1myQElbhWmtceEzQuU1m8SbtAKjWtkI3Pagi0ddthLh7_f9GnPV74Mhe4shKZ4fCvJlp_rMGkrQaY5HgOsueEkDVzQg32KS58idio510nA0qeZj2M58ZDq-B8I5i_5-C5M06OcL0nAL0nhp1DC08FDyiWvLXXXdOqJ029aHdi5o899xNPAiONl07SlUIqiSDCaFzZqCog33HjKslKDKW7jBQbYl4NFgSAgG-5Djc9e1vLCnp8QEaRXG12Bkwu_wQeup6gapGCuqrBtOcpkN4f8z6-3j_ULpXBA29uNotxkBaiCdx_jwJL5BJtR0DhSNvX2dV2SXv86KYwVN8lDB5VPt4sbPrZ39kEyzDVZdQn8h7dqsoiN1mh-Y880aE9t9Z9hhKrD34Qb3eRbVeNIsGh9fJNBAmg2RBn7Hr-KXr2JkYIZjZM8EFkC-mpjx24YkE9TEFOfUfQHZ9axFzVQBKg-C4CmyZoxmyd4kKoa6KEBL4-hXQdbhUpfSNamxf9-4CE9l0YHCGVPWU5gLveQGYhPs8E7kt-Po7CshJfzi7bG9iyncfChpmY4avxBMsteiD_FV6ytvZriE3iMgyzI1z-VwQC-QSkpn11vzKw-2yM8BbvJE0_nTWhY9FDA6AssalzFMo1-QrrlQsULyaAoUfQI3T6U8zXh86sMZZqqoS92AUDmGVvfFfojM17n3YATHYFAkfn3uNOq51sNhXHcnnAxDqdKC9q8jfYJ4l6J5RM2heOqDWnPFI6yeo5x-T6vKqpNjSOBUHtS3KlZmutgELKTKHgMVF4r0NoZ6g0Kt-N6wcRr2DG-y4AtwQ4yjlcqi5havHtr5Jrq0yrPtX0N4fAMKTX6AT3X-zq4PKv93NQtAAvHIjhvHWjD04vU3_ds9bkVX0ZEcg0RzEdtwuOhfT5o6aZlUO2EOSDnb7waK57zXPKWwGhUAsmCL1Ln_3WHaX7XjLWY7KXcKEKduKv7gFpdt90ec71TnXsHf6FRnnRsKkNDEdtmnA0f7fSSsrn5IsBXN0Q2-mGXY9LwIYcAFPSRZXVkvBmWpNzwj_v2lfz5hf6MUdHqqBRmePmg1uBQXXm9KAxFzGbCMkZo-xIBGC4nFOPAbgkD2ctVei5hhYJUq5eP3IOwFqpIXzccLuZYQSk9_y1TOmW-oIW_PgrFgO5pAFN3TDqmpuD7GlVzzbc_ABnd5eZaZSC0YE4DDd8G7XWU1ShqIjcTF_UtRXN4IkuL-gq9JaR2UZ-F1e16vqSTWocGYrypCBjhhiLppd-ZVqY78QLUxLd6rKzZebSwXH18lBEAhc6jITDcntfT16l5gc8Q8EyjxIFg64RONyeFpHbvwiCnW4Oh2EL33dVX7dt_GUTNLT161zJqCUdTTL4hlVGfOkiCHihPDn1ejOS9RFV7BGW-spJkPCp1axUUqxH0OO9VvmynQ3F_JRmgST9ex8RPS6GnDf8sMRXPvHwNQLUAf-syk3xAD43_vbPBWib_ktFDOO8macaWu6PWfqMvu__4lz8_h7l7M7Oz7mXpEqrOVgVXXeKguowuSRsxDbWSrs6qWJxM23IE1X5oujlkOzUZBRQuBzsxoT5SDkAaiZE4iE2daCPllGg-HEoCU9Yfp7l2uD86ZHjXp-7LBvYPhQ4kAWn5Ucp4fXhQTVG9LHQsOdMVtec4MC7dOvYw8Qu_L4C50RBEPf-vdUXIUxb5p9bkNCX0Rlteur9mXm-eruqov_GVzn_vBXDBrKgR9-QRzr4rZTwqdS6fPOHbFza40D_zUXKBmdVpl4UHf6tJi93FiLBuVIHTltAtTmuSCU5dYTQnpvPPZ2o8pW76B4YXDXXMelEuTwApnMDFYAo0HmHVl-8LzMYJfjf3C1T5H9VJ2a4BNKpR5uNv-reUZfP8jdml6MD5mhdrthIwiWCoAbuti-_XdMIpCj4bIHa8c_cgtRiy8eqN3t7p6PUs6PihL2Ib7Y5A8qB7p-pu77zyTPTHYUphq9gssd-Fd_7fy4pBC_jmKrSfV7EHnugZQvNWHx4gAwjlOBS6Zia4qTJYu-P-_m7lVXo8KN-I-TssCSGRm5ygkjs2bJVOXyLwMyRoVJNVX37Bd7xAqkYnfpxPfNASDoUrOOikqKDn4Kwu3vct3Wdo4Zd9BryffaWUeI651vD54=",
  "id": "rs_0514bc374d65cb91016ab451c824dc87d0b572ee1dd065bc12",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.25,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The two central bottles lie almost straight forward, so their necks are naturally perpendicular to the unrotated jaws and should be simpler. I’ll park the left arm where it is and bring the right gripper above the rightmost bottle’s cap.\"}",
  "call_id": "call_8RVG4aLZzlPiBfydvE4BT18R",
  "id": "fc_0514bc374d65cb91016ab451cb309c87d0a06b134da63e0db4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8RVG4aLZzlPiBfydvE4BT18R",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.206, 0.6605, -0.173, -0.6106, -0.4728, 0.9966, 0.7147, 1.7859, 1.1866, -0.1455, 0.5503, 0.3744, 0.9999]\nstate[eef_state]: left_x=0.3417 left_y=-0.0443 left_z=0.1415 left_yaw=0.3003 left_pitch=-0.0078 left_roll=0.0051 left_gripper=0.9966 right_x=0.4168 right_y=0.2441 right_z=0.1318 right_yaw=0.046 right_pitch=-0.048 right_roll=-0.0401 right_gripper=0.9999\nstate[joint_eff]: [0.1436, -4.6154, 6.5299, 1.5018, -0.3297, -0.0415, -0.0171, 0.212, -8.6359, 9.388, 1.5556, 0.4811, 0.3346, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93113494e8300ae9dd35ed395ff1ff9dcbd5fbb589ac0d0f115332a224ee29ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908b66236c5195de748241b34acd37ad48036d53669c833f1839dd9df5526034",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f8322ffd98cba94fe4893625007a356b5634e928adf2ba66337db4b3dc5be26",
      "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 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5495, 1.7481, 1.1751, -0.6224, -0.9295, -1.1019, 0.9966, -0.0154, 0.4923, 0.1448, -0.2447, -0.0128, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3908 left_y=-0.0691 left_z=0.1261 left_yaw=0.7329 left_pitch=-0.0286 left_roll=0.0214 left_gripper=0.9966 right_x=0.243 right_y=0.0021 right_z=0.0722 right_yaw=0.0011 right_pitch=-0.0237 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -10.5641, 6.5983, 0.7057, -0.7399, -0.1441, -0.0122, -0.5538, 0.1162, 7.1453, 1.9658, -0.1099, -0.0269, -0.0073]",
      "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]: [-0.379, 1.1759, 0.68, -0.2195, -0.4892, -0.5499, 0.9966, -0.0147, 0.4515, 0.112, -0.2451, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3416 left_y=-0.0428 left_z=0.1438 left_yaw=0.3069 left_pitch=-0.0595 left_roll=-0.1211 left_gripper=0.9966 right_x=0.2394 right_y=0.0023 right_z=0.0662 right_yaw=0.0015 right_pitch=-0.016 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -3.8222, 6.7897, 1.7802, -0.1343, 0.2076, -0.0073, -0.5812, 0.7316, 6.8444, 1.9316, -0.0806, -0.0513, -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]: [-0.4381, 1.206, 0.6605, -0.173, -0.6106, -0.4728, 0.9966, 0.7147, 1.7859, 1.1866, -0.1455, 0.5503, 0.3744, 0.9999]\nstate[eef_state]: left_x=0.3417 left_y=-0.0443 left_z=0.1415 left_yaw=0.3003 left_pitch=-0.0078 left_roll=0.0051 left_gripper=0.9966 right_x=0.4168 right_y=0.2441 right_z=0.1318 right_yaw=0.046 right_pitch=-0.048 right_roll=-0.0401 right_gripper=0.9999\nstate[joint_eff]: [0.1436, -4.6154, 6.5299, 1.5018, -0.3297, -0.0415, -0.0171, 0.212, -8.6359, 9.388, 1.5556, 0.4811, 0.3346, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93113494e8300ae9dd35ed395ff1ff9dcbd5fbb589ac0d0f115332a224ee29ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908b66236c5195de748241b34acd37ad48036d53669c833f1839dd9df5526034",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f8322ffd98cba94fe4893625007a356b5634e928adf2ba66337db4b3dc5be26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHSzuHJCOsWnIInqZkslGNDyyj3IBm9KgKYkBOGZMDw5ODx0KNvIM5AG2u4d-oLR8rv4OzvPQBHrCB5F3PhMPe5n5tSumINWRYPUO9FqcmqxUhQgt68DpV4JGw9gXXIhHrK3pv5FPm1Vu5nPZTVay1kMwNTxToEIIzR0-zpOP1HcZPkznTcW5T1yn9auV3dQ31qM3qTaGM-KzjkohwY0M3KKAnDCEp6X1bHWAaX7WOps0pOjrM6kC24005nbDaY-YAfmK07S8WKHA79r5RL5ZGnsiCc8N7yTtQMAJXewWHxMPtbmViPGn9lZ5Vvq2Q0f61FStoENoomHE8NtY2J0FOg9Rvu2GFIUAceQMRP2xr9SZ0a484B69AQBREGbAqQI_z35mafR-9hYT4FkxGUJin89YQAia-Msr9W5E9_7x-iWqhWltltxfTVp91_GtQbq152Wq7AuH_LJ9z-H6hHY8IZz-FY4-EJYgqsOuk6ukA4VdWfR9WfyQUW92I0tK3nXHz1YKVCbgAnq008-PqhRLeGpD68kAUDgixGum0teDHb3xk-p4PEt-S0U3aO7s5DwPFlhX9ZTwMTNebz5JBNq2L-Vp6IZVnz9-VGZMlbkStrFhwYi4R63RvRhAABUePBNwsbTmD7qE8NTBMKT7-gUexAxbftwXehcJsslfuIiC_3OdbQX0DaChwaOLIvs4O5kH06yiKMoHWmeDTS81BIwNQxnNK9O3rl2cyzRFt86rUx7wlBJgotBIC0dCPIRyMam-ZLbNSGKKtiiwQ8hmZfeo0vJsQIiomdyltj999jvGw_8SaioeYoAsguEw7DkjlTPgkJya8y9tFAvRucnrecAUaFaNS2gRJ3sdKn9oICeMG70RRn_wwZfP07kMQZ_QekyxO8WoEHRHnFvAJVIUK7Fi9d_i_d53JIWBjjIksNAOWF2kiSQ_UJZyggAnD66FUGgG9QCnbAsDtk0FzjUu1oRiGCIWE6F4tzeRZxEw_977XE2NEACJ7kaRJ4YyQzIiCXmF4kaLJqxYn3XVWWUgoyBD8ic8CPkpYv4-FBbIbQWU-uXNp5qlUZDVaaL0DagLWe00CRzGVjYc-mHxAYooHCtmPxTdJ8nUMCmllBg5cvu80VfZMNYL0hijd6zg1RLHyweZlAV48fAhxC2VDRVGIkOMVVHYkkMn2XkFoxfsl5XJj9mLNcORAPKv3lhDvg2z_17zBnuNe9sa6QA5gp9uQCqOlcJcG5_lijfWPLW3KB2kstC0a8Ari38kUUV_jZCDYyxyVvhtE4Y7RDniE08Qw4WJ5c0_lSIs5LwqUnXgERIQ4wE8FEb2fadZQKdz7n_CsVdwql4s_lrBJDzb-taX9csDcCkIksLldDoFiZ5-eGwMjCuZ90P1q1OFGTkCBlVzwTq2zX-fcBocVqdTZ4C_t9o7f_cDpgqteazAJDKB5PyBkMVMiU28hQl4Q4bLmqape8lSHqViWoQBaWwztGwjGSmWsTDU7NIor5RpOLIwWjxYMfUge1GVbAGmXam8abUdlXmtiz9IAvgUlDB_N5Ojno9rrI6tcj_danf_bfndxsO59oSfceqtpw2aXbfHtqGFIVoZLfnNg2mcb4a3OzojceUfhO8Wo9gMoZyalL1yRnOOpM4e0uQHBJDIEGj1dBysNOc8c--B22BqCBcP9s2L6h1qhTlZjtWzaDJYeUqxArfEGBJV4j56Ud5lso5imypUOb4l6z0uN7mC3uZKz7ceJStOgpxG6C1VY7PbGQ1mutAgAQIq5ffMcaYOmlu2lVBQ1lOYnMw5Gkct76lUaKTuye5r7CRHibWS862lib12bLhiciuY2Ub6M3pJf_p5pA7ktKrdY8_UerXDalecyZsvDYfxI3DOxCM5emd3GBBBTvWqIlGrOJ3ZZj7r3prmHmr4A30ZCBwPn8E6j7RN8wteEtKm3G7tv4LQj3jCHOfnvDPQdUaZf5dTKJyMn57CdQyQaFZpMBCJXoPEBFtoHKm5_9sZJ1YXUBZopZjN6VqqFGtAOr83jVQZgDaZ28DBVDGBRoFI3oIGcRRfkJUtmRNv9MqPhiw9FyOvZcicC1SjT68dJkjoZwqWBs-hckxWVuX9JHr6mZ2vaf3JWS2uXUnL1aaskcq1T0xycAYnI3YyrOMhvQ49KaQrWykJUlZutzzoaBmSHM3TgeaiX_KcPhUU1t7hjhKbFen3cRQfx-IJPoutC5DtvPdc1-zKzUM1NzqLZevNKFhbG7Nk0cts4iKEnIAkH9MBr-ZFaS8qmQig8R59912WQ0MBcaewEdlawbns50UaA7ssqr561Od-cvooIqx2TGi0XKSwsQlVZMjxaVTm431qyH8fSwDJAIbZAV6i011Bdz7ziZELeAeeQEvLJmjAdaK13GQW5tsf0ENAgwIPYY-XWF_cYc5G7WDcWoQhZgO1aBLrhqg6rRMAsBcWJRWnFbXZdOBG2NvvStGNH3PENWFq1dhevDL-zBVsxCEcft6y-50QMHzJRzV2Tnu4uOOnBmsvFc2hUbey-feXkd34BlonZ2FunKA-y8foYbFYl8spQaPS7Yjq83l68JVLNvUZnVrmt9rBrTGZ731PhGjTWoVsNE9wXYPZN2I7wA9uYcYdpAzNLne0WZfekefwRYy6KOLdbQQvZ0UYRMQwStVFMbC3geF83ypZQPTzK8_YY6TQZ7",
  "id": "rs_0514bc374d65cb91016ab451cf6f6087d081db9a1c31d9091e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.21,\"right_z\":0.15},\"note\":\"The right wrist sees the target cap to the right of the jaw column and well forward of the fingertips. I’ll shift about 3 cm right and advance toward the reach limit so the cap approaches the jaw row before descending.\"}",
  "call_id": "call_ctJdbiaqc9WUMkNCmzFuc9UD",
  "id": "fc_0514bc374d65cb91016ab451d1d2f087d0884244b23e1f612c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ctJdbiaqc9WUMkNCmzFuc9UD",
  "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]: [-0.4381, 1.206, 0.6605, -0.1684, -0.6102, -0.4728, 0.9966, 0.5579, 1.8336, 1.2346, -0.128, 0.4343, 0.2684, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0045 left_roll=0.0018 left_gripper=0.9966 right_x=0.4591 right_y=0.2031 right_z=0.1255 right_yaw=0.0371 right_pitch=-0.0794 right_roll=-0.0512 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -4.3556, 6.0786, 1.6093, -0.3053, -0.0317, -0.0171, -0.6222, -8.9368, 9.812, 2.1709, 0.149, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d4fa8ac76bc8dabc0a630710bfb2a6065891170e5398b1d03dda80c717e69f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:884a4eb8494c42600aeae6e0af6fb596ffb40e3adc15ca75c48aaa54b6529752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96fa484dec9de71cfc430efcc216eb483b14858e13250d3dbc020eed5f5ec358",
      "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 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5495, 1.7481, 1.1751, -0.622, -0.9295, -1.1042, 0.9966, -0.0154, 0.4709, 0.1272, -0.2447, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3908 left_y=-0.0692 left_z=0.1261 left_yaw=0.7341 left_pitch=-0.0285 left_roll=0.0192 left_gripper=0.9966 right_x=0.2411 right_y=0.0021 right_z=0.0689 right_yaw=0.0008 right_pitch=-0.0198 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -10.5641, 6.5026, 0.7692, -0.7546, -0.1294, -0.0122, -0.335, 0.1983, 6.7897, 1.917, -0.022, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.4381, 1.206, 0.6605, -0.173, -0.6106, -0.4728, 0.9966, 0.7147, 1.7859, 1.1866, -0.1455, 0.5503, 0.3744, 0.9999]\nstate[eef_state]: left_x=0.3417 left_y=-0.0443 left_z=0.1415 left_yaw=0.3003 left_pitch=-0.0078 left_roll=0.0051 left_gripper=0.9966 right_x=0.4168 right_y=0.2441 right_z=0.1318 right_yaw=0.046 right_pitch=-0.048 right_roll=-0.0401 right_gripper=0.9999\nstate[joint_eff]: [0.1436, -4.6154, 6.5299, 1.5018, -0.3297, -0.0415, -0.0171, 0.212, -8.6359, 9.388, 1.5556, 0.4811, 0.3346, -0.0317]\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]: [-0.4381, 1.206, 0.6605, -0.1684, -0.6102, -0.4728, 0.9966, 0.5579, 1.8336, 1.2346, -0.128, 0.4343, 0.2684, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0045 left_roll=0.0018 left_gripper=0.9966 right_x=0.4591 right_y=0.2031 right_z=0.1255 right_yaw=0.0371 right_pitch=-0.0794 right_roll=-0.0512 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -4.3556, 6.0786, 1.6093, -0.3053, -0.0317, -0.0171, -0.6222, -8.9368, 9.812, 2.1709, 0.149, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d4fa8ac76bc8dabc0a630710bfb2a6065891170e5398b1d03dda80c717e69f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:884a4eb8494c42600aeae6e0af6fb596ffb40e3adc15ca75c48aaa54b6529752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96fa484dec9de71cfc430efcc216eb483b14858e13250d3dbc020eed5f5ec358",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHWu4SZVy4ghHKvfCBMGb3pCj0PKrA2NsSiOKLihSkPs4bkJolI6FMtURTDnlwTcryDDuCQYvx7oHOjlkwcu9Xe4seqer6k-J74BQp2rzPmi6p3NWd1IkylTCzwx_E_4EmwSuzdQ8CBfStmFxln93vX7HVAylSRye58Ryx3dMAq_lkml2qXDaL_mh5-DwQsfE6P6b7t6qdvegP9LD_1VvUKJUy8vxQKKtWRKGosw0M_SzCotvEyRvgb-hpUqDm5ev98keaFV_PYqAbiC8d-u9TDFmeUhrZCjN_51Mow0BKQvMKpjJLYGh1DfR5B06KheO0i4Zib5wQ5Ip40vLYReBnMt1vMUl8kuwL3Dxr3V2kg-Qt40yjBxxoSq6Awzp9Y9X0v2OLNo98zJEPQBdgjQo1lOpyqqqSRNIJYKdpZsCxekx2O4q0XwogcX23tiYiirgqlUPcItWkZszjxduaFn6QSgEpQvzRIfswiFf8wp6cMP9bW9SSolr4FcwY8EGfwWHvtmupobuhJlO-2W13G3S_jyuK1deHEmTjriIJGD8Ae2Vs7oOCaAzjCsaSDqjACoCMeODU0tyfFTEzFuezGdnHBcnP8uZXKQJMyXNQmpYKmfyffFX-SnnZLIu0BdJyxDmtTDV739ptYDbfoi3AtAxVSxEuuZKPlQaT7ODVFXll7dWpc_X1cOoKzDw-5r0Tm7sconzv7aervpdIoHos8m6tTyGYPmCqPvG66RUNhy5na2XAHX-2Yaw1_K6dLpEv19ZfQA_3lu0_d3xGc72onntN2rtigJIrNSyHTvn8BOUjE57qg7OyhPkXCWbhKIpML2o3Sz9VLEKhV0ua09g4mcn70lAjpmqwqC8EeRJ1M1di2kyOt10_g6v1W4NzVK9FXExF_R4jjiy4athN2mXd8RHe0LTsBfxjIMYAqp8tUXBD-_xuwEzZseF6fCId28gktavFF_vrYCRfYhT8m3gEuflLQGitrXzZgJUwpy8Rmc52XL4SgHQQNqq3idhxma1Dl5yweLEKTXvoYL4_oC7zaUdVxe89av5lNo0MpX5ohfFFWGtrVHz7sDew9AfXSj5YPeRlJU0nd-fuxj-clxNdfwN6AYkyGiQtOk2zMF5fRPnRVPsKUEYd_8K9k7s5BJEFCNdCho-syPec47ydRCImvV0dJSLUyYxtyoExXVq6KqubWIiLyRV2P6ACZcWUuHnoad4bkOoTcLPijTijLqt7h7rqJK6gYjkQjQaHrWcOC0bsRlrMLarxe6lNHVPJIRYj5RY49gNfrnLihKntiYKphQ1cMyqX-c2_pB_OCDlKoihh2khTDzYOybTF9LgVatLudIz8jQ4RA-q1TwBtIY6W_NfFYwO-0wbXXQZJIjfjYnrlnsKUnTSvJmEid7u0AQfrb1PpwbTD1xPS-TrvhP_fqLueIZAuGwTZpf2xzJdRSXHeMUFCASF23kTMU5Nlsi6yD11xI6vYDnxKDv4PYSjb8vQ8zBFpow3Fksr-7mT-vLCxe_hd4CYvT2kH5KsXzReI1s_T2MojohJmlH0Cv6Sa3km6-O8OqReFFXG83v_rqhvRwIWHlll9C73xr3I1zciX_VRPwrF2GD6TtW0IE8RX9I-7CiYRK_WxfpxeIwqkR0blA7HsdTaY5tg4AB7wR8UXGSRsWn8K_hFSwpc3_A5yE0sVvU5jvk9Mir8g9q4I1kWGvqM8j6QgFtJAVNz7HYrYVMV7Cm94y75cOwFsKSu9XaONrMG41apqlh4M4rPTinKUW0guPyP92eGz4Cy0wBx7t5dxV",
  "id": "rs_0514bc374d65cb91016ab451d48a2487d0a83af6f6a1fbadd0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.055},\"note\":\"The rightmost cap is now centered on the jaw column; its row should move down toward the fingertips as the gripper lowers. I’ll descend to the bottle-neck center height while holding this horizontal alignment.\"}",
  "call_id": "call_n1lrRX2PJTnKqGkinulaCajR",
  "id": "fc_0514bc374d65cb91016ab451d586b487d0aee93c3c4f340d68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n1lrRX2PJTnKqGkinulaCajR",
  "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]: [-0.4381, 1.206, 0.6605, -0.1684, -0.6102, -0.4728, 0.9966, 0.5438, 1.8397, 1.2522, -0.1268, 0.4061, 0.2485, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0045 left_roll=0.0018 left_gripper=0.9966 right_x=0.4647 right_y=0.2036 right_z=0.1286 right_yaw=0.0567 right_pitch=-0.0779 right_roll=-0.0446 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.1915, 6.2427, 1.5751, -0.3004, -0.0708, -0.0073, -0.5812, -9.0872, 9.6479, 2.1807, 0.1441, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:016418e64f18d3db81b944e36948725c46e26f7fb93022efc5560dac7300f80a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f35738858d938cdec657bdcf329686966429d0842dfe31e6e9156b98d0b2c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1abc87c99c6f1c174d6d0ba7ee4040259697a3d4be57370b549450ce70ace1e8",
      "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 79 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.379, 1.1759, 0.68, -0.2195, -0.4892, -0.5499, 0.9966, -0.0147, 0.4515, 0.112, -0.2451, -0.0124, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3416 left_y=-0.0428 left_z=0.1438 left_yaw=0.3069 left_pitch=-0.0595 left_roll=-0.1211 left_gripper=0.9966 right_x=0.2394 right_y=0.0023 right_z=0.0662 right_yaw=0.0015 right_pitch=-0.016 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -3.8222, 6.7897, 1.7802, -0.1343, 0.2076, -0.0073, -0.5812, 0.7316, 6.8444, 1.9316, -0.0806, -0.0513, -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]: [-0.4381, 1.206, 0.6605, -0.1684, -0.6102, -0.4728, 0.9966, 0.5579, 1.8336, 1.2346, -0.128, 0.4343, 0.2684, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0045 left_roll=0.0018 left_gripper=0.9966 right_x=0.4591 right_y=0.2031 right_z=0.1255 right_yaw=0.0371 right_pitch=-0.0794 right_roll=-0.0512 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -4.3556, 6.0786, 1.6093, -0.3053, -0.0317, -0.0171, -0.6222, -8.9368, 9.812, 2.1709, 0.149, 0.1001, -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]: [-0.4381, 1.206, 0.6605, -0.1684, -0.6102, -0.4728, 0.9966, 0.5438, 1.8397, 1.2522, -0.1268, 0.4061, 0.2485, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0045 left_roll=0.0018 left_gripper=0.9966 right_x=0.4647 right_y=0.2036 right_z=0.1286 right_yaw=0.0567 right_pitch=-0.0779 right_roll=-0.0446 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.1915, 6.2427, 1.5751, -0.3004, -0.0708, -0.0073, -0.5812, -9.0872, 9.6479, 2.1807, 0.1441, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:016418e64f18d3db81b944e36948725c46e26f7fb93022efc5560dac7300f80a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f35738858d938cdec657bdcf329686966429d0842dfe31e6e9156b98d0b2c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1abc87c99c6f1c174d6d0ba7ee4040259697a3d4be57370b549450ce70ace1e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHZxHXhGYTbRrFf57EEVqPW6qZgh02L9KLnB2yz-rKRrgnBuKMwchY8k8XAcRpksoxbB2-0hGrCScl_fD68vKz4YQHrMClthFRWxGlFZjQcjn2M5SWuprEku18kYFoJLIVykFmfY8Y0KzLujb1uyFH-ArUfp4DKtJxhNXLcPB3srqaJWmNF_vRGUPbn_QYrdOqy63Qrv4_7J_E7B3sISQhaRlf8slEx4TcFy90emnXSGdeEe1qKJYc08UhL0V1rb_P5mivmmI3X04ShwZJHcbOUNrRu4DxCVqwsiK52oEO7ffoeMlbSnZoM5i8brj9M-kY060QfxM_h2BzHO6n4DK-MECRtfFFMKgXYYOH0LXbpy6CIlY-ZOpkesu3riYiHvoyb0qBXbQVczULe0pwVE9iKJmd7FbdV3VOKY6ZZ53hEAQkW-Ztmk_eoz8NiJxf5kj6eoEwairP426mzmA4GiqABNr41tL-PqTBVdk7fgbpXHcSPGJ1b2_0YF9hFhxBym2eWahjCY-uiP6nQ7q8HMXKoOgQjla9u6fBVyS-SQHAQSi10IxPvRRoOEi22RHDtTho8TbX_6wNs1CfgEiTcdY_ynxU0nvehm-466TV5HY9V8IKvy5AAfceoGDVKRog8X32MbdzbzMizTMKR6nekOXTYCZUanHp_tCccWdwPIZj5zp45Tp8TWnGlaBhVHaScBRjWnhP5B8IsR70v_CPFFRKThywIJrnuG5i6suYPRNOm1YfZaOwisry_O7RtBZjCGZPlRijeAyQ_Lz7rnmk3I2d6n31vhDD6hdeA2xWP0SF8R_sv_s2Hu26X6AxvpGw1-EAcWQro558ZheqMgl18pBGWWuEwLBRj8OwMw_WbgRZKN0-Fy7VzpU7vTnqRV9D3Elitv-XTNXuZy2qEgOQNTHaz8ab_-_V-59RB-k-HvXOEFSmuvOT4alheRRCpa2rherHDWM_jm04_IuyWmq1o6Bg-RUybP8rB_mzP6CqLIsZlOPzHzZgjroxjlN0Y2dXco1ssECvC-hGCNMoBK9eyzMRfZJ2rdZ7HPjBCSGLyxscavkwxGD0s14ajELffsnmvsoeSHSzRwCvUDEtWVCSJRnDZR_h-VKjioTo-5tm4-KQwLrGJei8xMJlXNya33kfssfcgRd_3JWWfQbCDBfSHdmFbnTjPj51qxz3-P8oxosW_uX6bKXY8qbFKbelrTG3Bt5mHJXJLjmv62SD1IPThGsS6nQ==",
  "id": "rs_0514bc374d65cb91016ab451d82e6c87d08882ae1dc2ae2109",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_z\":0.15},\"note\":\"The long-reach descent stalled at 12.9 cm, just as on the left arm. I’ll retreat the right gripper to 0.40 m at height, lower there, and then re-extend at low height.\"}",
  "call_id": "call_bRPbOGJcPnhxAFlqhcaXL2fb",
  "id": "fc_0514bc374d65cb91016ab451d84dd887d08240ca1504a7ef80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bRPbOGJcPnhxAFlqhcaXL2fb",
  "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]: [-0.4381, 1.206, 0.6605, -0.1684, -0.6102, -0.4728, 0.9966, 0.5438, 1.8397, 1.2522, -0.1123, 0.3958, 0.2371, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0045 left_roll=0.0018 left_gripper=0.9966 right_x=0.4661 right_y=0.2064 right_z=0.1307 right_yaw=0.0716 right_pitch=-0.0684 right_roll=-0.0411 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -4.2051, 6.4479, 1.6581, -0.2759, -0.0317, -0.0122, -0.212, -9.0872, 9.6068, 2.0537, 0.2564, 0.1441, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3322e7b4940161203226c218b384330616777a68a6e8c589d602f48a621e9cac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a2fa5eeb170d7f6ea8c1f523fe3ea0547535d991e2501010f3b80aaf9522d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc59d92434c32abea76bb936d7a0e47a8b2cabbe13db16279c89b928bc59fc0e",
      "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 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.206, 0.6605, -0.173, -0.6106, -0.4728, 0.9966, 0.7147, 1.7859, 1.1866, -0.1455, 0.5503, 0.3744, 0.9999]\nstate[eef_state]: left_x=0.3417 left_y=-0.0443 left_z=0.1415 left_yaw=0.3003 left_pitch=-0.0078 left_roll=0.0051 left_gripper=0.9966 right_x=0.4168 right_y=0.2441 right_z=0.1318 right_yaw=0.046 right_pitch=-0.048 right_roll=-0.0401 right_gripper=0.9999\nstate[joint_eff]: [0.1436, -4.6154, 6.5299, 1.5018, -0.3297, -0.0415, -0.0171, 0.212, -8.6359, 9.388, 1.5556, 0.4811, 0.3346, -0.0317]\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]: [-0.4381, 1.206, 0.6605, -0.1684, -0.6102, -0.4728, 0.9966, 0.5438, 1.8397, 1.2522, -0.1268, 0.4061, 0.2485, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0045 left_roll=0.0018 left_gripper=0.9966 right_x=0.4647 right_y=0.2036 right_z=0.1286 right_yaw=0.0567 right_pitch=-0.0779 right_roll=-0.0446 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.1915, 6.2427, 1.5751, -0.3004, -0.0708, -0.0073, -0.5812, -9.0872, 9.6479, 2.1807, 0.1441, 0.0073, -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]: [-0.4381, 1.206, 0.6605, -0.1684, -0.6102, -0.4728, 0.9966, 0.5438, 1.8397, 1.2522, -0.1123, 0.3958, 0.2371, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0045 left_roll=0.0018 left_gripper=0.9966 right_x=0.4661 right_y=0.2064 right_z=0.1307 right_yaw=0.0716 right_pitch=-0.0684 right_roll=-0.0411 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -4.2051, 6.4479, 1.6581, -0.2759, -0.0317, -0.0122, -0.212, -9.0872, 9.6068, 2.0537, 0.2564, 0.1441, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3322e7b4940161203226c218b384330616777a68a6e8c589d602f48a621e9cac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a2fa5eeb170d7f6ea8c1f523fe3ea0547535d991e2501010f3b80aaf9522d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc59d92434c32abea76bb936d7a0e47a8b2cabbe13db16279c89b928bc59fc0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHdRKOInMxC4kPvC4PzwM5M4ABDmVdCS73dThhKXUor0rMjvR6-FEZXzJ5IaIor_3_k3xCaMzeNNAE15TdAXydZfxf4C128MUdGwc6pFjBe6c9-4f-sS-25URvmi8dXWAul3gfcQvSfpt2csnfB-f0fSpPkbO2QfLk7lPYbtqeFx57q02HAQiQgrM2Jz1gLHbW7i3bzUVDo9t4AT5DRqS72Pxfne4wftS4RvAcfuATLPopx6sSUtzl2y6938Fcsfk5Uv9XdunvqqIJjRNX3OuikCxGrsvK0vT4TykwxqgIiBwsLtjEYGqk7FF-ZuIlexFOQjM0hG--a2-nOtSwAwbOZzwr16v6m-3qazagzFwo3BHc_aBUDZlvvR7y-_VZA2gXBMEhayTarZ2bB62W20J6Q5O6MxA3Lzn3ZDNydNO40i_yifQ5DVYfA6qYVgu8Ui7MphvSgsyvwsYvMewwUmo4RGM-tfEhV4lFcO0xsMTiTwvOsdmQh4LVwl_EQjlGTFXui_zNN-ErkMZI8mdgA2JEZDmA8Tm1LYxpu9Q-XxYLoUL7xsiW0RoS3M5ot_a0nTtUp59AVP77-pPBeZfNswq66tpk7hrpAin-gJK9hWFTWto5_fd7KAsuyF9KL8wTWQIG6IOxS220QgAz5rYjMBifbmAKwzqh_tz2UgQvg9AC4wm5vOvRIwqkXjMazA3OameMwod7bZoQVOVPdKPAArdOr-jQoaN8CAjB9exmX9lyvojxQLAgrHioQD_ngpISr4lf_oRPO0HX8RtsfZfquHb78hSxuJlbOq2upUkCknV2OXy8kjfSIexALIQJ1PjVD_bhuJopJcqTNqMD73v4IpR0B856LfBXrUPOWjmTcKPJnUW8RvLLW1tQYYW925hmADbOrt1Aru96ZvXb4oGnUrJtLoo6UEw0LcHRdIP536eApUERQmIG61keunEMSwxdQj6VSfqZ5mtYxqrWuKNDA77Aqi1NzQcJcgHIQ4O3y5xVuDAcDkS8aHvT5wF_jv8dMuLZl2NOJ4egtjtAa00azx3LgA8LFfefF__t598huu44vt8OSnjduEn_0jrwXzGyG81rOke76PAQ9s0HtmvYS6A7gU55v4JkPu6W29UDjhqN9JxEXMiuS3lH4XlO_0oTlKJR8GTsXtZTi6vs2_8ZBDhYGjA7A7XAjqkBt6ZeHZ1MVbkTscVwPiEVYPPzoRql80ipGmZBRKEymW8EfegkK5ZJ_GV97y2kdZCj1xCz1hpINQv7zqHPiA2S3GsFAse2A7VOTAr6UQTh7CWr3eeu33LIEhQxDC6kV6oXw5AQEQoxjJfprthlR4cD3GQ9MaYD-UgRCh6VZ3t-AXA_dDn1gCP-mrJ0ThTnJsKgnVr5VlGtX1jRBryXHlwAHYSw7UX64sO6ea7KB-0xbORyzEnXk27Bi6epxEJd_xKR5QIwmzeu9_8RCB7eSzhE4jiMwy0EgnEdiLGs6rcJYMdABoJ4iGOntogmYoRdcUc2Bq72LXq7YRVtkHN2Yvxkr6ocW9IvlUdJlI1mw2u9DMh3fXvxLtu6PKITS1Za-Sc95RtPfYP2A-yA8pte_ao1cr6pgkIQon1CRM5Ng-rkhiXX8h6hnVIoqrozWD7i4_iOlAm8LKClkC-iDSFeG2qOaPJ1-T__d8tkdZcadDxz2KOm6H-T3b0YBI6syD0oYTgVDpeJ8MpDfKxwXQvMnA8uVBle7GfCasrG4MmmVZ57Y5nWUnCbYW32SMAoBpMdWMSN_nezizYyGzWdXFgpHb4Zd1xodHf8Vdujzx1luBnRwPd7iQQEOw23OzLvyji_qxEmK29ZrXBXQhc8=",
  "id": "rs_0514bc374d65cb91016ab451db207087d0bde72c5bfa1ab535",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.22},\"note\":\"Even the retreat was blocked while the long fingers were directly over the bottle, likely because the low gripper path would sweep it. I’ll lift vertically first to create clearance, then retreat for the low approach.\"}",
  "call_id": "call_MutzN330mQWU56YHlUkIP1kW",
  "id": "fc_0514bc374d65cb91016ab451dc641087d0946c284760eefeca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MutzN330mQWU56YHlUkIP1kW",
  "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]: [-0.4381, 1.206, 0.6605, -0.168, -0.6102, -0.4728, 0.9966, 0.5495, 1.7844, 1.3766, -0.2977, 0.3836, 0.2264, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0043 left_roll=0.0016 left_gripper=0.9966 right_x=0.4614 right_y=0.2093 right_z=0.1764 right_yaw=0.0927 right_pitch=-0.0773 right_roll=-0.0452 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -4.1094, 6.2974, 1.5946, -0.2808, -0.0366, -0.0122, -0.7726, -12.8752, 10.0581, 1.9463, 0.2173, 0.1441, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:443ed2f3f1868f0d188a2233aef10f359da2a533c66afbb0653d43d12d35af10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ce1fc0cb89f5de4127f009118361a51eb113f15238d1c97255cfe70468dad7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd10445bbf37c080b59eda9a9c939f2d5973facf6243f5052d4f560101a2cfa1",
      "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 87 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.206, 0.6605, -0.1684, -0.6102, -0.4728, 0.9966, 0.5579, 1.8336, 1.2346, -0.128, 0.4343, 0.2684, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0045 left_roll=0.0018 left_gripper=0.9966 right_x=0.4591 right_y=0.2031 right_z=0.1255 right_yaw=0.0371 right_pitch=-0.0794 right_roll=-0.0512 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -4.3556, 6.0786, 1.6093, -0.3053, -0.0317, -0.0171, -0.6222, -8.9368, 9.812, 2.1709, 0.149, 0.1001, -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]: [-0.4381, 1.206, 0.6605, -0.1684, -0.6102, -0.4728, 0.9966, 0.5438, 1.8397, 1.2522, -0.1123, 0.3958, 0.2371, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0045 left_roll=0.0018 left_gripper=0.9966 right_x=0.4661 right_y=0.2064 right_z=0.1307 right_yaw=0.0716 right_pitch=-0.0684 right_roll=-0.0411 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -4.2051, 6.4479, 1.6581, -0.2759, -0.0317, -0.0122, -0.212, -9.0872, 9.6068, 2.0537, 0.2564, 0.1441, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.206, 0.6605, -0.168, -0.6102, -0.4728, 0.9966, 0.5495, 1.7844, 1.3766, -0.2977, 0.3836, 0.2264, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0043 left_roll=0.0016 left_gripper=0.9966 right_x=0.4614 right_y=0.2093 right_z=0.1764 right_yaw=0.0927 right_pitch=-0.0773 right_roll=-0.0452 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -4.1094, 6.2974, 1.5946, -0.2808, -0.0366, -0.0122, -0.7726, -12.8752, 10.0581, 1.9463, 0.2173, 0.1441, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:443ed2f3f1868f0d188a2233aef10f359da2a533c66afbb0653d43d12d35af10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ce1fc0cb89f5de4127f009118361a51eb113f15238d1c97255cfe70468dad7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd10445bbf37c080b59eda9a9c939f2d5973facf6243f5052d4f560101a2cfa1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHgYm6bjJkj_rHCsu4nIt2ytPgi3hUt6bqn0eXvMtX_5WXyrkx-4atP6APmv-g5H5PQX-uzXZDQomHL9Kh6V2N_bafrbMg1EY-KRrex3LRG8NNQQcXkoDHZgHcsB5jYBT-WT3lUkT77o8nRC8BBmKihyfoNFsCQgOmaAsh_lE4fnec8RQhGFTPdCFX1p6yLcfRTxkPtWUAphg2n76MiymV3z1SlNXCdQzxZF8a_Z9sYQ86BM45ERfRYlgNwSIiPkovme8DLdGCKTClhU06wihbAUx83q0szn-aSLzRhKL1ctK8vmxgiaez_WnTsj-x-uoBrrSItnWLpZmHN5_FyEgaPiCbhj7d3eO62gCVGpCCscy661Sg6qfjZ7HOdfWUaTmFKghV07jSCVFktrc9QXoSd-1MCp71HEPRsEXawX3wvyykWcP5iVvstW62G2XucJPf7_zBktQj4fWIhB3yo7kPCu3lXy9ex8Oj3ag1esBD6dEs7TWVHfwjUFCa-RGfWnAHgRmyLM1u4hNGoDS7knwJ2_Rin0CaMuUMHn5qdlhOUFFTqO59GDajoJQ5PMYCtuC04BLKgqKG9EHH_V5gZzqBmcYMPOHX42fVe9Nsl85ULCLmGtg_UG1EKGGJA-Xu-Cr-wg1nvyad925sxkH8vP5W7waIN6518V4WzyzqDrUrgA9Vdvu-7JtuLOoEpCYyJBe4FTo4_S5ORy8npl_q_xCy9SgHzVKZGUfLN3YipVcQN6jrdQcGsjtA1xrIjK999VA_L3XWCw-ZVm-X1WxJPp4f04ZZjZXjM-0mDHhcdfP5mJSLv-qFRDRDDheamuyHKTp7pESTteSlEDgvkdAdShdP6Fp4YFrxDQnNYzz-cL_spAflnkygEABd2wOqhSShIqHLGQQMmre_NK5NTdlfR9P1m0f75pLTcp5IbKcVh2Lt9Wp5dHZV8GIlh2u-fiV4a59NY_Zna1A6al_EAoDTn9bw0oU1naITtZmWILxOlV0WkclHV8E6lhfQavg7iaXoVhfQ5lAZ-Fz22N3akn5Y71blk_rjnG4roTuzEz8jnqBY9YDh_rpSEf5j2sa93DM4K-YjAhCvU_m2hBxij6l8c8fptZOhdI3s7T5iJmyyiBzazr9G9iJWj7UMfnxMCajcAe3EJwuSe-2unKkRq1ZiXmJD0rRLMxmE11WOaXZiTqBeCM1xrED6kAnl4bgKVWyYKEkJe",
  "id": "rs_0514bc374d65cb91016ab451df18c887d084e751ece44e4551",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_z\":0.18},\"note\":\"The vertical lift succeeded and raised the grasp point to 17.6 cm, clearing the bottle. I’ll now retreat to 0.40 m while maintaining that clearance.\"}",
  "call_id": "call_7uWwujxjnmrAWdSEQ47s4Poz",
  "id": "fc_0514bc374d65cb91016ab451df627087d093b7f2b844183662",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7uWwujxjnmrAWdSEQ47s4Poz",
  "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]: [-0.4381, 1.2064, 0.6605, -0.1638, -0.6098, -0.4728, 0.9966, 0.6411, 1.6161, 1.0927, -0.2085, 0.4263, 0.2695, 0.9998]\nstate[eef_state]: left_x=0.3429 left_y=-0.045 left_z=0.1429 left_yaw=0.2996 left_pitch=-0.0016 left_roll=-0.0012 left_gripper=0.9966 right_x=0.399 right_y=0.2111 right_z=0.1511 right_yaw=0.1258 right_pitch=-0.0864 right_roll=-0.0481 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -3.9043, 6.4068, 1.6142, -0.2271, -0.0269, -0.0122, 0.1983, -10.1538, 7.159, 1.9365, 0.3394, 0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47c7fc45d2877d3f8ff18e474c49ddd5f18b593a14cbdc715d7b6677fd1e4b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960507d7e9203ee62f5accefbc65e473acfac77d8cf5dbb3d9baa017a7445160",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b34d9b92d75712d38fc2161ccbe98b64e73249f3ca58dffba24a27b8ec380d19",
      "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 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.206, 0.6605, -0.1684, -0.6102, -0.4728, 0.9966, 0.5438, 1.8397, 1.2522, -0.1268, 0.4061, 0.2485, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0045 left_roll=0.0018 left_gripper=0.9966 right_x=0.4647 right_y=0.2036 right_z=0.1286 right_yaw=0.0567 right_pitch=-0.0779 right_roll=-0.0446 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.1915, 6.2427, 1.5751, -0.3004, -0.0708, -0.0073, -0.5812, -9.0872, 9.6479, 2.1807, 0.1441, 0.0073, -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]: [-0.4381, 1.206, 0.6605, -0.168, -0.6102, -0.4728, 0.9966, 0.5495, 1.7844, 1.3766, -0.2977, 0.3836, 0.2264, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0043 left_roll=0.0016 left_gripper=0.9966 right_x=0.4614 right_y=0.2093 right_z=0.1764 right_yaw=0.0927 right_pitch=-0.0773 right_roll=-0.0452 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -4.1094, 6.2974, 1.5946, -0.2808, -0.0366, -0.0122, -0.7726, -12.8752, 10.0581, 1.9463, 0.2173, 0.1441, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.2064, 0.6605, -0.1638, -0.6098, -0.4728, 0.9966, 0.6411, 1.6161, 1.0927, -0.2085, 0.4263, 0.2695, 0.9998]\nstate[eef_state]: left_x=0.3429 left_y=-0.045 left_z=0.1429 left_yaw=0.2996 left_pitch=-0.0016 left_roll=-0.0012 left_gripper=0.9966 right_x=0.399 right_y=0.2111 right_z=0.1511 right_yaw=0.1258 right_pitch=-0.0864 right_roll=-0.0481 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -3.9043, 6.4068, 1.6142, -0.2271, -0.0269, -0.0122, 0.1983, -10.1538, 7.159, 1.9365, 0.3394, 0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47c7fc45d2877d3f8ff18e474c49ddd5f18b593a14cbdc715d7b6677fd1e4b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960507d7e9203ee62f5accefbc65e473acfac77d8cf5dbb3d9baa017a7445160",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b34d9b92d75712d38fc2161ccbe98b64e73249f3ca58dffba24a27b8ec380d19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHiEAEOIql4h9L8BmLhPo9XNssY8quU2TuDnHupWzY6ZjLqG4E2Z5qNNo-LfTLG2b7xuGwhnLM0sVh3c6anaP8tijifjrVO_xKrsfgod_S0t6mjWUgn8yfVwba76GVGaMx-DukBpzaRtpIgEAMUN7YbcS_kSx6sirVHS0P1J1-oi8HALF5RTZVqbIpBUVbS7eKMpMq9eDUOea0kPUXcAw9TPS87Q2gA7jbsSRji5IoI9YmO2d4LfBD3WlzLKjOEb6cWlhopVgrFG15nugjr_v8O70xAdcbUbKfHFLNd3uheP4g-Z09eKNeNbY3J-AVhyVNlf6EbIQMas7KE7mNCZk5U7kCVwEuhwDUMcwFaOoAii1UlM_qailgdnNVFeI9Hrez3Ddtv8Y_tZx_ttD34n-mywFR_lJMX3FwgfaEVRAgMzPC2g-zUN9rcBJ2U1GMekhPoQyGGahxN1xXjc7ydvwjWhaYYYs98D0kd7-Ji-RWjviC0DNntYqmRgXcGtrJufCuNjiRm6L7rM6UKzf-odJXFnFdZdUaKCZiVdZBKL0eIQE6ynpL_4CHKrfu9jemj1VKfMfVnebibwf8wbkko4H_7mmHar3u-rKJVodvrDJwhEhmiwcCOZVOs2rKWOMfDqQvsgzQ9mEmaWde9Scom7mj_QeF2CkHJ1BpdA3YHJrPO24KsK9g5BrIo1D2VxXQYY8Q54zDw11Dxfn7rXJETU2VtQFs573nfJzRW_Vf67RM3sdeseVBCxaDakUBV_nF9xZEA2UL8Kfqy1ktSCN7BCwGKBzyA4IyjoWHVKzZEHwSeoutsgvTk1dehJvsxPviwmL7TPeujm6KVCClhIWaSuj1a-ZNyaUX9asY9drD4PX1bl8q_jUk5hH-sVofEiay7ZtxbsOHnSt3vaYGJY45Hq80ltiIAoYT6yl-8AjUL_iX6RqKon88Lwemai8r1bSTubkNIwb5-qXT7ciBXbwLTseutIytb7uGaBSusvS9ix5IsvB1_ls7HciO0VnTwprPbPsItJFb7SWdqdW9_EfO-86hXhNo_fy7tIBpm4kHaAE6IqRbtwfaxhqlub_p4EkSg-cQzvMjDaoG6mY1k0_v94dv8CmVxP8gbxA9mYwJ3jElstcPD78wYC57gtfEOOg0JbJWHfz_CvQCObhmXrSW0Z0IH48X5S85PmmsFAQQJTgWt3Oytowf9f1QTXHbQmT_kXTRc",
  "id": "rs_0514bc374d65cb91016ab451e1bd3487d08c16c2bde09f298e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.05},\"note\":\"At 0.40 m reach the right arm is clear and has good joint margin. I’ll lower to the lying-neck height here before the final horizontal extension.\"}",
  "call_id": "call_BCBFlm2DtLxP7xeCKHdMJxwK",
  "id": "fc_0514bc374d65cb91016ab451e1d65c87d0b08a9e2260cca70c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BCBFlm2DtLxP7xeCKHdMJxwK",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.2064, 0.6605, -0.1646, -0.6102, -0.4728, 0.9966, 0.6506, 1.5772, 1.0817, -0.2031, 0.4442, 0.2798, 0.9998]\nstate[eef_state]: left_x=0.3428 left_y=-0.0448 left_z=0.1428 left_yaw=0.2999 left_pitch=-0.002 left_roll=-0.0005 left_gripper=0.9966 right_x=0.3952 right_y=0.2099 right_z=0.1648 right_yaw=0.1167 right_pitch=-0.0515 right_roll=-0.0333 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -3.8496, 6.5573, 1.5165, -0.2955, -0.0415, -0.0171, -0.4444, -8.841, 7.1179, 1.917, 0.2906, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57797a887c51a52e1392f1034a8f5c4a034b65e53d6cab7bc59d68180b5f09a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:370aca62d4f57de3828617426737f5ac11946bab6b644f89cef7c6fffa39eb4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1db73beea8716b92199d39ed81dc65ef4a5344b839f6338bdcdbdbb1d82b7ab2",
      "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 95 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.206, 0.6605, -0.1684, -0.6102, -0.4728, 0.9966, 0.5438, 1.8397, 1.2522, -0.1123, 0.3958, 0.2371, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0045 left_roll=0.0018 left_gripper=0.9966 right_x=0.4661 right_y=0.2064 right_z=0.1307 right_yaw=0.0716 right_pitch=-0.0684 right_roll=-0.0411 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -4.2051, 6.4479, 1.6581, -0.2759, -0.0317, -0.0122, -0.212, -9.0872, 9.6068, 2.0537, 0.2564, 0.1441, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.2064, 0.6605, -0.1638, -0.6098, -0.4728, 0.9966, 0.6411, 1.6161, 1.0927, -0.2085, 0.4263, 0.2695, 0.9998]\nstate[eef_state]: left_x=0.3429 left_y=-0.045 left_z=0.1429 left_yaw=0.2996 left_pitch=-0.0016 left_roll=-0.0012 left_gripper=0.9966 right_x=0.399 right_y=0.2111 right_z=0.1511 right_yaw=0.1258 right_pitch=-0.0864 right_roll=-0.0481 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -3.9043, 6.4068, 1.6142, -0.2271, -0.0269, -0.0122, 0.1983, -10.1538, 7.159, 1.9365, 0.3394, 0.1832, -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]: [-0.4381, 1.2064, 0.6605, -0.1646, -0.6102, -0.4728, 0.9966, 0.6506, 1.5772, 1.0817, -0.2031, 0.4442, 0.2798, 0.9998]\nstate[eef_state]: left_x=0.3428 left_y=-0.0448 left_z=0.1428 left_yaw=0.2999 left_pitch=-0.002 left_roll=-0.0005 left_gripper=0.9966 right_x=0.3952 right_y=0.2099 right_z=0.1648 right_yaw=0.1167 right_pitch=-0.0515 right_roll=-0.0333 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -3.8496, 6.5573, 1.5165, -0.2955, -0.0415, -0.0171, -0.4444, -8.841, 7.1179, 1.917, 0.2906, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57797a887c51a52e1392f1034a8f5c4a034b65e53d6cab7bc59d68180b5f09a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:370aca62d4f57de3828617426737f5ac11946bab6b644f89cef7c6fffa39eb4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1db73beea8716b92199d39ed81dc65ef4a5344b839f6338bdcdbdbb1d82b7ab2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHpaB7qpADVhP5btigL2amJaFIrAwDImRfLHR1X24ZpGwmv5DNhnQHwGKmrNe_HqXT3p9GJYlfb2DMvYuL4KKDfuWDh09TxPmI2gJYNdAqMMkqNcpL3kx4sQMzZEyUIZYhf3RAa-7sn3lCbXvTSgHKXFLyd_QO6D_Hnx16zPZB-WryVNDQFDOdOkOTSl-QuYdlvtE6FMLmqNnDvzbZTnLUZ1zrppV-Vk47ecHTNguOe7NKi2pOPDHWMUnJOdwL4nWFA7xp3dRWayf9HGY0d55QS8ZLbog_8ltpDpOCaBqmY3zjKse2bX3-RctJhXOGvRhuHrUF9F4RS2L6gWeeNoI_kFAXIjgnJeoT_x4rq6TQzPgFLCOkGRgvPsOsnecGfRM9MgnvHIapEfH3Ej8wd4oZxXMLJWSjCwZkJ7V03lPaAp_R9tlQmWmmSaEuHe5g37VTuDtZsxUOezvQpgj_EKNq4LtxYaKhSuXXljB8lAomSouYHsyIR9pZWtqavjPkgpEsMOskA9ebjtE0eUuj0xjtxrVQ_XDNjNfiBNrPuLF9kyqYgdljIMqe6jYQNXh0u9NbsMZNzbgX5lVJRJqA8x6sns-U7-6MEMKDXpozOTPCqO6ledGma9C4P2nAj6gpY8mvvbVzvt6XUo9Q4YHbGTRcvOEHzeJ5a2HL7hxDue0IL5Xevz53N7q_x6u8mV2eTpmWDcftiu2EWFwYYu38zsjEHWnHUbfQ8RhffrX5MIldWCeO-iLHBybTKt-NBb0lccpR6E5rQhKNwsblmRq6Qj3JEsVLLAnKqCxOfCOD0zhS2Y84K3EKwwMS7c068M4DTzFUITxKIaDCkwgbOGRePQagwZvoKLcJ9L_PoY9316wTnbTBqiQ1ZwKuUK-DH0uVDl9YNgzc8QuAZGvf5eu2LK1vFJdxg9wvigSZAw7oAh0ja9AdAkUv2AojF-dy5gGkyiY7pcl8Phq5N7YMUjiv9ed8_bansMSxd0XT230jUM2URi5RboLHShOVH20ZDYGlDmrgxr11_qWSxcxl91bc8qaN-mq9OKetc3pMJch9lRAtCP78CBP4I9RZQB5DBW7A0hFMJMT8YXo-6S9WzqoIn-7TSRiUrnUBqxGAavybCe9k9tg1ilzrFRWtInm6NmIiOJHNy2vRX-DjOaxQ0TcHFtifSvKliYh3FRSUw6cnED5tS5FSPoY4Xcw5B4BKem8b23Gn0uviat1Q6VSkkrQYiBV6gtMyduca_fa0DPt_fFUcwBNOehmIDkELrpiEI8MVO8pxwzV7zDCMTjD4GXba9WghJoJa5gnqCynFDVvUX7fLJdxD-IeACgQiNfDngTwe79mdyhbQjDjBgBuDDs22X_xgYqDrbLDkeQs1lVIy4HVORkVFd_GdufHgITQVke3WW6mt8hxR7sk8qqFAy8JjsPfkArIpWHzkL7Jchk0cZvJbVhp_qHRAMOTdSfVx_SeuiFNg0feI9C6p7N21jAWdCCaRIjcAFy7ttOYnq4ykBXEe7Xpm1IZ3tYC5cfTvvMmaRdAch0sOS-PU3d0RV7mNhq98ZOlMzJvkv4see2oEJGUarFKDTe--w6x-cutIHXI3FkvlUGBsocY_DFETE08YIn6krfDs-2WTkGku4ad1kfXOtXhq3g4EOW78bbXAIgCDrznRFS0qZs_JJ8U57Jtlv1g_43TJDu_YXbVC53OO6fcL-dhRWDfKluCishHv2eunzS8seKnbi08sM14bTGs1Ye76glR7IOIqnUgUatttk4dnJ0sqx0fgUI_wC5FbkTMeAy-zBGtELKi3LuBkrNY1klmUorE-IUXWJJkf9fUI3AjDX-Y_p7Vrn0BcHDt-uTGTHZrOkP6whiJ8yBrDgbcoEvgajygAm5-AdgbjZ7m9b9RYfy9vYPxIAeS6KmHm42_ipy3zq2TlXYQHTmS9YWw_oPxnb7ErJOLrfkSAkfjQL0d2AaRGN4HaYPni1Ju7PbynuCQeE4LBnBPhM6189-CYR1xyIs-jnhd4oeUVX73feBYxK_6vigqKK0XwnYITgVy0vA5jxviRvztcMMF4GPIBfFF78BXymODjVQ0xgxHSM4Fj8-1Ku5V7PMfYE42zA7z01VUF85tL9YgWl6wz9morEcXcLJa8GeUdC1G2ArusnuHumBc9ROgExTJHbexe3bDGVVM1sCGSCCI_VBdOSfbbagNiuhpdH9komjcWY916c6QHtr1wJIaaXVgt6RAh8x_TGn7YbqQn1nfboT9dtO1Fz5EKg1YF3C0SeV7zVMW95Y5XHoCLjL04KPYM0O-2r-kgPBMxStmMf2v83bl6HJuLghuY9F4WmJu7-eKG1CVTHIncC-zApznJK9jlMxCe2ahyt2MC_khk4xWHkLxC9OIRn1hiZTq4RUUIOyLKk3kg971hDhVpmrXbyRuXYgkUDBzsjFRvFYgU_9TzE6GOAj6VfOIcX3iOtv08p1Hqxt1H8i2lyUigoM4P2_vWmaF-WNmfGI10ZJBfrKfulT4Xb5ODSSZIdYDKucDF4e-tQEcjy2d0qdk0iHBlmyjtDhhTD8a-Td74Jt3AJnDfo9YjV4QnlpBEkp3gnZBMoH192PGX5D_hMeRQrfhxRkE_f6jz1OZQw__1UoWPbDUNQNza2jd2ZZOya2z6RZBzG7SAD5Q5AKAf_lkVllgIKyfPgNsTSaTR0NCbWY5BSG0uNIu0jJiSo6Io1s2YRL-ZV3Lx2MvjtTByzNZfc6YQB4QIk0TvLN9qqjU0Op0MwJCGhm8qnS_a2zQhQzvwco1hl4SWIE7j0R-DsvfjLiENbnGMlCyWnXbReB-tLlR8grvbsNVlUBcq1C7zfpLt1lZXyToVksRJo_EQVMktcVhdoaCBZym_le2_stmGEGwuXS2r_QJ2QrJQFnj3t1WmyOeGRVvljh9JIfXz_2VicJOC14B1dO0zNadP03EbB9cq9vl8lKkm6NqnZHvkRoIkYqaLhrMbLs6pneeT0yXaNMPDqUOyZEd184t1vHnwu0ponm70tnctLVDYTnvVQgRlDSyiQfbQ2l6oSYtSUV46D-CGdbCi_IHXOGpqB2btsCec9vsTU4vfNmZlWRNcfqTg4NgvBCM6Qi7W5ReV6C2vPMOcRsVdqzcj8YvEZmb5e-upHKTeKRoixQMdhLIKP1-1aqx1NwxOeyaCUxs61wY-vvZngAGRrBSeLVJbGkHw1OFQirvllvLcqduizS9EDGE7wt89rzJVDOczFqNQ5jAALP0NFEvW5RIKMEdFzTgCncFlErAdiUpB-tFVbYeh6GhTUM8V-0uoEqYvAJaSroh6iT9_15ujn18c98kdQkt0PyR47XqPnS0QQrjrVe-CBiRkwis_3o9YAKWcACJ6cDG4fmyMH1-2LTnUlltpKVzKuB6_ON2snhVCjADkS392tpg==",
  "id": "rs_0514bc374d65cb91016ab451e4320887d08565b76a29610e44",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_z\":0.2},\"note\":\"The arm still would not lower at 0.40 m in this crossed-over lateral posture, so it needs more folding room. I’ll move inward to 0.32 m and upward, then descend from that unconstrained pose.\"}",
  "call_id": "call_KzonFvC5ari3estuMtTxbaLZ",
  "id": "fc_0514bc374d65cb91016ab451e8701c87d0986ec89eb3b0d714",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KzonFvC5ari3estuMtTxbaLZ",
  "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]: [-0.4381, 1.2106, 0.6605, -0.1631, -0.6102, -0.4728, 0.9966, 0.8188, 1.3613, 0.9619, -0.3218, 0.5209, 0.3557, 0.9998]\nstate[eef_state]: left_x=0.3431 left_y=-0.045 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.004 left_roll=0.0013 left_gripper=0.9966 right_x=0.3225 right_y=0.2214 right_z=0.1829 right_yaw=0.1834 right_pitch=-0.0415 right_roll=-0.0254 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -4.4513, 6.5026, 1.5409, -0.3297, -0.0366, -0.0171, -2.8376, -5.2308, 7.3915, 1.9316, 0.7155, 0.1538, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ea8863206606884a01cd7c9504fbc00787573770b57780dbfab1c1294d5f456",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad633a0526e32437310f31db6f426561c60822f1e1fcbaaad934dfd84957144",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3bf109b520ef8f12a0cfd2202c79475d86110aaedbcefecb0ac4c509447f42f",
      "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 99 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.206, 0.6605, -0.168, -0.6102, -0.4728, 0.9966, 0.5495, 1.7844, 1.3766, -0.2977, 0.3836, 0.2264, 0.9998]\nstate[eef_state]: left_x=0.3423 left_y=-0.0446 left_z=0.1423 left_yaw=0.2999 left_pitch=-0.0043 left_roll=0.0016 left_gripper=0.9966 right_x=0.4614 right_y=0.2093 right_z=0.1764 right_yaw=0.0927 right_pitch=-0.0773 right_roll=-0.0452 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -4.1094, 6.2974, 1.5946, -0.2808, -0.0366, -0.0122, -0.7726, -12.8752, 10.0581, 1.9463, 0.2173, 0.1441, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.2064, 0.6605, -0.1646, -0.6102, -0.4728, 0.9966, 0.6506, 1.5772, 1.0817, -0.2031, 0.4442, 0.2798, 0.9998]\nstate[eef_state]: left_x=0.3428 left_y=-0.0448 left_z=0.1428 left_yaw=0.2999 left_pitch=-0.002 left_roll=-0.0005 left_gripper=0.9966 right_x=0.3952 right_y=0.2099 right_z=0.1648 right_yaw=0.1167 right_pitch=-0.0515 right_roll=-0.0333 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -3.8496, 6.5573, 1.5165, -0.2955, -0.0415, -0.0171, -0.4444, -8.841, 7.1179, 1.917, 0.2906, 0.1294, -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]: [-0.4381, 1.2106, 0.6605, -0.1631, -0.6102, -0.4728, 0.9966, 0.8188, 1.3613, 0.9619, -0.3218, 0.5209, 0.3557, 0.9998]\nstate[eef_state]: left_x=0.3431 left_y=-0.045 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.004 left_roll=0.0013 left_gripper=0.9966 right_x=0.3225 right_y=0.2214 right_z=0.1829 right_yaw=0.1834 right_pitch=-0.0415 right_roll=-0.0254 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -4.4513, 6.5026, 1.5409, -0.3297, -0.0366, -0.0171, -2.8376, -5.2308, 7.3915, 1.9316, 0.7155, 0.1538, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ea8863206606884a01cd7c9504fbc00787573770b57780dbfab1c1294d5f456",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad633a0526e32437310f31db6f426561c60822f1e1fcbaaad934dfd84957144",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3bf109b520ef8f12a0cfd2202c79475d86110aaedbcefecb0ac4c509447f42f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHsPVmkQath9cDneDbJnPpjQX_XcmY37_YLyno7YJwghXv-IcFD-LselNu8aeNRl-Cn0F4TXt1hNQBCDkf5pyfqHbiXgdmNJ0c4EaT0INqBLIiTjNKDdYhDgFDXyRCmcCkGXcao-dZA49XhrgaPDSsIEAmS5iF7GIawvfwfHGBaUBQWQ0Pvg37i6AbT8ulDbBzwcfbjY7fzdqHqdQtnbliwjdSIMWAMDTY1YaDy20crpiPTZbwmdtOQsyTyrVRM2DIn_gD4XjTfdfOOVtCPD2NgZonSeZelreefFkMSrW3Nkwx0R4dBCCyiOh1cmw50xKpaidQ8Kwmftz0BDGcVgpJkSrnZ_JLoc71fMFsCxZdzGDe9LtSiUcmQkvlhRo9ck_iDGv0IGfZQFO21x_xgjC7Tl-H606dXqNlOIOKwFoKmW76IpDBoSxagNQdM9lSrY1f8OWvTN2o196EnlwpvDDkajw-aCb8Riz8Hso6K2Lnual8LruZs_uWogGL4rXCuZRC7ESo1zFkRasba94RFFjpwmoQf0_9MTQ8N5Lz7QHYK0e9X7_vwOO2B5VTS6Kt7WPXO8jbJPg_eXSv5T6h8VnAlMYXxHusZBOE12S94U51eNQ_7Xb6bdZFBLkFJvEPudAiMSxQFL37mLud68WMxo3sjJ5CMAGW0Uix32fhBh2Ib38zbxKJecCIlpZoHN5DZOs_blueYySAaDCdYwh5kQfRJLo4qVvsZJI_WW_izenDUOWbMMDLTaFUdcW4bSABuOYzxEIRzPiJkG9Ijy_f_9LkBB0U4MsfeZ8aTy6PPtIfj3Ly2GJcZng9wbzhmdWZXAwZYgcVyJilVE3G1QQ54V1lQDPuVEc3cRif63OpDFURpW5A2kmgpXAYvB31zs8qRfFYPK6XOhsTG4YejvskQ6uO0pHqY11hkWNllDZ3frAYB6ROTsOvMlZubf0RcMIm5ApA1K8uYQlzzPaL51ptGwRNVo1WnXGDBiii4WcNDYIXEuJuUozJTYbTmo_r9e0hiGIAJh1DLI_WGAw96JGAmujkgNXHRkH2AW4CRlP7synFQZs5I-rInMQTR7Propv3olUWtt7to1e2lojMp64ZXZXkIemduzElZ4kcxNTFM6JY1SbbMuGR1PQk1vA0iSaB6TAVwkeLS7cCPPSmSnZwS2QHfEoQhQ01CKmUcIPsWqCQAiNeUyZsqFAueMXhZKMV03EHx",
  "id": "rs_0514bc374d65cb91016ab451eb7e9487d09bd6b07325768270",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.05},\"note\":\"The deeper retreat succeeded, placing the right arm at 0.32 m reach and 18 cm height with ample clearance. I’ll descend vertically to 5 cm here; this should avoid the prior long-reach IK lock.\"}",
  "call_id": "call_ER3ANXFRRYtc4Z4LaZ0ecK8B",
  "id": "fc_0514bc374d65cb91016ab451eb99d487d0ba25a485bb9823d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ER3ANXFRRYtc4Z4LaZ0ecK8B",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.211, 0.6605, -0.1619, -0.6102, -0.4728, 0.9966, 0.8234, 1.6146, 0.577, 0.2893, 0.5198, 0.358, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=-0.0451 left_z=0.1418 left_yaw=0.2999 left_pitch=-0.0034 left_roll=0.0008 left_gripper=0.9966 right_x=0.3143 right_y=0.2153 right_z=0.0434 right_yaw=0.1867 right_pitch=-0.0637 right_roll=-0.039 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.2051, 6.2974, 1.5458, -0.3004, -0.0513, -0.0171, -0.4034, -6.2154, 5.2581, 1.8291, 0.2466, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bcb8b6be2ae879d5d7a681cc049c8af306f0ac37af9bab00b9ad66de335aaee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf0f4bab4bfe40f8b0d8037a9154be95770a22250aa568fcfb7b2fae979f1be3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c140f785e7a0099e8a6bbd910054708f6f25a4d362c923dbb184ddbd9a931d5",
      "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 103 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]: [-0.4381, 1.2064, 0.6605, -0.1638, -0.6098, -0.4728, 0.9966, 0.6411, 1.6161, 1.0927, -0.2085, 0.4263, 0.2695, 0.9998]\nstate[eef_state]: left_x=0.3429 left_y=-0.045 left_z=0.1429 left_yaw=0.2996 left_pitch=-0.0016 left_roll=-0.0012 left_gripper=0.9966 right_x=0.399 right_y=0.2111 right_z=0.1511 right_yaw=0.1258 right_pitch=-0.0864 right_roll=-0.0481 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -3.9043, 6.4068, 1.6142, -0.2271, -0.0269, -0.0122, 0.1983, -10.1538, 7.159, 1.9365, 0.3394, 0.1832, -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]: [-0.4381, 1.2106, 0.6605, -0.1631, -0.6102, -0.4728, 0.9966, 0.8188, 1.3613, 0.9619, -0.3218, 0.5209, 0.3557, 0.9998]\nstate[eef_state]: left_x=0.3431 left_y=-0.045 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.004 left_roll=0.0013 left_gripper=0.9966 right_x=0.3225 right_y=0.2214 right_z=0.1829 right_yaw=0.1834 right_pitch=-0.0415 right_roll=-0.0254 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -4.4513, 6.5026, 1.5409, -0.3297, -0.0366, -0.0171, -2.8376, -5.2308, 7.3915, 1.9316, 0.7155, 0.1538, -0.0073]\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]: [-0.4381, 1.211, 0.6605, -0.1619, -0.6102, -0.4728, 0.9966, 0.8234, 1.6146, 0.577, 0.2893, 0.5198, 0.358, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=-0.0451 left_z=0.1418 left_yaw=0.2999 left_pitch=-0.0034 left_roll=0.0008 left_gripper=0.9966 right_x=0.3143 right_y=0.2153 right_z=0.0434 right_yaw=0.1867 right_pitch=-0.0637 right_roll=-0.039 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.2051, 6.2974, 1.5458, -0.3004, -0.0513, -0.0171, -0.4034, -6.2154, 5.2581, 1.8291, 0.2466, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bcb8b6be2ae879d5d7a681cc049c8af306f0ac37af9bab00b9ad66de335aaee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf0f4bab4bfe40f8b0d8037a9154be95770a22250aa568fcfb7b2fae979f1be3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c140f785e7a0099e8a6bbd910054708f6f25a4d362c923dbb184ddbd9a931d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFHvPIn-zonqr6f94QKozTNQ8bv23dHXVMB1VI3oVOvkWm9e-7j0rSqW2syveTcHOlcLMWVJCGjjW534eAz9wqU6tI1rCnIc6SMbkvGP87P79C-6OjOnnbB-RhhTNPSg8X6GFLE8LLrf721MgADJg1p81-Ilc-rh0cZHgaL9lY3GWEzDu-kALGwKaw0xr4v5v2EeHXThL76as_vcF1b4M2-fPl8uqy1KD13hDsuY-ZTtLmiCCLgFjTRu5TlNcf2UNxRvgj9tyexyZOoUEXjEZmYUs_ff45gPtu-NJQttmXuSxTY74pPyWSa8wN00jWkH9wanRdWuloxzsO_SfnMH3VH0Mgkpkq1XiiK0llJPxNMHNWkaLNWR70DRAua0MIEO-HdWRbCoq2qd6JLjqjjBakkzr6jDtYgYOT04Snb75f9oAOV-_jiB5bVsJg2WFcecaZjl4dXha9IMp4OhR6NxHS3Ejyr7GyxsK0BI5dtGT4L7_yGCpGarjFjxcIYOYDFDt_LzO7Ca2K7RnIxyb5gjJMkEaXAdk06kkCjFsX01HCtDSZEkK9JMuueO2EZ5K9ZkUNgSgHaWY6dCchggd_-A1bxBKEYyNxde_HjCFJlEov2qf59ELntywijBaOOukJ5rAKSw4OnKTT9PGtsOCYYW4z5FZXn-Ewk9INuXpIhdNph7WXH1T1fhrSPv7M4vQiFgDxHlfBd12vEzxPlKtozIna0-JK0FMgdWUB8srTLJfMEpMhmdD2gZ4Mxvz0pYdqnelKjP-02QfhK8ZhPnJa2HKmx9bIlAs-oKJrSnGBwinsdLvRpS29Ydsqq5Mgy_DhWcvMTrDFDjnUx3D1Ic8t3h2ec6ET6WO9fIcK9nbgtGRuoZ92xCoQd1d8wex9oxghLI6Jjrn7UqRLigx9W1gDBBuQm0XQ4sjVWSHpuGF24bbxBu4MMidWtqpWwBPKxqur0IzzzWnTyzkAKUtgzHnSOSQASw0bsMXgUNJDY3lYtm9dR9Q-8Apf8ATTEmCvYXWZBGzIiToF8D2dL2s2wixBo03z1-9lIQb3MGpGi-k0sgFkcJUBJ-44q929QqHjiQp8fY8DKh5hM-hx0sH4EGgabWx7dhn2V0eM0IXQcLteU0CDRmUhNiy6d9LGWxMW9g2DFrI8jV8WCeiLXdxDKL2-4FVgbfqmgNQDBqkfQthjdMNX1LFwdd9ViKuqM9axHm8bjwiHjoX_ym3ppAy75GWp2QWrdwZs_P856LQjiyaxhP6m2QgpEGzCDgxBUciiFkYVFY6W93ky2kim6MAh8iQ31gISoyICfTstmge2-CfqXPK8x9zF_NX2TvLwgH10pgk0Xv9V5HxW2BsMsBzyUSsI8L3b95JAHJx9I7wM9pC6jqz3IDc11hMMdkDOn4ODseG311obOS6uoTqZllMAxULdzX-7MgHglcg3fNwJwAsCIPX2R38QbBdHl0xckeV7NYUZT8JAn_pzfbKrIrsD9o2JkRG-mbfQ==",
  "id": "rs_0514bc374d65cb91016ab451ee5fd487d0bfd8f77526fe8cd4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.21,\"right_z\":0.05},\"note\":\"The right gripper has reached 4.3 cm height at the folded pose; both bottles are visible between the wide-open jaws. I’ll slide outward along the rightmost bottle’s axis to bring the jaws around its neck.\"}",
  "call_id": "call_hgqvxyOohJDuL1UOfyl0dD7t",
  "id": "fc_0514bc374d65cb91016ab451eef8e887d0a7080c52d63b982b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hgqvxyOohJDuL1UOfyl0dD7t",
  "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]: [-0.4381, 1.211, 0.6605, -0.1623, -0.6102, -0.4728, 0.9966, 0.5308, 1.9381, 0.9241, 0.3824, 0.2836, 0.1581, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=-0.045 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.0037 left_roll=0.0011 left_gripper=0.9966 right_x=0.4447 right_y=0.2079 right_z=0.0408 right_yaw=0.1942 right_pitch=-0.0342 right_roll=-0.0149 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -4.1094, 6.5026, 1.5311, -0.2955, -0.0073, -0.0073, -0.5675, -8.253, 7.8154, 1.8193, 0.1001, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6d8465415c1b462ca24799e47bf9028c82f5e0adc1af7b6f727344b5aa6860e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958987d662831a06f882c10823e79520d4b4c79f62887d78ad5db810d13fb0eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c3b1a4eb1440b4b50a4187081c7a417133fa2c9664428146839eda4ccafa6f7",
      "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 107 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]: [-0.4381, 1.2064, 0.6605, -0.1646, -0.6102, -0.4728, 0.9966, 0.6506, 1.5772, 1.0817, -0.2031, 0.4442, 0.2798, 0.9998]\nstate[eef_state]: left_x=0.3428 left_y=-0.0448 left_z=0.1428 left_yaw=0.2999 left_pitch=-0.002 left_roll=-0.0005 left_gripper=0.9966 right_x=0.3952 right_y=0.2099 right_z=0.1648 right_yaw=0.1167 right_pitch=-0.0515 right_roll=-0.0333 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -3.8496, 6.5573, 1.5165, -0.2955, -0.0415, -0.0171, -0.4444, -8.841, 7.1179, 1.917, 0.2906, 0.1294, -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]: [-0.4381, 1.211, 0.6605, -0.1619, -0.6102, -0.4728, 0.9966, 0.8234, 1.6146, 0.577, 0.2893, 0.5198, 0.358, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=-0.0451 left_z=0.1418 left_yaw=0.2999 left_pitch=-0.0034 left_roll=0.0008 left_gripper=0.9966 right_x=0.3143 right_y=0.2153 right_z=0.0434 right_yaw=0.1867 right_pitch=-0.0637 right_roll=-0.039 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.2051, 6.2974, 1.5458, -0.3004, -0.0513, -0.0171, -0.4034, -6.2154, 5.2581, 1.8291, 0.2466, -0.0562, -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]: [-0.4381, 1.211, 0.6605, -0.1623, -0.6102, -0.4728, 0.9966, 0.5308, 1.9381, 0.9241, 0.3824, 0.2836, 0.1581, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=-0.045 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.0037 left_roll=0.0011 left_gripper=0.9966 right_x=0.4447 right_y=0.2079 right_z=0.0408 right_yaw=0.1942 right_pitch=-0.0342 right_roll=-0.0149 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -4.1094, 6.5026, 1.5311, -0.2955, -0.0073, -0.0073, -0.5675, -8.253, 7.8154, 1.8193, 0.1001, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6d8465415c1b462ca24799e47bf9028c82f5e0adc1af7b6f727344b5aa6860e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958987d662831a06f882c10823e79520d4b4c79f62887d78ad5db810d13fb0eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c3b1a4eb1440b4b50a4187081c7a417133fa2c9664428146839eda4ccafa6f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0514bc374d65cb91016ab451f2ad5487d0b29d7507439f9cc4",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFH6qtvPKzSHIeigCgl3rCFv0txK71djAvvF71zFa46JllU98LfKTe9d_af8Iitu29ccYaoc9xqhsyacikzqEyPvQsQv51yDUkc4t6dGepd6vHICsdJfqqWktYX52-VyrrF9MN1rjT5gr6BKbYrFfnD4tXblDTPVb5W1KXjrVpEZDF-2Ay0_YsZiC2i8Xbc3N4A0mZ6HO5R5u2Iz31XLvWvCY6jSGM3GABvLLyz_598sBG1nm-w_N7aX8eHj50vRjImxi5FJbMhrp2iYLzQTMLKKf2_rCDSNrHPGGoblBUOwcZO5mE_BRGydI-ijEs6Y88Zoi6n0DAQc2A3Mp5QBxsy4uKb085_mRvxRVnL39wvEk4OzRq2EqZHE29m-W9uEOO3SWuWkYeXLyaM6SjmuEmOLxcqvloZil7ThyGQ5qbqj8qtmDHCt_lp3foGBcPJWCOi7-UcdT-ULAzMUfG5iUjEHeBX4saqsXViGv0VvXfq86NP3kmlutKgXE4t7b36cC0SBPxvgLOkMZAAImLt6hNwKOnkTz64hkelGiCFCACGtd5h4RrN2uPRFipzX_rKUxyiO0-YYJqpbGUkFq6kgWUK6Cv5r0QmI8y6Qt3WUaytIJZB0O_nrJwQ5tDJaLQe9i-PwrwCU9OHxvCZds8I1s3yVrxH4IGzAbTFJkni3bNqKnvaK0T8XsVkNaCxuqyMUvOggorUUvxLbFM5hfvESxdAKZXunS12hIC1F6P-i9TdZMIT3JzEOJwLmSPQh2riqwnDZC03wkED083dmLiwd7wIJzvS69D_weQoTdr7UDCdl33noab07QrvLxedm4M6oR6kuAi9srbf_zHVODOtb5f7leGatl-JnNAfEXVIIXtNwILLOMrSoQGGuRf6l4cCh4yVt_QqJxVv0mjw4l_Oz06BuXs9M50J5rPgE4-6JgLtYiKlcDBqhlqZd_PqSnyzZWBHD7SsviJG8kKuRtbkMJhFhPQf-JkQbZycYKBDGWgQmxBAB6JFza8xPC3fpF9uYiG5w5tcSN_Pw1oUqqcHtGI1k4oS2v5crNl2H8fRsMePjPVIRBaB8ejcUPietV-IhpMQvCIIr7KZtuE_4vOlYQoKvDqP8PcnRP_42nBTYFQRwjJC_sQy1XCe7lwxnGYMEmOBMGUHcnIV4gvrDlZhtLgHclMLgKTBS74GXR3mAPny0iMS-0og0JUoZidCGQ7EdYFZmgMlnCOl5t9zW4Rvgq0t685eCnz7JH63tc9UNqCqEzM35QvgXMrUhaeivI1Rkws5uOzQDwh-V6FJLUIn5U436qa5q_oesDkHVw-wdjuhxcJm5wTLqDkteDnZXEADXzeqzuNxZwXfMoxVuYawzv6bkxAyDJ84k7zb4J-bk_vXgpJlxhHTx6HLAgIVejusc6pZWsjvzDu6zue4hcpZmI0je7c0ngnKnilNRYpOl5DGXicTqMCfcxvybS0rt9cMTctDe4kxdQjRC8T9W7qqICEoUIjEKuaFQpO16y4xLA8jxg2aQdesQ3EPOqqVh6LrqWGPODQIiGTRzTYKquFKKs8g5ucR37yk4C14ShPz2P1So_iYluK_SVs2WvcE1rTydHdhkrAMK3B6s_443JxXooStduUs6qfhrbcHvZn3m59m16RPk24dVbro7XV2anenBxHid9XoHjDJPvimz_t9ovs4llwefD8vCbsY8ro9-3Xq-lQ9Sf4a_IB64fqjL2Q3yuGwK0wvUqayeRq3MyLJLPx4qpHAd9lu1zwcJWoPJEyrMw-SpvW8O0gjlZpN0pDu4zDY-N3rbxxVZU8U6fOeDR0APvw__jKl5Yk19LmWerlz9578=",
  "id": "rs_0514bc374d65cb91016ab451f8288c87d0a569b1ccb2cf83df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_z\":0.05},\"note\":\"At 0.445 m the open jaws are around the lower body, while the neck remains farther forward. I’ll advance to the table-contact reach limit so the jaws capture the upper body/shoulder as close to the cap as possible.\"}",
  "call_id": "call_qinB2StX37vNnrToORi3Lou5",
  "id": "fc_0514bc374d65cb91016ab451f968fc87d09e4e8424bef530cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qinB2StX37vNnrToORi3Lou5",
  "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]: [-0.4381, 1.211, 0.6605, -0.1619, -0.6102, -0.4728, 0.9966, 0.4858, 2.0174, 1.0306, 0.3534, 0.2337, 0.1219, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=-0.0451 left_z=0.1418 left_yaw=0.2999 left_pitch=-0.0034 left_roll=0.0008 left_gripper=0.9966 right_x=0.4722 right_y=0.2071 right_z=0.0357 right_yaw=0.2101 right_pitch=-0.0452 right_roll=-0.017 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.0274, 6.3248, 1.5263, -0.3101, -0.0122, -0.0073, -0.8821, -9.4701, 8.1983, 1.8339, 0.1734, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40f0a644a09fca5f784530c5c11481b3cb4e52261dbb42109281ce12da879ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf4b70bec11378055ba06e091ebc9ecd49744155979d3d4659d151a5c964c46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053d323567566eb79bc51c32dca77502e5895df2e44c66a070e507ec7fb1dcdc",
      "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 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.2106, 0.6605, -0.1631, -0.6102, -0.4728, 0.9966, 0.8188, 1.3613, 0.9619, -0.3218, 0.5209, 0.3557, 0.9998]\nstate[eef_state]: left_x=0.3431 left_y=-0.045 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.004 left_roll=0.0013 left_gripper=0.9966 right_x=0.3225 right_y=0.2214 right_z=0.1829 right_yaw=0.1834 right_pitch=-0.0415 right_roll=-0.0254 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -4.4513, 6.5026, 1.5409, -0.3297, -0.0366, -0.0171, -2.8376, -5.2308, 7.3915, 1.9316, 0.7155, 0.1538, -0.0073]\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]: [-0.4381, 1.211, 0.6605, -0.1623, -0.6102, -0.4728, 0.9966, 0.5308, 1.9381, 0.9241, 0.3824, 0.2836, 0.1581, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=-0.045 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.0037 left_roll=0.0011 left_gripper=0.9966 right_x=0.4447 right_y=0.2079 right_z=0.0408 right_yaw=0.1942 right_pitch=-0.0342 right_roll=-0.0149 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -4.1094, 6.5026, 1.5311, -0.2955, -0.0073, -0.0073, -0.5675, -8.253, 7.8154, 1.8193, 0.1001, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.211, 0.6605, -0.1619, -0.6102, -0.4728, 0.9966, 0.4858, 2.0174, 1.0306, 0.3534, 0.2337, 0.1219, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=-0.0451 left_z=0.1418 left_yaw=0.2999 left_pitch=-0.0034 left_roll=0.0008 left_gripper=0.9966 right_x=0.4722 right_y=0.2071 right_z=0.0357 right_yaw=0.2101 right_pitch=-0.0452 right_roll=-0.017 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.0274, 6.3248, 1.5263, -0.3101, -0.0122, -0.0073, -0.8821, -9.4701, 8.1983, 1.8339, 0.1734, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40f0a644a09fca5f784530c5c11481b3cb4e52261dbb42109281ce12da879ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf4b70bec11378055ba06e091ebc9ecd49744155979d3d4659d151a5c964c46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053d323567566eb79bc51c32dca77502e5895df2e44c66a070e507ec7fb1dcdc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFIAQAItz89c8OfyqWbGuVGPGUQwPJlFeNfaL-ijDD-aw6O7H74LMHGo6AcDW2BjjmwMIToUh1wo1j0x6lv_7azU-rHi6KvO5aL_OCOutPETB3ZZ1qeT3hiPovpMVhujy0jvqHTj4XQNNEKHKntp6eRB3Nhpscr_ULjMnlzo8dH5NZanZTOdiCBufzgKfOCrq80hb1RD6cpv3FjBVUWh02_EVOpUf8nSH4A8scCZvNw8fuFAEC6pioGZDMBU1wDXxvcvX6cVlBmbwx5X-XZY59N7bF_7l-dmbmDMsALMp0qyUZwP0NAK0U8V-LluTizZvUileGdKMrIperPrlh9LBzCBk27dAva-WTDJbVmXoAtWaPBU6txftAJFHf1zoetPLyySWgUiCLKvs-3_rUoeFq6Uf9EyRHSfl8nou9ERNbxOuQRpxHc8M4wL5J80FXINVAxT_dV3DPU_VtS__EMdr1m5MRiceVt6uRK-9AYKiNKkXhQGBKtbpNwn116i1bTPhjg5FtitL2BR34TOvowvb3H8FfPEWCWyenJROuH2atv3gbDtdRXe0WAnoRniXlNBwIXnHdPHSFiWdJ1VQo8XRy10OHO3w4UGt0OemZTklouZFaR5UHh8fYHCeds02lSdGasKOMbwXOuJ5mW_2EJCcY6ZSHGenLWtQK9LUEleMwfe6RA93roqrl_MHc3Sr0a8p6H1SVfvabwuLgjTo6wIlxEGd7hAlpdJBqit_vurluDEXETMf7bIv4m-mVYBvVZxxOqnzbBgeozt6_jlUq4hYx3qAt1ilHaQE55tNdFiNHpXzixnSgciHSfqeKDQ0tD1abkAPJyQoUh5P6O-Js4RhEkUwZLVppvEQK0C_4fk6c8MQxubdQPpundg4MA90iIVvEwLpIss6kESmnQOETKbZupH3Ui-ORuHxV__F98pV3G2hAQRhoVDZiNXK-mjaPZlegvn5ApV17hns3iC4N8N9phBv59MsTLuDaVBYy_A8eJ312EcuX6TJILlDFFp00TN7ZPtyBU4WbG1fsuIDWymrIpHNRTyQWUK2EKmWtt0hmc6CokZDaiEVkGZiPUXz3TGiLitI0drOz6_yFeljR_2FXU_i-gsw-xCeotlGV7TKGIKGdlylQ23xNuUCgGjv3TNYl_zUTHURfGYqK3_K3vq5ayKW0eNrRm2wg1_J0tDwwYzZvmZRo98vz4vHwPyAAuflupDvBUiJvn1tLoKgS9tfnWTCM3Xa88JMn91-bQ0b6jmkOoZ-fYLkm2dPvhCnmV7VMtjK7WCc0DtAEmakDmHwtqMBwZpfVWHWB26wiQa7t7E5IKs8-VooxVOHVMDuTVqsMiyIh9OSa4WbkE2vCYp4g3RHpG5Bwrt_LrMFh9aDHwD14T9n8mHZxjbmwTNAK7GvrjdyfG2pQGg1Y_MIdpp478xuPabB64o1qjRuvcBzUbsOxi1Ym-hPx5Tny0MKIatmm0eaL2PiBpLQSo0UGYcKRuVnSGMt-6lyqUGn5B0-v7jhCPZ_sSLwScJwGjBe5Vu8ZukhT97TFjs9J3j_eDQ8UFyAtBEOJTo8cOIr9L9CB7FkrFgyanG6qJqUrj9meCBlm9hBRDYjGo7F83-bbksh7ujAxHhofIh-7oQu2hjXvsgYeNuhv-itcgAynyFTRpnaSybqXAaPLEB25NrzwrZbnvB-Q==",
  "id": "rs_0514bc374d65cb91016ab451fc1e9487d0a472821ae173c938",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFIAzrxVAe_XlGNB7SKF8ZpmBDC9WhfrBguIOsvfvBEj55lLRbTWx9I-OT8ySYmVdK7ypf71oT2TVq6xejnxAP1TiMzqWv1rQQRXzNVrQ97ccejjp_M-Ms-FRreQeE8uQkx5YfoqoAs7gSB1BOH1zjSicOK2_CCQCVxJaqKowgyRInAFKNa8NXVDoViMbHz3rSR9oDlLLGApGzFkaoVf141vmi-yNAmuk8RRGXxaz9hHGL7ztzn1oDc97cuud_cO1DDDvlOCOlIXj0nA5OXIe9bQ7NqStkzNPf09e8yoc-HuQq763ozm9vvB5nNXxZoVu0BgmQmEvSCmRFFC6Qi7ajQCWVXoGq-fp1fupBJZdgNBGhO2KrEOd9q2MVvOvUCK2VZC2o1OVe815JY8fGW7yUxmqZn0X1M1-NJX_iXu4YvZtVIlBMKG48YpXy1OGgAHJ49HVRwSGnPf5vcz9G44HEp09OI2GLzRGvUyxxMUvkxn0FU0pk3PnAP6VyLouYBrACYSJYRh32s6n6GoZcv5Oreiky4EpdA_FCRp0EqSjzc85BLnciaNvDqPnU8p3kJT7U5A5C5YL9Q2IGaEhMbAXoEW8YmwHxof_-4fdbUUfoTkLuRCRqa5w20ssr9sy0IwBLSJhz2eWEhX73XIvJJ0XxBMz_zZoMG7aCIhQSPWZkjdO8S_I-vGok_nBaqtds-kDTyueFE7hQ8NPdGVrZmXIQloItq2pNL6YFRHeA1iqBv9lZisDv4DzuOoDqhkcwwTlnKyIFujbe85MB16J4N_4iNApjdtX6XqNwpns-MouTt_O72PTNHwqqcouHbCybr5yANtQNJo2qBZeviY2Y80SVaJpTnPHxVqo16Qz5Jp5xgHk7WQIvI-amZYktWD4lrUkL6QS__n4_fZCo7Y3BZF2b0a8AZX9AzIqsPmp45J0ZShY_kV43ebqUQOwocCfweROdxVi9XCnYYPNzvYOH-t-8sxNhlMHvlVaGobA7V5sKIiWcXMulR2Uj2iG9f49Ngr7jZym3MoXucDLvmgo6ig309mXnmJ-jE7K17A-9urVpFLGOGwwES8cgVoxDYnQy3dscMdO9arZmpqwh8-kbka668dNnTyySzWQuQ_mgBVriAX7BiinKX937DHlEQwE26QclPvVDqL1cn-yoRUnDEcsbYl84RDem-ffjErxTGFf5Z1ya43sUaFoHRcfF02wZXFxV3a1WS0TLqEPNE-cGhHp5ZBdLL0aQHJV8nApq-oOFSZ4Ns2oKFYw843WSpDSujbV9w9kZywSMzI6XQJ3kHUXr-KGG2uHOuT3BqssqWZVFgdvzvIq9my6uEPpqjoKrsZ6Kl3vQ3dUPVKt20z7MJDmS4vIgSlUJhEtujlhIpEmdd7Pb6Tv0DrgZcw_6SGzsrJInDI4dT7Wy88Y78e7dPKfRFO6p6yskBlKKct-oed-JbSWdWiscuzJQw1mWRsP6WOCMCTmeINODMgzgkTxlRW-pLjGgfLElM0XGw-QE3DbqY8tPJ04ul5IDYshgAvabDRG6dAIcia-twZFJ-bWoelZiAc3u9pnpknHgzcqsJvQ-kR4WpC8ZY96ISmK-T5iV1xCj9JI--Jj9KJZCppg2Vj5xLFgeGr_3vK0EgEynPGg6m0UzRsoN0jnzw3UDPOBerLzr3mhPcX-iuyEQZ80pqR-3S8Ns8HW48uf4DbnXdVioPrDeFjXOgBt-9A6NaCM1oUsJRU0LnAcLe_q9GOKK0Zl5Rq3EYxGapOK3zFeYUxLcITe29t7iqUDInnkfgIS7CoyknQUurTXvjgJ2m_9JHk4MVsCaor7rO0YXOwVS2rIO-_Qn3RNxAALG-d4hK-FuUPVK8wpKYeTKYK5iL6QsRPsTMIrEzuoAkyAihWb1HdmirLCBC28S6Y2LUGlqvzdtOG_T2m4sJJ1TFHebeGqBEwc2zmMjTqjwuulPsNHIfz3y3B9w6aOhSl0Lk8Fr3brd12A1nSxNn5zbXWfpx0PRiBJc7U7mhLuV7ykp5MB_LqhPXWsOrm5_7GUo5umZ_caLglvFHzznn8xc3TFWnYbYtp3bgCVJc2Bz4sW9sbMHblAwhB9JKo04bsqKzYssa5W-Tavl8JpKD53wMqkLkNLfNT6xHwkyTuWsv7mu6thfQTwxrZSvrDqpyexfEoEzteZgB46aDsRK7xYNNVWT4hEf3WfU1y1MouqFOMFEZCbfwePF36Fq3TaFu84mmyD4XGfSPSP0uOewaMsiG1qXU1GnI21RTq0E68-s5lERGsLMVPo8jtCFHd32CgFYrYMRtjZ2pcNNzmcpCU7gSyZr0t7-x_2UD1vO1xvDocfGWW1_sM55VIjpOnMjVwNvNc6qGQ9KyBkbB4A0lUlOctvr3-Vr4bhgAlCvabfZrEvwx4TFiVoH477JqWsvbnS4P7nzCNXDQLPWuZ-ZEVVJfef0PVHx565fGtgsgQWxGXQneZEmJc0Y2jfthrQR8EzbOrBbHWY5hNxAAQPI590pLTujQUbgfYiOSMkJO0D7me-wqB03l5bkuuCInaDP8Chn9YYPVTJNvxGM13DOPA8ZeTx-vbUl8NXNXPeHxwOHSaUVUujlM1pwMcw8PKaFz5LrGKUhOk2Ot27phJhGacfYDBNjsX65DjLHZDMsmzoz-p4MBwyUDAO9ZBe4fFVSciw3yxjQXpcCCorbCp5_x-CkBWkHfdGe-XqEWQjwCWHG2qLH4NhcQi1rRw9RfzjQhDyt1jStrF80SBKgB3mF3LzdCMMguvp4y0fUmYe0R3z8Y6EazPzp8ft5z4e5rG4OJNd-MRP144TDMpsBR1_hu1MnKC5AmRWSwU3GJ16_J9Bf4qNcSOtMp2C7SMiIrDIhUZ-R1yHWjfCNlo4sgx",
  "id": "rs_0514bc374d65cb91016ab451fd21f087d08a0dad6fc9af4266",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.58},\"note\":\"The gripper is now at its practical low-reach limit around the bottle’s upper body. I’ll close to roughly 5.5 cm spacing—matching the bottle diameter—to secure it without squeezing the smooth plastic sideways.\"}",
  "call_id": "call_Q65OnXce7m8EZTfwgm72JiMi",
  "id": "fc_0514bc374d65cb91016ab45200073487d0bf3bbaa21377ab3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q65OnXce7m8EZTfwgm72JiMi",
  "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]: [-0.4381, 1.211, 0.6605, -0.1616, -0.6102, -0.4728, 0.9966, 0.4767, 2.0254, 1.0569, 0.3416, 0.2226, 0.1188, 0.586]\nstate[eef_state]: left_x=0.3433 left_y=-0.0451 left_z=0.1418 left_yaw=0.2999 left_pitch=-0.0031 left_roll=0.0006 left_gripper=0.9966 right_x=0.4788 right_y=0.2074 right_z=0.0392 right_yaw=0.2119 right_pitch=-0.0407 right_roll=-0.0115 right_gripper=0.586\nstate[joint_eff]: [-0.0752, -4.1641, 6.3658, 1.6044, -0.2906, -0.0464, -0.0073, -0.7043, -9.7709, 8.0342, 1.9463, 0.1832, 0.1148, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b9bcd0b74980e063492fc1b1d56ba617e65ab14bb74dbde4f5aede526308e30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586d4348607626400498c8f0a1414acb92ca048ba191ec34361007f5bfcfc6f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81dcaec2cb81a6382b39dc13a7564702426946920200aa2bef9dafae07250030",
      "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 124 changed as sent

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.211, 0.6605, -0.1619, -0.6102, -0.4728, 0.9966, 0.8234, 1.6146, 0.577, 0.2893, 0.5198, 0.358, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=-0.0451 left_z=0.1418 left_yaw=0.2999 left_pitch=-0.0034 left_roll=0.0008 left_gripper=0.9966 right_x=0.3143 right_y=0.2153 right_z=0.0434 right_yaw=0.1867 right_pitch=-0.0637 right_roll=-0.039 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.2051, 6.2974, 1.5458, -0.3004, -0.0513, -0.0171, -0.4034, -6.2154, 5.2581, 1.8291, 0.2466, -0.0562, -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]: [-0.4381, 1.211, 0.6605, -0.1619, -0.6102, -0.4728, 0.9966, 0.4858, 2.0174, 1.0306, 0.3534, 0.2337, 0.1219, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=-0.0451 left_z=0.1418 left_yaw=0.2999 left_pitch=-0.0034 left_roll=0.0008 left_gripper=0.9966 right_x=0.4722 right_y=0.2071 right_z=0.0357 right_yaw=0.2101 right_pitch=-0.0452 right_roll=-0.017 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.0274, 6.3248, 1.5263, -0.3101, -0.0122, -0.0073, -0.8821, -9.4701, 8.1983, 1.8339, 0.1734, 0.1001, -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]: [-0.4381, 1.211, 0.6605, -0.1616, -0.6102, -0.4728, 0.9966, 0.4767, 2.0254, 1.0569, 0.3416, 0.2226, 0.1188, 0.586]\nstate[eef_state]: left_x=0.3433 left_y=-0.0451 left_z=0.1418 left_yaw=0.2999 left_pitch=-0.0031 left_roll=0.0006 left_gripper=0.9966 right_x=0.4788 right_y=0.2074 right_z=0.0392 right_yaw=0.2119 right_pitch=-0.0407 right_roll=-0.0115 right_gripper=0.586\nstate[joint_eff]: [-0.0752, -4.1641, 6.3658, 1.6044, -0.2906, -0.0464, -0.0073, -0.7043, -9.7709, 8.0342, 1.9463, 0.1832, 0.1148, 0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b9bcd0b74980e063492fc1b1d56ba617e65ab14bb74dbde4f5aede526308e30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586d4348607626400498c8f0a1414acb92ca048ba191ec34361007f5bfcfc6f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81dcaec2cb81a6382b39dc13a7564702426946920200aa2bef9dafae07250030",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFIHclmybp3lOtxd3UdhrmbNY1x9vp-w6wG77AYcuaQTeSS798qsjMIPQP3xwsUCJDmlyzYadAQlsvUBb4pGX735X88kcL5tsl1b3zSkkm4BpHddKl3qyj7sn8Ts9VKCWWq7ZXBVLJHXIf9pIpbzLj-cFQR_Nv7Dipq9h2VcyqKXP5eCU1l-4BBOqBhk9pLKIoxFrpTMK2XIvblKmKVCsEOpNmlr86HABnYSuuDFVfyt9U1YVOlmEja0O1uJ1bjlXySET5_A1Wa_-9RZhA8NUX453A8h6uXhNzd1wW6yqbSvilBUa1FgPf1gaJK27FVqyO0Ya37-VW1kxS-DI-oUyjYY5547mWgNAJFxTTY8LXtJMOTJcT-4DOTEbfA5DPzQNUnMRPJm8oXLcux0eyYGVaLa08XJfbwRpkjxO4XLFE7UUfQ3mfFpT7u6H_ulvFNb1vZNUe1gNPPmHlwh9qDOFPA72xkl0RRe7kWhLGRtJPyo0PIKnumSBXLFAB7NKam2Ol_5HR5GNP1cmpOYg_2qIkpglBhV0kHZ3Mh5Ho0O-ynp61mVhbyGR_iBItRMMcMC80g-_Ltu-5zYyLVxQoUyDFUZDkMuR_mDQHH4nHUEzM9f_owIGhSaJQhsScvlvJ3LCyUCG-L_83MeiLMaavjQJkR6iG1ZmY4UzjHdgaT1MJUJYIe6dznoCUhiwDv247rTjwqev30RMdUfDPwKvUHqvhx5z9LdS6KFo4HLFGl8tLW_vxFQY4dWvjsL0DtpIkEUaQXE5qUSqFcWg9Bu0P2_n2ypvH2v6vnmDcDQjojaQVN_ofW1ekntPwZAmd9seftjim_X7-GW5ji6iFApOdlsNdnlu6xLC7MbqULms_a8m-ui-6ntUcz1sbLpCeiaGs7p5IAF3CMXSlIuiXsWp1r4X7EGPpwppPTbSzYsXQVt9TlmEKArumPuUteukuM7Zuo14kUZWn8gmRn6BH0AgRIijO8pjyn91pVOKBasdFT8xD64R0jtd6snXF2UymLrWI0tSj051lsQIJHTt0NnLSxvOF1TrYwpxIGp18BGeZ9qlKwSeKHlw9AKpE6btk-70Ixrsf_7fXYO3qMP0CE4eoRM9vHUs-F4iy1M1Y2WJLKNnpKQfb-eLS0_gIEfLj7j2T8_eEOpR96_DN_2Luvh0cW3A2pRJqYO4UhicCBsJloMQ7hhwamBuZMnQt-8u_MVZ3V0mHDiPzMGnqLQxhQxD2xfmDeggAIi4VA0q5yx0zl1W3NF4SHmSypATItA-C-l1s2SM88w",
  "id": "rs_0514bc374d65cb91016ab45206127c87d0ae350754208c90c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The jaws settled at 0.586 with visible contact on both sides of the bottle body. I’ll lift vertically; because the grasp is forward on the body, the base should remain on the table and the bottle should pivot toward upright.\"}",
  "call_id": "call_jvBoSibSMwIDaP19VkNaIGLP",
  "id": "fc_0514bc374d65cb91016ab4520639c087d08fc413209bfa09f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jvBoSibSMwIDaP19VkNaIGLP",
  "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]: [-0.4381, 1.2118, 0.6605, -0.1616, -0.6102, -0.4728, 0.9966, 0.4782, 1.7718, 1.3289, -0.1226, 0.207, 0.0994, 0.5859]\nstate[eef_state]: left_x=0.3433 left_y=-0.0451 left_z=0.1416 left_yaw=0.2999 left_pitch=-0.0037 left_roll=0.0011 left_gripper=0.9966 right_x=0.4812 right_y=0.2126 right_z=0.1899 right_yaw=0.2371 right_pitch=0.0165 right_roll=-0.0039 right_gripper=0.5859\nstate[joint_eff]: [-0.2393, -4.2325, 6.4615, 1.6093, -0.2466, -0.0269, -0.0122, -0.4718, -10.7145, 9.6889, 1.8437, 0.1441, 0.1929, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97694ea33b092e96759d25ae1e5843b28a0711eceaa9c144f9c2b71b0b572557",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ab35d52bea0eb8b266c5bdedeeccb0f8ed0bee4d303bd42af22b660d5272f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c0a9784d1a321fcea1b3e5a0ae4ff352861984c79ead13f108da48656a34d04",
      "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 129 changed as sent

message 133 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.211, 0.6605, -0.1623, -0.6102, -0.4728, 0.9966, 0.5308, 1.9381, 0.9241, 0.3824, 0.2836, 0.1581, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=-0.045 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.0037 left_roll=0.0011 left_gripper=0.9966 right_x=0.4447 right_y=0.2079 right_z=0.0408 right_yaw=0.1942 right_pitch=-0.0342 right_roll=-0.0149 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -4.1094, 6.5026, 1.5311, -0.2955, -0.0073, -0.0073, -0.5675, -8.253, 7.8154, 1.8193, 0.1001, 0.0122, -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]: [-0.4381, 1.211, 0.6605, -0.1616, -0.6102, -0.4728, 0.9966, 0.4767, 2.0254, 1.0569, 0.3416, 0.2226, 0.1188, 0.586]\nstate[eef_state]: left_x=0.3433 left_y=-0.0451 left_z=0.1418 left_yaw=0.2999 left_pitch=-0.0031 left_roll=0.0006 left_gripper=0.9966 right_x=0.4788 right_y=0.2074 right_z=0.0392 right_yaw=0.2119 right_pitch=-0.0407 right_roll=-0.0115 right_gripper=0.586\nstate[joint_eff]: [-0.0752, -4.1641, 6.3658, 1.6044, -0.2906, -0.0464, -0.0073, -0.7043, -9.7709, 8.0342, 1.9463, 0.1832, 0.1148, 0.2271]",
      "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]: [-0.4381, 1.2118, 0.6605, -0.1616, -0.6102, -0.4728, 0.9966, 0.4782, 1.7718, 1.3289, -0.1226, 0.207, 0.0994, 0.5859]\nstate[eef_state]: left_x=0.3433 left_y=-0.0451 left_z=0.1416 left_yaw=0.2999 left_pitch=-0.0037 left_roll=0.0011 left_gripper=0.9966 right_x=0.4812 right_y=0.2126 right_z=0.1899 right_yaw=0.2371 right_pitch=0.0165 right_roll=-0.0039 right_gripper=0.5859\nstate[joint_eff]: [-0.2393, -4.2325, 6.4615, 1.6093, -0.2466, -0.0269, -0.0122, -0.4718, -10.7145, 9.6889, 1.8437, 0.1441, 0.1929, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97694ea33b092e96759d25ae1e5843b28a0711eceaa9c144f9c2b71b0b572557",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ab35d52bea0eb8b266c5bdedeeccb0f8ed0bee4d303bd42af22b660d5272f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c0a9784d1a321fcea1b3e5a0ae4ff352861984c79ead13f108da48656a34d04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFIOmN7kHYLJes4X2BF-eBASyid0fgkzbnaOwrSemP-BVoD5kCyXmCJpFpoBUUSqBi1HoD6EswgB7r4wBTKKsDI4CZtWB9c1VW_qzNyZl_B92qlAtWD7p3UxD7t7DtCOWClba2xLw-eo4DGEbiGAlLsHJ_vKezLGtCJtLnzxzUCYW4HaAKrinQr_tZ8aqghktnlFrXmgHqnPRPfYlbJOCbRX6CVhm08ZjlSwCjxKAvFW3zWMPDmd1HBOSR-1zrRcJYzCZ_CVCo6r2a1IpsHH8KvFjvkflEVOIicp4_bdM5g0qbEHiaNTwe-j4UV-MmdeOEyjInqH7H3YnqI2iXUO6fQ6Xqe3RcuTap7UdGXDYgGKpm9W4GYf5JePZL7nZ_3yfPAFum_6omlm4tbi5Uoyw4FzjlooNrwZrchitAoR-aKZPytc4jpEbrdwgOdiURlJ9UwGUmjBY4qoDDyxWpGyPaScgFoRBH6zdVhmastmBDt7SrlNZdIiZkVPcfe7Hmc8WP_BDP_rsEaYUu5KhgHApicLpJWAgDq2jdtcYQed83xLRD4Aqere_DhDXRjOl275Y4i55pdG9oxAoC8tQn79TdT_KmPUQkbulJ8NKwt9ZR9vin_HLMY-JpmDnip1j-QKpRonimJdIWhLi4E8inXYTD4QdPXTnO4KGudaljEOPcCsziH-E9vtGbR3xbraES-9uJmyRZEq-CgF8tjsMU8theoVd8vrJX3rkKl3C4zhOfD6--v_xksG7XtlE0O_qV33xJYNtdqs7lPe6VjRhU6cRL_ZoRudhbYvJGGwWhzyGCvojikO-p885_piYA6_z-VB7rBMuUxk5O-e2lqRWB1uGRAhqZNCigrKuyHjvzs5Kv0kH6hM3tO5GyfGQq3mNRyMSXyqmtYiVUxoblcKMHkFEXC_4VBK5RSnT6t7uCKNUUz2d2Hy1SagL2AaCFbIeQVsT9EssH8DECEDQy1Mj5S2tzfj8-_HVZwZUHqlxdWjksBjVwG1-V-zZ4DUyn4E-6AYgK1qsa01h-OCYlAlS5xjNUiDyON4Zf9UIgofrEzEYQLOD-5UnkXAaA9SnZ7j1aepyxN-4pnM5BI9hUtMiQFAocUj7EA3CqMAi91hPFVIufnOF5bY81UuPDN4Wvndeq4k6-wSPB-lQoznBX6rW43bH5hHT90BYAolo4ytXaKRbb_1E4fo9CtrX5AymLMIfN8nrx6h-Y1nGp7uI7ueJ_bT8pxGk3VQTcGmiRpr6bk1oCnUh_1mZ9xr_qNycW7JmCilVvZMbbj0ksepSi9pNOzwirQ7TQi-nuh2YWiEo1dd0iFTLqRQNDbkvhtFdoWFvqKbSNA8AxF7OSgjigI8ICq4WuoJbKL3Mx2TtA0xc73l9edJw-MU-z11GmeGfm9SDGvRGM-NM5sd_LrC6wUHPxTI4Ir38ACwUNFeHpO9Z2VImaSjViel0aY6g1Sk_7STiXh7XpNNixnOiSluSeXPYMOSJhl9m7mkQjC3qSG0gPyLrsknNjfUdRoETWnCpQI0ubHZxSFd6mjVJ0ZXGtrsq_vYVrjytnGdW76iSV7tpoUNxuSzxR_q38rMi4pl_Ol-t0YzK3_sOTlh_H3hHsjeDGQjlYVTAzcycItxcgw2kRqI_hZ0pLoAKeqI8rR4GJJ0sQJeuhT-w_fPyQiQuyKNpIqNSBEr6zaUfjk_nJfOGnnTmZUt1wxizLg1gSS-j9E0d3eb8rzVNBOjzfeaHguZ405RQR5ghHWjOwYNSstgg6EzDUglQHe4Zu9CM3MjHo84Ghx0I_UbUFyevHFrDDW-xHJ_JzSilQBmg5XK81zUOOlxm--xKtzAzIjHd_CKJgE2afI55cQgwSw1kMYiMk6mrSnS5QLUjP7WR9_pdvXLc9scRsogLyItmlzwDBLfhrZjTjmP96loLV8M4J5NvJ69u5yf7Oi7hEacZrL0vxzJ5lj54TT0BivpbOlf2kmtzghDfpL3Gy9EIsoy1JdY2L_RZg_hjhTkJmb-SZWoii19sYeSXZoLpNtIuwipcxa8annPpGop7JVhhKk-4poJnf8T39VmFhkWYp8eH1AwwyvvM081mVcaRE9VdBHthvxhofxUIrDFmCltWO_YpIN9sJjBR_6Ng2QHartUabai_a8R-oiZRL7GKvE79eYr9P8R6OepSMr00HRz-ChgAKDagvEgGhJcvigTNqibkbkfLQ2o-YKDjPXlrMvXFSCGGPOpN9VLTdQBUDSEGr9-i5PwceBD-cWOQeP4jcs34Kgid0-4Sbv8WDCuLFWFK7IpY0u_RGfC4k46FbytitOKjqYkXbf-85Txcw3GuNHMiZ_rETEyOs4Su8diEhp2KxK4U4CtMCOlMJa0Ox-0zwHAgpdCSQbNVjL2irHci916zYtoc9k3wLpg9b5_c2tj9_pN3HsvctH_DBLkWrnL-kLsNODU89fgVeVT-jkLkU3NnEQcskbNU_ka4f9hpHaoBBQldrZgGgCAxoRgN3bG8NILjoLrXbgExfdgMzmVZ3pHaq6K0LAD7phQcdfO2HMC26Z2UUNsPWmqYBa3k_ZuZrgPDXM8bgQifPUSiUcfr_bC23CHquz93z_LyIUNld8jP0GW5Hr2UhTiXRcyBHw_QgVId9VKzs0UOT2RQAh7jwwzmK4teaRxIxltIT1sC1uNBMRtsd3D9Gv8-NMNCC_j167BinOxtS1Rq2LmvWxYcK_u6jeKkraTMTy3dEU4Si-V_U28rbqXPuT4otcbK4bCE6Mxy7x90T08fZloWCT9t2EbtZ11Oi5ypYJph8yHr2o-C_c8EkREAUP3qpjmnQQzlVsDTbOmSfSHjlgftcTLu2hWBt4UQYfyhEwq60ilv5qfRIS6fnbe3-HkvowWAKPudlN-Wzt30zapQL9XRNVexcIlJ-LJRMAFOPU_c-L8uDfagr_f0IoeNx1GSqJ6RHmzXm6yhxZZjDGCxTF5Vj-lKkZn6cTv-XRFYdLMZWvTDC-WjO5govEZ-Jgw3Jn70wMDD9yV9tPKQvvvvEZI5CXCBO1MfYyQrUAg_RyX4_lChQQSfFykC6ppl2zrg1MTZ31AZxHudqyxlysXXerwPnvYW3y9CJCbJ9GFeocEypr3nkKbZOSBcX396nIvlllLkPXOSQATPoPbm3ggweaIJH1DAD7uYPUElc00HqpRo-zC8n7aepXZVrM-rznJ8mphdnBQ",
  "id": "rs_0514bc374d65cb91016ab4520a46b887d095cdf4d313851896",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.04,\"right_gripper\":0.45},\"note\":\"The overhead view shows the bottle stayed on the table, so 0.586 was too wide and did not capture it. I’ll return to the same upper-body pose and close to about 4.3 cm, still avoiding a forceful full close.\"}",
  "call_id": "call_4JdeqdiCI2tt2Eg5VggzVbjC",
  "id": "fc_0514bc374d65cb91016ab4520d744487d09bf6ef786f7836a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4JdeqdiCI2tt2Eg5VggzVbjC",
  "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]: [-0.4381, 1.2118, 0.6605, -0.1612, -0.6102, -0.4728, 0.9966, 0.4767, 1.9984, 1.0531, 0.3527, 0.2073, 0.0986, 0.4512]\nstate[eef_state]: left_x=0.3434 left_y=-0.0451 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.0034 left_roll=0.0008 left_gripper=0.9966 right_x=0.4799 right_y=0.2109 right_z=0.0532 right_yaw=0.2357 right_pitch=-0.0098 right_roll=-0.0112 right_gripper=0.4512\nstate[joint_eff]: [-0.253, -4.1915, 6.6393, 1.5751, -0.3004, -0.0464, -0.0073, -0.0752, -7.2684, 4.8205, 1.536, -0.0415, 0.0073, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2cc107d3016f15b4f763850c7a0b3c8834f005542c5ce394c1fb6c21b8f9538",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3243eca89be301f4e1bf22fc7d97808561481501d53534d6554ae7205306b646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09e03b7aa0ad2f2eab75f76f2c7c8ad04a3accc3098a83a65be3321781d1ea69",
      "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 124 changed as sent

message 133 changed as sent

message 137 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.211, 0.6605, -0.1619, -0.6102, -0.4728, 0.9966, 0.4858, 2.0174, 1.0306, 0.3534, 0.2337, 0.1219, 0.9998]\nstate[eef_state]: left_x=0.3432 left_y=-0.0451 left_z=0.1418 left_yaw=0.2999 left_pitch=-0.0034 left_roll=0.0008 left_gripper=0.9966 right_x=0.4722 right_y=0.2071 right_z=0.0357 right_yaw=0.2101 right_pitch=-0.0452 right_roll=-0.017 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.0274, 6.3248, 1.5263, -0.3101, -0.0122, -0.0073, -0.8821, -9.4701, 8.1983, 1.8339, 0.1734, 0.1001, -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]: [-0.4381, 1.2118, 0.6605, -0.1616, -0.6102, -0.4728, 0.9966, 0.4782, 1.7718, 1.3289, -0.1226, 0.207, 0.0994, 0.5859]\nstate[eef_state]: left_x=0.3433 left_y=-0.0451 left_z=0.1416 left_yaw=0.2999 left_pitch=-0.0037 left_roll=0.0011 left_gripper=0.9966 right_x=0.4812 right_y=0.2126 right_z=0.1899 right_yaw=0.2371 right_pitch=0.0165 right_roll=-0.0039 right_gripper=0.5859\nstate[joint_eff]: [-0.2393, -4.2325, 6.4615, 1.6093, -0.2466, -0.0269, -0.0122, -0.4718, -10.7145, 9.6889, 1.8437, 0.1441, 0.1929, -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]: [-0.4381, 1.2118, 0.6605, -0.1612, -0.6102, -0.4728, 0.9966, 0.4767, 1.9984, 1.0531, 0.3527, 0.2073, 0.0986, 0.4512]\nstate[eef_state]: left_x=0.3434 left_y=-0.0451 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.0034 left_roll=0.0008 left_gripper=0.9966 right_x=0.4799 right_y=0.2109 right_z=0.0532 right_yaw=0.2357 right_pitch=-0.0098 right_roll=-0.0112 right_gripper=0.4512\nstate[joint_eff]: [-0.253, -4.1915, 6.6393, 1.5751, -0.3004, -0.0464, -0.0073, -0.0752, -7.2684, 4.8205, 1.536, -0.0415, 0.0073, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2cc107d3016f15b4f763850c7a0b3c8834f005542c5ce394c1fb6c21b8f9538",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3243eca89be301f4e1bf22fc7d97808561481501d53534d6554ae7205306b646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09e03b7aa0ad2f2eab75f76f2c7c8ad04a3accc3098a83a65be3321781d1ea69",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0514bc374d65cb91016ab45210c11487d08e9da78c5c9719a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.22},\"note\":\"At 5 cm height the wrist view now shows both jaws snug against the centered bottle body at 0.451 spacing. I’ll lift high enough to pivot the bottle upright around its base.\"}",
  "call_id": "call_RcArntsEvuVvZYsdqyih2swm",
  "id": "fc_0514bc374d65cb91016ab4521102e087d08eda9ff857b6d6c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RcArntsEvuVvZYsdqyih2swm",
  "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]: [-0.4381, 1.2118, 0.6605, -0.1612, -0.6102, -0.4728, 0.9966, 0.4774, 1.7954, 1.3888, -0.242, 0.197, 0.091, 0.4511]\nstate[eef_state]: left_x=0.3434 left_y=-0.0451 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.0034 left_roll=0.0008 left_gripper=0.9966 right_x=0.4775 right_y=0.2121 right_z=0.1807 right_yaw=0.2487 right_pitch=-0.0658 right_roll=-0.0247 right_gripper=0.4511\nstate[joint_eff]: [-0.2393, -4.1641, 6.3521, 1.6093, -0.2564, -0.0366, -0.0073, -0.5812, -12.6291, 9.7709, 1.9805, 0.1392, 0.1245, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df7b176d55f9f725fd2f49495d98513a680b7fb9d2bcb209c618021ecd05a4f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eef0b24c6d5cf5fe466280474390de2b63212f5dab5a780c367ccc902ecffda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e9b9344222a93d11666746df4d2249a5a20d2002ba564cae513c44b861e74ea",
      "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 129 changed as sent

message 137 changed as sent

message 141 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.211, 0.6605, -0.1616, -0.6102, -0.4728, 0.9966, 0.4767, 2.0254, 1.0569, 0.3416, 0.2226, 0.1188, 0.586]\nstate[eef_state]: left_x=0.3433 left_y=-0.0451 left_z=0.1418 left_yaw=0.2999 left_pitch=-0.0031 left_roll=0.0006 left_gripper=0.9966 right_x=0.4788 right_y=0.2074 right_z=0.0392 right_yaw=0.2119 right_pitch=-0.0407 right_roll=-0.0115 right_gripper=0.586\nstate[joint_eff]: [-0.0752, -4.1641, 6.3658, 1.6044, -0.2906, -0.0464, -0.0073, -0.7043, -9.7709, 8.0342, 1.9463, 0.1832, 0.1148, 0.2271]",
      "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]: [-0.4381, 1.2118, 0.6605, -0.1612, -0.6102, -0.4728, 0.9966, 0.4767, 1.9984, 1.0531, 0.3527, 0.2073, 0.0986, 0.4512]\nstate[eef_state]: left_x=0.3434 left_y=-0.0451 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.0034 left_roll=0.0008 left_gripper=0.9966 right_x=0.4799 right_y=0.2109 right_z=0.0532 right_yaw=0.2357 right_pitch=-0.0098 right_roll=-0.0112 right_gripper=0.4512\nstate[joint_eff]: [-0.253, -4.1915, 6.6393, 1.5751, -0.3004, -0.0464, -0.0073, -0.0752, -7.2684, 4.8205, 1.536, -0.0415, 0.0073, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.2118, 0.6605, -0.1612, -0.6102, -0.4728, 0.9966, 0.4774, 1.7954, 1.3888, -0.242, 0.197, 0.091, 0.4511]\nstate[eef_state]: left_x=0.3434 left_y=-0.0451 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.0034 left_roll=0.0008 left_gripper=0.9966 right_x=0.4775 right_y=0.2121 right_z=0.1807 right_yaw=0.2487 right_pitch=-0.0658 right_roll=-0.0247 right_gripper=0.4511\nstate[joint_eff]: [-0.2393, -4.1641, 6.3521, 1.6093, -0.2564, -0.0366, -0.0073, -0.5812, -12.6291, 9.7709, 1.9805, 0.1392, 0.1245, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df7b176d55f9f725fd2f49495d98513a680b7fb9d2bcb209c618021ecd05a4f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eef0b24c6d5cf5fe466280474390de2b63212f5dab5a780c367ccc902ecffda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e9b9344222a93d11666746df4d2249a5a20d2002ba564cae513c44b861e74ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFIcLVyxve-nWHbT9zofB6ATXk8BhKM8BA_tZkEoEBnRQbh0UfuvsiMRMQfJmTa47GlJ7AOc_5Bw-pIRjTrAQ2Jgt_o2qOq5Q0EawJircrn9qYAktnSiyM7M-EZMiDcyJyFt_B-q0PNcHGnjk_upCpuuCUcDGvG7CI1ECvirKdXe9sQ4E-a0AmvHEgh6kZMPxsc-C2-LzQiwK1uS77imkDeJ2qmeJtF5Db1L9y7kLkDiHl2f0ZLJdhuDxNRkHFWskWUOaNbCeTbjaj1WC416wxGZUuYaSpkm2Q74yCitegHZ0pKKYvRJUf9HmBVIkB2MkCVN0b_2vD2CEIHzCuP4vkhEORPoWa9SGuqZ7qJSDpX2E0EEnj9090IVtqkFRBQjhs3aCXHLPiDLJwNPehuHdi263ZW04gOPkTZgvKOKzvxuOnsIxGS1hObw_Ze2RhiB1R6IUTfwjk8gaCmI8g6gw0dgn32MucU-oYvnoRKS-NWmUjvqMYMdWmghOky5kFmaELJ-GG2qcbjcm5UK-1Vgbrp6vWEheh_4bXnPAo2N4awLihK-I8pDxDf0EPwCpPsqD_OEjYsKXNA9sNpkYvg8hFcw6yTA2blAl9jXvjR2fYbHddIK_KLYDGELkQmVugk_hQyE0iOWgcOIQqB-N4YxpVFBH2zXzxTOf36SVUwHkU2Vg89njjeMXclSIy02d-oGP6LmRI_CeScglU0WN3ezZu9DQP5XXRixz62szz5aNhqNnj2mXhszo9n28Y1ZulaWwcea7UDpkLe8pesNIJKcjQBDrfTMFUYoHEq4xa-nfeh_J4ABKWpb9ALTQbNNjWt53JilF67hyELTcv1xEpmf0rrBTe6cVtjL58AjxykuvvoCMIm6Vqlm9zQQDWs__sCexCyZRcdUAZGYOq4FsbMxBc6L1czKm2VxrseMopssbvHSHLkbpDW4_8myoPxKhvR0G-bNyNGXHh3-YRxxj6O3u69eVgnghBLWlvL_rEw_KPeERj2woC40lKzyWkjD377tggXaFdXPrAln4TlwxziXBYbzv6ZqdsahttudvRDLlWj2q3UZTqPwZiQaQoRSx7FlcniaxYZP5iMZId1LeBLXZHEsLgc-TWlmyoBa2ynSwSl4snzU_L_7P3IJZ9_jQcSYdtp2MTpJ2JvLu0PoFudRr_K9BhYMy0K2S6QSVaKLwxJoDq6T0vdy46D2uIhT6RiGDStVIT3ik7TqleHuZj2nNz41TkCQGFCxBY4Bher2mUd1xQZDluK-EYGf7GiMc-yjVv2emCHncxTYc1u5lP4Hn84KQmYe5tWDa66qncECF-XO8bBDRy6zweKANFbXb3eX1VcHZSAH2t4XqoOL7n9A-MbpXa_bO2XD3zDKFx8fmLANHFRyZC_SRdS_ui_fokQ7IA6DpoAgFF7jSr3wY3oFgx8DqHjxS2EzubQBn8kY0ydvv2paCUtBiWHrEAE528xyOPXrB5wfygWY67uBGsCDBR4O7IUNAaXdE1GkewjC2xIIFVjySZDSRmKmHlPYT7l3A1wT3s1tWcg96ZCFnGXsEI6el-qFuRTpR8h-uIt2yDMHw7AuY_3CCk3vfDR--dPhMC-3MDQm0-UQSXlpwXQ0Igjj1Ih0-b_J5h9zTTBDp2pIQEYJWqs88-j9PBUsVCsBS8C0j7_S8EIlgz9_ZfdKpQznyPLSi79vd3XuylvQsTroF8WEO5dADai0PplH9Ul5VsNOas0Xhdo60bsPHyuxSlbYHq0RGYDenzWbvsOpXIVRsbEOB0zXCg5wxbLga9Jlt5OyRtIdmSff551mHqIIyZKsFeg1IWHE7G8AfDf0PbIKKRRzitrPjiDM0h9_dcNJULKRxGore0H95PK3ly8b6g5cCoRd6tDkTzDn19l70GBu3rNV2iVZ7o1w8yAESSX6lVPgedahQmmgNFto_ztU1R4ZYyxk0o9UqEGn-k8gZNkszBd_2LHT4UmBtNR6bI3wbpatgyDx3w7o74L1u7ZaFE6Q2kJqNOIb2GqSk4TOCA43nt-3swsw5pjKFVjxFahx3DJ3olMSSuVDosqwsEm9xe-mJUdsPGdn6aF-OdKwodfMr3X254MmKscylPMNobRAQm5_q4Zi0bDYmOneb8ogXhp1DMCbioXMJvXZy-SQHZSjeHvh1dkL5e0zGzHLSALxPET7bTRu_ZqCVkgz_6oDqkBWW-HdRj1unZjZAHXFnMYV_1VEc6XBe4gfwLJ8jgXTvQyuoYyjpkDi6kxp14Vm3f5Hx_ZOANYh4O3IlVAq74dv7coo2ww4UkeqMeuvN2Yjc08KvScRt_rO_42hk8yIR73lD6zLrsluw3H4OBKo0dkXSiQ9VREB8YozF_QcXVhpoZysuRpzFFoPNg6extFdbdF8rcR1CX32ppdkIxKNyQudGx9PLMhTmJJVivb-IPa95tV5dW7334pbNRiM1d7jyKe9-TfDi-r7-BoDyGoTTbDHIZvkPSa8Dpu_iLAbvsTdQqZ0ZYb6ObMtqdpw4TVH9f5ec7BdUESozeNlth0pAvqcOr3wf3lGsGIUe9HmBv8wiaj8EOt6DLSadhDt750fdZWeaKjOEqi7wuV2QBb7Tp8hrApK8pVjyJkgNzNn4eB-dWw_IO_MBAiJ695Si7dDJAHRuvgF-zQN8DKpG6004AMpN7nawOuPvfJjEfQeXvVzvg8eghaltbKDn6CHEs-4lcOCG6JCaliK5ZkrC0GyIm3KNCG4bf8J1gik-WWLV8-F6kdO1wLZXI8VkpZjd0khaj6Fe0HTKFaOni95T4tmTeelr7uhAyglwV76myHeUUirgB1gDcJRq1qpipC3Tit7o4J4K5qLbGlJp7H8F0o1a4M-AtHLo9UR_gv27GJcRgQ9Z6dCHDipTobs3gMoO9dcuo_FfwLf012ksuehyQWqARJfuM2evTvWcBnxYjgnMSe2Z2n1dGdIY1aqUt2iLthRJzQ5pNALJqLm74NSfoPZgSLFRN-p_533WKnXVcSG0CC3SCWo4kZS9A8ZvaKiXhJYUIoqy1J8bbKEI4f6Ta3BDJrIkFH87M8rHxY5Jpa4-fV7U_0OkceSzmYbA689L00vTzg8nWx4DP7aSI9rFqmlkHpMDxl5l1Gi1lNTZAEh-XQCk6lmAFSWVAS6V9-t0ZW90aFi_Myi-iqdyYU7zDw6sC6zWfOtAM6PIKjM4uL_rGkwUVAQ-0wCpOohDqgDzTnlOK-mxWnDlNOjGK2jBzWb3UN4yyQBlhMz3LzPssbeXcs5-EK9X44Hqg5bZDSnISDTkDG48cPhng6t9HiuS7PpRq4itRZHZIIfAoqTCUGFtPNjxOdgcjgxU8IvVzeP-XVuUOEHmpdlTwQSTruAhbkMVtv8PS4t3duhyQdnWPxsPrW2lI2XdjdBsCsHJNrof6lWGEtF004a5xejCGvczjsONZ8tfFO0rRREV1KC3FUDOSN5SqQZ-2AXzedsBFIesZYRCvpRz-c836VRNannIf4z-dnKEbzP0eD0_210_7YMKEGDAVKqFgis2vyOScnu7SkR-M8-OTjwfcf4RCeEz38p6rKpMwle_HAmFRgjcK_0Hphg4f3-4wroJRHLBObX5iP23Zr83UTfAgjCrjHsBtFRloDYyfS4Cw_3jtdJCpKcXz93wDizzqUiYrNxj8ctKS4NHqxduD7PmYYKDxjBNy8uBV8KE3-KjXk6g9WybMN7AUW28K2ZNcBwKhxWBGpKGaRDk5FjWlJN4talwZJv1aRnwF6YCkSfYs_2K0fZ7QrtFnRwlcSJ88-DG8lMfAgvZXBf4VgrbARhbpQfnHm1-kE35tUpxxYHMyyzUXDQnuxDzAo537EG9E2wqfvzGWmDPNoHmlgWNkPYnptaKJ3nCqo0j2Rr-OkpmTS2usnJJ5ehFDHwkE8TtQW3r-2eFPEpcNtc22HB0Hi2GB44FDPeZkaYHHX0vrepMolEX25TzAmDARroXnVRtPSOP_td1P3QANzBHfVuVGrc-lq_lKDawU8cQeWH3-kffUBbFArd9HsCnE_X_bS5PUNPdiyPnarB5H4KWHUg-ccSLpFayQ4i-vs4QdegclZ3V_RK6QjhSOyH7W4rrhu_iOPtUlsbj1qtk8x80TNElN5YUr9ARcrK5ffqOsmUmNd4qdOUT0bVOueLambtiI4C9JBNaMmbYNpA7nlkOnQ2OGu30TSULBXSg0-PIW94YchTwWrBh2nVhXScQy6fLYcw",
  "id": "rs_0514bc374d65cb91016ab45214bb1087d0995d6767830108dc",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFIcFxSRPQVh2rT8DRpunnuP4WRBwMHBqz_qtWAQ42wfeYFcC876AdyCHxfS1LVZG_uh8v12HWdFYIu7JujLDiMt8eRZXbIfdIYW_-9wwj-9rD3ckCJPKnBTGlzMm6HIJa8f9PhHNvtliaGGu0uvfsCzxoVuCqtc4w__1ZxV4QaZA85R6P0IcHhjRZDlC_b46lJo5QJ6H8CUgh7dY1ERfT7RTjQ3aPmNJl-Ty-BHYGjXFYNlQ5IJdiVQhJc8ZSUooR60p5ts72xEQz-B0-UYZ99gi2F68SyEqavrYqcR_SAKQ1foxq7Ztczqo_qiaeDkqNkpYaGE2NNb6TFo6kHEqd7NxiJnRJ5BxVoqXB-FKmKzGtLz_7rcZ9sxlwrSgYgNqmw3HEHo5fNWWzxcKZmW2BQZhD1xClAKBEldao_jUCXGSiMFEq_HkBZ4LtuADvKDPf7dmyZLKNThwQ3r4QauX2hykcul9965E4ZhLPUSDQ6ltNLKEPbII5NWAxdth05wskLaYlO4FcYCHLqf8wsLjBkqlGigDUFqZ3kSDAwFLdldTUASrCaF05o1LrnDhGZmPc0xnAp3fZfZ8LAxO1Z1nbaLjUpJzRsWblwnUM9lfW_yQFgGB96FwZU6SJTmzXLMdIdB2QwlY2LLmPb5vGnhzlNUVZOq38iXc1ZEJq53XRpfH-7eyx8Ds0engh7JXHQQCJDqr4xJKSHGhStF1lxLI2HJ94grLb-8mZjVxiQBQ1T9qy312wwVFtg-MnP4MuRp-W_0pV_1QWxo47m5p_frkLbN3UcpNKp13BDa0YBTl1-ORZNczkutUc0LjwKtbv06p2EWdIGRosvQGvTXV2fROQYQgy7L7f6E19rCn8PwE1rvro2XS7ydHgAek7I5HTdQSQMNFtbPqbGJlHN6fycJbJF8tSgZYgn9LHMRzLJuc192CgXhbiZSkiWwILcUxIsfh0xmBPaF9SRh-XRQGsGEoDLywSiRoGvP19hu2FbJ8r9YEMyqFFs5sdac-MsaAKlgN3ppe3d35LUdEA5T7Lz3OC5e-IitnnAFJZrWjP9AKOubSnM-70WVph63SQ_eh2lCjSrS_0VZL-hXAdKFd91OhixlpbqlhDKwttYX9tloSmGK69TFm3BxWEb6mnu3lMjXX6K6hzpIfVXf0mCYJN0Wdy38BTA-ibbLRPQOJor0PKs52xQt0gnH6RZHBNME2Ia_5ukeSarszHLgGMCHyz8gsNp6z_6Jjee1ptpjSdx78HDqT54qlGN585YNNNqXM7FN-c0NE17GkhhttRi3CrjFDHezn971jNhLbdU5SbipNTYbPb4Okco7m5CtRpvGQ8b22aaZkQmBYFZisE72rZCd2Bk_aDINk-RD2UZ0UPc7tTv2z_HQJHMpfLwGDRG9m_O0fGyFKqJ2W28oJOn2oDu00cO8U7STBBZQ4yImJcJllgnXvio_GpiM6owlTPx7277l1fN1pW0OugsFQ5myeh3xidR2vEpvaZRLCuU1qlgTNjygI_Ab1UHQ5JWlmNmKZfc91hKHz0vfPfn6q0eJuA7X0DXErZXTzobLQSXoBAlDk4hDGhB4xArz3KhoZy2btqd3Ls31hDZg_PhTowjAR-eZl36hoA==",
  "id": "rs_0514bc374d65cb91016ab4521a251487d0818dfa4820079997",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_z\":0.25,\"right_gripper\":1.0},\"note\":\"The target bottle is now occluded beneath the elevated right gripper while the other two remain visible, indicating it moved with the jaws. I’ll release at this bottle-height pose and retract upward/inward to reveal whether it is standing.\"}",
  "call_id": "call_n1doGDSlgN5XbdFkDQMm5Zvu",
  "id": "fc_0514bc374d65cb91016ab4521b023087d09f6dfcbb13a6878d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n1doGDSlgN5XbdFkDQMm5Zvu",
  "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]: [-0.4381, 1.2118, 0.6605, -0.1608, -0.6102, -0.4728, 0.9966, 0.659, 1.4139, 1.1919, -0.3923, 0.3183, 0.1833, 0.9968]\nstate[eef_state]: left_x=0.3434 left_y=-0.0451 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.0031 left_roll=0.0006 left_gripper=0.9966 right_x=0.368 right_y=0.2196 right_z=0.2404 right_yaw=0.2803 right_pitch=-0.0108 right_roll=-0.0069 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -4.1504, 6.4889, 1.6484, -0.2662, -0.0269, -0.0073, 0.2256, -7.9111, 6.9675, 1.7949, 0.3443, 0.2369, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec954b3500ef9987712879a55f8b68e6e4c2b9d3e9214dbd8c30a6938f02ca1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2325480d9277f63f9430597d11af4edc3765d323ded0e24c79ba01fbf5cf3ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759e967b3a419c02b014adbfe3af4ed65b16691e0e0743fa6328eb4516bc45ea",
      "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 133 changed as sent

message 141 changed as sent

message 146 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.2118, 0.6605, -0.1616, -0.6102, -0.4728, 0.9966, 0.4782, 1.7718, 1.3289, -0.1226, 0.207, 0.0994, 0.5859]\nstate[eef_state]: left_x=0.3433 left_y=-0.0451 left_z=0.1416 left_yaw=0.2999 left_pitch=-0.0037 left_roll=0.0011 left_gripper=0.9966 right_x=0.4812 right_y=0.2126 right_z=0.1899 right_yaw=0.2371 right_pitch=0.0165 right_roll=-0.0039 right_gripper=0.5859\nstate[joint_eff]: [-0.2393, -4.2325, 6.4615, 1.6093, -0.2466, -0.0269, -0.0122, -0.4718, -10.7145, 9.6889, 1.8437, 0.1441, 0.1929, -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]: [-0.4381, 1.2118, 0.6605, -0.1612, -0.6102, -0.4728, 0.9966, 0.4774, 1.7954, 1.3888, -0.242, 0.197, 0.091, 0.4511]\nstate[eef_state]: left_x=0.3434 left_y=-0.0451 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.0034 left_roll=0.0008 left_gripper=0.9966 right_x=0.4775 right_y=0.2121 right_z=0.1807 right_yaw=0.2487 right_pitch=-0.0658 right_roll=-0.0247 right_gripper=0.4511\nstate[joint_eff]: [-0.2393, -4.1641, 6.3521, 1.6093, -0.2564, -0.0366, -0.0073, -0.5812, -12.6291, 9.7709, 1.9805, 0.1392, 0.1245, -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]: [-0.4381, 1.2118, 0.6605, -0.1608, -0.6102, -0.4728, 0.9966, 0.659, 1.4139, 1.1919, -0.3923, 0.3183, 0.1833, 0.9968]\nstate[eef_state]: left_x=0.3434 left_y=-0.0451 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.0031 left_roll=0.0006 left_gripper=0.9966 right_x=0.368 right_y=0.2196 right_z=0.2404 right_yaw=0.2803 right_pitch=-0.0108 right_roll=-0.0069 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -4.1504, 6.4889, 1.6484, -0.2662, -0.0269, -0.0073, 0.2256, -7.9111, 6.9675, 1.7949, 0.3443, 0.2369, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec954b3500ef9987712879a55f8b68e6e4c2b9d3e9214dbd8c30a6938f02ca1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2325480d9277f63f9430597d11af4edc3765d323ded0e24c79ba01fbf5cf3ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759e967b3a419c02b014adbfe3af4ed65b16691e0e0743fa6328eb4516bc45ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFIleWw7SPOZ1coIZgeYMa03VkDPt3warGx3V8fMO1tHyV6sP4R6On8FCfSPaGY17KFR765Z2Ffwh1-Hgk8zzYnkiGFybr5y5gHfX-5FwW8PGGJGlxRR-ninIuaz2vNI4uuswrHPh0I5tbO_JRNMFC9K2V64fo6jz22cTSZh_gLuQDw-hRo4s9ktG2-qYByQTMlDDMG3OQWpb8p_Q6hN1WEBirXtJV9_uwom0f4t8mSvXa5OdbwCfEEegt7hIYMPNgswnZCQB8pQqRylvl3RT7iD5iZ9u8bpKPNlZcbPpeYyZ3U8RD4j0K_Ek5kuwRR6y8P-RMQsK1wok9Drh5VzqSC8hrv0l9GMVFLREQfS_p6lQr5HTk0AF1HHSxu3TCwrcnwWISzyZ7U2tH7oWDOVKyHIlssTptMgNhOJELjKAUrJnX2Zas3F_KobWbtFltmj4j0WVDd4bplYbgtbXBhVemBKVxZSPikEZAz-gXlEU4lu_IXfb28Imy6mADT7i6dyyizhM-rasS9lAThgAsIhirceMDX2bU4zBCFSFy8fPbX1FxRDJdnU1rot8HhR4d8lbWaUuHHL-R4jpvum8apD13-bRCrix1WYrZsIptA72yiWWr3yE1Y9--GtYaZYZiE-ybPrX6nUzF2DUisFwwGg8CojofqL0z9Nk6LqxTL68Nt8WM8jR2wqnepqtR_QBH-so3e-Ztj4cJsS6s8CIiR7Hm3rjHn897oZjDO5rx35ogCZ6dYFdyKgrO-ou-ZG_DjN-PUwu5p11_SyEuxl1DAQI525l0YyVfGS51ZqbOzq5J36jMF6PzB9N0nFql8TMRg2-iyIdg15CKZ5mUuB7oGkPczWHOQqkWoBi2lumVIRx8wPxV-2l41Q1anUH9-sNCH2vY7wYIsnZ3EsCx-Rh2Rv_DTn1iRPOnnB2qrMNxqFuMB0drxOdZQMV85M79kJ-b6Vul4VPAaKLvPXRyU7vFoFBRoForxISFjJI-ivh4NHPloj3BR9Wfk8qKqUr8_ZM1De-tVwmHKRkEEzQMg9EomczNFqGJnacM7cTHni6mUJhTHsdtpCCztF33KTm11ZQpTcMmqXN1rr2H21Ooop98wrXTKCanTnOSJSRkLrAB7R4k6dCQOT7t3GN5IK8eFEErBwzzUbWpbT6h5KKo4kS-vMyCBynSFhFkrD8EM_RD_y0aBFCDaIq_NLUjIgU-LzRmuicKvutQaUBOODDldaWviP_s3f7465usAlsVgx1aO3FphMxebf0duHbaayH3ippllTrT7e7JNcLviGyQh_ml7SGp_wgS0kQuQj60FtZ58tFoSVL13XBtByRFVgdUv14ymKdBhJf4XnVQimcFZHsQ11maIhFipRl_BRJd7yXmM-Ft1iaJScDu9h3Ugx_I6B5SHREcHxirYeejnnjuBvtJZIr0w-F56nBIfFq9MwtnTDFhXnp4C8HYEuU2_dlViy1Q1PrupIvNsTHxRW-e-SiNvebGRwfeVrjewy7DWP8dzGesR5dbu3Cm0Zos3UTdY1SOJHOBAXDIj1hzv3hbigWzUAX14hVTPH_nLF7sQXbjEIV1eHu5Uhjx9FJyglLSpFt6BpCyAHX8TGNj-JCUkPb0TAPCYh2JfWw9ipce8r_xkaxxcHkNunlr-fwhQ1KlAaQzZy3Xepo5cXpJt9-ean3d1zlCTyrwf26GXRqhQIeza3hbQM3yGhuzXCT1JEMC8wplPBlb0mwNwQPSTMdveWf1a1Bvjag1d6Llfwy_3EArEVTQLf_9AT6yUFf9r_RzazsNcls8vuiSiqKDowczs3Kw3TL1d7PNPnaeQXwjHJdqSL9ia2n0AfqVB4RKWqHhOE433-0dvS_BeQPvWKMF_fFLNsYlt318SQLKIMkI6KRPh4JmGPHIgKHif6wbNnPhFN9SM7-ei0oWS37AzgEMdnqIiyOYIiHJSpWxgnrOk7p0ctJZdYl-O_v2utpBj62Xf8qe6db0CqqkSEpW0jweKOgUQSgUcXgODqBRLXh5JcpQ8eOAPfmrI6b8e8nioWgpWPRMT3V_yFNlckAO7qrOnT0NQGb2xpO_d1Gg_xZh0U8Nvn2IODdAa2gWnkGDNsgdjjbxse2nx_OtlYCW0om07LANsxHNjXXqN8syGL7WZgLcV4oCrPj7jhnmFFbfbAYCn6Ye54Z2D_oIEWWhfEZG3-blzOEJefDohGLebXuZA6XtROLM9YWao1cBs09wyaxN-1CNF1oLckyRN592sHW7nziU0HcLftttL_YWiXuqmKlA7OIUYJppWVNtwfFPZ3urZr7l_VQ-2V94dGn87G5v8joqCjmRC318EjAZjdv0pdWPFjJCgmX-7ujJ5ZdVo9_ZlmJOF9bXI3cVg-FleODpUJsxh8ruzhYKmT5R09xv365D0Vx_wwFuBMY4Z3R5eAmL9jGSnEftk4u8R2O0agA9ocBQ4grrRHXFk4dAOuywzbrz95ZY8Syar1GNfgZIUqbjDlGP_fJ3Ky6efNQNxx6B_vvEnhEwBbcPh1khcJ2tBVT9_pMNlJylKFrhJJnrKHGYsb89_5Ry989B744EVmziVuLBttayp5905A65eHSA4ajTZmNM2znkYz6dnfPhWgR9JPhUPzVlF3avTmdIShvEpSYy1i7zQaqfoMdeG42seRnmKznb-DVqzJM3xvhiTBZ6mu4Sx35xzQXTT5xdIDHRvz-uLZ3Fc9AmE-Tf37OXqhnNjOnf9WXCrbEUGcFHyqHrmr_WivS5YLYEgcd1nye-BsS4FweI923V8jjkfJ__5Zz9eTlDYY-VIJpjkg2gEwFF7CIJ-wL1yJ76uhUY2pM76YK_XO68GG35tOvFHcs4iTIEO20veHDXVHfhPnzbQohqTThVRj37dHienIPy9-hT5BTdfqFCgQL77Wj9rjcrjT48015RrSIC11wX1ZzZ7XEpVnK13IuSOPDYEI7p7Nc55udeFrVOb9Yu6zK-JIHzvwLIH6IrS_RZHJDdsyw0rzMtpXjr6rNCMe7T6ioP6na8S0g4unjId4mn7pb0lsASkf2pUsLLi3QSrW7Z8Smpn1bmIeMaqxUrStFoHb4QxxrahQ3nH9lM_1oQjgKPRc2y16O2cc8a8dCO91mf-jBoCxheJlr0tJVwtSAltrgaIAGKnq66f0byr9urSBXzDM0ZUtuI2-tLslb31QM8rGSEqIBp1afurQRbP3MDFvTBjjUCpXWNYSOdSDbRNTCS1DXcWFzGK1fNJV9wWQZ6DRL9PSlWLiTVfBqp9cpl3OrIbkumIHuHsfqvO8JVvP3X5erx6sgPNfhw-NWz42VE0V4hh-_uo2RzakoicrUBdLeWTRnW8boTWzmf7ctSEplWCgsdawcIVDdXhjdzqWPVjJtqBM5cke1qvvtV29QNX7o6aJg27V2NxLqGZCT_8mOJXUGTIlCS8inJpQi-ARE5C21hZbL5HH8qpBGKUL_85XU7aS51FS6Z2kM1XChhW19kCHK7hXO2Pb02BkbWLJG5Q_f5YsFAkpvjgu-jEytO9YnV3-arY4P6sERRuEjJuVHcYaSPJpW2TZNpsXONZ-rULOEQFqi855BTPgzRHPc0rHT8uwB2WRgVq7VQvdn1hkctSN1DXbD2m4aV_nH9lXe2Z33fSixW7XtitJt67xqdb-qr-H5xHQrttQOZWIFTxhVTgG7C0xBUwnIPTWdXY2outjvxIXZTNzHnO49SbphNp-4PJY-ZdiCyfvYxNWF7rrcIB2YTEj2_VmPdUp20PFNTWMQoyEvfeWCQvldvFLUr7TlYcJPaRpdzjgF0yjmpUcKlD3kkKM9Ycf2oRO59g3lUfGQp7eeUeTi1uDmeIZf8qkjUcXwsl2biKW9mb33ZskZ_hrk3o3-4AndrZD-llzErafginxVtSrPjXx4hk4mFutinbFoxlfmFOlt_D7m6tWVeqH1RLlDf_15TV2L_6kCecVlhMZlH9oW_FupYMyON8r4JeF2TdCzyW9Z8112i9vaAHjm4Eyg384beZsibAwNwUtbAKdnOC9UBkJi-bLf2INSsFWQ-wHf4jg7ftAQmwasWzZfFc1HCOKcPVzgV19Bq-M9wwPN-i_n9nn19HH3R2AW69cFJG5IqeLqHNoSHYmUQzdM8pDMIGigRyAEuYONdxxN288eN_oEdEuZ5IbaSaI2_7Zl01JX2ru8KWaeNhtUj7sx_cjRdQ-rP0XJNB2eDBL0bLa2PV-owG1JSZinh-1C8UNxaSpB2cB1LAVZqdJB4aeByvQ5a9sTIpG1U4=",
  "id": "rs_0514bc374d65cb91016ab4521eab6887d0be5ee6504685546e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFIlbxpz-Ui7ooHVtEDjfuiDfuhmlc0cR1NhsCBR0qFZBgsoTnqLbVg094UvwTAw0_wWEvNyVf3yhVCZzxPA16iyKhXLZzrkdDp1NvCa9fkrwJDq8TSPxrqLNecJQeK1_qm9wnWTxWl6fMOul6lUpDFwmBieS8ryHkBAi0bUdBqZcMdyQQCMMMwHklAL2YgiPyApFlDlRCZCyhD1ZK0kmsbcD36WnEpFOJkX8pPQTWh2XhcmHMOzX4GLtHN4hm__N9tygSf6UP4JdTP6Yv-NVqIFKul7Yy7pREsI5oRkmpltWg9WhTrtQRrglbrlQM67fmShfctgRWGXiomCkS3RcdzxNQZciBn_iHDafj0bBI-4r6htj588dW7b3QRprSIpyzCCg07V0YZPwjie5wXs1G6h0l7qlQJBlQqXjAjLit6hv-IAMfVEmvggKz-SvSlr89kOE57JzWykXL2m2ZkjB7YcmAT5hUVN2FNTpZZFih_w_wGOz5mq7OPDhnK9YZPERRMyDua9M95T1YIj4vbuScmttYjWKZmN2Sz9Y4dcPZ-GACVAwJ53tnwaoKqfqOZ1pbnm1UmxaV4AHh_trWlQqYe8O5sKdFuxpDK_i58bazGF3Jq7rCJ1z3dXGfI7fvSaMRX8Z3LIxDJboXXq8c4Z5UuF3R_hP0_F4KsklJrTmx32161ENBnTDrF3_P9HZaDaAtWfsN66SWjRv9J0HJGvcQZfQ9-dlyr7KE1EGbwLmOiJyiuaveu_0VD86p9iRy7ff9pSP3DcMK0B468vCRhhwajEedeUXWZgAXQuhn1K7ywxr8MqbVaPgrI8S60C985dVIK70BJm998Vi6sKaYyz5-0rQlq-aShfbrP8jt9cFcJDEajPWLTkYyxxHL5RnwBZw8y4bk1ufwdqbAGCOLaa5kFPvJD6qp4zMBLiTdoi6E_hEvocKUx5Zm9ucSQQP9ivr0gVKYm_XAMhxgQ56qRhfPRtr_gBa2YGX1QLHNVOUDZBfav-V4srlr7SSZi1tr2oKMW1A98-VKyAqCUKBbFgOr3kvxogTkmIHE9WVbTl1rJJE-kuE3ldIF4Ph9UJk6GHhFytD4VkVGks5tTEHqr3XdPQLNNRzkHwIn7spW62_5ILvKd58q4hTQ7lwzlaHkly1ME7gIowyQV8yo0ulhgYqJPRXle52ubwf8l9RF2iaYgolD9N0h-qmyzkpRgTmtI_70K3X1uKwMPr4ARGt2QNfUkq2icVlG4Luy5b-td4qb3YeJDP2O9G4Hl3hP3NdxdZusj7zT2FSxkutY54H3zg5YBM2Tr2vJyE32aMbSWiP1coLjR9d8rbDHBV16BqBaq6RwqD",
  "id": "rs_0514bc374d65cb91016ab4522443bc87d08f2dce4afdd74974",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.21,\"right_z\":0.04,\"right_gripper\":1.0},\"note\":\"The bottle remained lying, confirming the partial closure never secured it; its neck is also beyond comfortable table-level reach. I’ll lower from a folded pose, grasp the reachable body firmly, and use that grasp to pull the bottle inward before attempting the neck.\"}",
  "call_id": "call_bLgCmJmUuo3E5x1rd2p7CzXP",
  "id": "fc_0514bc374d65cb91016ab452248adc87d081d029c42d0fb1ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bLgCmJmUuo3E5x1rd2p7CzXP",
  "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]: [-0.4381, 1.2118, 0.6605, -0.1608, -0.6102, -0.4728, 0.9966, 0.7406, 1.6009, 0.4828, 0.416, 0.3664, 0.2279, 0.9997]\nstate[eef_state]: left_x=0.3434 left_y=-0.0451 left_z=0.1417 left_yaw=0.2999 left_pitch=-0.0031 left_roll=0.0006 left_gripper=0.9966 right_x=0.3123 right_y=0.2046 right_z=0.0302 right_yaw=0.297 right_pitch=-0.079 right_roll=-0.0325 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -4.1778, 6.3795, 1.5995, -0.2759, -0.0659, -0.0073, 0.6769, -6.0923, 5.2308, 2.0684, 0.3443, 0.0659, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5323dbece539b724a454c10ecd3db0cd00cd2a8abd8ae5ee0a9bf482d9b63d2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:128e6aff8828275ba092bf4d8d353f2cfb54731b4db5a705bb6add4709c9501c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:104353cdbec364c7e3fd06ceb100c4a30604b9777babda16f28fb71b710ae4de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}