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, 0.7929, 0.6075, -0.3779, -0.0257, -0.0288, 0.9989, -0.017, 0.7887, 0.6037, -0.3836, -0.0147, -0.0208, 0.9989]\nstate[eef_state]: left_x=0.2954 left_y=0.0022 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2939 right_y=0.0012 right_z=0.1805 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.5812, -1.4427, 9.7846, 1.8144, -0.0171, 0.1538, -0.1294, -0.759, -0.9915, 10.2496, 1.8486, -0.1197, 0.0269, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63f39afb5becf5b755241635080054803644e43aa2679cef8cf64451b7349a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5114cde98462fa394db05b3dace6a15a21e6e546fceeb797c3dd8c0da87cbdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dc63b1a637bf8dc7dee7d97b35f3eeba282026bc3608094dbb10c40bf254c93",
      "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

{
  "content": [],
  "encrypted_content": "gAAAAABqtD3iXgfK84NPf7THtP7k0p0sBlP5tRGmgp7iTQN2MYP6Ci6HelhBzz3IoSaRUIlti11xMQGVt_ekoHY6o_M3N6GQFxTXuEM0FmSpCnqo8s_bdNL7JYEajnGmqMujH7NTJVt36YWUK6DWxr2imYtF_SPGIpueVJa4ViYSdRKEYs68avBS3Mpyv9rVT2DyffWomB_jcSSkT3xDS0ETdE2GAFmFZ_WIddWtys_Uzfo11gVT19ZngRjRBfdbdXBGXzq7AyYE26wglPRxdsTQSUmvRqYFY5hUuEFZQ0h3K19kjPrhaBLSzTwJq35gcSU32FpgmiaBZABXiDhMcU_7ZWM7JQwknq_gR8Ebh1iY4M_mC_Bek5ejG_xqOI6v5rb_Xdw2RmTVbuMMSK5jT215gSqzwGb2akllgaVq-x9xUlENSHraSLm9uhyMRB257MF0S8lhjZ4ZCOek2IsCRhn0Ad_BQEcS4ZS7Q3bFpmCmgr1RG11VK4YWUMq9_NoA_PWSSZMUfLMWxWlnv01CK2P2uj3yqqL6tzTz802QOMcJfOQyX171GfcFo9KuOuQY1p8-71cx9gXUdQL0pqtpMGbyKGuwJadAP03gY9ZIyBvrPnuf8i4SNwPNewEjvDZ54rx66_ujIA0tm0MtAccMAcLyXtaO8MZ_Shqa5baHFkk-X0cQC4jnSab32t_ZcKNMKI-bOPB6CFeFhYJuZZoLV3ax0C7d0-9rJxiMUpkk0VPzwgPyP34NKZZDR1nhvAlE8-E1ySHZN7VBL5VRmxvao_Vub-u_dL_lskE-W1h6BBn1yoLdPOY8HwJK9fu4DLxGZ_32oIZvoBKsfiv8zX5lCh9Fuh8_9xiugD1KajWqzc6e-4K-oL-4Q-qJlmJaKf0xDt25IQig3Y6vgu65eQ-W5nsatVv4TKIucnxq7wROD46Y2UWzw_FUB6_iZ6AyO6CmK8ryja9b6EWFeFIY14opoeyCM76-ONehpVXILi0tjKcMs1WBC34jmvpM2D_Kt85sAiItkHlguo5cCp4jo-7XWYn2j2dFdhEz0eiM6xR70e_51DxKvALl6ZyZRZewLsoNK9BMOu01PIQUuBfx7AZN0LGux9a5IZy8tcHBXW4mHmERNhU7KwtJX7z1pWGvpVeJNC1VHYH_kzVGxhlsam5Kac2fIgBZi_rTRMlskRVUJ_cuFof4MW4lE66HUXbwFHqG5R5dk186WhMiGVfiinfjXfO6o5K6dyMoXZASvdTb0BusAuUgjw6SL8uuaLB1GnQfGJjyVfujbr4T3gOv5S_eaWlji4DI_jLnZDm7KyCeS7aLH3Zvr6QNEVwhSk5cGKQDueXTPYg_cCPoy8I4qYfMdfz7gPWHeh_Ch2xqFNmsIE0_HqeU1CDJumgH7NruzAcHHm0xqRh4Cyjripepe8V4ZyCGKGHhqUwHk4D5TxEtzRMT9Gg0KAYiQwITQSJg9U16I4tofFHpy51pv1qdHsX9MvcgKTXBZWJH2hDRxgu4LkZHg2DUxdwjXqz7cVM6XoDPu5mDd2fAC4Kqcq7R-B2CJLuQ-g03FELIgnL6hbOZRVIR7y1UWs0tJqm5NSb6DJlKXyGncpZOibo3K0XtjjjOvoE-LOU8bjE5m0HgjH9NO26yGPhSZuYQ-vL13ct4cAtcv1CPaJ_lY4FVBqA8OVJgpMgGnUgBg8z8f9TLCDF0t8vHbwmdYDeM2O-BGvA0tkWLALqDTPpf-GcOXr9Oi6p_zuE7001F4D1Ud0gpA4NoFbmI3FY_0Q2eBh-tmEKifXaSN1Gc8kN_nWlJlTJiGSzy2CKLuITwcPcoiAT-uQg0SmeZ1oXJWNCDtDByny5gV5YiGjtFiXdjn7M6ks3ALaJrmAiXhJVRDL3hgRcXnIBbeZSSAVxw2fs2FcHPEky-eD1Y3esZlAl-rvEVus03ELWXd815S8J1BtXz0LqBT4Vfv8WaqPKsBnZ9rtyPuLPXjygLZwNVGLwFM2OpRd-k-Z6hWvyN9zggkPt9krtHPKtcTWErN8AyjiKeuIS6UVzisT8RTL910R-u3pnf_jheT2-NwzNrfNQoSXDwEIoLd0UpSssFLQG96aBjwx0T6Tj_xDfqQFCtSir2N1JMidlpdaaxQEbabilk_VW6G_bp5RL_Ea1G-FlQbAqmyYoqVRq5v8C7sv8HWg2qCXtqu33ZlAdV_hIKYGOyP7LXJ_mkDeooW3UA-1tFvY1Wa95QOdmqegDaX0egg1f13BClzzuWQbFTEchCHnXS9xyZrR5GuPju-m6Mqe_uF44o-HRZK1ttzGh6ba7krefleop67OWxP-XFWpe9dDS-NxCvyTts7UiA22ay6SSaXNnDDW50S1wohysIMP4vpZLLQAYS4Ka3ip-oEzzoUEHFcVWqKkWzaB9dfdO5cLuhNZ3xW9zU33pP7tNYyClNyPjjfpzkCeI0OQdh3GvFpFILVJyC3RoKLgDE8EnGhp13olnvlcC8JLEu_Nj8iljln-t3PWJFKg0CRhX6Y5O5d2i4gmctRTW1saghTJRcAYVXUziPLxu8G1ofFZIKhL_UG-W00QT970Osh3PDIU3-LXqg24DzKh64mU9fBSXEwn7AEBAYwJ3CmP1WRDdlFb69r_Ro_zX97FUyl1v7LIsNHyYtNA0j8aw74HmGd3ycV9i_sDJuegyGo9G9Djv_F4uxqcfARqrnod9eSOxyHKf0j4VU3qX7IXjBBKoBZpix8ZqVda3RALSlU5AaP2kC2kSiMFxw8WuIKcCUyZRk79ADqV5N3q9vYKA0zpDowGla3rp-qvE2e_pwM68cO7rPOV4LvY7Wh6Ny3tCW9GR-zLySBDvMooJ-UX0UbUyQQegXC7qWbTL_zrmhFdVX9r19sdNbDEGkIYIXwdA9TeCxgeJmFN_vSr0JJdoX2VSFlO1YehckG58Km_R3DbB_Ycb9WE7QOBYZWS9iw-oRij_yjuu0E2pIi1XERoKBnC4gcXsTVO5N9ruZeBHedanidUaUTLbezxFV1k02fw3zUAAW9kwzbWoQLidUjs9Fq4nRDEw2XbDS8OcxCzazsuuUxL2Q6IQcYM7Gh07a94aEyDizk-kXICsyKCfCCr3YtUbfuWsSH9E1RJXP7turK7NStBhfoKlFz-s7lyuDgxdQmHiXMcbSC61r-hmvcuJMZNPNyho8kJPL2JDFrfGHHIcebt7c8RFH1f2CothGiCdu-LBwZYhMGYFcxnESARdAQWU5TUT7c94HAhDSOH-H8CD2Urz6ubOuYNwGjJhQ94zQyZGpc6THeeO5ZhcPgr89GphVcra4jYqJlYxeeh5bfAQVpgXkv_3E7FpqXgkgL1Eb2XIneFINd94CkNi1ADoAjHpADO950nc6obIaE-dIFOlKaySI4qO6bykeQ-LfqP8ck_dkwS2Bc-3TgGlKGpvIGycH4_eXPeFtysJTbk5McEiClaW-6JLqewjWtsEZsNnGj0wrzWkWliffP5zbCZaYByRgjDrcMm6b3Y43bbkR8Rb_FUun5fv_PzojhFXkaZBm_ooR2GOgoxw_iWB6D3OtIoNB1xFx8h7FN7H63GiGZRTRuubLiaXLkXBJaBYy8Lq2UOmku4V0l1KUo2VwGclAp4PVSTWG1MoRHLYbEFtPbKjfQhOfpBMrgohjO1nKdBK_8W_JSUk-jz3UJGnn0QqlIpGel9bfcx3pMvwitheODuG31e23inA6-ihfN6eBfyMq207oIOyxSVDIfe6-zTnDjMgVdB6xQ5azzjmnT6FZzD3a56J14yZ6GgwFk-e9X5INSST-_oJqnzYpMplMPeYttx_2MJ_iTt59sx3ySihWED9XtzpjQIMkTH-KCUL4GmVgDyvFbwQyxTMBIGtWCWnxvHk-SYj66dI14BkqL_-6UuVOFdhwHLOVypuyRbzp867MLRbrfTPMMeeryr4rDZjQtGWZQWXxqiF4URcTw-mZ6Vjjw-b07wo0bwDqczIL0U_BzR8droEvD6n2-EM0Sv4aJeUQiyLgyWVm2yd5cLPqaBD9H0zrGc91W0aSFZ9DQfcB-gaMVmJeoxhQM-jjNGZoFNOAd0YFhbWm7tB60qDU1yphQ9YBUnwxFTBSMOezSwqrGRMaHegTvrnfLc6cEQ==",
  "id": "rs_043cc6cc674065a7016ab43dd417e487d0bef58f9ed660bb65",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD3iFLDd7w4TpSfZ5X6qL12R8G3WPvKmyo3H2Vb4rxaHAq1G_nytND0DM-rMwUQF_fwrW_7av80g4OapHkmj5HipG0qI1sKnmEMP1i0FWvI3jJzBv_glBHysG64XVNNQOREhO6f2w-x-j2dnFG_kRqkuZUjTsJjmc2O2O3RpB4R-KijHhd1zdsc7yF2S4IMS41lWmxAHBXNJ7ktnLYgUKsrLCM45_uIcHw4C2G5nijaZCJ94NbiEh4q3KbvTsYC2zOhmqrkm0Q011J1z97auOAjf_zJJLRftWdWxdbSy6CYVOp_Yw8YPSTJYtvNbbRxhX9jaPiS4QJkFWyxh6DMW5Rnx7Q1oAlW82yphsng4km3AndhWSg_--7Jch1kisL2SKH8J0SgJ7MSyFJKMkelfoIRis-AX74pyiYlmNWlihT8JaPD1LFv3bUesBrboIobPtN4AwYTS-QpMVLR-I-6NtUIIEv-rMm2sw2c4aiHUkUfM14IsiJUoAqXQZU3eNntRjFZfeRUpnMwhgcmRMIFmje6eRQ6it0UpIC5pkbV2N0SezihxqhoXx_sH3UAFg_4xOA5wUj_PP7wSXjESjqyJr4UKv7f6Qm-D9oGkHohlkdthvsuiogNZ6-0yHJkPEh3z6yN5qI0Fn7e6ulE-FJMljSYe0LWerJGNCTdhpneMjmbClCrtNa3cHZlXnZ2yWNs0IoIm-AhdsvTvZV1iIJRrUrR0hUD0AkuKdsliSIWRtzB04ctTLASgse4n7FRy8rs7JhK-G6WrggySHilIUHMAy8vPqjPbDDdIPrTnZafKLhmERygC2KkYLOtM96QPKyud6eLimraX1RKJwomypwfvQ0vdvXS1HIf9KTEajvdU7KGISMd3vejTiiGtOHmkZIbnpQUh2U0FW1AVWxhrWkbX_A5JPCFCAfYwpAxz7sGGmbhdRM9FD3g_2AR0LqJmsMM8Xsy71mtzEr6POsg5HHzGCoPZQHuunscLd1vQ5Nwk7pQeJ69jr7wqRpNa6BuQ2Z_3PiThWp87J1UwQGGx_5zYFNohPi7bXAVOU0o3jrxqMs6rI3XM-9wBDs22hsSasYo324rHE3rtznUwPMQmsq0BEEniEXG0tuH2wJ3RBD62yGFnaVGy6ljtRgrvoPa1Eg5RIAW91wlpj3o4ni0BCUVhlq2CXjX50Q_e-4VfTZxN4ECtW4q5eqMP-1Uj-ujlAcL036zNgM6ZBC1werQAjIQzc7ExvddNnMAp8hJsrW56RKtkWukRnw7suIeALt69ugDPU6PqoDCcE8HY5EWi-Bekz64egEa35JWBdJd5R9lV_R7bAgLLwwTR5wAYiTGhRs4Y94e5w2dGyUNxGHfeGHnMPly3yAzJcXxoseHiycmFJF2ZFHO6ps4dm7nDc59s6nnw-pLYGU3Nl4CQuKM25i87SIZy9D-4K8cbtjHRyNhHei-7MrLo-H4zBWA0doxFiLp5_dbtjETcjfZI-PfksYWAUIhHNEL2tQ7orLQenmX1QeUwxNIKpUdP2OonJQxXtYlpe2DRtCyStTJ6QyKbfylwLF0Xxv-YLXjOlIAsohBkuHzNy-KUZBZUGDJjLHuPjF6UP95sR4bRKB20TiwD3--zkzvXBph2isACCFVvLyoHC__ZYf-HX5qQ81wKPCLwCSCarwGQ2__xGBQeV2M2zs0AOEczfSFyY1VbKt2n-LdTEieIdgHNoqdD35xVrM3H5SHY2UgVgjGExRVrjllO9RzITLPOj66ta-flkBD2MFTKQZr3k8JdL47BgudBLnakXdfVwJVEhBBw0gyBntTwwfIoy7rGF6Ckzjq_upeUqCPnZ4oYMzP4OE96FVx6bh18cd3FSvVPWeLUMx_QW6gFdMwoQT5iX_QppUsZUEI4jK9tRJDlhp5oVhkXwepkftXPTcGAQTrCP47G43rAVSrhjiAIHcwSrGRlwJBWJN7BaiIuBiaa0bsm6u64KDzg9sLfRGPHqkHLRA4Gdvdi17nuQfmNdpjfE_FBYVFVPQt--21aDqNzsu7bJ0Wo18XaW8WP0HmLKMRyEwVIp8K8zT1r3_8iNa69Wrlm9Yx9wrbAzoHrKRsgxJooSz-t1L7_qnb1wX8ZuMrTq7tejBy-GhEtd94HVYT9RieF6HZ64hYw2cUiZ5iXY6zaHGQeLC-QWO9wHRe3XwdNj8fwUvEU8kXGfYixFOlZUUNrAlYz5NJCzo58jfzPyqKZFkA_fXZ1L3CJWXTwItdHIoHexUiQPufED6KVCabGYHSK6yvKNAiEtwGIpQ4iMleInX2a2Ly9JSdOoT9AJDyo0VWhP_w7Zep6SVrYXQ_bOQY9mOgLJVzdE9XHaGx2w4xKHqqQYRUmmCHQsHCrDjWYzVLWgQnXa0QMAU1BQBCQHQWcjA_hn_TlMWKNzcjhpdAah-KeMX8f6wkU8VqEKUxjQKe4J9ABz5BE5v1lPVGplEMRc381nbceP2LMJJYwwnebgs-DAjetT10QOlM5DJEyG88cF-3SJZ0z3iD8Of14WaN3b3-95KjyWBV6x0L3b3NSL9RtVV6QcBSrc1QiZXXaMWjahacufs26oHToG9jPflX7nfj_TBM14EUkyZRoOqQOL3pQypwOQ95scUv3P2L7QZK3YKIqT1tIZOUmc9JLn9CFDtu4ACmXcqj-E91cYT82Hx3Q2uimSVDprLhP245A5dO6ttQDUjh5A3LMT-2h-cmR4MIiEArfQbDMJTd6YJuml61We026XKCdZspDgErlDVeTAN3CHXnYxQyqEcudQZRWobM3qSnYOGae_DyO5si2aUiIjInv1ry245FQNyAgXIC2gxq-nHAP8cqm3epGy8maBR_xlsbaA71Ek6OXFcKdQD-IsKP-FPVMF1vRdyjNjGhLKQsB9Hd80ejCq7pBruXKn6r8eOXt0Q3_wNloGSMCqX9BmDcXO1eYSOT2yxbJVBEyWcXCrneZiB-6a8loqwOpP_mIatWmTnPzXn11ToFLbWprPf8bZtMwGL9d9z6Bu5N2kGSD6bdu9R6ih3LJdwt8Lvh6ntVY1PqdbRtmb3_n24uVCqbES9UdAPE8xKJNI84ktP4jCjwKp7WeAnKdo8mYFyYOtNaUlubApxmpwSgKnqiXjUqwDAqLaTI7sMuPX0wVK66KQEhNoPfLQ5snBxOle3wexbaXEnOI0wsxbIvbBYjhm4FGJt61IcclH0qC5V_pUCsB85dQ6judKK8FnrWDGJXxiqcxK_x8RbDMvsqzxqpcimIGaONAqae-U67ZnaI8kd5VNIn0Vc8BFeGkyGeBUTEqFFdtPu5Ug5-j1p5iPE-LZLffdUNhTY9TEOP3IXr9oLNUEzR9hOdZt4Z9raemaQ3K8tVexay81Mrx1uahos695E3XFpXL0mW19q6QVLC_shArNaNfJI6Y5fZ4sTeXArYU0JS21RuLMj2TxPniirsj5Jwf2ohdokjUHb6nckXRKFptc0f2XvZ19e31u0D9kJdSBL05upsFOWoidbgxfRnUfQaYGJgNW9iWIuuWK5OEPAuO0qXxfwFkI58OAH4WOhDAD70ESSkGcpxqVCrmqSz8tndWeyTrlEidSayL01pTBCVjp5KveGX8q5hsFlknt2nWls1vR7r83WLaAaucsUyR3giF9PMPqpgjUzfj1r62TYe1Gxemffht1LBeJu_bcmKOTA7bSYtJmD2UpiBjzoz8sE2jusXeqpGV66qp5Ci_EeCsUM6h-GAKzd7ScikkgXqsxFRbjaAk_rHmKpFlPgTm38T5kPhGhbyEjyLVw_1R8FlfH3fSiJcWHdQOn3r2pNIEU2Ls25_0kNUvqdLaQGzPGgIYbYf-HtUGBMNLNO_b53jEbM1sr6oO-hd8iP8jPUezXCkyim2eanHFIiw=",
  "id": "rs_043cc6cc674065a7016ab43dd9bacc87d0abcc7b863dfb74a8",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD3iaTlVDADrK3AkeuPiuMc7xXkFX7-qitlnkJVtwvBKy_khRXx1FHLhriFDCH6SOh8KfGGUvaZ6NpXvEjl08p9jIcklGNMmHt2E3kPayjkYESngKO0ySi8p0hLKahMbD0w-z11BxQWiklxleJh0xz_3AwGVIqlHQTwz8utv9NyxwNS9oW6iwulrLT2LY7AG88j64Xz0oey_ga2vykgUBjxwa6jFfxdi9Zoorw39hM_vDjmGQgSUEjPw35n2R6q4bXqRZ15DUn8nh0_ZJxpROAUv-4vkEwTe0z49mNUXrtII0fhWGLCFfsBDkjF4Ya_vQjfK60v0etyWs2CY_HW3pFFH_o6Bm9z-dEoUurmdlIkqA55zNH-Xzx_iDy00Q9Kl6GFU63eciS70OdV_bLTDInE04o386jMxAU7XQorC5CwBpMBFeSiTVSHOBgoBDOnL0F5AZH3_b1iixssd4NuxqS9fiVE-bXbxa0KN5umRUfx88VjLB_yh2mFglqmbVLwU0e5YJJtOuSyaRkGezymXjiEp_sfKFh5JBvYDxYttN6gqrqSnpgWuIr5_g_uYuPZns8WflZi7RJa4o8M_-tKe24LlQd8U-lciGxgcDljbK-0l4I2_Gyb2Mvoc5wmAl-WFFyiEPpc0zY1e60wFCNjlS_JrrB4MWu6W1omjsTQgAnBScapFlTkeyocQahVx5bxkpsSouGrMx5uTk042M6Rgkp19tw50eHpvqbxCtvSB1vzq1hxKpcatRd9OJ5GNomGtAxv-Ft3ZELQx5Fl6MVDnKoUo-RciJCyf7K7SJhC3hbYg916it7fTinGvoP29vNKNCknefkDMNWF-CJ6Vd07GiK_BGKf8ehxfDLxXj7ypoa25xEKOe8Mib3eTIpBVSFHlNzfTbkJRCVtgFZLy_syh0g0vzK0O3YqvV4Kp5n29IMajrYrshVyRp5ZL3A6INT9TcXCTpAPTwiTOUYUW8HR_nfBvyGf113m_FaX1wUr1GQhEYNJUS7A7EYAbxt-ruSAxFuErKtzeUbvwV8LnWpuqx3JWIcSp5e-zZ8YfZy9QZcKqi-wIg2HNNDxRTaDad_iQWbAIaYcijEl6Icm8EEUqauh8RTwbRwp1ERyNdTcYeWJQDypzubwQ9-wLNnNcKpmed05kGff03LHwLprL4lOhGih3rzOqdGlT27eRRUi6wWexj6jrc0lOM8F-GR6Z68IWIB57bPUKWwSD7B6lk3SvYua-ze87zzAEJoNcdzi1mSJxVm3Iyxuqyi7dLuc_fWFriOhbu37XcSAEkqd51DEhrKyqvtmDx7cFv-zPfLYYbJ3qEpSJORVj_B2ItMcvzYYOupI4lPfAMIV004nI-xdZGG2-8pIyiS3B1DhZg11TUl9sFuuAlnC0VwPSR_lXLQMEOP-5JHlispov9DYiYTudN9RbQSRtJ2cDoabqv0mNymLlsx7fS4he5baUFkJVoiXfgKqRIb4MReXjdIYu4vaTLVaL3kqF4te9POsPy8IUM0G5izqrHoAOUgzWPkpBwaO5hmCoJPR5QMZuW7YoLnnkBMcLaOn0tpwrnYI-DaRMlNqhjUdn6HAqYdOxrdGvDzF3YOTxQ4GUDNy60YYP_si8bCEYeTW8MAROOs7IL36PG6a4VhDl9vD8TN8VHGuA-nVeCpUACcEFGDv3i-yqxDM4s1ux0R6dRdL90uzfV_o6Uv7oUYZu4L0dbsJRMIT0E6Vn7gmJYI0L2Z04qg-M9pFrlvWkbxFWBs55ey9MQLtFKS2uL2sejlsxVTrnNT2H9TpQZRKXcy3qCyjOXfmCwI9Vx-wctpp-ystdNaSotD1azSJd9Shnqr2FzEm8nGfpfvop8w--RjiEzIYDCDnpMXJ6xjNRzx36ZGkuVJrDVf5ZmbcE2HMWzp5F0mBYYgUz1yJfOl8MwgGud8juOjvF5bO4rTq9bIirWM-hTuPI0HU6pMts2xpDBRG-CN129o8BwjAy3kGQy9rx-qV-vE5lO6LQPrByFn-58xgMF5CyDkw7XBPi9iXD_DB60TFNm13sQho8IMcC",
  "id": "rs_043cc6cc674065a7016ab43ddf6e0487d092882f0ef3022e38",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.09,\"left_z\":0.15,\"left_gripper\":1.0,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"All three bottles are lying with their caps pointing away from the robot; I will use the left arm first on the left bottle. I am moving open above its cap/neck region so the wrist view can confirm alignment before descending.\"}",
  "call_id": "call_pjMcxiGpMWsGd5s7dCOfK0f5",
  "id": "fc_043cc6cc674065a7016ab43de1195887d0b43303d8262d8fb8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pjMcxiGpMWsGd5s7dCOfK0f5",
  "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]: [-0.3004, 1.5536, 0.9138, -0.012, -0.2523, -0.1867, 0.9989, -0.02, 0.7918, 0.6033, -0.4034, -0.0235, -0.0288, 0.9989]\nstate[eef_state]: left_x=0.4341 left_y=-0.0845 left_z=0.1317 left_yaw=-0.0048 left_pitch=-0.0649 left_roll=0.0107 left_gripper=0.9989 right_x=0.2914 right_y=0.0019 right_z=0.1754 right_yaw=0.0087 right_pitch=-0.0232 right_roll=-0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -7.0769, 8.7453, 1.707, -0.2222, 0.0122, -0.1245, -0.1983, -1.4154, 6.8991, 1.9463, 0.0024, 0.0464, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d659c42a14396b391057c45ac5cf5fab88fed3cfda2dc91a7c21f42bf5746bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d79fdb89eaa23d1c1140cc718a0f5d918d9f67fcb93aef72ebf9bb8c2a99054e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc3fe460a12557328f90412504d77ca470b8827f3c676f65d26d871017d21b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 8 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3779, -0.0257, -0.0288, 0.9989, -0.017, 0.7887, 0.6037, -0.3836, -0.0147, -0.0208, 0.9989]\nstate[eef_state]: left_x=0.2954 left_y=0.0022 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2939 right_y=0.0012 right_z=0.1805 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.5812, -1.4427, 9.7846, 1.8144, -0.0171, 0.1538, -0.1294, -0.759, -0.9915, 10.2496, 1.8486, -0.1197, 0.0269, -0.1245]",
      "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]: [-0.3004, 1.5536, 0.9138, -0.012, -0.2523, -0.1867, 0.9989, -0.02, 0.7918, 0.6033, -0.4034, -0.0235, -0.0288, 0.9989]\nstate[eef_state]: left_x=0.4341 left_y=-0.0845 left_z=0.1317 left_yaw=-0.0048 left_pitch=-0.0649 left_roll=0.0107 left_gripper=0.9989 right_x=0.2914 right_y=0.0019 right_z=0.1754 right_yaw=0.0087 right_pitch=-0.0232 right_roll=-0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -7.0769, 8.7453, 1.707, -0.2222, 0.0122, -0.1245, -0.1983, -1.4154, 6.8991, 1.9463, 0.0024, 0.0464, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d659c42a14396b391057c45ac5cf5fab88fed3cfda2dc91a7c21f42bf5746bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d79fdb89eaa23d1c1140cc718a0f5d918d9f67fcb93aef72ebf9bb8c2a99054e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc3fe460a12557328f90412504d77ca470b8827f3c676f65d26d871017d21b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD3oCkMRulzU9q47O5FfBQInDJIviwYKj-vPEl4fZNydycaDPMdZuNmo5YXbvmLlYavfXgk2spLWXI9FS5WwQQUpu4THGo_8OYvwqsuITy1kB78TYl0l7sEZRHpM-w6ql7YCaFdtvh8fJwB8he8fS-5QomQq2r0-rGU1srJteN72TUncCHMsJOy1wFHGEKjGkGJHBVBZg6IWStF8ScMT9LBMTGaEgqAt8xz1ZMye9jBW-YwNxDcgdRXLwvl578SfH4o1XRQyyxu1qw5HJXo49Ra0yp5kdqZtd8RfzW2Rv0xuNe24ONv5_SuVIyEWOl5R3F3QD0AH3bhNE81rTNB0048wSrYWJ1qDUpfckuYEtXOniZFEqIIgOQUCBPhCqYtoufpLAKauhjHyBd1I5fAIeCyu5KUt9u0Cbo4kKErkYpetPmYT226YpFk_Yvur7THr5XkJd_q5xJo4AkgFAV_gm6rLu9WTfNG2GpYBx4UC3pK3SIK1c_CWES9rfD1P943P6yMJGi28MbCxYniXOE1E-CONpEIfW7Gffe3hFxOtExoRmmyuX-L5IxkKKADvyGHSixWHP02pT0fL9DXmOWsUduVJNVgsPupKfEfGUvRVrssOLBkwPMmBRBgJ0PokXfzt3p_oGW5YtzIK13etdZrdt3wBUS9ZlrDiNw0euSCyroZnTHFJ2AecdG6jsdewKN6kzH9k_zibLp3sbO1xKH4zbjm76uaY4nV1msabCkotwgEnN4rek5V0eUf2VbsfyePll6bjF3hJ1xalQq31yMuQLclNCoqWu8oojGUWIsuYK2Bgt7yRRDC4dRcDtkmuNYjcVlXOCyVYqZMpl-crYd3RlpGEJ0vI_6WSb0FUmxBBsZWTIPgWPHdDlBAtoLmBcjUWvmsK8yOJPdldOBsO3HxdKr54y2ZqmlzNvQ1w1GI7Kq26Ya4PYUsn5_WwzJ2RRen5NLhYE-EKEL9acSdE4VxHdUeKRjsGS65zFnbC_sOtC_tm1gX_aRzYq-XK9ThKCunXzovQwpQs53PdiKLpmOQDqcRoTpxZbtcmEICGkLE38clWO56IcdRSS5ymRRndVxhEtTJ9XQoVpUFh9WJDlKtdSJxL7kTUvtdQpFwYFy_g6ZkqFdess4Qdi6aPdupcAFjFsRAD4jQCdn_MwDAt9nu49g4dXU42MM6AJNjQd9lW0mRDTB5vr6tJaKuPMskkRw-A-A2sYDNJPIGZNUSVwWybVxupCrbzskaTsam9Dngjfot-wk1tn2Rg1YR9Qs_WaUUWPOgM2KtkzzhMdmK2haM0-MwwgNq_2GDgmHuqpW7f262syP-hrjuTkKJzoftpYjYgTomfC2ZhQ1k9oTEY6Q3fTc6fP_Me6GaAmu7F_bLd5j4Rd6XL9olRS3aiCzB2jJResQ8TV0uD8DCj69KZiw5Uv8v1xyv7g4N0YwcQuKE6-TKpms1qLtRnH_YeDQ3RCcjSjGWqMsle4vlqGqkQ-QGu-XYsZG2I3yezQ90nYmuH14DzTKKZREWArY37Gk0VeLAdxSmQoIGYGWuRZePkJthhhu--tb2uNqxPFuQU__TISkbL9A6ArIC9Uirwo6rAL6kjeDrw8JyfBc52u8CIYkzFk8raLsvP2Ab7woj2pTh-hyKR7emvUkUHPxWHzRRW664oqfiA7l9Rgps4eg_h7VqcbRBSRoHqveDblgePA5H0q5azFYKzk2TjshMisopjUJVDHoXWVxRiZQGvbWs28Lhq_cba6pQYNTsovfpULL2X2sfK9klMpI-ePYCnHkEh0UqB_uz6Uo2WQOOs14TDiqov3lio6ctGGzmYDSvJB3JtJRyB8ag3elNPt4MWOeFi0Up3rVWLvpBUsHN693r-qFE9tl7aYU8Fc3oaZYKDIEaXHwHDLa0qgjq3NdRJvGwrYPQ7wIJeeYS1dWPcv9LFfLrtUNvw-_3jLxTgs9PvCes7QHXsn5lXpPXOAAshuMegPeNiKhCm-UCBENxOXmjltqq0TId_qvJSkwN-rtpAUdkyuOdPphtt05ZnLjWuFThF2IOq416DcLk9-qW14kbLaMme5oo7OdAl1lhDiUroh6SLTshzUyf6gF6P2yj3_61S33RmGASqC98Q_ICpPL3RRIMNFDFXPEon5D8xN7lYFf9YfL_qWhzuBTwB6G10uYUJA9F7HcPJax6l0EQdKNBrxxkQ8dYpuJ_bbFWzYJJT4qjCN7501KiCYXCpNL-MWDkn_5PwbG9AWHpdXCXN5VmiAUxfY7X0pRLcLBP1Nv9wW24VPI4RCYy2GBwmScgW_bFw43OV6LpR7mm5-LqJzKzIjlGzXgrM_Mt97HTwJx1VGwfAmK58qIZfAJB4UmDNIruLXrFbauPoKQKQSLpwo_BYPG-i5uFA6fF3DnE7wyKJW58ZCgzTuBJs5kcPB7juPXXt8c6q4aqeJzYV7sBPO2I_d_AEMTyKUOcf-MUoEhnt8e4Me1hzdyV6Hf-Dcw9eMlKgbmoPIdKdjqMIFAyNOdJdSwwJw8H_N6BX_X_VBFpRTjw-UAvzb4YkX9VcxKbu6GsWAIHXzrqwBj_6NxZabn654hwymPa7OnNQY7KUcuZ1VdYpep7Vhd0jwyBLgUg3przO8q_bjmgnYIFXlTKROgTKOCR4IathPorAvO6z9fwdrED1jpG3cVQDwpLf01_WIatRKpULo1lP5meNVfiIJAx1rJfZmncbVoWIDR90qi_eok8ml7_cF6Lj6TXqjPxRhp7E66HWqzCDAKj0Mejyef9ST8XyJmVtsnpWa0YWveHw2vToNy7ZO4Q=",
  "id": "rs_043cc6cc674065a7016ab43de4557487d0a82a088992822004",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.06,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The left bottle’s cap is now visible low in the wrist view but about 3 cm left of the jaw column, and the fingertip point is still slightly short of it. I am shifting leftward in the arm frame and advancing a few centimetres while staying above the bottle.\"}",
  "call_id": "call_TVmJeXdaa3YKFynlOtOw7L6e",
  "id": "fc_043cc6cc674065a7016ab43de769d487d0bd8598c6bd0f0c97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TVmJeXdaa3YKFynlOtOw7L6e",
  "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]: [-0.2119, 1.6527, 0.9112, 0.1123, -0.2096, -0.157, 0.9989, -0.0204, 0.7845, 0.5842, -0.3977, -0.0238, -0.0292, 0.9989]\nstate[eef_state]: left_x=0.4575 left_y=-0.0572 left_z=0.1111 left_yaw=0.0318 left_pitch=-0.0504 left_roll=0.0043 left_gripper=0.9989 right_x=0.2893 right_y=0.0019 right_z=0.1699 right_yaw=0.0088 right_pitch=-0.0292 right_roll=-0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.9094, -7.9385, 8.1436, 1.9316, 0.0708, 0.1392, -0.1245, -0.2667, -1.9214, 6.8581, 1.9121, -0.0855, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e31cc9f0bb5f409005ba2addb215cf97fc2926250f398940172568ed726fe23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbfe528c7761ef2fccf0590a61baf01e761b085d822fa96b1b4c4a810f908ac1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0030a44e247c6f51d0480443cc856d22950bd7fb0f73c6a12cbdf1b1e7b61898",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 8 changed as sent

message 12 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3004, 1.5536, 0.9138, -0.012, -0.2523, -0.1867, 0.9989, -0.02, 0.7918, 0.6033, -0.4034, -0.0235, -0.0288, 0.9989]\nstate[eef_state]: left_x=0.4341 left_y=-0.0845 left_z=0.1317 left_yaw=-0.0048 left_pitch=-0.0649 left_roll=0.0107 left_gripper=0.9989 right_x=0.2914 right_y=0.0019 right_z=0.1754 right_yaw=0.0087 right_pitch=-0.0232 right_roll=-0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -7.0769, 8.7453, 1.707, -0.2222, 0.0122, -0.1245, -0.1983, -1.4154, 6.8991, 1.9463, 0.0024, 0.0464, -0.1294]",
      "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]: [-0.2119, 1.6527, 0.9112, 0.1123, -0.2096, -0.157, 0.9989, -0.0204, 0.7845, 0.5842, -0.3977, -0.0238, -0.0292, 0.9989]\nstate[eef_state]: left_x=0.4575 left_y=-0.0572 left_z=0.1111 left_yaw=0.0318 left_pitch=-0.0504 left_roll=0.0043 left_gripper=0.9989 right_x=0.2893 right_y=0.0019 right_z=0.1699 right_yaw=0.0088 right_pitch=-0.0292 right_roll=-0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.9094, -7.9385, 8.1436, 1.9316, 0.0708, 0.1392, -0.1245, -0.2667, -1.9214, 6.8581, 1.9121, -0.0855, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e31cc9f0bb5f409005ba2addb215cf97fc2926250f398940172568ed726fe23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbfe528c7761ef2fccf0590a61baf01e761b085d822fa96b1b4c4a810f908ac1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0030a44e247c6f51d0480443cc856d22950bd7fb0f73c6a12cbdf1b1e7b61898",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD3t9Gb50t3LmqASfxjGIHQ1sWiHf9Sno52bk8RL_QvnaaQ94vwU9DYJ4SRK7ZjMbPl0-1RknN9faqQOKl4AyRtnj7ztMSSvFyzGI4d6ni_Q8ERBO_r34DgO3SCs7wRHLrmHWYLWe7E2HYUwb0yoPA_DIzujoWrhTbPUR4fJmrVGXu4P_FxVY7UWhUu6w01jJfx99Ae0-IBXlhwwC74mZKkMAvyQHIuvJn-N9whKSYlmtnljEM4ha63Ul9GCN4Gjbn74UF7dqyeKqxrVrM4ldf_hUOxCut-SjSTtkFlP3Zyw9lo0su1r06LRBTOUPw1I84OP8fu6J3CWyGu5kGbO7BU3Tl5qnA-aJwVAYiV-WodJtpm8IHKTiK7HxD5xPTy6mnNQiFeLOKrNKeaEvwP4OttB5I-1_DAArp8sgvdc2oH3jOVy37jy_iwIE60qvOrciQs2XNt7X3rFrvfLhO-HxXq2MU2MFjUZU3CaAtNijcyEPPtWNQpCdYQQDJeg47AM_v-1wFSA2OarQhJ46vCfNSZ2mPMsSMB9ENH2eZ6lJw1vZOjDGtxsWO0O9kg752i6OnL1aNzuSf1Pcp5SfldxDQgqhlSTpyHSNP7NZZ5JdjVqb_tTbsl3ksZ8bdpaAy-0fqnpAmC4kExMRpIDk8Egd40aq5BXtADNR3EqCZR486Hwsr1Ui7p2_EHvG0FM3NUmKzo9Wy8UYymdmsEvvyrkXqYdisZfOoNgfccetE9ToAuoU5ElQSqWVBdW-S0z4XCJzN2HeT-4ScwokMHM0m04rqs5-VGB4RxB4YhNCKYqMa2Yhmbd8yPd3uY3G3dUB28SteE8rPNrjlr0JYgdU_y2kL1w7WfZGXCUJxeSvBwuMjXq1Nvi0ffgGvZiTDvzTqJewGnbmCoaNfMCYL3nxoVbKFARBvAUA6UlVyvFWND3biJGcYh2TWW_h2WOkGsNkvR8Bv5-YIdmlmInK_3b2QGuYXgGkKzDoAQL97X7JwqhDuhuGtQb0oj4kZTnSUm4VH27m4t004EhVHXYA6nnxUy3aqleUMcYjuDN4j9wbh-id5aVRYCdlH5KNT7SAbm5FSdxDICWlcGhxX9TSRj2vcSFazMzB2o8IcoOqRIhH-_oxy_4FHrA50xaumIXr57CG-jDEk8g1wA57laKie27ajaPhqFKmyut9lFgvOnkfA5qaIoxSegXdCI8wiQtL8VyHuPStCeCmxUFLHdtUvJjuONccUSkk3JYFCC93Slvnr62Lnurf3-NznoBHIMWl8BhQUlF4cN2SGidAjODRtTTdnI7evpbCmXzYY_jlCg1TlG8Fzi9odqzyTkfSTZCT0I-chRRNN0cEIyjKCZly-YItIRh3IwrPrPQfbMt3Z6z2x97hxNjQpfkivPtmw50s7E4MOEn-Tj9sucU_ImzEiqfJWQ52hC88NeYiR5yaMPIHgqMUoUNT8TnjX8V40jQBpTRuYV9TZV8J1wESQ_QvgVQmyYRj10YRLy0X_ZFHeegsDAdyTRI9yfa7fXQ8Wb3gwgVgPnw-jjMtc_39aw89SQkGJHJWcCXdb6TOY-G9Aj_cF4eLHw2vZz5RJfgTjOl6aRW1v3qP-3_zIUk6p2uumBydI23rTfYC0cPjaM9sHKPanZFOhnQAx5UC61Xwlu2Hbs6bLk6rFt0bZR0lhnEL-QtrFto7EsWinQklA5JyQ6QcA4K9FtnOmPxS1N-BM8HB_rMC9_cB173_FQxBRKPXzLBv2RLBScdNOfSKJo480qlF4bty0KShIPRwagWr_nphNg8lJlqz3k31CGYdKZ0FdwUTjEymd8GhPwuauWkN7KCWFp0DNHUxNeFLKf8BkS5AiQHtd9Xwt1-GGo0kuc0MDqGLJkCJmCVmWeCVjwIWnzOGtb4_3kDXjyExazjoApcm4XRYTQxgzb8byy0Q7FuNuRtO4lwJPnfr1GbmZjV0om_qd4NS_B7GGN__PpfPXmWY_tXfotrj2F66iJofMNE5w_X1njfzNXfT8Ppjfoh_AIqqkomPl4vMvCc2xam94ZOnCmCpPyV-Egn8bbie8ZvMAa6sI1CoHPv_24IZ8OG43-1pdb2DpgKleyDovJtcGQW7i9PQCKutfR1czwEA1cLYKQKRhGBy2AcM2AtWsTcxSA8HOXDm5yBNi88h-mY8K40H9nmDPc_1CmnrYSU9r2H8SDmJJIYJLSwR2QKGBfWuOn0NJwHcjUwlda4CW0ucKMumuQIkQB2V1v0mGl6Erp0YOsw5swKfyUKMC1Pc4hjG7QytdbBKifHqBpE_71eW4jLt58DUolFvnktopvaL0fejIedS6g7qvnixWC9ZGbeABXuiFbHnsG5gp2OKbxbn3ePXfPfO4ZL7UWpEMgHLMlo0XNBt7hC0z0aXma-kksXrgbZimofPiWc1EgcfZYo9Xfg2UoOhWE5Ab-eN_yKk_kYKbGYsrF88DwUr0HNXZBSE2kdLWdOI4aEJEVqqeRmI_qT3rXL3_RTpMOkOTAv5TB8COKb5qdjzydzMM_qs37osFeJmCeSCxbOuDoGVa5OV5IXKV2AqS0q9dkOV1MKvf6nFqiE6e14QdygwJeIY_Sa8J4fB_vvSxpNY4I0rVxINg0Vj_ERnKYTN8-K4jWujttKWyxA0UaX60N0s9TkHwSQp-JHpG6CvX28mAtkLR4ZVR_E-d3VldG2ychIiNqiKGGJbcTjG_UTLVMPByEVGpcZcMzpeHoqesMHGJFHt18vJhHO9SX--XoMavyRdK9ikczrhykSSVwHwie81XAKwvvjLdW0Sf4-pBKl-MeIJkpmVm7uOaSlQ9rrbrI6dLQfo0bdJvZzDFFhzzTYfByGGv01tYS1PEFT1CtJwEo=",
  "id": "rs_043cc6cc674065a7016ab43de9a24087d0bbf6a8b09aac7e46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.045,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The cap has moved to the bottom of the wrist image and is nearly on the jaw column, indicating the grasp point is over the neck. I am descending vertically to the neck’s center height with the jaws open.\"}",
  "call_id": "call_yCRmMsX0zJYtSdxzSOVzf5eg",
  "id": "fc_043cc6cc674065a7016ab43decf18887d0a38156bceee17f69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yCRmMsX0zJYtSdxzSOVzf5eg",
  "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]: [-0.1967, 1.6829, 0.9108, 0.152, -0.1879, -0.1501, 0.9989, -0.02, 0.7719, 0.556, -0.3878, -0.0238, -0.033, 0.9989]\nstate[eef_state]: left_x=0.4635 left_y=-0.055 left_z=0.105 left_yaw=0.0251 left_pitch=-0.0445 left_roll=-0.0046 left_gripper=0.9989 right_x=0.2863 right_y=0.0021 right_z=0.1624 right_yaw=0.0113 right_pitch=-0.035 right_roll=-0.0043 right_gripper=0.9989\nstate[joint_eff]: [-0.4991, -8.9231, 7.4598, 1.9609, 0.0415, 0.2271, -0.1294, -0.3077, -1.8393, 6.9265, 1.9853, -0.0513, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8d4240d3c87c150e84a28afbee0c932c7ea014dcf089ee15ebd083322a78df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe15f2f1ecec51345658d43e9d708c58797fa3dc59eaeb91ee0321997555525",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84b7876c90e7951d2b67e7af73ccf6becff622edb9d98b66326d0bb689250a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3779, -0.0257, -0.0288, 0.9989, -0.017, 0.7887, 0.6037, -0.3836, -0.0147, -0.0208, 0.9989]\nstate[eef_state]: left_x=0.2954 left_y=0.0022 left_z=0.1823 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2939 right_y=0.0012 right_z=0.1805 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.5812, -1.4427, 9.7846, 1.8144, -0.0171, 0.1538, -0.1294, -0.759, -0.9915, 10.2496, 1.8486, -0.1197, 0.0269, -0.1245]",
      "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]: [-0.2119, 1.6527, 0.9112, 0.1123, -0.2096, -0.157, 0.9989, -0.0204, 0.7845, 0.5842, -0.3977, -0.0238, -0.0292, 0.9989]\nstate[eef_state]: left_x=0.4575 left_y=-0.0572 left_z=0.1111 left_yaw=0.0318 left_pitch=-0.0504 left_roll=0.0043 left_gripper=0.9989 right_x=0.2893 right_y=0.0019 right_z=0.1699 right_yaw=0.0088 right_pitch=-0.0292 right_roll=-0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.9094, -7.9385, 8.1436, 1.9316, 0.0708, 0.1392, -0.1245, -0.2667, -1.9214, 6.8581, 1.9121, -0.0855, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1967, 1.6829, 0.9108, 0.152, -0.1879, -0.1501, 0.9989, -0.02, 0.7719, 0.556, -0.3878, -0.0238, -0.033, 0.9989]\nstate[eef_state]: left_x=0.4635 left_y=-0.055 left_z=0.105 left_yaw=0.0251 left_pitch=-0.0445 left_roll=-0.0046 left_gripper=0.9989 right_x=0.2863 right_y=0.0021 right_z=0.1624 right_yaw=0.0113 right_pitch=-0.035 right_roll=-0.0043 right_gripper=0.9989\nstate[joint_eff]: [-0.4991, -8.9231, 7.4598, 1.9609, 0.0415, 0.2271, -0.1294, -0.3077, -1.8393, 6.9265, 1.9853, -0.0513, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8d4240d3c87c150e84a28afbee0c932c7ea014dcf089ee15ebd083322a78df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe15f2f1ecec51345658d43e9d708c58797fa3dc59eaeb91ee0321997555525",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84b7876c90e7951d2b67e7af73ccf6becff622edb9d98b66326d0bb689250a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD3yvnmgGq6nA8zUBNMts6gbYgx0DYDbwkJBo4ZCo1UBI_mk61v5-nRPMEYP-kJbceC-UF6qp6udzewT6kaqdTcaO4CfblF3SvvmR9Y3I67qB4dWJdhHlZOwHPnqyXPrYVqtIve4elNXWENcVxvaCskvlPUoG6mU-K7q46yL5OYNDPlsNRB3ZqVGKHnHuk07LmUuommArjNVfA1iGQ8NPn2F5y1KFUQjP4A2hc7VnfVCMqvLsGDHAvwjBNLL9o3z2vy6r84EdRrIIEbj5-RUue8gTiE8OfphMyBV5ZGHjbZ1YgjKKlHKv5D-sSdlMCcrqXbhZ5-KubP_vvhEI5eLHtzWGXPbxmRA5FJANJu9ZyzES-nJVmgrJFacjnwu-82KQ83v3GThUdeoGAyaX_jXZpTF0cYOv4Ag0yxWt8s0EOW290lKMzWk1GV8mV2ho9_S8UCMf0GeI4Yh-FAcLx5oHGj_ibPgFjRL7Gite5EHuGomvR5EiX_L5jKwe2w7WwR9a9AKRNoZ_qrhEO0UEOwjvtHRuCUTov21mt8l54PZxpmSmqHM3Uh9q6llww3NGrwyQmCvqvlGSgGoaAbCfbY7jOuOolVUWRy1KdYBzfoev135xBxVH7mM6nu1Og-Pe1RoPenVbATcByA_cZBUD9yokyt3PFu8qTQeuPnQ0gOZ5ktng9IlSYtRQfWnie4CJHkLkoerqPdm_VcQ8z7fuuM9DVG2Ap9anC_xOBbqXNH7D3h8MnqH2bBwAtmXoNESkGi7PgRlhG6jD6GBQypwkuvxgbh5wEEdbS3S248G7QOxlhObU_AcHtoVi78OgoaqZckOFmNpwvm1laMvzQDUShFqBXYEblLgpHZMdmah3R-t59Wb3G-JjEkOZDHEIwI5e96OmjRz4ecG187PHn8hTZhoXEsiJjllgibogoHG8JZMuLCeIFVu87Nt9AUIjigHSCky4rUS6W660lBQJ6gG1kPYeAI0w1wChxdJ-EIpK8-y5mNnPUyXmglbqTPNcnFJz2NG7lENy2tNoExkiZEZ4RxKzAXjeKhDFi3yEUbQBRNhVS5bY4Do5EVNdvFqJSKe_fN83AUKKw7BBTD7l5_Iefut3pwL9ZxtQX8qBp-4d7LGuUPLolz8T0WhQVCfNGl8TudC7__M0Ow7Ei9waG72xiACuPiFCHQKVmakR8oHIpHoE_sNu43scvqSlVDZq6qLHcXFUOGOYGtcW8w5p58Ot_IjtM1vPYBahjJ2ZSem-i0B0m4SO_AQL9iu4DUjMuPrdto3-PFOf2XAnIcz7buGSyJoLLcjwDQwMfd5kAvr65ZrePBUC3OH3Dcflsw4RHhRXei2HtmzMZJqzIpK2pW8cZi_0kkla9kjFk18WJelceyX4QvB-vNR4YpoNxio61V89v_Lgwd75WBmqirco-ljNihAE6b6sP9UzOj5DKS1STNV_D6bY8WX6rNTHroVZiL3uUE21UJwk0SL6pW8h7Muqa_-siTjfutivUIBfoD9EQNRNPOY1iuVyjX0JUv77Wt8Unyq56APjQ6eyNCyqdAuCUf9c_20NDmfefGKIkvemsHzIfouz2jeVgDTI_l9pdHChbMhz_K5sCO4MtFkmIqMIdQoQAXpfp77dpPioMb0y6ZBpQ3AzYBnz5LzEgIvPQ_CHXsqfRiWzWoYRhAsf8yCJkKu6uHcmGzFEwoVSQEXN1COhe6r3vvZR6GbJcuJBXIF87u3oP4f3mZdLCUX5FI_N_LGVb6czhsqxF7540TdD6PhvNlpcOqjqeRHe2eMVvctVINhGNhCQfdBMKm09L_w8Z8A6kB6iOTsSj-_TpCj8opSH0nxjcdiojIqWsDmFLopQNC20Zy9o-_ByvK1q3t1bjlO80uOmY7maHGVkbgwR5lucqPXeteOPmyfg25q_RuS4FZWJOlf7bwrvVvA6ERELXqu2VTu8XTfMTjzg1NI5wcJ5MdhTQ-LF52iE0uAduRAlaknW2F57smHRASagqmMH_LMpg1DoPcE2yGiqiVSOBdEWW_j1KRvXu9RY1-RGCaXiT--9_xQclNDMRCVmId4AqcpiRlJXxi2ujgRhWxrv3szHfB0yuB3Ft34Cb9_Ew49iTOLt4dmpglABMZzzVWXcbkh3qz9WP08wdDssKQbT5yDSYM-fwYZtLU39G-km8DNH6aACKYUDMtrEYdT3kFEk7K1yJaXWUfsSZhhN9Yl_5R1YpLKUYfaZI3W3TZ8vz5QEdWVrbk5a00MsWBiFPbpYHE1AKVtFnSBhRGFWs3WAtrPfjDWMnvQm_Isj-1VfQBEiafXsqg9lLNhETt2Uey6Zudfk2ifIEY1FkLS0KvDJriNUSHj7Qxjtes-Ucg_47DtsDUzYtG4JHQEqCv77Npr8-vf0eGcltiQohzs0h3fQASok8cTjlXZLWbSjMe01035DLxfIV_T",
  "id": "rs_043cc6cc674065a7016ab43def547887d08b22bc07a1dd8608",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.055,\"left_z\":0.03,\"left_gripper\":1.0},\"note\":\"The arm stopped around 10 cm high at this long reach rather than completing the descent, so repeating would not help. I am retracting about 3 cm toward the bottle’s shoulder, where the arm can reach table height and still lift near the bottle’s upper end for the pivot.\"}",
  "call_id": "call_W6ENNumyeGRpwCThLiVzMXb8",
  "id": "fc_043cc6cc674065a7016ab43df1e4a087d085f8d8f5dc2dc7f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W6ENNumyeGRpwCThLiVzMXb8",
  "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]: [-0.1967, 1.6829, 0.9112, 0.1524, -0.1879, -0.1497, 0.9989, -0.0204, 0.7563, 0.5236, -0.374, -0.0303, -0.033, 0.9988]\nstate[eef_state]: left_x=0.4636 left_y=-0.0551 left_z=0.1052 left_yaw=0.0249 left_pitch=-0.0438 left_roll=-0.0044 left_gripper=0.9989 right_x=0.2831 right_y=0.0032 right_z=0.1546 right_yaw=0.0163 right_pitch=-0.0379 right_roll=-0.0005 right_gripper=0.9988\nstate[joint_eff]: [-0.4991, -8.7453, 7.4598, 1.917, 0.0122, 0.2027, -0.1245, -0.6222, -1.853, 6.8308, 2.0049, -0.0611, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79df383c11c38684a4f1012dddf54c20fe42801b9ade5e60f01d164d38846009",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb8bd3010dea86d43ca9c7d0a272129906574c7c5633ccd4cc337b384276f724",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e19beb64b500fc0ff7a51582a313c23aaf976044e915e3173fda352664fe120",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3004, 1.5536, 0.9138, -0.012, -0.2523, -0.1867, 0.9989, -0.02, 0.7918, 0.6033, -0.4034, -0.0235, -0.0288, 0.9989]\nstate[eef_state]: left_x=0.4341 left_y=-0.0845 left_z=0.1317 left_yaw=-0.0048 left_pitch=-0.0649 left_roll=0.0107 left_gripper=0.9989 right_x=0.2914 right_y=0.0019 right_z=0.1754 right_yaw=0.0087 right_pitch=-0.0232 right_roll=-0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -7.0769, 8.7453, 1.707, -0.2222, 0.0122, -0.1245, -0.1983, -1.4154, 6.8991, 1.9463, 0.0024, 0.0464, -0.1294]",
      "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]: [-0.1967, 1.6829, 0.9108, 0.152, -0.1879, -0.1501, 0.9989, -0.02, 0.7719, 0.556, -0.3878, -0.0238, -0.033, 0.9989]\nstate[eef_state]: left_x=0.4635 left_y=-0.055 left_z=0.105 left_yaw=0.0251 left_pitch=-0.0445 left_roll=-0.0046 left_gripper=0.9989 right_x=0.2863 right_y=0.0021 right_z=0.1624 right_yaw=0.0113 right_pitch=-0.035 right_roll=-0.0043 right_gripper=0.9989\nstate[joint_eff]: [-0.4991, -8.9231, 7.4598, 1.9609, 0.0415, 0.2271, -0.1294, -0.3077, -1.8393, 6.9265, 1.9853, -0.0513, -0.022, -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]: [-0.1967, 1.6829, 0.9112, 0.1524, -0.1879, -0.1497, 0.9989, -0.0204, 0.7563, 0.5236, -0.374, -0.0303, -0.033, 0.9988]\nstate[eef_state]: left_x=0.4636 left_y=-0.0551 left_z=0.1052 left_yaw=0.0249 left_pitch=-0.0438 left_roll=-0.0044 left_gripper=0.9989 right_x=0.2831 right_y=0.0032 right_z=0.1546 right_yaw=0.0163 right_pitch=-0.0379 right_roll=-0.0005 right_gripper=0.9988\nstate[joint_eff]: [-0.4991, -8.7453, 7.4598, 1.917, 0.0122, 0.2027, -0.1245, -0.6222, -1.853, 6.8308, 2.0049, -0.0611, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79df383c11c38684a4f1012dddf54c20fe42801b9ade5e60f01d164d38846009",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb8bd3010dea86d43ca9c7d0a272129906574c7c5633ccd4cc337b384276f724",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e19beb64b500fc0ff7a51582a313c23aaf976044e915e3173fda352664fe120",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD36-jgNIMOA-rKVuxd0oblKHao3svGHQzo7OabeBSXpqnJlPe61d-Y0CVHP8uF-O26BDn7NVee8pqmcLd-O7EWvGJPpe9Pi6m80HHpFgDY3hRCQ9fq8-fQ_JCtJspBOTplLynR3duSBafwd4A0Xeu0nGXFlsSb9crbqIX_mDZ4QngqKV-I0go847BS-bpAoyo52Nl20UcCCf00iz0HtO1oZ82L43RiDHvQacsBn1UZW7kZkShEhWmn0x7gXHIutbwBrWs9G3XvEPNxYPpI_NIWzrw9HhtaH658A86rY7TMdPMPxKaWb0eKXmzRimtfYu7icXxvtO1RZIAH2wxG54VweNCvRj83Qij050tOzZwJYqUC9qFfNsNFTQN1XWw8RtrLJWzjyuI5zUdFvMYstl0BYrUH8M3UA-zl3eYACKPL1JCGj4FzwIQoH6DXDhrM1_xOnghxVfLXkYOKVnaq3HcDmvgxoTLkiMe1QP921dt8pZyGjRvhok5lCHMcnwMb_Sp6W3eQ9-1kvGf-kXTGBA1piaOHMjUBU3RhjyjRilVbY9SukTZ0AFjCg0uhXvOgPsHyeQfRdLubIpwFqqYVbsqMpZpjNLxjUO8Z-EBO8SYgCeml6lDVU1Z5K9-F5CM-EX8_0baV4wjGhQv5KvWaCtzN2XzmNMa8SuMfQIvJMFZ7t7-mDZ32obfLU5czdoGnD47kU8iGK_YuYRQthYcNZNoQXmBm0TmaGmlZG6iCblO0l2wOzqsHEQ6JNp7R6LFPBkHey9AJjlVft5xAfxVx7Y0ajJaPwGl01jddaBy4UxVndb-SQjBUmHIhVE199Yx437FUn-qCVoYTw2-ipfMw8jt7gkPI8drBVQpHoPcMoclW_5U-wVASi0bt4q8UfRG76ySA2pLunubMeZnVMKWokMWzQm8MvlchbPqloONWXsMfvmXQrClvoA6pThn6rE_QyrxE1AluuPsWKgcISEDmE53ikgZAHrG2iURYnYLrphhpBcxH4jjVluNLAgAzIRof6kkonxylZtcx6avO2FVSIS2DrEhAwD1vd-EA9_mDMS1HkV5hx8VkEnRtGB3RXixyaHLTRytFer3onEsqgSy3YdGC7_mDD-eM4bxhf9MgJOMk9JnLWO01FlCtlgUOaXhiL3NUNV_lVcZx9w8WRGqXnCTX_f7cwa6qCOFZnEcy9umps1Xwi5KkD3LGZcDbS2NqRRf2ON2kOLMBCFBdqzBqA72zqaR59tHTcSO6770USigZIqSROcXfx43ITfcSXKedGeZ3HmRx77uCFGJ-cktpQ8Ss6tKAPjZaH8Z_36erfGr9NcgA0gwezy0Dr7Rkv25c7QIjaFX8d8taUslrCYt6IJFbT2A73CIwTt_m9dAvfFZMwYlo9dAuOKiIkiDS53p01JPuPT4C2hn8u9Y-Zjz-A9PJHH9A3hnivUJlaZnfUQ6PPGHlOWg__6iB2FT4PLN0Lx1ZagMkTfMK1n2p7q4--WpPMbTHxmUlPkYiq7bHMDZxZL5ngzhXdrRw2v-2xICgu4URqwGWHF5za4yizpSX4NkFhZw==",
  "id": "rs_043cc6cc674065a7016ab43df90b1c87d09d30531afb8c4393",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.055,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"The arm did not move from the awkward long-reach pose when asked to retract and descend together. I am first raising and retracting it to a free-space configuration, as required to recover from this IK stall, before making a separate low approach.\"}",
  "call_id": "call_peetMRc5Hs601a9us6M8KWf8",
  "id": "fc_043cc6cc674065a7016ab43df9ba9087d08d32de4842ec8057",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_peetMRc5Hs601a9us6M8KWf8",
  "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]: [-0.3027, 1.1435, 0.7315, -0.1425, -0.2668, -0.189, 0.9989, -0.0204, 0.7338, 0.4866, -0.358, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3621 left_y=-0.0605 left_z=0.1827 left_yaw=0.0058 left_pitch=0.0304 left_roll=-0.0123 left_gripper=0.9989 right_x=0.2793 right_y=0.0033 right_z=0.1469 right_yaw=0.0183 right_pitch=-0.0364 right_roll=-0.0028 right_gripper=0.9988\nstate[joint_eff]: [-0.4171, -4.4786, 6.653, 1.956, -0.2076, -0.1734, -0.1245, -0.4718, -1.2103, 6.9812, 2.0293, -0.0757, -0.022, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6cb40efd5ebaca87f5451c55a30da34a66f37f71b948dd452c2fedebe40cc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e64895170748954d45382c644ef86310f75718709e95a8d10368cca3974ed08a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73340d309ba98a7497f52df6b0798ac23c697b756228b306f60124d5c04b98c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2119, 1.6527, 0.9112, 0.1123, -0.2096, -0.157, 0.9989, -0.0204, 0.7845, 0.5842, -0.3977, -0.0238, -0.0292, 0.9989]\nstate[eef_state]: left_x=0.4575 left_y=-0.0572 left_z=0.1111 left_yaw=0.0318 left_pitch=-0.0504 left_roll=0.0043 left_gripper=0.9989 right_x=0.2893 right_y=0.0019 right_z=0.1699 right_yaw=0.0088 right_pitch=-0.0292 right_roll=-0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.9094, -7.9385, 8.1436, 1.9316, 0.0708, 0.1392, -0.1245, -0.2667, -1.9214, 6.8581, 1.9121, -0.0855, -0.0513, -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]: [-0.1967, 1.6829, 0.9112, 0.1524, -0.1879, -0.1497, 0.9989, -0.0204, 0.7563, 0.5236, -0.374, -0.0303, -0.033, 0.9988]\nstate[eef_state]: left_x=0.4636 left_y=-0.0551 left_z=0.1052 left_yaw=0.0249 left_pitch=-0.0438 left_roll=-0.0044 left_gripper=0.9989 right_x=0.2831 right_y=0.0032 right_z=0.1546 right_yaw=0.0163 right_pitch=-0.0379 right_roll=-0.0005 right_gripper=0.9988\nstate[joint_eff]: [-0.4991, -8.7453, 7.4598, 1.917, 0.0122, 0.2027, -0.1245, -0.6222, -1.853, 6.8308, 2.0049, -0.0611, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3027, 1.1435, 0.7315, -0.1425, -0.2668, -0.189, 0.9989, -0.0204, 0.7338, 0.4866, -0.358, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3621 left_y=-0.0605 left_z=0.1827 left_yaw=0.0058 left_pitch=0.0304 left_roll=-0.0123 left_gripper=0.9989 right_x=0.2793 right_y=0.0033 right_z=0.1469 right_yaw=0.0183 right_pitch=-0.0364 right_roll=-0.0028 right_gripper=0.9988\nstate[joint_eff]: [-0.4171, -4.4786, 6.653, 1.956, -0.2076, -0.1734, -0.1245, -0.4718, -1.2103, 6.9812, 2.0293, -0.0757, -0.022, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6cb40efd5ebaca87f5451c55a30da34a66f37f71b948dd452c2fedebe40cc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e64895170748954d45382c644ef86310f75718709e95a8d10368cca3974ed08a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73340d309ba98a7497f52df6b0798ac23c697b756228b306f60124d5c04b98c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD3_LWil30GcnzY7gnm5CZ7lmn9jVh-oULj7iNnhJoBGmMAE6bPeUJo7vGXafoW_XlOU7pN0AWDZlzxJJWJXh1D17PUuVGYWb7JNw-HeHNBy8wGQe-imlj1chfYE9FRm9ahK4Qg9smDuC80LuUKYqsnFpuPo8p8mApgywiSXzsPnC8-P4bOwmf5z2dGvXfpFsopaORb7mICwWAFipNHpNEQwXjP5HKOFb6MBadtEitusw9pIdE2VwVx1gwLbB592lWBC7AGfBrxBCV2W17xK2pD6-r8Lc4L5gdR6KANzHGTFfW9NstrC7H2bYM4sWHqOLQZEoks8m6VpJ9cFIFxjJy5SBu2_d5XoRCu6286z4NpXBqAxeGyOLZi_O41yP0qLIAfpeQpjphXindPt2zB-txwlDxtjTgzBwmacCk4G2w64XAOlzg3tAHRqiBi2KMbDvkxGS94pA8DxlUf0mxFjZpfA4lADxwNUq_QlT93IYRPpLvoxohK_xNilSbIXo-ETb393D6WSFGI54Q7PZ86MBZmelSO-IcmJF6S6cwG1_IJfYl50Ox-pYzfcno4dPxJmsA84bSbkAgv_KiD3LBFJcLkf_YQtsW2Ibn9Y-TkNhpSZkBwaWr-FFzBmgkt42mr-oo3j8NdYcRsSR5yXObMdk2qljYMgd0KzzA0k7Cicn6VbT1RbMNNdW69dJYYH7gIOKThNXuYXSxZEciXuG9tUQkU48plott5ezzLxPExQex312-_4IZ2Zq-sUFZBqwrKBEKApVNEKHRg6Tyub6vLgQTGnhQnYsB4lgHYW-gxh-WU2aRwPHsTwnZLBp87KYxeqQzPvMMfRQ2FgoX5UcmzjMAGOive1tX3bS8VDXUUQ6msLrVbznqyC8yj1t1s1ghuHnQNgIB19UYauukWOxQrwSDU26HzhrnfpZnfHAP1EfXtjSamOJP-JjqMRiNFmxy_xsMR7R0pxHyFzyGJ-0KpJm4hBYNRRxi1yRvYKglcZGX5nEAYlvAH6ISOVCuKK_yeJU3tcJ7BgraQFQnei26YHAvmOIOcaZ7e3XpWwQEOnWbW7xpO-xG_Xypyv5boRNhZkcIU7rej5Eb3Ve-rCPEzJUIpQgE8FbrWdfgOiSEqvcS_hpH4h6AwsKN6ECzakRjGyrl0LfueSK73S344q4vFAaFVIh5CUeA4onSpTj9y1y2J29xJ3eBeCmaObzH87T7iDIVOqdpJvBTScXgYD4trwJRtO--idaPeswrQV_dVGghWDTcxxm0Y5lfhPV9o95_3X66RsBnf9C2NwoWDr96ov0QtbWfCUFqU5Q2bVRz9TMDdr9SnhSdtdDstfhpC1B-RWn1q8duD7QjNO6BVXFxYTbO2FTh4ctM8WnCcyEKrqsIf6A9giLBXozsNDLlHaHuDUlFFSqXW13brnIH_M1ig7tb7goqbMF8egIVs83q3DaW2R7GQjbGdGqTEdqU9RhKtfLdvDbxVqDCW3pQ5WTmsm31EljfrCZ1rHHsge3bYJBvkdDYJECjselcnybi1qv0jJKP4XwqS8xsLW_3Zh9cEc5yQuuqw2fQUH8waRy4Mu-j8MHF-Bdejd5qCbLasYKCfMmhtC-iuNYESErJhme85UM_X9ZLjghEd6PB3V5U31tUvdkyHyMvRFJ5mTP3O0iSpjb7HdzmYRwq9k9ANM38Bl0H2xmARkeBmNhGX8oytufaGV1l5rubZbluqknFmAl2BmjXPz2nmY9K7qQzaaJANG1l_5SGrnoEqr3f5nB30yHK7-n_w=",
  "id": "rs_043cc6cc674065a7016ab43dfcbd5487d0995f9f09f907e55d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.04,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The arm has recovered to free space; the left bottle’s cap is again visible ahead and slightly left of the jaw column. I am making a shorter, reachable approach over the bottle’s upper shoulder rather than returning to the unreachable cap tip.\"}",
  "call_id": "call_08dKZUMX06ODIqMmNOo0whKH",
  "id": "fc_043cc6cc674065a7016ab43dfdf49887d08a206735461ca354",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_08dKZUMX06ODIqMmNOo0whKH",
  "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]: [-0.181, 1.4345, 0.7116, 0.0673, -0.1883, -0.149, 0.9989, -0.0204, 0.712, 0.4534, -0.3428, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4008 left_y=-0.0361 left_z=0.1081 left_yaw=0.0409 left_pitch=-0.0791 left_roll=0.0044 left_gripper=0.9989 right_x=0.276 right_y=0.0034 right_z=0.1404 right_yaw=0.0183 right_pitch=-0.0326 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [0.294, -6.3385, 6.1744, 1.8779, 0.0366, 0.2906, -0.1245, -0.6085, -1.2376, 6.8444, 2.0, -0.0952, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca5ea9aa512f22ad527af9b9cc53e536392c044bf976bdd5c7bc320a2ad60dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1aabc604f748859f8a36b1a933fb9ab0534783ab301c2039b7cd3c2916f9d46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e721b6f9085bdcfc4d532a44d65d411cbc2762824e0a65d6d497ada2de3231",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1967, 1.6829, 0.9108, 0.152, -0.1879, -0.1501, 0.9989, -0.02, 0.7719, 0.556, -0.3878, -0.0238, -0.033, 0.9989]\nstate[eef_state]: left_x=0.4635 left_y=-0.055 left_z=0.105 left_yaw=0.0251 left_pitch=-0.0445 left_roll=-0.0046 left_gripper=0.9989 right_x=0.2863 right_y=0.0021 right_z=0.1624 right_yaw=0.0113 right_pitch=-0.035 right_roll=-0.0043 right_gripper=0.9989\nstate[joint_eff]: [-0.4991, -8.9231, 7.4598, 1.9609, 0.0415, 0.2271, -0.1294, -0.3077, -1.8393, 6.9265, 1.9853, -0.0513, -0.022, -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]: [-0.3027, 1.1435, 0.7315, -0.1425, -0.2668, -0.189, 0.9989, -0.0204, 0.7338, 0.4866, -0.358, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3621 left_y=-0.0605 left_z=0.1827 left_yaw=0.0058 left_pitch=0.0304 left_roll=-0.0123 left_gripper=0.9989 right_x=0.2793 right_y=0.0033 right_z=0.1469 right_yaw=0.0183 right_pitch=-0.0364 right_roll=-0.0028 right_gripper=0.9988\nstate[joint_eff]: [-0.4171, -4.4786, 6.653, 1.956, -0.2076, -0.1734, -0.1245, -0.4718, -1.2103, 6.9812, 2.0293, -0.0757, -0.022, -0.0073]\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]: [-0.181, 1.4345, 0.7116, 0.0673, -0.1883, -0.149, 0.9989, -0.0204, 0.712, 0.4534, -0.3428, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4008 left_y=-0.0361 left_z=0.1081 left_yaw=0.0409 left_pitch=-0.0791 left_roll=0.0044 left_gripper=0.9989 right_x=0.276 right_y=0.0034 right_z=0.1404 right_yaw=0.0183 right_pitch=-0.0326 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [0.294, -6.3385, 6.1744, 1.8779, 0.0366, 0.2906, -0.1245, -0.6085, -1.2376, 6.8444, 2.0, -0.0952, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca5ea9aa512f22ad527af9b9cc53e536392c044bf976bdd5c7bc320a2ad60dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1aabc604f748859f8a36b1a933fb9ab0534783ab301c2039b7cd3c2916f9d46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e721b6f9085bdcfc4d532a44d65d411cbc2762824e0a65d6d497ada2de3231",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4D6udD8JrfNUr7l8O7a0zTiL_ufG2nDP95MmMzzVv2JNzejQZgVAivTMaiFoaUNUCNRsDuIY3jNS14BFQPujdUDYlGIzso9pJYpcqW4O0LB3C0mhcBL6MklXtQuZdbaJboMei7xDpKlNgkI5eKnEZ29wfEyDG_GA9fCe_acfVxpADx327eQq8o2x0MogyDvbv5HpyJd9l0F2gtfMsSWSJeEa0hnMnTK5BK0OgT0s-7YwK361MbqFZlZV-xtp99um5LF1RBluV7mgDUubA6S2xpoSEL-SXmpbmmCqxef9bsPBxA_XO1vXfCVJL2HLv3Zp_QefTz3izMf3l8ZNhrfqjSUQMZPklI0GLNKK8C62Dvr2b8BMHDyb9gaXCGM_H5ldA1UkoladrVA34nB7sKTEVWHldjcjmK9ii0wrGDM1CUnSEs-3gZkUPKVkOyQzxCn55pVfjU90rWs5OCNow5BzPv25velXVArTrO2_nJsvmKA9-cZ4CL-1-xc-G5Y-9mW7fEHB7TDzysl6km9IEOqp6GurJ8LasC5iulosabgpVN2eqyVJOnP41SdyS9hVgStWnY4IHwN1xCt5uxCDhIKiUgtBBetElTmvNOdbUMkZMHHoNXX-ZV-IvGdDsr6yRM26p1olKWSFaJ2ah6-xbw4cVLfw2QILD-QHfnW3LTVXBEtRrrt8v20EIXWs7cSXOvEpIsGDvXk2gWKuJEeGsZuKloz1uybLxUl406SHOJBUi91lLRsakwM4y7V57mdeslUV3Gr1X7pCE5FPE60LuRVhvhm7APTLNRwWEDHt98c1B1iuMD8TOlK3jz-UdQxYly_-aujChMAz5Nu7SWu_rUhoTvVK8IdoITr93oopIStHIufqR-hrrn8f4g-QJDs6OypXiQ1sjHVl5Db_F-OaH3uWeDeqRMpQQ7qviUhGqVpt-rIrcBy6lukPSMOrePDOPl0eQBx_OWky-d3PZis3PJIjA1aPyHztaeJ6mPagX9VZWISFc2tOlme8jNFMIH1T9EIRlKq7QAJwekOESumIsJSLp7b8PHaH-EnFJjh6eb1rXrhPukpCILNVDk2B_sdNeobmNzOvNr8wLEAgfV4fvWAp6hFvB4iD79wGjg_P_SJS13qx3DYM0Wh3EJD79Ulq6kIQBhFEALMNAw_BHnBQOwkJXYzn6f4OSIo5zKIaWHJy6bljsMqNd3i3NgV9sMEKvcxubF5SbEkyqT95i-4CvdLhExuIx2fZYjIgi-Dm0BSWdtX3wp7zwmeOtSUoYILj0qv2OD95LIgpqnOHCfKXMdSHTX1k-Z1IHmBXaro4TiohzX1wc3mk-X4QdMwq5nN5Ac50ROdRXVnC-nsSvrripBQJQUjSJHmBIbpj_Rg2rtc9YWJFvWQxwslTiMZ0IVeqA35xOvbxvKOrRrjgLgaRJC47XT7Q==",
  "id": "rs_043cc6cc674065a7016ab43e01f22c87d09db2551a93b9c219",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.025,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The upper shoulder of the left bottle is now low in the wrist view and only about 1 cm left of the jaw column. I am correcting that small lateral offset and descending at this shorter radius to grasp it.\"}",
  "call_id": "call_twp7xqJApeDlvznSe1dAsT5w",
  "id": "fc_043cc6cc674065a7016ab43e029e4887d0bf514b3892437abb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_twp7xqJApeDlvznSe1dAsT5w",
  "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]: [-0.1555, 1.6958, 0.5201, 0.6781, -0.1463, -0.1425, 0.9988, -0.0204, 0.6922, 0.4232, -0.3309, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4174 left_y=-0.0357 left_z=0.0542 left_yaw=0.0275 left_pitch=0.0711 left_roll=-0.0442 left_gripper=0.9988 right_x=0.2727 right_y=0.0034 right_z=0.1342 right_yaw=0.0183 right_pitch=-0.031 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [1.3333, -4.3829, 2.7829, 0.5495, -0.3248, 0.2808, -0.1441, -0.4991, -1.0872, 6.8991, 1.9951, -0.105, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68d56461a2ddef770e772a8cc40202c81a2cbdc0c56c2571a90dcd9b88744730",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b0e88a174f63f7974c2e1f1747590d373f0fe399c11782fcf57e434d6bb4ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0516951d138bf9ee5214f6cf4119d5cde5e17dd73365aaab67a535232e40b2de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1967, 1.6829, 0.9112, 0.1524, -0.1879, -0.1497, 0.9989, -0.0204, 0.7563, 0.5236, -0.374, -0.0303, -0.033, 0.9988]\nstate[eef_state]: left_x=0.4636 left_y=-0.0551 left_z=0.1052 left_yaw=0.0249 left_pitch=-0.0438 left_roll=-0.0044 left_gripper=0.9989 right_x=0.2831 right_y=0.0032 right_z=0.1546 right_yaw=0.0163 right_pitch=-0.0379 right_roll=-0.0005 right_gripper=0.9988\nstate[joint_eff]: [-0.4991, -8.7453, 7.4598, 1.917, 0.0122, 0.2027, -0.1245, -0.6222, -1.853, 6.8308, 2.0049, -0.0611, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.181, 1.4345, 0.7116, 0.0673, -0.1883, -0.149, 0.9989, -0.0204, 0.712, 0.4534, -0.3428, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4008 left_y=-0.0361 left_z=0.1081 left_yaw=0.0409 left_pitch=-0.0791 left_roll=0.0044 left_gripper=0.9989 right_x=0.276 right_y=0.0034 right_z=0.1404 right_yaw=0.0183 right_pitch=-0.0326 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [0.294, -6.3385, 6.1744, 1.8779, 0.0366, 0.2906, -0.1245, -0.6085, -1.2376, 6.8444, 2.0, -0.0952, -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]: [-0.1555, 1.6958, 0.5201, 0.6781, -0.1463, -0.1425, 0.9988, -0.0204, 0.6922, 0.4232, -0.3309, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4174 left_y=-0.0357 left_z=0.0542 left_yaw=0.0275 left_pitch=0.0711 left_roll=-0.0442 left_gripper=0.9988 right_x=0.2727 right_y=0.0034 right_z=0.1342 right_yaw=0.0183 right_pitch=-0.031 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [1.3333, -4.3829, 2.7829, 0.5495, -0.3248, 0.2808, -0.1441, -0.4991, -1.0872, 6.8991, 1.9951, -0.105, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68d56461a2ddef770e772a8cc40202c81a2cbdc0c56c2571a90dcd9b88744730",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b0e88a174f63f7974c2e1f1747590d373f0fe399c11782fcf57e434d6bb4ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0516951d138bf9ee5214f6cf4119d5cde5e17dd73365aaab67a535232e40b2de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4JAQwL9Vf3bhlsypATQUVhVdmEsy9C3ObITKeAhR3bqoGXrD8qLs_NHG0f2UyoJ6YiL4Ev5axT7f5XmaU6EvvvRc6-GmEwqZ4qpPcL-ebw1EbdediOz3A9Lgl6g-LWPJ6-Iejq5FOuzbvyqMyH8Zm_XVzUF3WPozVDfxLBoMxJ4goj4981SJHpdwz2YaN_NsjNUzoHU-xTImUeJtRVryjhy6ACqjpG0n_OopFVCV0DPMKGxBJnyDdFuQxCH7ULjhAHDQzwkNaJ-MQTizeP2OybOzRSrl4wID6VWrASZXtgLQqMlZdYVYNiVtfMlSuIZRTQfzqLGi2SXxB-eI327X8M111xE4zuSKoN8l-zWVKgZLvfrZSvhnBPTU7E9qPbbKY2horMpWKGG1lVUIwcHEn255P1V3U75rLu3WrZy4o85uG2Xr1aWVpgqlm4cUE19P1VFlWVezHJIDpDeJDNwCfCqMKh7oJiLLy02UYBLFRCcsC_6C4oYD2XKnB3wrVJra153BU3b1cenMUQ-BO62Zukx771hRUbJJ6U33bWo0HEOqIKL7s6y_oUwAThrWyn-BvAeSVFNs89dMnGjQC-B7dFHvXqd6JxsQWSBLZvmr4vgAewK0XT7QtffwCTDZ62SabVw8CXwlQT4v_iNl1go_3oZR5diIyVaguoHhkUXJU5T33TTva8XPGH-2NGcAPNwJbMiSc7WMl-I7o2JMeh_h2CV9Uqj1js1zjcHMKhK8kEFJeZU2awPE_Fcmrl5BeSHJ1fo_fK9vl0gv2CYV9AInnqRJ8vxSYmUs75scvcPm7QpiIiOaJbFbk02CYL-4SYTETaIaPrxt0hh7esOamdv0FR_0lkSIXnkBqqLRPwLMu4-3lHbOIdm1ND21MeWGGI0IJkCRZt2NydmbndwBBobQ9tm0FU2apri9xPSV51dRuLu00GRmohJBhPwWNkN4OVVLQXpQPdranW9EaUzmA0yk4Ab7y1z7uRJRgm7ohKTgpv3CrteXla_iW680xvjqUtDhLVZDHpfv_QNSpiUYnDvVB--i2eeVsbLbvhdV3lfdbEMg6IKgYvnCVg3ybmnfO8AihtQmci9eQOeLh_uP1Psui2iJA_UeYIDKaxligqMUFDkChrVGhQY2mQaBghzbu3XGX1lIjlEEYmyMdCSHRMSy44GpNOT2ZHe8WsGuzIDBUxmF_FKygwIeDx0I-ECRs6KuShmbZHXp9MjgZGjTvFNk6mIag7WOpI-4l-Glc_OypKiZjzPur_9IjWXTDSvK1Xapte4LzLywB0F5mpTNmDPXpnD5rR88vDHjLshkfwhlK25iodsC7tE7MMvf0W3BBvuSwbx-XhXRDRpw4cxoEz1ahIJ_sY_VyDASeJf6umvUms6gVQbj4C2x5WB6zT-yh_gjyAqHYqjAipxDSofUqEyHaUsjeN_73Ijln5gOM90StQLyE8Vu2N-X-4me_2Tba7ypi24wm9aups0GN63uz5yV1fmU-cBHdDvVD7TTCUMvzWEaf--ttGrzcVDm1kP_VsHINQ5ShavpuJBhLzkmDLZ8fp_79Hh2FdqxzAZqYejeJBwuDEVf5l60GkaM9Dgk1tNNim3ExIlIxcaNtUuyaDN1KvnWB_JxyXSMjCEI2Rf5iIRJ2pk9ObhIP-GbSYi_wTXuJgLTqWRk4nf8Dg2qlzrZ8a6-j7isa9E7yJ9tuebrH2hg6Lq1qQ3zzL_yDQYHugA7ObnGz7Sxv_STVMIU4DWWmLnmoxmcLYpigm2K9CtZQlzfbYCKQWpbhXiAqMgoxbUwveiIoGvwK7JVHN2bduhQpocgWQ9c_fcbVH4jZfHktzcakV7A47dLKv75SN6JuxCtQPJw0cjlsSmXuowlOx9o1waNB1IqBmHyEyjzkW3Bt6cXczyhf7nyNuspMrwR6W94pO5KfJUFRitTLBAibD3kPJW8PyURCrSdejehe6nY9lsjNo_Ld2gBMO0XF8GmYQIY4MISo8rNz4P4G4XHrsuzb32u2ZrHVyZe-XQz88yG8JSqQuhsRTWVVuihWNQDuxkdW-P6FFR5P_lZ1F6_EzjHXj6V4rRGp1SxG6wtfK1yWow0QBWVJYD6ZkDnC5ww4s1HllldQysJBsV41hbHMd7porZP55wFrWj75rE4gqgwZnWe6YKSx45JU6TJ-bwBTs2nrgPJ3TjWe_xuSUe9PDHn2vsB4J3REeDxVCrJ8J800lognq8yAih1uwG1Mk9kf-qAW2xomkLI7OCYVhVgNUu-CXCVAjxiOqP9wuZEA9ZSzHlfswM5-vs2vc1kZ2yWjQaqAjteb345EiBJkiK4_PljgDmV-Y3y1vp7VnbMIxoCpj7C3JPlvI7mXIjZ2Oijgdh_GgUwI909iv4mkJ4mI9FDEINE1sH3RV0urlhvv8DJHZkw5ycWEI7Hx1yO9vbYC1a-GCm7A4zGx57udHwmYbP3I7GowizapAdWnPysto3V1h0PTt0qNmuAlR-vnasG5tqpvlDdDV2JaZkPfX25eBke0zaN-OTmrX8295dQ87FGXV10euwtX1iACP-pHUDR9OcQG0h2Xxq-qyeVvBgv3tKXemjNWuvcI0Nh702qFxt0z1i0O2gEF2NNwkiIn6N-U7xIim7u48tk-TwCQa_tchnCDhTXNrXL7AweSH4nHTHKHqH4lAcTa1MCFrbu1WLooOUN82-vVGy1VmrnZq1FLl137S5kNccf8bcbu17_Luw1wtzKscaUW7koXY7vHGOUE1flsysuouHWFrX2HEq4Xww2lFxA4NuxaTz0o128TMF77RUsY6wbuIiKCTW0qsXIkNSCltgEz9AD5xL3PF0JJX8Efk-apfFwzc6VMsHAXmHYZY7aQ=",
  "id": "rs_043cc6cc674065a7016ab43e05654887d08c1098eef0aedaf1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped at about 5 cm with the bottle filling the gap between the fingers, consistent with the gripper contacting the bottle’s upper shoulder rather than free-space sag. I am closing now to test whether the body is securely between the jaws.\"}",
  "call_id": "call_SZhEhi0ltkbN6eaH90vrheLE",
  "id": "fc_043cc6cc674065a7016ab43e09014887d09605e2e2511367fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SZhEhi0ltkbN6eaH90vrheLE",
  "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]: [-0.1688, 1.6695, 0.5735, 0.5743, -0.1692, -0.131, 0.0143, -0.0204, 0.6758, 0.3935, -0.3168, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4229 left_y=-0.0383 left_z=0.0627 left_yaw=0.0271 left_pitch=0.0496 left_roll=-0.0187 left_gripper=0.0143 right_x=0.27 right_y=0.0036 right_z=0.1276 right_yaw=0.0186 right_pitch=-0.0303 right_roll=-0.0028 right_gripper=0.9988\nstate[joint_eff]: [0.0205, -7.2957, 6.1333, 1.1844, -0.105, 0.0513, 1.2918, -0.4855, -1.2103, 7.0085, 1.956, -0.1001, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c08473b2cadb72f1e6814f1f17e27347ae5a89cc2aa88ed03bd54cdb701d2dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb0bd85a8442108347d1d7209a87aad5a5e5fad4b5583652e52525461c4dd044",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:992b2d1e731f8d8905bbd00cb0ad316e1537c433491cc01a241116e862461662",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3027, 1.1435, 0.7315, -0.1425, -0.2668, -0.189, 0.9989, -0.0204, 0.7338, 0.4866, -0.358, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3621 left_y=-0.0605 left_z=0.1827 left_yaw=0.0058 left_pitch=0.0304 left_roll=-0.0123 left_gripper=0.9989 right_x=0.2793 right_y=0.0033 right_z=0.1469 right_yaw=0.0183 right_pitch=-0.0364 right_roll=-0.0028 right_gripper=0.9988\nstate[joint_eff]: [-0.4171, -4.4786, 6.653, 1.956, -0.2076, -0.1734, -0.1245, -0.4718, -1.2103, 6.9812, 2.0293, -0.0757, -0.022, -0.0073]\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]: [-0.1555, 1.6958, 0.5201, 0.6781, -0.1463, -0.1425, 0.9988, -0.0204, 0.6922, 0.4232, -0.3309, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4174 left_y=-0.0357 left_z=0.0542 left_yaw=0.0275 left_pitch=0.0711 left_roll=-0.0442 left_gripper=0.9988 right_x=0.2727 right_y=0.0034 right_z=0.1342 right_yaw=0.0183 right_pitch=-0.031 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [1.3333, -4.3829, 2.7829, 0.5495, -0.3248, 0.2808, -0.1441, -0.4991, -1.0872, 6.8991, 1.9951, -0.105, -0.0317, -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]: [-0.1688, 1.6695, 0.5735, 0.5743, -0.1692, -0.131, 0.0143, -0.0204, 0.6758, 0.3935, -0.3168, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4229 left_y=-0.0383 left_z=0.0627 left_yaw=0.0271 left_pitch=0.0496 left_roll=-0.0187 left_gripper=0.0143 right_x=0.27 right_y=0.0036 right_z=0.1276 right_yaw=0.0186 right_pitch=-0.0303 right_roll=-0.0028 right_gripper=0.9988\nstate[joint_eff]: [0.0205, -7.2957, 6.1333, 1.1844, -0.105, 0.0513, 1.2918, -0.4855, -1.2103, 7.0085, 1.956, -0.1001, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c08473b2cadb72f1e6814f1f17e27347ae5a89cc2aa88ed03bd54cdb701d2dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb0bd85a8442108347d1d7209a87aad5a5e5fad4b5583652e52525461c4dd044",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:992b2d1e731f8d8905bbd00cb0ad316e1537c433491cc01a241116e862461662",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4WWPt99vd6ZF8lwtUPYRvy1zLyqiv5StpHltl0lszMlwTXWZ2Bd8NpXwHifnHkH1IoeZEMZjofeJ9UM3b4B7CTBwl63u5vsz6Xp0FGs04aQFSQOq4HmUyELUuTv4rv9XskhakszuHxO47cXq91sCp9-rZs-_SZiqjg2-J9FANAyx_g4pJdjKBWh7a3rkaK8EiHXXEpBvlURKOOqxjAuBjMTNpoiNT9PqAUpVKf0fLcBuxRiJB4TPrL8UMlUQNq9Dzt5pNP5MNrdt8GFrjnTJ0qKq5-CT1NNO4miWqopnUYq9Nv05Unb9Djhin8-MYNn2aKXze7keaQXgex1OpIOche7n-sP5B6AWO-DQcAfRMOth2JueHMQxdM0AZPeDgaA7g_gpLFGyyuQXyaYeVq-x45pD_oAc4wq7BiDUXVayafJnXJCWckHSRCDlmjtX2zXUQDpjsd_xB8DsOD6yYY--Jx08Bm0zyiLRUQxirtjkqYqY7qN7qGzPREg3RSPT2Jfg9uxeym-yqApXQWCFZ4EZ6XTUEel9wfR_owH_ODHNUP2ByN7uU9ZQxpk-26ELY8OwCw6ufXpDmUctF1zIFvL3bXMpxlBmFQ8_o3HWVFkP9noeOSgitykjm8zYgduhAWE8T6HF2h6hlsNHk7_DQoMMZfzyqrAP_3UrC6qxomFA1EaNQyZK7cfO5jhFwY6feXz2oifsIo5REJIDbTdD1lb9OwaEABqueqxP8hozdtJ9YJC2NHNZ37pxtA9oaJBd_gDQmWZUMV9gDpi_YjC2ah7_vppHh0xgRRvuOTndk399R5Yheg0UXHWEdskzaHg2QhatwMsT1Bpp_Kv-bO9mGHhjZMf-l1twXpAQQNpj8hAsrDKoufNwxQraoqbTdLcw9s5l_0g2IgzF7uRdspC-3aaC95diiJtY8I0sGF6seXa2dWasoSSXjUjRlwBRTLui_7U85B1ZBdZqfeu96YHNPU9unyGegcdo5TvLEV6kx1-wWoTHcnYmqsJJg5bWexYaZ3_7Y-lbS7ZvKFnz-m5hgE0Vv0GO1958V4uAE2LNvKPpe-q6GW4gAWxhy4r8rXVnPgq2lXEhyWvaRvPJ48HXHOAv0s0uGKcUPKR0QoscdbYKidWOK51kHTH4yIUyoM83Qj5H-0AZO5SpkU3ALYd0HRSEOKgg3XVwadgob3DYyhGStGp1SskLjl-eq8H-tbwZOkWbx9IMmGk9U4kpp0G4453_3_Xc_rqrpmkWXUHd9JLv1I-aSQYKe34tOfl7Pmr4bmlN_tIUiDhnr-m7yA8CXMrT3TUYUcQd7B5AmfBKHub4F27-gno0w3SJof4Tx0-A8VZMYb6Tf5m5qba3Uf88ua-VoEVEseSAAzGR4lMZcIF4RE47XNzDiS4G_rodK_aACHQTyK849zb7MqAzLHgRxy69lxDIJid-wCvWBCXGxji_OcyiepJ2K1zpOIRa94v8g8wQ0AAL-1nYNkLe-vFob3YcrFdFjOYHIvEJ5krDhK_GzvUT8JQqOgkaRl67IPDRzsS1_BmmxvnBDTYZ5da07ElkmNjyJ4P8IqbmegjhVL7hGV2lNexjJCf-7Q8sMmCp48EF07cnR7K2Ds8PuJm9Ge210K4Mi5pnrjLxlN2TxFgKX2TRNhPnlxdL9ryoyU85YlH2KNK33nrG-p_jVXx2Wm7mw567RFS9uXILdA2sNLGziP3C1ZbhXYTrYW9n9ARouO2dnhwWi8UA6uNh42SLLOa-U8_sggGDz12AKWIzvVlEkRRqVxNg5QunI85iB62cKeiqaeTAviiKhuBY1BpR2nXpjE_p7abXEwfZE00qYR9FU3ZDosFBX0tu_Fgsfsx_nv0hMmsH-azD0K6KTU3_qkR4mu35Nqt1Sf0A3N3Gnn6MhMYK7uR_KnzFWhBwuHNFmPwabUX4E_h0N_JRrVii66lmW52JTUCmFueim9u1iSLe--rkR1C1kcic8fA4l6FsBH1yOPp3aqDLYVD5ShUCQ6Hpvn4eZeMVZJ7MlYsSD_pQJhhSThuWAY2Ar24c9EatoV1In5Im5wpHO_0ya81YQRW0TL2-GR5lKNKeaPFmrX8WBRd2T0Gy5SbjQEEEnUdd0AVf7GMx5HfogpaKlA3ZyqoP4clbswW1AcaY0hPAuigw3DwDOgEs_k-P0koY_U0krpOr_ouz_DDRg7b6vyP9ZgwmEDNobcDQWFKzp6unZ1CgNJTgdZsN2ZBkDcjOnYQ94_DDEB44iKoqgC1VjHBbzgVWbwrRP7aoKWI2VGhn7LuvMTieWiedCeXF2FyDUpG2zFJCcorJli8E6QJTxlaoI8lhZeJdMQwSfU7-N48MG0SGlWwoLRZP0DJKREhpP-i5pzF7tutNlZ9y9aeDCv6srO5OHYPDqyVHNBUhzXwa7qAIJ8mEPqZkeSKKpVIt7GD-6jSdTopEPriOqhqbBuTXBT2zvVpxj2b_vRQ3GM938Bjt4-8rQZfukW90h4K9AUupI_BuATXW83qYdQYGOsiL-yi8BqebQEfsqFLdOOMcIu7GiFv0Xh6B8kLPlRGPdJiUh-fOKY58nDw2Zg4AKayZiQrKLsjNXMYJEMvs1eNJo4IUAvygaPbx_h5GFJprPSNkF_eTpkcb0VJOoIej4zbPEfrEHFSdaEAaFlgixYwMMkJVkaXxGZlKlpPeoudZh16VrFKzaKmz7fHYMB0KpRiW6sEOUgEyW5-gRBAtftV6cUc2gPCR527znivHxkHYYDygPSXCoD5Bx1icGXv8Byd-jZCYRjewhQVU16nxZuNw5bLo2lXFAaULAWn5rw0BhILjcOcmCQD0kWjw12IpY4Wn3ikTxyTbZMx0t9TJY-jzu5DaWxqV6vqX2T9S-y9m1byvOldpsJUBrZdKtrPnr3RnMsEqXpGVqJO5n70WjzODABCw8abxpvvXkefqpd7vd9Afawfu-v_pWEeOppAOeDa8LBRz_dZ29GFyldNd4AjxS9bbp3blAZ5T-djbZmsQZeiPQXRgNYOJaRlnbnqj8qoOZFyxJj_ogar5DjlkGgLdGbS4cepmCLWYCFpbN_YrTK2AI80WBmx-ky31RnsBi28QrG0s5OLI16EAtUppMKRyPYRPP9h1KVgQ4TIjBobBM6BQXzbYYzXY8MvjwFqsdC2VJpQLbHvetvMreFxiKaZUiPi-dElLvstdD-lzx3ThO01T-_kB0_tqkjk1ec-FlvT_Jp7ks-Hkde36pXYl13TLIu4-ixZMYQtTrRGm_C4TTCcqCCtACaoo7n-xr9pYHVhfubQ1nn7nvXqfddwgpQtBjwyI8C--fZmgYStb7qJyogn_v_93IHFfytX70LzapEAh4IS2ous2dQXM3qscDKC2Ji1tvymKIzkEBNeeg7NKTc1ob97YsgfY6dChIBtBxvvIkuz3AZjpRHtlqVqS5J5cr_bBaizz01RRD-VTLy_mu3cLcSKkyw6dtXDJoZtuLmRtEn7-Tda8rz2m7JZuXHSv2KfylU442WMiYe6YXxDWU71zWgXMAyP3qcuQijK0rLJjuJKOR8LT7G-7YsYeXSL61cgmCBNaAwFhA3MDg9w_lbqTVSH_QKAGpIyM6k8h2rLZcUEcqYN-qVD0gJQGUWVcSn1DvWAChiwGRK0BewnArnMy1G2uBggZiNoe_vm9bE9nJXVxfZlU73yWLOs81-Cpu_MZOSN2-Ej-EUv_UfspwPqpm7sf3YwqpJzHLoi-r7oLWKZ9MhFfgwJ5vHM8Gr5tZrT19nwPb1fjqhpSfknHLfZYDd0MpogmU_qdEJamaP04sy7otTKiTNO066LpkDV5lAxSQ3-h3vs225hBbJnkfmw7I7vzALMiqDx3bb4vBqATgPIgbrI_LqQTM5gH0FyO6NV0RjtmzEcVVvazRixbnOfierRKmloISuUJkSsBYNtzSpjbVKGaYxvdtQ_mnfdbVILV44Q70Wka_m_sEOleEQkB-TRox8StI7GEBGzLScfWJp8YylkA==",
  "id": "rs_043cc6cc674065a7016ab43e0cc09887d0a3e5d9e25750e3a1",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4WDeyLmk_0g1euC25I7CPrfs25XHB0Tjo3zT17Vqsi6A4qcxaREoVOQ_I2_ZmgOmDxWvtr1FvL5Z9czBSTbU5Bu8OpcDEGpshH7_SdnA_heqhYEJ0t3x1sHR6DSt50hGqjQpGO6RpbGdpz9Lx1SmhDMdKL6M0sJ6ml6VmGjkPUar7ljaZDxuGLZO27fjIPAVDbrq1tX0yAtcjAqYXeRZHmPEtJ5S7c_rT9o_DYYsUAZNOMWpOgAW0NOftp3fZScMvehF6KeE61Gteb-vAVaLF7bUq_qvPV_bhemSFK5rWGYMwUrnq_i-Ms9tTAVbaDqT3EtgXD0w4sdE7c3Lyn2us2Ds0qyvlBFZf_HStJApWnR0Ks2O-jeaj5QkxLbZ6sjpd8nofYGH6sTxK_8_TubjWNO8ocsyal_oAnlbj0E6G5wyTM-q6QJbVBS2mNDxmikjL7JDalU5q8T9vqx0iLNTKK7qX7TRFq7VLzL3cSAcZSQdIb4prapaoE6VuUoRQqybnhiqeq3eb5JOZpaUhtTFvDbQD1ek0dUW7RwbHl0i5xGE4jfi5WEzB_P01zP_UhaxaHJlvFppb90EYecnPBRrXW7JzmzYwjW7w8UuswTwzVo6KlQoAPbnoj_2rSKaHQBFI0wsWxO0pUsBicNlAIY9HFQJjsxLpQAeTQkMCCE44wLJxDmy8kuH3tcjPvD7Up8rq9qdD4kVoztVFKTtS4YqOvJ1AVQ1ZuV8UGG2_JlCivSfqumjNR7vVAkfEVHxCPuA8_NlAcorHgKWlodWNQuq2miO573_de8ULRv2O1T2ohvmL9JT-xPS9NFtCaZ6t28zvEFZIlysJJ-d4sd8pgt7WYrPg1nKPRJXadFPk9xQA46LgI1h18ej8ZRQFikZf5z4mVlTOelETZb-upiXcgEBXJyqzcd3TW1BxkWR3ReN3wS41o61G7I2WaIS6IsFgVO2vFv4-4swdf3a7x6C0UFgVr4ddodS5rfCkErfCT4OhMsR44EtdqrenQyTj0HQQ5yBm7t4uS6jw7KVXwzZBTBpGzNCbUlt_7LbsyCILO9jsHb1S-D7EEAjQmzGgQd7CaJ5osRBq0tTz-Spf8PSBZLwgFZ-xE92Ep3rIbVJOuKi8RQhUh4izk3XaDUfVXtgF-pHjNEUzFwwY6KcPS_ivF-UUuD_B7V_-UDPoXPOfiPJwIOId_MA6cHCxkEzKfLWld9ZhHXjylD1Wxd2DKcl4VX0LauQWuvJgod1FEZGfMd_dSXnqjACz4FhZ07T9sx7MLpF2enhPagUqPmucFePVYvvySj1J8GmMZ_LktqQ1vynvGQfAvyCXEp9rHF3VtDLFBjla4QxITGbxZGYWF5uLGeFKEFnly6CLuToQac6DQkwv2z79S8D7tdor6qFPI9frhkrA7YecdRPG4u5yyEYhf2a5bTsR-uu7rc2PHpG3yx95qr5y2oMbSAjHeIkGQnIWRUbrQaKywF7oTqSBK8C5conLdui-uqOYgkqB5NIIjk8V0Svz1eM0Ob8m-TF5kT_C6lWgxogHPfQF8rYsarzqUH7glGn6pctmWKUArHGl6yte4EaAjJxcAmfvDrncnQAZWVqyHzA2tVabWbjal9M3UKaHTdt-kyUQxTEC23vjSIO57tjOcL1GIAeCCDlCuJkJ2fyeP5GWiZzYuzw2bQ5uKOIdAo3PeVtuTB0d9J0wjdTvfibsc33ASgFneuBqeTcEm-4BR-xTms5V19y9HKV87dS5yTx_NMVmExHJ4zP01cXQ1RyVPbwo5I6JUjusYikq3UjOwDAfRbYWf9Ga9im068KmjG3vPfdl8zOCm-SWw7WIaAV7bZ900n1M8JV3rFmqBYj4SjGNOVBN8PdYWqdNx-u8TXCC1r3nWuAn92Ex3Ubyre2hezXwMwJyBOjCbQS2DyNCUHeSwYrpqd3NYW_xz6bPrMk3SL5a-mKBAEIfEW3ImFOtzpQoM5r0d49ot4kc5rYaIWyjJjLjBMr9gjKMrU1oM9aH_Jz0KOt0SIJycLhSn12EyoZq8x6RUJscu9I37nntaXwYcXONeowfofl14gNWRlzG4_Oxv0ibq3Pi0JuZddBlMpMlHcqiHgPGNVeHJ_7c9kUDueIyjsVPdm4ewS2Qrr40XnnQ4eej9PZdUHW6EDUjF5Srp--DSTzL8AMysVgupp-Dh2Gb5i5CEGjhtmeKyxW3NhPAImT2O4Bk5TNPBCWWemzRUQWgAnVQXJFIv3GVh-L--Nc2FZDvPhTs9hwCRhJ_mOriQWOMwgok_xKrzTjFeABbA_M73a72WAKQtDtyxvyC4SFI3lk-YTlxSYZCPKLwiJ5gwWd35Q0CTcOQkykkBUwbTiIZJlOWAbMU3lubyC4S-EEOnaFLMPBFaR2xPuexeJS51MSqCsMWJcQaPsmSWAdfqQsBruck2bFfwig8fwtFQFcNFanOBJhbQw2iux_PadzU2toHM80mTksf3B6ABcYI1ZQTmoX0MMSODLJU_09QSDk4BLTA3zuwDuKZSGIV49golVRh_C5xhuYQ_ky0jYmVpQoTb_QzqsUm0VSZpbgnmvSf_KCC3X3UETtiCWl97dskmFHZW05td_A2lW5VlX-A8hHJNtuJLtx4PBL1gOOukQGSzljx4ogiRlqX7SQ4nmefSua2g3pspfEbv_bUsls1Oj4vdxrxCPyLd2DehyI_wpVSBDK1MrA3-RdXwoAzAlHhg4N82UYFcN_RTR_qWxjPvwr-XPSgctPbayHKIvSdgeagewTxpRHNFr7rbh_OYUq67qU1gj4WZxw4pX9s5hP3MMELCMcDlpzzjKRBU",
  "id": "rs_043cc6cc674065a7016ab43e11e38087d0b51887ced5df669f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.05,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The gripper settled essentially fully closed, so that attempt was empty. I am opening and retracting to a reachable point over the bottle’s upper body; the next attempt will target the wider body at a lower radius rather than the inaccessible cap tip.\"}",
  "call_id": "call_6YvdtYGcGmGY0QKiyEdvy5fk",
  "id": "fc_043cc6cc674065a7016ab43e1537b087d0a33b94f15ae602b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6YvdtYGcGmGY0QKiyEdvy5fk",
  "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]: [-0.247, 1.3479, 0.5846, 0.1719, -0.2283, -0.1642, 0.9946, -0.0204, 0.659, 0.3672, -0.3058, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3804 left_y=-0.051 left_z=0.1086 left_yaw=0.0159 left_pitch=-0.0111 left_roll=-0.0008 left_gripper=0.9946 right_x=0.2674 right_y=0.0036 right_z=0.122 right_yaw=0.0186 right_pitch=-0.0287 right_roll=-0.0029 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -6.188, 8.0205, 1.6679, -0.1978, 0.0415, -0.149, -0.212, -0.4991, 6.9265, 1.9902, -0.1294, -0.0122, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:882ef25650f7112829245ba3939e0917d0f3c58a7b40f8ac54f2f26b31d0ea80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10b0946a016f3be61faa26d5a519c498d2021d7c756d6214c8a53b72aaff0eb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0af50b3fd0f0730033a01d7de2b5eafcfd1182406dcfb1f1437cf5cb42df7b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 28 changed as sent

message 36 changed as sent

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.181, 1.4345, 0.7116, 0.0673, -0.1883, -0.149, 0.9989, -0.0204, 0.712, 0.4534, -0.3428, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4008 left_y=-0.0361 left_z=0.1081 left_yaw=0.0409 left_pitch=-0.0791 left_roll=0.0044 left_gripper=0.9989 right_x=0.276 right_y=0.0034 right_z=0.1404 right_yaw=0.0183 right_pitch=-0.0326 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [0.294, -6.3385, 6.1744, 1.8779, 0.0366, 0.2906, -0.1245, -0.6085, -1.2376, 6.8444, 2.0, -0.0952, -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]: [-0.1688, 1.6695, 0.5735, 0.5743, -0.1692, -0.131, 0.0143, -0.0204, 0.6758, 0.3935, -0.3168, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4229 left_y=-0.0383 left_z=0.0627 left_yaw=0.0271 left_pitch=0.0496 left_roll=-0.0187 left_gripper=0.0143 right_x=0.27 right_y=0.0036 right_z=0.1276 right_yaw=0.0186 right_pitch=-0.0303 right_roll=-0.0028 right_gripper=0.9988\nstate[joint_eff]: [0.0205, -7.2957, 6.1333, 1.1844, -0.105, 0.0513, 1.2918, -0.4855, -1.2103, 7.0085, 1.956, -0.1001, -0.0513, -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]: [-0.247, 1.3479, 0.5846, 0.1719, -0.2283, -0.1642, 0.9946, -0.0204, 0.659, 0.3672, -0.3058, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3804 left_y=-0.051 left_z=0.1086 left_yaw=0.0159 left_pitch=-0.0111 left_roll=-0.0008 left_gripper=0.9946 right_x=0.2674 right_y=0.0036 right_z=0.122 right_yaw=0.0186 right_pitch=-0.0287 right_roll=-0.0029 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -6.188, 8.0205, 1.6679, -0.1978, 0.0415, -0.149, -0.212, -0.4991, 6.9265, 1.9902, -0.1294, -0.0122, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:882ef25650f7112829245ba3939e0917d0f3c58a7b40f8ac54f2f26b31d0ea80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10b0946a016f3be61faa26d5a519c498d2021d7c756d6214c8a53b72aaff0eb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0af50b3fd0f0730033a01d7de2b5eafcfd1182406dcfb1f1437cf5cb42df7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4as7CD2g2av6Ye0szcfAmy6bi5Fsmzv83erpBf7bzl6wVHFBi6qIj4JJk8a6L7uwSEclKPMt5r5V5B-LVX3nJy0l3pss2GgI5wREBWJ2jFOWtCNb0pDvfy0u4E8ui7BTuK7K_AoID8xYf7ReVpMaVAlEm6Pm1vY1OvKzea7fiowRZsjvWPh1Mi3hMKrs0uTdR8hLO0QxBrdxrEeos5PcBwCYmYXIjRmY3xVL6hAchEOJYf5bRF4OgcQDVG-Og3scJZ-LkZ6UriMWkCQGxroYWHH1iqEO-JkI5JM_--dP75aKmbmYCJ6SmzOIQE6-0YxvWEYRsUmtM8ThQjmOjT4t4wlgJX3j8aP9lVUuSZl9miGqnJdKeCN2r1rEoDQ_sRBIDn7mEHFt1O3NbBoR0rmtE-m8sU8VXKzic3oIZ6uT1mV6lSfVAv9d8Sd9SLKt5-aFk2rnhUd0pmypAehuVI7PUXsG07g1CNkeNeqR3_yOItWX-7c-1s_w1LIaK1WRHEDfg-oOZ6FQ-_0jvB77Mukz1-VI9OWvrVbyXPgO2QVKnXyOvFRs3ouOouADz1atzB8thciKEMS48jtAyEWAXTefUQbE39WfT0YMj01ychlsc3X-eV4ksQU_UZHLp4J9-_X-Y3zoEbg_VxJxGxhyMQkBOPtBTk9cuGVrK2p2H1Gz-ADvmBMkAg-Ki-g9fwGuc-Xpn7REor7D7cVwOxsL0oIW2AvQT_I7SXcp4zKvNBjJRDFwbrhmZdjq7q1nMUczXkd0aUxHJXt1hbMJoiZjZc5VR6-64XG5tP7f-UqS3JiLS3X9fFM61nbA5vd6xFscKVzf9AIVKjK8fQmUr1EX7PUHzuADd5nQgBCK5xEqjeXvcRlxmaQre7JAkYUqPz9L0e7Q1KMnLnG-zek3SN1BDUPiruTr1eNXHw2X549DajNif_2ETJ-qIG--AkbhIJ0c7CZ7nv-ujKKttEJ0oIc57SsgEbSKy4Bad4kRMtTvKT4_kR81RPP66Pv8KdvahWc6oqgnbC66oWsxIhBNWagxymaY62QNh8_xbgGVBY6c21RrSFw3Ifw9u0RVR4Ra7CBKDlkmhvPI-s191wGmBZarvdZc_tv9GmbaYgkdwNrgyG0fWkj_xZnyyPsIY7Mv84kH0LJ2WIRBO3LRerp7YEEAk3gWqxmZq0iICRcW1rWaoYKuyC0H1cZO2wkxGf9ckFu6r95z_xloZIbfHEl_oSk0JKPTkHvGfWKqi6zC4ZDFYz4NI-W1mcLP5KTDBdY6o8ZLtYS3hMaZIZDSg1PA4Sw3qF3yxjRpPX65FihSQgLQMbstOru9a-beyeva8OY4SMwmm1RlBOSG-XaFeWbBu72-y9y9y85p3z1dOdkRGJlbSL-T-btRU2hgio1T4-NiAh8YqxkApQ6c2sibQGe4fDtYLL85jLytPwbSD5szTrL5f0geeKfewzpxcN_JL167a_AyRqSMx69KwGATkw6Y24wAVyfZCIeM3867yjWulOFQJ2J4ULedA=",
  "id": "rs_043cc6cc674065a7016ab43e18ff2487d0b16dec75acbb8558",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.05,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"The left bottle’s upper body is now centered between the open finger silhouettes, with its cap just ahead. I am descending straight down at this shorter radius, which should put the jaws around the body without the prior reach stall.\"}",
  "call_id": "call_dz0wntlQ3OiBnVDCCer6ko5s",
  "id": "fc_043cc6cc674065a7016ab43e19ad4887d0b99663580fad0864",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dz0wntlQ3OiBnVDCCer6ko5s",
  "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]: [-0.2543, 1.6485, 0.4374, 0.7086, -0.2024, -0.1867, 0.9978, -0.0204, 0.6403, 0.3412, -0.2974, -0.0307, -0.0364, 0.9988]\nstate[eef_state]: left_x=0.3932 left_y=-0.0618 left_z=0.0501 left_yaw=-0.0004 left_pitch=0.0712 left_roll=-0.056 left_gripper=0.9978 right_x=0.2644 right_y=0.0036 right_z=0.1165 right_yaw=0.0185 right_pitch=-0.0276 right_roll=-0.0035 right_gripper=0.9988\nstate[joint_eff]: [0.4991, -3.7675, 2.5778, 0.232, -0.5397, 0.3492, -0.2418, -0.6222, -0.5812, 7.241, 1.9414, -0.0904, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:351752f469693fa79fdbfc5a744d0dad76aa3535ca1234d5c3d27907ce2f9417",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b35fb93bd31c2a473c2eae82f05eab643dedc59683d465b5fe0a40e3f3e0d3cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc921ff91b469957f0e98309f5713dddc94800e4bd35c97d4b970a04f259f49",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 41 changed as sent

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1555, 1.6958, 0.5201, 0.6781, -0.1463, -0.1425, 0.9988, -0.0204, 0.6922, 0.4232, -0.3309, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4174 left_y=-0.0357 left_z=0.0542 left_yaw=0.0275 left_pitch=0.0711 left_roll=-0.0442 left_gripper=0.9988 right_x=0.2727 right_y=0.0034 right_z=0.1342 right_yaw=0.0183 right_pitch=-0.031 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [1.3333, -4.3829, 2.7829, 0.5495, -0.3248, 0.2808, -0.1441, -0.4991, -1.0872, 6.8991, 1.9951, -0.105, -0.0317, -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]: [-0.247, 1.3479, 0.5846, 0.1719, -0.2283, -0.1642, 0.9946, -0.0204, 0.659, 0.3672, -0.3058, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3804 left_y=-0.051 left_z=0.1086 left_yaw=0.0159 left_pitch=-0.0111 left_roll=-0.0008 left_gripper=0.9946 right_x=0.2674 right_y=0.0036 right_z=0.122 right_yaw=0.0186 right_pitch=-0.0287 right_roll=-0.0029 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -6.188, 8.0205, 1.6679, -0.1978, 0.0415, -0.149, -0.212, -0.4991, 6.9265, 1.9902, -0.1294, -0.0122, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2543, 1.6485, 0.4374, 0.7086, -0.2024, -0.1867, 0.9978, -0.0204, 0.6403, 0.3412, -0.2974, -0.0307, -0.0364, 0.9988]\nstate[eef_state]: left_x=0.3932 left_y=-0.0618 left_z=0.0501 left_yaw=-0.0004 left_pitch=0.0712 left_roll=-0.056 left_gripper=0.9978 right_x=0.2644 right_y=0.0036 right_z=0.1165 right_yaw=0.0185 right_pitch=-0.0276 right_roll=-0.0035 right_gripper=0.9988\nstate[joint_eff]: [0.4991, -3.7675, 2.5778, 0.232, -0.5397, 0.3492, -0.2418, -0.6222, -0.5812, 7.241, 1.9414, -0.0904, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:351752f469693fa79fdbfc5a744d0dad76aa3535ca1234d5c3d27907ce2f9417",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b35fb93bd31c2a473c2eae82f05eab643dedc59683d465b5fe0a40e3f3e0d3cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc921ff91b469957f0e98309f5713dddc94800e4bd35c97d4b970a04f259f49",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4eKXdA0QdEPkuZW1hTOAuItO3RhPKNsxwwnw6AAjYcBmFSQnkgd3NNvz6YiXGPf391v3U_sLCGL-hPZrBlSB_27ZJfZexipIqJEuNim1EUjqpsslUUm8qFpHfMv-oRcD5O78-fZg9VspO68uGvqGbBl5k_3kCrcnJeVVNN2HIIKYrN04-ktxxpNtF1lXrlBkBYAYAuC9r0W5aIGqqPDOuKrimnugcRKggNKAlzBFFkH7Rm5H25rnS3_6G7Fuv7szKmQzZme7ynugYiH6wwAt8IkByX4UwE3AR75PiLFXFirys63q3ai1LGfoGfnvss54i5dUqBUjZQnBjDsqBBoAMBR6P-VpH3TkjomsggeRieJXh5SEEi5AjYstD7gSQtOub2Rgk4r7ifioThh5sYajLgImVvyCbUqyc5N4g6nMyxazgx2uyQt6_M7r9-SsJ3kFkWkgdZoK5nG5gxcRl6tXhxiL9d1iSUA7grfIcosqIzKdHKY_MrTOXuTmQd7r2DI-vi69M50jbCHvib4Sau-Ngkb7UzKOE6q_qadAN_kx7uNWPFcZ_93L1yA5-cdBcZ8sNk_bCQWDhq6RRDUo8sxjsZnE6biWMUyyzNxDkYrjU6rinAzNS4kk6RC7bdtS1F3z_8ReOfVjln1pTMVyrsv3WkFov7idFVI2gr3qDqLa0YD7tY3-1NULbs1c3mHJ2Y6ZbgxOuZYtDDatcCJv_MEe-C6tfOjU_GZusR0iGvZ14YxEFdHLv6o4k7xVF-_qjnRlglUC8sQO4FW449X7XjQ4i7q_u-XVuk6FwM8MIidA0-yHn9XMgue4AVbOtejfquWIWCkQZ-bPPiZ055RK_wzj8d2pGJ_32M6bSpMHr36-N0FqzzYkG1j9HlQqDz078GcTiLW-uF6cEzwDTIv4sjaLm35gPzNBXwNlTfa8PAOiMUWsqr_b2hJ_HqYfPO1l-JRhGuOO0wewA1aPu9ezhln3-cIIF6e6lFUKn1Df0z8t-ouobvXhdJUvpQZV2bUo_oclC94-CY__FevgpZi4cXlk4Gdn0v3Lcvba0-zY2f0wjYrkgGhBVoMQGN5oymTQq5bUM7j3uYLA-c_8H5urdu-2oOd8lenlc69S3nmg9dk6gv9Flu6-9Yfnj2PEKym3vyPyfbVDJtlpkwl63G5pL-glo_O-mV7Y0n2M0-IDhOsIQ0e35gc1uaDb3xoXYGjCuKFjlKWICWA5_ccv8zQApa4ukmhBsiASoCai-7z_2Z-cJhitRa5GGfKfTI_y6rN7DT8s8qvzIImHDSKf-RD1eNEHcO2fgt-cLLBuozAH2_P_BPikTS-GZI4-cxtOQvy-NfmcoEAYXwAUvYVMWpfguOSR4lr2FegIwwX53CWvGfCyogBrYmD6IXvT2SS5nL4dNdzCZxK-wGjWSpGY1Ll9l7XSUhfmxB19Z-VCzTZ9rt4GUF8hgu-FQFWlQe7Por12O_4Oh9x08ByxgI7oKG3Ew2H9piweZcVtibg0M-6BGpcAvYOMlvn8-xTKx3oMuZsV0NhCrX",
  "id": "rs_043cc6cc674065a7016ab43e1cba2c87d09bbbca4348d5188b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The body now visibly fills the open jaw gap and the descent stopped at its surface. I am closing on the wider cylindrical body; a successful grasp should settle around roughly two-thirds open rather than near zero.\"}",
  "call_id": "call_MUiVvxPm1iexnvaYTra6lnVp",
  "id": "fc_043cc6cc674065a7016ab43e1d794087d09f4620db22807931",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MUiVvxPm1iexnvaYTra6lnVp",
  "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]: [-0.2687, 1.6142, 0.4923, 0.5835, -0.2302, -0.1799, 0.014, -0.0204, 0.6254, 0.3157, -0.2901, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3971 left_y=-0.0638 left_z=0.0571 left_yaw=0.0043 left_pitch=0.0403 left_roll=-0.0272 left_gripper=0.014 right_x=0.2615 right_y=0.0037 right_z=0.1099 right_yaw=0.0183 right_pitch=-0.031 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -6.4205, 5.8462, 1.2723, -0.1441, 0.1294, 1.2674, -0.6496, -0.9368, 6.9949, 1.9707, -0.0952, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22bf8e86fc40e949e6a7c20aedff9a9938af72db42fd0ebe9fa6597f518d8049",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b23592263a6da6a836dde0367c9b3c64d44946269e11cc78402ec8d7df8170b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9c54aca6034cf75fdd75e333cc9695c9331f22baa65f8fd8d344e188057805b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 45 changed as sent

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1688, 1.6695, 0.5735, 0.5743, -0.1692, -0.131, 0.0143, -0.0204, 0.6758, 0.3935, -0.3168, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4229 left_y=-0.0383 left_z=0.0627 left_yaw=0.0271 left_pitch=0.0496 left_roll=-0.0187 left_gripper=0.0143 right_x=0.27 right_y=0.0036 right_z=0.1276 right_yaw=0.0186 right_pitch=-0.0303 right_roll=-0.0028 right_gripper=0.9988\nstate[joint_eff]: [0.0205, -7.2957, 6.1333, 1.1844, -0.105, 0.0513, 1.2918, -0.4855, -1.2103, 7.0085, 1.956, -0.1001, -0.0513, -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]: [-0.2543, 1.6485, 0.4374, 0.7086, -0.2024, -0.1867, 0.9978, -0.0204, 0.6403, 0.3412, -0.2974, -0.0307, -0.0364, 0.9988]\nstate[eef_state]: left_x=0.3932 left_y=-0.0618 left_z=0.0501 left_yaw=-0.0004 left_pitch=0.0712 left_roll=-0.056 left_gripper=0.9978 right_x=0.2644 right_y=0.0036 right_z=0.1165 right_yaw=0.0185 right_pitch=-0.0276 right_roll=-0.0035 right_gripper=0.9988\nstate[joint_eff]: [0.4991, -3.7675, 2.5778, 0.232, -0.5397, 0.3492, -0.2418, -0.6222, -0.5812, 7.241, 1.9414, -0.0904, -0.0317, -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]: [-0.2687, 1.6142, 0.4923, 0.5835, -0.2302, -0.1799, 0.014, -0.0204, 0.6254, 0.3157, -0.2901, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3971 left_y=-0.0638 left_z=0.0571 left_yaw=0.0043 left_pitch=0.0403 left_roll=-0.0272 left_gripper=0.014 right_x=0.2615 right_y=0.0037 right_z=0.1099 right_yaw=0.0183 right_pitch=-0.031 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -6.4205, 5.8462, 1.2723, -0.1441, 0.1294, 1.2674, -0.6496, -0.9368, 6.9949, 1.9707, -0.0952, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22bf8e86fc40e949e6a7c20aedff9a9938af72db42fd0ebe9fa6597f518d8049",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b23592263a6da6a836dde0367c9b3c64d44946269e11cc78402ec8d7df8170b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9c54aca6034cf75fdd75e333cc9695c9331f22baa65f8fd8d344e188057805b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4nqfJH3GGJMRibL4ypBXfpn91K1s4BvVC2rhbmVULPOB9OXAa3wcTH19krEgEyiczTrcBumumEfQFKxnmkZO3TBYol1Anq7ketKa3liTLHVZeMpdnYm8sq5TiXJZZCmJFzRO1KJ89dmQg7N5mM1H3v7xMkEIrCHAx7X-awtPyTuz-4nlVpxwpgDapk8sF0y5x2QLDDBgmrUZGZJQkEnJ_dODjpjnqFb8aRcHAgL7__38HRMosGucbkONT0yLO0O05DN42ELctuPu7BAIPSrFx-X57Q94eNkkKoZ-5Nhs5sTYVqHEG76FxrdL99hPQPG2oAwd_MGUY0DS_GRfYMwyqAyEcgHEcSTtlc_6S-ICkqHTX8hC1IkjtCMPGR_dowjg8qroSve8uQpNDe8wFayChL9ZmTKavAZPW9WQOTBmru2xEuLmJLaA1QbHASsDhpEw3meSOeLs4Wp4pnZs07HIbneboS8BVt-szTm1DU_WRZ4QHh5wZv4ODMjqh7s6ujfTS1OchgUevS5GcsB3b0X7YEjKNMxWWv3Hq5QXfVn4mbJxx7k2hylNbaX41b7uQruNLDvdOWFSCfsS7YPk929amtxWFvJlFvmLcJlmfMvmIis4gaA3TPC_tsu30b3E8naqWJqN7RZJhV7bVeF5l4YfVjKCIZ1SLkA-7WKoYM2QQVBHgSnJs--SaeDnY0-tw54ngNZ_T5WXZETZQ49KL4rptJPKxrtK7fXv8oMI6-xflO4G5kt_rNFW6J10hTSvPkJ9gvrnoz2bEqRkFCOSkMbQz9BD3mo6oHrj1ugjwCAKNgFDX9yrtzjf6Onks-zpQ9orNpk4kv8YAFMAEDFhm5kvzg-vpgoseegYSj3JLRvmz694lK6kdZKE23KQNKqesHQXl_qL_URutFKYgcW_n-QK7asYZQaLsaPg4Z-5V5zsd9FHbx3NKgZGa1UBtJXskb1K7JX-8R0R9MZoZ0MG7DceXH4HnNjHkn1ISn6TTDnmqvdjjuZD0admbe9qIc6HI6OQwdFLPQmQ4hQ8I7i3Ki2ozq5cRpL-VWvCjQPAQg3CxgS8sk9RFnhJRCfbI-x4iBfSKgZAtqwirzeyjji_py4bKF-F5jJGo-0VxzMpy5mMQcfiwYsBfLuBG39y-z6ssah6Bwf7-k8ltV6rqfwGk70B-eo4nRsuM2Bwp1e9VyoGuNTBPd1NHbg3sB4BH5AxeyoWo9h_TN1fZfxwrCPhkaT88T6bxx0VsVzHsw9fk72yGSIHwV5beCS0WFT9nra1d_24aODfprS0ZfG0Ne1OeJQGEzP6j54RKJQX8T4WaMVLBfCCLizWmVTAPSu_T4KaSSrKnOisdsHbzVVszqr0ySSxV26fd7L7MwT8l_rnxGH7OTclUWNrOfAJ8EJ2IjApYKQpxmKQlaOPLb6yb5UBzz3laoyaYm---RKdmJVV-m63X7ygdzTjKqW16kohIFV4Eh-fNEibGUWRQzJPJIPzluAW8Q7SGHaBny-QOKa84ZkMkuyEkvEevg2fU8wvaRKPG_4-GzbiP-gwGgiYVHHOBO5P_WgOA4BOaOL7jr79pgE3MD_T9pAUBn6_acYqtcu6NKYAN17PIB0XGSIOCOSA6lv_vCQYYUcYUhoCkE9UJbIuh4bbBDdkf6ARAaVK9mBPv5URWwp9FbzL8OWgOvR_VUwdmplQqwoIDG-0pZeiwspQW1t2VmibHyhGgPT1gr71CQQWPySoQv45gJGsDmTwuGvcUBihjfybW4VVi5SCjVbEx3UweNlAKo-5sF0_NlL1hhqWR9pHOHVLKcn2T9_wDIbN34B4MhbImWu02g4xMNu6lKOIOsna2-yPtp2e4DnvONKMmQigdfktWwGBcFTRsv9XNT_XtV0INkZc9V8E6Zbe9LC4XCfafHNTqXCumZw5Wcixv4oU_9JZhAjFhO8-fz74YvVDAaBSmrMTKhU7oZwoGmKH70_pzSWDcl96EVVPgtHQ1M22tBzGmYXKoe77DmJg_ZkcJFOeOXSzmiyfgB7gSsvfszS40pWDVrVI9aqdKTeAA2K2AMc8l71XCrjbXroCOXF2wmyZ04HMzV5FqBiC_0IY_luGET_xakLfrh6TLXFQ6jsuiSAuye8_NcABcUJfvIQQClRWeDunOi5iD-LTjMWF9izm6gEo92_7-KSWoDCIPGQWg0qlrIzitkx8KhNMGyw6efcK_zpiaeo026f0nDvYuxtrNmkfTdEQ0HEjR75AKZnFCh2ZkgSrZZ8fZTGmxxpzW7j_vmRNO1TOP4wbPzxB0RiJlQUBa9IhAL1aSOn38niT_JI4jtVAyH7ICa4hLYAHXfQ2Bq7nIuUsu-vC4TrIQfY_UG3-RTtEJz_nu5NEadkJF5svgc7MVlMLnO3yJpgoKGMb_2W8yYeWN827JLpqACQsfX4XzaFqHYjcXKJ7gcZqMmMzAHbRWHDCXnFJcROMWsO4hW-J8NcXb9vjRLNfeI2AYBsdukmSeilJD9AVn6RAR3vW52sE1neiasrtRiZ-pnc5wk_yakE6vBlXaWO9Zgc-2WBtvnwyhYdZOskOVaXK9cR03YHvljhXuyRRD51rMw2gGy1VVMIB_I60Mkkua5vBCy09Tlneu_Cifd8qzANCW3lSbIS8R8eWofybHMWDR1YAN_3CAxDmRCSd4xO83FbvL2FtBVAtVBl2Dp546hOVkYcZ2_CK3-X3k91qzoPksU9GFY31oCkpj3FU0XmtkUv4UeS9QlVj_WlXk0Gn_RTiwuCihnwxUyn3_VNKBzEZL_t5Y7Cxo_bly60UM0vJrClCFQAjwH335CWGFejGkcq25d9skjfpCO205HDwBe3Szo4EwilNk3T3qUSdrB_rdC8xDp9xK3nskMtIQJkAJLUE_OpLRxYzTBFLm2KIVBFMu86o4lH3lsyV45T17bcE_aHLJ_pdfK-y_OPljQRkiCniXtOZCrqaqBaThZYqSS1lTdsDy368FiBFllTXAdzg76-ejW7eLLGfZ4Gf1Hz6hSQMNB8U6npLYSxBGnm91ENa5837nX1HlBZyw3uOgSuoOu-bSJlWS1_u7oMOPyUHopczZ_C0QupGdl-lmJcEQVbwMLfOsIrnHnukLCw-HHPb3Ji2XyvTfueto47ZR2_9PMUhrpu6kyU6nx5Q3E6GtyyflHYy3wN7rnGk6X6gAmFjZ-B3PBx81oumXla4nHm9hYYQwvcoVdyh7Lyn2aT6-GwnmUT9wTu4-zk-kG5dqEXVHlWjxKOvy4dksSYocoVzezWzpZl5MJeRX9ZPAd_Xl_K3ygoYwiPnmTSlW2LmyWrLYwkIJy6Gp4Beb6IvPZoiBszIjFcQU-RRvxZRLT-1_wfrvafZ4N5CqUwlba4Ob655AvIbHcpFi46mR7pmwqukhiCpUbkKuVrNiOFzFSkcPnuVEKEFEtCWvsp8vFBgyhZCekfjZ16MnxMXyaNDhy3B5nCcO27OYL3SkmeGWoJ-lBDnz6iy0d6CU8O5YYoBjwj3qJUVHCXly9NWgkoi_jH8eykids16hWUzZsgV2jYiYc3g_7Q4j5NhJvQMyj2FLe7YcStzmdMyFaf2r9RtqB1Tv47IYCwQwn2kPfeTNjDhxgnTO0Ae4oAXMfgSEAvVtnDx_P9_knPe_QxQQ9BundJ1i1EJ4uMPa8Oa_W033lCQTj17rTrW5LHWy3IfplJw7Ip0Zl4zVqFR22tB32SNFtUiYC3GbIr16vdaG5FFNcpJqEPDY_7T2WpAY2t9QRUz4YZ1wvaQJaPa_VdgLhG6s4HTqT7NX31xckDEhsjHuN6YEiot2neBUm33QXfbFxCyd-BfUgxPV5CUugBWII-aN-j05h3jOPDGL4ewkAf5iHRtoHBPU5TstplbFE5cw2Kk-gnBcdSOo7BVRzAnK1JzFK44-p10TWgkzsd25aWSxdtwYjX67XLGXknH52OMPjJrAXaq_w0AME5dDTLmif15T_pscr_Xt0pPlx7cIgh28BJld4htJOsCwB8NlhkGtNig6FVQAIDndM8SwEMIjsEBqTTXfp48HljC5V-f6u0LHDd1E4-q20jzxg26wgk3JUq5G02LRrIYC7vLifQnZFOWMHt-Sxov4a9AfKQkpMYsG51Tle0H8BLL3cYZLPdgVD5r0xaXPieFaeocu9q0V3-VsHhr0e55z-eTQqtubdcEmdpisc4y-iSmIXUqjRX1tvPw_cPsNQMCYZ8rmMceN5x4fhLXCSa34gxGIEiltal4xQALWr-xTyzYiQ7qsvlUQ2wvRvzsz-saea4dTJx_QbAITUiAthr-Yx9e_rl_MR6DtmSgUmMqP4zqP24zV3YvZiF2k3Kt4JMVlmlpwLBH5p2_McPQWsWstv0XcAlrIUnhMOBNG3zg==",
  "id": "rs_043cc6cc674065a7016ab43e20803487d09fe21815ce3efe11",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4nzo9mR_O6FEMe7YibvwhUhEOtqxRfC_8I1rVsgF7_BhkQPtYiwt_oWGShc3xBR2OzNxv8Ka5c_MTwoIlxHIqXXLjE1Ck-NKFVIriiW3kSDjvblrnzqO-qGflAyEqJJixvsaQ3wZxPD9oRjRKQ2JGlJ0g7lt7jAXdhRX2bsVkOyZAGeQd3emUTZk35XNK6Nj_Is6bj2Dgeclmg-I5LGT5elv7PPQCGSLK6YcjBSIZ9OGigMbnlyNExXv1iwa8WBfcuOCU-0DmGFYCS8zY_TrHNlkCdz8d0pu5_ync27lHonxJOOR5MQEVUiDBJ_OhuOMHjpbCMBpdeC2qtOdw7Ncu13N2RmQHQMfJDffFRFTGMXTsf0TmSBpUNyTM_lRTpPA01VMfnDktxUm0jiutrTWFMgz92HlppRSxjd1UFHdtFaawKwnCqUbwBmfqwdUroY9fEjfQPzjPETe-JML7NDD2-vMc9KWRgXn-YsCiw1DJ3xZbh2otjvKYb3_3fNKD40S-ga_o-aMGmS6U5p-CuKPfBXj4FkZ40qWfZ-eWJVQoitgp9-UTm2mADp3-1Bzdc1RQkXYzJoZV64izDH7hE4pkyGJ4Rfc9TXIYo-3TlLzeTUDqNKXGqzr6q-H2y-ZU5tGoLtvHUNJGOb77YlnaHj6N0aamr1M_uBSvaOlupKF5Kl94u_4VuEoMWnGDybW3Yp11lp7bwgLny5Vg4vv_1IhsCUCV2mhTEh7rhP3ZIpTmoNTWpNwYby_T8vN0MwP3o2Xu49xwjdJWw1GnKaNTP3BBBTM71oggerwl8ustBDisLiYW47anDl2U8ZQZICDaS0SeYqao7iHvXB5GBpOItVNI4Q-mEYw_UzkeLvc7S1LhgqkJF2eSgtn7LpfO0IKY1_2BZcYhXcs0uEZyv_9Lzu6vv0opz7dMvUMnb-LqidUtSX6mfEo3um4GwZFNKz7ZMfVOI9JL6i7lFYTdTA-maTwAWVvKqg-MfGvMyXZoOpFKsLzVYRxxHXp1ag-y_REWbVuF-504O5G6JhKoMxVShjZk_aaQ303kO3-aiz9hKG18GBDrlY0XbCVhQpY_Y8xbzCnOZg1jHIXXrrbvFaxg0yT_MeFNE3d6KMT7CcJlQ1zQlgt3_bCvNMERjlfDXiFgnFvwuIBOEbFC8xojz0QIACRqzfb4HnIHWXIXd93ULExVwHKTwhfNPKVNvGtOH4zQRew34ZWo06OLhvhVr05EAHCR9SkGfiosR4_X1GX0dyDcjhL8j3VnwvDyMRCw9Gj1Xmh7Bcp0JrRaD5W-_mgL41VfvYpO0cJhogjtZrVCqVtiTB1g=",
  "id": "rs_043cc6cc674065a7016ab43e26568487d08ac99b3b1084462d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.065,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The second close was also empty; the wrist view explains why—the bottle still remains just beyond the fingertip convergence point despite looking large. I am opening and advancing the low grasp point 2 cm radially, while keeping the current good lateral alignment.\"}",
  "call_id": "call_CiNcPYrA0w3W9gEVQnIu6T46",
  "id": "fc_043cc6cc674065a7016ab43e26b79c87d094b4838f22bbbbbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CiNcPYrA0w3W9gEVQnIu6T46",
  "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]: [-0.2604, 1.7924, 0.551, 0.6102, -0.2436, -0.181, 0.9943, -0.0204, 0.6056, 0.2905, -0.2832, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4073 left_y=-0.0607 left_z=0.0148 left_yaw=0.0246 left_pitch=-0.0468 left_roll=0.0044 left_gripper=0.9943 right_x=0.2585 right_y=0.0038 right_z=0.1046 right_yaw=0.0186 right_pitch=-0.0295 right_roll=-0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.3487, -6.4479, 6.8991, 1.8486, 0.0659, 0.2173, 0.0513, -0.6496, -0.7316, 6.7487, 1.9658, -0.1294, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c686b68b25f1a8ec5cfc9ca6854bf42388102e713019adf84c195b2cbf4a72f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40f31eeee9a66f96c8a5a4a6b13e7b666df93107f42dbcf44677171d4e17d301",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034fb2c1b3e4e528d0b84a25886b57ae96e9ef1ca53d3e89e5512fb15a34651d",
      "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 41 changed as sent

message 49 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.247, 1.3479, 0.5846, 0.1719, -0.2283, -0.1642, 0.9946, -0.0204, 0.659, 0.3672, -0.3058, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3804 left_y=-0.051 left_z=0.1086 left_yaw=0.0159 left_pitch=-0.0111 left_roll=-0.0008 left_gripper=0.9946 right_x=0.2674 right_y=0.0036 right_z=0.122 right_yaw=0.0186 right_pitch=-0.0287 right_roll=-0.0029 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -6.188, 8.0205, 1.6679, -0.1978, 0.0415, -0.149, -0.212, -0.4991, 6.9265, 1.9902, -0.1294, -0.0122, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2687, 1.6142, 0.4923, 0.5835, -0.2302, -0.1799, 0.014, -0.0204, 0.6254, 0.3157, -0.2901, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3971 left_y=-0.0638 left_z=0.0571 left_yaw=0.0043 left_pitch=0.0403 left_roll=-0.0272 left_gripper=0.014 right_x=0.2615 right_y=0.0037 right_z=0.1099 right_yaw=0.0183 right_pitch=-0.031 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -6.4205, 5.8462, 1.2723, -0.1441, 0.1294, 1.2674, -0.6496, -0.9368, 6.9949, 1.9707, -0.0952, 0.0024, -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]: [-0.2604, 1.7924, 0.551, 0.6102, -0.2436, -0.181, 0.9943, -0.0204, 0.6056, 0.2905, -0.2832, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4073 left_y=-0.0607 left_z=0.0148 left_yaw=0.0246 left_pitch=-0.0468 left_roll=0.0044 left_gripper=0.9943 right_x=0.2585 right_y=0.0038 right_z=0.1046 right_yaw=0.0186 right_pitch=-0.0295 right_roll=-0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.3487, -6.4479, 6.8991, 1.8486, 0.0659, 0.2173, 0.0513, -0.6496, -0.7316, 6.7487, 1.9658, -0.1294, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c686b68b25f1a8ec5cfc9ca6854bf42388102e713019adf84c195b2cbf4a72f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40f31eeee9a66f96c8a5a4a6b13e7b666df93107f42dbcf44677171d4e17d301",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034fb2c1b3e4e528d0b84a25886b57ae96e9ef1ca53d3e89e5512fb15a34651d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4uDEpFkQQC-DZeJdjWioU7ELZkYAYkbyWtiMytEuaFoyuis7JEoPHWIP3Z-9_ev2gcihRgi-KK_p9jDpdar8lL-1XPZ3u1Qz-aBg-uZHTvLdHY_VbbqqWhd3YmIzRZYaDfBSMgN8d52m1mi5yc_UBVbpCJUk3Ks8mkzYVJNMakanl4n-PmMtwj8slNk1opmZ1a_YFDFsxhUvQggEyXotJOxMitvAxBwq0ocmuCjg1JlD2dsk0fQ56b6TeljQomDgaBBldiXZTse6iWqKcUsHJxa8eRunmYkjr_YDrv8LFPR_Rrt4RpsEFKH-scbqDE9h07Dq6_Iio8Dy4QL7wKgxeSOUgYMTjFhqcCqzqsXsIPPVOr1RIEJW63DfOMzgEOHLxQtkfVSMSd6mdoibNmyGT50FM-myayZoMVDnnqszyL-9-o92a5t7nez2HGJIdoSdyFztCb_r6uo2d5zRgV43pB2o-nJBv9JQq9A5X92Zo1H1W4djwk9dgUE7rqfVvb1QKPwoP1erq-GkkcoLc1LXkGsT6sgJ7CM_1B3IDxGOLYcXNXhSMaGMsd5H-kSfLS0SVMBZGKT3juj78-4QrzIUbgXdGDWFpelxqBuj0Tpt2dLU_-__QrsL06RCoqEvQ-Hmd3du_BVTyEuqn8fhje6sC_dmyeoV6WgbdjtG-5VD0fN92zRCof-FQq_WAtpm-avV6zytDJ4I7RdLl-L8sXSHOWdJyhmU--tuiB1XebjcKe3Y744SS8IR6M7JdHVFqrXtdWJ5NO6ooxM3JaCFyqh18zRVkTFw6eLgVBEClmu3uF4ieYRbSKCFprR9jpl1Ez71iBsig9Xy-vwN5YhX7j24Srm5zhNaVFf-Cxxu6cJ7dBioc3_MmSs4djFKvbx9y9ohff75bGJ7zZe7_QrxCgq7MNyu8QI1UXWcR3GbiPUTRJDf6vhlU5ItpLSWuT3ZsdsM80tP5iaGG_Gk-dXJfNcNyO4Ja5AEzbmfTYlT59t1pP4wiLkq6lHV_j-mQHPPcstI1vzXy119oaf5a6U1oqSBmiWKHrtmeWaJvLedP5foaIhL9zx3q8JIOArQ78oUsqRK49OVcGopSn8PICbNdfJHU2y_RV98B53br95n1KRhgq-8DLD7u-xW29aaT_Wgdxo9FMVsSWKbEYBrgPRsMC4Cuccq-kWx_wPTs6OX5O1NNPMd4XBj-aMK2vzuoHbLAKagk_stJ0vl0LVIlDFswwkH-5Da4E9e85KxrOFAKwVHBuV9xhl8rlgwUuFnK3ktHjQrOaleJo_EgT0iu8vuEOSYlexMDh-jatK9mdg0OVg7OpNGSruiJPiBW0VaNWGuY861TDa_xYDISWefFdeLHkJRgukAIkiXYV-Bj8oZzilRIk_f8FTGPp3uRUQ2x1uS12eYDSoQF8ZUlT1rVcJPo8ZVVotm9Q8jvkdTvahVr0oz6i-OFWVLOzIpdyUO1OPnQ3CoKGjCNNs55tNSVBsVV4JwlNyJkfXeCmhALybQ30Pl48-4GEcBTORp9Q3xFSEXyd_Y7viCjF8nq7C8GFhT1bfDA99JWzGJyvudli692iKO9N5kn4-y0vTpMLEmKYeG_jZHrUa5B7E8BNekE2DnvZ8ydJW0gPQDOfhl_JDe_RYleabMbcDGex_RWEb-MS5oep2o0iKkbEndpgBl7zCzGnye7P8q1G4ZJ74fZhdYxTPByRBHEEEAbSufKKIyq1AraiEz2xSjUqPRWE7CGqb1GgAruxTj7h7w9LH_5wgDcD1mFphsAK3DCj97HqcnghL34KUdnS_XHcc16zBXnnhGu1ajdXT18UknHWVMwiD98eM5FnyTQxZNbqXQiuqllVMons4bq3hINlpZhTWg4rPIcE56WWT8lo3sjZNsnVaBIcIWu9AYdMTnI_jU2X9u4vb7EycDzoJtxTx-geiSVtGGJc_HVbB48rzaSvakS0iYUEER4-s4z0kk0O0THwp70BnBJJEaH2dHmZhkGR58aGJed7o6sNW1fVEhmuXDl4MtgBYs4aJNbsWJfQ8hCAUyo_ac1rVfP12q_kWg109_krXRJW37EsjbGvqAM62Rp6ZS2VxdhWJUvnCV7G0wQlxHRqUQcvIF8Epd2vAlk2gM-gCK4T3iAGW_E7FlmIMThktoP89o4skyMJkxbcz_nPEXRe5WJTf0RF8QnOW44OKJImFztQ_tC68tDoSCrMzIhIr3407TzQt0t-pIoXZkc2qk_DfjFTy6S1IPfSSxtH_O_v0Yli3z5yez4J9d_5wjFeN9F6TxprGESDHdwiSbNCXYn5x6O1cmUiTCq_P-sF7quJBrZbpxHtW4ZAddHafLtzN-2UefPWAVVU6vsBpuO6vXI59ROE1Fl6ZB-HVWHn5tuEs6w84CiJr3Eh1tkBFWwxo4cP8rxHyhS2UD64EVmCWTagjeNizvSI52crfJSJUMVgloK2hjH2XCxytBBeYzoH3xBbtyuTa9YDr8grGAxoLUY7NrKj6BcRtzVTEz2s7GX9ZZnexGs3xdkZ_u_iwrDK6MsVlC9K5lL_o_E2ugiE2YmS4DxD6DvyMF9hQMWlduroPXOvwwev80SUxDeIaA1dqjnGggTQe_36ieFrSfwHlYcBGHeVq1GGV_kLm90T45fswdHwuMXxfMahoVeLmZejEPevoN12Ap0rW10Kwjqu4QangZsrEIx7Z3Qa0hSPPMKmWQv6Kee2eBACpKLjHkTIz8diMAZdIlPqdsXEBpqIo0Xw-m8GNYFqqOYykdMx7h_UlNUw5QxJoKUDmllgiiDxjyi0wf5NuBE=",
  "id": "rs_043cc6cc674065a7016ab43e29d54c87d09e65b0c5daeb9230",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.13,\"left_z\":0.11,\"left_gripper\":1.0},\"note\":\"At table height the fingers nudged the bottle and the wrist view now clearly shows it to the right of the jaw column, so the main remaining error is lateral. I am lifting clear and shifting about 7 cm toward the bottle before descending again.\"}",
  "call_id": "call_NCy2Gu2JJiYLUmKbjLs0U5Xf",
  "id": "fc_043cc6cc674065a7016ab43e2d4f1087d08966ba58629ded11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NCy2Gu2JJiYLUmKbjLs0U5Xf",
  "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]: [-0.5117, 1.5429, 0.6884, 0.226, -0.4274, -0.3164, 0.9979, -0.0204, 0.5869, 0.2634, -0.271, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3913 left_y=-0.1317 left_z=0.095 left_yaw=-0.0033 left_pitch=-0.0014 left_roll=-0.0095 left_gripper=0.9979 right_x=0.2561 right_y=0.0039 right_z=0.0992 right_yaw=0.0186 right_pitch=-0.0257 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -8.3761, 8.0615, 1.6484, -0.2271, 0.0317, -0.2271, -0.6496, -0.4308, 7.0222, 1.9365, -0.1392, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78592f9444e3ff917baec70d2bdf909532c9d95ca81f735a679df0c20d765063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:256e6e7af7551378f4be544bce445264a3cb058da35802c462e0828a5e510b3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b10e1432aa9c8d002df118d57a5d00b614fe7548188beab656e315388ad76d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 45 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2543, 1.6485, 0.4374, 0.7086, -0.2024, -0.1867, 0.9978, -0.0204, 0.6403, 0.3412, -0.2974, -0.0307, -0.0364, 0.9988]\nstate[eef_state]: left_x=0.3932 left_y=-0.0618 left_z=0.0501 left_yaw=-0.0004 left_pitch=0.0712 left_roll=-0.056 left_gripper=0.9978 right_x=0.2644 right_y=0.0036 right_z=0.1165 right_yaw=0.0185 right_pitch=-0.0276 right_roll=-0.0035 right_gripper=0.9988\nstate[joint_eff]: [0.4991, -3.7675, 2.5778, 0.232, -0.5397, 0.3492, -0.2418, -0.6222, -0.5812, 7.241, 1.9414, -0.0904, -0.0317, -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]: [-0.2604, 1.7924, 0.551, 0.6102, -0.2436, -0.181, 0.9943, -0.0204, 0.6056, 0.2905, -0.2832, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4073 left_y=-0.0607 left_z=0.0148 left_yaw=0.0246 left_pitch=-0.0468 left_roll=0.0044 left_gripper=0.9943 right_x=0.2585 right_y=0.0038 right_z=0.1046 right_yaw=0.0186 right_pitch=-0.0295 right_roll=-0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.3487, -6.4479, 6.8991, 1.8486, 0.0659, 0.2173, 0.0513, -0.6496, -0.7316, 6.7487, 1.9658, -0.1294, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5117, 1.5429, 0.6884, 0.226, -0.4274, -0.3164, 0.9979, -0.0204, 0.5869, 0.2634, -0.271, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3913 left_y=-0.1317 left_z=0.095 left_yaw=-0.0033 left_pitch=-0.0014 left_roll=-0.0095 left_gripper=0.9979 right_x=0.2561 right_y=0.0039 right_z=0.0992 right_yaw=0.0186 right_pitch=-0.0257 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -8.3761, 8.0615, 1.6484, -0.2271, 0.0317, -0.2271, -0.6496, -0.4308, 7.0222, 1.9365, -0.1392, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78592f9444e3ff917baec70d2bdf909532c9d95ca81f735a679df0c20d765063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:256e6e7af7551378f4be544bce445264a3cb058da35802c462e0828a5e510b3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b10e1432aa9c8d002df118d57a5d00b614fe7548188beab656e315388ad76d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4xXeyn8f7gjVHvKTAMplq4wYcFDziPF82-U415g8GYjyg3dWVVzdQFULStxwpFNTrdKhGXnCBI1IT5Kx7_1s5X87qxMw4OodURsZGoj18QtSFCy92p6X6YUoeqhXhONwW0ei3pLL7bD1vR5uFCR3R7QpHYK7A_BYPOBEd1spDV1Xf2CpHFby0DQwcgRJgHMVtxkpTgni9ilngl2TFZ-eeouUukaUqAqgiVvcO_tKyMHqqiwp2SHOh1YK9zUPQAOa5Xnotl6LuiezWcDKSIfLl65fYaviuIft9btx6zTisOrJUe501MsTqOSoUqwg6d7Mu5-L3LseW9HEdwKghDz5EYZ9Teqejnbfy2aormxxZ870ES3NysUBD2hTw0XJhzOOP_SjrHruMATTPygNEK24vyeMe89_blHUotC3eRxlnVEQpoXhN43ilQqz6GR2_MvIGvLWnw3UG49gQtfl_WtycutqJUeZLbiWdwC8HBk2dpYb6hI3yb6zxXCNQP0IJosu0oc1xLnQ7ZmoUCTNZpGxwQTILRhPiOdTkI9VtgSem-IWk-SujL8n_TKwYPsBc4_Wyj8mXKdbgL0Kxcv03X7sVxAX4Zg8BFuqk7uB4693REOJSRmi3-bzfbhcr4BFgF6H9tlKN8_0tTx8-LS1Zyku-mB41RNBipi1fUylDULQvDsyXkRxjbgy4Kh3udAkFpYvbIurkFw2qWg_MbvtnzUARcwGjeOpz2jNSmLY-Ii5bVbyxQjB95qlvGqoVQxdD8kbjqI-DTBDge2LdHxU2GwGAfKihifeUHW4Bysr66m2QYffontjYR28OZaLIu1a9F5x2fTkToRq_M7FWS43SuFqo-p4tmYBlEH5x0cBDfMDyMMS57q4TviAanC3sUFTtbyU0xlnzZ3rFwKQyOH4rYWs7MgPKF2leUWta8a7XMdxvR57f9aYOQ6LQSxABX8HXNKT0P3a8tsnMaaX5WDcMfj34HVQn_iq7Ujl7eKZHNlTb7U0ZJiKsu_xFj80aCQvy9b67UqeeOsIx0ZS9vLaOgOZ8qnq8acyO6xgDim_Hoias9UqrhoWdb9StOGvn646jjEp6_qZgWwXWHPSNBrVGgwBJq3HllLpmhU1Lh6b2sj4vZS-8o7qabRvCiuwOdsUGODBacxKXo24lPWBSirl6yLrp_1HTrG1_eSG3t9ByiaFgjumhyEMpZdhCGwsJYSqeIKedRM6I78-X3KQy8_3qRxQgK6IZfx9ZeVT7R-cPbgFBmypcekd2t27L5hPgt8gQ2qo7_urZ-YJ7VRaghnul1CE81j6kYOGAYcw8gGLjgJ-uMpk-UFeaHb167Asx3xO4svpJWzBnMfIqq7Tze9GfRxUmG3ae3cVXfKrF2vWD7C5DNs4fYf4xMhthKzfjZ4qDEQAbWiQMJ72_kzZ8658j711ejTAfzTuYpoaRwrBzhM7xHYPMyYrYmIyPqyqEh_-6EQ17p-_QF8Jannvnn13SxcjwQwaqckhbEhihURgprFicb7xzc9FCof1WyObP-fg8T-8LQNd5J-ycdvYYrOiPZZq9LTXtkXOm77QXh0WLddzmwcN7lWWR221RnfycFphseG0NvmaF-ION2BOrtpGrb9Awrj41kKc6pAmr9ZhSWlEiBpZHkrMSHAZLmPKRpLOuQ1Fn32Y1_0ONCXVgMDMZ5MLw-HVWHYcpEU9tHIpr4sbE6PMY=",
  "id": "rs_043cc6cc674065a7016ab43e30115887d0b3f21341c06f36ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.13,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"The lateral correction worked: the left bottle’s body is now centered exactly between the open jaws at the bottom of the wrist image, while the neighboring bottle remains safely to the right. I am descending vertically at this aligned pose.\"}",
  "call_id": "call_dDkMdlmbh6YsdvmeKMtwAiG7",
  "id": "fc_043cc6cc674065a7016ab43e31016087d099de2665226f38b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dDkMdlmbh6YsdvmeKMtwAiG7",
  "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]: [-0.5156, 1.7817, 0.5774, 0.5201, -0.4423, -0.3214, 0.9979, -0.0204, 0.569, 0.2432, -0.2672, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3846 left_y=-0.1269 left_z=0.0179 left_yaw=0.0082 left_pitch=-0.0453 left_roll=0.0217 left_gripper=0.9979 right_x=0.2537 right_y=0.0038 right_z=0.095 right_yaw=0.0183 right_pitch=-0.0242 right_roll=-0.0033 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -7.5829, 4.1915, 1.9072, -0.0952, -0.0317, -0.232, -0.5128, -0.4034, 6.9538, 1.9414, -0.105, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c5d94a5e843460f892a63710a2474f49b4e2a15e779ce3ef6a72fd3dc4d289c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7029b898b65bbd274c7df2184df8c1d5c9c2e2615daf91d4ccd3e4e005829dda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2f87b514888f11369244f137a8754112693931549e059622b563d401a4d4080",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 49 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2687, 1.6142, 0.4923, 0.5835, -0.2302, -0.1799, 0.014, -0.0204, 0.6254, 0.3157, -0.2901, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3971 left_y=-0.0638 left_z=0.0571 left_yaw=0.0043 left_pitch=0.0403 left_roll=-0.0272 left_gripper=0.014 right_x=0.2615 right_y=0.0037 right_z=0.1099 right_yaw=0.0183 right_pitch=-0.031 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -6.4205, 5.8462, 1.2723, -0.1441, 0.1294, 1.2674, -0.6496, -0.9368, 6.9949, 1.9707, -0.0952, 0.0024, -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]: [-0.5117, 1.5429, 0.6884, 0.226, -0.4274, -0.3164, 0.9979, -0.0204, 0.5869, 0.2634, -0.271, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3913 left_y=-0.1317 left_z=0.095 left_yaw=-0.0033 left_pitch=-0.0014 left_roll=-0.0095 left_gripper=0.9979 right_x=0.2561 right_y=0.0039 right_z=0.0992 right_yaw=0.0186 right_pitch=-0.0257 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -8.3761, 8.0615, 1.6484, -0.2271, 0.0317, -0.2271, -0.6496, -0.4308, 7.0222, 1.9365, -0.1392, -0.0659, -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]: [-0.5156, 1.7817, 0.5774, 0.5201, -0.4423, -0.3214, 0.9979, -0.0204, 0.569, 0.2432, -0.2672, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3846 left_y=-0.1269 left_z=0.0179 left_yaw=0.0082 left_pitch=-0.0453 left_roll=0.0217 left_gripper=0.9979 right_x=0.2537 right_y=0.0038 right_z=0.095 right_yaw=0.0183 right_pitch=-0.0242 right_roll=-0.0033 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -7.5829, 4.1915, 1.9072, -0.0952, -0.0317, -0.232, -0.5128, -0.4034, 6.9538, 1.9414, -0.105, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c5d94a5e843460f892a63710a2474f49b4e2a15e779ce3ef6a72fd3dc4d289c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7029b898b65bbd274c7df2184df8c1d5c9c2e2615daf91d4ccd3e4e005829dda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2f87b514888f11369244f137a8754112693931549e059622b563d401a4d4080",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD43U2KLO73rWeUeMgW2x9vatXeFx1s6j21LRfu88_5I63QDLIocfhVl2JdWNKmMYwSvX2WgV4PUDOblqN09CMtzAqtB3Gz7E6nsDbX47rpouuCel2eKyXZRuk_viP2wAYziHYAf9TIZ5gdDa_5tqltVXeuOyIdBNgVfGuYcvzKl73H8K6AFVw6q0glessUL98xAx9sfpa4o1vdCgzacvnJKiUS4-kB0PeGZqKwo2AgxPbxWEt3pFPqj0VBrz_v2WnVukF4qsDIhznxDIx1d148yu6GjuxMmrbvCm_XiaMRm7TAKmkDXyKyULL6M8uWjP8Ei0T50wM9Pm6QdeqtT0JoBKJk4_ihnDBfaRS9k0QbSmXzTw_he-YmnaMUSF1KuaOD4LZ6VF8cK6NDlRaAhvVoFn8frGkzFBwWqqckfqeQ5j7VeprzGgsttlflhdgf7Xzq9hNCdHsTOs_R-WvCUb20hDUE1Uqq_7ZKOGg7Dx_MSD48ge6VtAqzUoP3FK8-QVeF5JXSu49K9w9y0w4evgR1X86Tjwnvo3N41xVfmB7sumWNhE3BkOcvj185v8wO3qs9xcgknWKHqUaQe30O1hcw1me5Kh4_wZQV0DuyfL0hEH4jnmbwdpuIEYTB2jynk1rpSJZJvvYzZzsb7eQDyyQs8LuEH1-on3xxYZVPWUI6FvjhYieX_YEbhbFDygnjH9blxGZ6ZYQuQ06R7n92hf3YHvskbathz3neIHn5ee86GZPHHS3zIwHqMbMmQY41INPbtzbxpTV3Qp4PDlhmB8AMIViUFqV9WOro0Ro0cWPMO2GHh3E-XmGDugIcstkzTygSYcaMmjvQGjN6ebTqeMPxjeQYNGUWj_wSlFQFn0W3Nyu2l9Rv30YyKtNv0OzEdIxJfg9V4c3ncHu_PdlPfa2w4_z84mVO_b51rlvSL5ckRgck6bkp1cYlLx8RzNQLxJwp2Phml7FAez4oVT5xN7fmHDjvdIBnHlqB02Zi26kByEdQUb6SEwHRUHIm40fx0BROKYSFmL9j2NwQxkY2H2QoDtxQOze9E5Olp6giWWKTExa3c6enp_8Gz5QjN66_96whjLDX87Q_2vgP-QkCDtbC01gQNo83y3Y8xj-h1Adg2MrsrbDcjP6THimNXQ0BktZ6Rw1Gft9kK5Lp7xKSQLihsCKeGxDIq_yrTc9QN8EIs7WYWjDJuUfcvrD9aGve0JCt8-HoR4UCqM6lIUmWZy1gD0a1bTVQvPk_GDM5TWfStIiJt5nZF6De97MTnjj9QSEi5toBINXBfBBmuTY4rUP73qIzkH2QaAkAhqTNwmW7EW23qc3AcPYfZ7BpJzlKpWjMEAcRnsyQAUxmneVJH5fH11iw3KW-kVKk5l5Cy5Y1io-RK8I6P9il37WEJrAxNn898SofGZxMucoLU61qWo-ytS2Sl261m525UJp2jTDnzIU7QHf_mDxQ95HbqdIk51zeVVquZnMxpV_xnrN4vG1q65pFeyCcbSd4WGuyxBVcQuiXi96Kc0xGPU2XudrqsQXiOQJqeJNQieDTbWW3mYbPMbxvMg2z4dkyheKVy_ivzkHS5wE6GcG7ghJkI-YkudUJbMrgZZeu_3vx4UDidoOKHF1pSgClgQHBzJ495W0-p0lY27Q3YJd7nFTvjxszYVceDeU3IxuS1a2RjWZCYiLjJKYC-11mqHuOZ6qBWxhTtlQvUX2XAvKx0lbEHODvn4yBCeXG3xBy9Qj9u3Z9i3psJZTMgIvYpPFsKiGydZ8a10dLgf73TsowSPaMGOPL9xBQlUo3LpDFG0wjzwSN1ki3yDP30N3vCOVzjaBZJcMIIEpXGukeUKSS9igvjEVgaeymQpEV6AC81YPoMR4JBA0qVPZRG4X9Jv3ezZhwHURZn3bfGsi86p-T43hDAXeMZMuQMdDlzdCGQg3B7aq2EmCRda5Rb2rF8TdThduxD14Go2VpBCLTNjmC9Caw32oiLII0N-oD0H-qds4iFzgh7H8Hfwgfp_qPYdFu7vwrEp4oqAzFmFUDCHH9LguC0YmLiwGrohLontkDbGMXa2VujPPHxJx5gi-L8gRk2aZHZgaG2D05enSip5_oeLgrFIV7O_xBLJONKbx_ow6efQ7r0vdUX6G1Z-Uesw7wxox6UOCTDuuQ1Ce63xCtl4ouz4bilykh7Bdtw7BF3soEwb2nPMNU0jL0aQQd8EJIyDYi9_Z6cU_J61eVBKcsvkfXhYSUAmxWjM_PODFtvX-Y5HzZViDw0KB0Cv29LHbmCeh_sd5NjBgs_yqT53VeF88tmJhxMivCAueAQUglb1jZwF38A_KtBhtYah2IsKjP9J_qaHBfXpwn9qIgY5Ilko5CuzLimOfDsbLncyq5UmQw6qbR1P9ZJmxBJmShg_NsOhRpTtrKR7vOZpNIwRCrRx4fV4yjrjQmvFIKwQn7A-Y6zQ1SxtyCa0uF6SiFO5SRjJD_YGAPp6Wl8haX0Y-LMcGVnAjcC3G4LVDfNsgfJrZ1fU17aTvhQ3s_zjSjUmi-bJKTLodqiRmt6YsnNS0UXDBLngybeezbBofEnBQJmZor_m5FvJ4H4qI50vAMYudI-nT_wK-C-Xy83TjEmkYAh4Oaa3jMsZyyAexWmehhnryIkRtA7c8fcgU3NKswGVBolBE306B2OEfbcTYC1YHKpCmUntIkJpfE7ynDKO17qbmszYC2MBk-ZGypyh7kCrSp6UBOKj3tlLQTe3TmP49gEUTq1fwvkSpMLkoZRKjUHMAWa3sCrpbwFXpzCBy38pVR9wRUQe4lvxD6ZnhWmE6O4zt4kBPfymG-0Ke1iy3X6JSIZHdgkeZ6ViHgEK_tGGLmYvLtAYnuNWZ5UvUarGSJq1eYSZAVV7Aj3shqLDLoKz8hmNqs9T6aIs-9xDe-tFdGBI6suK9Z0Oapdx-XU640D3Q1W673r4BHJvlCFOH68-s1ZiNTFIrXlG1XVrD4g6W9ulRRypvk26iOheE7C9gxs0RLhfPqieZ1vqKeqeMTA5BMxWitYgtGVw0FqaFu3Myn61IerWKlL49M=",
  "id": "rs_043cc6cc674065a7016ab43e33ba6087d0a7ffe69c2d30b9f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.13,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"At table height the bottle’s upper body is centered higher in the image, but the actual fingertip point remains several centimetres short along the bottle’s diagonal. I am advancing about 4 cm at the same low height so that the centered upper-body section enters the jaw convergence point.\"}",
  "call_id": "call_xIMmcMDUpCCN7w2OsXbiwD2b",
  "id": "fc_043cc6cc674065a7016ab43e36ecc887d0a2d21edad9cbb977",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xIMmcMDUpCCN7w2OsXbiwD2b",
  "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]: [-0.4572, 1.9007, 0.6666, 0.569, -0.424, -0.3099, 0.998, -0.0204, 0.5541, 0.2249, -0.2653, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4151 left_y=-0.1192 left_z=0.0079 left_yaw=0.0453 left_pitch=-0.0345 left_roll=0.0118 left_gripper=0.998 right_x=0.2513 right_y=0.004 right_z=0.0905 right_yaw=0.0186 right_pitch=-0.0257 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -7.9521, 6.8855, 1.8193, 0.1099, 0.2955, -0.2271, -0.6906, -0.3624, 6.735, 1.8974, -0.1197, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f470f84011577b827c08e69eb92044196fb788c04d15766078712a11977042",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e9cac7060571ea4bdd7bbe03bea445c1c35958072bd0ef0d4b8ecdb5e6edc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27894746c9610dbcc4a43c2ce091abf98e7f70c468578e3ce9bfb0b3efb89e2f",
      "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 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2604, 1.7924, 0.551, 0.6102, -0.2436, -0.181, 0.9943, -0.0204, 0.6056, 0.2905, -0.2832, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4073 left_y=-0.0607 left_z=0.0148 left_yaw=0.0246 left_pitch=-0.0468 left_roll=0.0044 left_gripper=0.9943 right_x=0.2585 right_y=0.0038 right_z=0.1046 right_yaw=0.0186 right_pitch=-0.0295 right_roll=-0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.3487, -6.4479, 6.8991, 1.8486, 0.0659, 0.2173, 0.0513, -0.6496, -0.7316, 6.7487, 1.9658, -0.1294, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5156, 1.7817, 0.5774, 0.5201, -0.4423, -0.3214, 0.9979, -0.0204, 0.569, 0.2432, -0.2672, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3846 left_y=-0.1269 left_z=0.0179 left_yaw=0.0082 left_pitch=-0.0453 left_roll=0.0217 left_gripper=0.9979 right_x=0.2537 right_y=0.0038 right_z=0.095 right_yaw=0.0183 right_pitch=-0.0242 right_roll=-0.0033 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -7.5829, 4.1915, 1.9072, -0.0952, -0.0317, -0.232, -0.5128, -0.4034, 6.9538, 1.9414, -0.105, -0.0366, -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]: [-0.4572, 1.9007, 0.6666, 0.569, -0.424, -0.3099, 0.998, -0.0204, 0.5541, 0.2249, -0.2653, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4151 left_y=-0.1192 left_z=0.0079 left_yaw=0.0453 left_pitch=-0.0345 left_roll=0.0118 left_gripper=0.998 right_x=0.2513 right_y=0.004 right_z=0.0905 right_yaw=0.0186 right_pitch=-0.0257 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -7.9521, 6.8855, 1.8193, 0.1099, 0.2955, -0.2271, -0.6906, -0.3624, 6.735, 1.8974, -0.1197, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f470f84011577b827c08e69eb92044196fb788c04d15766078712a11977042",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e9cac7060571ea4bdd7bbe03bea445c1c35958072bd0ef0d4b8ecdb5e6edc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27894746c9610dbcc4a43c2ce091abf98e7f70c468578e3ce9bfb0b3efb89e2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD47thpKSfIWitlGto3wof7jKoIXbY8ffslnnXDzioakhZrbOfpUXrJ3Xx1ZGji3JG6w85u2CPFy6tm1xNQgPuRT_1Zf5mBrvLBBTe_QLrr0qT8YpYpt_TgWVhwadvGQaZjF2t4mXZy0NXMaBV0WAGG5AH9D3Y7DA0n_Z94VziG_goqt6NEwUA9oFF7Nq_APHKb5VbSMfc7GqyFHvV2v7FjZHNgoFv6fvZMJwtJVQwYNUabab6hvDKShx4CBe-b5Jd1jql8vfvFd4efAVhkNwlkranYv_2ESD7R_PzCK_-tsBhVwt3eYzHctxh5UWWUo9djGLuPxEXFHq5SJTZBn6Nr42HqymmZEjgY3ykLzM3pjmGA-2Lhde75c99gybWePJfKwJCe6xi7_mCKtWxbZuhsU_lcBbrGGqPbO58D0fVDmcsWQvpU8CcBMuHsA_QTnQlLssPpcLOy59_YXERkkM0yeiLXTDOKHWMyAi1AYFrXYvESnrHEehfNyRbpSEaPAdIiExBViUs4tMsKB_O8Cx9OSKMzCaef3tb0ThI5p2SHi3DiJ7bcDqtWSbr0D2GSdFl5u0ozF07neHRRsJtUQHftaN47kUkP_omJZRqyQORiGu2Wy1ZEIjcMqe7_B6zd5fJCAHlDEK1n4--kiKC_jtGxFugzf-1YrQev6up0za1gHwLFMPs1uOWtckHF0DJXEk7zMRAKx_-Tgmif86xXcQNygVcam0bDIMlbAfPNPovVYhihqCgbufFSrNivJE8uf-XcFvmmHkMgLBvw1ybmUAVqAtpckUUV2I_VLNpFbZDx3_-4jHq95WmDCW5X7zonNIG246h5CUe7EsfZw4uGGFNayAZooUH7wu-QdeUhsldXfP6kP4cdIgSIXwprjT6cKe4LiGNtCVY7hOLy3qnXlGtgdf_T9s0GgVYdqv7hE8xh3XHHeB4g3qs8oXikMlslq2LCNWviqu3C7bW0yePII1S9IXzilaYGBjWuJyJFi6umiyncrkE3phVUTMcvN4xsgrz-eYzwkF3udx6ogiir5ozOfeA7e03MgTEI3D-521N0MWFbw0xAvK6HwEdC3-fbcAkc_qStGWuXIiY6ntYoUnRv_LBgTogjiRftss1TpJHNv9wUgoLQxbLt_-hBa0XztYFWZv9XgMcMIDoSbP-ghNvdoitYLvNOHb8wWLJmJU_Ff0cO3-vygG2PiW16nksDnYVwc81unq5piAE6Iw4H7VvI5gBCNIIOymy_QoCsmXWJHWOaqCHjo9j-X_n0yHmDXUEp66qQN-67bAQaVYEkIbHD8wS-BhSigTg3z4GjQ5NkqDgG0kDXtJ88SFpWONH3GED3GFVIUyKrBiqtPvB0Xe99SdoB6tcJjTfQuhX5d3nJI8E4jbMEcxlLfAr8ZnhWNq0Mbeu3pDJ0d924kOTgIAlAXaMBP8alm5VQwUtv3-Q8VOtWar1uLT2LxwvOgej7hMpFmd2lZqf9EheMWNLyPDPQv_yX8wsCvfxNVbKs2xr4EccuTz73tw9ngjn76tK2aaPJ1yigUIdnjntOboUIBMYQXhGoNy8vPANrLOYycQlAmsYP8CIZTRX4ztKU02akdcQLrDxo9xrBGgAxkXQg-L0rgzTqKNpE0O9UoTnYBcUpB_wRQDRQ4EAV77l8MeQ4mapnyPanlg8EyX9C2ip_pJPKyS2fj2uOPFENOjRofEQSi5azcFDkLFhDwKp0rdJN0c7ZJ_Nnf7LO28mh2Y-KdRjAeYukLagHh8nMXzaP63NlJpNFUiiZt8QzdnEqnqTlyiF2wDwNR0PkxEzOGFvau_GYppjNrpegxcfsU0b16GcC55trXrEFVIg5AfXYHL89PEB-inRlfcjpqujYOT8v53zeFjhLbgOPguEEDfhJVWJSlaupsvWNaX3aJ4fqCITZ6eSgcbs_WU6zgVN5-SSWlDeKbmQ==",
  "id": "rs_043cc6cc674065a7016ab43e39517887d08df738387e60d980",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.16,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"The radial advance brought the bottle into the fingertip depth, but its body is now visibly about 4 cm to the right of the jaw center. I am sliding laterally toward it at table height to center the cylindrical section between the fingers.\"}",
  "call_id": "call_CCo9Ba5nGUf86GVBp6IbsktN",
  "id": "fc_043cc6cc674065a7016ab43e3ab65c87d0964c5f3a6f284155",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CCo9Ba5nGUf86GVBp6IbsktN",
  "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]: [-0.4885, 1.9133, 0.6815, 0.5823, -0.4351, -0.3157, 0.9979, -0.0204, 0.5354, 0.2039, -0.2642, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4165 left_y=-0.133 left_z=0.0105 left_yaw=0.0258 left_pitch=-0.0175 left_roll=0.0054 left_gripper=0.9979 right_x=0.2486 right_y=0.004 right_z=0.0855 right_yaw=0.0186 right_pitch=-0.0268 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -7.5282, 4.1778, 1.9121, -0.3541, -0.0904, -0.232, -0.6632, -0.3077, 6.8444, 1.9365, -0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8003abddda1a5eea276524a73e36f6ba1dac0bf5aab581e0d43330d2c326e6cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20cbd6735de3081a03bfb0eea486c595f8ac907b766b5e10295f28be059f7221",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff2d1b87164ecbc12a682832fdb3c990c91911c4858dc6858eaa91a85f950f81",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5117, 1.5429, 0.6884, 0.226, -0.4274, -0.3164, 0.9979, -0.0204, 0.5869, 0.2634, -0.271, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3913 left_y=-0.1317 left_z=0.095 left_yaw=-0.0033 left_pitch=-0.0014 left_roll=-0.0095 left_gripper=0.9979 right_x=0.2561 right_y=0.0039 right_z=0.0992 right_yaw=0.0186 right_pitch=-0.0257 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -8.3761, 8.0615, 1.6484, -0.2271, 0.0317, -0.2271, -0.6496, -0.4308, 7.0222, 1.9365, -0.1392, -0.0659, -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]: [-0.4572, 1.9007, 0.6666, 0.569, -0.424, -0.3099, 0.998, -0.0204, 0.5541, 0.2249, -0.2653, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4151 left_y=-0.1192 left_z=0.0079 left_yaw=0.0453 left_pitch=-0.0345 left_roll=0.0118 left_gripper=0.998 right_x=0.2513 right_y=0.004 right_z=0.0905 right_yaw=0.0186 right_pitch=-0.0257 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -7.9521, 6.8855, 1.8193, 0.1099, 0.2955, -0.2271, -0.6906, -0.3624, 6.735, 1.8974, -0.1197, -0.0317, -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]: [-0.4885, 1.9133, 0.6815, 0.5823, -0.4351, -0.3157, 0.9979, -0.0204, 0.5354, 0.2039, -0.2642, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4165 left_y=-0.133 left_z=0.0105 left_yaw=0.0258 left_pitch=-0.0175 left_roll=0.0054 left_gripper=0.9979 right_x=0.2486 right_y=0.004 right_z=0.0855 right_yaw=0.0186 right_pitch=-0.0268 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -7.5282, 4.1778, 1.9121, -0.3541, -0.0904, -0.232, -0.6632, -0.3077, 6.8444, 1.9365, -0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8003abddda1a5eea276524a73e36f6ba1dac0bf5aab581e0d43330d2c326e6cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20cbd6735de3081a03bfb0eea486c595f8ac907b766b5e10295f28be059f7221",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff2d1b87164ecbc12a682832fdb3c990c91911c4858dc6858eaa91a85f950f81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD4-6fUMAlvTYsgm7-4NXfg2WaLCjIAMbGf_DZ_pKL9-b0EbA_gP4dd0BGWIDn6TcvozcVMJJRNKguXwMcNVkIxM200TdjpWkKwahBAUCfBJt04oL3PCl9WK6H9SFbrw4MOZe8d2F93oZdrNHfOO4UXFeKcx3QYKjuUSj9OVRhh-6jMLTVlVw9NXtXoSVNXpfjmE9r7bL4W2NvIMy0H7kSGaUipaMmCsBWfZvbQ6c-nPH1PPN26oXrS2UHt4lUzmBw9F7WN_OBkG2vk2VIG1az3WQhzHwnSNHTqj0Z_Y-ZDa5wmbMSc65G2AS-NI3_q_52qCWXlRrZlHJrjoPiJ_M0CrBZsAliwvog1pDEDoae-pszPlDB45kBaoHsmhVCX47Me9In7FktPEtW1-NarAiVhVFFTcHNUp7NR1v_s7Le2Tm5Zo5_DnNek2Vq8wY0vRshVH3C74HLcuF-LuHsBxVO3FTp3TOFDvAzbzoBpmr0hygFd_KLeN8TqLUx7e9uI56b4k1L3q9aGisnuYW7PFdadbQnCCJ5S9G4MBnVFnDGvM7XIKA4UXKRRjqw-FoBymDGHNLbmhy_ePyYtPooAZrfLAKhJCG98svBGhmgUy04t9WhbaNoVkjeqCIztpoqcFUVPJ8ni6-LKMznetEZUN9aKUxRrAhcUTi8yAE4NLcACnE5MyfMGPOXAOn7VaTko9wXzC_odDJPiC8lqaTXdUZlmyTIYZZUjXYyWqM28V0NQpBts9vOraCCw6geh8tDipXeeNkB5pPhb0tUf4OSDQ-xbNiNDphp2b834PMPhixsaONu7_g143o2h89aWSRccc57H9-ipeIUVOSob4K21GT8EYriZU51XdNgRQGcCKOzXjdLHcjjO0DKbThNNjsfFUPBOX2bxk9uFr_Xu1fTzjulnJ36ie7LqiaqEEzG6mJqtpGwrIyZJLJBHHwhmxrUKTl8zi--yP6f99KFnXGsvH3QsIItV4vdo6UbZ3xK1udp3fV4CNZ-YinAe5v1x2oLVApz2RuljAijr-cg9HGpkqcJfdZnfG5lFbAvIOw2t673dHFYFTWeW1K1B7Hs7ubVe-Thsd6NLYht355UQw9mAjeZqcAQkRv-muqfyxXALsP-eFAIPgChzXLgBW0tDJWebx1bTP2MCmZAd55LPOoduc39Wfhkl0Vwo0Umzhm1rbo4-4Odkeup7JpjdqgwrI2bKXIfJ9xZQ6qSfsa9XQkXilfRsJXS-iljbiIBYj6ZOgWMvgsWeMekIbdEA56jcEaebjQOMDHJpeAZTYTyRZyAWz4tnJRc5buYqekAaT0x5P29iehmiuI1sYUGHxcZMRhkcfJXWVWrfaX9VsS6JecolBswe4iK_RN0C-CcxIeb-joB8nSA3_RSqiEYWYEDbe4QVUDvP7KJrDzjeN4au8bXLPhjY3FA==",
  "id": "rs_043cc6cc674065a7016ab43e3d614c87d095e29ff4746bc9b4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The bottle’s body is now centered at the fingertip convergence depth between the open jaws, with the neighboring bottles clear. I am closing on this aligned body section.\"}",
  "call_id": "call_FsVgB0mKVe9h4ybslawfOnhp",
  "id": "fc_043cc6cc674065a7016ab43e3dd1ac87d0bc74d037f7a8e492",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FsVgB0mKVe9h4ybslawfOnhp",
  "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]: [-0.4896, 1.9133, 0.6758, 0.5983, -0.445, -0.3157, 0.0144, -0.0204, 0.514, 0.1787, -0.2626, -0.0307, -0.0357, 0.9988]\nstate[eef_state]: left_x=0.4168 left_y=-0.1319 left_z=0.012 left_yaw=0.0326 left_pitch=-0.0056 left_roll=0.0054 left_gripper=0.0144 right_x=0.2453 right_y=0.004 right_z=0.0792 right_yaw=0.0181 right_pitch=-0.0291 right_roll=-0.0028 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -7.6786, 4.0137, 1.8339, -0.0708, -0.0122, 1.3309, -0.5128, 0.1299, 7.1043, 1.9023, -0.0904, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb6b5795d3737e1400cc5f7216b8dcb50eed50381bd4a48f292d91c23f127110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa331229bd40c6eb308bc2847ffb4e7cd37f0f069cf03ec28a9ad3bc34151d15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:562efcb8a320b28bf12808a495e9ddd0142e2fb681f8bf7e0ad12a0aad40c309",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5156, 1.7817, 0.5774, 0.5201, -0.4423, -0.3214, 0.9979, -0.0204, 0.569, 0.2432, -0.2672, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.3846 left_y=-0.1269 left_z=0.0179 left_yaw=0.0082 left_pitch=-0.0453 left_roll=0.0217 left_gripper=0.9979 right_x=0.2537 right_y=0.0038 right_z=0.095 right_yaw=0.0183 right_pitch=-0.0242 right_roll=-0.0033 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -7.5829, 4.1915, 1.9072, -0.0952, -0.0317, -0.232, -0.5128, -0.4034, 6.9538, 1.9414, -0.105, -0.0366, -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]: [-0.4885, 1.9133, 0.6815, 0.5823, -0.4351, -0.3157, 0.9979, -0.0204, 0.5354, 0.2039, -0.2642, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4165 left_y=-0.133 left_z=0.0105 left_yaw=0.0258 left_pitch=-0.0175 left_roll=0.0054 left_gripper=0.9979 right_x=0.2486 right_y=0.004 right_z=0.0855 right_yaw=0.0186 right_pitch=-0.0268 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -7.5282, 4.1778, 1.9121, -0.3541, -0.0904, -0.232, -0.6632, -0.3077, 6.8444, 1.9365, -0.1099, -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]: [-0.4896, 1.9133, 0.6758, 0.5983, -0.445, -0.3157, 0.0144, -0.0204, 0.514, 0.1787, -0.2626, -0.0307, -0.0357, 0.9988]\nstate[eef_state]: left_x=0.4168 left_y=-0.1319 left_z=0.012 left_yaw=0.0326 left_pitch=-0.0056 left_roll=0.0054 left_gripper=0.0144 right_x=0.2453 right_y=0.004 right_z=0.0792 right_yaw=0.0181 right_pitch=-0.0291 right_roll=-0.0028 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -7.6786, 4.0137, 1.8339, -0.0708, -0.0122, 1.3309, -0.5128, 0.1299, 7.1043, 1.9023, -0.0904, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb6b5795d3737e1400cc5f7216b8dcb50eed50381bd4a48f292d91c23f127110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa331229bd40c6eb308bc2847ffb4e7cd37f0f069cf03ec28a9ad3bc34151d15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:562efcb8a320b28bf12808a495e9ddd0142e2fb681f8bf7e0ad12a0aad40c309",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5DHztHq1ZoqZudrTfqNX6Vib3tDJUs5jDRpXe1YCx1-PrTSfdLKMlPWEhv3AJpHknYmcxa_nwwj2wZGugXEj-87e3RPZob5EIXygxJCVic3SOS0NycKFnfCm9M7jTp_4djGlCWw6HpWY9gjP5rakSSJuWD2gwAiW895yDDAlzR3ealwBHxhWHOQaJbZZXPcr27WbvJiJd3sQl0VJT3Pxvi91_ajnT08Zqf_yll2mJEaEyuvZmtBk2GAC7LE11Lb-p5IhUYZLNyKCrtlsUXrycfm2YL_bo2rc2MoGH88b9dYGAnvAwr6kwpsLVhbz0hZM-44xg1yC6dN3R4-u7xcqKDOeedp2QiDTeU4ZghKxPNQ5XN96S28bQDtZHCG0hw_qS8CdGgK2tW-pxdtKTVuj756MY15ZTt68WhgW4LcuAnW529lKwV2usFh25GteU4qOxb8QrVyNrVR1WUQxoZ0NK9BU5eBUlSzPWY-j2QJSBvnbNA119uBiQ-bCwZI3B_cQeiVKJ9Rlrrmx7iasC0rouhDmbkzWm4CTKsvpvgJ9OHIPV0-aVFQ182HB0IDxPiTmfjaty_XSyD_9jJ01_X7cLLc-tGGtNGPZ7DL7CfqGYFDH_V504WVwZOpHye8NfCSJG71DrV-XnaYTmYlfsirFtaMDTNjdWjROTAhcgNpRCx6yjHkrtnIEmVAiv69i2iUXuZAsiYlUEMAlYo8l-3sO55zq0r09yVlkYsjaGuHxl9kg7e6wL6z2wUIJdKMln4-1MFbJ7SeA6w48xPG9_tKiIEBqbTzeLFuVleRtoEWiCObqJD62S3QijuLRFhr7HIRYouPAYh7kkeDF1XDpar0ctLXI_tDn0ao-gqURe4N1oBzrUVV_8GpXbq7OSzy18dwG8cRf5rNvJmdTGiSz95HK3Uqo_52hGJL437cCgvv2kswsARguyQIMyt1BwPmb1sx0GPlBO_MVmXzrNp_4JQ1pcYDCvr3xiVzNF1CtAfUD7VyXK0k7YQOV3dj-SfAyXR6yS6U9dHTwCE_iS8s9yvAuu5rfqYXppm4XfAWj0sPkZmhcg-0p0LNtZGLeczMu2SV0QIbyOMaxj06Q3OdUFceCqFsapB5KPBBQZxQVEPDmtNFHO_2DbyNK3P933__ABziPSkbErnGik0hmLmpGVY8wjl0y2xBahI6_6xDwH-9072fneTH4apMkU12Cs-pdJwBjEIxCi-PaPy2zXjlIep4eCKSe6ISCkRQTYA_rI98Y8zeZ_Wvk6RzGqWI8YrcQoGhIvBjeXxfzGqBK0IpH-N06Z-7hk9pkdXd4L4QLrQIU5wWwMAzcYQ5rZRrvA8GIE-Fm9wzqjlvt9S-kQnmhGTmGy-x3MKUSxtsF0ADI3EqFbdZgNzREB7nf9TXRjxS4FgU8uiRoJwsgIXsRSWrXLyo94OLAY_-23DrwPTF6NKAhgYeHmrIesiMjuQcJL1WTXf2gvQYDSFj_XbAqJAdvWaAB1uRM0AdeslAzslq6qQSfu9bdj_txbRYMQC0lqDta8V_NNNkJKYa3MnkfoB7OOBytfFPephxUHCcjxUNVQ-pFb1khC1JddWY7KM2giS6O09H_cZ8nZstf1z6zROaGhFEe_vetAKQ8zOW0TB67_M2_nm8TbCQoTaFtUzUQs0FwFhfAwF3nAJjMow9qlIgKlGjw7fdrh8IBMsGgeBWbyo9Aa3ZkDV8gHrGxgoi8itnUaMDYuwBFwd3qUFC5iL7fMKnJvqqAoviuKuwwTyg9MT_PSIWT5SeWe606jA5jBnWMxSZ6ftlRbo9WJxv7C1gT2VeQXSDTUyUsYmGQFSPEa_myKsyk6b3X4miZmpvjC5sgK-27mGwE8ZX0UrDjpn-aoyzUwxvuL9jjCLoPSSObfma4XQdt4SqvKZzfYGnBEeCSYAPAMVO7-7dgfmJJCqS0Ob6yJTNo_73qe5YOplsanUrBjB8YGyXms9J8T-S7nISIHyJgB3_zwyPGCanbGsugGoC5g-FIfo8Do0wu5olxnU4ssLKyl15CH-tZNVgdqkHiCB7hYrWkGWpkzF9DB03pOgY4DZ_UyXQ2vB4kMNUTD97akm0uwVXrG-9XqsFiB_ev7rX77LvNKmcx1I5qbUG0T4q7nZOQ==",
  "id": "rs_043cc6cc674065a7016ab43e40b1c487d08e70cf063b0832ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.16,\"left_z\":0.01,\"left_gripper\":1.0},\"note\":\"The close was empty again, and with the fingers closed the wrist view shows a clear radial gap between their tips and the bottle; the low lateral move had pushed the bottle ahead. I am reopening and advancing farther at table height to catch up to it, preserving the lateral alignment.\"}",
  "call_id": "call_c6PsqqGX5f0ZGxHhAWMCezzi",
  "id": "fc_043cc6cc674065a7016ab43e4256bc87d0a60ed16b020d30e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c6PsqqGX5f0ZGxHhAWMCezzi",
  "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]: [-0.498, 2.0422, 0.8673, 0.5297, -0.4568, -0.3408, 0.9947, -0.0204, 0.4889, 0.1558, -0.2615, -0.0307, -0.036, 0.9989]\nstate[eef_state]: left_x=0.454 left_y=-0.1541 left_z=0.007 left_yaw=0.0472 left_pitch=-0.007 left_roll=-0.0066 left_gripper=0.9947 right_x=0.2427 right_y=0.0041 right_z=0.0746 right_yaw=0.0183 right_pitch=-0.0257 right_roll=-0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -8.8137, 6.8444, 1.5604, -0.232, 0.188, -0.2125, -0.4718, -0.1299, 7.0496, 1.9463, -0.0806, -0.0415, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee198a060b0ef8f242b5417d410863758803a81e6f204109a07d412d001daf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b52a51cf28c5e5e4011a9444d03baf91e4b983e57e1a8fcfd48e320b2e3d261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd61bbe3fcb35ddc29f0d81cec49e5d6f4581d4359025716869a3b1e37bd5b67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4572, 1.9007, 0.6666, 0.569, -0.424, -0.3099, 0.998, -0.0204, 0.5541, 0.2249, -0.2653, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4151 left_y=-0.1192 left_z=0.0079 left_yaw=0.0453 left_pitch=-0.0345 left_roll=0.0118 left_gripper=0.998 right_x=0.2513 right_y=0.004 right_z=0.0905 right_yaw=0.0186 right_pitch=-0.0257 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -7.9521, 6.8855, 1.8193, 0.1099, 0.2955, -0.2271, -0.6906, -0.3624, 6.735, 1.8974, -0.1197, -0.0317, -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]: [-0.4896, 1.9133, 0.6758, 0.5983, -0.445, -0.3157, 0.0144, -0.0204, 0.514, 0.1787, -0.2626, -0.0307, -0.0357, 0.9988]\nstate[eef_state]: left_x=0.4168 left_y=-0.1319 left_z=0.012 left_yaw=0.0326 left_pitch=-0.0056 left_roll=0.0054 left_gripper=0.0144 right_x=0.2453 right_y=0.004 right_z=0.0792 right_yaw=0.0181 right_pitch=-0.0291 right_roll=-0.0028 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -7.6786, 4.0137, 1.8339, -0.0708, -0.0122, 1.3309, -0.5128, 0.1299, 7.1043, 1.9023, -0.0904, 0.0024, -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]: [-0.498, 2.0422, 0.8673, 0.5297, -0.4568, -0.3408, 0.9947, -0.0204, 0.4889, 0.1558, -0.2615, -0.0307, -0.036, 0.9989]\nstate[eef_state]: left_x=0.454 left_y=-0.1541 left_z=0.007 left_yaw=0.0472 left_pitch=-0.007 left_roll=-0.0066 left_gripper=0.9947 right_x=0.2427 right_y=0.0041 right_z=0.0746 right_yaw=0.0183 right_pitch=-0.0257 right_roll=-0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -8.8137, 6.8444, 1.5604, -0.232, 0.188, -0.2125, -0.4718, -0.1299, 7.0496, 1.9463, -0.0806, -0.0415, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee198a060b0ef8f242b5417d410863758803a81e6f204109a07d412d001daf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b52a51cf28c5e5e4011a9444d03baf91e4b983e57e1a8fcfd48e320b2e3d261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd61bbe3fcb35ddc29f0d81cec49e5d6f4581d4359025716869a3b1e37bd5b67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5HVnYe156STa_CYOoyTXl5msMTTlY3UknDBur74Lgok6HW56gEix4RzZUC9jEZVm3t6RHtYTkVhou5qQrwfxSajoAFlf_DlygIdECE9IAy9mPQC2iFsIN2ymytylSQupmAJ7hzIHFcx7_VnJ0IGGGGke7qxNDQ3AUf8OCMk44ERoDyZ46puBuebErKsdyJozvlBYmohd0iX6PqmWZhkL3AZLlt24NMb2pFz5NVH3LZhE5Igtx3OSIsAMyTetri356ChI8rRmWW68oEp6fl_bIgSM7da6Tfu1rcC-jYy-RDUy_1qeyQmGGZX2jbwvgBLagQA5WAiHoYDap4qPAQ2uE_UOb4RewqALLHa9Ck-qj0IDh5fHBo2-JjDys8oIBATHruUpXgX7s_zNSjGg3VO0k8oZj1Umm377wb8pyCYne64r3kdl9gdJl4g2TmJhNcHs_bM1_33nKYiq5vAVNJI4zVRb3n2TE-g_6biSEjLUvjgl3iRn29Hb0gp21yRYDvAtG9pk76ImuIBaswFSbJmQVY_sTX50Q_GI8uUeK1JWTshyGysU0daP7m64mK_MOiftBeRpmWuE7TPTFJxuii9JBrReO9jJGjrbLosLlPBSKX9O-1zmA884FbNMw0sKSQxGGh_fyBz0Fl1cXnsVdXzukRrs1FsXqo-VgVPYTKyIbxxR0jap9qwDytM9u3SRLCquc9efYj2ZgVkq3CnRiKitgH4WrMT_Ecm7oHJZ2N0NhyMp0xdNXz0ilXquSvns-vC1P8FCW3TYfbCa7n6DhgYZ3pIGzbtjzOM7wxr78AkvnA0SETq1LDZmr7mJT4nSKuqPTHFk9iLmBXGprr6Nj10X-lUolkZ8hGW5hfSYLfrHcSjnr8mXHNmWHcEdm2EcyhL6Xx_x1v_6VHYa3LN9bYNMVqfzVPqKtPtw11_m45Y46e0S9g3P6gjuHYfIZ1Wi8RdSa39cZKQU_gerAUCgvawkbjWGsdqbvj4OrIL9UMZ58mZfm9o_kSYVjqKqXzF-G6RfIylJwI4eRXPSzaRai7NE3WmA6W6JjmOSPywUVbIE4EN2ozwfDekYcUtNdJ77-ussM47SWmu1j_aIJPl23RWeaPLRPcbN9ejl2mvI3ZEtZj1lyRekPO5jfUScspQdOz2YXjYFXWgzYHaPKMhw5Vg-9SeqzWNZnLdtlOYkWsmjfNgjHYegfh3DaqRbcuIOtx_vq1RwgvYUGVu6wjwkqoXQ2BVAJjvd1st0Sr-Pj4eYehj2SWErmV3CcZytgi5VuRi8PpQDEGZoKuW2LYV3YOsMyF3bJfxEnaHeIft-CvQdb107DLxuwNuWqOytQdAOT0O0y6JOvD7LqHYfouaWxsstYHS_V3CBY6OHcG5xhsMqbEnEC9c-3auiJoDl7ZfVmPBNf2b5TVqjoueWUWvmSLmMIIlGtT5gvBnYdq-qpWFmgDV3TaMcxdngBX1YP9J7G7xLGbTiqDbqhwEU2Dq_wKz5C8NPGYGYg6RrNro2CFwOyBVGguc4oijbXF-0ZNrOVsSzK1KNdH2y_wEJwlB-T-oo2QV0QRe7QMb243v3JW75ZXiYUBI3cuwQ9kSk5TCtU1uaT-czSSmYNqCe4sgEgAWDva2bCzDf8f0Dr77D9tjnmqeVVclZxOXkCHvzgIIWP-hL1ifKVY8TDRVR4V1IRBEhZLomQhPmibuIjOBkCvoyh1nWkEa-MSdSRrb8QZ6w9NzSwDeyPg5vhM2lbhbxUsUGMcNw==",
  "id": "rs_043cc6cc674065a7016ab43e457be087d081168fef3c67db8c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.16,\"left_z\":0.01,\"left_gripper\":1.0},\"note\":\"The bottle now spans between both open fingers, but its near edge is still a small distance above the actual fingertip point in the wrist view. I am making one final 2 cm radial advance at table height before closing.\"}",
  "call_id": "call_t30I6q5r5ag51690S2trJSsn",
  "id": "fc_043cc6cc674065a7016ab43e46956c87d0a5a01773650e33cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t30I6q5r5ag51690S2trJSsn",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.49, 2.0754, 0.9276, 0.4908, -0.4625, -0.3393, 0.998, -0.0204, 0.4706, 0.1429, -0.2623, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4656 left_y=-0.1549 left_z=0.0051 left_yaw=0.059 left_pitch=-0.0153 left_roll=0.0038 left_gripper=0.998 right_x=0.2412 right_y=0.0041 right_z=0.0726 right_yaw=0.0183 right_pitch=-0.0211 right_roll=-0.0034 right_gripper=0.9988\nstate[joint_eff]: [0.6085, -9.0462, 6.7487, 1.7118, -0.0659, 0.1197, -0.2222, -0.6222, 0.6632, 6.8308, 1.9951, -0.0855, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a012ce82eb36a960adca87d414163e41409fa5bb4681928bac7c9bc42d7f090",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4430475a86ae99ae69ff0aa7f057428fef825d233cee554e28471b300ecfd79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc7b5d2e43fbac1ebe7a315c49dc6af89461ec30486181893e93611b0076a17",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4885, 1.9133, 0.6815, 0.5823, -0.4351, -0.3157, 0.9979, -0.0204, 0.5354, 0.2039, -0.2642, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4165 left_y=-0.133 left_z=0.0105 left_yaw=0.0258 left_pitch=-0.0175 left_roll=0.0054 left_gripper=0.9979 right_x=0.2486 right_y=0.004 right_z=0.0855 right_yaw=0.0186 right_pitch=-0.0268 right_roll=-0.003 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -7.5282, 4.1778, 1.9121, -0.3541, -0.0904, -0.232, -0.6632, -0.3077, 6.8444, 1.9365, -0.1099, -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]: [-0.498, 2.0422, 0.8673, 0.5297, -0.4568, -0.3408, 0.9947, -0.0204, 0.4889, 0.1558, -0.2615, -0.0307, -0.036, 0.9989]\nstate[eef_state]: left_x=0.454 left_y=-0.1541 left_z=0.007 left_yaw=0.0472 left_pitch=-0.007 left_roll=-0.0066 left_gripper=0.9947 right_x=0.2427 right_y=0.0041 right_z=0.0746 right_yaw=0.0183 right_pitch=-0.0257 right_roll=-0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -8.8137, 6.8444, 1.5604, -0.232, 0.188, -0.2125, -0.4718, -0.1299, 7.0496, 1.9463, -0.0806, -0.0415, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.49, 2.0754, 0.9276, 0.4908, -0.4625, -0.3393, 0.998, -0.0204, 0.4706, 0.1429, -0.2623, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4656 left_y=-0.1549 left_z=0.0051 left_yaw=0.059 left_pitch=-0.0153 left_roll=0.0038 left_gripper=0.998 right_x=0.2412 right_y=0.0041 right_z=0.0726 right_yaw=0.0183 right_pitch=-0.0211 right_roll=-0.0034 right_gripper=0.9988\nstate[joint_eff]: [0.6085, -9.0462, 6.7487, 1.7118, -0.0659, 0.1197, -0.2222, -0.6222, 0.6632, 6.8308, 1.9951, -0.0855, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a012ce82eb36a960adca87d414163e41409fa5bb4681928bac7c9bc42d7f090",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4430475a86ae99ae69ff0aa7f057428fef825d233cee554e28471b300ecfd79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc7b5d2e43fbac1ebe7a315c49dc6af89461ec30486181893e93611b0076a17",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5LjDU900rNGjEOYmJb0Q95w1uvbJkPtJpdBBlZVa_mQBbGlue9devlHAyVKvaabr0j-yi8s29jovtgGEUAxpqMapR4zT6jsC2zLYa4rBqIF1ds_QiSsitxdBkIE9q2x2YeJYeYQZHfjia__4y_4ILRualE1GqT7UzTiheiaLV1lCGGjNAI7U8GV-kl3F6Z_T6N8qWuXwVFQzz_ppFL3mkJ7oEEHwL_p1u2jt9-Fq5RQbkeyoFFNz0hZ7yHlda2UxHDPLU0QQjhkcuVH0_mDfYPXapZayBy0dFkXK3pnhsW0G2U0CEMSUqIetLp0et7o1noHvHgm7W30e5A0d6giWRQrP7diKKYSSQ7QDU8pDtfCvVPnKmRX3SsHN_644LDGqhTXQfkZWcVw-1BzZl2QAm_XXvVCB7qUxS3l6S1Key6Lkf5GrTA2IKKsk8VTJEkZhhiZaB6dQFc31FOG526AI8rXz7XT-9RP3q1sukdUYAwf3RNcFH4Vu6LO5FFl1v3_TGw_eIJ16OOz2E5QqgG7T4tc5f7zTcENPrYnCpZB5-auCR630GmKu8-c4gQDJhQgxkkwbGven3jYpHkExDuAILZb47ZbipM7MKETUmx6aJ_A2Y0OzBV-IhNQWyVq0sJV3Fdn1lwWkFTs-7sZRBaP-E1Gs4uqpcXqwrq7_1Uw3UCXxMDCYEKA777M3-fNGLDQAPNPl5nVCIClGSYuE-9v9sb6OXl928pxUmZlepKSWFGI82AaJSD4t7fyrrCzRYMZri2_pVIrT3Ou94dnvVc60HvNezKwQbEVPnVC_tLDcPUGI4S2pcbxjUzuHiQf2PX_oEszrt1Ah2qBWfhfzYMyXDAZ6OS-winYzNmmkFSKuGNqspDZw-0a5a9NflvpiQte3tFIgwolWxL6u2l043j6fETlBd1l4f4-rodG9VSeOGHvtRwTqCFMVrrEUkyQwUReU9oJqVXyeCDYHDXxTJ_6rhZcyYmwCW-Q0tE0yrBzLLEVFDzZDHCh70BWZJOwlZMARSW5A-crmXR7RAATLCZfS4kPDL4TvljEylQ0jQR8reWGIn-sKrHc-SjlR5E6HK8cZ2H1KroKpS5s9l6eQLOSoIqL8e54EG2Usm_zvDwb9g1bUKe5uk6H5pArzcE94OWmRmIYumDNND8NeFcVJ97cy3vHOGBhQDVBTPZ-Z057gnOLgPncVt83P5yhsDZpeubsf6Aec2PmpxqiW_G2ppk728V6FDnJIvmYyBLRT9RG5Gq9uk0_hOTN2RrfJUeuXMr2Pg6EuQkPnfoTpwZGfDe4v7L71lPa8vD0vsUbkWJ2KHtsBs=",
  "id": "rs_043cc6cc674065a7016ab43e4a793c87d0b1b3cdc2043dff4d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the final advance, the bottle’s cylindrical body occupies the space directly between the two fingertips with no lateral offset. I am closing to secure it.\"}",
  "call_id": "call_ibBm1S7UglijmIMKVz622q6c",
  "id": "fc_043cc6cc674065a7016ab43e4ab99887d0847ab1685df2c980",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ibBm1S7UglijmIMKVz622q6c",
  "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]: [-0.4904, 2.0926, 0.9245, 0.5343, -0.4786, -0.3412, 0.0144, -0.0212, 0.453, 0.128, -0.2642, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4685 left_y=-0.1538 left_z=0.0048 left_yaw=0.0725 left_pitch=0.0095 left_roll=-0.0019 left_gripper=0.0144 right_x=0.2393 right_y=0.004 right_z=0.0693 right_yaw=0.0178 right_pitch=-0.0203 right_roll=-0.0032 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -11.1111, 4.1641, 1.5849, -0.0562, 0.0171, 1.2772, -0.5128, 0.0752, 6.8308, 1.8486, -0.1441, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e783dbe78e1ebe3a8655af64fb8ed30a73e5e2ae1eb6f371790191d4e07af6d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f063fb1a1e33c35a675be54b1c6d8b598a6881632b6911f0f317ff87f71c8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87cf629d785356f9e784fe45eef9c9861e8d582c96f18386c5039a14ec2a74f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4896, 1.9133, 0.6758, 0.5983, -0.445, -0.3157, 0.0144, -0.0204, 0.514, 0.1787, -0.2626, -0.0307, -0.0357, 0.9988]\nstate[eef_state]: left_x=0.4168 left_y=-0.1319 left_z=0.012 left_yaw=0.0326 left_pitch=-0.0056 left_roll=0.0054 left_gripper=0.0144 right_x=0.2453 right_y=0.004 right_z=0.0792 right_yaw=0.0181 right_pitch=-0.0291 right_roll=-0.0028 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -7.6786, 4.0137, 1.8339, -0.0708, -0.0122, 1.3309, -0.5128, 0.1299, 7.1043, 1.9023, -0.0904, 0.0024, -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]: [-0.49, 2.0754, 0.9276, 0.4908, -0.4625, -0.3393, 0.998, -0.0204, 0.4706, 0.1429, -0.2623, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4656 left_y=-0.1549 left_z=0.0051 left_yaw=0.059 left_pitch=-0.0153 left_roll=0.0038 left_gripper=0.998 right_x=0.2412 right_y=0.0041 right_z=0.0726 right_yaw=0.0183 right_pitch=-0.0211 right_roll=-0.0034 right_gripper=0.9988\nstate[joint_eff]: [0.6085, -9.0462, 6.7487, 1.7118, -0.0659, 0.1197, -0.2222, -0.6222, 0.6632, 6.8308, 1.9951, -0.0855, -0.0317, -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]: [-0.4904, 2.0926, 0.9245, 0.5343, -0.4786, -0.3412, 0.0144, -0.0212, 0.453, 0.128, -0.2642, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4685 left_y=-0.1538 left_z=0.0048 left_yaw=0.0725 left_pitch=0.0095 left_roll=-0.0019 left_gripper=0.0144 right_x=0.2393 right_y=0.004 right_z=0.0693 right_yaw=0.0178 right_pitch=-0.0203 right_roll=-0.0032 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -11.1111, 4.1641, 1.5849, -0.0562, 0.0171, 1.2772, -0.5128, 0.0752, 6.8308, 1.8486, -0.1441, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e783dbe78e1ebe3a8655af64fb8ed30a73e5e2ae1eb6f371790191d4e07af6d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f063fb1a1e33c35a675be54b1c6d8b598a6881632b6911f0f317ff87f71c8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87cf629d785356f9e784fe45eef9c9861e8d582c96f18386c5039a14ec2a74f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5Wjj58Hg_toKi6Saxuj7BujsCrOLIWE_HBYKnu9trgbwpDe2GWEP8tsugMX6XbSy40jSli67-xe63cSUohyQZ8IM7lktj9jVtNgrpk2vFyEtHvEVQZQ0GFBoxnnzHYQHEkOGw1mLkmd35unKy1WV7wRzM7pPZDyCRweYxovfBscZJl6celK6fcqIq-f_f2WocRL3eC80eMJ_wUYU24oplPiuCWpsp0JLix0LNw4BUtDE9ujtmSufaf7RWsJwE5Mw84WkvjCq9EPHFzbyosbRlGxJHQodRebu9Y37bC5auDjOIAt9oXPoepW9cKEuZCPeqUp7FZ30i3jUeqGhGP4q4Ey4fJwgh7cbt1xLGNzlYSuwMd3gB7mzzBYnL3-PlxbD_muAmqVHpfPo0K9coiZ8jFF87eyQXpcqHltyERV1pXsRzIh-0GwNY_zigaS3hBz3lkU4zj4OgNS8Qr4TgfV-6BbO5kDDipgN5ZfSG4D5_oRrRk0qoC5lQyQpUZSoDY_27fl-ZE55MJbQh7L6PMEsgyBFQcDobEchvdp_RDeIGkVmNxmS-_4TzdpPfChpCUOmQAIf4M5ow_hz8NzaPagTuA-pROiIO7xso0LlA8MUKFDw_gBSOWBUGvFPUZIj_xj8poq1qixQ4Q9Agw8gB-OxsWxWfvxXnzLlZOg0TjilUAi-AcDoIfK9XwlsVe5nrEukHCioNvrEkakzjkPVopsrDvzHde-44qrqb1PZZKRdE5QLRcj_8DPj2yzwT6pnXn8CWKrdOPpDJf1iy2pQLzE1eO4mO-r7O7D8wKq4YtHP9T0RKuTxqgRzBfcZYh06xmxTGMgPEWZpPBhm3Rbs5P3Vr1OGYARx3DzlvC4aLMHjLGL4ElLARt8lfLTQu_vMTeFNLFDeEci7Roy3zhXZgaRIcfBIIYIgOFX3OK5N34zCpdxf-c04bcdpUApnw58guDHREwqROWLPUwdTMQRHnnArZyP6K0gxUiL6oYdl2RZToBpdMQbQZBJQKR72OPU3-iUBhyT5kmAGlTCb5cYkq_iyIVHctLcq1g715EaVrjRd6It-r0yJ6IgAWt-CHHni1J-b6iOEyHteBRidkURZ-DTFspH-wvOlm3Khz0VbdzvoCXDQv7H3wT-SxYaLjsiRM_ZC3e80ST9kICZKA9FkCuBmSFOWI66BrNRip6W0n-wLrnKdtKAy7nT1mool1xGXG30vYqdm4EcRz_3nCpoAaEIgoy3Cm180sU8HvnbFJXafxvLl6Sal3XKCRrgKr2-5CavSZyQ3R-iRsr3WasW3F_2TT16EO7zSoSiPfiHfVjuJ7Nn3WWo1t9w48J8mpVgdSy7EdgByQ0Xl7X7wQowHkvl5b4pqVCkd5x3Zq-uRWNrpclqnx5NZLpBztSzU9erUHkWtd_tFm-5IHOy7RVqggOdFZGtkfh_ccRu3f5RNJpENfITziSICqk-V6A0xjbbcibB8XxCTtxnJwarUZ--Do3m1lZNVDSKbxPSg_ytbsruGQ1WetwVt6pmDsKLULx-sA1w1DaHWeJTuX9Y29os6rLDTbH40CKpWHLQeKKuN75q-0WlEjD8mfnkJc7A570M1HIsG9SgGDbvSmnWrhH3SSNUWU2kKDG44xLXnxPR9CF1R2upb84_fz7pdJzlymYPY2Yrw4GIrSKzrWbQQpTWZxRaJh4WPAq4BH2lG9uOosXXkm-dDIBQuut2DkenNixvkXDVB582YbzaZtR64c0hrsjbdJ2l-c4Zvv4BJaK-Y1fqaegULFUk-99REC3Uj8bjSAygM9Q2-fY712VbVeu1_kjtZdcRPOKlVJ7UJ-n0z84P_kuZZBzaGYPkXMM4mGFgmQlGU99PS0ABL_guwsqzsLdH50Xx7DOgylqCDlWcfGOFvnsvACfQNSm9R6mkCxXgR8QD5HwzlLhunTCe81qLpJt69XhkaP5-S3qDf-Sz9wy0hv5Owvz7W9jMbpIUmZxOMDYnZt_RISSsL0396FISS27kOOrwMIIrzbti9rZ_Vp6qDlfUFiqH45RhzANTFg-B9D_Ae6NB1iCxc2b8T5xYLF8QZIcSwDIXCInDJGWHyJvoObaWk2Ktr4W-wsrjIB3qnEjxKzAZeEaqxtpWf0V48pQo_EUJ3KJZLtgFSsYbIHmMQu0zCVbTPqcMLen4GW5696bMsvXGrZTkSYZxOrcGdXErtTjqf0rW8h2ZGLULHypWx-WsYKTvSdCxFM9NfBH5y-wxj6tESsw7BHZKhOS95wUJu4gNu8c2aOwWHLzauQe7IMV5X8ZqNs4jSTJAmVFlfDwNTfcm6-zCI_ODPF_EjpIgx65Oa-DJe5-gqM3pJFN9mMPOGYe4jzf_XAb6ZDF6J1SQuRAZ3sz2ghnKLiVmguIVdoGdevFYajNG-SouIOhdTbS2vta4zFSG1_yI1N-FpTV6vxhXHAhw4uA-WoNaE01N4Euy_qTD82fxU7lBDDaQSIfN0zKiyZMQWBDKuo94meK5kkCR7p-EVJPwDFssyboo04x8xHE8ElnwgNaKGKSCFy98ToyOrsqDtO71F9R0zlWOL9Hf5RaFN_yIvZOMEl55SbR8lOdDIJoEuRnH8He06Ime8Dn_tVOzhsjMYCTb5_p6gPl4PAzcrMXYmPj59vOxxqb6Khejvkp9Gr7X_tMDYv-V6B_Cnr1E3WOdcAyhk3I1KLe9WSXuEzPeyk7VVN7oGchCPFx7eyFbOBDP8Wg-NOL1maGd7fUtZcon3tory0ThKhtjNvnTx9vuP1P8T6uxc_J3k2aExgYPG4EE7rQEJMRz7RJ2vIsggrzAYFgdqxYHzuDr6860Yts4qlcSboc3L9kPnI5rnjvwGThY7kEkQqdQxbzzOccLph5Adxn9RyTow3ZTwusL0oZPyoEpOVTD7LJqwqVclahfvXaND7JD_khX1h9xN0PgjI58sL8dcmzbagUVdfPQPyHPSIrQk2EraPQXXHEPus1y7Wjkoh2UOqinVfZVr36ZHnTJlvzR0QREjaw6q0YFglbVlfDrfcZ2QWCdN6n-jk0uwrIzp2kvEUNspkXWFuONFghQuhmUweBy3AbtQNbHkOOIm1M7l6k05O5kKYOU4ttD8LyGbGMycZPC9OTYJxPubuFvGLNF99SbBDn61lKFabxwhyCNsnppG2zfw2MfMJo3DWiv6vYidOL_S666eNe8ZUtXVqEvyWMabzq4YNoyoVp2xAtNo8vZ4Yf0jnMoqLXg9OpO9f5TesyMhyEbJpP0Kn7rHEBUtigqo4NNsm1E9kPCkhoNjCUQ2E6bxIuQTFubpFXHK5MvwvVsUnz2cgdsOHM6s7LWbbUG9YNMN1JwrzUoMrrL_Mc7EsaNpw8zigNtDICuV00rTc4Y9Ad5Pcptz9PXkjIa34H7mcfx95-g61-040890SisIWHpAPI_oxxn7hOGgN4e3DYrroGNNXZnhbdzuDzX26X8SYPXv8n9hUWL36jB_1cQm3zep8wCCXYUaD7oeoI8Edv7g6drM_sAVXtcbRXCtXuHF-j8K2sYKIP2r33yJFltfMDTna13MlB_CJbg-uwmWHL9VyH_658VnZlr-D0X0bzcnZWhPYHEK_Dmkwq80VtCVaWVznY2ZRte0qqxRnA4KFSDLOiwSoAdXYSIhIgN_IvAB28JOImJ0QHa8ULv_YoV-HtMhQm0E3ys1RtlTGfeYNRDM6KBVf7j5EXzrnhaphIJ6sXtBfAUSRF_PuN6t8IZ4PROz4fQI7Zof0WayQt0LlYZ4vTeWdprBlDaA4ew3bnpHtUJZmFLGlXGiU_8OS1nbGnBoKu1rvw8rdfMJy_bpfDeo-jPvXZR7aebLadXOKrQdxYhu_2V4UMhfF8VT09FAv3oe9Pi1rlDOa4WNlbGHXB1A_dV_Yf6Yu03gtLeFxCgbUJg6Q56xSl1I6nHvPOGdXlmTVkyfAPlHbT1DGDOrRTkCBr2LTB4XsamWP5i-s1cqPZXeKKmkBK5sbcccRdWlDrFosLSXkU-MZY325U6PjgQD41An_5_JIjR4PNVkZuWNjIC35U1WWlUHv2jYzPhn4DHz4pnOd9-mSJNpukr5hNMD89wW3st6P_FXZOmtlLZXxhuCyv-GSqanFhrYfifodjio9N2G5blOe8pNXMbZjzroJTjTKJcvkLP1cNJkYUqD27rOpT-bT119BwtiOPEsPsL-xvSJB2BacAqzyM5zEYcG8lR7Bu2fbNhY_JwBW0NY4W",
  "id": "rs_043cc6cc674065a7016ab43e4e823087d090631ca5bc1835bf",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5WyLHBcztcZxzztK3KQFTKja2qQW9OG9ZoYwOgBAwAo6qbaCqIQPZjUuH7hBBj7_I8TTcQ-8Ceigk6TSDbtpNpcvZEcBCsLCP0c2l5LgDamPm8K-zlhCF5FrD_6G4-MalA4NM94H9tjid3Tca16JCxbmlUFH9d4Fzi7mQBdIc8DT9eqzzZSu2aXSb3qn_l32LM9W1QNpOt1uR7Sr23u76njZon8EwKSirxACZk7MK0UdU5UG6DZ0LwRTPS4B3RJGwHlwuvtCtkDd7kvhJ985lOmLFR6fg-XICEuciZekbmQY4Q9S51hmiSQc7G2O6wTlE2_TDRIVIdJeCpZZDxXtzswoCSdm_ENSITBrT_Hd8c87iUIKxY3PdtI8VxLi1y6AWZGneACFNUKs9yaFvswcu64ugPXdGsDXBr6o-b9IsRJ4L2OE8RHCBt_JzvAUk8EOXW3tNS8R_MbEIptO7YwcWyaYvtx66qBy7g9lXmk3dhzQn5XlBgmWfIOCQfFBktILxqPa4FPt0TWoAO4zALTrJEzWvBEzxQCCHYRT2cZK-7-cLtkuWhR-OT4YAEY-ySy0QYJfQTea_8_rawWPdbljG3dDfvqAup1W0QCI3DzUuaXZtRv3g8qlq5r8kzjNvME3umyjXtjv7Q8CxRbaM_hP6c3gFiE1YwxniMto92lhzOEtiXrVov2FTQzhV5XBoqPTi_m-bmt7Gfvb_VZtAKvYLPff2b_f3lNFRnNwc8vO5gw_WQqTuFBFJARKCYInwnZGWVL5yAd7oxmUCCJgD8bLbMoBZ-9Bozg_pvthbo7_4zT99nqyAFR23pBKCVHvbE-YpdTMhy-d3EJ71qkq8jIwUtvC2aJwSAXCOTeIZtojg5gFM--X4tqV-gV6z4zYeRoiUZ0xeKtbszJSwz2kJtTPLq_I96G3_I2GOpepQlaXlVsauSLPM9qziG3FJmFj17s9Fu1qgJgS1aeoAYIyKxSnENI5GTyfrKUj_Yvcs7H2o5-0ODhNPpzOsriNnaCDJW8vqb3vbDno4WMy5nHpAqBKgwV0B0nldei7E4YtABD_YqSheM3YR5f4Zv9zP3zUeFQlHdsv4gF0m8qoMJ7VYrt-4HQ2ZeKmaqzpT1jAIfFBbng0WQDu_aRaWnpzNRdoTy2zQQEB63nYUgYJ75wz_sHncZY2NQ9pI6rSPDB2AtyfTHrBbipl32Ht2US0quY8tpwWVBBYITcH0Uu0-71oRW2-RhUdwJXDWFnmEN4HkaO9qwAY7nhfsYQPTDWxqwXeXvJrhCe04EnUWevC24ac97xowHBSg6R6c30tO84DTlFHXtnqdLmsfpKTqYCKt-JHzf9_A0m2E9oMiJV5nbG9syF-neiV3gmtdyO4QWWaAMQq4FoskPVvRkwBqyHqkaqV8f-VF1YUtr2wMMa1WVe2KcPSB5xhSUJPViXyYTVABDOSPNa2GG8tqi6P7Y2fes01A3qTjaRMGryi2YkTUd2rKZ7F-2kOJBrX6g9QtuvIAKhpoAOCEhQs85t32clHQqnc40IqA71c3pKdxSRt-obLoDWrgtBDXv0F3enPdOt59aJFotgI8T6Wzk98czyrDW4yX5qVQMv4iSavUKSDrR4Ba42FRk66BEWMiGR8A736SrrRUnuyuBJ_WaDSVg2DTlxABISRzOGwkuPsdP7bsdMuFVkcmYTq-ypjRGC6Nv9IEC9GoPUmWkfDuKRQvVHbJHQLNTgDTk67idnmpAL3Scc_e8y9atSXRoK-K8IKdBH3ERo3oahrYjF7fNF-TZ7dZj3IWgFlc-2mFLRcqdPEuVTuBXZO0yx5ZCAcG9ZupzDw2VQ0SxYW3dpZ9E9ZgaTSh_dhMFEkVQaKJSoQK6oIKCjZE0Jp61KQ==",
  "id": "rs_043cc6cc674065a7016ab43e53bae087d09777e3d07aa700f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.13,\"left_z\":0.11,\"left_yaw\":1.57,\"left_gripper\":1.0},\"note\":\"The full close ejected the smooth bottle sideways, confirming that these cylinders must be held with a partial close. The bottle now lies crosswise with its cap under the left arm, so I am lifting clear, rotating the jaws 90° to close across its neck/body, and reopening for a controlled-width grasp.\"}",
  "call_id": "call_DIUdZX5NOwtBPZ20R4bx3rp3",
  "id": "fc_043cc6cc674065a7016ab43e555ab087d09fc2664149ba8f49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DIUdZX5NOwtBPZ20R4bx3rp3",
  "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]: [-0.4263, 2.5393, 2.1529, -1.1641, -0.9405, -1.9358, 0.9947, -0.0212, 0.4313, 0.1116, -0.2684, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.507 left_y=-0.0696 left_z=0.0508 left_yaw=1.3187 left_pitch=-0.0944 left_roll=-0.3049 left_gripper=0.9947 right_x=0.2371 right_y=0.0041 right_z=0.0657 right_yaw=0.0178 right_pitch=-0.0192 right_roll=-0.0033 right_gripper=0.9988\nstate[joint_eff]: [1.0325, -14.9675, 5.1214, 0.1685, -0.4762, 0.0317, -0.1978, -0.4444, 0.3487, 6.9128, 1.8828, -0.0757, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49341fb99f6a2c747383f0b063018a0789a6f5faeffe93def933f8aba807a5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6c0d3d2ca51cfcc8824788166666c3ec55be08821dd4abbedc15f44ebb936f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9de7fd8f8844fc2eb74afc935719e5c92c3f88b6908c5668a19ec0b6c8fd38de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 86 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.498, 2.0422, 0.8673, 0.5297, -0.4568, -0.3408, 0.9947, -0.0204, 0.4889, 0.1558, -0.2615, -0.0307, -0.036, 0.9989]\nstate[eef_state]: left_x=0.454 left_y=-0.1541 left_z=0.007 left_yaw=0.0472 left_pitch=-0.007 left_roll=-0.0066 left_gripper=0.9947 right_x=0.2427 right_y=0.0041 right_z=0.0746 right_yaw=0.0183 right_pitch=-0.0257 right_roll=-0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -8.8137, 6.8444, 1.5604, -0.232, 0.188, -0.2125, -0.4718, -0.1299, 7.0496, 1.9463, -0.0806, -0.0415, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4904, 2.0926, 0.9245, 0.5343, -0.4786, -0.3412, 0.0144, -0.0212, 0.453, 0.128, -0.2642, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4685 left_y=-0.1538 left_z=0.0048 left_yaw=0.0725 left_pitch=0.0095 left_roll=-0.0019 left_gripper=0.0144 right_x=0.2393 right_y=0.004 right_z=0.0693 right_yaw=0.0178 right_pitch=-0.0203 right_roll=-0.0032 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -11.1111, 4.1641, 1.5849, -0.0562, 0.0171, 1.2772, -0.5128, 0.0752, 6.8308, 1.8486, -0.1441, -0.0659, -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]: [-0.4263, 2.5393, 2.1529, -1.1641, -0.9405, -1.9358, 0.9947, -0.0212, 0.4313, 0.1116, -0.2684, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.507 left_y=-0.0696 left_z=0.0508 left_yaw=1.3187 left_pitch=-0.0944 left_roll=-0.3049 left_gripper=0.9947 right_x=0.2371 right_y=0.0041 right_z=0.0657 right_yaw=0.0178 right_pitch=-0.0192 right_roll=-0.0033 right_gripper=0.9988\nstate[joint_eff]: [1.0325, -14.9675, 5.1214, 0.1685, -0.4762, 0.0317, -0.1978, -0.4444, 0.3487, 6.9128, 1.8828, -0.0757, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49341fb99f6a2c747383f0b063018a0789a6f5faeffe93def933f8aba807a5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6c0d3d2ca51cfcc8824788166666c3ec55be08821dd4abbedc15f44ebb936f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9de7fd8f8844fc2eb74afc935719e5c92c3f88b6908c5668a19ec0b6c8fd38de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5c0KTaC23Rg9-6ymqiDFoq3XRo703mIR26hbgM6qvKLw8AernbgTEubKcoldbVcfHiKvmUUaYzm1dfpDjCvF5GjncgpVjaEoWp2jwaChpi1sIk7VTy64-qMFuxkeKHBI6A30az1KGXHbGUV-RcjCunOTKMLuhGQeLEnWh0byNTUNRFz2gokI9aQdnJStG7GXtIzZwJTH9af5BDwT44y5VaWhCwMjOpDuG27x7TC_bYtqvyhCX6kr6fHoCmKav72rf2PvcaAAR1FO2d1hNBHM1RIcFop-mXhcox--KxGtrRjpg93pQfIwaufv6354JWO0npugjnqbyew5lwkqff4CwHs6Jz-p-VfteF1HotQ6Uz9hh-pZr810gtLsk9rW1B74FeVcTegRCw4T5isGNxs0zt30zVqaKsvbHsyHWXVkT0djNjSUuLj1v8fNPxGdpF4cbcj7I-2IrGMAwSvNL-uFRZ_XEkNr7wmjYy_QyUekCAdRUgbNqM9H9PmZXj_Vbego1-9RToDSkjx9w0l57-eyf59O-0wbVNQ5zB6KdZlOWyLfmhhWwGH6AbpGNPRsXRLkD-u0_mDJGd1Y7pej2p4lp7Z2WePQiFe4GpNfsMmG8V-lM5V86EkRgyIdtJGTLBr-1ZFO065OcLtbksuySdxM-SA53MxM4eu_rOolcB9BhnDihBLcHfgwbL1oo5fYJGh2qgZcwHmG04AO-Hj31t-S9LY_mI3uvW1Mx901o1CACtDtaz0rC8i7PNdVjjY61DKmKVFSsKWIbG7q6w8-yhRRl_sThk0jPtSogYlBeBX2nkP-OleJmSLhzRniqiCMIzB6TDsXkh3-7HZWilKqbm8TsZFyaFrm8NEYhrR4B4sQX6Qu5ALo5-VeFbCwONtQTe0MvbSRxLf-aXXYFBeOBBJ056-VWrF5GwoODEFhWZBZDWOmXtmS_072vweeHKgKqEXAeZI0bptr4VL_y40Wm-YTlmGHJ5m0TsQKJNSJKTP5Qebv77T_9QbjU5bCZHg_SL6X4pWcZ7P06T1M-a3P4EDjYMBSTnzKLuiE9V1FxvJRCmVgBGCw9mUDgKElQ1op-FtlM7mKrtr_loTNOytMZARbiczJxgqRVM4oOmhGbCfOMY3ctw4dfuufLocva62P7mGGp_bETvYS0Kb8Ipiute8qK60O6egU41S0kL9EFK-YHIVXIjzcftvd7UbJQ_NPSFMW9UDB7X6yBETBP5N4ZkGzb_-i9n77WLXEsnFoj192cQzlbLwN0aNI7iKxPsse_zKtxIq1UET25sW63hbtmLZtMjk8LvbVNIu3cOz9e-v8sqyezxvbQPIthx0hsH8aBWqlSqic8AsLknCmSrA5KYq4epMYI-7X9BfQ_R6s5nlCckM6a84AQ1p0MJisyP6im9whahIzvxk8TYD58eBiXHFD32erVqUrghd8gmOQ2UZ-P9iJWSSAwLo9SN-qkZ8cLzPzdkPolPp6hwHVVBhOMaS348QJQv3ORVR2dO0LfDtCAVHP9zMZD3Q1AtXw3ldZLrscx-hDu16VKI-oiskEH70E7zzbeYvg59Mk8W0tzd0Qlbq9zTMSIyW7PdcPv9B6VCjZyhBUdkVAWEPjc8z4OKUz4ZtrgXSDT09AQJPjEY8lAlahjoyu6AtW-IPJmVzAovv94xi48QUQJ-u5Np9cmlgqJ5p4k_DzBeXJQXahiQq2meQOuEcU_xmKQ1aqEnQ2jtuYutRPU-sR7TCjuAJTPi4kpTBLkh30oV7spBlYCr7vtgZjQ9zFVEAm_TC_UcYkVf0FTScVh_oDjpDCKUiCtZ5UhxA24Je78fZ5IKhpPuH3g5yDkV9xwPSSpNvT0RI-pypw2g06wxe6UrRI-N2DZDIK6M4MU3gJlmI2vnZM-GfXJdZOhIU8dd9TxDu2N8Ls-e3Liep9NIUpqiVJPivYf28Cu8iptWbj2KZvVePAYCvt3F_RlWHth4uHO4S0ryV493goZ0lBIXqltyEyn_FJbEJ8Fmq6_UW7vZTB28eOdoDb4Iromz-TCbAZf8lx3TkqYM_jsHeg6cMROhBuQ7LnhHj4It1kQcKjZsGrBD00m2-QxOBMYW-q0kDRbDOH9JN5-HvaC5fK13rbh_M5PZpkKCNJ5TNH3pCXe_SOJ9HF2KRkQl7sCYuOSP22wIcGJOqs_wPWRE5FlrQMys9eqotSM0ZFngxxov-FyPj9bwB_htF6xbLcDmtFJ3823d48LuNwmngTNhw1OmzNr6FlJgLx-yL8nC-Gc0gPyPKbfI5JZMOAUJgJ4=",
  "id": "rs_043cc6cc674065a7016ab43e5887dc87d090fecb036d392f37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.1,\"left_z\":0.02,\"left_yaw\":1.57,\"left_gripper\":0.38},\"note\":\"The 90° rotation reached an awkward long-reach pose and sagged, but the grasp point is now directly over the crosswise bottle’s cap/neck area. I am descending slightly and closing only to about 3.6 cm jaw spacing so the smooth neck is captured without being squeezed out.\"}",
  "call_id": "call_F2YkVNRdyREfOn3Wm2OvhzLO",
  "id": "fc_043cc6cc674065a7016ab43e5b14cc87d0a54ceef111f14e9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F2YkVNRdyREfOn3Wm2OvhzLO",
  "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]: [-0.421, 2.7319, 2.3631, -1.5497, -0.9428, -2.0163, 0.3846, -0.0212, 0.4137, 0.0982, -0.2687, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4731 left_y=-0.0513 left_z=0.0216 left_yaw=1.3883 left_pitch=-0.022 left_roll=-0.01 left_gripper=0.3846 right_x=0.2358 right_y=0.004 right_z=0.0633 right_yaw=0.0175 right_pitch=-0.0154 right_roll=-0.0036 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -14.7214, 6.7214, -0.4908, -0.652, 0.0757, 0.0366, -0.5675, 0.1846, 6.7761, 1.8388, -0.0952, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b011d7ac90e13cddc98329f4ce47c9280e9bf66049e087723b86465907578b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c01f6d87d3a88a3dba60c19128c1ac0be7777c3d7b1d9ee8ab3f39a0075a85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052346e24f37dc1e95a31dfdef12d908abdc3e84fea5108e335690e4395c22dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 82 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.49, 2.0754, 0.9276, 0.4908, -0.4625, -0.3393, 0.998, -0.0204, 0.4706, 0.1429, -0.2623, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4656 left_y=-0.1549 left_z=0.0051 left_yaw=0.059 left_pitch=-0.0153 left_roll=0.0038 left_gripper=0.998 right_x=0.2412 right_y=0.0041 right_z=0.0726 right_yaw=0.0183 right_pitch=-0.0211 right_roll=-0.0034 right_gripper=0.9988\nstate[joint_eff]: [0.6085, -9.0462, 6.7487, 1.7118, -0.0659, 0.1197, -0.2222, -0.6222, 0.6632, 6.8308, 1.9951, -0.0855, -0.0317, -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]: [-0.4263, 2.5393, 2.1529, -1.1641, -0.9405, -1.9358, 0.9947, -0.0212, 0.4313, 0.1116, -0.2684, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.507 left_y=-0.0696 left_z=0.0508 left_yaw=1.3187 left_pitch=-0.0944 left_roll=-0.3049 left_gripper=0.9947 right_x=0.2371 right_y=0.0041 right_z=0.0657 right_yaw=0.0178 right_pitch=-0.0192 right_roll=-0.0033 right_gripper=0.9988\nstate[joint_eff]: [1.0325, -14.9675, 5.1214, 0.1685, -0.4762, 0.0317, -0.1978, -0.4444, 0.3487, 6.9128, 1.8828, -0.0757, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.421, 2.7319, 2.3631, -1.5497, -0.9428, -2.0163, 0.3846, -0.0212, 0.4137, 0.0982, -0.2687, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4731 left_y=-0.0513 left_z=0.0216 left_yaw=1.3883 left_pitch=-0.022 left_roll=-0.01 left_gripper=0.3846 right_x=0.2358 right_y=0.004 right_z=0.0633 right_yaw=0.0175 right_pitch=-0.0154 right_roll=-0.0036 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -14.7214, 6.7214, -0.4908, -0.652, 0.0757, 0.0366, -0.5675, 0.1846, 6.7761, 1.8388, -0.0952, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b011d7ac90e13cddc98329f4ce47c9280e9bf66049e087723b86465907578b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c01f6d87d3a88a3dba60c19128c1ac0be7777c3d7b1d9ee8ab3f39a0075a85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052346e24f37dc1e95a31dfdef12d908abdc3e84fea5108e335690e4395c22dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5g9sN5yCWGQgjlPhn6Q_h2l3XIbyngIdATN2y6yplLlHlyNzxSd0P2JpuWE5SaBNlxF2HUgEW_wwSxVv5tcaqFzRfgiiNgE-Yj3eVuWxOkwasc-ZJacLK6g-N-K_XMzrCkk8ISqu9YcGG4dYdrymvg_QMb3xWLzXUMDIVpBkyi376TRP3gCmbVGvRLcwBaPstMda0G67AamM5gQN-nRJ4-3zIILTX91CH2X9TxYaraE4GsHGwFhHMH5Sy1mNWK2QlLCs5uw_DNiyaPDETatONRtMQvWfoLHpYx1jTs3xrV6ZgICP5uxtXTmrRhvzGxwLkWbl4aMHV9At96XM4l8KFLlmojvMWBmnApkYNTpvQ4Gg-btUNbQK1sKhmZQVbn8wVY8snAZLlmYlz6BdaWByqMtQlYY8eXy_VTH0duAGDGDol7s3dHM_hNJEmvbT5xd5CDPAO1hLLrBsASI0QLj5rkeDePpNg_vDiU_8EbUQX3AnxSqq1kdb8PYI-GmB6jzeCENjO2bKudHEWvrs9nrGOAsO_F8WUtdp2llDL-6BA1wdDwHE2tRemju80DaGE5Fq2ncWyx8vIvXjbUjHvdDpb2l7jirgYV23KKm-qEEsvIs66kxPzvJl357jSv5pcHSV8V60pk7dhhCBpsvQ9rvay4gx6zTU5WpGjk-7mVrhJuL9ELWmrYgI5xFi2kEn1Bl01kd5IgZbit2SmVahXjmjR_JEsdDUd5LzSjrQvAVy_EEKEEw1SEZa51e89AfGzJQWPauPoWfQtciwgpaFVf21m9psNoEEsgxjNQzcMUSiCKgLI8nl-m_bLHFwKWXxAysn83xrhzxTA2SniepzQFufF8vM3gG5CKNvjK4HmhxovfxhHRN2YL5t5RM_JHsw9XoppLJkWyqwZaQtooKXCGOKv0Gf9llpLZKcEj5J4XKs0myTnWH4XxKsHwDXrdzaDY_SwyK5n1GHVyqsPJZA84vGxAHFE_A2WuP3dDA8RzoX9AamKMAy17Ux5jQg9aPY3LH0pJHvlPACUXEOgNWATPBQta12FlmacDGkkc3LFIqJPZsEXlgoowjs-ZN0Dd0ZMUTyoNsaVMJm5gAc_GBn2NhvteIsZulLwNkdkFP3KztSENlBk3dwswroQvMR_y0Z7CYoAFyes7WNpV91KTJXqXcXKSsNO94wEOEwyVeuFK5tOGSvWTnu_A-WHZpvtUWIEJ4NeNREvn2wRiQFUH4gifNjkPQvP9J_0hvRlce4J9WuUll-I8wF4PMYV992fSSepyq75nrQJCbDcYa0F3gdUMPat2JdyM9DriKI9_sjRR9Y9IFkkqYae1CFyPEBJYqAFKgcAkoqmI5QuRwMioosq-YVcbdqOlDUoatDoXmFxUcqW7mDYyrGvJW5zVPJPesw5NLOn33UuK0r1Lr5bU-Zlvw6BL3b6EXkwYFGvnCrCgp_Pt2qM1B7GQLQWjY0sV7tY0mfovV12C-oEsgMuQmn2t9EjRY6HrEyJCkMh_f4vS6Rff13fsn2qQNDm94WeOXW13WyTxZH_2n6OqdcQM7wLcZQU1jTvTdnUY0T0cfHhp4HtjF08=",
  "id": "rs_043cc6cc674065a7016ab43e5e979487d09771c87351839235",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.05,\"left_z\":0.18,\"left_yaw\":1.57,\"left_gripper\":0.38},\"note\":\"The jaws reached the intended neck-width setting at table height. I am lifting straight up to test the hold; if captured, the bottle should rise or pivot with the gripper rather than remain on the table.\"}",
  "call_id": "call_CallBDtT1XdUT1UTFYiAWaw6",
  "id": "fc_043cc6cc674065a7016ab43e5f6d7887d088188f2775f300a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CallBDtT1XdUT1UTFYiAWaw6",
  "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]: [-0.2802, 2.3833, 2.0254, -1.5581, -0.9432, -2.0258, 0.3818, -0.0212, 0.3981, 0.0921, -0.2691, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4279 left_y=0.0294 left_z=0.1007 left_yaw=1.5339 left_pitch=-0.0223 left_roll=-0.0206 left_gripper=0.3818 right_x=0.2356 right_y=0.0041 right_z=0.0638 right_yaw=0.0178 right_pitch=-0.0062 right_roll=-0.0038 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -14.6667, 4.506, -0.4078, -0.6032, -0.0415, 0.1636, -0.5812, 0.4308, 6.4752, 1.7802, -0.1099, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6dfc727b42c33448dc90ee4404f5128de87a172779aa737b8dcd714aba71a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d45e754213a9f9954e54e3bb1b8484f49f968595682e49fb3974a1c102eb92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7a9b0e28db631f1af78da815391e718c2d73600ad6f2be7abae50449ba5b298",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4904, 2.0926, 0.9245, 0.5343, -0.4786, -0.3412, 0.0144, -0.0212, 0.453, 0.128, -0.2642, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4685 left_y=-0.1538 left_z=0.0048 left_yaw=0.0725 left_pitch=0.0095 left_roll=-0.0019 left_gripper=0.0144 right_x=0.2393 right_y=0.004 right_z=0.0693 right_yaw=0.0178 right_pitch=-0.0203 right_roll=-0.0032 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -11.1111, 4.1641, 1.5849, -0.0562, 0.0171, 1.2772, -0.5128, 0.0752, 6.8308, 1.8486, -0.1441, -0.0659, -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]: [-0.421, 2.7319, 2.3631, -1.5497, -0.9428, -2.0163, 0.3846, -0.0212, 0.4137, 0.0982, -0.2687, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4731 left_y=-0.0513 left_z=0.0216 left_yaw=1.3883 left_pitch=-0.022 left_roll=-0.01 left_gripper=0.3846 right_x=0.2358 right_y=0.004 right_z=0.0633 right_yaw=0.0175 right_pitch=-0.0154 right_roll=-0.0036 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -14.7214, 6.7214, -0.4908, -0.652, 0.0757, 0.0366, -0.5675, 0.1846, 6.7761, 1.8388, -0.0952, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2802, 2.3833, 2.0254, -1.5581, -0.9432, -2.0258, 0.3818, -0.0212, 0.3981, 0.0921, -0.2691, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4279 left_y=0.0294 left_z=0.1007 left_yaw=1.5339 left_pitch=-0.0223 left_roll=-0.0206 left_gripper=0.3818 right_x=0.2356 right_y=0.0041 right_z=0.0638 right_yaw=0.0178 right_pitch=-0.0062 right_roll=-0.0038 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -14.6667, 4.506, -0.4078, -0.6032, -0.0415, 0.1636, -0.5812, 0.4308, 6.4752, 1.7802, -0.1099, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6dfc727b42c33448dc90ee4404f5128de87a172779aa737b8dcd714aba71a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d45e754213a9f9954e54e3bb1b8484f49f968595682e49fb3974a1c102eb92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7a9b0e28db631f1af78da815391e718c2d73600ad6f2be7abae50449ba5b298",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5qpmCl7szerdEuO-gDrraZkDXhWI3puSQ7NrWSfzchZyeaswXeGc3F4-iAxsmjQhsoywy0coke1ggkRhsd9rTRYAhBDI35UjYREhJtmj7j-UHc4QWq85qCZLmV7ZNnr8tToaQKajtICJeXatrsmvkFNDwk0UV0lLusL_bX6gu1gn4ZC3lwioK6KxKHK3uSwUAaH2d1hgmVjCPpJggjGLy4dX8FHGKLz4ZdAtR1yrE3NKBwlQPLjJQPZrq1dFckiSnj0u7DY7Cjmo5wMvlvLxgXPVwzLQNoFROZGEgDrriCYNRpbWQVWhpJYRedsdv5E9wPesZcjjPXkP6069Y06baAlM1xhyOrGkKd8xTr_Q8qA6cAdRqhLKcZpJRBvtzAOduNwcVlDehEevfOyYefaIMYZLfqf172MnvA07ynKl-ZzbABrPkyD76pPQUNnBYiUggLvvptk73a4k8LV2AkW3zjqGPg51ix0Bsd2hmN3rPYf122l1nMC7fqz6RyJVAu8TSt7PehO6D1zeaWsTvesFQq-EozGbqUIHl266WQF_zleBaQaw3tyqdTLDsfTUe9nNgsxj-gJ72Ryryj4lcMsxVT1zhixl65g2T_ThtPnUpHTk6c0HNqYfpGwGj9NPu3SEOcup9McXJPSXrYWW_E_Dcw7e-zBBA1woDMlIagD_QDhHFH_StBftKeglIsALr3sKby-Pdl-ZvXc3zw1_pmQ0RgXBa2SHDkTqLAN7rAV-s_DDhx2CXHszAke7uSAUxcqJcgysCw8hKaPpy2seQl4OXtDcCs16KWxRPiNZyrzZCMtlTGSj-WNAuHQpCG_J6JiMGWNXldo7P6PlZiH5dMhX9gev8IMSmXIDZR3AgaMLX8PSD1t-L5U6w15wXFmXVpWb5YvYKl9sVX4GjXDPbud65Gp8Gl0mHqk8cbFWxjURFNANm1GuS_sm_yS3BkCqbPmZA0u1C49J10LunaBfieSeUDzlZD4_2i7hU6-S1rk7qgH9U8al3dAkTa3jPDt1OPK6cg0y7_iYg_TX8RLwL_7BKrkIXblDOr5itebvyqlP2i5LURTFA1ujMWa8aSVA9wWTOCqwrEWFORf2pqtGpXosRIxC3_nQgyuqxxriTWg1U0xa6vusIgyDkTW2vfgvFBv6MTN5nHtlNECnVBU4Y8h-nr58cx9PF69JGs-eEWLMh99cFpw7uQVDbOPZArhqv-6VMX43yjEm7yQbqM5rDOFa1wbG_ROj8TuNDWjCTWIzmaUa9WPVLmdQXqFA5CJfp8qzUC2r_F1DzMBk6D4wxDbcXsHihmSF6XGgT6-MxEPL908A1Z9kanvK5leWEq4PxZ50azYdmmCTeGjiDuUldywG9JQJSpkcXjxbeU9XiDQ7DjN9AuM3ccW9Vxby7HaYgFU8HgNeADRutU9rI_GYcIDL_Ea3Jvw0fV2U-6FO9qJtpwNp-iDTp--Xl9Zhr_Fw-_PSKFSfNKTWgUCWq4wtDpMWPHkYrMzI5AnjlQbrxZQahZ5rrcoc0aVrOREpRCrjGaMhdAtC2HRpzK4IQkWhJJ-3vb10BLky6W-7YySgJjUNMsMI8IaoawuA4eIAMxzHM5Jrd_hjc-oYUOrK5M-0cwr8Cm3OYLMsqcFsxtH42PHC_SH1_j41c2IN8EOPEU2dkNYAH2p-0BEF_k0CaGQbHjhunrtej_bSKj23ccXGR5o6YkBmxGnBES-afcnFNaUiyMR-qn9Xcf1z09pLrsXZWDQ-c-7YGkQpQYv6phF8XFui0ehBaxGLDqdqyZO6XCOSppVvf5_apbVoDGINODvLeOGHSHjxplSX2410fzx_OGxe-5Onwhy9aKcYZxKK8lR6uoYPFAnR2PZbLHwlbru8U3xDxO3vWUiBXoj2VowtCicjqoiE61q5bnDVLw8MTfdDWyvfJcXpVFGFkA-d4SRRWfiPJxN2anrO_wyleUhHL8cSOqRbhpiz2gr8yrd_AHthBR4CVfiC60QzVbl-aC6o8oWUUW-qOtBfr_wtW6lxIW90LhA7_mI8kuhm6QlORcU5ZTL6GA5YQWeQalemssCCAUxsuPRbcMkYenCSOxKPi4ClbiJaIIZ2UJJg7d1kJW6aViZIdg6Pn2X0lAcEdl-3f7Mg1CVsn6StsaFt7TGIHlD3xqIW64osjnfN8ypYzehBD6Yobj2v4Hy1iP2thFZU6QG178Q1MZqnEgpEfbocshDcyyYE8A25h-2S7HguIxbqC8ttrLaAX9bVfeI_lkFzJasMlNZf-p0c5dO5N2bXFBjSP4QuWuc-45nl_11joNqIR34fN8yhy3gZESD3-1ugK2cF3OtnpXcVuu6Yp6epilbEmQbqXUsjBTKuKebtF4ecHSre0UYh9_Yh7XoHWb6TzC7QhSGQKM8XPLxwHYL6c4LB5shk0um9HEnqsNl1e1kCz62-m9gNnXYk9SOhLXM2Y8XoVAWyg5jKvtTOJ1zkF5lPiToN9lKVQ36n7aZ6j19pDNzHJLiyjRTbbcXR7_aD22Q1JE3JITcqJKQNutzWZvXa-qd22SFjgDHX7YW3HtwuuBvdYzeMwGFa917wlo6xegFUl9CVTj-BEyjYsPKDhn0kvmbip1q41GTsCNhY-7jZQf2Q12bmGKuCR8h1xE7INt7QDLM8uQVp5pcn50j1sQ5057BmbjaBNCCpSXFv2r_0n95yeBmWV63rFbQSF43zBapmf9VFNpvn_w9A8MG8vc6gTyza5QzqgH9SWkR4YSAD_TBX5iMfE7EF-33f1svaB4GAM-bhox0pmf9Kdkr7Le8LmUoW_x_-__MEHayoplALdR-Fpa-yImSfBHJnOm_b2AVkcbWja7m8cuExxAqVXcnzfQYqKTYHOST-6fwkGwCQKbaXimsI87gaySq3bYhtJLrHMO5a3ZPvxO3i-lBAVPsaAiZNEknn-4zAb-4x5ThlpJU8bPzNu2dNXpxakrBbeVinWLJVzH_a5Caxhhxksfbnbc0PmFiLxKSUrc1h_Yc-ZciBFVrt6QanammthIzpJ3q99tOiepYgo9uBhpWQS-RUp_yeBhMDz-5uQ4jzgdMaxLHJ2awQbFLPQ4YY57kkLq1OylLLA29FoWpju6EHtLQGsbmnVfJSXUN1r1laLZb60cyLkPOLESI-vTbiAYDe9O4yNTn4ZwBpkCN3UYbN2hMWAeZImcRaC9EPp3mXdC-5WxMkHrr8DjZ63B3oQZ8IpAkwhg1blSP5uzwto0256YBsEd9HnUHe4G5wmpU4J7STpI4YSPfbnvmcZPJaYWZ8x-jfOZmRi9LsL47_KJLJGmjUZWKZNzUKbt9X2FvtXyGazstFjhzsbZYerZI5o9I0w8SQ4d1FEAKMEpAM4iTSwXFtlRSbs6PG7BAkLfHiv9PJYLzEwlcZ_AfmaYsd57-rDeduHdZvfc8R6w2TeqoO4gIwx-191NMH6fiX9_BWQwCFirAPzsURXvZs1HMCCe9lD6ghJhQVI0zNQP_NHRz1D41IkAxQ7kxkAq4fCi5txWIo7wPi1TdNE9BfGq1n4CzfbsjHZgrSCGBn6-luR_e0WvojlQHKeQtLGKqIuceJ1rByMpq9J9A09TU1JKxDIhQNvcgXWgmNj9vFBBkNfK0isCrOcYQK9nOlaqhhBr9Hr5yu2dUbbDEKTR89yNN70Hn5_tHYAiEkESRAtlNL-nSXVclT75RZvqHHMPni-HuWZKx-R5DDlW4CHNcqe0s1bvPtaZMvab3jM6d1k854oivj7Di7Thisin_sSdES4He6NIw2_at-64z2k6jxH82YNq9Wi1VZmGrT9JMV1zF7xDhfSq3ceLDmi0nYoc7qcIVqn4IApX-cxz-e1CI1VQ9trkYsEL4-QBT1hfUL337LqVbR7Jtm2e8J1jtQASPozjCxK1AY90P02Ubp6PsfN8XPI9lbQHohrCAx3mbczqj1m2B0Ado1XY6aT8iTCmF7fMz2eXq5ihJ0b5FKcOG5KCV79I7LplvDKgBRNYBETozj-xkSZKMWihVDypKtAPpJs1_giquuuIGbRp98FrRzBOAgl-HyxpVBGHaQ==",
  "id": "rs_043cc6cc674065a7016ab43e63888087d0a5a380008e33242e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5qYq9FNPIMtgGdUWFTzw_P6mes-hRjPdNvW4_kWWI8MgMFvl-y_yFBaF3wV_OLAcS0XHScfi_NQV_JUk_UcVKA2goyX819CLUZJEZBYQwpimvlvuvB0Td_nmpdegq_5bKWZ23-cW00Z_ag1Pm7N1ZDHStQp7OAdIjaVziEL0iSIyTRemM4cjMuDu0DI_93hjKUmcWElRPtF9eE3pdGofvolKqEidC_xTeh-tdr_C12K8mxl14YQRY-qrexxmRtM865NUuwhYPXfSrLNgRgaVyyIUY6cET7JsxzsB5IQyj3XwVC5RO7r55TirhhxmCEclLJ78SZt85ohJ6xz-N4G6LfmYRm_PLdSZghwBW9bEZJgp9_92I42PFgKfZpYBfMpP0wYORd2OQ7XacqDCLi37yTDb7R0V0IZYaUAsrKfSLljcADzURCFpwmHtF22sryhPfM1EVvoEhm6XwRBBrAJt0w4GkcAn8XsrJOn0c3cctzWGRoAIhI8avT-b_G9JUcbmQ2lKdUuCgVofSrt8WtmAgtLuyMHDzK-r3z97Ztj6OZlzZsHe226SJQKABauKZkqhtdkAM1YXCsKjdkD_FhlTj97BUFyEkFA2pmKKcU6MlecTDy52ny20A1TnYe_YLBMCgExCaRCQLvnaNKji4lnr3kqYJ5UJ5jvWXR9vBEiPbbz0LjSLtI0sZBj_GrYjbj9pcT4tjRokW77kyKfN1pmXdjLu1phrAygvzfZrOvUYpMZfUksdh7Ab1115MT3u-STtt_ypcfkK_ZOmC6Dm12XW5WAyiCTzCPUQoLwoxYj2zKgMdkSRvPXhxDlT_i96afJePCG3X59j1ybLd5pQnd1L8zqiApX9D8utwR6l-dKL6Faqe7nCpQ4r7b36NWmn3S5faQPZOgy7egpyT8Xy-M70njJTd3XqSgcE11BM2sIoWgAwY0pn5roZ1_wGieM-JxPoo8GkBqicAl0fIlltPJUs3-UJZrAX5kSNto5m9ukSyrwXD0vcL6QndA1dpPKGP6W_McehUuoNlpADDcFa2aRPW2eOzPdUo1ziSA7CwZZQb7_bJOf5-MmOFEZi7WNl7iTnh6I8wgAUr-Sh0ccann60LSPTRASwmL7_m2_cqmpS9Sxidd_v994mp_tqRc92BRcrI76XJMjbJSnLssSraZroxpGbNVLgqj2hX1ccEljVhL04J-jrygyzzvQXFvIL5y5ygO7TX2Z50S5W04BqcGt_6ft8pdT9IBQbcfEokN4NMIa2gr5BUtgBznbNCzyfAK4BFM5taRlSBgvusHbnC0i1Mrqdxc2AxscVI9XFq2yKC3ngotVqQ3XWtP-WBzpnJvQ-PvlN05ZF7kGyPsUwafUV80ZCoY7PQyQ-hHXmfxtUsacfuQ7MzQ8tpaVy8R1xZOvBUCAT7yKAZq9Stt3gtFYAQ0X8VN7OCW3NbHBLERW2qsTaRsSEePkOhSfSR16wGRMpKRAW1BbyImBaLteTlKGKDbR87SFk2hxEVODxO4-0ahDHbHCBooH9KM9Ms_23wLdY1fSsIsjfdSiVWEULPemYsR6rqUutWhApDMhfhbLba_Di7z6zpQcM76xCMw-76UYWxwlxwo7huHmzrs8L1hpb8eV_RPlBSRPXZ4a44hCHfBI6CuI5-oOi4ZdzWuGUE3psswPzI_bTjbX5OusvbRWq2iiw==",
  "id": "rs_043cc6cc674065a7016ab43e688cb887d08581751dfb04ae30",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_gripper\":1.0,\"right_x\":0.43,\"right_y\":0.25,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The partial close missed the left bottle, so I am parking that arm and switching to the unobstructed rightmost bottle, whose cap and body are still aligned radially. I am moving the right gripper open above its upper body/neck area for a fresh wrist-aligned approach.\"}",
  "call_id": "call_JcPSLXb1SfRj3sKQEUDH7ljg",
  "id": "fc_043cc6cc674065a7016ab43e698ef487d0b9b54200d9ad3f2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JcPSLXb1SfRj3sKQEUDH7ljg",
  "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]: [-0.0551, 0.9123, 0.5869, -0.4313, -0.1856, -0.6571, 0.9975, 0.7109, 1.7817, 1.1793, -0.1406, 0.532, 0.3737, 0.9989]\nstate[eef_state]: left_x=0.2886 left_y=0.0203 left_z=0.1322 left_yaw=0.439 left_pitch=-0.2179 left_roll=-0.3534 left_gripper=0.9975 right_x=0.416 right_y=0.2447 right_z=0.1305 right_yaw=0.0637 right_pitch=-0.0544 right_roll=-0.0414 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -1.8667, 8.7043, 2.1758, -0.0122, 0.2857, -0.0952, -0.0752, -8.9368, 9.388, 1.6581, 0.4908, 0.315, -0.1294]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4be96399eb945c4b8439e528c0ab9141f1f249fb139565dee8a5f64a710ea4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855e5df6908bb27e0b3099a08590100b3adce2206e5506183a0fc4d02c344c8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f7c67d6dd75a772dc01b081ac9d030f91c58e9ec98e403c3c86725cc54a183c",
      "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 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4263, 2.5393, 2.1529, -1.1641, -0.9405, -1.9358, 0.9947, -0.0212, 0.4313, 0.1116, -0.2684, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.507 left_y=-0.0696 left_z=0.0508 left_yaw=1.3187 left_pitch=-0.0944 left_roll=-0.3049 left_gripper=0.9947 right_x=0.2371 right_y=0.0041 right_z=0.0657 right_yaw=0.0178 right_pitch=-0.0192 right_roll=-0.0033 right_gripper=0.9988\nstate[joint_eff]: [1.0325, -14.9675, 5.1214, 0.1685, -0.4762, 0.0317, -0.1978, -0.4444, 0.3487, 6.9128, 1.8828, -0.0757, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2802, 2.3833, 2.0254, -1.5581, -0.9432, -2.0258, 0.3818, -0.0212, 0.3981, 0.0921, -0.2691, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4279 left_y=0.0294 left_z=0.1007 left_yaw=1.5339 left_pitch=-0.0223 left_roll=-0.0206 left_gripper=0.3818 right_x=0.2356 right_y=0.0041 right_z=0.0638 right_yaw=0.0178 right_pitch=-0.0062 right_roll=-0.0038 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -14.6667, 4.506, -0.4078, -0.6032, -0.0415, 0.1636, -0.5812, 0.4308, 6.4752, 1.7802, -0.1099, -0.0464, -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]: [-0.0551, 0.9123, 0.5869, -0.4313, -0.1856, -0.6571, 0.9975, 0.7109, 1.7817, 1.1793, -0.1406, 0.532, 0.3737, 0.9989]\nstate[eef_state]: left_x=0.2886 left_y=0.0203 left_z=0.1322 left_yaw=0.439 left_pitch=-0.2179 left_roll=-0.3534 left_gripper=0.9975 right_x=0.416 right_y=0.2447 right_z=0.1305 right_yaw=0.0637 right_pitch=-0.0544 right_roll=-0.0414 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -1.8667, 8.7043, 2.1758, -0.0122, 0.2857, -0.0952, -0.0752, -8.9368, 9.388, 1.6581, 0.4908, 0.315, -0.1294]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4be96399eb945c4b8439e528c0ab9141f1f249fb139565dee8a5f64a710ea4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855e5df6908bb27e0b3099a08590100b3adce2206e5506183a0fc4d02c344c8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f7c67d6dd75a772dc01b081ac9d030f91c58e9ec98e403c3c86725cc54a183c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD5wc43eVu7EQgqWx0Lknh7qBtsTA5_RFvux_ARTPEnTS_tvj-jhYo1UdlO8z1edZxyOW13g1xKHU-tD2dXN3VfHfMnfGzSIwVvTb1piqpKPArDSMTJEayUNd2m5uDsUxwy1bPezznDBLUd4EIkkugmAimsLP6_iwVNQDys0zZGp9Uw_snd7lFjpaohDtFs0EnqQyNznPEGoxaDRc4JMbaEdhXwW0CTtEr688liC8FkWrYkXO2TYKtNgdxDZqUB_kEgG8HqJ0_1h06siI5XESM4WNL6E16qZdNDuSG-EVDVTfQYskROYnT8FEGnAXRKUOCiuuDaAfNakeWWuth7_xGdqy8BdkUr5JL_OjsKO2-0piK02JyFc43LBo72w37Kjs9x7giFvlf-zZ_L7ZtmFJ4TSZcvOG5Nbd3DGPQjbZDs0Irw9KV8Vs32aXmCqeNGe8dHrF9__tJgkPQY6M7jIazi6iS_BvT_4XWkbJohkrtLY3lEcvmHSjZNFpTE0pqDFDHcQxY6mEBTMgTdcOC9zH0RfwydEeU8DJJ5SkTtOhtu1Bz3rVEd9GoosvxowTS0_uXDMgi5aIIn2uDuvTByrBP63Yqqu786EsWXaW4FyamIJgY2DVt-HEqynjV4CZX_w6Nl3i2BYeajdZoqi33twynFdYOpjjeWV2UUKBm5RGWAiPZD-fnbm1rCgceA1Fw5X89eXlQpf620Qnx426N0z9NTYsK7T84UPXxVY-3xxRDj1E4fep1HRVwvKohqE2ES4TR0R1iFodNlCdDus7h2cnm8-FtpUkZGAalfw484qd4sIpnfWr8WyYXmG6fO36RvT0_0lwdiYis6nG_aUJxVGF9wu9aesrSTgJ_oSsaz2takgbVoDR37GqIwCQ4P08lfOhUfl_mCv6-H-W202QHmsZ8x7tSON2z3rWAyqgqy4Lisc9-L9Gtr7Gzm5hguYFz3XiBgUn1AIOWQk0MBua2OQ06TCBIK_4mA2hPtskUQLWRO6E2yqRicyFvdplxovpT-dGHkkV3rmdWjRNHswOo0MRMw7Fq8JCaHLv_iT1DSLZZiUhcQJR8ebCPlxHveScM2lYsID3ZCMTuvtVu9z3L5jPVcqKslveDTAR0iqKMjRkWl64QgY8CTO1PSmBJcmCeyDTaKY4pBzgqRHxF7qAnji4DfEDs1Hoy_fSw3l_6ETuHX3JRand1qtBXBTI1cY8MQ1uCtnszU7nfEvQL-UiiNkylmbKAo3ppIKBeYNNPp6HkyzIJs8lJ-6RKjtSTCWq9jK6QCIh4X9AgXx9hBt0WH3DJuISl3wreNwZMi0AhnTXLDDiFDImQ_lD-YdKaSFJVKG90REsDANXG0e9_QnssjQ0h8Zh1qD_ezmVGKcuS9fzzUfk7fuGgUWsPdtUvZUiijNZcOBMXO4uuQt9Gm9yqjwMp3HHHAv5H_5DapUlls6UFDhdCztz4kdN9hCDL9tbJWljCQy92ZjDOYZBQY3AsBKXi-AYsJKuc3HbB7s30tHTt00j677Tfq6fnDr7fyfxA8k5ZHXC6_z9xvAKFKve8dBfbt7utqdFwRMXqEiPibZIKvteOqL_FxOF9wCp09TA4GYpibF1cOyIWnzVE8wxeiq469z-k03w2gU3Mbwk0QFynIGEEioMB4_thSlf-oSBdZnhZetDOJzR2cIuQtEeOYOqOAMQWuYj7yP3G9Ozsszg_xZNrwXERRfrndy81ZCqkXyLyeojEeWUiVV3nGNkAoqOuFwMzltxSU6XoLn_f_4aLnJmRnAoSCqMtDdbWL9PFU949ShObVjTKWClgTwVL21U6E2NEeyyLWp-kw8BYeiDDbl5zFcei4JZtvA0w6u0Uzxlt-LYbN1aSy0FAJ7zApyhBvFmIXjsf9DiYBQ0gdhbJhIdoH83uKtpDppojjeoi5W5XbCdYj75Ay4NZRsptWZC4szNtQnAuWF4csffcbZA7ZCj3aXnp_sAArgQ1JMB-2z3WlAgUrY-8m2-DK-knrpUESVsA==",
  "id": "rs_043cc6cc674065a7016ab43e6dfd6087d08c79cf33eec6bb8d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.25,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"The right wrist view clearly shows the target bottle centered on the jaw column, with its upper body ahead and the lower body between the open fingers. I am advancing and descending to put the fingertips around the upper body at table height.\"}",
  "call_id": "call_WuEUwZ0qlfJQbb17dk4zfutw",
  "id": "fc_043cc6cc674065a7016ab43e6f9d7887d085fdbe5721e7348a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WuEUwZ0qlfJQbb17dk4zfutw",
  "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]: [-0.3016, 0.9287, 0.4702, -0.2859, -0.5957, -0.4755, 0.9975, 0.6472, 2.0865, 1.1202, 0.3016, 0.4961, 0.3046, 0.9989]\nstate[eef_state]: left_x=0.2858 left_y=0.0187 left_z=0.1224 left_yaw=0.4251 left_pitch=-0.0326 left_roll=0.0114 left_gripper=0.9975 right_x=0.4605 right_y=0.2471 right_z=0.0353 right_yaw=0.0664 right_pitch=-0.0052 right_roll=-0.0345 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -2.5368, 7.5966, 1.5653, -0.398, -0.0855, 0.0024, -1.4291, -6.6393, 6.5573, 1.4774, -0.0611, 0.2222, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf6146b66c751700ef203cf504638671d8bfff4cbd1de23fc4a921129bd3c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d1f60746e6f8d364dd0fac7628bcf17d48a38bcf26c7381237a3d0bc430f33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cd4eaffa2b30ee4b17e1f323bea1b39bd831dc8e401d0e1f5794374ed7dead",
      "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 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.421, 2.7319, 2.3631, -1.5497, -0.9428, -2.0163, 0.3846, -0.0212, 0.4137, 0.0982, -0.2687, -0.0307, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4731 left_y=-0.0513 left_z=0.0216 left_yaw=1.3883 left_pitch=-0.022 left_roll=-0.01 left_gripper=0.3846 right_x=0.2358 right_y=0.004 right_z=0.0633 right_yaw=0.0175 right_pitch=-0.0154 right_roll=-0.0036 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -14.7214, 6.7214, -0.4908, -0.652, 0.0757, 0.0366, -0.5675, 0.1846, 6.7761, 1.8388, -0.0952, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0551, 0.9123, 0.5869, -0.4313, -0.1856, -0.6571, 0.9975, 0.7109, 1.7817, 1.1793, -0.1406, 0.532, 0.3737, 0.9989]\nstate[eef_state]: left_x=0.2886 left_y=0.0203 left_z=0.1322 left_yaw=0.439 left_pitch=-0.2179 left_roll=-0.3534 left_gripper=0.9975 right_x=0.416 right_y=0.2447 right_z=0.1305 right_yaw=0.0637 right_pitch=-0.0544 right_roll=-0.0414 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -1.8667, 8.7043, 2.1758, -0.0122, 0.2857, -0.0952, -0.0752, -8.9368, 9.388, 1.6581, 0.4908, 0.315, -0.1294]\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]: [-0.3016, 0.9287, 0.4702, -0.2859, -0.5957, -0.4755, 0.9975, 0.6472, 2.0865, 1.1202, 0.3016, 0.4961, 0.3046, 0.9989]\nstate[eef_state]: left_x=0.2858 left_y=0.0187 left_z=0.1224 left_yaw=0.4251 left_pitch=-0.0326 left_roll=0.0114 left_gripper=0.9975 right_x=0.4605 right_y=0.2471 right_z=0.0353 right_yaw=0.0664 right_pitch=-0.0052 right_roll=-0.0345 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -2.5368, 7.5966, 1.5653, -0.398, -0.0855, 0.0024, -1.4291, -6.6393, 6.5573, 1.4774, -0.0611, 0.2222, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf6146b66c751700ef203cf504638671d8bfff4cbd1de23fc4a921129bd3c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d1f60746e6f8d364dd0fac7628bcf17d48a38bcf26c7381237a3d0bc430f33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cd4eaffa2b30ee4b17e1f323bea1b39bd831dc8e401d0e1f5794374ed7dead",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD506eHkNPFeHhFi2x75tA6t5vDWW429JT9c9j1xNxlj1GpWG0G-Lpy5l0ypuSXy1JhGJMk-cXN_4bTSyz1Ah6JWzsoqSxzMyvJyIcWND8RZTj-4RR-XWX6m6zgiyrmxl5BCsMi-_xe3tzvl6eHUAWQK63ga57gJBcEn_Os3n8sLOh6Py0H0GneADF0cYhVtGgwTO1CjGb-iQBNMiT71L0OufkpRJou5qX0AB-k4IojTKIWD0RMMC7qNhl_nfWdr3qfiuPPwMGXrPLXbbrPj4n_nFxTpWScwIkYMEM_3BQs1gnMTdEUhK2eDdTXJ1ch1GHh0YBWtKAiacH1MHA_0muoj9BnAXPiOGX5gN5L4PDQ2FSe8R5J2Y5tojFDvoJVJozy3JqAz0B8VHKMaQo0m1BKhLRyEbQ_9wFJ0EcZxuWfvUB7Ar43ielXwlQm1MwcAwVc3trDLATfWi9paPBYlFSZgoRh6T7Xqx2_ngM9tojQAayzZ--O06GwphXFWZ305JKtGQWEVSsOuA0hSCEtG6Cv6Mq7eM00m8zPh2-SKVnC2OXbBgDyL6N68Fk6KSSiKSvIE7o7jkFA92BCEddY72Xi5LeAJX4zJ_T9VlsBaVdhFxQApasJnB6jzSmj5xfyA5N4bCAVGuUU5nOvNIKsF3rfwhjurmSHtKXt7qeCgji8DQMaCT93g8Dn8iHFBWVvcIZxpL-eH48jEJ36tw42Acn2PEKy84-t4klMzf2AvlVYglvOuREMZk08ndOtRH2XzSkSKDN5A7tFjIrpE-fqkhKgKxcIcNzCQfTrn25soSy7yj5TLhVoy8rp-jAb1690VB-3cE4c80-dU_U6eRfgTK8FwEqJfWzytg4FplbMW8irIbI90c7GBtvAKPz27SP2Zi7ipLNg6CJFXUovKalfUh-Lshkeuar9EEn5OYEgjFvIFyUMubLC9G8XzBsLt2Y5pBltkokUL30XCD5VZzcDOnVuQNjV4cwRK_DC9ntAFlWtR3R2VToK2BJ9SAH0mxr1B2bntbewPh66Vr5z7ns4dPF7xD9XcWvWKY-8iOprExNsJy7efECTBWlBWMbOjtqA-MVOlbAloYvwFdnaZ0g9To077feCp7Ly5hlIua4dlYGCxaRIF7c5patT1YdwSvkm-thBhWZCBmAMOOvxKuKvgBzGbUZ378rZqZkBBTlhGXMVdHIc-IY1_uc77MjG5ImPk6YUodXqI2CI2PnfDBKd3NnDnMCUx1xjTVewJs7dxzj9tOmpOCx-8e5OmNNTMz9s5U0twq3zOUOjL1nbJTPwIRsgAOipx41p9XtyZyxLxhKPK8USaFl1HgHGJnczttDPSeSvP07QqPpMkXVbqsaNelaaAJzR2dBLjRQsGCvmR2VJKwQ8jr20dkKi7xVF8GWSMt36joU3RcybQig84oEDCpBpHKchh4erk5A7hkvmdJSA9afVqUjUOl9X3IaXAovOE7cmPCNlAgvm6wOR7Sa6-suZAqBx90-O_hT7_-1P3_66hmhOoLHl01zpZXAd32ovLRh0Ja7d-DTS8mxJiisa6cjY9rfM-lUqhELDI-gH945_CW-fWEigiyDLKJEb8_meQSwYo5JV7ckv7ELWmbvF2xynTydWfuTA_4KFvr4070Z3p3lvazQRqkycRYfZmNNfIh-rbp5hfyBZgCxmWo16DVEaZIvDbvH6sz8edKkG4anwpSqgUukUWzT0VeLFRFb2ObQ6fxMa0i98WiDE_nqNBLWMuTuy3YAVutQk-2hQrYoEAbIW7GAOx0NfyzSPw6INlE-RX96ja5p2dXhWiWbeO3Ze7_g==",
  "id": "rs_043cc6cc674065a7016ab43e72bcfc87d0a6f3b492af346e7f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.6},\"note\":\"The right bottle’s broad body is now symmetrically centered and fills the gap between both fingers. I am closing only to a 5.7 cm opening—near the bottle’s diameter—to grip it gently without ejecting the smooth cylinder.\"}",
  "call_id": "call_kEr6CMbQGIT1hGYhlJidsm71",
  "id": "fc_043cc6cc674065a7016ab43e73941087d0a4381c55478a9ff7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kEr6CMbQGIT1hGYhlJidsm71",
  "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]: [-0.3084, 0.9188, 0.4404, -0.2577, -0.6098, -0.4728, 0.9976, 0.6411, 2.0892, 1.1202, 0.3599, 0.4931, 0.3023, 0.606]\nstate[eef_state]: left_x=0.2836 left_y=0.0196 left_z=0.1182 left_yaw=0.4273 left_pitch=-0.02 left_roll=0.0151 left_gripper=0.9976 right_x=0.468 right_y=0.2494 right_z=0.0444 right_yaw=0.0634 right_pitch=0.0404 right_roll=-0.0044 right_gripper=0.606\nstate[joint_eff]: [-0.4308, -2.2769, 6.653, 1.7167, -0.2662, -0.0171, -0.0073, -0.1573, -11.3299, 4.4239, 1.3162, -0.0171, 0.1929, 0.2125]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e2f95302a149abb2aa5732f33a52c7a5948447fdb2de45c021a4aea98ed2e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c79a284e1ff611d79cab960041690efc9543112fcfb747743defbbab00d574",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e56aeaae17b198e9b74e2503b0d06e0af13dafd70b999f36b27f163a36de938",
      "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 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2802, 2.3833, 2.0254, -1.5581, -0.9432, -2.0258, 0.3818, -0.0212, 0.3981, 0.0921, -0.2691, -0.0311, -0.036, 0.9988]\nstate[eef_state]: left_x=0.4279 left_y=0.0294 left_z=0.1007 left_yaw=1.5339 left_pitch=-0.0223 left_roll=-0.0206 left_gripper=0.3818 right_x=0.2356 right_y=0.0041 right_z=0.0638 right_yaw=0.0178 right_pitch=-0.0062 right_roll=-0.0038 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -14.6667, 4.506, -0.4078, -0.6032, -0.0415, 0.1636, -0.5812, 0.4308, 6.4752, 1.7802, -0.1099, -0.0464, -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]: [-0.3016, 0.9287, 0.4702, -0.2859, -0.5957, -0.4755, 0.9975, 0.6472, 2.0865, 1.1202, 0.3016, 0.4961, 0.3046, 0.9989]\nstate[eef_state]: left_x=0.2858 left_y=0.0187 left_z=0.1224 left_yaw=0.4251 left_pitch=-0.0326 left_roll=0.0114 left_gripper=0.9975 right_x=0.4605 right_y=0.2471 right_z=0.0353 right_yaw=0.0664 right_pitch=-0.0052 right_roll=-0.0345 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -2.5368, 7.5966, 1.5653, -0.398, -0.0855, 0.0024, -1.4291, -6.6393, 6.5573, 1.4774, -0.0611, 0.2222, -0.1294]\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]: [-0.3084, 0.9188, 0.4404, -0.2577, -0.6098, -0.4728, 0.9976, 0.6411, 2.0892, 1.1202, 0.3599, 0.4931, 0.3023, 0.606]\nstate[eef_state]: left_x=0.2836 left_y=0.0196 left_z=0.1182 left_yaw=0.4273 left_pitch=-0.02 left_roll=0.0151 left_gripper=0.9976 right_x=0.468 right_y=0.2494 right_z=0.0444 right_yaw=0.0634 right_pitch=0.0404 right_roll=-0.0044 right_gripper=0.606\nstate[joint_eff]: [-0.4308, -2.2769, 6.653, 1.7167, -0.2662, -0.0171, -0.0073, -0.1573, -11.3299, 4.4239, 1.3162, -0.0171, 0.1929, 0.2125]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e2f95302a149abb2aa5732f33a52c7a5948447fdb2de45c021a4aea98ed2e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c79a284e1ff611d79cab960041690efc9543112fcfb747743defbbab00d574",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e56aeaae17b198e9b74e2503b0d06e0af13dafd70b999f36b27f163a36de938",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD55j-Eiq8Ueqn1GWA0p-RpHJkmCPFlnn_iDZ0cacVWS6XA5yvCgHJux-ZWFKNpWduFyZmKCB8uuII6_s1GlYdKLAPaskEuvNiAnUMlEvhUri-MeWfaI_T7Txa5SY1ETWBXgv1QXukThTXfL_BJsOclmQV8fn58em_M1aXTPSYbgMwHZPn96fcYWxG7bA-S3kQFFZNQBuVFH5SiQ8WglBJ9wgt5JSBvBkog5mLDAjNGnsteAqIM2HC9QVVc7wNQKoGQsF9rT6zEiWMT4wGxMe8cps2PTyY8YgdB9izRuUplYyAn0oM-d6xhe8JPN3faBeFxju_jw9eAP-znjXb5p8DiCrU2lLQWr719ljOkHVh5O9CvLuXMl96438-D0DHoM4jI3JYQP4PUHQbbQyyu4YY4O9VkRikioYKdps6V-L7wGP_ThKwbFHD0RL2i_3AVsTipQUcg8z1BtJcxSw8q9WacHY88Mfry4jh7Y6-PvuwVI3mi4idmB9U8RLhvvE_6AwvFBlhknOYyGKCXEpYCKOP74SdfJQS6IE7DvtIVcInGjA3_RuMhk5zwaJY0X2jtheGfNU7X4qNE2SuygtoTzDTPn3Zt_yYDriDbxiliEEUEykrhy1M8hBjqp25EvQks3FcY8UPwPUm-L0pZrm5ZMmYdjziimWn192Oel7eOCMTbKaCJmeKv5ji2NT_A2QPp9Eym51RvW1utimDfV4H4HDxSJhjiVJ9NfR9rqzA6vZ_oGEJ4Tb0FcvX7Wk5GBT4YjvrA1daze-te2XtVtuKFffsnejc_Nju65oPQb3Q84LVcs2CYOtJ996zT3O_5a0KsXNJ9J6Wi6dfks0JFciNtTBa5nzzorjPXp2vZK9A8DlmWEaW4RV_y3SAfFVs4Zy9lJ4DF6Y068ULs3VJLc027Nl4J41d9OlYwA1agL4Ga1hJTxfhUlERai_92WalaGi2txRY9ATKSQtpDxma7Rk9mfXfZhIJ4Jz2av-7N1P-okZn-Fmw96NZhLALw7BhcSQYptdE95paQ6aPNOlbZl7QBraxAlUmYS6sWFp4wbMmF1LoG1wS_BOd1DoNinLcLAN-zbYEFOc7rV0HUoocJs7pHdxRguKhpiRnK24brZcCnOCtGaKjAfWnAdeSxCeQ_oaOeSCI6HWvE_HbyVKrn2b9Z7YeHkBv2Mub87eOpP7U6ZImmZD_0MUffw2XubJlTH1NcUb-yLNi8MlPDQ-_myDDlBkOWD4sP3EPn4SqHVpHmBq64id0RZnbNwqF-G1J2GKQZvM3DPQNBVeojiw6rroTaQPomhFuIAFwGM-uS0xF8TSKH0dHPKxVwJfH7GpaYrZCZKCNH7j7JsmZ9DKHhZY6daMBijzQhLZ5k9XJg453DaKAGDAF1y41uJpXQ8O_399hS_z6VIWR3Cxv6xTE3bOd1sd6RySW9EIdJbid2mn_hf6QI8dO8UtJGkKRl0KPqdIu2-mBhWAc2LlcKw2GkZJ4sWQcORiRL4U0Eb6Cu0wGPeXJBP928TwRHzRGkXl3hENfTaz8UVFO_kVQUYSEaE8WkwQJOBBWuj559NNXAG1dG4TncNc2j8DksbB7NyJi8m976sEK2vkL4uxIT1EV52cBBwA47hWQKzx7hG3MgyaXbbN7508MAVjDtelbYwYma33kGzZcoX5igh5LSXKIQugQjtH_Sq6g0Jlm9hvdx2ExGUFk6aoQ4lqnfaOVefHAbCq4o5Qy7_dGB5uKFf_1IMwN21GGoelgipgKIsPJS_PQAjNXr_HRz7Pp2A4zzb7SaiFeKHWglZjELpu0k6hF-tnwu6X1i-AgRqEu0bo56UC2Js5DI1Dbdncb6ShKZ-TFqlCnqDNozmecfFdE-G8XTS4f3yzWF1oa6qhk2u6xU75V_VDu9xQMY=",
  "id": "rs_043cc6cc674065a7016ab43e75f24087d08b40527c03324f2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.25,\"right_z\":0.2,\"right_gripper\":0.6},\"note\":\"The fingers are visibly contacting both sides at the controlled width. I am lifting the gripped upper body while moving inward toward the bottle’s base, causing the base to stay on the table and the cap end to pivot upward into a standing orientation.\"}",
  "call_id": "call_eQzHhD9O7ObRLLSXTvbEoS76",
  "id": "fc_043cc6cc674065a7016ab43e77a07c87d0bcbfe6c0961e2267",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eQzHhD9O7ObRLLSXTvbEoS76",
  "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]: [-0.3084, 0.9131, 0.4297, -0.239, -0.6102, -0.4725, 0.9976, 0.7868, 1.6508, 1.1889, -0.2741, 0.5655, 0.408, 0.6004]\nstate[eef_state]: left_x=0.284 left_y=0.0195 left_z=0.1183 left_yaw=0.4272 left_pitch=-0.0097 left_roll=0.0063 left_gripper=0.9976 right_x=0.3821 right_y=0.2541 right_z=0.1726 right_yaw=0.0957 right_pitch=-0.0344 right_roll=-0.0268 right_gripper=0.6004\nstate[joint_eff]: [-0.4718, -2.3863, 5.8188, 1.6874, -0.2857, -0.0269, -0.0171, 0.3077, -10.0034, 9.7983, 1.663, 0.3101, 0.1538, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2faac79e5c8ea88677372175f1254256da8f1925198921d570f191136df004d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e12878e09dd05742479f5e2eb278bd246e4c836850c6330fc909c07f0efec8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27728d5b0c50633c39ba91196854fe65b7731037ec3fc555048a77ce57201082",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0551, 0.9123, 0.5869, -0.4313, -0.1856, -0.6571, 0.9975, 0.7109, 1.7817, 1.1793, -0.1406, 0.532, 0.3737, 0.9989]\nstate[eef_state]: left_x=0.2886 left_y=0.0203 left_z=0.1322 left_yaw=0.439 left_pitch=-0.2179 left_roll=-0.3534 left_gripper=0.9975 right_x=0.416 right_y=0.2447 right_z=0.1305 right_yaw=0.0637 right_pitch=-0.0544 right_roll=-0.0414 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -1.8667, 8.7043, 2.1758, -0.0122, 0.2857, -0.0952, -0.0752, -8.9368, 9.388, 1.6581, 0.4908, 0.315, -0.1294]\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]: [-0.3084, 0.9188, 0.4404, -0.2577, -0.6098, -0.4728, 0.9976, 0.6411, 2.0892, 1.1202, 0.3599, 0.4931, 0.3023, 0.606]\nstate[eef_state]: left_x=0.2836 left_y=0.0196 left_z=0.1182 left_yaw=0.4273 left_pitch=-0.02 left_roll=0.0151 left_gripper=0.9976 right_x=0.468 right_y=0.2494 right_z=0.0444 right_yaw=0.0634 right_pitch=0.0404 right_roll=-0.0044 right_gripper=0.606\nstate[joint_eff]: [-0.4308, -2.2769, 6.653, 1.7167, -0.2662, -0.0171, -0.0073, -0.1573, -11.3299, 4.4239, 1.3162, -0.0171, 0.1929, 0.2125]\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]: [-0.3084, 0.9131, 0.4297, -0.239, -0.6102, -0.4725, 0.9976, 0.7868, 1.6508, 1.1889, -0.2741, 0.5655, 0.408, 0.6004]\nstate[eef_state]: left_x=0.284 left_y=0.0195 left_z=0.1183 left_yaw=0.4272 left_pitch=-0.0097 left_roll=0.0063 left_gripper=0.9976 right_x=0.3821 right_y=0.2541 right_z=0.1726 right_yaw=0.0957 right_pitch=-0.0344 right_roll=-0.0268 right_gripper=0.6004\nstate[joint_eff]: [-0.4718, -2.3863, 5.8188, 1.6874, -0.2857, -0.0269, -0.0171, 0.3077, -10.0034, 9.7983, 1.663, 0.3101, 0.1538, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2faac79e5c8ea88677372175f1254256da8f1925198921d570f191136df004d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e12878e09dd05742479f5e2eb278bd246e4c836850c6330fc909c07f0efec8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27728d5b0c50633c39ba91196854fe65b7731037ec3fc555048a77ce57201082",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6AakAeRJLoIJNXKxRLocKsrwYEVmEs3xKcWl9zID4eLX_AKjBuEF0vbliojc2AZoj4Sju5MSw95OSTUoLkgXlIlyuuZshSzW_q6z9gRud37_SU43_evavFlBxuBSWqkMa7xd_4MGNUX91bwZPxJIPJSHmWhx5v0xR-Lcz3iEtS2t2uyEFKDvG5v5gxWGkh75BsSXVAnvY1uaDrhWBwI6u_fy65U_J_eSXhZ2tt8Bw-EdlQXQVxIM3uBALXvxgUrvtWe0MXlo12fk3hjUHMdVhDwjSaIhDliQ06gW6lxwSvW1VwrFiWGCzdQAJtAv_LPdvo2DKGPJ9X1AJeQ4ns__UlzCeabGI5tTy50oELgtTkiRUjVGFpjn591P-ugMIXKvqMXtHpCPbPvr31tt0k0oxnxxiT1lCmdhJI7kH-eKs3iAJR_caetyHAbzqYmwftwBb6dlwvcJOu3dPx0MRU-YrNR2nQVw1PWUcI5puyg8VTM6WaOV3GZHLaeEnGNDC0T8kVF4yLEhoT7QZ51Di7wXjoydKGOxsIny88vkZAg9tHCYY15_uJGeqy99SpkCr0SJXGx3qYpBowXJxMxYkSDXT0mKddV1C-_IfCh0cN9hhVPNjZAi4h8bBCycKCwdTEJJqbp7U2OheLN9SoaFlrm5aqZuDl0YiVPKyMqHunfGd01SFV2jdyMZ4TkHE73VZd90cL_t8JOpj_xyQsMJ2kZeKZu42igD7_-zl3tnM1Cm-LS-0WTH0VLASqZTgy2qIjq-davk4boOfnDujUO-RGSunfGmAGkj9Eg5gPy4jE7gCqPfVWs5v6w0_uM62InHrtfYcU4_ip5JNKaKtqDCH5ROiPqiBwn67GOtxMB7eZVPYxQw0eSCeWCx6z8hakpIPepVd-KvB0VvqMIlUHVHCK3we3vuPsS-YpvUvpUl8UriBzPeBhgE6DVwLsDpjsgA5AGcGG4HHpxYk-VotU7oJZwMA6aHzgTZT6y8mNLZOhfqxL7Bd2miKBP0ppUTtJrRnCr8kpl1IvAsE7HemwgXdrpPPSE6gNWMAyeZ16aokESnbt151WqGIQXqy8q9CDygNDux2ZRlELrvbCATbZbU7Gd7F7fx5M5HrdyTQkugrjffppQdLwBcbjuPeNifIGH4TwO1icY1nuq4GQnmVMq0p_v9KgWyuvFlu12-V1-k75_4Ei_ApVL7iw2-t8YZilTD6pTTcyNdvtPtUde0xc5VEthVIqH0PNU0WsYSb0PpoML5xvRfWpPXlRgt5mX0SyL_Lvn5vN2SJM8QJ3s368ByAJnh68Mao1nKiTqK6S1YW3cjCub3FECIqPIjR5THZ3vq64PyRpO9KhwUithmMvseRB5uZHQF93R9LBVSCPF0X2QhpEPEPC0o5Wa_UIwg3qpsMEylHVL2udMVluX9Awddy7liBMdix9uF1FpOKi8ukEPaDcVzq_fcUWlLjc_mkeOxrxBu_zbrBH5B16vp3ii6l2xa-wLfD6fPaY47DsfqW7JCMA0nPWHOfvWKuQ_SwKgIqOm9v4B7F19wTGppmdpjv6INOhvO70mnNE7WJduuaE48Wr_A1W2vt4-cawK9lYyBZtXeoBoUYBfkpaTVrDYkTONyzlmrJk_QPu5nrKcuosAnx5Xzk=",
  "id": "rs_043cc6cc674065a7016ab43e7e7b0487d08d635c52f0f75ec9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.25,\"right_z\":0.035,\"right_gripper\":1.0},\"note\":\"The bottle stayed on the table during the lift, so 5.7 cm was slightly too wide to hold it. I am returning open to the same well-aligned body pose; the next close will use a narrower but still non-ejecting width.\"}",
  "call_id": "call_0C3g6XFjnc26MmwanoHFUVlY",
  "id": "fc_043cc6cc674065a7016ab43e7f378487d095b1964d24149b24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0C3g6XFjnc26MmwanoHFUVlY",
  "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]: [-0.3084, 0.9131, 0.4297, -0.2352, -0.6102, -0.4725, 0.9976, 0.654, 2.0384, 1.0729, 0.2489, 0.4652, 0.2966, 0.9981]\nstate[eef_state]: left_x=0.2846 left_y=0.0193 left_z=0.1189 left_yaw=0.4272 left_pitch=-0.0068 left_roll=0.0038 left_gripper=0.9976 right_x=0.4426 right_y=0.244 right_z=0.0307 right_yaw=0.101 right_pitch=-0.0597 right_roll=-0.0523 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -2.2906, 6.065, 1.6239, -0.3199, -0.0415, -0.0122, -1.265, -7.7333, 7.6239, 1.7363, -0.0122, 0.1197, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ac402ab49337ab1dea2d7ad7d4b58f62d63ccfbab06a3a105b5bd7cbd56484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b2bae0856e7c8970d803d895a0790ea7f33ea3af62647c22adcaf12372dd9a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fb28549e2bb5153ababfc4696feabfce87d9993a84273f8448036174673f242",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 0.9287, 0.4702, -0.2859, -0.5957, -0.4755, 0.9975, 0.6472, 2.0865, 1.1202, 0.3016, 0.4961, 0.3046, 0.9989]\nstate[eef_state]: left_x=0.2858 left_y=0.0187 left_z=0.1224 left_yaw=0.4251 left_pitch=-0.0326 left_roll=0.0114 left_gripper=0.9975 right_x=0.4605 right_y=0.2471 right_z=0.0353 right_yaw=0.0664 right_pitch=-0.0052 right_roll=-0.0345 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -2.5368, 7.5966, 1.5653, -0.398, -0.0855, 0.0024, -1.4291, -6.6393, 6.5573, 1.4774, -0.0611, 0.2222, -0.1294]\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]: [-0.3084, 0.9131, 0.4297, -0.239, -0.6102, -0.4725, 0.9976, 0.7868, 1.6508, 1.1889, -0.2741, 0.5655, 0.408, 0.6004]\nstate[eef_state]: left_x=0.284 left_y=0.0195 left_z=0.1183 left_yaw=0.4272 left_pitch=-0.0097 left_roll=0.0063 left_gripper=0.9976 right_x=0.3821 right_y=0.2541 right_z=0.1726 right_yaw=0.0957 right_pitch=-0.0344 right_roll=-0.0268 right_gripper=0.6004\nstate[joint_eff]: [-0.4718, -2.3863, 5.8188, 1.6874, -0.2857, -0.0269, -0.0171, 0.3077, -10.0034, 9.7983, 1.663, 0.3101, 0.1538, 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]: [-0.3084, 0.9131, 0.4297, -0.2352, -0.6102, -0.4725, 0.9976, 0.654, 2.0384, 1.0729, 0.2489, 0.4652, 0.2966, 0.9981]\nstate[eef_state]: left_x=0.2846 left_y=0.0193 left_z=0.1189 left_yaw=0.4272 left_pitch=-0.0068 left_roll=0.0038 left_gripper=0.9976 right_x=0.4426 right_y=0.244 right_z=0.0307 right_yaw=0.101 right_pitch=-0.0597 right_roll=-0.0523 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -2.2906, 6.065, 1.6239, -0.3199, -0.0415, -0.0122, -1.265, -7.7333, 7.6239, 1.7363, -0.0122, 0.1197, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ac402ab49337ab1dea2d7ad7d4b58f62d63ccfbab06a3a105b5bd7cbd56484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b2bae0856e7c8970d803d895a0790ea7f33ea3af62647c22adcaf12372dd9a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fb28549e2bb5153ababfc4696feabfce87d9993a84273f8448036174673f242",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6Dcicl2wjQqszmjK6GASZ6p2MRIRfVZ5pC-4cpjsJF1z1lELRSPYfsxk74Uo596Tdbus7rBx0jJX6kPEqp6tlefDAScNDCtE9iFXsNwfoMBcBXGCF78HQTCOn_hkqVTH37B5Q2qrebeiE1jjjIXb6J4evKsEwbXmqmYN-20fcN5PysdFhn25SC_XNKkAQUvnl9ynMti1v4BgEb31A4-1hRsqE39KbyfpgqmC-7Q8xYA5gV-0cf3NezapDxMEqOwgaf2tzibb1fi1_fEIg07UhWOBIiG_R7V5pf4OjgVa4iJTZX_XoyklVmOXAXD-tQ_78YIeyQF67D5xO8rH8B8NZYnt4Jwcegn3keGAlxrlseStLRkafsoGS_7n4c84_jaPfcM1PabeWdu4fuEkSY1OW7hlnrzg0O3GGT511KkCbEX8iX10r1GER03U3ss1N81JklFXKcHig5JqIcDg3VA97vL866BXgfE8jF3ia-JL9IS6t4UdNGcRyK5Z_SQBRcsTHGcizdgpBPzuIsg0b7AwcOEKXu09rGD_3PCs67BhnhEY5fkkEwBJhb3XduGLchNoRiGzgBuixFFaWflwDJVUjHxANLlySTUtTdmpgCWJPslzYi_4KWExTNCZCHMUHTfhIwalop9I2VPl9JZZpQjo5ME4tFaNrcFI3T3WC9k38LQaAj9yoiTBOmYY7Vc3J1sVcj8zHQWeBBNS7yTvJy_8cbqPiQmcP2v5cMm4WC9Z9sI4lRLEIZoAS8tGaSmDa8Dppsl8J6UUEjslTgSzyi1fPZgJP0CngfRzpuXSphaXio_II5Qr2FgS_AAa64zasgbenFtQ8ifPMm6XF13Y_Pn3eWGAPJCykK8yBFC5wAIH1XYT7q_KjeKJDebNGxcAxqSdRNEZbWZHPXLtdqShok7wlDJx9LdM6cDQWud7lUjbqeVZEWGsaTuW0HCIuSnZFa0T_brQCeIxqW_etgbftfNGSlZRfyVsN3U2bZdz-S6oyJ0st6BSzkowOm--CxtDzFgqkF_3QgJc1TvTuErRSZvxf53SEh6idR9GTNDaeVB4zfMIVdzXPXEm3we5_yZ8EfdUO5i7DdXZrQwr_hff5wQolF_vjPfNulxQUEM3J-8IqiACthTovDIWoS6pijscnJxwqKnf1eUKa6m8U2I6CcgiZHcmB9-GVIEtYzESk2NLcQ3YDqCgwmnx6bq4TW1Cj8xW7ZcpJmUCnVRK5uxnG22_pQZ7gS7jnL_QoUxqy0PZclDa4w31IUXnzz5HNvHrQU2mZeONce8TazQ8mywUfLk0YTrr1cq_5q3Yh9BktuLUMmxnE=",
  "id": "rs_043cc6cc674065a7016ab43e8244b887d0befa632edd565b21",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.5},\"note\":\"The same bottle is again centered cleanly between the right fingers at table height. I am closing to a 4.75 cm opening, narrow enough to hold the ribbed body but not a full squeeze that could eject it.\"}",
  "call_id": "call_mF0VqFvjRrDS4FvM5zMJ9zgj",
  "id": "fc_043cc6cc674065a7016ab43e828bdc87d098ef28ae04e2fe20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mF0VqFvjRrDS4FvM5zMJ9zgj",
  "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]: [-0.308, 0.9131, 0.4294, -0.2359, -0.6102, -0.4725, 0.9976, 0.6487, 2.0388, 1.0275, 0.4232, 0.4667, 0.2897, 0.5054]\nstate[eef_state]: left_x=0.2844 left_y=0.0195 left_z=0.1186 left_yaw=0.4276 left_pitch=-0.0077 left_roll=0.0046 left_gripper=0.9976 right_x=0.452 right_y=0.2474 right_z=0.0456 right_yaw=0.0985 right_pitch=0.0502 right_roll=0.0084 right_gripper=0.5054\nstate[joint_eff]: [-0.1846, -2.0034, 6.1744, 1.5897, -0.3101, -0.0513, -0.0171, -0.1299, -10.1265, 4.1915, 1.2723, 0.0269, 0.1197, 0.1685]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31161b913d5ae2a00a5d8b0b0fca6525bbf23153bd6d073ffb4d819d3adcbc97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0923b7e10a885c25e191d1f27d2b233b8e8289d6d99e5d6426d910a971f5fd61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02795c17f7863d0c824ed39c34e5500c56147cd698f499d2605f116b49d6771a",
      "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 112 changed as sent

message 120 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3084, 0.9188, 0.4404, -0.2577, -0.6098, -0.4728, 0.9976, 0.6411, 2.0892, 1.1202, 0.3599, 0.4931, 0.3023, 0.606]\nstate[eef_state]: left_x=0.2836 left_y=0.0196 left_z=0.1182 left_yaw=0.4273 left_pitch=-0.02 left_roll=0.0151 left_gripper=0.9976 right_x=0.468 right_y=0.2494 right_z=0.0444 right_yaw=0.0634 right_pitch=0.0404 right_roll=-0.0044 right_gripper=0.606\nstate[joint_eff]: [-0.4308, -2.2769, 6.653, 1.7167, -0.2662, -0.0171, -0.0073, -0.1573, -11.3299, 4.4239, 1.3162, -0.0171, 0.1929, 0.2125]\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]: [-0.3084, 0.9131, 0.4297, -0.2352, -0.6102, -0.4725, 0.9976, 0.654, 2.0384, 1.0729, 0.2489, 0.4652, 0.2966, 0.9981]\nstate[eef_state]: left_x=0.2846 left_y=0.0193 left_z=0.1189 left_yaw=0.4272 left_pitch=-0.0068 left_roll=0.0038 left_gripper=0.9976 right_x=0.4426 right_y=0.244 right_z=0.0307 right_yaw=0.101 right_pitch=-0.0597 right_roll=-0.0523 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -2.2906, 6.065, 1.6239, -0.3199, -0.0415, -0.0122, -1.265, -7.7333, 7.6239, 1.7363, -0.0122, 0.1197, 0.0513]\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]: [-0.308, 0.9131, 0.4294, -0.2359, -0.6102, -0.4725, 0.9976, 0.6487, 2.0388, 1.0275, 0.4232, 0.4667, 0.2897, 0.5054]\nstate[eef_state]: left_x=0.2844 left_y=0.0195 left_z=0.1186 left_yaw=0.4276 left_pitch=-0.0077 left_roll=0.0046 left_gripper=0.9976 right_x=0.452 right_y=0.2474 right_z=0.0456 right_yaw=0.0985 right_pitch=0.0502 right_roll=0.0084 right_gripper=0.5054\nstate[joint_eff]: [-0.1846, -2.0034, 6.1744, 1.5897, -0.3101, -0.0513, -0.0171, -0.1299, -10.1265, 4.1915, 1.2723, 0.0269, 0.1197, 0.1685]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31161b913d5ae2a00a5d8b0b0fca6525bbf23153bd6d073ffb4d819d3adcbc97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0923b7e10a885c25e191d1f27d2b233b8e8289d6d99e5d6426d910a971f5fd61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02795c17f7863d0c824ed39c34e5500c56147cd698f499d2605f116b49d6771a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6Gqrlhf93BpTpnQeMmmADyjSERGRudC6HJ7DM-NXMq1VHL5tFpJRsZTMqr6sfJeOYDt2MR53fP98-Gxy1N_6i5zIPZNJRWg9YNmptqMK1w0-f_gvBrZqdZYKfAYCO8gvFz06mENwH7VqkT9mZwGBb2EC8cqgUaj6ORck9AC6s9JhN_2BwLD15WU8D-bwby3Z5-c8BIcRnTw6RjXLEv07LP9jlXr-x6oVx_PhKCU0ABwSM3LnpJR2VYV3JFf5p5UWiQvjOjTu0KHPgc-clB7nhrNQjAR38fQFPqcVwPFtIYIa8pC1vVLjCYZPThsiA21RuFioCw46JFGsusT9Wv49CF4pL1FiYF8IEochu6xKsGAY7y4va1zxGf8DZfdy2wKmTFEsGVKd_S7sQdE5ddEkcvuHoSFACfsX2oJ4ZzcBEOHPCkignL6RmxEJnpF-XLoPTz75WOpLzvqJwHVkof9Aski7eopk7IB0krMacJZW-KZlOx5_Yxq6W2QL6_qCFtVkA7af5GIDKaBDaPBjLWX0Z9Hs_DJA5jL6yV3mtG8IIMIDqFP3IU3l338W44r8uZUL9lNLqW1n3DVLI3dwjF_ONdM9anWm8-t3NeejxNnGBdTjFVHt_h912eyXg10J3T1REkMQ3p2GU2HlQDGTd9J7V6ij-R6FSIWaylbhegniXSQy9WBqA-8xKJnXAAKZ9EUlYZ_N17q-UBckdBrop0kk_ZIDXv-Cd3_Zxf3JeMoYgqT2scCzFWQyzJoGLWMAIYIhERtokYicSY6sPpFMD04aeZN5O6SYtTag62d1IaPSaKRd2saHs-U_3GsN9spKOKqGvr9bWmdMwtaZzXAGGdpHBJlpIz6K1DdLRdU2TocyeYcneqAJoGuNXiy7iy0YB2YGUhoM8_lzFgwZYhCCEIfNmQYJAgTOYsDLG981G7H7g69PcUk9j3y-Q7nOgoqkvu02Dt6gapc6IO8c5gu1exQq7dz1b16swBKOttLOoEogUr5f7hQBbNBLhw7DRRDFqkzeGz_tA1GtkWo_NqgvN1IvIpXVcwNtlD5uJIu29t4xrxJxLVmgzC-vKY87nYmA1ukgDH-abxauL_-8XRn0TP9RLKnsEUAA_ViV0U2nZaoSfvs2jFvrXmuQujnESUBc3mqTiM2cPBB53eqwALS9A6tzz_lRCTfk2nnZUsfP3LEkmEgRKRIcsG9IPI2PllHQXkckYvbPyQtu9RTSJr8XVsJKgSsg0W4vA_k6sEkBbYHVREYjve6tNCm3rvnENhU8BuGtI5Iq4efcaoS-aw5B59b3c6we2ibbEjuhQ-NXV0g-f5y5z9ZmlvMGVP9YKCvkWBmTfl23ul3fN_q4JsHGmeGrhw2w==",
  "id": "rs_043cc6cc674065a7016ab43e8538e087d0bcc115de61c9f44e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.25,\"right_z\":0.12,\"right_gripper\":0.5},\"note\":\"At the narrower setting both fingers visibly press against the bottle’s ribbed lower body. I am lifting 7 cm straight up first to confirm the bottle follows before attempting the pivot.\"}",
  "call_id": "call_CvOalVW7W1swKUYuWON7lJ7m",
  "id": "fc_043cc6cc674065a7016ab43e85876887d0b013de8abb37d7f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CvOalVW7W1swKUYuWON7lJ7m",
  "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]: [-0.3084, 0.9134, 0.4294, -0.2356, -0.6098, -0.4725, 0.9976, 0.6552, 1.919, 1.1442, 0.0856, 0.4416, 0.2897, 0.5004]\nstate[eef_state]: left_x=0.2845 left_y=0.0193 left_z=0.1186 left_yaw=0.4269 left_pitch=-0.0078 left_roll=0.0044 left_gripper=0.9976 right_x=0.4439 right_y=0.2504 right_z=0.0857 right_yaw=0.1254 right_pitch=-0.0442 right_roll=-0.0306 right_gripper=0.5004\nstate[joint_eff]: [-0.335, -1.7299, 6.147, 1.6337, -0.2857, -0.0415, -0.0171, -0.4991, -12.9709, 9.6752, 1.7265, 0.3004, 0.1441, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7261df293618f920d1ab22e7e44953df93a204bad242a13bb7fc37fab18caa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea7dd1640117d69ece82779092573b7b5b4a377bb6b583650456e41e3a68881c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:767c6dd0fb8d44ca0e3bd7ad46b355a5598df3b3b6731044b2bb4ed4572b8341",
      "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 116 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3084, 0.9131, 0.4297, -0.239, -0.6102, -0.4725, 0.9976, 0.7868, 1.6508, 1.1889, -0.2741, 0.5655, 0.408, 0.6004]\nstate[eef_state]: left_x=0.284 left_y=0.0195 left_z=0.1183 left_yaw=0.4272 left_pitch=-0.0097 left_roll=0.0063 left_gripper=0.9976 right_x=0.3821 right_y=0.2541 right_z=0.1726 right_yaw=0.0957 right_pitch=-0.0344 right_roll=-0.0268 right_gripper=0.6004\nstate[joint_eff]: [-0.4718, -2.3863, 5.8188, 1.6874, -0.2857, -0.0269, -0.0171, 0.3077, -10.0034, 9.7983, 1.663, 0.3101, 0.1538, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.308, 0.9131, 0.4294, -0.2359, -0.6102, -0.4725, 0.9976, 0.6487, 2.0388, 1.0275, 0.4232, 0.4667, 0.2897, 0.5054]\nstate[eef_state]: left_x=0.2844 left_y=0.0195 left_z=0.1186 left_yaw=0.4276 left_pitch=-0.0077 left_roll=0.0046 left_gripper=0.9976 right_x=0.452 right_y=0.2474 right_z=0.0456 right_yaw=0.0985 right_pitch=0.0502 right_roll=0.0084 right_gripper=0.5054\nstate[joint_eff]: [-0.1846, -2.0034, 6.1744, 1.5897, -0.3101, -0.0513, -0.0171, -0.1299, -10.1265, 4.1915, 1.2723, 0.0269, 0.1197, 0.1685]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.3084, 0.9134, 0.4294, -0.2356, -0.6098, -0.4725, 0.9976, 0.6552, 1.919, 1.1442, 0.0856, 0.4416, 0.2897, 0.5004]\nstate[eef_state]: left_x=0.2845 left_y=0.0193 left_z=0.1186 left_yaw=0.4269 left_pitch=-0.0078 left_roll=0.0044 left_gripper=0.9976 right_x=0.4439 right_y=0.2504 right_z=0.0857 right_yaw=0.1254 right_pitch=-0.0442 right_roll=-0.0306 right_gripper=0.5004\nstate[joint_eff]: [-0.335, -1.7299, 6.147, 1.6337, -0.2857, -0.0415, -0.0171, -0.4991, -12.9709, 9.6752, 1.7265, 0.3004, 0.1441, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7261df293618f920d1ab22e7e44953df93a204bad242a13bb7fc37fab18caa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea7dd1640117d69ece82779092573b7b5b4a377bb6b583650456e41e3a68881c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:767c6dd0fb8d44ca0e3bd7ad46b355a5598df3b3b6731044b2bb4ed4572b8341",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6Lk2DuwlN_afZPNQ29grIco-Qz0_71cgwY7fRScqV72_xzco1WaQXw9F4Tsf7RCb-ZXj-PStNzIEBHTTxf_J3WLyMS7aLq6dYkzlX-I34Lm5RpXBHfFNc8lSXZRNmj_bxWfSLGsg9kCLRoaaePTMAjXpf3pNABxOYZfYtIbojrS26TzEqj1J5LT67Tzt5_LTNEdWexDg0kgfwp8rEjO3QMYkOVqjnwVYwUmA2YSCsxXC6Ve5QKmsEAHqakPd4Jy2sA3Ugrk4l5jps7EqG8e4RDp7sMZ8hnW1aEsjjqIJOzVxQvAUYfJ558eFkM5D0Bq30QUzGpVxWbX5DvQptoHJaqyYm_kGVvgW5rUo-IXUFSUF7dLLDuQJ86QMQab15SR9qBCdOEYompsYlm72D0Y6qjskcYPEVC1j5U-OFvi22q3Y7qBiIH7lRbbaFI06cP-6nQAslN-uxUsLCmSbqvFPsjQIAc4clMtpbun5urxGSbDbwckuodJu-wDQjbTouwCwIoJgPDk2EpjDv6WY38j8lSysy9cBItqEJHvwJfl8hm9mYvTKxowj0GYKIq9b1MHLvKGvifyYifu8Aw7PLZ5gxtG-cnwe-o5RxfYShxdPCpjzlnQy3bAIGD5--Qp2Eb3ZXvUIVfK3FUj9hab4BztwCGCwGTK3tWa_03OOEvrZBbx_qX58n7zpL7Ho5P5kSNe5QuVtebUj90Viv9Wmyb39xi-pi_f7T0mzjoSXLmnsRKlXOxyjNE0bHu68Dvpd6BBxcQrROJR-Fvr31exbPr5jywAOk9UomYRblusapH4ZoXgAhWOXqzCy9SDfck8km5IHNCqEh7MaG8gMvvOba_v9pYUYGQqavoheyVoYAOe-7RF19QqlTXkbgtoQOH3zFxruVcRosoTpG0dkl_-4ADCcDgn_OY76nUPMcea0_wTn24KBkKUD9vUbivRrOq93FEjRy_GpL03TEixmRS7sJRqEDJugNDK14UKQQ5XfGJAdc19fGyEGMAKVhSFAjZ10t3r9KOJiLqqdtMmYV7cohof0PW2d7w0Pt6Qpvd7fI43jNiv7vW3MfiyaNT0GrPljR4LfKoFuxWnAPVTXSOzoZ9jZQ9bFZUMh6VnQmKjY_Z8OjhRxSPaYVbuv67mxrYfF8CGNsNiq76hx4PrH20xu-1TABbN9lmErhWrnztnIy_Ruvz9PVdw2UMFfS7UcoKOqaF9I47LfrVmNrkwf-ifS7jmlTVThW-K2-eqtASWQGPiwe27HUpPtdMdjYBy5iTD3ewM-rxs-jrjiNw0fzKLxYFGOOXg9FhGLYz7-bqwOIbKMht-Befv-cEejj7fCZYuAQlGXk0IFsHKxZrgNW165W1T8zlh7Q99EdU9loFDwu3L0TgwsNjZn0jbKEKw8TVXvBXFgZqiNsoNnfxvr27VlcW-q19iV_066eFv8E2NE4W7SDv8N99WTQHa6L06K1a0Emkj2lH86gHC8xjRnmzLZBv5urzgbgrpPZ68nS-nRLtSE1NF3j7QoKMiFta8E1yuxLPde8LbybwFqtc-MftoP-2rDfo774Ic7t1VwWaIY-StdfeAoHKNkdSs9Zs4EoyIwAc-GG-zyi3sneGO3eZ6PcDKcHTq-EJzKPmWYZ45g-T8Y27w2n2VslGWZKjoiY3IjV2empUBCf5of1VRIxwRaXxk4RgQMQnK0JX1AosZS8AMdKFZjrnG4yaREpvJPtKx4hsyK1Ncmomc_YoEUc3yDPjCM5z3s-VRGFTCyvPa8y4-_cLyzplPUsTDdmic7QtZ9VcupJlYufnIo6HorI2yUInqpC0f25sjiogE1RxhU--FiJK8YkYGnu_2Sswq4V5ATwurDdU-rFTJ8xecKPnWZpegDqn_oZCoixnYtgoYKf6ZIVTBIN4gYmXfKsULt3Sx9Q7cIyceaEtJe3e5xAtNPkl4h8I8A_bFC4o_Iw1JCdua7oB1z4RTZ5YPeGqJdFQVhupWt4hx2m_VwVGWfcHxoyWyeqjG_o_jwkvc1K_fHeDhaei_sq_pvjvo2hvwDkLcPLLjv12htHUApfQ4rbmqKBgY5RyBKRQUoMvuAeiWg9A79Y2R2t52W8F4E86dK5DuiUmVURL0_O8bMSXGVzCaRhE2pURzbD0VCg4GHr-HLQ-1GjiKyf98F7QGzC0kpGeRvBIpPCRjRD2sF3cLzVNNZrqzHF9Esw_SxaLZSbD0lF7gevteHpGjQevCrt2Ss2RzHPKULj1f5Xp8U-5ja9DPL-ragkByA==",
  "id": "rs_043cc6cc674065a7016ab43e882f6087d0afde0ec651ec2b52",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.25,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"The bottle remains visible in its own wrist camera after the lift, proving it was still beyond the fingertips rather than held. I am reopening and moving to the table-reach limit so the actual grasp point, not just the camera view, reaches the body.\"}",
  "call_id": "call_YPYDFFY1a6hR9l1fcCKW1iE6",
  "id": "fc_043cc6cc674065a7016ab43e8a772887d0821d351bd0cabb09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YPYDFFY1a6hR9l1fcCKW1iE6",
  "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]: [-0.3084, 0.9131, 0.4294, -0.2352, -0.6102, -0.4725, 0.9976, 0.6033, 2.1181, 1.1744, 0.3199, 0.3981, 0.2409, 0.9948]\nstate[eef_state]: left_x=0.2845 left_y=0.0194 left_z=0.1188 left_yaw=0.4272 left_pitch=-0.0071 left_roll=0.004 left_gripper=0.9976 right_x=0.4806 right_y=0.2523 right_z=0.0383 right_yaw=0.1355 right_pitch=-0.0002 right_roll=-0.0167 right_gripper=0.9948\nstate[joint_eff]: [-0.3761, -2.1265, 6.0513, 1.6435, -0.2515, -0.0513, -0.0122, -1.2513, -7.1179, 5.9419, 1.3309, 0.0562, 0.1734, -0.2027]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4638d6f8ccd9f6f800de58ded19838c726e9f2f89f0a44cd554142a1d15548bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:072a8b9c8475d4ebc86d77c5e46689e327b36187a6d0bda8335ba82307d9ae3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d97475328dba5970809ae1f2a540fb4069a1d5a2e7b6b7ed9a39babf8138985",
      "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 120 changed as sent

message 128 changed as sent

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3084, 0.9131, 0.4297, -0.2352, -0.6102, -0.4725, 0.9976, 0.654, 2.0384, 1.0729, 0.2489, 0.4652, 0.2966, 0.9981]\nstate[eef_state]: left_x=0.2846 left_y=0.0193 left_z=0.1189 left_yaw=0.4272 left_pitch=-0.0068 left_roll=0.0038 left_gripper=0.9976 right_x=0.4426 right_y=0.244 right_z=0.0307 right_yaw=0.101 right_pitch=-0.0597 right_roll=-0.0523 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -2.2906, 6.065, 1.6239, -0.3199, -0.0415, -0.0122, -1.265, -7.7333, 7.6239, 1.7363, -0.0122, 0.1197, 0.0513]\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]: [-0.3084, 0.9134, 0.4294, -0.2356, -0.6098, -0.4725, 0.9976, 0.6552, 1.919, 1.1442, 0.0856, 0.4416, 0.2897, 0.5004]\nstate[eef_state]: left_x=0.2845 left_y=0.0193 left_z=0.1186 left_yaw=0.4269 left_pitch=-0.0078 left_roll=0.0044 left_gripper=0.9976 right_x=0.4439 right_y=0.2504 right_z=0.0857 right_yaw=0.1254 right_pitch=-0.0442 right_roll=-0.0306 right_gripper=0.5004\nstate[joint_eff]: [-0.335, -1.7299, 6.147, 1.6337, -0.2857, -0.0415, -0.0171, -0.4991, -12.9709, 9.6752, 1.7265, 0.3004, 0.1441, 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]: [-0.3084, 0.9131, 0.4294, -0.2352, -0.6102, -0.4725, 0.9976, 0.6033, 2.1181, 1.1744, 0.3199, 0.3981, 0.2409, 0.9948]\nstate[eef_state]: left_x=0.2845 left_y=0.0194 left_z=0.1188 left_yaw=0.4272 left_pitch=-0.0071 left_roll=0.004 left_gripper=0.9976 right_x=0.4806 right_y=0.2523 right_z=0.0383 right_yaw=0.1355 right_pitch=-0.0002 right_roll=-0.0167 right_gripper=0.9948\nstate[joint_eff]: [-0.3761, -2.1265, 6.0513, 1.6435, -0.2515, -0.0513, -0.0122, -1.2513, -7.1179, 5.9419, 1.3309, 0.0562, 0.1734, -0.2027]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4638d6f8ccd9f6f800de58ded19838c726e9f2f89f0a44cd554142a1d15548bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:072a8b9c8475d4ebc86d77c5e46689e327b36187a6d0bda8335ba82307d9ae3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d97475328dba5970809ae1f2a540fb4069a1d5a2e7b6b7ed9a39babf8138985",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6O06J_64dUEcXsqCBiK2aNKLw1yJ6J2D4klbfv6W_-hZ42tm0cGQLe8KjWvi2LxqeU8Zd3aj17MgaxNWUbCG-aRXHVJ_JHwsUxsSkR4EKZwWZD3JgxLcVzwiFqZlFS_qumxA4ZnfTmTqqDTEn8SbyteueegbHA7iKrtW664rKgk761g6qFantAGeguI73BEeD3svmGGPU1jjA2zkkmyS6GvvRo3Omn4hBR4ocbvDA1gicq1yW7toLM8hUIpVFqQivrTvcgnYm4CYG5UIgWmKuPHN_k5ITS1xui-Sf4Wopd7WVTHMGUVZ4mt_DMEmyqpaYuTDxE5IWUAlWaomnXLl_BvXirrBeOXMEINVJGVhyJhoGkNuBkJwFwncZWjLP8l31l7M5oo2pphY71JduqQZdh0Kq_EaZvAZBYoeVkJKgm7j7zvE70cgoLDFbgPryvVTpIezoeFC1D9XERq9_EHYHikejG7ak3YoYeujECu7yLTEGHTPss3lTnylUPbewxPG5vyY5t32mtp2XFzOdKhxoB4bIqIm_sQjl0vucBpWZ7TriCLbRgqB3vPfgHAEX-RCALQt7DIQR9gECm6ZXpkbeE_nujzTGFptp8YYxqE1WuMQmOx4WvqBzxNjO23S03FUIRK2bbSk-Epsiot8riqcUvFRkuieFGTW0X9JL6fz11EsKMRSv7ta-PZFmd1Tw14vphTLAae8MqIA-TeXuJL7dU3iSUZEw-FTts1FQp5i6oiwDZhEjn9VTW6c3hCwPXovf1IE8YlnFkpY-w8fKiHJRTxcq7JA-8IcGvXCl7-osbWL55mDgFWp7NgpnK_jgxFYtv68fyIpozlgQIGVjyhOc6_34OOnox0Uo7DF7mFsq65iSxITRgGSLYwJG71_P2cfn-h-NWgwDJtXJpmetDeIpeg-1Gg5zSBBQpdOmWbrE9FUoR4BfEmzc3dri45-7aRs6epRO7QAZ0cjzB9vHad082ezkVkHFs10CT698Q7UBhge-5tk235a8kNsMdNvFM0Gchii-_LZIjhtwD1bur_tGzIRdnFlnBERbuAmpDa1Laq_uSrStZxJVU1yemLaMsSoNYjbAzKlh_NEwldhuYhWlsAgfsCIIzumPFsTklLttHhBSSIHP796Z_nFbzgjHQxmRu7F8Pp0Jr2VkYxsmfYsBuObLRJykOn-fX2M6T8dW0LBFJakH6ZzuRjSsjcYqWuGVp-LohPeRzhf3tffNhjsWGigbfVJto_U0VWvmNF9hnOt9Yp_XHOE_7ELIURNYltkAe",
  "id": "rs_043cc6cc674065a7016ab43e8d293887d0ac3e6a0587367acb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.5},\"note\":\"At the reach limit the bottle now fills the view all the way to the fingertip line, unlike the previous short approaches. I am closing to the tested 4.75 cm width while it is truly between the jaws.\"}",
  "call_id": "call_gjEaCom4snOIfmhO13ukrPrG",
  "id": "fc_043cc6cc674065a7016ab43e8d510087d099515947244eaac9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gjEaCom4snOIfmhO13ukrPrG",
  "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]: [-0.3084, 0.9134, 0.4294, -0.2356, -0.6102, -0.4725, 0.9976, 0.5941, 2.141, 1.1862, 0.3943, 0.3862, 0.2291, 0.5063]\nstate[eef_state]: left_x=0.2844 left_y=0.0194 left_z=0.1186 left_yaw=0.4272 left_pitch=-0.0077 left_roll=0.0046 left_gripper=0.9976 right_x=0.4919 right_y=0.2564 right_z=0.0448 right_yaw=0.1416 right_pitch=0.0535 right_roll=0.0072 right_gripper=0.5063\nstate[joint_eff]: [-0.3077, -2.1265, 6.2291, 1.663, -0.2955, -0.0269, -0.0171, -0.9231, -8.1026, 6.2427, 1.4481, 0.1392, 0.1685, 0.2222]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d7fca6ce7425fe8deccc9d927aee53d2e5148931659eee877899872dde0422a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0754f8a04e2404e3110764559b2441507b5205d050349b655e59551c3317943",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9384caf9fc2c833c7e72dca54a7c1a2136417ddf85ddd6f03acf31bb62f3416c",
      "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 132 changed as sent

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.308, 0.9131, 0.4294, -0.2359, -0.6102, -0.4725, 0.9976, 0.6487, 2.0388, 1.0275, 0.4232, 0.4667, 0.2897, 0.5054]\nstate[eef_state]: left_x=0.2844 left_y=0.0195 left_z=0.1186 left_yaw=0.4276 left_pitch=-0.0077 left_roll=0.0046 left_gripper=0.9976 right_x=0.452 right_y=0.2474 right_z=0.0456 right_yaw=0.0985 right_pitch=0.0502 right_roll=0.0084 right_gripper=0.5054\nstate[joint_eff]: [-0.1846, -2.0034, 6.1744, 1.5897, -0.3101, -0.0513, -0.0171, -0.1299, -10.1265, 4.1915, 1.2723, 0.0269, 0.1197, 0.1685]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.3084, 0.9131, 0.4294, -0.2352, -0.6102, -0.4725, 0.9976, 0.6033, 2.1181, 1.1744, 0.3199, 0.3981, 0.2409, 0.9948]\nstate[eef_state]: left_x=0.2845 left_y=0.0194 left_z=0.1188 left_yaw=0.4272 left_pitch=-0.0071 left_roll=0.004 left_gripper=0.9976 right_x=0.4806 right_y=0.2523 right_z=0.0383 right_yaw=0.1355 right_pitch=-0.0002 right_roll=-0.0167 right_gripper=0.9948\nstate[joint_eff]: [-0.3761, -2.1265, 6.0513, 1.6435, -0.2515, -0.0513, -0.0122, -1.2513, -7.1179, 5.9419, 1.3309, 0.0562, 0.1734, -0.2027]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.3084, 0.9134, 0.4294, -0.2356, -0.6102, -0.4725, 0.9976, 0.5941, 2.141, 1.1862, 0.3943, 0.3862, 0.2291, 0.5063]\nstate[eef_state]: left_x=0.2844 left_y=0.0194 left_z=0.1186 left_yaw=0.4272 left_pitch=-0.0077 left_roll=0.0046 left_gripper=0.9976 right_x=0.4919 right_y=0.2564 right_z=0.0448 right_yaw=0.1416 right_pitch=0.0535 right_roll=0.0072 right_gripper=0.5063\nstate[joint_eff]: [-0.3077, -2.1265, 6.2291, 1.663, -0.2955, -0.0269, -0.0171, -0.9231, -8.1026, 6.2427, 1.4481, 0.1392, 0.1685, 0.2222]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d7fca6ce7425fe8deccc9d927aee53d2e5148931659eee877899872dde0422a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0754f8a04e2404e3110764559b2441507b5205d050349b655e59551c3317943",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9384caf9fc2c833c7e72dca54a7c1a2136417ddf85ddd6f03acf31bb62f3416c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6V8S1_Lr5JP5-fyqUCtuOGxG6_LTy1v1bRz3tZMcNJLmYxX2vsms_g8UvPyPUoLZEDwfTGly-PfehQmAiz0kaqAuBq7rva2LMjePUcYyeLEnMAJvEO7QPmDIYdjW56H0iyDs_HcsTli2md-JIyQFNRvjvgYs23THETnATpgMcC3xL499tZ7K_XYfmMV5kLMLIP15ElyoxgXJgbiVgbGiBEASj_BOEmCCiYOdbXAiaLP2wULO3T8w8p9f2Q-nOQtE9GpN6BH0ZMNEbGBiPDPe00MZBabuW_G1N2QRrtPv-ttmsBrzxEagQPj8YHrFDfi6uNWX4fos75Wv2pm4RdSLFH4WbYqWjZSXJeJg1STAA_buJn9Fl4er1NLOtdIf9S3M9caby_zZA4Wy8ucQkOiRTl7Iu-qpSrHcs9JWTTLZA2o6LxvSCv0V2moR6fzqRLaS2tmjsgCDDpVQBJerTgm9yHm-LMR1VUvpgzSqZDxxB0KJjCowPFhnVRBeYQBzKTVvFzTCP6PZjrwCbSErDQT8jxP_b5lyEVAlvTi6FbdNRjeVWRNpJmEpI5H_MLaQp_77Da3J2F61PTtTD34GMR_ooSstsMK7g9XmGIRRFVM0aCNxwIBk1RvxyLc1YRvsC5bcU4eChQBoSeHRrAYCbFpnHhqNcb1zHdrcd0YEM3JxXCgYAg0UN_ScXmO0k6w0wgJy1_expbpJIy550BR_dLcbaXT3jN6RUuZVAig5BHeE21PM9yiD-TBqfFCfmqM55fauoFTA5NrS52JUROVe2jPemprTcEIVZ8c_Dj4lRTdf5v8VimLqloZff4gHMPI8iZ8-S6_JDXmSfKbsaVXovxiNrnOXZVZJ8RJTdHBYO1X3jzbdtwqRf1ocueIuiNKc9Y7GgpfqXGYmT2o5i9ZPXO8RIYLqgdGv1He8KJzqP8Ao5MuWH7Z_OvjM_oYcq8nwx2d0wiVYqJshOijQkJyNaHiVSgLIDhBL5Z3k4NKKA_LYjQN60e0zLVYpS8Oes4erIRcgVZONjc12zr_dW_yVc3-U3gZjRhGGg8tP8FSEdXhYY6wbAUe2QNP6CobWD0tADlv1Ea12-q67JB8ZqKSnooMgXt6R_zY8vX8T9u1E_8WW0FjtdCDhwU6UKVQCULnAyPlx1f2BLedMXzO5mTPNgxSN_Atg3QrObHXNvGlOkftv-L_NAPzHPRJNekwnkPxte-DOSVzvWxIq4FKZ7lfkDMA75rVDSqsS7An8lU6-yWjXhFocoY8d3cigSFYn1hcmJbZoFJbxXOS1Nt74mYZO6BLJN6BmU-jfEcoLr05h1mG7bEpDe0XU8MBVh61Jumqzpskkak4ZJXs-vwc55KhqPR_5yOJA__vRF4BAeqTUt7zOgA3_HW4TbZV9ty8aTpmCuVEVLFaWS94IRLbg-2VWY1CGzmYJA5xrNMk6UoxeRo_jjB86Acwwzldr7M9Qa_e2-oVYtSWtRTP0buRFeR0-mFlLtAVvKgW-5QsdRZgTal61Q6sM_y3GQ8MurayXzg8tFnJzHOb0fD_1kqcpZs2OLlClFYgW01qLRGkdQZdSZfk233bh8KVepajQ2nytfdxcliAcwATCzDmR2Zi_b00Is7NrnzDRhad8oPIpL9fs_GDvQQ8mUqETiF9_jpBS1qLJ7g6a0gqjf-jKykT-5b6hcFIZspXZTTYr2IoMvaOmvmODQvn5-OWddlRbt_7d2pEhQXEysAguRSlIqThto-d38pwfdYUByCglOeIZ78C9sXza4TXZ35_eKufP69ZonknEREVRxnqy6IbSGU914bEi5rljpo6IDM-S7ieLmg6G7rYwCV-cPsv8MT4HmVgGlLFwb15_NSHTM0pw0Iwj7szkNfxnOEgrAdHr4GRC07P3UUQ36OneRL3a1JMK-3bVG9bDXqT7KgX-hdecZ_R52X8Kl7qN9-BRs9YS-2HcNWysE951QNZqLEGYeD5tDasO9GyqtLEc6mFP0ZD6WTOlyoKo2Tzvis5KmBL8mfeNocl8Ponzz1kcCQI0PLxrqukHRfXblzSSBQljyPJHkMuTRbcP0qPW1Of-odPZiMvF0fmkiEtA-o19l-QazIgJJAEtNAUsPXocvQRoV592UZCkI0P4pASLDWAyiEsDxDZ9Hf4YYSK3VnYryzoZK4UgiCBOXo_-XsyB1s5QLmkbuEHBZXIDzNqVV5__N_G_IkVBA1E-BkffqqZdk7MJ3JzqEfDPAkQfDT4fV7rAGHsr-yyFcfQvCeJyJ4rhGf91yXBr_26qm0DWUtpxLlk8QMvcwiEZP8cBk94Lz3Juz9jaD7nQpx6rltrHxXOVJhK0yQb3pXhD0RzE5LIzDpP82BwY0LwzKaPeG7LQVyKJv8JfTJ5YEdz71GciV8QcODi6ugxOQ7y1NvJLUP9BFWXFuqaba5zGJ-dRTht5NfgY4y-nHMOtw68m7YT05l0Trs-ng7ehBXv92WNJTrDMdZyfzvJff7jSN-ZCn2rDv8pbSqUM3Fh5nsSzztTijBWu3QZhaolw9fo301LOFhU6CoSt4XB1yoAiRROlcIuu_eoKKEXLKNyFS_cLRX6MtSCJripdaieu5eeXFlU_w3e_5GrUpYOCWz6kqOhiw3u0bJcd26CM8M97plxtxNY6NwzTxiWBp67ut0PRk2WApbkUVjTDdBeems0sS5VA2vGChFw5COQ_9_NpuTWknTUsRoA4Fn76LrijloQCx2dLSyfuIR16qxg3RSU3HDmZByDYsJUpbypstKMEZuID2wgiCJsKC83X_tn7jtzM7E4hybTG5-eLxUhxqB7h4C2UALtDjg4hSJLId0WyzZe5Q7GqYdkM8kTDk55NyBqwMewgbbR2riplpsPcdPoEKSGudmEc7UvVQ-9lpQ44BLhHPr2YXB3ju4dNoyQfMvW-WCiAizkhKgrBBXeLWYmshABKgr-lxLwTRG4efW3cYWfWvYPqc1mVjvG-xNn5K4eg71Z2YJ29TSkRxziOnvPyYSmW3jDBgtKEPPaWGKPGRlPijDdtZ4Zi4aPxrkxzOMVmH-ZqYKeuXyLTmsz90mWYCSGacUaQ6vPOrFPeHTWiudUe5qtgisA_nbQVFsMdYBQ9mOQcNjdIdxnzxWcEQfX9FBBD3AIP0VTi4NX0Mt-rGpOnbAT4uuCnMFUAkK5IYwHG81fbih4K62TXjcXiY5OQRguaoMLcwCc_iwT9HEiLuoYK2J-22N8d3IPpb-Lu-h1NxXPOBRkpVd2cgAyQHh571hRXSTSkxs3Qzvlc8xmpInnMY4KRN01yPC6Zo4cnnG2sW9JZfYbU0Fan_m8MPvm7F187s7lIl6lxbK1l6ToZuKia8HO2fXe5OcWaXfGatnpeEHS0K-1U9hZqpttmWl3aBxk8Iyt7iP90clE0l-9S_hfw7G5wHzcCmtvETSkVBTYio7-_u9Swva7LmRZsh-w4uvrF4SEec_Qkqwecqk-Hdoj0bsFcvVku0hKv_7MTlgjuQyyizlfb9Hxyvs1hv_wgAvUqiSXHbtXhcLexbpJGmzzU2ET3Gi88JgtuM-UTdUCq4ZwMh7V7OBBSj5YdO71vMOMOHWgyI6mZp0kHzG7aV5IZUx_xxdYPV-cuHT4hBlyxyb_9BXrbcBjNbqkV4UVfoT4zbO7vpa7uJIUuFTmKGyJ3J89exMNg==",
  "id": "rs_043cc6cc674065a7016ab43e90a9c487d08b1f679b2e8fffbd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.2},\"note\":\"The 4.75 cm setting still leaves the bottle visible just beyond the fingertip line, but it is centered symmetrically. I am narrowing carefully to 1.9 cm commanded spacing; if the body is truly between the fingers, the settled readback will stop well above that value and confirm contact.\"}",
  "call_id": "call_hhWheY1ljq7feNDgiZcW0qlu",
  "id": "fc_043cc6cc674065a7016ab43e94b44487d08455fe5acf6ffe23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hhWheY1ljq7feNDgiZcW0qlu",
  "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]: [-0.3084, 0.9134, 0.4294, -0.2356, -0.6102, -0.4725, 0.9976, 0.5941, 2.141, 1.1889, 0.4503, 0.3878, 0.231, 0.2038]\nstate[eef_state]: left_x=0.2844 left_y=0.0194 left_z=0.1186 left_yaw=0.4272 left_pitch=-0.0077 left_roll=0.0046 left_gripper=0.9976 right_x=0.4981 right_y=0.2602 right_z=0.0572 right_yaw=0.1372 right_pitch=0.1066 right_roll=0.0341 right_gripper=0.2038\nstate[joint_eff]: [-0.294, -1.6342, 6.065, 1.6337, -0.3053, -0.0269, -0.0171, -0.9094, -8.1436, 6.188, 0.9206, 0.022, 0.149, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fedbaac2a2ba8230af3d73ed4fdb10c0a26e90e12f2b389b4f523a84e5e76931",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60ed8c755a4bf35fcd992732082d06f6cc7a166ce3b166a4a1741c9acae21028",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f187cb182001df367c8c7119d9f907c38d739f734a764f11eba15e9b535a90",
      "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 128 changed as sent

message 136 changed as sent

message 140 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3084, 0.9134, 0.4294, -0.2356, -0.6098, -0.4725, 0.9976, 0.6552, 1.919, 1.1442, 0.0856, 0.4416, 0.2897, 0.5004]\nstate[eef_state]: left_x=0.2845 left_y=0.0193 left_z=0.1186 left_yaw=0.4269 left_pitch=-0.0078 left_roll=0.0044 left_gripper=0.9976 right_x=0.4439 right_y=0.2504 right_z=0.0857 right_yaw=0.1254 right_pitch=-0.0442 right_roll=-0.0306 right_gripper=0.5004\nstate[joint_eff]: [-0.335, -1.7299, 6.147, 1.6337, -0.2857, -0.0415, -0.0171, -0.4991, -12.9709, 9.6752, 1.7265, 0.3004, 0.1441, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3084, 0.9134, 0.4294, -0.2356, -0.6102, -0.4725, 0.9976, 0.5941, 2.141, 1.1862, 0.3943, 0.3862, 0.2291, 0.5063]\nstate[eef_state]: left_x=0.2844 left_y=0.0194 left_z=0.1186 left_yaw=0.4272 left_pitch=-0.0077 left_roll=0.0046 left_gripper=0.9976 right_x=0.4919 right_y=0.2564 right_z=0.0448 right_yaw=0.1416 right_pitch=0.0535 right_roll=0.0072 right_gripper=0.5063\nstate[joint_eff]: [-0.3077, -2.1265, 6.2291, 1.663, -0.2955, -0.0269, -0.0171, -0.9231, -8.1026, 6.2427, 1.4481, 0.1392, 0.1685, 0.2222]\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]: [-0.3084, 0.9134, 0.4294, -0.2356, -0.6102, -0.4725, 0.9976, 0.5941, 2.141, 1.1889, 0.4503, 0.3878, 0.231, 0.2038]\nstate[eef_state]: left_x=0.2844 left_y=0.0194 left_z=0.1186 left_yaw=0.4272 left_pitch=-0.0077 left_roll=0.0046 left_gripper=0.9976 right_x=0.4981 right_y=0.2602 right_z=0.0572 right_yaw=0.1372 right_pitch=0.1066 right_roll=0.0341 right_gripper=0.2038\nstate[joint_eff]: [-0.294, -1.6342, 6.065, 1.6337, -0.3053, -0.0269, -0.0171, -0.9094, -8.1436, 6.188, 0.9206, 0.022, 0.149, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fedbaac2a2ba8230af3d73ed4fdb10c0a26e90e12f2b389b4f523a84e5e76931",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60ed8c755a4bf35fcd992732082d06f6cc7a166ce3b166a4a1741c9acae21028",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f187cb182001df367c8c7119d9f907c38d739f734a764f11eba15e9b535a90",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6eyyH959y6cgi-WapI_zMpovvaDKpgs0eJgBjw5GbbvaHyuNcKKhNGJ0hlFYmy82SMugQqWBD1-nnHWTJhE0jz8zX_qykdziJGlssax58ysPaTLdqseOHi7lO_1DKGOesJzIAYckdyEDNsiZxuZ2-VS4OeRWOrxpuADgZzwEggVW5LfpkQeQfedbRFED5T5NbVVs_3I3Yy4kijKWXdXnXwKktJteU4jv18zxaOO9mW7OvmdA3mzrKI9RBldKV_2yYYjdscUfNPgywE-8hf6GhAirdWcEUF4YjPGLYeJIe7NZHU7G5Jy6tuH4YODzxaCTAD0coN996wdaGWa7FspKpY15YvAcGUW4LysHXpP-0QyIEs7ZDpU3NZ1oSkpdA5X_cNo5DQ5vGbT_jAIyDqblkBREMv1pVQaKXmFL0JTO9PyJcvdQJ-BeGvahMzjrdmErAaCXOS7_HT4Vrin_6hfJ576PxnOAxCnIWDbOcDXvzg4-z5tllJa4WRfFSJvv48a6BtpunW4M8FpndEtDpw4qrkmmVom6cO3smhwotHU7xgoXwm9T6vVIqfqE-89Zw0mQx5zUNE_vb7PLt15JPpB-EhWV3mf12UNT_J2YQSex4Is9IBZDrZChTS3UVsFFjkIAmTHOL60jKbNlw7zm7sWLspbaxrnrMuvaw0YBPteUTGk6rhhtcYrptDelOI5xEAMn6YYDqHSCumtuMuDlVn_zko96b6ZI2ZLnQElX1VFgtBgjO6Ixhnq83igDNl-MmMVw7WPBJg3UUmkqp-Aq7BmhRmnwctS610EsPJqA5f9MXKD2Ze2SSjpybkktacPqDQX0A71JPL5to-9lG6zvGYbijGYR3xXYNQ_oWAbMEsunIqHHbvSCS_T1W4o6gJ48B9CoxmuHTvxyYy2FYijCAmT7s6xWhLg8A4qm0JYsALGfkoypXU3P_LEQNCzB2CWTYoPolgtfqaOi939X81PCrGUURRE37eWYzh7up2OxG8Jbdl--mKm_HyglWqc5h-uY8QMSGM0pX2L84qCetipIYnN9heuPRXpAODhG8ITh9uYxQ02D8gN7WJiGX2Y0QZSjNlbs_bxmiT2LmW4OZunOy0P_5Iy14xY8GTl0_scJov99v5uBb8HSvktIgX5rNC4gTm84T7EEA3oQG-H46Jg8PD3QiUZs3Q_zQ-qGtpCc9iC9hYAg-3SeF8lXcCD79fZ8ctoT6O_Oso_PcDNLJa9vks_2GF0I9gm0QhVIfD5gTmRCs7rvLmbaQeUCB5ZJsxXRk1v-qTrK6SbqDmODymHa76UaZp6Z9LvkULYx9MOKelPGEQ8xQaWUTwjRUu06r0K13x6BrnKN2LQTw3ME2SXjx-7XDfJJuLYNQkBPfTDrRYQkz4bngoP5dohkVHNLg_n6ojxLz6FMv3v9psfmnZga4L4x8NJHuaCr2iO91I1Aux3FhiPNRxXTW0P4ZD1pvTy6Se-T-oUQdOxCTw_IVF1e5rWpMLx20wrMXmQJvTAfgBtMvs-q1vrtJhrrdbpkw9DvjJPFcu4mGhwQu3oV-UJxTp8u7SkDj1MIDo-DsvWj3I83yNmSftn8Tu76FNxnFZx2UgpL5rehDgpJdu7ZTbfMPjPjPJ1o5N72zXcyme60dBJtsEyTYkWxK0Mfhqrf5QW8-HcR7sBGE63ktMe9xeVX_aUJEWWtj5M_maZYnvpV7b5l9R9O9JNFQJR8UG8EnM3yQBsJA1m38kFuelWO_-RC3Qq-k0hyluav_IlNJ9Sf2EyARoy8vPXjEeaj7EPsViWMESDW9scih2Ut4sbrqor6-wC9HOrpjF9pHgYV02cFps4S63UEFRfd3v1chPXUZ5MxDx2iwNYB2XZKw-rDQtVHYbmnrxqbfhBYX_PDa2aSdxoICDf0wjPdZeCBvai3CcKhkGCYq4vC3R5RyI3jUpDlwJPBgD93xPdTZfddoeoZywdurV17hz3A5xVnI9a3Otb3i7UNcHXaarXLRRo2vjcEmSEnoVw0xSv33t5vIb3tHfyJiVyg9z3hH9n17SSR8B4LLyErXWAE3PC1swbP52BmWNPWMuX2BYBuZ2PwBPJXMJV8H_fS1bFxJaEWLugsyf6XB2q8EPXUe8Wkx7NldbaDNCWkaYSWfH1chY-USsB4HdJA3_c3KWZbBfThnCi0QK7hTKeT9j2pe-oC_BzL234700sMq3Ms3Tf7L5VHxIByg5Ly0gxyoC2tQHYCQzuXDA_Ozji_0H0h7qp9KECVtyvMG41nalJgypkHSGM5k79yFOujuump_aTHAY7D-jQFAjZoTFSqG5B5JQARIrDH6tDMiuQIq_GaMHgEs2mwbc2n-KaoB5WqYWlRA2H55H4ptFvIXpaVULvT5zIlbFfO9ZKKaUyn48E0NDGR5vQBHCiewTz20gckG6vIBMTUZs1LXKfHGtdy3ABPJ5MAT9tc1LdW8kMZA1Zxu2ee5OmYwL2_LZmptMKuk6qyY8UDvMx2-lLIQogjVTgh3ZoWzkMy3VP3k1bcAclTbRBFBYLUwoyHqD6d4nRPh640YJJZfiMQWYLb-VTnbINdXkSMS4ytX8zGTO3znh6P0smcFgywRPAqFj0bxRX97Wdcy_WqjTXdsShwwewsIQLpowW4xLgei8LWEqi9KLOPcUakC2dHui6Sur8YDKR9rbDnXZSogQnWWmk7ZQkxfLzflfl7le-I7Mdxn7oMaVaOEMghdXLLgj687c7nvhYCRClvcFT7WmwL1cIeAJQKaXTZwjFfyU_uczXIIarvMYHxJEcB3Sq-l51vxLJjB6_JYRt5SXnTxpFNoEzBxeUp8RDMD_8pW0i9dxnrmSqCSULDms0hKpgqowujVpRrU1yKvZcIFXBnLfmG_RAU6eoD2XmP4ZYR2wCXE7X2UN9gJ_0h8v8L6JD9S630mYaWRqCM2rUek0w9avdW43b2ftjQqFyqqmmxMeqQcmBLLwDcyJbdkQiyvkmECftuklgFUTJgJubhorz-_rhKB-s-mApuxITVqvGd8t6C8ahCsAndtffQ8jpa5HTRNeU8eZ-yecV5EKBm4jlZRA5V9CD-8NKVC7V0YGGIPu5ULJVW6ZqrcBvgyS1SryUMC41Ujtreit-dAOSONuKxQaMgnOdHNqDNQEyYl1jJ1UgW_CaqylLABue0dsKSltEIo5Aw9fcD6Mt53hT8AS6mgjlajLDBVuGIPcqZr3_C5DAdYcg9qAoGeidEk2h2hJugT-TEAjnCLf8gGW-5Np6EMJkCVB5dF_ZogT4C_Sdi2i_dPrd8J7uCVUKj9KczG4t7LTgu-VeW21G5EcwrVc50jvkMJP6ltQgmRYDRBYn34HXabMM4KZQLug17tK-l_nN-VKk4fyPq9oU6yphMn9SRmYUsYIKPEoLlxVSvyUbO1IikNZOk0re0fg40WTEMzSzCWmyDQV1ULuU2SD1EMm1IyRmwDaqz2l8IocUnNn_Xjs-GOXNX_hCZiA6ZRcCT1M2iAP4wthsgU9pHjpfRIfcmW6ZTTqUZPo4SGqPszhLQFRozcMMXzbBuJBQtgKxNMJv5xRBOBVVldwZuQrhleKw_hfoS3_SlKvOBq1P4zct41JWqFaeq7QuA5YSGvI54sAoqjmSBFwytjc5zXVmVx0FYsECc8P0qIszhgak_aTcbFy1a0fUa881NmPinuga-4a1dpthnWZA6Lg76Ywk4I8qpYb6GLJaKgApvCoeRfLx6M5g1vfcwMaTj1mGB4rICO5Ba6sbsFtaf_J11ZFcZdVrt5tx7s3jowEQAtIKasc-nw53oBh7q1K1y2pWjhX-e2DMUGRxDQFT7KbglN0SjyJ0DFP3IoHWLuuVMSiAa280-IlKnagtfAoYFiJVo8MOTxie_1jb_5wJG6eMvFK82dQa1IguReZzeKm2wPfYObSDu84SCL40ieUVQQdkgIjPZt1hxpJkTqj33aYUNIQ-N3g29MWh19nL6ISkIxj72vswilE07BPMDByAYB6zZAAQuFiNkkGWGPthxxwarSSLSWAUNj0gMQI3ZSzT25RMC-65pjpD4mZReDC6SsCxiAVT_0OB42vgdAS3MEzI9093TLHtee2o6xuKDlg_4fxdF79t5qKZxbH91bqWUI54QI9PtgEiUI9VpA6lTlCj4znnEmn54t2kcCCV5izCkBGIEr-DWnhRdJAga1UWmrnRg0cccmnkJlz29pfv31uMarg4mdGhl8nWTtECNT-nBOEsjmVEQEi--0M7ay_GY6ntwC3UYn92YZakFg9CrmqZFpYi8YBe7Avrf_CisROsW_Rf2tqT2dHa5rroZLm4st5lqg2mLdww4UmLu_GfnKGBG9bhbRHlLtv03E5tZRRCB7Xg1Bq_VH9e5rv-JRl1jGdxUVS_i47sAT21O_048va4Iw=",
  "id": "rs_043cc6cc674065a7016ab43e97622487d0afe9cbe2d505b3da",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6e-78FJS0Mqmhrj7HB_Coybby-bUoA2CgIETbBIzi0w7l_KQQI69KzUWLLUkevMeZHoWGplu_kOy2ToK8x-0XX6TinqOKyRVUqtRrh6zjaqJzM_uOz76_1XOqz1zTRpFXoo5GcaxzrUbfVBj-CLxTtxu_ET4qt8vqENYPk0vTw8YnzNKo8Ig1ayU7xXbSpXUNemCN76V08S9-zD8t4W5j6vaVl4uLu-Ky2ZWDXTmC4ia4K62ACn1igYD_fdAKpo_dq25CIyrmjcbJeI8RSg1pUclA4Asq24dyWtP63hPA4h9u2YYZKBhBCEFoa6z_P9DmrNm9iyWmdQ6wm31hfBVKUjOvfDUJTxLsRsZqogcZkcDZQO5S2LY4ZtgmfOa6G974IE9HC2wejoLb13Yo6YNfL5ZdpYWfv8rI6sUkuSOENECt_ZtLnqHfnDl9fMPBUDtgtxiwFj3JvDI73aZ72GNJ7Sx8K0v_VoOq9s1oXKk_0cins3cwjws2Duf6EVS8CnXUDtHYqgPQXbUInZfqLi38YwCjd-n5uXeQ6Sy4wZkbGKoP-LhvZWA8hNp6oaF1D05CuN_-cZ_HPy8JE4jJcEsbbQIAYbvapc4n-eFOZ3ZZ8emLOvlFfJKW_cLHH7C-_4D0GW0FS_NSJIYEUaK1SREX4qlKHBdS-g24kAdwSpKHBNVd7NKc9cCpC-gcUdbR5pKHdLbc1tElXq8sMnRkveqXrt1WBFh1vf2N6ESLq7Y3-xhoW-DAPc92lRZpFKbrcWwfbFhDvsgpvKIm_x0fH-_nKBEOVArY_I94T7A3SxDoZQ5LFP-S02HEAFY4JyHqJaDJc4I9ErlSPzPxESKS6IdnOT4Xcwpts__lvU3BUF4WY1rRIgzmQIpz9J31lZrmM4hmH7qsK8jT3FtADDPf6bsyTAcR82esYUC_7avahJYlcFdbgYY0XnoRSeu3nJaOfW4tb91DzpAPleaXo3XALAYSe6uUWmHnNOzTFdREdzNAzCb4QC1gfvDycw9V3CjqA9B6cefPHIN-qm3zAZ0RBdXHtV_o51D2uJ9WqsaCABMB51m-Xa3DFWC-tSwnZHrBLm3FtrYf0ELHFGtMgD1pnE255QE4vq8ucLP-lZz4UTZgf_oNGy6LmOIRgPeoTydj5kTD3bR-keq6Ej-tQc6i0OyHEn33UXHBVzyj211V4hyUOHshM6aFRozqm2F8tL0bpnHe4_w6zOW2Wrcs8Jlesak-XCzUuKKzzWARG_pVPIwqX64yNuVhBfjYi-VMYGM_pJ4qpaXu7jThdBcx_iMy32fgdrse9ggHqoToP7j7LCefzxESqKsMFPAEpoRSIwXgMEZ7G",
  "id": "rs_043cc6cc674065a7016ab43e9cb4c487d090e2aeb723017fa2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.26,\"right_z\":-0.02,\"right_gripper\":1.0},\"note\":\"The jaws closed to the commanded narrow width without contacting the bottle, indicating the grasp plane is still above its center despite the correct radial alignment. I am reopening, retracting 2 cm for better reach, and pressing to the table-height floor so the fingers surround the bottle at mid-height.\"}",
  "call_id": "call_wfdlVWrwORda0m8Wrf8Bjk7b",
  "id": "fc_043cc6cc674065a7016ab43e9d195c87d08371896cbe4e1b9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wfdlVWrwORda0m8Wrf8Bjk7b",
  "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]: [-0.308, 0.9138, 0.429, -0.2352, -0.6102, -0.4725, 0.9976, 0.6189, 2.2078, 1.198, 0.5541, 0.4091, 0.2295, 0.995]\nstate[eef_state]: left_x=0.2844 left_y=0.0195 left_z=0.1184 left_yaw=0.4276 left_pitch=-0.008 left_roll=0.0048 left_gripper=0.9976 right_x=0.5004 right_y=0.2745 right_z=0.0467 right_yaw=0.1423 right_pitch=0.1523 right_roll=0.0448 right_gripper=0.995\nstate[joint_eff]: [-0.1573, -2.2085, 6.1197, 1.6679, -0.3101, -0.0659, -0.0171, -0.1983, -5.5863, 2.6735, 0.7741, -0.149, 0.2906, -0.1392]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b1d7861d46f204d1906f6302373f203a2eb692040c5e4d6a79808bc5f6e426",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f331f2600838ef2aa3a879a0dd252016c3c4a28c84dabf702645ff55516b6927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f38aaf8461c1fb193bacc228edcb6f9ddb06748abad12a46a89258b88f950ced",
      "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 132 changed as sent

message 140 changed as sent

message 145 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3084, 0.9131, 0.4294, -0.2352, -0.6102, -0.4725, 0.9976, 0.6033, 2.1181, 1.1744, 0.3199, 0.3981, 0.2409, 0.9948]\nstate[eef_state]: left_x=0.2845 left_y=0.0194 left_z=0.1188 left_yaw=0.4272 left_pitch=-0.0071 left_roll=0.004 left_gripper=0.9976 right_x=0.4806 right_y=0.2523 right_z=0.0383 right_yaw=0.1355 right_pitch=-0.0002 right_roll=-0.0167 right_gripper=0.9948\nstate[joint_eff]: [-0.3761, -2.1265, 6.0513, 1.6435, -0.2515, -0.0513, -0.0122, -1.2513, -7.1179, 5.9419, 1.3309, 0.0562, 0.1734, -0.2027]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.3084, 0.9134, 0.4294, -0.2356, -0.6102, -0.4725, 0.9976, 0.5941, 2.141, 1.1889, 0.4503, 0.3878, 0.231, 0.2038]\nstate[eef_state]: left_x=0.2844 left_y=0.0194 left_z=0.1186 left_yaw=0.4272 left_pitch=-0.0077 left_roll=0.0046 left_gripper=0.9976 right_x=0.4981 right_y=0.2602 right_z=0.0572 right_yaw=0.1372 right_pitch=0.1066 right_roll=0.0341 right_gripper=0.2038\nstate[joint_eff]: [-0.294, -1.6342, 6.065, 1.6337, -0.3053, -0.0269, -0.0171, -0.9094, -8.1436, 6.188, 0.9206, 0.022, 0.149, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.308, 0.9138, 0.429, -0.2352, -0.6102, -0.4725, 0.9976, 0.6189, 2.2078, 1.198, 0.5541, 0.4091, 0.2295, 0.995]\nstate[eef_state]: left_x=0.2844 left_y=0.0195 left_z=0.1184 left_yaw=0.4276 left_pitch=-0.008 left_roll=0.0048 left_gripper=0.9976 right_x=0.5004 right_y=0.2745 right_z=0.0467 right_yaw=0.1423 right_pitch=0.1523 right_roll=0.0448 right_gripper=0.995\nstate[joint_eff]: [-0.1573, -2.2085, 6.1197, 1.6679, -0.3101, -0.0659, -0.0171, -0.1983, -5.5863, 2.6735, 0.7741, -0.149, 0.2906, -0.1392]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b1d7861d46f204d1906f6302373f203a2eb692040c5e4d6a79808bc5f6e426",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f331f2600838ef2aa3a879a0dd252016c3c4a28c84dabf702645ff55516b6927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f38aaf8461c1fb193bacc228edcb6f9ddb06748abad12a46a89258b88f950ced",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtD6iSE5zSFGqnkEpfUiL8lqvFtxrRG1wOr4NmxGLWDq90PddvTePbcbcMgG5Hb_Hl31YHTJ8BosRaQuFFVP36RnbgND0WXKSUdGIErihGUGtxusRGU_BuDOgAjdh1Is7PUmLIT8QX2c-u_A0hudq2jj6EiuYPGsXl6ITMv6ZhkkWfYnqjI0YChnfrelb2ng129rQ0P0z1wlDVKktYAz6ZzMKHv7NvopRSA74h_0Xhv9dOa6J3mn9FtG2grIb305xGXkEpgxMJcV0jgc9DCAePdnYtoNZutDepmiMwdVUqbbvRyP8VbjTWR8-UHpOoktJWEcL8UwVistbvPc8JJBQRvUEyvwmTbJrE5x9B110Y6g0Yomrlzbdl7oTB0wpWHnzY_B97PuC79tZdO5iWtDfePrGxe06DoS5i5jf25JZe83gf-1nEdKvkEG8DT5CkYog2pwpXJWIBVgWaxyrLAcPrGV0iTThUdTkcNOX9beYSJIZ6NeZAmzXcnjki2l-n1qWMoClSe74BOBTr5XHTeuq0a0sA_skKzBAW9HVbrE_0-nRmM8MaBJOOG1QaC47LdZtX2a85mHxU1QEdwpmxrl4Byq0mHPUhkk6h_ahcvHMlvzGGYzf4vvrAUt6VEbehzkGNUSsi6BbKHl7yWon2z3WruUUuQClB_i0m04r9qmqxzlloglySgMfAMR_awoNAgeLJ7hWzR6hO0iDUT3M7lcNF1piX55JGvyh-3esbm7K4b13YV5M-WQ4QWVuFAsDguuCVgOG-GdQ2nlVyTkkEuXasX_frVIbxGQOvwJjUT_vwXc0yrs4HORn6HPXxRDns5jz733U9eXqqnTzA5gLqmVkA9wusrd1HWECGhE3hOZMrMl00nnkwpN6TiDSnDiKYg60kY3b2ETy0_li6Eo6fRLehbWFd-sMh2nF1WtrtE4DdwMzJqBXBwRxISn3lNp0p1yE8vw6xxM9Le-ENXNPqe3Mu7pE5PJs9gMQVwgEBYfK7x6yQpjwRHsCinGBtx_LwqMfTpKg0GIy59Krrqobpvh8zMOV5qzn4EwAPHjZhaaC3WA0dan7Ca7IbWicCeMxWM0KPn1DpMVRnrmFdjVFPOO1sXwUYOCw-ormaEy3iefM4yYHtJlPAoLzsMuDZFgeOgti8sLM2ElgQ3WkwA-DkdHxs0pvtjm9VeWmBzRSemqXI5vNj9q8iUXN2KGeapCkPRMo0fq1n12FS90omqVf4Q-zVAzFlG_y8yJelymLs5-pS6N3LmXw0vaiCAAyAGcCXcKPrYfmcRqGyHFI4_lNCbPz9lj5bTrlQ4OCVO4_h5XzZywx8zRtEOj3gI2OlAMvCvk1pfE9JBcJeUN-pIWjFf1XU3aI8HnB4YJsJAW9vx-IKp59TjbcbC-bTGFaahPMXIyGGmATEYTLEjmLGtG_WIz-O9lUR0LPmrYlfYHtj2Hew6Rt1bdkIzdnHZJ7US6-dp-oKxJSBds4mj7rTmKkuOlDLImUTl5NUYjom2zg4FcAr_xZ_LLtMERnFbI8kCPWJvnPiSrMC2d1ljwEqWZGdp95UVqlyZTwGj78DtSA8qvJdxaX44SrIuQ9p0xwnrFTF4f1-sD-",
  "id": "rs_043cc6cc674065a7016ab43ea02cbc87d080d9ccd98d6f0f37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The table-floor command brought both open fingertips visibly around the bottle’s widest body section, though the arm stopped on contact at about 5 cm. With the body now centered between the fingers, I am closing fully to test for a positive thickness stop.\"}",
  "call_id": "call_3WNgZ6z7dQlQEQoC2wAOMmRx",
  "id": "fc_043cc6cc674065a7016ab43ea12f1c87d0b6c084dcd4eadfd4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3WNgZ6z7dQlQEQoC2wAOMmRx",
  "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]: [-0.3084, 0.9138, 0.429, -0.2352, -0.6102, -0.4725, 0.9976, 0.6167, 2.1792, 1.3235, 0.2985, 0.3912, 0.2356, 0.0174]\nstate[eef_state]: left_x=0.2844 left_y=0.0194 left_z=0.1184 left_yaw=0.4272 left_pitch=-0.008 left_roll=0.0048 left_gripper=0.9976 right_x=0.506 right_y=0.2805 right_z=0.0598 right_yaw=0.1564 right_pitch=0.0577 right_roll=0.012 right_gripper=0.0174\nstate[joint_eff]: [-0.3077, -2.1402, 6.2564, 1.6239, -0.2808, -0.022, -0.0171, -0.5538, -11.8085, 6.3385, 1.2381, 0.1587, 0.1587, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da92d74cbec85650d4c904123069d9bb2823e1eb12c89e0fb603edd9cc79b200",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8d74bf300a627f952bb19ccdab58757c50d3d95a3fc0052f9c7957afebaa55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef3cbf35f6011e531757affc5f8a061c843dd0150d81fc4f13b18a16f8fbb8df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}