adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6086, -0.3763, -0.0223, -0.0288, 0.9986, -0.0154, 0.7887, 0.6037, -0.3862, -0.0128, -0.0177, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1831 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0013 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.4701, 9.7436, 1.7656, -0.0415, 0.1001, -0.1587, -0.9504, -0.9504, 10.359, 1.873, -0.1441, 0.022, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf85a5d496d8b9176ec4299fe993b35451f8dd437935db96492aa0388d8a6ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d80daee69f29cac17c40bc22368ee8b169e5779ca2ef4bedd3b45dac5546288",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16615d3a8fae9b9307536705ceb42a0ef11294418df142eac0254e511b4a4069",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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{
  "content": [],
  "encrypted_content": "gAAAAABqtCHwTeadSAsElK_kJhJcnEY5zPjcisXK2je9ql2qmDGJGIZkWjhJSg318lxBFyplsM6xDp2nWTcgrLqOmQFIFzO_q-JaN4wfBghkS7OWehFbaKDaNIrpIqRSgfjy9sNFXabZfU7vQXVCLnvWD3ZB2p_2Lr5rKcCT4z6j0Co-TJQDI8xvnmbpB_34KYWEqYD39NQgIPCItaoVUy8b6-2KWXQ7FcjDflHjkSOIWYn1pM5v1U-dOuHv6SWrK4B_XwvadK1Pbr_k9NRRosRZQI-1Auv0l050hxgUekbXUJ8h1YUZ01OP7W3QC0OXoKL97KYDDRKtdZ2dGJCJw4YPki78qSDy1uIdIzQG_WW6cj3vutuPN60opnSw6kDApAe5ycY_ZmiCOepSWPZz8DI5reQNC-s5ojkZDo3Fl0K8lSIyoxELOxQBxw6l00fHWQBkfQzt_AR7UPgQL7rSjuOacPYSuhU5uSqg3G1bcuQYdDR4Lk3PrYu4qJlcFsdQZvzKwAl5jgO6AtvHMvq84dHFy00quWsnn_CfUXUABZMgZUtyPFc7mIRne9bzDvYGNFubkjaWc2fqJIPVJm3TaGg_WdcDgKVUY41_VgWPCh4G3dh4SRCk01vW8AoWA7poBdbn4wuaYc6mpfAw0JhoN2-0Mll-U2O049qRBTgB2hBqNHKydgXN1tdn0-B4Rkn3ksups-iWuE55pUNbjb0FfGt83OlaXP5sllgGyY7eou_VPeE4ohzcLVyWsx3ShCWzKX_fkn15eROd68SyX9H_5PuOVYSqd750CVcEXEMwz577gxQ60b-RzHQ170Yt0YplXa78sYLH4Z0kia3quEA4iJEFQnJ4AlU-J-vGsf2e9HWH9jPKhIg5zMWmLFgoTwV35LG5vs1CZ1_n2Bc4NrbvEtdGDjVlbqzAQmfCgBloGYCoXMAdNEIYBlg9A1fPa8U4IR_haNkquZpwXSJAySoIygMdfxay85HnzfS65JO2Vj2Np036gr9U6y9kQTo0UX9QVGzakTPE2888D-N_hshPCO-quDPK7UDNMya7g_HPJAXAQcOtmw5zcuoCg5zB0YnRUOd62btwcP0Qk_wefUWH9XIOjwCn59nHGXQx0MM7Oyg2BImFHHDWTnIUPmjcXcp49pvh35j16XJzcCecY77T4txIYZQym5R9ZdzpghsKuXhY3JnvOruoG-ZDcQ3zf-z306IMRxz_0W7-LpNW8oHkRP38xkOjIJcU3mFODVo-6zHTeHj75xARoTl98Qk6kWByAPZBLGdKYEAoJAVEzYHMc70Ip-t97GLwCez7X-LlzUfWDmjoc92YCs76sSVSDjcTYWZl18wb0YVhA9fJYBEhO0U3hDJe-0NZZZc0_wQVGi85BQ6454zY_sk=",
  "id": "rs_0b04b84506ec6d6e016ab421ef692087d0af9bba4b7ef04f4e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.32,\"right_z\":0.15},\"note\":\"All three bottles are lying with their caps toward the far side of the table. I’ll bring the right gripper above the cap end of the rightmost bottle so I can lift that end and pivot its base onto the table.\"}",
  "call_id": "call_lHE5FAzv2CX5mvUHtwm7M2HZ",
  "id": "fc_0b04b84506ec6d6e016ab421effc7c87d093b143238548761e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lHE5FAzv2CX5mvUHtwm7M2HZ",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3805, -0.0227, -0.0292, 0.9984, 0.791, 2.051, 1.5738, -0.3141, 0.6071, 0.4519, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1833 left_yaw=0.0005 left_pitch=-0.0038 left_roll=-0.0 left_gripper=0.9984 right_x=0.4477 right_y=0.3145 right_z=0.134 right_yaw=0.0454 right_pitch=-0.0536 right_roll=-0.0505 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.6342, 6.6803, 1.7558, -0.0513, -0.0464, -0.0366, -0.212, -11.1658, 9.1829, 1.5897, 0.5592, 0.2955, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84aa0090fac8f27027be8eb463163afdc13aeacfefa948e0737f3eb85dce91b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8270e02c1ef3ab03885950792a1e95658446ed040654285345a40baba0cc7e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccd66b5e2287c051d0adc422b9789cfb2c1d89fc371e2665316e3b40f92cba46",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6086, -0.3763, -0.0223, -0.0288, 0.9986, -0.0154, 0.7887, 0.6037, -0.3862, -0.0128, -0.0177, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1831 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0013 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.4701, 9.7436, 1.7656, -0.0415, 0.1001, -0.1587, -0.9504, -0.9504, 10.359, 1.873, -0.1441, 0.022, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3805, -0.0227, -0.0292, 0.9984, 0.791, 2.051, 1.5738, -0.3141, 0.6071, 0.4519, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1833 left_yaw=0.0005 left_pitch=-0.0038 left_roll=-0.0 left_gripper=0.9984 right_x=0.4477 right_y=0.3145 right_z=0.134 right_yaw=0.0454 right_pitch=-0.0536 right_roll=-0.0505 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.6342, 6.6803, 1.7558, -0.0513, -0.0464, -0.0366, -0.212, -11.1658, 9.1829, 1.5897, 0.5592, 0.2955, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84aa0090fac8f27027be8eb463163afdc13aeacfefa948e0737f3eb85dce91b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8270e02c1ef3ab03885950792a1e95658446ed040654285345a40baba0cc7e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccd66b5e2287c051d0adc422b9789cfb2c1d89fc371e2665316e3b40f92cba46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCH3E2CDb_o7hx_txelpIPzxI33jhJAGZCAQ3suy0lOqbYCzLh8PpkX6uumNzxrNJjxdEfu_ogS-P_B-Aiu4F1rrxkj_TKRuwg1YcnBI-eslb0_8ydj7N3pGvHVyHbPtwT614_5O40M1SPJ7nTfgZc6Swc446j62zUnyaxdLzCzwDysRr7RKdi-8jfnqGgedWzi6bA6YExJ0gxbcXfkYIQGiuJXwkvyNVgzbgQMCX6zuj4Xt7-psQmWFVkxRyEtRD0bN4E_-LCMbBoehuywN8BwHxYSCCjRR2g4AlokaTZOUqngDraqpFT7rxZJ2yiARTk506lOV4o6FV6gQrqgGsViYqpRlPZvObnqq5e_sJriS3qnah5fnCQfw4TRvxrWpAZv_IkVJuWiXD2PxAptJ04JRC2FIF7dz5yIlEUh2k5x8hAbXIq3B9q8y9c3QP0sYlBpFW-8gD4ppbEEItR_BsK0699JD_UxZiV9prD6wVxNb_NjYdHwmyouBw7oQKG6uztHUVNp2dt5fSkurWuortfGAcZWGYckQKMVPh2jM_Oo0Yic5n-iaPk_ibM9ShxEceSo6hMKnbQVZSm6QBHVmNEbvRJMkfs0gRKeHQ0In-kdixgHXL7-lEQ2R9cC3VMmjdgEStSlGaEFgDKRH7ABbA1mrfJ95-Hf703fsIZjkQj0zhTEDsIPVrHsqmxhkZl-SMCCGnrOYOnldxy6L47LSnGd8e7NrkjIY9UMDRuEJRMqFhkImx0UdZcuw8o1AedBcr4kJIE2LL7lhIKAnUOIfzpvuV-SovS4cOxOWQwT6-Yrmw7vHC34vSOl09aioma4F-2k-Ul_EGMRiWvXb-Pwpk8oTGWvoKF_eNdm-pt1bL-8HKKYnnX01HP0bNO5Lg5oKqtB-qaQ1s-2TmwWrBDrQfD6W6ZHsfXGZRpxszTfMCVd55P7fO4FgxlYLo3fETJaaDYkszXzkTKYu-wZdmVEUB1D3oEr3DL0UCzus4fFkGspWIGZ2--B4qjhgIvibffbtgI5gk3zch1Rg_Akms-f8wbqCsjTXgIjRfAnE1hgy6-HOBbOgzH4hy5go7acM1C20VWs6hpPVTHzBsSypbB05wUZUXSsKeH0IH0E479FwKnCo3eq5JWLX7cdpnnjUPNXXVkDPAWxT0DK-09fJqRJuawjE0_y2H_vMo3N1j9NMHaj-ZTVWTKnaFgnYNXNAgeWLQMUsXZUfoy0itY-MwiIYnQDO-Lvs8-D4LVVT2VF81rcu1E79fArWsXZFu5mJQLq12W47JdO61LSvoVNPayPQtTUBshD_ZEQwD7XE387bWPhCpSRahuhYcGfAoJF43cfw4eN_rKbwKipccre4Eu7LO7_YySpq_G5QZK3IxQsqYRMH3hjvv_gLnSHuaa_ViAWInNA-0oot1ydFS5lFjQhzYkKmLmWYBJ1GdytQG8j73dWE4aQ9RO58QocXnZ0LqYoKZnGIuV8YRnDiZX-zsysKhsEE6rP-dDkdhAaJGP56ZhVzVO5VXJ7UVfZQQYv9gZAUrsHrlxoBkFiY_anP2b0pRX8x5gSVrAFL-nXAJPqTLCukoQ1gS3oGoH-72EF2NLZ5hU5PWNVMVNHI4uuLznBd5eFZwfJ7iLdCtBSFnds7d0csEqQGCnXttChUXraYPsYtEj5DZuMPPs_A2VPDcnXxxcZqUsHxAPB7F0X3ediIDNCh1R75gUKKuYVDVO10horAyJxZixy7GOQLT3sEtKXuBfytUKks2pYWpMq6tf3dGRN7XVMdkMsyWfehBgtb9VegOjMaybOizdvyRIrwUen0_kMjzClmj_Ak6EfCFdkk4o-dzwjbWYvxH9YG4NB3kZ_ee82mPv2PyM1qzead58_PLG5nJlw3gHNjW6gjRm2JnEBYQLlg7dFJJJC9evXJzPP362u0vPUI72cP60tJLUKw1UTkobH-YvF2w_1K0pFVsGuhCx2cO5vi-Qpj9C2R4lcYFr48zJX4cZJYftmUEECwU3dywBMuQLis3CVCLy5a21oZlAdrg2hj8cwdymYSPUiIIeI3VN3nF27W_8z0CLUpi-yvXFLW8JiJ1HtV1hTx7NXyRCbOq1YMQ_QgY7lJFHhJv0VH3t3HJaA_a1gFX3ih-cy5vfHhvcOhYv7ZlsbCEivZRV7JxjLNH3RRLP1nMPcGy17TnNQ8fRZbwH_10Sno0KH7Dd1e2oQQX-wyiMnRmPWUUqajw5qj6tJ6iGXOuEy1NFU1IFXJ1km3jodZJT13Vl7j3F568X14zAUSBD2Wpd-YX3v_r7DxOOuW-w0JVCSIp9E4FOlYC0TUuaKQRTfZrfTvaaEd6r7WtQtT6dCQVz8bgS4mLV94AXSrZ6P3TC_zc_pp3ZPFA7YVZCODgniYgC_6K0kiNQdk3Juc_JjJtFpATk3yASs5u5LVTgZxN5Ey8sIJXx_Ra8qAYLHo-stF30HB65DjoWYoOa5HRW0dOFcTe-7zRGk0C5QoQJCIuAOwNUAg",
  "id": "rs_0b04b84506ec6d6e016ab421f47c3c87d0a9ec6d11e50d9303",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.255,\"right_z\":0.11},\"note\":\"The right wrist view shows the rightmost bottle’s cap to the right of the jaws, while the gripper is between the two nearer bottles. I’ll shift right and slightly forward to center the cap between the fingers before descending.\"}",
  "call_id": "call_M7Rhuq9kiKPAsOQrR5jd63PD",
  "id": "fc_0b04b84506ec6d6e016ab421f6f00087d0b8853c3b3c9824bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M7Rhuq9kiKPAsOQrR5jd63PD",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7998, 0.614, -0.3798, -0.0227, -0.0292, 0.9983, 0.6533, 2.0136, 1.3006, -0.0727, 0.5186, 0.3676, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.4606 right_y=0.2468 right_z=0.0777 right_yaw=0.0195 right_pitch=-0.0918 right_roll=-0.066 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.1009, 6.8171, 1.79, -0.0122, -0.0708, -0.0171, 0.2667, -14.4889, 6.612, 1.9414, 0.2125, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c001ab506a7dcae12ec67f0992fff2a3d80fbddd7c3d9632ec3441088266f458",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851f99e99dfa3669ce03f32152703e45c8b4f42eef3988ef8a8a135c474d2d8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a82144887d73055a596e2a2bc5eba2a2f59dd4f1f507b4a8f7453088fd335f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3805, -0.0227, -0.0292, 0.9984, 0.791, 2.051, 1.5738, -0.3141, 0.6071, 0.4519, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1833 left_yaw=0.0005 left_pitch=-0.0038 left_roll=-0.0 left_gripper=0.9984 right_x=0.4477 right_y=0.3145 right_z=0.134 right_yaw=0.0454 right_pitch=-0.0536 right_roll=-0.0505 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.6342, 6.6803, 1.7558, -0.0513, -0.0464, -0.0366, -0.212, -11.1658, 9.1829, 1.5897, 0.5592, 0.2955, -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]: [-0.02, 0.7998, 0.614, -0.3798, -0.0227, -0.0292, 0.9983, 0.6533, 2.0136, 1.3006, -0.0727, 0.5186, 0.3676, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.4606 right_y=0.2468 right_z=0.0777 right_yaw=0.0195 right_pitch=-0.0918 right_roll=-0.066 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.1009, 6.8171, 1.79, -0.0122, -0.0708, -0.0171, 0.2667, -14.4889, 6.612, 1.9414, 0.2125, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c001ab506a7dcae12ec67f0992fff2a3d80fbddd7c3d9632ec3441088266f458",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851f99e99dfa3669ce03f32152703e45c8b4f42eef3988ef8a8a135c474d2d8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a82144887d73055a596e2a2bc5eba2a2f59dd4f1f507b4a8f7453088fd335f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCH9pH06xOLoG3A7jdr1w9Hr09PSd2e8Qy3J4UFS4xVMSmMH81oPT4gEqS-iFELrMo6DNvbXtD4F2U5lqWKPpTjAQ3yqNci6TBUmBYEjQibyk6QNiovSlY_Op8TlMwDD1HHEZxBqhpMgOUN8LYkt0_5Wsm-Y6aUCpLX9XFmgUPBBpobC08QdJlrfVisJ_t0qguuI8_qTF8pXzfZDK-Kkr6nrhgsk09tFP_GHq9bcIxp6EdIhL8aSjQTYPRwOFxUq_gPhjGJdMoJfyXkInb3N5qGXNcLa10HlotbA3_RMV3c6H3tfyORmUtSH_GiBnVmTgANBhCwEId_2sGG-EGdeTLy86uNG2fLNt-jiAufiHZMAs7HtZwCjLqOQrMa6J0fmDMMAAiS93cRRlir3-tgc5fAEwbi0XEXfZHmhyfhguW-fS1zmYNNN4t2JcCd4gv_agG6svUKkdfGCrheSHfHnXjgGhQ3capHadK4j8QZgFvd6bVujzmOv0KpGVhiqRRGtWh-rzQeSt2RJpfCnoUS__7EcAnfqXYs3WHqbSaRDPfB7FGqSa8A9FxEmjs_6IMPyK0_bLw7GkBlebnp-NEsmn9iR8m--etH9h2eZV8fzbFXux_SjVAkm_seMH2k3NiVc_b1M63xbnRHcvi-w_D9MzFcIWAmqYFtnQQZ8U3APox8kjU0xXYOkrcO3Puzb9DGKhrp53qx5OiEsdL13H2MDdoqzCNmI5sJjFTmXJ0vqJYgbusLR7h_dbChldUSuHRNrSYgpze_aa5lnYW7FtIys7ALk88XXGcjvaC5o_DnKQKByDxt1DXxHRKyZLSYrWJdACZ83nYdxRP7cM7DfUJ5SVOIVFq14EgZWQ8fQn3OVxlE-WTFy7zrDFILKA2zn4ymOcta1baA372-EQ_6-UOdTlR41MSTp9m2sSpay1sxZ_fnaj8dLLMbEXeIcAMbTvfKmha-8o5VgK47Z_xlzrbsPh5Cr71KhSSVg6BMsN4h8zrNXJYRKSxycOIrKGrvQTGhOabhXgL7jkvw07BIu65qFfnqh2vxet6l2-qbLUSi-e_gmv0CBv23oSMfEGZy-MTGjH74F3L3mzoOA5hWrYQu7naC3I7t7Ph7j-rCqZIlqfklSPtv_W4Ir4NuhEYihuIVpWQY_6OtCWvo77CVhwBo4gplNVDrznpVgCT9W7PutcYTGQTvCQYVNh6gd0raRLUQVEmOk2Gtp60lA2YHmxoqpFaB29u4WrWRNG0zYPZGY4USrIt8EnHmO2aXJ6moOp0qLLVt_JxF3Cc76VBN4oklKE_NQHglV_jgoZxc9QkGZvFNtBEW87hclfp6Hy5RfT02mKTqUeELu_uCB3wQV8Xcmf75mTxuYeRHkg3PtaBT6rIqLsYgrb5Z4rr_iLS4uopeOC9KrPAK7CE6_t5yFP4UZ3M0ggFuiPJhCndKuXqWZcFs_xiKCq8xTFd05NXDEpV0kMYLBXmZgY9LfYSdkYdLo8_i6AQp791rLurujMiRnaadLG0z2eWy-Obz0HZvuDvpwfZlWFihKZ27bWR5DVjaJCo9MUl6Ei4rngLCvRRlZfcUIAnsdF0mRSjfLqhzsyaMfJRWG7GDU6rEx0S1Ce4ix8xNWNXf1a9vblnD6LgAsZOu3MYIo6efo__jQAlY42cA_xrK7DPPTCzknCp34pfUqHTbfZBAhq8FP0zwmrepbD6tvYWDrBRbE-UrHvHxOLzEgOv9eSkDcrCE6Fq7ftDPEr1S5LkVaJ2Gy_Ki8kS_3nurBCh4GTDzIdbYTMY4HWzaIDsa67UEOLPKW-B7pGqxluGkhtwAxtOjLnmRhC8nDyY-L5GPx_hFpkBaiWJbFhESpa-VuS83X35fDyl1Ot8_KUvhMRUbnRrZtuoRbdkLm_Rsw3k9TlwOIsGfPtoyIyn2uSL0-MfL1boEX-_2UbFieaejgMKx_9ngr6HQxABFV0XjR_OQC6B-pcXp-vPbbFt919pEcKvR-0UpVMXzKrqHGVjznOLW84qF9wml7qFwzFB7bt2eRZrhohS0hFy9VIbbSuncHzMlN2Gerh5f_FOAtiQNcg13jEb_HeaNMJ4Z5jNE57DBM115D66KnrY337MHk1dyN-9JfZQKk6WU99h-rZkoFhjDRpfamVw65Ht4QvrRSvC2kTfXM5G9HXVM9F0GZPUB1Y0UISR18_GRse5tDyU1EXZkhOg4qTiipZfn488-eboeFZosU-8-PlpnuyKjrqVYwUYLT9Dojh4fytXL9gwKkfLDg-j23ozhvZ3ffUMECHDzJq5VHLFgP9bH2bu8v3RzqwsKTmq_b-LLDt6psAHvEsUXJXCSpPkDq0GM11On84ozsbKWBpmni_3KcM3ixC2LhTTw4WVw37zxM_eTSiUwYI5YXvHNuk4CK-KZXdulMiFEwDp3Od220LyrEbbDC3lQTllK_MwtKx1XNc811x17B33tusQYefqdM0LQ_X4V2AZTJFjd9ifcRVhJOld1dXpuxMMnhqHax0BMIzN8R-V1-mLkmOx1-_l6N7qzUa-17OmN9DwgS3DS-_jhZGSeC1FywfO3GDP3GFMZtOJkE2pn3pBsJJZSww1anShItrc1hnC0BluqLB8DX_kV0KxRT-S-E9T8b1fmVFEVAprtwwXxZEGX0dE6x4a8S_FTtMGppc3S1fFLObnNfiqmvFDUJoZBp0tXYx26wo4kR3OQ21oprh3QlBMiyUFbXpI9O9MXObPipP0qW9g0YNULF5QTEUf0u",
  "id": "rs_0b04b84506ec6d6e016ab421f977d887d09c8546a650df47d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.228,\"right_z\":0.027},\"note\":\"The rightmost bottle is now nearly centered in the wrist view, with its neck just beyond the fingers. I’ll lower the open gripper around its upper body so the jaws can catch it without pressing on the tabletop.\"}",
  "call_id": "call_UEuJBaTZE9kABLyFGO3ofLw9",
  "id": "fc_0b04b84506ec6d6e016ab421fcb7d087d08fab4089a9bf9eb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UEuJBaTZE9kABLyFGO3ofLw9",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0227, -0.0292, 0.9983, 0.6106, 2.0678, 1.1118, 0.2478, 0.4957, 0.3309, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1834 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.9983 right_x=0.462 right_y=0.2251 right_z=0.032 right_yaw=0.0172 right_pitch=-0.0384 right_roll=-0.0381 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.4154, 6.6803, 1.7753, -0.0415, -0.0513, -0.0122, -0.4718, -7.6923, 4.9026, 1.5507, 0.0122, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96d0ea90af61e018a0ed5969bf84cac32b42981d76ae60d92e8326cd343c604",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346920d2d095b01fdc9772dd83fceca0e5a9a76c6062c131625ca057e2d10846",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d96b6351c18d779e0578d32b9050efed7fb14e7aa5ff5fedc7481a4653273dc7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6086, -0.3763, -0.0223, -0.0288, 0.9986, -0.0154, 0.7887, 0.6037, -0.3862, -0.0128, -0.0177, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1831 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0013 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.4701, 9.7436, 1.7656, -0.0415, 0.1001, -0.1587, -0.9504, -0.9504, 10.359, 1.873, -0.1441, 0.022, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7998, 0.614, -0.3798, -0.0227, -0.0292, 0.9983, 0.6533, 2.0136, 1.3006, -0.0727, 0.5186, 0.3676, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.4606 right_y=0.2468 right_z=0.0777 right_yaw=0.0195 right_pitch=-0.0918 right_roll=-0.066 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.1009, 6.8171, 1.79, -0.0122, -0.0708, -0.0171, 0.2667, -14.4889, 6.612, 1.9414, 0.2125, -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]: [-0.02, 0.7986, 0.614, -0.3794, -0.0227, -0.0292, 0.9983, 0.6106, 2.0678, 1.1118, 0.2478, 0.4957, 0.3309, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1834 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.9983 right_x=0.462 right_y=0.2251 right_z=0.032 right_yaw=0.0172 right_pitch=-0.0384 right_roll=-0.0381 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.4154, 6.6803, 1.7753, -0.0415, -0.0513, -0.0122, -0.4718, -7.6923, 4.9026, 1.5507, 0.0122, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96d0ea90af61e018a0ed5969bf84cac32b42981d76ae60d92e8326cd343c604",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346920d2d095b01fdc9772dd83fceca0e5a9a76c6062c131625ca057e2d10846",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d96b6351c18d779e0578d32b9050efed7fb14e7aa5ff5fedc7481a4653273dc7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIAREgH1ivzSx7dLQjEN1p3Go1Pd4PxTxz1zS-w8fxyel_ZOrWft3odPpgFp-HznDA6mdJ_aIP_T-pLA9iZqpfI3OH7S4vmY5_lVRP9z_9XWH6dvXx4kr424xH_IQ45mwjEclpmJBhmB880kZQf7FYzUwKl52beIrkBRV85Sk9bU46Ulytx27EMMnDjGCjvRtQFPDj4agXUzDTS4raBji2xiT1Owa2_XvgN6-9Az4usQRg91mQkw-N6rlP5bG89UHAgQgpzdK2oeAbrTaS9r5yjubM5rjx22CK6wjwGCbp1IioCyEdHqzFWICiggt-MfG0ot9VJsVJSneP4FTHOv-5RZhWE-SIdMiWsBtLHwWwEyip5U-v2WwHE3_iPd3BjTju5d_-0aE_67LYb_mYzhLuGvsVf5zfPU68FtnvOkQw_mXLv_9dAsxSxT46t50v1EXUnHmo8AjjQ8jMMsnL40Wagch6u1IdJP7nK5qHkJOkx0O5oRMZ2ge42wS3FtTAplSjL3Zts2iCfrc0n5zVZF4dIR7EWK2WoeOs14sfbX6WOmnRpIk4yihpLwtf3zvrGq9lFp3Jqi0rHItoXRoCysj2s_gyfRr4LcqBYBCIzd04UEsZ_qtGYOs6y-FkDZuGZZNHVnN2nAeT1IrRVGDuJ0Ly0ADKmWAG6sx4MMaROr22g9btf3uZ_S8xQ-slvJoiNIu-B0-Clqupv9ANMr4_esWq1WQ7Lnu9ojFtEtWqa-umXYEZ9YrThwmHaTIzp95iY0tYDxApFYlzus4dd9dOBj0TnYvHcjgQ2aw0opTqO6zFouzcZyljWxk8mIZ57HTC_benYmgSpEZZZ0Yx511-C9hv42jUYPVaSWGIoXKQ32om_p_-MOiwoB4kZxrRhCPd6pQTe2oXcVlBr6pQKg5P4nlw2g1s3nAr8LiYp6ZWfHjlmbIR6tKPRa1fNnqyZsA0CmG_nS4oKUloD3dDPzmIb5W-BtjZFbJ9qCDt1X_EnFozClct188DPk3pbbW9DE0_3ozWFZpXTPif0xblRk_VwCCo5nE0-SbdlwDP7Ef2bJfURtV6NuuTqhZjW5LAdsGZbl4TrRXtNhdV0D7Q4Hbe6P6TKBhpI_-7yzP824Tun7hlAz_acNnJLG4v_X5Toz4YQYZDb1MIVTZeFcM4dfWUkNWQrZB4wytLcJ6rlU5jcV-Q6YrhXV06QhgMvn3W-bhX5RLOaUdycP8QgiUvOQ7AkmC0gmIewi250cH8HiUOj4ZiiPWAIpjq6EDDemvqIWtm6RevVFpBWeWqJzWtI5AeeTwrozpsBrGjf09Tve590HHOCxIUHcaqUoO8k4f8TsJWJZyVlySAEwo0MRGsIa7-ozhrHOWsEYRGmHCXUVKKB0L7zZeSjkN0PuAntcQFTVWwSqPcU69lOFw-xaqzg9PcTe1YTHanapqAxWUBvIvW3TVsJxIBxY-kiNvV6h_-5y1vCm8CVhI5til8W0ntn4SjoHh11eSm4OZyNl-DffkUS-tNOv2Gqz-6qfL1Pb1XA_Nqrn-I3",
  "id": "rs_0b04b84506ec6d6e016ab421ff41f487d0b2058e8719005a87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The bottle’s upper body fills the gap between the right fingers at table height. I’ll close the jaws around it, then check the gripper reading before attempting the pivot.\"}",
  "call_id": "call_A4lUYIHrUWsSdgOCaaq8zNVi",
  "id": "fc_0b04b84506ec6d6e016ab42200238087d085827dfe53e30e13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A4lUYIHrUWsSdgOCaaq8zNVi",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0227, -0.0292, 0.9983, 0.6083, 2.0739, 1.1084, 0.4171, 0.4923, 0.3164, 0.0137]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.0038 left_roll=-0.0 left_gripper=0.9983 right_x=0.4796 right_y=0.2366 right_z=0.0584 right_yaw=0.023 right_pitch=0.0934 right_roll=0.04 right_gripper=0.0137\nstate[joint_eff]: [-0.3761, -1.5111, 6.8581, 1.8486, -0.0415, -0.0464, -0.0122, -0.8274, -8.3214, 5.3538, 1.0232, 0.022, 0.1832, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b775fb167287fe63118024d61821b5e47945b4b16daa9c361b43575e3f98f96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0307f47bb649516cc0ddc5ab0eec633d0e99344b884b63238431c94526e7df47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4336ff3dbb52ed92ff282d9910a4747ea2bbe9ff50564ac092e1605cb2c50329",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3805, -0.0227, -0.0292, 0.9984, 0.791, 2.051, 1.5738, -0.3141, 0.6071, 0.4519, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1833 left_yaw=0.0005 left_pitch=-0.0038 left_roll=-0.0 left_gripper=0.9984 right_x=0.4477 right_y=0.3145 right_z=0.134 right_yaw=0.0454 right_pitch=-0.0536 right_roll=-0.0505 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.6342, 6.6803, 1.7558, -0.0513, -0.0464, -0.0366, -0.212, -11.1658, 9.1829, 1.5897, 0.5592, 0.2955, -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]: [-0.02, 0.7986, 0.614, -0.3794, -0.0227, -0.0292, 0.9983, 0.6106, 2.0678, 1.1118, 0.2478, 0.4957, 0.3309, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1834 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.9983 right_x=0.462 right_y=0.2251 right_z=0.032 right_yaw=0.0172 right_pitch=-0.0384 right_roll=-0.0381 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.4154, 6.6803, 1.7753, -0.0415, -0.0513, -0.0122, -0.4718, -7.6923, 4.9026, 1.5507, 0.0122, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0227, -0.0292, 0.9983, 0.6083, 2.0739, 1.1084, 0.4171, 0.4923, 0.3164, 0.0137]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.0038 left_roll=-0.0 left_gripper=0.9983 right_x=0.4796 right_y=0.2366 right_z=0.0584 right_yaw=0.023 right_pitch=0.0934 right_roll=0.04 right_gripper=0.0137\nstate[joint_eff]: [-0.3761, -1.5111, 6.8581, 1.8486, -0.0415, -0.0464, -0.0122, -0.8274, -8.3214, 5.3538, 1.0232, 0.022, 0.1832, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b775fb167287fe63118024d61821b5e47945b4b16daa9c361b43575e3f98f96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0307f47bb649516cc0ddc5ab0eec633d0e99344b884b63238431c94526e7df47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4336ff3dbb52ed92ff282d9910a4747ea2bbe9ff50564ac092e1605cb2c50329",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIGUJuMtHKeTJVnJpT7nGRJNR7LzgOzj2Dx2kalevtJVdVF5HCDLZp225Kqce8AOTbe08QmR5McvU-CD9HlyoAZgiqo_8qfg9O2A7qey01EtWrNT1CmoBQ1B_InUohCxbJZOPAE-KDkKEdsCcVBPcQEGnT5bzil9wd3thHJB1XLILSmCfPpUU1Gaz9Ya7Eaey90pJh2sikO7dfzSHYLn7ErvSD0kaOcZvjQCi8AJzf23fL51MUxEduEumWIMpA0hsfccUfoPiQHprOzB0iu36m5lUoug-IjzrZjrm-ZvGbbRHf-Qa8vTJljAclaMXRuckD8nMFdkM2_CWEXZviZwBM56jtc3THDuwRD2UnViUH4HgnOyLeQBS41M3qj7Q8kTsqV8vXzGCJTRkzovFPf8O19BqXwEmqFJoMF_xaebecBSyJDde9TEqZwqtIA3GCgqIcNqevkgwAe5xrw73A-TAd0Hix8DvDx6ExkjP5FIpnUALpHEcxUjnk8Sthb4wtCiwi8N9Ep4s5hv2NvTWh0vc1II8posLoOSVjeCuszVyb5tVxxFnZkEaCPMrmVDzVbDe9Y4HUPqAA78iaXht2lprmZQVUPV-8BKKRL4ngJsTxO-HRy8oFNK40cIZgU7p-QqvUM3uDfmAP8-5RbGnRwglE8OMFTBYQ5GUyag3zrQmQiGHoER8W68RrigQoM3F-aZwz6vAb6hR5KoAffvc26u1NDlMhEb_5uM1mMh_LVuUnKaRSaEONYPxgpsPPCvf0BP9EhGUiFyzEXZj2OgQTRAomq0Nm_1ZXdLaNKeS1mDqhyIQbxQkX_OeW_-iqk9y4bBO1Nx0ZGSr0N7BCUXC-50uVv7aS78lI-WOY0GnV_YJJqK13FRswAPn4txNARfKHXu0rAQCzLk28vv5-USKgjjFR_hS-b0S-c5-bAKd8C2YGBB9XOipsv0lZtds82YADObePH3Xf3mcKYqFp66o8IsDFnKgQXvwcoy-otEi2rwqV15qYHkx6idNae5OZaOiaeXjHtQ7JEr9t97AyrN_M9njx1GJQQKManalLKm55Grbmk0cYsfoeLIbj6Cp7doUklITQPVxBfiZr1kBi0akil25Fqr23QcRPmcGH5leFEKJO3N_0R5D_SvoStvieEWRn8Pz6Qe8S6Tyq8jjex3Y2w3l6MB7RnIjZGZDjKKSmhO-_X8cG2LA9WAOqmQiKfbnKkmUHi5CYxw6Dlk9P3RdSFaiG_FSlfGvP8o7jHmaOB0c2gzfrYGduWuW2CiwoIuC-hiYPx1_ocFeNXQb41Z2YjyzhhIh4hlB0FaMQRco1BAvbhc84W5syAmbqCuCkL8ijmy7maahHt91nKuH62kfmaC489CYm9HTZxeX126MO_7nmGDyLOCGiZJEt_l0Px-PwJpEiDzGPnJ7WHJP7eB-CG529Bmalaad8yVwd2lP_lHrWnhyaOjgvC3oa0Q3HayOz9_q3KYq-F6Lk_7vUVFN9cDg9QYgYFZGLtXv1G59uyors5131HnygCs_cph2_LWVKc097WCdq8SPC39tUH-yfsAz2h7sl2gOKYokJJpwZtn6qHQNT19BDMfo4QNpeicX8vorSQl2il_2f6cKJmKKEPIKJYj3pjfTX8FDKqDWJn2psRIAumady75SlIx-q9v3uU3r2GzNbiDg394T1oDGKTArxiT6J4jqNNzTgTci1NVofD5c928nbqnet7eBh0W0WLYMaGY5gLaZ9nPhADNAGEO5FmYCPE1AoqtLIgIRkWOgCry67Mhp68G26vDnmkOyonvRgFGvSYPTUDYZ1umNFpOTmbCwaQPgrmWvI4UsauxwR49Y4mfQd7NvxjbSRCcA85mC8TMZYHvbq-3l40k6p-7plYeq4umxpD1BLRRhE5V8FvUqKrUOOTuZpU3nF0G-WifgThZD7Hv0We7CEU8wUdqBMWSDW_29sv02RIRweEHNkbDkr8Kdx1nFzbqFZ2Z3Y1R-WFxbCFIoZdAVeXX_xyYQ2I6hmqbIyzTYuHBeOYrPQhfAxmD4grQvmcf6KOQo0tKazm_V82RR_XwEKvjft7l6DJKL2xAjE9uI5DcgYBx77-mt9sWR80YEA5g8mENPoQE248Er3clI3Sq5BV42IndVLjunSGjk6ch54fTCN-HIBedLtULd5e1NziyfsFMNPVZnv_rsrbyAIJ5mIT8_40EhRSycqda9lrGgLMkiSrxpK0PRXbsAGBMbeFeK4BmYyANNJ_MZaTT0yMlLvE1lCvLyzYqYLnmMCrmTMOemqruJGMiG9Dkre574kt5ANzphkS4daRXCgPbpZJU7m4yQFYd55efVfJLjhkgo6WW6eoB_W2qtlshK6iGWXYPD3YWYYngKA6xmaFCVZQTfGLgtWwmNbmzYsKH-AIWys9iIzuM3jtfSIbmzQPkOAf0NOR9NluZvZonutgnrJobKVymmk8uGxvygo-v_VujjVip73mlPc3kuo=",
  "id": "rs_0b04b84506ec6d6e016ab422027bf087d08717c0cb24190ae0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.43,\"right_z\":0.095},\"note\":\"The right gripper closed almost fully, so it missed the bottle; the fingers were too far toward its narrow cap end. I’ll reopen and shift back toward the wider body for a second grasp.\"}",
  "call_id": "call_3phYpZFhxWqLnTBYHSxLHpRh",
  "id": "fc_0b04b84506ec6d6e016ab4220614d087d083b593c624ce5b78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3phYpZFhxWqLnTBYHSxLHpRh",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0292, 0.9983, 0.675, 1.9003, 1.0824, 0.1104, 0.5198, 0.3702, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0008 left_pitch=-0.0049 left_roll=0.0002 left_gripper=0.9983 right_x=0.4325 right_y=0.2384 right_z=0.079 right_yaw=0.0417 right_pitch=-0.0282 right_roll=-0.0181 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.4838, 6.7214, 1.8046, -0.0513, -0.0024, -0.0122, 0.7316, -12.0547, 6.1333, 1.6337, 0.3297, 0.1001, -0.0659]\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,$blob:8eaa77767a17a04a69bfea1457bb3075aa857101cd6cf722386eb4986e3caf79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b5b2a1ba15badde23f0cdd794c8be2e42111ef751c2fdd5e2c85ab1ca1d1119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e050c0f92c749c49da6a0582f4da6f7c1402078e802213799f8a38b51b5ee2d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7998, 0.614, -0.3798, -0.0227, -0.0292, 0.9983, 0.6533, 2.0136, 1.3006, -0.0727, 0.5186, 0.3676, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.4606 right_y=0.2468 right_z=0.0777 right_yaw=0.0195 right_pitch=-0.0918 right_roll=-0.066 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.1009, 6.8171, 1.79, -0.0122, -0.0708, -0.0171, 0.2667, -14.4889, 6.612, 1.9414, 0.2125, -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]: [-0.02, 0.7994, 0.614, -0.3794, -0.0227, -0.0292, 0.9983, 0.6083, 2.0739, 1.1084, 0.4171, 0.4923, 0.3164, 0.0137]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.0038 left_roll=-0.0 left_gripper=0.9983 right_x=0.4796 right_y=0.2366 right_z=0.0584 right_yaw=0.023 right_pitch=0.0934 right_roll=0.04 right_gripper=0.0137\nstate[joint_eff]: [-0.3761, -1.5111, 6.8581, 1.8486, -0.0415, -0.0464, -0.0122, -0.8274, -8.3214, 5.3538, 1.0232, 0.022, 0.1832, 0.7057]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0292, 0.9983, 0.675, 1.9003, 1.0824, 0.1104, 0.5198, 0.3702, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0008 left_pitch=-0.0049 left_roll=0.0002 left_gripper=0.9983 right_x=0.4325 right_y=0.2384 right_z=0.079 right_yaw=0.0417 right_pitch=-0.0282 right_roll=-0.0181 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.4838, 6.7214, 1.8046, -0.0513, -0.0024, -0.0122, 0.7316, -12.0547, 6.1333, 1.6337, 0.3297, 0.1001, -0.0659]\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,$blob:8eaa77767a17a04a69bfea1457bb3075aa857101cd6cf722386eb4986e3caf79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b5b2a1ba15badde23f0cdd794c8be2e42111ef751c2fdd5e2c85ab1ca1d1119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e050c0f92c749c49da6a0582f4da6f7c1402078e802213799f8a38b51b5ee2d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIKyXr9Fse7EPmZDp7oPaXFpfYfWrKcu3JSn0iSUTFytNDBM-A2KoSm3vOj5OpqSVuBhQ-5e9HpHPks27zoqgek_i4iAK2OvcUamZ8gkau4Icvv8rWaRcjHTe9gma7lrl4Ex9BxzSc0fA7GQbjF4wRt3U4P-x8DiRjGp6LYlU3Yy0L6b0DVdOIfzHSD8Gq9NnB2gCOItdtwBvkQ24ZXKyoz3kNo4KdoipGrjdP94o-iAtZBmmLu5ep9UJrbN9M8Rq0Cz3fWNnHLSEKEWfFqO5pIhhD9dSIVtmZ7i38F3gGy78mLV0TfEopnQd-ZGxSWBUxqk5SZajzgKi2IMgy5dCi-wAIU7NJeDJ-Kpa2PqEWb5uh4EK6A7dD9_aI2eSmQ7CQXWO5I0U_QR0w3T9Fc-s1OBloUhMZkYaYH05B9ahDVzMh3lScXSa--QIRs9qu_mQEU9zIx1EQNs0NzxGROc9Obch732pazcoTyOL58zIr89MgKWJ6jZMaqJL-Y50dhJqaBfYVG8m50LT0ISaXKbs7o5dskqB2Oc4kgspF7s_ccIEuV-qbVvGUuf4OTLo4gJxrHLT974ebGHUd2lHM-a6MCT4ho6IXT-Jcejnr8CSuVsSEmIysQSb8wmnATm4IJ0Ui2GngXu3zq5cw6LsX4YUzdlvEccoyZnYHQ90cl9vFZIFIGi9AxxQ7MCrlRMNQEIMUHiNB7idQKX8ldg2x8LgeIXBamix11rwGY6RCR-Fb2YdAbquau6fbEEWoIlgZ-xHlCjFNeOeNB8oNFRWaxtGyJ1teEzZJpGYNLEEHHFF1hhKKAN4O-36VgD6XVbGPZdhXnn7kp8NLAPDChUcoyR1qadEPf4pegGP1dT7s550TAoIayYTtAp_DzfjLVO5wzWcepLkLMIcQ1m3pgkqYm4_Bd7yoaMt5X1X5JUHDb6Ql74mUeaR_SQ8OdUH6SLeyp4hhMWCUhqvV-gvn_Lh2uJsiFH8Dphi3PDOh2Aw70t-zipFd-rvjozgXNvGZ2wWIvWmgq6dnOW_rRqCa99BWQq6yeGj1IIqXRoAUS-YKNmBfRWxY1nuOsfMJAzBqWJWsyk9agXApgxgebMCb2XrRftRhzqYd6kQlUv2tqSHKEfQbNxvVNkLKjzDCVy7qMbtQ9kUJaw7YQ6LvwIG6Cr_XxAV5e6Jz-YV8Y85ygPKui1BPPqLo8ETAl1fqFEzKgAu8yrUqxkbAslhHk14Sq6XKzyaFYt42fixoJBQnJioE62WLsfAqW6BOL0pK5NfbmT8hzxI-O03pByMBg8CyUPn24Y8NdMj7zUUQGse5xxirNTODgwI9R8hPbjUFxAt3zD4Q9R22CcBLqEQVsSLcTt_ma7X9oEtW9KAoS8wIRBkUwY0UNIeWPwk0ZQKgrwjqcEt-9MRGeBwHOK76Xv_Gb0e68UxYgICHWdpClquSsRjENCIPOi5955aCSGiyMGnbrhCBR-cWW2ad2B2IE89cq_tzeKT6OKaySZ_WhO5Mfjcsv-3RUcow=",
  "id": "rs_0b04b84506ec6d6e016ab4220899ac87d0be6368e3877e1ed3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.015},\"note\":\"The bottle’s wider lower body now runs down the center of the open right gripper’s wrist view. I’ll lower the fingers to its mid-body before closing again.\"}",
  "call_id": "call_szxmMJ9OaBCvpTkcOYA3mIgb",
  "id": "fc_0b04b84506ec6d6e016ab422095a0487d0a705ff3d5a426111",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_szxmMJ9OaBCvpTkcOYA3mIgb",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.6746, 2.0502, 0.9806, 0.3309, 0.519, 0.3687, 0.9955]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.4253 right_y=0.2326 right_z=0.0099 right_yaw=0.042 right_pitch=-0.0538 right_roll=-0.0374 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.5658, 6.6393, 1.8193, -0.0366, -0.0269, -0.0122, -0.212, -9.5385, 5.012, 1.8095, 0.2125, -0.0464, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed90d45bac76da405c8475638131810cd80b00a43f5b562b4daf830b5fc67c62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9493cc37ac1a690071b715296341c7c064e700650e6272b4b44439d798b681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44fa754cced5252bb41e35515043f961ab367d0caf7fd1309f09460e39229c06",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3794, -0.0227, -0.0292, 0.9983, 0.6106, 2.0678, 1.1118, 0.2478, 0.4957, 0.3309, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1834 left_yaw=0.0005 left_pitch=-0.003 left_roll=-0.0001 left_gripper=0.9983 right_x=0.462 right_y=0.2251 right_z=0.032 right_yaw=0.0172 right_pitch=-0.0384 right_roll=-0.0381 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.4154, 6.6803, 1.7753, -0.0415, -0.0513, -0.0122, -0.4718, -7.6923, 4.9026, 1.5507, 0.0122, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0292, 0.9983, 0.675, 1.9003, 1.0824, 0.1104, 0.5198, 0.3702, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0008 left_pitch=-0.0049 left_roll=0.0002 left_gripper=0.9983 right_x=0.4325 right_y=0.2384 right_z=0.079 right_yaw=0.0417 right_pitch=-0.0282 right_roll=-0.0181 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.4838, 6.7214, 1.8046, -0.0513, -0.0024, -0.0122, 0.7316, -12.0547, 6.1333, 1.6337, 0.3297, 0.1001, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.6746, 2.0502, 0.9806, 0.3309, 0.519, 0.3687, 0.9955]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.4253 right_y=0.2326 right_z=0.0099 right_yaw=0.042 right_pitch=-0.0538 right_roll=-0.0374 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.5658, 6.6393, 1.8193, -0.0366, -0.0269, -0.0122, -0.212, -9.5385, 5.012, 1.8095, 0.2125, -0.0464, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed90d45bac76da405c8475638131810cd80b00a43f5b562b4daf830b5fc67c62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9493cc37ac1a690071b715296341c7c064e700650e6272b4b44439d798b681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44fa754cced5252bb41e35515043f961ab367d0caf7fd1309f09460e39229c06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIMSlddnuQQg-DysqZJyIEsuKSL219Tl3W_qyNVj_uC5vVbUHdlprur0FB0blZ7VyySSG5do7H76YeayCrmcrYRdxctfJVE4LrVYRbHrZF3Ni_aHukoMQTCjUsKiCKLPF_vitXKkKfnNbTAsot6hPIUqM9NN0z_Jnff9vJSy5GBxYknaNcVcHCht08KmXhJURbzgJdVDpsSxec-a5ydSx5UMnhRDpwvJoiMBpNcxbvoSlq4qTD33tv2iNH5rECtvRVsu2pt-SM7pw7FQhY4ZlLFYJ-QjGSvZxkPFdQcfcz0XlVdyGcGWsCWX5PeZU6ix37rSx9HHa5SahqXC4hAezNVMtG5zgbLEOwf96i9oTFdHyAJ_IfiM5Cr1uGT7nC0K24nNWpDFsStYUj0xgZXBaXzUW6vgiKyJ-ostk9pL9rC6nQDLcY6ub8vL7NfneSLr9AcNbvKLed_0dwXz6YGeyTqRjJ4HEVzTD2yZXOyaoK4G4qO5EqXvND5B9OLJkelEysyA2Oz28waQJKSaBORcwqR4jnyLGuU0Vkpbxoxt7CR_4mknf0MbQnpm6u2VG60Z4wnNWbOrYoBEQ_xCVCGXogKWGA10ND1gF52f0Ol1ZpPztawb6_4mClLHEq-ZKMVgcrp8nSqzxzdyrFHyetklDu8_vhLTIyzoFfIzhhVj_V18Rc148k1SFwo6_rRLITxeEDp6YHk-gmMxcpyTw-YRDTPEdY6MOMmhmXmLmStBWjwnqiOPpxCXA59IB5iq6Nx0Wu3zQdzAvLfzyJc9eCUWSr3Lv9O0ShFHefmtZIgVjOAJJZPifv3YThlAV6kIFxzwmPsNOzvapvTuQRuLDDp8ZMuMyuTxkge-tfwm1TXUOCmsq-OQ1q5O_SvSe7pouyRvPBFPGMyWJg5NLwwZliU2UD6Jb26AXgbcvJyMUVtZFtE2Sh61miVDfVhW2Y4lC7EG6LmSthklj7dvLAS9amFseBOaSocgDnyH47baMPKBBzFE3zC5cnOIm00nHh0OLcom4wr79BhriRzzceRLuYjmC_Y50YmLyI3or_UQiEiPJ6J6WWXe3xWOwANNU5SX34qURtmFJkFTLlrzffH_kVK2SqDEwqCbKT9tZPlWxKi172dT_tQoJ6sHL8OCJS94fKHlBjrfNwK5xk5GY9tyyFVL_c_xKP4I3kf9_P4sStaOO0vlH3JNXfUb20FCidqLbhWtZAOhxEDYbn4FhNR6nVr78sc1mNcInb_kSPWxRL3NPdnQEqZP0aJUZ9HDIdwsgLJr4h7l6zsAtq3tc7WbVA2IxUfITy2ACLMXDrsdw_oUh93vcilPORprj-Kzq6mORaR7OSavgSffUkaUAWiR_EZomrnjC2TRz5Nng9NdOhR8d27MmQ=",
  "id": "rs_0b04b84506ec6d6e016ab4220b749887d0bcff3d82d5aed944",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right gripper is now down alongside the broad bottle body rather than its narrow neck. I’ll close it and use the settled jaw width to confirm whether the bottle is held.\"}",
  "call_id": "call_UbBXB4Cql3fw0kfp6EaJCL2v",
  "id": "fc_0b04b84506ec6d6e016ab4220c00e887d0883c2522742ee2f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UbBXB4Cql3fw0kfp6EaJCL2v",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0292, 0.9983, 0.6746, 2.0617, 0.9302, 0.4351, 0.5163, 0.3618, 0.5278]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0008 left_pitch=-0.0049 left_roll=0.0002 left_gripper=0.9983 right_x=0.4229 right_y=0.2312 right_z=0.0053 right_yaw=0.0487 right_pitch=-0.0207 right_roll=-0.0167 right_gripper=0.5278\nstate[joint_eff]: [-0.3761, -1.5385, 6.7077, 1.7656, -0.0513, -0.022, -0.0122, -0.1709, -10.1538, 4.8752, 1.8144, 0.2222, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:333fa5aa7008e22ad2dae105749c59f5aab356b2ae31d568241bf632885ff469",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1af1d8aae72601725511bd833d283a313a8d37b1115811082d62c5f5897e2e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26723ca10fdded1016f9ed75fd93217b5a60a44610a3a5713a79ac0804477d69",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0227, -0.0292, 0.9983, 0.6083, 2.0739, 1.1084, 0.4171, 0.4923, 0.3164, 0.0137]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.0038 left_roll=-0.0 left_gripper=0.9983 right_x=0.4796 right_y=0.2366 right_z=0.0584 right_yaw=0.023 right_pitch=0.0934 right_roll=0.04 right_gripper=0.0137\nstate[joint_eff]: [-0.3761, -1.5111, 6.8581, 1.8486, -0.0415, -0.0464, -0.0122, -0.8274, -8.3214, 5.3538, 1.0232, 0.022, 0.1832, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.6746, 2.0502, 0.9806, 0.3309, 0.519, 0.3687, 0.9955]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.4253 right_y=0.2326 right_z=0.0099 right_yaw=0.042 right_pitch=-0.0538 right_roll=-0.0374 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.5658, 6.6393, 1.8193, -0.0366, -0.0269, -0.0122, -0.212, -9.5385, 5.012, 1.8095, 0.2125, -0.0464, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0292, 0.9983, 0.6746, 2.0617, 0.9302, 0.4351, 0.5163, 0.3618, 0.5278]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0008 left_pitch=-0.0049 left_roll=0.0002 left_gripper=0.9983 right_x=0.4229 right_y=0.2312 right_z=0.0053 right_yaw=0.0487 right_pitch=-0.0207 right_roll=-0.0167 right_gripper=0.5278\nstate[joint_eff]: [-0.3761, -1.5385, 6.7077, 1.7656, -0.0513, -0.022, -0.0122, -0.1709, -10.1538, 4.8752, 1.8144, 0.2222, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:333fa5aa7008e22ad2dae105749c59f5aab356b2ae31d568241bf632885ff469",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1af1d8aae72601725511bd833d283a313a8d37b1115811082d62c5f5897e2e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26723ca10fdded1016f9ed75fd93217b5a60a44610a3a5713a79ac0804477d69",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIPvYPwwGYZZNlX60wVDVFrabY-7pgoKom_wUw4mRR0Raop9OKNLbT_vVzYoOXnjQyh53--lEGl_7kO02mtLBGO2H2jR4UAdF1ANU9Z9aCWoZEn--OnRjx184saM9Zz1aVxpzJh_4PkDWnkohPpACiyZDzRJmu7badeS0E1uMDFoqZWQUQpSHQvmPGbea50WvL-cKE0hXVdNE077Kt8CiBjcQEJy1yXEyz3RihQt4Gm-RKWXqnQJqhq33BTMnR8oJkivM-USOsVqgFH50eE3wvPR-snrxG4Ys_R1Gqyfj2s13eHvPjcRo4Afx5E2Y18RoagVk2q8V6sOz26rQN1Fne-OoO7lFdOrTU_328ZuozD_0pcaywwVF3aRih6cugmsqHxW8LPpMDHPLdAMCpUpaWJDDpkZHSEkENcMOcouswzUW74-ldVNDUiQ7n-oMBxDQ8dY6NdJ5e0vfcM-Fi0izmmbhAnRZsc_bEGv-gTKqXQL4xPVHvk83RyH4iy5IoeZcZEZEVExnrzWsaAoWxNvGmjxCteOiGsen0y6_Y778K3rzGbGNZeCWRt9KA5qUT7IBwu1kZQKS-3xbk2wPxndzHTMPVH8C0DJoG_pQ-W_FLtJRRr6zhR5NYAkE1G8ZRPc2gW8jg1yON8YJ2adkJ4zx9K2O-utXEGBKa8URwVU7BrqIrGYIPvpK0YaK8WUJ-bcSkf9XLvAl8M9qnYeYavIQZDb5rXqH3uBuqx-yzf3YijZ9jPkJ5quGCfsVODPiBaj3-RNZiOV3BfmMMZZA7Ni6SJR-eEcUFXacVEciCNXNssqI9KcemeGoEP4_pzeCv7bhmWcuonkTpi3wP0f8rjCoFu4zCOTNqXBV150He8qe6Kt-0tqPpart0NWOqYKm59twV8Wa9XtO6uIIk1OXcIrAv3kRXYG4Ex20Y2aKyHQt88HptvJUi9yNQ7sZ0UmxiuAuNbP2-_4OntDFreehU9DM1eQdtooCXx4EwAukXKvDpLk7Ra9OdXJXwYnp6RICaaqfJxw8fpS3NPDkaFQylrO3MZDMYgQRrVExWKP_yHuwtCS5TNn11Slibnm0olBiqd3sfYMTIj2VdLABxTEkT7Iq-67QDfhsenSP9dVo-gDbT1Bu_ewzjXEPglc5y13TMLg-sA3AsqBe3BfzvR8cDqxpkT1JA8oHFf0-qc_u6LKsJnW77Keb8uo1gFM0CX9gz9_Oih8JBFuvNKpHR3kP8Ymcb5Pw==",
  "id": "rs_0b04b84506ec6d6e016ab4220ea79887d08746353e60b3bdc2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.07},\"note\":\"The right jaws remain about five centimeters apart after closing, consistent with holding the bottle’s body. I’ll lift a few centimeters and verify that the bottle follows before trying to stand it up.\"}",
  "call_id": "call_sUOeRZNnPpfNhRKyKF5WdGUz",
  "id": "fc_0b04b84506ec6d6e016ab4220ee95087d0ab3ad595ee39ad74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sUOeRZNnPpfNhRKyKF5WdGUz",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0292, 0.9983, 0.6746, 1.9499, 0.931, 0.2173, 0.4866, 0.3618, 0.5271]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0008 left_pitch=-0.0049 left_roll=0.0002 left_gripper=0.9983 right_x=0.4044 right_y=0.2223 right_z=0.0177 right_yaw=0.0674 right_pitch=-0.1183 right_roll=-0.0611 right_gripper=0.5271\nstate[joint_eff]: [-0.1026, -1.4154, 6.7077, 1.79, -0.0122, -0.0611, -0.0122, -0.2393, -13.6821, 9.6205, 2.4151, 0.4957, -0.0366, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68353f98023c38075b7ffcfa1da79f6ae37fa8dc91469140aceec4f2fec66ae5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b8bedf67afac360631c930cf7ed3b93862e72a06b748e3052f99b7c9eab9933",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53036cd4036c0dd1bc36e0ff617ff3bb09da73d240f4dd3752820ea6f553160c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0292, 0.9983, 0.675, 1.9003, 1.0824, 0.1104, 0.5198, 0.3702, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0008 left_pitch=-0.0049 left_roll=0.0002 left_gripper=0.9983 right_x=0.4325 right_y=0.2384 right_z=0.079 right_yaw=0.0417 right_pitch=-0.0282 right_roll=-0.0181 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.4838, 6.7214, 1.8046, -0.0513, -0.0024, -0.0122, 0.7316, -12.0547, 6.1333, 1.6337, 0.3297, 0.1001, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0292, 0.9983, 0.6746, 2.0617, 0.9302, 0.4351, 0.5163, 0.3618, 0.5278]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0008 left_pitch=-0.0049 left_roll=0.0002 left_gripper=0.9983 right_x=0.4229 right_y=0.2312 right_z=0.0053 right_yaw=0.0487 right_pitch=-0.0207 right_roll=-0.0167 right_gripper=0.5278\nstate[joint_eff]: [-0.3761, -1.5385, 6.7077, 1.7656, -0.0513, -0.022, -0.0122, -0.1709, -10.1538, 4.8752, 1.8144, 0.2222, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0292, 0.9983, 0.6746, 1.9499, 0.931, 0.2173, 0.4866, 0.3618, 0.5271]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0008 left_pitch=-0.0049 left_roll=0.0002 left_gripper=0.9983 right_x=0.4044 right_y=0.2223 right_z=0.0177 right_yaw=0.0674 right_pitch=-0.1183 right_roll=-0.0611 right_gripper=0.5271\nstate[joint_eff]: [-0.1026, -1.4154, 6.7077, 1.79, -0.0122, -0.0611, -0.0122, -0.2393, -13.6821, 9.6205, 2.4151, 0.4957, -0.0366, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68353f98023c38075b7ffcfa1da79f6ae37fa8dc91469140aceec4f2fec66ae5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b8bedf67afac360631c930cf7ed3b93862e72a06b748e3052f99b7c9eab9933",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53036cd4036c0dd1bc36e0ff617ff3bb09da73d240f4dd3752820ea6f553160c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCITAAnjWdRpzIQFdlJEOw6WkR3OusigbQqloIRmdzmZ4QdrGbqeQ3hG-pjBB_opj0K7VjPMCLoDVLZupqq57EqsXvuKts8pczCp4gk3_30fRdcdAarvRE-yFgL5SCCseyww8h0FqHIpVtcJ7DRgc7i0hE_jlbRVYwCqmS6d9YuW2XzLsCS4YHyD1YtBk2E7LWnv-MJbsHgpheu8HOst7JhWoe8Qa3G5kwvAmRW6VRDRainCqPja-LTnnxK3uTR7-alcNVw5MM_O48ILasDm6b4J2eWa3UoQK7_O_vuJPvMBtK9aDeVNyLELYPTNyaq_J7kJc3EWtL6D9mUfX9JVuCkNku59PPVOIO0R-USPuBL9RoS-sMInAX3zd5Wbkwn7V4f7GC2dACLzyz84zjbKBhYdJzh7HjBo5h8oKHIOH4buLpoINDVWRx2Qvvwmz5zVo8WJF7o_7lEvLPIuu50y1ncP1w1ztYvNJrt_WSz64ma-vPiS7F3g6jIjfY1JXXB-vWp3FaEwLOISwuvmaRnYROx6Gn4qQTFNusYwLjNSIzmbjPhMcVhPMxd8N4AHqtc8gAr6I5PVCeCv3U12U6LjC63GcqXUzbDJhaYuXm83CSjSNsyd0nKWSFL43-fTA7D_OVOHYGUvM0sHrtGvskgQr8COfzEdmIf57NYBphwie5WaMmydcOoSPb5zxvfx6Q1IRBnZTx_mdnudfMA7W_xPxRlO2U5B6fP6SHUfDnTbBfh59NIg_9dbOiDTvPGY5cGCIxmTBZ0N8izq5rbW_qXa1_0ODIQl64R5r-Y8uCEzlBqDoFVEBfh1XjPnf5EiR_4I28oNYqi0sKdBtnx5lUdIyH1jYyA3-0jzKh0zx6aFHNFxBPvO02sFtMtkkMEzHH9vs6oN0NiGlldexiidgfXM5wnk4o03NNLQBrhONCGBVysAfKifQZE7i5z3_pYwMu34HMOqwRr_9kjQqpQYNGnlGRuwJQfVF9F2cqgRoqPfKbdtW9hDJAgUK2pLUDgE_cfxYGz5Z3t7fQwaxoyMEiiyzC_dQQBqXFluo3BAWb65UwLE6l7bpOrzMS6y5KMQBbHwgX097rx3bfhkLQcGBn8z1FzQgjQsu2xYgGtIYJ_BGlrTYSzaDTAlRWt6ZvsaKuxLM2y3QJaHX8SGJM0tueoPCdFyPw7wEr89GHoLARkHPBtzeI8VTfkv0p8y46fvkNhKgZtl6HM8qW9AW3O54mcbQnyUy4UaMiCefbgek3HVwgPgW5bukGP1MUt8yGBtIFiashW3iKpGpAwO2PHpc7YdK-UTuhrjIfQ2a6z142WJgTTj3dQx6yKFmWrXP6R1_aVQtMbA_DuuDEbaO_OxOzv1nj2vndZcSJmmZ4HqSccmCAh7S9naYm7TrCBXvLSX0iPY4ttxANdTCWRdLtZ6DG7ota0Xv-r7IsDc9IVFrGfyRSeKrRATUEHOsdoMRosVhVMxbmQsZMDmcEDuUren9OfMd7F2X2xS3P2Vh1lX2LEMDUfCI8Hm8IzR6WxrwKoITwlwwhYjGxo7Yurv1ICWd0fkyeHihI3ZL1ULXifBjyLG0i-qlG2zX3Mu0CUzo-MROJz_PW_y1RfSVgUXl6W2BRuiDvVRECMvNeY5cXMhlEQbV4xVXVKvYZhSXL6mHy7NzgEIWHNF2sg1-xZnv8XfssZ768xFZy3zrbRb24g0H_U3WOw0o8IIqKDZggk8ghx_7mEhHArt2We9VDUBQtdWLHq0ddU4j-QgvIhK3NhtzmI5K_cjYt_R9gmP5ru7NwdRAcCMuMqX_7heFUxZtZgEvZ9qCHVzRQ12m661vl1IdsPblSdUOq4dWhuC_9wy9-dcQ2rfA8EfJIo6mWeg1FBhdKZNF_qHe-3jhcE6qIAjQEir8ibgqGg=",
  "id": "rs_0b04b84506ec6d6e016ab42211642087d0bab5d3aad5ecee03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_z\":0.13},\"note\":\"The grasp stayed closed, but the first lift barely rose; the bottle appears to be dragging against the tabletop. I’ll lift while moving toward its base, which should let the far end pivot upward rather than trying to raise the whole bottle flat.\"}",
  "call_id": "call_GZVRMOdlNp1MMt0hdTARwoVc",
  "id": "fc_0b04b84506ec6d6e016ab42212ead087d09eb0e5303233ea79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GZVRMOdlNp1MMt0hdTARwoVc",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0296, 0.9983, 0.7425, 1.6585, 0.8406, -0.057, 0.4957, 0.3859, 0.5271]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0011 left_pitch=-0.0049 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3484 right_y=0.2105 right_z=0.0643 right_yaw=0.1091 right_pitch=-0.1729 right_roll=-0.0914 right_gripper=0.5271\nstate[joint_eff]: [-0.1983, -1.1419, 6.6256, 1.8339, -0.0317, -0.0806, -0.0122, 0.6222, -11.7949, 11.453, 2.5275, 0.8474, 0.1734, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0084210aa3bbbb9b9d9f3d011988e912c4964830dd1c1e1743002c7e875a0062",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99873495e813479c88047d5111972d624533d9d0c2dbaf10561b1a8193fdc983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c81e86081b7dd428a0bcbabf30f6ab5022e1758e93be87f8ef480e5782a28c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.6746, 2.0502, 0.9806, 0.3309, 0.519, 0.3687, 0.9955]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.4253 right_y=0.2326 right_z=0.0099 right_yaw=0.042 right_pitch=-0.0538 right_roll=-0.0374 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.5658, 6.6393, 1.8193, -0.0366, -0.0269, -0.0122, -0.212, -9.5385, 5.012, 1.8095, 0.2125, -0.0464, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0292, 0.9983, 0.6746, 1.9499, 0.931, 0.2173, 0.4866, 0.3618, 0.5271]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0008 left_pitch=-0.0049 left_roll=0.0002 left_gripper=0.9983 right_x=0.4044 right_y=0.2223 right_z=0.0177 right_yaw=0.0674 right_pitch=-0.1183 right_roll=-0.0611 right_gripper=0.5271\nstate[joint_eff]: [-0.1026, -1.4154, 6.7077, 1.79, -0.0122, -0.0611, -0.0122, -0.2393, -13.6821, 9.6205, 2.4151, 0.4957, -0.0366, 1.0281]\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]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0296, 0.9983, 0.7425, 1.6585, 0.8406, -0.057, 0.4957, 0.3859, 0.5271]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0011 left_pitch=-0.0049 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3484 right_y=0.2105 right_z=0.0643 right_yaw=0.1091 right_pitch=-0.1729 right_roll=-0.0914 right_gripper=0.5271\nstate[joint_eff]: [-0.1983, -1.1419, 6.6256, 1.8339, -0.0317, -0.0806, -0.0122, 0.6222, -11.7949, 11.453, 2.5275, 0.8474, 0.1734, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0084210aa3bbbb9b9d9f3d011988e912c4964830dd1c1e1743002c7e875a0062",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99873495e813479c88047d5111972d624533d9d0c2dbaf10561b1a8193fdc983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c81e86081b7dd428a0bcbabf30f6ab5022e1758e93be87f8ef480e5782a28c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIXSdJPWzTdm8rr4volvQMouoR1fpwusOsrD056bfmFfhf_9ruh1o-Zq9PkcRtG9LU9DQy9orCvvEfxKRvondAFwMq5Nzj6oDjuZGp8Ffs8nkYsw0terF-8ElN_kCwQvfqVta5mGa_RC8R20VkPSsbTf_tYmmQklrqQtRcQiDIkKonNWGTzpJPkzQojHG2SadIacF1pUrQkklrXqVNzuPpldTofErfy2lh27Km8nyYBS_3gLQMExxO7fUne2woJQO7sN8JJsGbHwENnuHBEpgMY1VsspVvLYoaMfz3d_GQbgJ8KXZY0MJMjZhFGqP37QjntSwgW4X2LRH4Y3UWHaEzxFTIdjWP22Hcj7pN9uqnpv7lS9ErBMz0QMZLZ4Dr3svOboTRm0VNldUcjH9oqz9RokRzfYV8HulgHQ_mtRjvtRX9pcBOnN2acob-Rmf9uSHRZXWbo04WlOcXQKg4VmH-uQYtXZR2zi6pxHFLCq1u490yjwxMzrgJXphpeWW_jNATznjOqymtpR5ugKykIfsNsY3Pol3hsBrdqn1TDULOuc86oZsSHIHx1ID6Tdltqn_tf_IV9QOuSI3qQXiF2NblNwTSi0VXmsc8mk6584KWj06-PtIv9ZWXHj5vhYJlA88JX2aajAA1iAsQjKArn5sUalft0SGuOiC6o0j73ynIXHJnYNs39uxPtqgu_an5JapsGnIUzXKc3oBgqnRUuTMyTQNaBuwrhhTL3Jo3G8NNozHW8aqJn5Y23EPDuRejQXB71JUv9JQDbsPX5UnuXWjeyKwPWktYzRTi86iOQBvXPT_AwAYvL0EHsaBiPd5T7G983Sy0A971fPssw-Athya_4swZFjedodVeAzqUsi365j5blBXTpDz7_8ChNBRsI3nTYm_Sdf5gjRFHVmA4TZB5S5j9Qiwgl20OiSDr2xRy011ADCR2z04e4FdwcObMPPjBKNuaaZ4II0ZFaqKcZFrRUQznk66u1u0nVpnEC6cYe2FfBq3-NgoukBv0PiXq6kttoLr5yD5krBXgtI0sGjbushC4qh_51hoxndwgQ2rpXDCXaeuCmIt0WvFfNbQK1yq_gpEkcOD6bS8tkCzh0RldBlidQQw8VD9RWBmJsV81MX_sZeu_zmxBQkQg9RK95I6Vb9DNFdGk5BK4JzLuaTSomV_aU5bJOEbhjKHjL7W4MOAVkSEl0C0sabX8rPZnK8nM3L2GJEtH7KL7ZFuat3qPzlI-bKSbyIki30RMzqZZtAFkpCG2M8egtMLVsH0WN417jQTqgaBIz3_IkyspFUsMXDVeQ6nDMQ-zJGItpz86f56lKp9g3aFdf3cXiM57KPEjWcUdOOe1-nJ9WR_riGqZ-Ha7LlS54H7UUZr1ayyFQTDnuF8ZEqXPVBpEnTMRjTloHC7dUBNWDKikN_jZioVOpaB_iCy7wjQpiWvaFVlwVIl9AAH6eZaoIF88Diqw2kUgqcQdQtE7NxK6GfveVxXGlzqRJGSOIy28Hxxm7kQngQf0pC7GJJK1jlV5sqzapOgSPJGu9Ijp_mmPDYddniPnj6errmB5bZ7cbOJMZHMAmRfGthAcxFUlEO5kIMfgk7yoENrioESkk1ondOrm7qjrGcfBx42Deadagon_W6_jqFGTRwwldhe51qtddyqGGaKBK18VAJgy7Cg26uqh0LCDsq-HmifADYx5hjdX_qdR94wir4yvT4Lch9BP7UZbzaIWF59r5C6e7jPeo0Dc6Mhvgt2aF3Wdz-2XBlEHh5IT5uBmIe6sytL_QWEUWVeBtffPRW2FfJznKiDt6zsUp3MNpUE4_6MzIWZLDFoXQ7UiNhthzIqvH_-TXskS9XK_GF7x81J8mYF8YPNgbOSeebvxB4mqT6fMshdF3Zd38-eC3Zei-ZJBSBAjH1a037HUi9NMJmt0Wr3UnzwT5twSHu7WBUUT-45qX1mE-igSJ3OctEOVceW2yQ_7byR9vyKEDbp5QpGTqoGE0taY7N9UVZXGghgJP-k7InjUt_ey6m88yAYEUHuFb2aBuEaegPxWh8_kU5ijgUrDe4LpSOtvoliiXJjUc5a37FkWWzMN1sk5ooYCvuDpAxNon6IllttqPjRunhIxtuL4ZZpuMZLgPXtSvGttZ2qnOtHwfeuvD9-BlO_V9Lq7yK9q_9oVynqi3KELMOqNfCB8HBPZAusZl_pVMqkTuAaQrkt6TyMDnOBrAGO9ksWepHmwlwIMytErUfuqSFTuXvIIYAdkWGoYKWK-r3e989srW1PiONJ2h2t0scyI=",
  "id": "rs_0b04b84506ec6d6e016ab42215781087d0a4e45bf1a60c8745",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_z\":0.23},\"note\":\"The right bottle has begun moving with the gripper, but it has not yet risen upright. I’ll continue raising the held body while bringing it toward the bottle’s base so the base can act as the pivot.\"}",
  "call_id": "call_OppDhJbZ2zIRBsW8jJZu70eA",
  "id": "fc_0b04b84506ec6d6e016ab422173e7887d09e93e29a08c94ff2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OppDhJbZ2zIRBsW8jJZu70eA",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.379, -0.0231, -0.0292, 0.9983, 0.8257, 1.3804, 1.0008, -0.5304, 0.5053, 0.4004, 0.5289]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1828 left_yaw=0.0008 left_pitch=-0.0053 left_roll=0.0002 left_gripper=0.9983 right_x=0.3028 right_y=0.2074 right_z=0.1589 right_yaw=0.1733 right_pitch=-0.1958 right_roll=-0.1081 right_gripper=0.5289\nstate[joint_eff]: [-0.3897, -1.6068, 6.8444, 1.7753, -0.022, -0.0757, -0.0171, 0.6906, -10.2496, 12.4513, 2.5177, 0.906, 0.3053, 0.7888]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f244b1b1550520191f79a50d4030877c8320ae6f68249e8a7185ff5c259b92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df65aaf73e54f7012dc60327a29137b54aa522f5195befca291ea4663914e5ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7bf71158b84cf9061ab98498b858c2de6f9e141fb79820ccaddcfcffade6e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0292, 0.9983, 0.6746, 2.0617, 0.9302, 0.4351, 0.5163, 0.3618, 0.5278]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0008 left_pitch=-0.0049 left_roll=0.0002 left_gripper=0.9983 right_x=0.4229 right_y=0.2312 right_z=0.0053 right_yaw=0.0487 right_pitch=-0.0207 right_roll=-0.0167 right_gripper=0.5278\nstate[joint_eff]: [-0.3761, -1.5385, 6.7077, 1.7656, -0.0513, -0.022, -0.0122, -0.1709, -10.1538, 4.8752, 1.8144, 0.2222, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0296, 0.9983, 0.7425, 1.6585, 0.8406, -0.057, 0.4957, 0.3859, 0.5271]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0011 left_pitch=-0.0049 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3484 right_y=0.2105 right_z=0.0643 right_yaw=0.1091 right_pitch=-0.1729 right_roll=-0.0914 right_gripper=0.5271\nstate[joint_eff]: [-0.1983, -1.1419, 6.6256, 1.8339, -0.0317, -0.0806, -0.0122, 0.6222, -11.7949, 11.453, 2.5275, 0.8474, 0.1734, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.379, -0.0231, -0.0292, 0.9983, 0.8257, 1.3804, 1.0008, -0.5304, 0.5053, 0.4004, 0.5289]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1828 left_yaw=0.0008 left_pitch=-0.0053 left_roll=0.0002 left_gripper=0.9983 right_x=0.3028 right_y=0.2074 right_z=0.1589 right_yaw=0.1733 right_pitch=-0.1958 right_roll=-0.1081 right_gripper=0.5289\nstate[joint_eff]: [-0.3897, -1.6068, 6.8444, 1.7753, -0.022, -0.0757, -0.0171, 0.6906, -10.2496, 12.4513, 2.5177, 0.906, 0.3053, 0.7888]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f244b1b1550520191f79a50d4030877c8320ae6f68249e8a7185ff5c259b92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df65aaf73e54f7012dc60327a29137b54aa522f5195befca291ea4663914e5ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7bf71158b84cf9061ab98498b858c2de6f9e141fb79820ccaddcfcffade6e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIe_JUA3Q3u0x5HBUgSdSdKmQfeDlgGzUN7fxC3PgweCEqOcgP62mU9NKwIsbKmLiAlevxIBJc0WFiQ1hSh9drV19O4RC3_kFkgvs8-r59hRLNzwhRhySOu3VklrvMv_T9EuKS45mMbjFBz-dcV9Nttk7SO1vMGPoo0mQV2V_ggmmOiFe67sbSXZOb-fK3NvgC0DbNgaM0JM72Z1ChPX-ssUbT6Sr2VojNmloPiPz0Io0zVNNc71kk1wQTf5N-XID3mYmEJ9C1ZvaOVrPn0NPr_EOycQecJuXunA7J4LoNSu8lMeUxbcXNYL8yLw6-vAYiDXhmHyDRE8MBity57maiaBssZ8oXsjYlsRss4RbbDJKkI6XC52YGsXJdBoT_hiI_-OWELYhC6i92nbRoCc_IzI3ZVvW4CX5k7GZv5NFi-HQq0bN_bXZyfVAHl3IUJbqLQZ5Dz5ZcXqdb7PZENeM8frr8bMKV-aJvUsEwXknzC6A2KmdrMub58tYxLqdkWif3oaRszQdjhPbgjEYCD8epmPnMu07ZTwIQqESND_KtMH-6mYm4iOxhl4bqdWDpJ4kUw38qA9CfKFMZ3A49uaGZE8C4F97vLuAw-JGnymLP7XLIySAKRgrFsDbTgMjikKTlVQgfn1o0NkRddesFtWOvSg6BBvSEhZEiQFIhlhg73F99YEF2Q6Ta69ev5LJziNrXdg7TzC4roan69YcJ-QHFG7edATO8Tzh53-GrO98cG6j9PC41YR6YW0aYnYfXXmk3pezdNnZY16zisSHUQSa6B4dcSG27UJFPkYVDZVdYTEAlcf9oD4-66eQFx3t9hItPWJO41WymgFnS914fT1vUdilDPLBhrS1aV3KyQXKlZKwoIxg9Axo9i6YbgJlcD5R08SrDzYt-XTh0YXRto-xYwvByJ_oJ1pv23I3kxSCoi_EN0jzGF_1jxSOh-142a_Jiqk6jXBZVKKMtsb4-F5Ikq8P5C-ktVK6QzFOriQ0hY8e0oKwUeGkP74Cquq0L1di0daQLVUWNbESx3hQI3JODlj1_-Kh66NnaBGkl2JJi0dTf0ca_p7AtzEYWXFwEkomOdSBs6o1KAbZLqCS5vf47R11QZvLibmiS4NVCZkeo0Nz1GfkURerUJ9J1dzu4skF4F1GHK62mnYMrQ-KM_2mQ5owbycIkHJKgMH4S_8wVdD22t38nyrhbtmZdtjNllGb72TDzxo1v8XV19-PkxbcLhWp6ZT1ND4SytmJoKZkrtDxqUeZYh-GauyNqnuD1H_81BxiR1Me0doJL0zm5mQaCbF_mAY3LE28tomSJFekcyZ9tYHS62cHOMQT2QRWvgFkcdA3wFxq_lh5wCBWg5JWXxeS8BezCOt_lC2oOK3bOPG-Ve9sp0VNXqdOXtahtHEbKJI1xDUZnHdShY2uFaIhLz6SipLynw07uAWBPsKDPhNmsKExxBjSvHWU1TiY3jXJyLEKCWtjFvMqD9E1pcjZWiO8fFplzmVr4SWN_WTlhVRWvTtQbOUC3c3Zin7toNv36IShzZqCcxCjDUtP6e-6ClIiRXv76ka4MfZXxe-F0gaUkY_bbJljBbbmF0t0Weeax051iUon5PgKsORTiw5_Y0yhGGwgsIlgSo_Y6GnmN-b8YlX22qi73B2SKjxawqCK-r17AT6GcxkEyMLn3NR66mWqcR5_jYR2zqm_Aa_OJ699_TXHC16bEy3XP1eLRwnWVVwJBw17QftgK1uuU0v-o8lgdwLohw4r_6Ec_zmDSYYx8IIQq8JKW4YDQRukLVUsJrCo2j6pxlpc6SSQd8u24HJjXAs2C3QrUmRi_RFZ0zcL17jqboATAlSC-wne7slUJoPYzYqRfCgJzycVM_24Qb9YgvIv7CuwLRgSVTvcDqFM7wmAgCq033zCVk4Wn9_Gca4C0RSNVn7qqYCNKnT2yuz4-TcmJ5RZraAAiKYVRfO1Y39-epkfS6bz-8iHciyWAzWMybfNa7wvASLs80-lepvyY0QONe1qrr1k1JVUfVB7q2XsDVCPjPBlNuNw8afdFwaLnJZOc_CM_0j8FzXpk7wfHXBR2YzEluhyFQUETzf3uwcxoN2lfGfnnHnaq6LvCOUFG0tTKKXZBlYgulXL2_0RZx_gj7ah4_lsCHcNZ-NJUVALkofWJq8mzrn0199VtV9kUZr9AXGhBB1AyWbfwYeNDMON-WMeOQ4uamQU9dOizmwxKocS0I3VZnp6JOm3HGaBtJlpZqz6UnMK637IOGGiHKmxMnnPhG5cuofxrRaJKikSl-KICzhlUg-pwf9GPqgP6OkPBYxr06oTQpE5v4KHaAA4rim-Hs8ZnUGwfhTSRBgsIZZQO-Uj6v5oxmfh0smeJJwd0FcLcu0K3EQ5kwWQ8J8LjguYN7yYR871VVuWihLhyXEPnUFYmQcjJe9DwtXx2phDdVM8tY86Z6lmWiU_YQU7Z5v50zQsKa0yfDzbowvOG0uyVTZyydQiL0XQL2GpZLm9UIxHhVFhxxXbtIgasXO53hJTtCU-n8Dsc3LLrCW1I7jmYfxUTWB-AU5sg6HHPiDrLpWDRfpdQvbe7VLmHQXG9KTZCJEh2vweK1C48ZZcF2sPrCyjmtPmqLICWD-7JGIZ51er2UV-zeGdd7IruIZZp0axjsND1xK33NMQGeg0Pda55dUqr0tsW1f2a-nRzjT8gkMwiCCXPTo7_k3KXfLgX2mOpbtCJ6agMtfg9cJ3lJwt1qq4Uxz9LKjPT4KKnOrFQpQgXuPJtNJImy16uf0xtXNJjsyZjQuUfwpdqIasOKz9x0N0_s0huojSuABsyTMeNnnCo1x8JMEfu8CdLLaQjNTuZJx9_enkuBkGapgfXDgRJlzedakJfl91I06Fym6t8n1N5zRwhYRE9fYGT1fnfay0cEhSzeYJR-XOPnFkVFXHWFBNh375wKafeewlSS4o7oC_jEkc_1EnnUJ_cm5Er2gGVZXJZcviyxooY1rkviH28QJ18y7cqS3cfyxQnyNQi3Gtsn11KeeayToeH0Ehas6rt9Ti2quQx7fSPWK9lPa2zWRXW3P6P2UXsty_COIh1Ni1qVvxKidbzpeo30xhWQT7B7EVPE2qZt3iwvkuK2lMYtN5HJCq7A6X_V",
  "id": "rs_0b04b84506ec6d6e016ab4221a1c4887d0b070c1c9a01f5d97",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_z\":0.025},\"note\":\"The cap end has stayed in place while the gripper raised the wide end, so I’m lifting the wrong end for an upright stand. I’ll put this bottle back down and regrasp nearer its cap.\"}",
  "call_id": "call_W4KCQZLcycY3aoQmJozqPRMi",
  "id": "fc_0b04b84506ec6d6e016ab4221d960887d0b8cde2b535c96b6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W4KCQZLcycY3aoQmJozqPRMi",
  "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]: [-0.02, 0.8021, 0.614, -0.3798, -0.0231, -0.0292, 0.9983, 0.6086, 1.8809, 0.7261, 0.4229, 0.3622, 0.2337, 0.5306]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9983 right_x=0.3862 right_y=0.1972 right_z=0.0065 right_yaw=0.1731 right_pitch=-0.1047 right_roll=-0.051 right_gripper=0.5306\nstate[joint_eff]: [-0.3214, -1.6342, 6.612, 1.7753, -0.0708, -0.0611, -0.0171, -0.6769, -8.253, 6.5162, 1.4823, 0.0611, 0.2027, 0.8083]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c76a2d747d2fa00e50619b2cda7af642b2408a9e00cfc383e0e282797e2a522",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0bcc81cecc3036ff876889e8026273e9b73fe7320ce97e6ddfbe0eb6af86fd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0a428865c791683d67654765ea936f8e2e930157f02e0ea06ea1032fa3c37e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0292, 0.9983, 0.6746, 1.9499, 0.931, 0.2173, 0.4866, 0.3618, 0.5271]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0008 left_pitch=-0.0049 left_roll=0.0002 left_gripper=0.9983 right_x=0.4044 right_y=0.2223 right_z=0.0177 right_yaw=0.0674 right_pitch=-0.1183 right_roll=-0.0611 right_gripper=0.5271\nstate[joint_eff]: [-0.1026, -1.4154, 6.7077, 1.79, -0.0122, -0.0611, -0.0122, -0.2393, -13.6821, 9.6205, 2.4151, 0.4957, -0.0366, 1.0281]\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]: [-0.02, 0.8013, 0.614, -0.379, -0.0231, -0.0292, 0.9983, 0.8257, 1.3804, 1.0008, -0.5304, 0.5053, 0.4004, 0.5289]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1828 left_yaw=0.0008 left_pitch=-0.0053 left_roll=0.0002 left_gripper=0.9983 right_x=0.3028 right_y=0.2074 right_z=0.1589 right_yaw=0.1733 right_pitch=-0.1958 right_roll=-0.1081 right_gripper=0.5289\nstate[joint_eff]: [-0.3897, -1.6068, 6.8444, 1.7753, -0.022, -0.0757, -0.0171, 0.6906, -10.2496, 12.4513, 2.5177, 0.906, 0.3053, 0.7888]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3798, -0.0231, -0.0292, 0.9983, 0.6086, 1.8809, 0.7261, 0.4229, 0.3622, 0.2337, 0.5306]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9983 right_x=0.3862 right_y=0.1972 right_z=0.0065 right_yaw=0.1731 right_pitch=-0.1047 right_roll=-0.051 right_gripper=0.5306\nstate[joint_eff]: [-0.3214, -1.6342, 6.612, 1.7753, -0.0708, -0.0611, -0.0171, -0.6769, -8.253, 6.5162, 1.4823, 0.0611, 0.2027, 0.8083]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c76a2d747d2fa00e50619b2cda7af642b2408a9e00cfc383e0e282797e2a522",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0bcc81cecc3036ff876889e8026273e9b73fe7320ce97e6ddfbe0eb6af86fd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0a428865c791683d67654765ea936f8e2e930157f02e0ea06ea1032fa3c37e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIhyXyFS5POWzC895gjjCnJNabFnPuMUxNNOHQ4xZ-sF0n7-ng8eR3h9IoQN1bgjXgGuxpJ9Pm_dLkbycCpo1W-sGOE2MoSvGgwh-HQC0Jte1d2iybQZNtXYcSrdmOWvwTZgt9wgHqjhrfpR32khPxkZu7j1HvwyjltxyLE64MRC-rzpUbiccqtMM-KDblr8jruDzF2b-A7Fla6pS7AbYI6CdmZvwqT6cCVxFc4kRAHBaRAnWM2_o-dkXhJzZz0WrAPAgK1yeUu5cLfgs5dlqn_lAs8Pik8ThKbkxfBYZbHHCx84EtMfJoNFniwd6zKokvRxk72aSM-Zip4PUgvKNne14d4vlzv4lgCDUZd19OGLAFYzZ2qhxBEnK-NO9NELBo9cL5Z5nF9MU6QwQHrkWMQPP6wO2-ikQCR4ylBy99EK6L4icY55qHuKrZ2KU8KhZJKEh7UAceq4xMv1pbN044EH3LWt0lM2PIydfY8-xv10iprvy_1Qudk2-HFEiuGMFHtFLUyiRZC2QOYT8zqOsxIY1gNE7ImhKMoQP56wBpuD7HdxFxD5_F2g3HoOgT95ebtnk_OTtUtXUg4j58pVsGHynvNNJ07BojUjZSEpNn8f6YrXKRpgDe09Kzevh9fvhXLyXsKo6mQxaPPlu0omItjU4rd4m_DdV8RLkC5F37EcGg4DBPNYM0numbNTD_F-XrfMLFPPrweQcbX5gxgHMJAMU-LDuttUcA2mqo2fciKUv6Hu7jjHyCdCed4ySHD4Jeqic-m9Od7tl70-Ms7hCvesFgcRe_zY_GeSoSOXm6fMMJsPfQNvDSisiwulHZ-6dgnocntiTr_mJ5rGsEIj3aDi7JQhu5ZPueJiv-uOeGRLK3ymzum6mNqZ6o_UTmM9Vu3Q_TWJ2yTQA5M5bLdiGioX_YfxplyA_KaXtLYBuIpaM1rqV3Aqo153J1lC0Qt-R0tbOOE1TIPZ8hjE9wb8eo2AChiXbdC_0lNj0unSHdZEQwcbsPcGsEd5U6Z7CHbqPC9rgrTOrUExrmeplq91KR2xhMl8kaz7IjVynKfBZjgmxNYO7-lZAzWtvR8uhP_eIt8bDRQJpIC6rADnVv4uNDwon-dXM9tnS4zhBqXWh9lAg2wHqmpdLGz_GtBqWwE37Kvtj0dYsFi-m53gvn_BA_GcvoiPNPgFeSdD5avdC3vavCViAag1oaITHBz8E5mMcuuzhXN43DlmO6MKnh0aMzb0u-gW-o_AlI9Mde5qM-sNFdN2lqMJQH2JO332j74X06uwfBuQPIDA541QpU3SmW0H787IfzTjGKyBtpak0_WAEtGR_GhZyM9-gaN1j2FPk7nUF_y1RYttATltCYAvtwCFEnhoF2IUzsBGslP52t_YdAyCiOVkgOUGHqAT9rnkledQNOA2DpaLYsgsM8XD823o-hnJ75qPQB5KO40oUh53RpsuOtu0S3OFzJhUZK7hN-ZSprm-eTD8SmgSsJTxFmgcE4TjHwT-vxYHxwXB1DbHAg=",
  "id": "rs_0b04b84506ec6d6e016ab4222055b887d086cb4bca2f615790",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.49,\"right_y\":0.23,\"right_z\":0.12},\"note\":\"The wide end is back on the table and the cap remains farther from the bases. I’ll release the body and move above the cap end, where a new grip can lift the correct end.\"}",
  "call_id": "call_pux6X5C5IJoXti2OQPz5ZTDo",
  "id": "fc_0b04b84506ec6d6e016ab42220f0c887d0a0114506e851af3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pux6X5C5IJoXti2OQPz5ZTDo",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.5953, 1.9102, 0.701, 0.5442, 0.3367, 0.2214, 0.997]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.3926 right_y=0.1998 right_z=0.007 right_yaw=0.1892 right_pitch=-0.0507 right_roll=-0.0183 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.6889, 6.4889, 1.7949, -0.0269, -0.0611, -0.0122, 0.0889, -9.4427, 4.9299, 1.9512, 0.2369, 0.0171, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82570ac067a8ff6c664e4e3d24fb7cab6ac10025c68a46f2ec285b5f55be82c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12d8599d7f9ce79582871310857818bceda1fbd599cbb4b76fc39148da267ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a5a3bbc03e3fe659e0186e9cf5a67a806079bc925aa864fbac9582c513aac7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.614, -0.3794, -0.0231, -0.0296, 0.9983, 0.7425, 1.6585, 0.8406, -0.057, 0.4957, 0.3859, 0.5271]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1829 left_yaw=0.0011 left_pitch=-0.0049 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3484 right_y=0.2105 right_z=0.0643 right_yaw=0.1091 right_pitch=-0.1729 right_roll=-0.0914 right_gripper=0.5271\nstate[joint_eff]: [-0.1983, -1.1419, 6.6256, 1.8339, -0.0317, -0.0806, -0.0122, 0.6222, -11.7949, 11.453, 2.5275, 0.8474, 0.1734, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3798, -0.0231, -0.0292, 0.9983, 0.6086, 1.8809, 0.7261, 0.4229, 0.3622, 0.2337, 0.5306]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9983 right_x=0.3862 right_y=0.1972 right_z=0.0065 right_yaw=0.1731 right_pitch=-0.1047 right_roll=-0.051 right_gripper=0.5306\nstate[joint_eff]: [-0.3214, -1.6342, 6.612, 1.7753, -0.0708, -0.0611, -0.0171, -0.6769, -8.253, 6.5162, 1.4823, 0.0611, 0.2027, 0.8083]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.5953, 1.9102, 0.701, 0.5442, 0.3367, 0.2214, 0.997]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.3926 right_y=0.1998 right_z=0.007 right_yaw=0.1892 right_pitch=-0.0507 right_roll=-0.0183 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.6889, 6.4889, 1.7949, -0.0269, -0.0611, -0.0122, 0.0889, -9.4427, 4.9299, 1.9512, 0.2369, 0.0171, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82570ac067a8ff6c664e4e3d24fb7cab6ac10025c68a46f2ec285b5f55be82c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12d8599d7f9ce79582871310857818bceda1fbd599cbb4b76fc39148da267ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a5a3bbc03e3fe659e0186e9cf5a67a806079bc925aa864fbac9582c513aac7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIl3Fv0OI6PMrAvm-3wVuLoya6W0lnejmktZm3BnZtxHMUj58XODTYyYTs36htUFR_s8dThYnx4Xvb-AkHDsII9dwKhvUSICYpdpqALPx6bzTzwkFm_LNd-QFX3HNPXA3x5HtN7cJe4Le15wx1RS1cfJZXRMpPOsFXQtP61hNwhfm5ASKAZrB9S2rgXXxJbw9kQhrE00e_fh2E7RUBUeNP_1MFQ5bRagXLSWxGCxjxu-woUYsYAXdOA1wxUh5qV6MsHNlV3h-DumW2uHLDmDSVsS_AHwUAf6DUuaoFVUg6xIlTB0z_dWNn3LCHKXZD75p-qmt3pBkgpL42hkpj1NnvhUK26uy7o8GzTwPETSTC4aGLhTL4jFOyO7chwHyrsos0pFCsNMxcyMPmIV6lFWE7caGnGWyEVx8YhDB61x9DjXFX2wbhLCehZwWW-R7LpzY1JTKODX4gYnGOilTh1TWl4utNM6w3e9BRHYXJNvXYArr-i23T6jBjdyYtDJIF786YkbI6FpVSe0syHjQcIGphQP_tbEorCjE1Q7OEb9SsbH82ohfn-6hxGIHhdPDOrAFyDUhu0znyS9rff1eaVCsAfOb7X9HUrtxZ5VJTFkWZVTxeTrNRcbhYB9wc-Y-9eIbvom32b12PP-mMSeKQ-nTReX643IFUBLKpkhEAS_MfmlAW7Np5Rj7-fESYXXZagynJHDFV4y0dpDjj5JapI74oaMQy2Ip-VzRs3f0ElCx8CrsFepNrqZSIlCTBB9yI4IjsdgSlvMmQ5CmblZU-WX1akCjjS_i_Tuj95oBBigG4MzKOjIsJj4bpCzOu--2foexWc5AiIsPKRRhkuNZp5hC-HlbK9fgZfMc7OYMMJmnAFQNHTKqI-NQ-CGABLvhyNVMPfef_OcHU9jhbQHrlc1pym6hsvHpGtCgr5ddsZUjwTMsoCmxwENGTj1OTz1T8qhSXFGIYwEtumbVVg1R4BsQqE9wUkXJCvnqW2VsaYAeOZcZAXUMcEgzOn8R1eF0ZPBykBqvLzwiZiQEVqlFcmBFJKmXjWf-L07tueq0RQeY2B3l8M91FH9AGZVU71kLBFSLQzbBL_gSOyk-lO8s7PROsqcWEe1CQFbfte6-B8ejkuq_D9OlVj7-0H2Tr-NBGSDJmi-rUojg_FEW6AbkUekgLOIMyCZf8prcnzpeNy0vu6y5-aqGmsfkypSKUkKxZYU0mw3h_5sv4nvPorav1827YVjUSxn96sLuQMUoh7UK8nvabVsnuhQ_HxBdPrzDREMf0gTxqI4pTaM9BTfIxO2FPa2LsKFJuZ06toYJI70XphDmO1bz_D21oIJ6ir9DeRaFp-IgeDqmk8h4CxVm8HSERaOodupnApTaBIQKN7sx9ZZPBM_YfU7bOfU6SgRANISR7eBh9prPr_Aq_P79v8sBVOV3S2dKpj7S4DLAVNUePsboBxHMMYDsT0aN-DFCmZdNefdlznY5v7gc_heJD2Z924HEZr7wiwOCraAf-DtT_4utfx8lWsBFkmXHSUhT8dKOx8u9pFpE-r0grSyo0V09aiykOhIj4tdRUI2W7WmRowClY=",
  "id": "rs_0b04b84506ec6d6e016ab42223c89487d0b03445acd9411490",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_z\":0.18},\"note\":\"The right arm did not lift clear when asked to move forward at the same time; it is still low beside the bottle. I’ll first retract slightly and raise it into free space, then approach the cap from above.\"}",
  "call_id": "call_d7yZPaNexl0Ca1jrAPSJbpuT",
  "id": "fc_0b04b84506ec6d6e016ab42224829087d0835467407e1aec30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d7yZPaNexl0Ca1jrAPSJbpuT",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.6418, 1.4555, 0.8967, -0.1089, 0.3466, 0.2268, 0.9984]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.366 right_y=0.2031 right_z=0.1491 right_yaw=0.2248 right_pitch=-0.0506 right_roll=-0.0207 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -1.4838, 6.653, 1.8974, -0.0366, -0.0562, -0.0122, -0.0479, -8.4855, 9.7436, 1.8877, 0.3834, 0.2076, 0.1392]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c731d209ee4aa1b6affd3e1d363be298cb2a1b2b9b88339a8ea789a05ea5e15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:651776fb735bb01801de3d465e0331d97f8c9ad8a15cdaed3d89759ec42e1bb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba373670ae5a625bd4e8e319f0efcd7c0651595f121cec6bf20aae0f26d1c834",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.379, -0.0231, -0.0292, 0.9983, 0.8257, 1.3804, 1.0008, -0.5304, 0.5053, 0.4004, 0.5289]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1828 left_yaw=0.0008 left_pitch=-0.0053 left_roll=0.0002 left_gripper=0.9983 right_x=0.3028 right_y=0.2074 right_z=0.1589 right_yaw=0.1733 right_pitch=-0.1958 right_roll=-0.1081 right_gripper=0.5289\nstate[joint_eff]: [-0.3897, -1.6068, 6.8444, 1.7753, -0.022, -0.0757, -0.0171, 0.6906, -10.2496, 12.4513, 2.5177, 0.906, 0.3053, 0.7888]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.5953, 1.9102, 0.701, 0.5442, 0.3367, 0.2214, 0.997]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.3926 right_y=0.1998 right_z=0.007 right_yaw=0.1892 right_pitch=-0.0507 right_roll=-0.0183 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.6889, 6.4889, 1.7949, -0.0269, -0.0611, -0.0122, 0.0889, -9.4427, 4.9299, 1.9512, 0.2369, 0.0171, -0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.6418, 1.4555, 0.8967, -0.1089, 0.3466, 0.2268, 0.9984]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.366 right_y=0.2031 right_z=0.1491 right_yaw=0.2248 right_pitch=-0.0506 right_roll=-0.0207 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -1.4838, 6.653, 1.8974, -0.0366, -0.0562, -0.0122, -0.0479, -8.4855, 9.7436, 1.8877, 0.3834, 0.2076, 0.1392]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c731d209ee4aa1b6affd3e1d363be298cb2a1b2b9b88339a8ea789a05ea5e15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:651776fb735bb01801de3d465e0331d97f8c9ad8a15cdaed3d89759ec42e1bb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba373670ae5a625bd4e8e319f0efcd7c0651595f121cec6bf20aae0f26d1c834",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIqCBV1oq0T4qyqcHRezos892ZX2W47Wdji5xSM5U-xwVA_bgDVXiKK3Jrwir-68E_G5bRXJ6FR7TEcI58_VQev9a7dCZuaf_C7FXqVMMfYHX2NvtVcaiCrxPhaT5o5TwgMIKqCAbdek0qqhmYLNjZXbA-kDq6ALZjxAnbUgAItVCM-8DXZmrWU1cF9JQ9ccafSE73AWyFWchKIRqxqfdKJLecxBw-LZ4ZOHHZSN4qoKC0P7VmsN3SzIbXTSBXMITWWjZ2mZ13GF9Kre8avVJYaf8-my2nZlhiUyD1NBDP88y_uWA1xi2U8rF6v9sZUGcFJORIwYmGgCxCyFvK5QDSgpDZ8XzD0lah_gdnYc18lPdgN9--aOwCG_tOET1Sad11mNtf_lUS7h4NUM8ukgsFEyOcUszOk03clPUQHt0YI77csnNvfD6fyIuwDycMSr_rxegRmRmDG-rkraTNSf9AF1osb37-H_R5qTROYCHpHko7iG4rcUqru3HmKvv4esF1RGjxjFx8WRcoN8cXEG0hXYFTq_2uw0VNjRhWX__OOo1vizI9rb5u1Dg4SMCT-mz4AdLX66E3LVwiw1T5oKN1aa9UeIHngxNt6I9NWX-rojg-alqn9KTeJLcEf_Yr5bbe0u2ZRGmhqstkNlSE6yP8K64-gquOpxXE0b0Pf2LgH9Mzsw7-82eXNQaTNjloumnpyE-kXG6w5YonncXd4VNRf97taaEXBtzEtBM6mIbACamwVjFePv4ffDf1SlDEJlFBk5k82nAuvSi2dn1AkCe5YzJN6sZdCUQ358MgVZCrFq0fxmipnkwrSrr_w5r-HlhJpSwcs6VFwU--4lFoEnDJ-qaikiM9SSP1_yQLFJywuiq5nfKwO5LhqcP48xKnQC8x8Wey9b5IqHEgE1-t80anU6-nUqnn9qQbFXzLA_bcWce0pIYyVr-pecAyTNyBz-yDtjSZcvNtYsB8C6HaHpmD49j6486seV5BFuZnZ47UyIu5CYsgNl2eb8HV3AHVImTxpqIqs1ag2jIz5mZhI7YWDQQLy8EkCNKy3ppSpvRwGX6d-YFNDHfzdP7xdgwHP79k8hfw7HYsHetazz7Zcb5RAkUe1bzJlTH07OKBZSP8Z6MLaACN0USHWp-oRWJBZIBpid_3fm717P0oMCin8jVpKv1StGxMDOcJOHEPNX56lYA9O7XMNbdLNzbQWaF2U1YwHLu2VE9lFSWcMo6-ql_XtMeup5_M4bIrtn4Q_4fa75U78_gurx_R215tMcot5u1TL_wkPqgE6aU4rSluroDKjIUfWs-OQxD9rOMQaiAABnIdgP5F6uiIu3zUOkCXzs8dPmbaTUUR91eloJGVFBLJseXBHnZ9xuiVNzl1pWf9ag2reairq6EBmIzdK2f3JHXw_X8pbsQJdf6LHfIBgbkKNZVd9kOhPiOUOkAfTZBibbtSX-YGO-PhtOBq_hZLpj6PRQTo9SyBYjdGAw-PIWU2zD7j4SBmh0ozTziqizhOeeZEOU7R3ujJeiwrHg1sZkM-84Dfdt2uQNUdKcklryLF1jfhM5NNBvdi_ODKLR_iMUJBwbhg6CbwObi0PuWqQxbNEQiGo6NjbSFbRYVgLy9dQwgLnOkWmg1AiXAe22s-AsmywI5FMFVqOzekbxLj0q3_UrVW1oV9MzH2so8SKaeGz30jBSfP4Iqcy33t2x32NtrQuNrKZRlLZGItw1ffWXeA9Qp4A3kf89JoxNUNz3pRgLJ9Zu6M5jEeB4aGfnXoFKG1JY-ujo-jejQkCREqKKIol4fQz4YSW4R-btjff1koce3ycQjAJxSg6Ss5QEQYoi1A=",
  "id": "rs_0b04b84506ec6d6e016ab42227614487d0ab2ce452de3becf7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_z\":0.13},\"note\":\"The arm is clear again, and the right wrist view shows the cap directly ahead on the jaw centerline. I’ll advance above the cap before lowering for a grip on the narrow end.\"}",
  "call_id": "call_wLWMsqyPdY9pgZsE4I2nidPT",
  "id": "fc_0b04b84506ec6d6e016ab42228d91887d0a2855579e66c23b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wLWMsqyPdY9pgZsE4I2nidPT",
  "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]: [-0.02, 0.8021, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.4808, 1.7882, 1.0939, 0.0265, 0.2073, 0.1181, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9983 right_x=0.4536 right_y=0.1997 right_z=0.1089 right_yaw=0.2374 right_pitch=-0.08 right_roll=-0.0266 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.6205, 6.7761, 1.7802, -0.0513, -0.0269, -0.0122, -0.9778, -8.2256, 9.5385, 2.1709, 0.1148, 0.0562, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3104646fa5500799d6e9aee64c6ce15082f3b037045eb778af4a060bf037149",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7db24915d7ec43e327b49b540dfdd694028e2e828069a8c43b917a5742162c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73fd67534e6059653bb756a79a197a045a80ac255717f83c1108d8ab5e1c7e66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3798, -0.0231, -0.0292, 0.9983, 0.6086, 1.8809, 0.7261, 0.4229, 0.3622, 0.2337, 0.5306]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9983 right_x=0.3862 right_y=0.1972 right_z=0.0065 right_yaw=0.1731 right_pitch=-0.1047 right_roll=-0.051 right_gripper=0.5306\nstate[joint_eff]: [-0.3214, -1.6342, 6.612, 1.7753, -0.0708, -0.0611, -0.0171, -0.6769, -8.253, 6.5162, 1.4823, 0.0611, 0.2027, 0.8083]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.6418, 1.4555, 0.8967, -0.1089, 0.3466, 0.2268, 0.9984]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.366 right_y=0.2031 right_z=0.1491 right_yaw=0.2248 right_pitch=-0.0506 right_roll=-0.0207 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -1.4838, 6.653, 1.8974, -0.0366, -0.0562, -0.0122, -0.0479, -8.4855, 9.7436, 1.8877, 0.3834, 0.2076, 0.1392]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.4808, 1.7882, 1.0939, 0.0265, 0.2073, 0.1181, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9983 right_x=0.4536 right_y=0.1997 right_z=0.1089 right_yaw=0.2374 right_pitch=-0.08 right_roll=-0.0266 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.6205, 6.7761, 1.7802, -0.0513, -0.0269, -0.0122, -0.9778, -8.2256, 9.5385, 2.1709, 0.1148, 0.0562, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3104646fa5500799d6e9aee64c6ce15082f3b037045eb778af4a060bf037149",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7db24915d7ec43e327b49b540dfdd694028e2e828069a8c43b917a5742162c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73fd67534e6059653bb756a79a197a045a80ac255717f83c1108d8ab5e1c7e66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCIuCpGuSvP42V_GiQ7dw9Xy7Gh5SYatF6ej5smin3thnE6WbkxhrUKUPpbT58DVkWqmwcNiRhgyhAyKAe10JM7YdrUJuqj04_1h_zHpGFy0fSYHO7TimTtrT7MR8ojhAJBTRBWJ-YlMCHTAJJQHMExq3MQwgauhDSedJe_3TJzTACLGglRDgU_NR6FUb_r_p714PDxKb963SGLtCjZsznO5zsVETrXChT3r4ziu36fFrwjDJAAibYyf8QIcIStpELb1JPMmB20bnqjVNZ8QsYOOlQveXEjkn1PiS9tiDxU2vCTBwqIRU3LBmdTDlCa3d0Mb8_vJUoSDgWhctvgvkiPCfngmn0htF6BGDAt7W9YIw5l4n0s52zVB0ffiZMEykIsb7DVGTSU4qVDrM8f3DGKJ56IXOEdgvHGWNPdjqOgSiA1I5ZlHVvjgaNX-KUVFSYE8gnVSeWoMnOqeYJb9HRsioD3D5z7LrtepI4BVhIDj4mSYT0n6xB7Jl2Km_Nv1vI0VRYLu3nJk-YoDSZgvF82EpqIKv3-kKiMfDOE3GQPjC0zC6mSkcPvFXuUrAYmpBjlTWRWF_BK67I7PBJL3S9kggBynfWThqhiNLhV80C4W0W2xsq-ZMFJaqiVJfGQ9qX_Ley0lGhFYoD2ZGOreV9suwWj6V_NvWodOsYPjzeHuGwd6DxwTYE4Ta88Qy0z_RTjHUFGMyi4UeHUwNx8afBI8auc3R0hCvZQu1Pqqoxdn6CgWNWv1yT94QoK0O4ljhQpsA5K3lwq4CWcScjfshYJvnPJz086WI3T61qtBONbjf7yHW3xVi6BTK2Kqd2IH0Q9tn9m0CtXJ5SqDMn3dRA0QzUzeQOUfWTykzjiBKwsDdHAIaEj_j0fsJ0eGZB1Awk2HqpYUTqJ92Wrwxg42V25nD34vH0vJ3YyZP55iLyXtuZEsIGQNIBWu4pgwUcRG6DKu8gEjNUbyHKuyG73Sm_3jllmlP6Ih_ZTOV12AV5-QD0tE2vUTsFMynjNMWR3D0x-Y9mGFDPpEoyRnQx5zKORkhB4qt_abtHPiH7MkdkhseJnC8wpOku6jAzPA3OZT8Ozq61cxXpW5ihMdDWJDHaW7TEdJYmrNcPTW5nTIojlMESazyJbJMGTl7axhmy0Tq3N4hFW_JAny48GO7KS7-QDq6VOBnnsKoZ4k8_02G-pvGfotY6N0pRKEe1L9UHAw7IBNEB8kSDo9VE-Q89L-ERl63QA2uQeHkj_9f3R9Y2t2_b_yCIYjxEvBD5BMX08FrnB9vEz04UlFpu0xpjF9Po4QehRIap6JGbvjizjwDuA3UkrDniPzW6tKtunAqijnGHRaFaYewu1PD5Hzkq3UdMfpUBgB5Zj6rjY-aOrHok4LDG-RLgHJEpHSdV0bHbWQz_fSFxxUqSD_cs7q7RBU2LhVyL0GUyVZEIUlDSjLbG-PMNFFxar1x-jGA-68yJ6LrFLY7zTlGhMVcnBUAy0uspJBA4AccGCEtuWjv-7M8PQbPZIEKfTRCKQpHdO8CrC28RVv-lctSnZjXUH15s9o44cR4fJCIREcuYsklq44JbXV_vAu9ChXFTlUx1pxMwxLUsdg3bSv6d1Q6c12mFCjkfzKbm4MR4NO7h4VrVZ496AAtIRbZDAkOnk-pk4JQ7wV4p8_AT0g3ge4PyaV5JTFoBMIBzs1tWQ6idbLZDotNJyv_4Yl7QovD9v6Rsiz7Dhbrg8Nmto6pLLWdN2MifA18VBJ4ddX5RQR_rDWHvr1M_TR1ESY3r2AuAG-ZsVHY1x5gflL21jKpPMV47LzU6kL_lvDtYyAt-4xPzsil3pqZWEKZzVE0LbCsS9HEl8gnluC9LP5qf_1qxu-cM3UUZxag3y8xUJ6h6tSgeYY7JD334KT2BuMbRl0jXSEUcplbu_VCLCgs46YfwF3OcBHpmlE2ByBsLoULerOJ8EJN2lXeBVSXFJTJwQ7Zc4bp5yl0CP2peSM4yG883S6NAcEUaUM69wmVJpMzyg4Lrcg50c8P14eVF2bxURlztaUaGBziKDzpLDg",
  "id": "rs_0b04b84506ec6d6e016ab4222bf89087d08a8a6cd9447ee919",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_z\":0.03},\"note\":\"The right bottle’s cap and tapered neck are centered ahead of the fingers. I’ll move a little farther forward and lower the open jaws around the neck/shoulder rather than the bottle’s broad lower half.\"}",
  "call_id": "call_722O0tOT74Om51lorkImnuG3",
  "id": "fc_0b04b84506ec6d6e016ab4222ddc5887d0980737eb3b5312df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_722O0tOT74Om51lorkImnuG3",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0227, -0.0292, 0.9983, 0.4454, 2.0377, 1.0183, 0.379, 0.1711, 0.0948, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.4755 right_y=0.1976 right_z=0.0248 right_yaw=0.2452 right_pitch=-0.0584 right_roll=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.6752, 6.6256, 1.7656, -0.0171, -0.0317, -0.0122, -0.6359, -8.8821, 7.3778, 1.9072, -0.0073, 0.0171, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e0df8a3c575b6e27205cafa154e46c8726b7cef453ba1c11b34f6b505cab70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805d666fc9909653101c2c603fc095d8ca8b61b5c93fd05e289ec3e5906eddb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d75880cbd3e0e7067e8ed2aa5a47b0585193537ebfe1b84b80530b77d2b4f980",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.5953, 1.9102, 0.701, 0.5442, 0.3367, 0.2214, 0.997]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.3926 right_y=0.1998 right_z=0.007 right_yaw=0.1892 right_pitch=-0.0507 right_roll=-0.0183 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.6889, 6.4889, 1.7949, -0.0269, -0.0611, -0.0122, 0.0889, -9.4427, 4.9299, 1.9512, 0.2369, 0.0171, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.4808, 1.7882, 1.0939, 0.0265, 0.2073, 0.1181, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9983 right_x=0.4536 right_y=0.1997 right_z=0.1089 right_yaw=0.2374 right_pitch=-0.08 right_roll=-0.0266 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.6205, 6.7761, 1.7802, -0.0513, -0.0269, -0.0122, -0.9778, -8.2256, 9.5385, 2.1709, 0.1148, 0.0562, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0227, -0.0292, 0.9983, 0.4454, 2.0377, 1.0183, 0.379, 0.1711, 0.0948, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.4755 right_y=0.1976 right_z=0.0248 right_yaw=0.2452 right_pitch=-0.0584 right_roll=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.6752, 6.6256, 1.7656, -0.0171, -0.0317, -0.0122, -0.6359, -8.8821, 7.3778, 1.9072, -0.0073, 0.0171, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e0df8a3c575b6e27205cafa154e46c8726b7cef453ba1c11b34f6b505cab70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805d666fc9909653101c2c603fc095d8ca8b61b5c93fd05e289ec3e5906eddb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d75880cbd3e0e7067e8ed2aa5a47b0585193537ebfe1b84b80530b77d2b4f980",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCI01eBhxiHQfX0dPLHGj4KLMa2-7Cnsnk_1dEZjk9-8irCNnvqTwny50nrJvM--WgT0rkEiPQ-c2tRKsGab3kyFMlfYpi55iza7ssex60XBcSgDY3Whw2v3Xz61S1JzwGluCa3kUmctYypbJoa9k6jGBcvI1x1bZP5t92T3jSEK3RjDRyAxu3jxsfxpJ-v97e5pPjQ4qw3sM5v0l_p-CzVVpgoFDONRTK-q5NM9yaUzQkpGqhQ9qLni7-tIGgPwaBseBoOUFbFV8hF4LT_e4xJcQzGfL37zv5qgAumZ9JgQ6t9HiP6-KYBm2npcZp1mxCJpYNUMzJyjf83ZsGo1NHiwj6jK4gkxspMCMgPUlGqkyQQfSUtLL8pk8aYYrko1ZBbNsT6IJ1ZNhAFv5tiKoDwFdIkPuY5DkV-FNc5XMj1Vvbwoik8E-AhKeq1kFrrmFvo6LZtCD48wyuveypT24ajBKBRZN1MaGrWuTUryBbQnd4mTJjP2kzht1-HzqZ7IPWSlmLjuYD-HpBvonh0Ltv9SPHDo9OSb89T6j4Cqt6WB5-C67XdGCADf87Gfw3YB196t6XKGqQ5hX8oItRollOtqbfnnIyskXjTE_T69yMeD7IF4oPZ_upEwZ3NbqP7PSyK5lvg8HXzIPjhAdlsuQyo4r4621271jnkA8NNSOUW9R-Bd0sRC3TA-viawPs-5dik84GLTjGxfhxUiNsm134r9V2GT3DHz8Z7hPShPrx7kmWaYT141p_-XNXhEqfZMRrOVtw3NLNYmAgLZMdR6G5F56PZKek3ioBOoUZunX5SYv3xkxeRrWp-HCE0uJD45Tul-dJStIAfZUAAWZY1vG9nfHC8xPjVkVtNm704rGSTL8A2VJboUPVQHLh1l6ZcAXXfpz273oVWqsveshfuuC9p2s4VOJerJBtcDyyW32t05k9c6vwysn7shpIsay1sYvCU-RzwVL0ZvvwrJEslylTt1tP73yTnRLUiqNho3mgsO-jWoqlhe5yvCGNasUiuoqEV3z4uwRXOjQbN6vcD78DDGofQ7l5pI0h_NmUDVDpFObDYaI0eE7y1Q8eVuqXJOJAgBGAnXVn3SJ_m9Gzv1lOQcT0RI2wGL82RzsMrXNQP1AqiPfCzNu0sylgIdZ2oivKqVo721m68CTzRpJFC0V-_AOkSMTWKT4rrjzlf0ChA7EHufqCeqp-CF-kGp8EZ2NpA3M0KKTfn6JE8mnRmZzObIxc6V1j4acpZPHttn9OKkoqV0HjuCouhI3eyIfHJjh1YPuwcl_XryGrRiX2Fm7GamhBwD2mUurBvfyTFds7fyjbDnO67U83qX3rzo95ju_Sk5WY97VbpAPyDRbvMA4U-TBYv6zIR8KQLh6hx1EwB4VcinYXdfiN5JpQumJd1OFFanPHQIw2Ip4BMHy5ypvFTCYU7G7il35r-5PXnKDrQW_qV03uyUNsawri4FXq0baUOQZt-miXL5eQGwPPQRjCSBIp_VLn-ZdKz2Xu7x75wz0JYU_-r9k4TK4H7xKPegO8K6Tj2TPUTlxAYzluq2RUrIE4vP1BsgPwbNjR5ob8NrrKDYTyvhbiafe2ulnQik7fvcG5Q0VB3ICxr_rsXOxUhuoLsonoDAuHfUxQeMIiNDZH1vQNB8QA8TCagTcXgKU9JhyAuSvvt1NMx7FrCj4ohOEvOwrSVGdljDKFzKJqODhDmFcRsWHk6JuFPYx9zJLyHYbcc6JmtUph8LH87H1LfmWDnwb5kK8uFtYE52ubaTQtXNg76ri-mWXpsExclkYWCz9Qh4dXOdxfhMEvk5eVHbwiwe0T-5RAYyOte9bZsc74ipRDjkOACZcRc724FsaQKDaYOrvFh7v5lVbVdZeakoBp0ic2MgmnPakxJoCzYy4QQAcu7_SCW2d48laFUF1pUlT8ZQIHldk3aExbvUiB0C7H3am1OECvvU1xkgTtUPmdGrD2_3ltdhmXLonoLgRE0xmvhKuHLAVK72pxHMmunsgSGj0-YuGsuYzeRPct0alriRmBzRVn_ykzcMoFAaEBZr5DILl-0Ot62in5ypGXNWyyTSF5Ipyf9cVC0F453EtN_oV2I0ihuDKcNH6WsNUeTe2Qwt6HWeFGXW476GPLflzXyohDw3AIu5YHP63Eb43PIOSIgvtYv8iB1X0MQHMygFocZG11mWtQqkHI1q8YzQLH1T_UW2DGJ0WXyUrcYJUT54uu2OWCpnQyHNmsemkIo0uNefgY3n2h-5_ZYFs8RyYE6HqjJ4iAQYd_B8OOrO7QwtKHAi8Dh6hvoRSCTXMOGxscn5p3FrwClLB0qslvJWfU19OEMAahiRwBN-UbwQPBK8gelcJqnhsiNwwf-8GdGPC_wQoD7xOIDnmWyo5fAsDq_n82GMe9qPj79BQ0Y4dd5PKyLA3ypsIOwfKfQZ3XHb_-_OGhlnEn1aWnNmk0jztxMeOpXHo_usEPNMLXiNUQ6oT3JYJdLF-sdo2rlQuWDCdsMF_QNEXKHf46jkCi_j_yffSAWmufAHo7XEgktVa_2RgWEJkLraSSe8zwVAknAGUj-J7k6eg3aA3Ch5mDmDQr9hvk3uPJvOD2FdfYucWuUUc3BZrWI2bDqLkuwW_-xnCGjNj-V6eOYyaR25rxQUeVC-G-RePFPBJHp5TdlGVqPahn0brxqYrNxp6FjqNIeFpPEIg1yvOhkGoM0XsabZPycdFV7XEppdFDvni0LYmy8j-z7YznIDcDd-S6JpQ8qdMNBnJQsYwBGxbT6eiJSUqwYmg06bCVDRNQZOQhll5Ssm2RSg5L5Ey15VUbuBqHWr",
  "id": "rs_0b04b84506ec6d6e016ab4223049a887d0a95730364654f44c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The cap is visible just beyond the fingers, with the tapered upper body between them. I’ll close here; a secure grip this far toward the cap should allow the wide base to stay on the table during the lift.\"}",
  "call_id": "call_u9merSOsnaLJcaD3SrMfPvW6",
  "id": "fc_0b04b84506ec6d6e016ab4223362d087d0b6f57e5f95012341",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u9merSOsnaLJcaD3SrMfPvW6",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3798, -0.0231, -0.0292, 0.9983, 0.4515, 2.0384, 0.984, 0.5766, 0.1532, 0.0917, 0.3573]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=0.0002 left_gripper=0.9983 right_x=0.4867 right_y=0.21 right_z=0.0519 right_yaw=0.2674 right_pitch=0.0993 right_roll=0.0201 right_gripper=0.3573\nstate[joint_eff]: [-0.1026, -1.5795, 6.5573, 1.8339, -0.0611, -0.0366, -0.0122, -0.4034, -9.4427, 4.2188, 1.0672, 0.1832, 0.0611, 0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5116e2d133c4613fb7718906d9d76e5a79da553eff357ea994fad793d011ded",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc81e3cc16c5d05577ba24e9e4311eabe3fc8b3ba4febddbbee785fc3ebb956",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206dc27a7179b4cb5bf54e2abc4b660d254c4e21d0d0f3c7b980f56102db35e5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.6418, 1.4555, 0.8967, -0.1089, 0.3466, 0.2268, 0.9984]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.366 right_y=0.2031 right_z=0.1491 right_yaw=0.2248 right_pitch=-0.0506 right_roll=-0.0207 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -1.4838, 6.653, 1.8974, -0.0366, -0.0562, -0.0122, -0.0479, -8.4855, 9.7436, 1.8877, 0.3834, 0.2076, 0.1392]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0227, -0.0292, 0.9983, 0.4454, 2.0377, 1.0183, 0.379, 0.1711, 0.0948, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.4755 right_y=0.1976 right_z=0.0248 right_yaw=0.2452 right_pitch=-0.0584 right_roll=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.6752, 6.6256, 1.7656, -0.0171, -0.0317, -0.0122, -0.6359, -8.8821, 7.3778, 1.9072, -0.0073, 0.0171, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3798, -0.0231, -0.0292, 0.9983, 0.4515, 2.0384, 0.984, 0.5766, 0.1532, 0.0917, 0.3573]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=0.0002 left_gripper=0.9983 right_x=0.4867 right_y=0.21 right_z=0.0519 right_yaw=0.2674 right_pitch=0.0993 right_roll=0.0201 right_gripper=0.3573\nstate[joint_eff]: [-0.1026, -1.5795, 6.5573, 1.8339, -0.0611, -0.0366, -0.0122, -0.4034, -9.4427, 4.2188, 1.0672, 0.1832, 0.0611, 0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5116e2d133c4613fb7718906d9d76e5a79da553eff357ea994fad793d011ded",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc81e3cc16c5d05577ba24e9e4311eabe3fc8b3ba4febddbbee785fc3ebb956",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206dc27a7179b4cb5bf54e2abc4b660d254c4e21d0d0f3c7b980f56102db35e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCI3jU__S1fV9BV1cJnoktgyEHAIMPUUSW0CmN8X2tY87my0j_EBacrJ2hOeR5MR_sIFfNoWZzRx7p4VByxMrs8v_18F2g6peQGURk4JHBZi6On3bp3WPqUxoGTasMuXIMCzICzgM_rReqIQuBX4mNOL0IGtN4Wsym-90FyHgEk--c04arBBtdHiSpQSq0pC9Cv0XlMnoQT8htOW0tDxzb_V8dfuO2bMZ9BW0Teesz6SO14FV1tG418GrIvSsgWBIe5XYwM_smBkPJ-Et3C0reztT17DWE6vA9NeaN9t_bXJCuXBKJIx0QBYKmTpvtS-UCa40ppwSXeFs2BGuOw7mcz-aGdBo4Gke74_ZQNix6ed2po1j0yOpO_Bu1rhYOMdYbvvhp6rje_0_dM1bZm0c61x5z3UbZhNhGbFz4EE1c1X7zST-MJoTKg5_zlzfChDFC7W0WPuvlLOAWa3BkEUNxD2i0jxbBnwS7y-qfIw_q1KvyslKtLgho7caQnH0EE9Q-MBrfSy2gAOyYDikulCwyNeAnbcqIIT9PMtmYqnSpzsu8Wp9t08Qk2dFtNmWUrvVCypb77h2iaioKobX5z3kwpPK5RC_Wyu7HjN4iOD0burv0pB6ZdUlNKA1l7h54MleZZyGBQacb5t7L8q7Hm_ThjWeIqEa2j73nllgpflTMORtu90-KomZB0Jr-TxV0VrtXm9l5Uj91sSOqkhmkq8Ubwg3k1GZU4gQzrak0RMx0TCG093mSQ3bJ3yMtWXKna8DMYDCEySwvNKe4TT38EaM-FMrdXp1RZ5NF3GaMPQgRTws8TWM2HCFOKwFKMgoIlsRMmcF_0J6rMl89DkrS0Do_Z_vz-pMcLtdguLT9EcKDNgW3acJqyF06U9SgwB1ADnH1p1CRfnLZBPezDVhmE5nD_UqaKGgF9dMSRB6EOZUk1IfqcymIqvYcyOd4hB5kN3TXR0UXW4qUYa9JJjKd9NP6hOzVQdkCxTeXhj92NrXMkmhU7_J9tYcDdJFaxA17YKtHPGgCJ4iOPMjw4HK3XX5M38ckd9C5YQL-u9s-rbFiZju-zp5itk8ZB-j_lMn8wez2gztNVTM_r6JxpwxESJLOmdAIDVEnvUtHN6uEzSj-vzYAU9F-YwSDL88aIBUAh2MhG1o-TUMRGcSjpU3dkxF25Ffh_kHT-w7hKjVpftPIprl_lXNlW9eZThMpAeqdKc1ktdBAsmiqFo20S7oK23YND9JpRmtorXBQUS5fE1rv7uWonzXw8qylVchW0GS_oziUseNmFtwdShvXiphRkPxCMrLLnjZMPDX9YnzLJ3mMoUAnaTYrSk7Ozd_MDQA4iWsgrB7gsHEOdHO0ox9F9fL6tZ0g==",
  "id": "rs_0b04b84506ec6d6e016ab42236310887d092a886a26d311581",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_z\":0.14},\"note\":\"The jaws stopped at about 3.4 cm, consistent with holding the bottle near its narrow upper end. I’ll lift that end while moving it back toward the wide base, aiming to rotate the bottle upright on the tabletop.\"}",
  "call_id": "call_hn9l6QwnYL4685doDwasa2gh",
  "id": "fc_0b04b84506ec6d6e016ab4223695dc87d0a30c5e81ec38c205",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hn9l6QwnYL4685doDwasa2gh",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3775, -0.0227, -0.0296, 0.9983, 0.5488, 1.647, 0.9527, 0.1413, 0.2134, 0.1291, 0.3558]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4216 right_y=0.2181 right_z=0.1373 right_yaw=0.2949 right_pitch=0.0322 right_roll=0.0074 right_gripper=0.3558\nstate[joint_eff]: [-0.253, -1.306, 6.4342, 1.8828, -0.0366, -0.0708, -0.0122, 0.253, -9.6205, 6.653, 1.8926, 0.2906, 0.0904, -0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf3237c39e6d57b03fb9063afbc368e4cce939eb4e09860d753a45db5ae98bd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27fd5329d0fea23efe18d7e96cffb42e574f9adef8122479e608feb15627b71e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f88209517bf246a6d2071b042504a852a2e80476fbb5859ffd25a7d379478093",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.4808, 1.7882, 1.0939, 0.0265, 0.2073, 0.1181, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9983 right_x=0.4536 right_y=0.1997 right_z=0.1089 right_yaw=0.2374 right_pitch=-0.08 right_roll=-0.0266 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -1.6205, 6.7761, 1.7802, -0.0513, -0.0269, -0.0122, -0.9778, -8.2256, 9.5385, 2.1709, 0.1148, 0.0562, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3798, -0.0231, -0.0292, 0.9983, 0.4515, 2.0384, 0.984, 0.5766, 0.1532, 0.0917, 0.3573]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=0.0002 left_gripper=0.9983 right_x=0.4867 right_y=0.21 right_z=0.0519 right_yaw=0.2674 right_pitch=0.0993 right_roll=0.0201 right_gripper=0.3573\nstate[joint_eff]: [-0.1026, -1.5795, 6.5573, 1.8339, -0.0611, -0.0366, -0.0122, -0.4034, -9.4427, 4.2188, 1.0672, 0.1832, 0.0611, 0.2418]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3775, -0.0227, -0.0296, 0.9983, 0.5488, 1.647, 0.9527, 0.1413, 0.2134, 0.1291, 0.3558]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4216 right_y=0.2181 right_z=0.1373 right_yaw=0.2949 right_pitch=0.0322 right_roll=0.0074 right_gripper=0.3558\nstate[joint_eff]: [-0.253, -1.306, 6.4342, 1.8828, -0.0366, -0.0708, -0.0122, 0.253, -9.6205, 6.653, 1.8926, 0.2906, 0.0904, -0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf3237c39e6d57b03fb9063afbc368e4cce939eb4e09860d753a45db5ae98bd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27fd5329d0fea23efe18d7e96cffb42e574f9adef8122479e608feb15627b71e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f88209517bf246a6d2071b042504a852a2e80476fbb5859ffd25a7d379478093",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCI7MSl8ZK-dcpHlUWRtV4ovcL1RSWSBA9jucchekhdz-95ummUQ8GCkTvgp42p10wtx3FpPN3mZq_FoN-LbbBfudz6NfruuTNVAzLeniSZM2jHt5flKGfGLccLzg9GsxXreNVdzY96tqIVWbOicw5oEMAJ7d6OriPOLqn68kNIIL3k1qgCeqTPfIiBPl7ablnNO7kEBfuFG6z4m0EW6RwYEgXwf22JrlUx04FmsU9ve0fAGWuzXwWwFRHhKo4NdbvNbt1PfoyPuyL_Id8R3TxNcXsHyrYKg5SeCzgD3Lgoa1irxcy0hi8DGtRfsmdbndCzYMCmadLBD97cQFwLHCywhT0ntokyaoHgQZDmey7H8EgR7wTJwk5pYuMFhq8xK1eQG0GVT_YaEWQGgpXlds80vn3S5YXnBFI5166Lw3KxSfCQ66JPpdoQHnGYgAmngBTEXY9NmTOy83r4cwD6Tut_s5mIvDS8M7h9xk3bkBp27XmeEst2kJGDlxks70wCJYDatk9scez_-Rz8qGGteFwUq-HysnZFWdGU5fuB9v6gSgrKOMOl7juDyJmLu0cxAIkvv0jF6m0WcWJDJQOaUwxWU6NQ728JQ6L4Csj-KTc0N6IEccBItbQwqLvjjLx5FzAI3kS8EGW4wwPq2FoA2LI7gmCHWsIn-dETxEUnAuEDDpaiVL6Z1AhsQrbxaNTzti1UhxDY0uCXy8vHHAnA948uvRwxvXXBz_lNlLvNhQYozL5j1MXciRHmT_06Js7a8hNOhrgEuJCHyAmZ1XH3Xvo6NTvOgsbnKHHrnCFYvHN-5UOJ1QN_jZEYf9MzbvvDdDSTvERw_A4JU2usPPA_AZ3dHWFviMHr52hiAhoDPrAlRBsyY2fRXKckfPuIcNmb9A7IpXA3tH-Nupy44xWQEXzH-kaMoSx_-KkkhktGlj8pztCpejB4ySrm5kBSG3Ra0astH9UjGNKfiY2aenY1AktPU9TFrbTFIK60Wf3xj_OXCvOl6NEFaLEUspWbMyz7qzBjGjJXROo4iaWDhK72qYTpbAgPFaY0OC1g5uw8Z4u4V7rArCGz1-k_YZd6uAud6wn7R-UlJOLmkxOtLFwJOH6Bu-F094BXmq6i-WPq5nQlQOZE74swTGFw0vW1ohiEBoV-MLjaeN-j0PILPFMPx0rsnG6kPjNWD2OzjgJQ8712xDcPx0p794M11gRCNbv_T52AyiWLmEy5Y9TgpFE30wHMXapkYYf5UcEdZ7d0Syhk7GMXAJUOWNdXBqYu48_6_d950rA9N0oSND1fUpWYGmWD77pA4GuvX3P-HXppUeL4GxVtEU683eTIlfmqOW2V-zedcCEo7HoV6QORb6ZPLKinsDCUP8RGz2hcq5VxZSEluoIS-SWPme-UlJpvO2OoT9M5nuJgFm1Nnf7t_ZcPxfHSuq9ZIvSURJHoD3VT2HL9KkDoVHtSEWkUQtQFqxWDJSbeWnTi1P4vfMBixeNTJRiYi2poGQWLL6-YqyJ-RoY_18Ul6cvUJ7BmMD3kBfEWhZo3S5CVKMHxyU-Jz0ETzYOLiFium9LCa41NH-lAnnYG2ZR3IIo2pT_-Y16TIyzP7534p8t3vRjaQ0eVRZRuTpwXrQDWN1IbxdLSzuJrX3LLOvjrT6iiQ41E7b-otwnju25MHVMDGy0vambU8iJfAwmiq7_SjHnlNp9o1B_wtvFcCTJYKRqe4-ZQSPnCZ9v2EfnTLDIbRC0_cAPPxqvSvqV0ka7icrjZtmUsGokFXrBLZqzm5JkPvQEkQs8Yf7RWP6G0PUgmp4HA9YodbAe2tcxq-Y6NMfQUlyFx_idPlnOykqds6byIWjrAhzfu95ymXaFrs72R4mlcQBO-H5EfvsqT5Jw==",
  "id": "rs_0b04b84506ec6d6e016ab4223904f887d0865af92cd3c5862f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_z\":0.245},\"note\":\"The bottle’s cap end has risen and the broad end is still near its original spot. I’ll continue bringing the held end above the base until the bottle is close to vertical.\"}",
  "call_id": "call_iL5v2zPtTsxT6I3qMUweyQan",
  "id": "fc_0b04b84506ec6d6e016ab4223a89c887d09a2f9a71d07614f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iL5v2zPtTsxT6I3qMUweyQan",
  "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]: [-0.02, 0.8024, 0.6132, -0.3779, -0.0227, -0.0292, 0.9983, 0.7021, 1.354, 1.0832, -0.358, 0.3088, 0.1905, 0.3557]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.344 right_y=0.2254 right_z=0.222 right_yaw=0.3361 right_pitch=-0.0237 right_roll=-0.0145 right_gripper=0.3557\nstate[joint_eff]: [-0.335, -1.5932, 6.5573, 1.8632, -0.0415, -0.0806, -0.0122, -0.0068, -7.0359, 10.0581, 1.8926, 0.2662, 0.1734, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3632bbb73d364d31000ce410e49ce08d87881ea599c9d51bebc9fbdf466233de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d9d3c370abe138d7d6f11a173b27c6850b68728b920f4b60af4f4c0fa7e40c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa511f122bf4c1d4642133523e9071b3d55617d124431f2ed263e28357dc968b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.379, -0.0227, -0.0292, 0.9983, 0.4454, 2.0377, 1.0183, 0.379, 0.1711, 0.0948, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1824 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.4755 right_y=0.1976 right_z=0.0248 right_yaw=0.2452 right_pitch=-0.0584 right_roll=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.6752, 6.6256, 1.7656, -0.0171, -0.0317, -0.0122, -0.6359, -8.8821, 7.3778, 1.9072, -0.0073, 0.0171, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3775, -0.0227, -0.0296, 0.9983, 0.5488, 1.647, 0.9527, 0.1413, 0.2134, 0.1291, 0.3558]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4216 right_y=0.2181 right_z=0.1373 right_yaw=0.2949 right_pitch=0.0322 right_roll=0.0074 right_gripper=0.3558\nstate[joint_eff]: [-0.253, -1.306, 6.4342, 1.8828, -0.0366, -0.0708, -0.0122, 0.253, -9.6205, 6.653, 1.8926, 0.2906, 0.0904, -0.1636]\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]: [-0.02, 0.8024, 0.6132, -0.3779, -0.0227, -0.0292, 0.9983, 0.7021, 1.354, 1.0832, -0.358, 0.3088, 0.1905, 0.3557]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.344 right_y=0.2254 right_z=0.222 right_yaw=0.3361 right_pitch=-0.0237 right_roll=-0.0145 right_gripper=0.3557\nstate[joint_eff]: [-0.335, -1.5932, 6.5573, 1.8632, -0.0415, -0.0806, -0.0122, -0.0068, -7.0359, 10.0581, 1.8926, 0.2662, 0.1734, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3632bbb73d364d31000ce410e49ce08d87881ea599c9d51bebc9fbdf466233de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d9d3c370abe138d7d6f11a173b27c6850b68728b920f4b60af4f4c0fa7e40c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa511f122bf4c1d4642133523e9071b3d55617d124431f2ed263e28357dc968b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0b04b84506ec6d6e016ab42246ae8087d0870235cd25c5850d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_z\":0.13},\"note\":\"The held right bottle is now mostly hidden under the gripper, while its neighbors are still lying flat. I’ll lower it gently at the right-hand spot so its base touches the table before releasing.\"}",
  "call_id": "call_hrHDJ1oJJffXFL0hcorCCKZQ",
  "id": "fc_0b04b84506ec6d6e016ab42249ba5887d0b67a030514bf3ba3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hrHDJ1oJJffXFL0hcorCCKZQ",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.379, -0.0227, -0.0292, 0.9983, 0.6918, 1.4338, 0.7815, -0.0227, 0.2993, 0.186, 0.3557]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.3403 right_y=0.2189 right_z=0.1234 right_yaw=0.3353 right_pitch=-0.069 right_roll=-0.0291 right_gripper=0.3557\nstate[joint_eff]: [-0.3487, -1.5111, 6.5436, 1.7607, -0.022, -0.0562, -0.0122, -0.4444, -5.0256, 6.4752, 1.9365, 0.0659, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e851538bcd7852075915d313508a37f980f2497422a25924f247e30d4f39c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46dbad85cd3d3c528193b6832f0f6838b77f5cafa62b7ffb6fd9f96bc57c7244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e16d1bb46eead5fa7815074dcecf81b48587f2302ffd6eb68a3f14817cbfdbf6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3798, -0.0231, -0.0292, 0.9983, 0.4515, 2.0384, 0.984, 0.5766, 0.1532, 0.0917, 0.3573]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=0.0002 left_gripper=0.9983 right_x=0.4867 right_y=0.21 right_z=0.0519 right_yaw=0.2674 right_pitch=0.0993 right_roll=0.0201 right_gripper=0.3573\nstate[joint_eff]: [-0.1026, -1.5795, 6.5573, 1.8339, -0.0611, -0.0366, -0.0122, -0.4034, -9.4427, 4.2188, 1.0672, 0.1832, 0.0611, 0.2418]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3779, -0.0227, -0.0292, 0.9983, 0.7021, 1.354, 1.0832, -0.358, 0.3088, 0.1905, 0.3557]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.344 right_y=0.2254 right_z=0.222 right_yaw=0.3361 right_pitch=-0.0237 right_roll=-0.0145 right_gripper=0.3557\nstate[joint_eff]: [-0.335, -1.5932, 6.5573, 1.8632, -0.0415, -0.0806, -0.0122, -0.0068, -7.0359, 10.0581, 1.8926, 0.2662, 0.1734, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.379, -0.0227, -0.0292, 0.9983, 0.6918, 1.4338, 0.7815, -0.0227, 0.2993, 0.186, 0.3557]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.3403 right_y=0.2189 right_z=0.1234 right_yaw=0.3353 right_pitch=-0.069 right_roll=-0.0291 right_gripper=0.3557\nstate[joint_eff]: [-0.3487, -1.5111, 6.5436, 1.7607, -0.022, -0.0562, -0.0122, -0.4444, -5.0256, 6.4752, 1.9365, 0.0659, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e851538bcd7852075915d313508a37f980f2497422a25924f247e30d4f39c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46dbad85cd3d3c528193b6832f0f6838b77f5cafa62b7ffb6fd9f96bc57c7244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e16d1bb46eead5fa7815074dcecf81b48587f2302ffd6eb68a3f14817cbfdbf6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0b04b84506ec6d6e016ab4224c4e1087d0bccf7c2e69ee463e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJUb_iaoyUFZ81-XZAAmsgt2RLEF_hRR7T9t2HGUDYeAg57nQiwVytuLlmjr5lDfrc0k58x4Oss0dY0g51bxu4wB2XY68a9dpaGmvIGALEbiUxQx1WEGqVZRKY4sL9eU0JVdCue1HxWpaJgLK_Elprn6jwWsMP1WAM5wcfFHBs8JhNdBTx9hwxIAHxuMyHyQkxcSYPq6KPtAx3-WrgvguGphYGYGEsbuHRlHl1lO7yZ0-q-ZBbCl_OkFuAtYsS72UHJYvy7TD6W1N1PK19VOSf95ftye20A5wjP01MQBbCfaw3BEM2XcoCkEE7ebsi1X2oTBCtqqT1gZHBfsnPHS5kg6iv4G5n66Zu2i4SXYR2-Vn5mr5NUW8R3-mdHv7t8U3fBnUQO-R5UcnfgipeqbQ3NMaJk4CrTATu_ulgYlYiL6H-hsrQyTF1Z2yIx2P1jD5bZfcQnhcieQ4-lqJ8Rn09CmCd6Hmw3FxwOKL8kL00q3HXUnTItA7lirld4RqUjoIu2Ajt5gqOseTo9VkdR62PImK_-WZc0My4HsKwOjOwNXTY7MXV-k9RhUqD4rQpyw3XftZIKRuX6RUWUw5Ij-3EpyWVMVTGZzZOTCj_jUEgq-y-EkzWJiy9vXbQA_FoUea5RMP3D4aaaJ621V-GPIb6v3zez6sS6D_rnhdNQyp3oVSCgPvBo3Al8-2aE73xoCvc0ByBOTpoeKaitA1QKMk0IQsRRMUzo2EeZLnOnpe9RRr_yl81x55xQuWr8aIEWbWtFzoqsVXyZQL547hGJBI7eH8CkYC3eKhd9WS5CRWMlzylWQC7ZOtjU9yfz7T9TG7gDOy2748bWLHfYmEoyzTQjQjpGNAGPmgfbSGHJyyLUWfqg0ImqHuEA6ozi5VzimxvmEouW6k7f6Z22O1_7Dpt0EYU5ozrAK0VHuQVFRAZboLMCcqdF0EnsC8Nr6bXYjyxwclgyr_Amdq9R5zhs8x9REYqamWOBBfHJeABMP55pIGlD6WA3TP2Lhjb3eNbnQTr1Yj7YpHdN7bZK63xDblf4OpGDYTpY1rX1UDb3StevY3DOfownWn-SnHusEPgSoo51XxZi7ZZAVz08Zp2JdSGr6jYsYF4WuZkZ2eejfl6UQtx1xd9fOjMPu4-abAM7AJWIqSG6dCraENpbk8fblvSeRzkEDC-8Nseh-TyFjKZXLK5QrggeIQ4jeqsib3SXunx6dIuCsya7S-b451mSWXGt1eWP986YYYNR2uWEVF7SfcCUDMU0_13dq-Tz1aJjmSkyfxVbDUshnOrDzEiMcSLbYseBO6F-aW6aSXpkV_b1fwIKG215z3TZKC_gy0BjZKI0Xs8lPC9rhMQTF63b-SE9vj2gjPTAbxrVLi8p_Q48QCwiG-6_lD0B9xo1pAxEJxNvWrFYsSkKDDsN0d60CX5SoyCz_axyBhxSFeQoE-WuD4RnK15KaqX9wbQAxoPpQTK6n5ckkPY8kEi6utRsM2DgFepY879ePKONchseX1-13Ynzt_jGOwDGKiRwbSsG9b_mays1iDQ0l56mZ2656vGOjItmo-lxzLUcXS2kBxvaVdU=",
  "id": "rs_0b04b84506ec6d6e016ab42250e60c87d089994cd42d4d55c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_z\":0.21},\"note\":\"With the bottle lowered, its cap is still visibly ahead of its base rather than directly over it. I’ll raise the held end again and draw it farther back to bring the bottle closer to vertical.\"}",
  "call_id": "call_loAFpBfOy6mmqH5rmayzZdPE",
  "id": "fc_0b04b84506ec6d6e016ab42252bec487d0a62166509635a490",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_loAFpBfOy6mmqH5rmayzZdPE",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3779, -0.0231, -0.0292, 0.9983, 0.8852, 1.1572, 0.8253, -0.3164, 0.4198, 0.281, 0.3557]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.2743 right_y=0.2273 right_z=0.1911 right_yaw=0.3799 right_pitch=-0.0129 right_roll=-0.0075 right_gripper=0.3557\nstate[joint_eff]: [-0.1983, -1.306, 6.4205, 1.8926, -0.0415, -0.0562, -0.0122, 0.1983, -5.2581, 9.9077, 1.7802, 0.2759, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ec31838087da8d103e9a7b45e615f8842abd5dfe84b2c45763670e6c4ceca06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88bcf5b400d47e6e93947d51c24fd28744c62a8e4438ef4ef7f1fb78c128d5a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ce02e5397a6892a8fb5e26e1a58f9c04cb4085f7e8bde68b0453d1cf0a2d57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 71 changed as sent

message 79 changed as sent

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3775, -0.0227, -0.0296, 0.9983, 0.5488, 1.647, 0.9527, 0.1413, 0.2134, 0.1291, 0.3558]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1824 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4216 right_y=0.2181 right_z=0.1373 right_yaw=0.2949 right_pitch=0.0322 right_roll=0.0074 right_gripper=0.3558\nstate[joint_eff]: [-0.253, -1.306, 6.4342, 1.8828, -0.0366, -0.0708, -0.0122, 0.253, -9.6205, 6.653, 1.8926, 0.2906, 0.0904, -0.1636]\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]: [-0.02, 0.8024, 0.6132, -0.379, -0.0227, -0.0292, 0.9983, 0.6918, 1.4338, 0.7815, -0.0227, 0.2993, 0.186, 0.3557]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.3403 right_y=0.2189 right_z=0.1234 right_yaw=0.3353 right_pitch=-0.069 right_roll=-0.0291 right_gripper=0.3557\nstate[joint_eff]: [-0.3487, -1.5111, 6.5436, 1.7607, -0.022, -0.0562, -0.0122, -0.4444, -5.0256, 6.4752, 1.9365, 0.0659, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3779, -0.0231, -0.0292, 0.9983, 0.8852, 1.1572, 0.8253, -0.3164, 0.4198, 0.281, 0.3557]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.2743 right_y=0.2273 right_z=0.1911 right_yaw=0.3799 right_pitch=-0.0129 right_roll=-0.0075 right_gripper=0.3557\nstate[joint_eff]: [-0.1983, -1.306, 6.4205, 1.8926, -0.0415, -0.0562, -0.0122, 0.1983, -5.2581, 9.9077, 1.7802, 0.2759, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ec31838087da8d103e9a7b45e615f8842abd5dfe84b2c45763670e6c4ceca06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88bcf5b400d47e6e93947d51c24fd28744c62a8e4438ef4ef7f1fb78c128d5a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ce02e5397a6892a8fb5e26e1a58f9c04cb4085f7e8bde68b0453d1cf0a2d57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0b04b84506ec6d6e016ab42255f23887d0953f7a664dbba4f3",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJczQBltz8fYIATttDAgGDTUhQqM7y5y-Z01zsbh3iCAhNP6PhNrUn1UEGlGekJwiMjuQeow3-3HzV4a_dlV1eH8dLWaH0VsRUsm8_nmMCyvtnbTFDvTk16PH9ZvhViHObM11pDpXmD1O01MClrjF97a_UCSBeHRh2VqBJYqhqEstxQwmOHxHTKc6CM7RgSTh4sxpDxeY9CRw_msIokgXqW7wH4lm7RJ5ryR9DnM6HfBIx0H_kWVRY7oOB8K1pDfYc5KxAPggaLDmgqu40DWfkoTPx7kCQqala_Zmfn6A-YCEn0B167c1VhiphddRa3CpXY8kI_ps7bwgzDhoejutoPiP7_b8C9wJ_J98tHLj1njjSJE6c9ud3mh_7_AJfHh0d1zTcCXs0YgcjDl1aoSXGxGSw-QDvpB1itwLVtlOPiUSSnXMx0oSB6cQB2QrUuugzs4AsLaYUpwDolGDk8kKZG9-7RxWVGoRI7b2Lh-_ygL9GR-_vdfAUkt0g3qdHFnMsnE6Qq5Hl9JYUIpdt9mlNbqXo1n2WxY7x1HZyg9pic_1FdwBxxrsVoBTmMyjeB4a4WH5ZUWuj3SafV0XFn8d9chhx4E1zJfEueHypN3PGVvKwFYAX5-sp5I_w4N013NoKHyUgToV-tTy3RdcuvHpSeXH-3kkkVi9Caxy35aFFENPjd9jMZi1KnRYSncA_YOHcSpn6ghShczTDT_FrNyhyVVdiUubQMx-V166hXJR3zdyt7hRIIveEKxIpL0st5l2q52ZorNuzUaSDX4XaKSzZphl02KIg5lGv13j32LhzLQdOZD7TwaA0tEzVHpgpv5qP75O26aLzvvIkLkdulTLrtSMdLjP3ZB7V-R0Z0ng-Tp3pwtOLpJ-pfxa4gOwq6D4GLznOVmqNfkGAJu6vf3wGU9hVybunKeFVekvzM5UJDeqFORO9WfMXJ_knWf8d9B2g0O9mYQ-NdRGD1gR4YAz3ZkCpmr50MsoP6tlBGnxo7AAD5Wo9nAzgU6DofWbxMNZwSxjQqBPC_e-c5cb1r1wBxXJ7xUvUgFchB6YKZIzbzGDvuTmV9ihyPMpQejxLOriuthjfEFT_En4z6FPPU0uGzFwOgtZksSXbl5wKcgEPWhPSAfHLBxgmA0-Z_8AMe9igtp4ow4yxROciPlxJecZY6PK49hhSN7oHjsDt_Gq7x1hiEhk8A0_nK-NX_n7wSt6dkLgFynFbEKmfTq-BPDXh6PgxC8Fg-ESgdIuD933aTUCpl19Yey9LjLgsazQaK7sn8maeu79MbUGYw8O3TLdETN1MiaW60ZFKrsRkGRJa0dmYRrI8PukEHryfI8xQ71L1MW8FnrhLhKXiCN6EtE4QcbMoD2BamIwcDATAGnHve5TQ=",
  "id": "rs_0b04b84506ec6d6e016ab4225a725c87d09ab3f15c75dd2f8d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.294,\"right_y\":0.0,\"right_z\":0.18,\"left_x\":0.43,\"left_y\":-0.115,\"left_z\":0.12},\"note\":\"The right bottle still appears to be lying down after that motion, so I’ll release it and park the right arm. I’ll try the left bottle with the left arm, approaching its cap from above for a cleaner pivot.\"}",
  "call_id": "call_ELiJyyPrAUXaaLmH5BmVc7ah",
  "id": "fc_0b04b84506ec6d6e016ab4225b0ce087d0ab147df90227eac4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ELiJyyPrAUXaaLmH5BmVc7ah",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3996, 1.5749, 0.8028, 0.1043, -0.3317, -0.2409, 0.9983, -0.3363, 0.9108, 0.6403, -0.4694, -0.5293, -0.4164, 0.9978]\nstate[eef_state]: left_x=0.4151 left_y=-0.109 left_z=0.1014 left_yaw=-0.006 left_pitch=-0.0649 left_roll=0.0201 left_gripper=0.9983 right_x=0.2899 right_y=-0.0031 right_z=0.163 right_yaw=0.3203 right_pitch=-0.05 right_roll=0.0204 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -6.6803, 9.0735, 1.9853, -0.2027, -0.0464, -0.0122, 0.0342, -1.5932, 10.0991, 1.6337, -0.3883, 0.1099, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9d61ca1a467bb4d1ab1d57e26e674df575c573e98f5f3d79112a86d18225b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed02fa22a23025809bf09c30c3650999228fcbaaabb400e072b3c6059d6464c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6957336f2b5de8106cb2d789dc0f7bfdecbf09128671e7cae05546d078b3c4d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

message 84 changed as sent

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3779, -0.0227, -0.0292, 0.9983, 0.7021, 1.354, 1.0832, -0.358, 0.3088, 0.1905, 0.3557]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1823 left_yaw=0.0005 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.344 right_y=0.2254 right_z=0.222 right_yaw=0.3361 right_pitch=-0.0237 right_roll=-0.0145 right_gripper=0.3557\nstate[joint_eff]: [-0.335, -1.5932, 6.5573, 1.8632, -0.0415, -0.0806, -0.0122, -0.0068, -7.0359, 10.0581, 1.8926, 0.2662, 0.1734, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3779, -0.0231, -0.0292, 0.9983, 0.8852, 1.1572, 0.8253, -0.3164, 0.4198, 0.281, 0.3557]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.2743 right_y=0.2273 right_z=0.1911 right_yaw=0.3799 right_pitch=-0.0129 right_roll=-0.0075 right_gripper=0.3557\nstate[joint_eff]: [-0.1983, -1.306, 6.4205, 1.8926, -0.0415, -0.0562, -0.0122, 0.1983, -5.2581, 9.9077, 1.7802, 0.2759, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3996, 1.5749, 0.8028, 0.1043, -0.3317, -0.2409, 0.9983, -0.3363, 0.9108, 0.6403, -0.4694, -0.5293, -0.4164, 0.9978]\nstate[eef_state]: left_x=0.4151 left_y=-0.109 left_z=0.1014 left_yaw=-0.006 left_pitch=-0.0649 left_roll=0.0201 left_gripper=0.9983 right_x=0.2899 right_y=-0.0031 right_z=0.163 right_yaw=0.3203 right_pitch=-0.05 right_roll=0.0204 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -6.6803, 9.0735, 1.9853, -0.2027, -0.0464, -0.0122, 0.0342, -1.5932, 10.0991, 1.6337, -0.3883, 0.1099, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9d61ca1a467bb4d1ab1d57e26e674df575c573e98f5f3d79112a86d18225b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed02fa22a23025809bf09c30c3650999228fcbaaabb400e072b3c6059d6464c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6957336f2b5de8106cb2d789dc0f7bfdecbf09128671e7cae05546d078b3c4d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJi7yHCQXpEkuguKFgIf85JHdbM4GCMWeo8m12-wsavllWOPgX99ANJG-nby-ofUTy5U5gpvLGmOoqY_dMlyIGx4zgImOWYeO_r4Yz3uGZ66APXtaKGGUtZG8Gj279yL2xyU7uTBiDr-w3Hd9qMkOZYPqF--nIwVT_PjGIJcZiBt-RqNBO7f2XnOe8x76ipRHY1Ep-NBN3p-V56XWQXwudP6suxz6ZmCX2sI_-J6P1oWbpoWkd-cYphrXQj6_82DLLuDA-0tvEnzJrLemgDlmg8-v5IdnV5e8JUSoQVyDserAazz27AoFzcO-PieL7bWsFAiRD-bWeadvF28X3UnJj6bSjXCyXk3IxDhV7lhA2j4DTXI2DW3nKubpF9VmTAXmfAd-s1aWEzkj8FsAj8sBsFvlVITp9FRG-aAWvPJQ3SUHSySqo6ymjw8Y8x9n7_AwO8CyqQOLW5kuHBK9L1dJi2luXC_c67RdskMzx-SpoZk7dlEw2NaibiEnFWbAKUXaCIGgTC5A34nI9EO7Okm9EYo17yY0jZa1dxWFDIvkywJnp6KdJ6Dohufp7nKR4HaGsqxwpQ8njs7_xWNYME5SiO76Q86F1ToYDrzNZ8ONPzUtC_4tHfRQ6keUZJRzcG9sqvKrRhevQ4ypJU-rF-SbKSvZ-DrdiLhaqOYROszSdxL28wLUFaVh-uVEaQv82Yi0V7gD8IinAKZKIBeQKeTetptWWWFrPh89_xKHq2odzV0cheMIqtzipoecreE14zU3lf5iaciI15Hutb9Lsfc7O1z5Qiw1mbXIl_Q5im_f0De5YG1paq5SbAskdMJ27xVjiLgl-SSaQDOMRMkTNCIJ0B-ZdVbtPRWB0PjojmwgHAN4I0ueDpXInUfBf4e5hTijqID8UPCNMJsWjoaAqoQMdCujm_ct6pj93Gcosgd_kCldD4bSvgRdTi7guxGq0o8k2IovBHkHhhTELnq_H9n39FnB6f8AAsH42nzS_D5LS3ES665qBWkrsA5P58qrV-e71ho57yCs_mbb2PvTRL9wuuk0Tyvd5Rvv2I1rD7oszqna8T8lqUcIMHOLOoS8qe8PAooskzSegeVE5GBKq2QSK6FTIr6MXj2UC4pB9jEyX6pH1xOHLGaIW4XsSME9uIMZ16PxdnttATnssHZT-0hyV0dvLuT0ajUcie-danPbeLD7AL2F_kvgDEa0xihbVOLRjnG85nUfHIKXAQzsglWeQH9TJMSVrvp-8_8iIcAMBGoscPzoxadYypQ-YZ2zhlUj6T5b3tawOdwCQg4zhzu2loKhXvWCtmcSu9gULP_IxTsRRERxHWj9wviygt1qzWd9MMriNQF8Q4whg62nGmOB9H2kI4ERuVd6fkXGX99fuo8oJH5-A3MybSxSJ3dGwNqK53raE4HonyxF8S_U9CXh9nUUGE-G-2QBY_Cq_xKjTH1d6c5wMxVyMkBlF1uOgcm1YeBGgItUGik6xzAYD3BtUMYflWrdlV4Lx9Mex5dbpXqaYhV5BPc9Z_StMxoYF_UJ0MPMCBZ263BSNWs1ME9kPGvDGYCaTYQODgcQyXe5M_ef9wYcZmJg6gXj9pwfzZhYMD2UZc_-kvO8HGG2VCygc0t0yzXl0defqj5Zs9Objl6ptIjhnIDOayBLpLmuL0GRELZ1zR4fdFwAPtvTpu8V-FGHNKkkkx58kAHwDNNGbugz8njHLuNu4aNsHFrHgftYp79jLnhIDf05uN09LZAMYenQKqt3MaKrGvRYVvWQ4V6eYIyLfeGHUTAvlK21vAoKFFnqapTwQ8kfnmNFR6Xndj7oQMC9mv8NoBd8BeRi6TLTltur1sMI__ocv-U1ThBnwCkLaWGOIARS17GclyWdo4r2OEA7AulKAfzBdBkD2Ph5AGnnFtorPgJwLWhOT7aE3wDMy6NNCsRiRWAMctKMbqGUKCw37ItuYWxPfPmb8qmHsfbJNwVn73l_5cq0GOgbn5kJ9ZODJrq2nbNXt4eSNgHsA9nbmI8m6coF9Ww2z8P6wAF1zKXVgXrlpJRM2ZwRKS1eBzDvH_myhIzCpyZMC7XHXMgz-yk7xB2LI2-xaTOfE=",
  "id": "rs_0b04b84506ec6d6e016ab4225f664087d0808a42896a9b9326",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.064,\"left_z\":0.065},\"note\":\"The left wrist view shows the left bottle’s cap left of the jaw center and its body nearer the fingers. I’ll shift toward the cap and lower enough to line up a grip on its upper shoulder.\"}",
  "call_id": "call_9KSg3nufMflUpm3JUjbRvMeZ",
  "id": "fc_0b04b84506ec6d6e016ab42260de4887d09f17c14936a3cd20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9KSg3nufMflUpm3JUjbRvMeZ",
  "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]: [-0.239, 1.7058, 0.7052, 0.3523, -0.2371, -0.1833, 0.9983, -0.3531, 0.8829, 0.5892, -0.4427, -0.5507, -0.4305, 0.9991]\nstate[eef_state]: left_x=0.4295 left_y=-0.0583 left_z=0.0539 left_yaw=0.045 left_pitch=-0.0665 left_roll=0.0057 left_gripper=0.9983 right_x=0.2845 right_y=-0.0025 right_z=0.1544 right_yaw=0.3274 right_pitch=-0.0383 right_roll=0.018 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -7.6376, 5.3402, 1.7167, -0.1294, 0.4078, -0.0171, 0.3077, -2.2496, 6.7214, 1.9658, -0.1392, 0.2076, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d76130832f53876cd919b1cbd1c651098de7b65669988cccc7068fea5d22d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe192679f4d9adef84deca757a614d136dc3182480b3c47b1ade990d435b46f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c41cc173a64adac88e3b4147f22d63a2e745e13f98f6a0ef8898168097de95fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 89 changed as sent

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.379, -0.0227, -0.0292, 0.9983, 0.6918, 1.4338, 0.7815, -0.0227, 0.2993, 0.186, 0.3557]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.3403 right_y=0.2189 right_z=0.1234 right_yaw=0.3353 right_pitch=-0.069 right_roll=-0.0291 right_gripper=0.3557\nstate[joint_eff]: [-0.3487, -1.5111, 6.5436, 1.7607, -0.022, -0.0562, -0.0122, -0.4444, -5.0256, 6.4752, 1.9365, 0.0659, -0.0366, -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]: [-0.3996, 1.5749, 0.8028, 0.1043, -0.3317, -0.2409, 0.9983, -0.3363, 0.9108, 0.6403, -0.4694, -0.5293, -0.4164, 0.9978]\nstate[eef_state]: left_x=0.4151 left_y=-0.109 left_z=0.1014 left_yaw=-0.006 left_pitch=-0.0649 left_roll=0.0201 left_gripper=0.9983 right_x=0.2899 right_y=-0.0031 right_z=0.163 right_yaw=0.3203 right_pitch=-0.05 right_roll=0.0204 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -6.6803, 9.0735, 1.9853, -0.2027, -0.0464, -0.0122, 0.0342, -1.5932, 10.0991, 1.6337, -0.3883, 0.1099, -0.0855]",
      "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]: [-0.239, 1.7058, 0.7052, 0.3523, -0.2371, -0.1833, 0.9983, -0.3531, 0.8829, 0.5892, -0.4427, -0.5507, -0.4305, 0.9991]\nstate[eef_state]: left_x=0.4295 left_y=-0.0583 left_z=0.0539 left_yaw=0.045 left_pitch=-0.0665 left_roll=0.0057 left_gripper=0.9983 right_x=0.2845 right_y=-0.0025 right_z=0.1544 right_yaw=0.3274 right_pitch=-0.0383 right_roll=0.018 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -7.6376, 5.3402, 1.7167, -0.1294, 0.4078, -0.0171, 0.3077, -2.2496, 6.7214, 1.9658, -0.1392, 0.2076, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d76130832f53876cd919b1cbd1c651098de7b65669988cccc7068fea5d22d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe192679f4d9adef84deca757a614d136dc3182480b3c47b1ade990d435b46f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c41cc173a64adac88e3b4147f22d63a2e745e13f98f6a0ef8898168097de95fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJmb934W5LFY1kZOEOPKprRTOrUyV3YcNnALIBdn0Jc72kGF_aLhMi90VIHyK2SSe19ia0KQ7jI9_rWt5q3q3MnlxycYRI_Xcsh5PvysOnMKP6rKjl-fXUMMU-k_yg347akmyro4eN9qOdAMTx_EkXRbavTrn105LsXJVzTW-Yee4pbtAr-OFDS89tmyD9fp3E4l0lG2v0I83cxXLmzxS3WQrfsn8j80Zpy6UILMfZYgCUB7zhXYJmHEXWY-khWzVSX7w7MPlpEwz-j24KVkRdVz4aTSLXWl3-fCJHphf_0bkTdz9CV5ssJZPGON1giVsevPiKahl9QBbHjwP7fzv-B-a3qcMK2hpEUjLWUE3JuDjSPQ4o-eECNc8wp9jvMEaxGST8OuHOpEbjv3STjvoI4bUr1O8Cxr51BAWuwblltRXA3wjmDLsXAt0sP-MH3RioOtKfd4s3n9XsXAHSPe4nFBiOwDAfcvWMB7bYfPaepKwB8-C0nncKWBcXBYa7SeFhI9a0IOG0OlREMFaf3LpzXVpDthmoesZLgwZ03TlD_25yFYwR52lY8rrtGKgTu9Tv2_vCnTjKEXgll46gmmxsnoQsJ851qw-wVf85QLlX5qtyTnwuo4OpPDVE6dyNTgL3ZWVy5nRzPQWIlLXyP9_m2VzIrlKoD69duApekeqoprbyOWB1DxnzvB1hZIlrWdITdiBuw_Wk8Pbm0FuuGNykZxWcqYqrh4zct3DkE7CAQxR7MU52H_lLxu3hsDSu9Lzlq0laszI1kQLV6lnBIxPB896NZw_GipmxuDhNLJ6-E9kTZWdQTtAyxlzSafoBSJ_Y60VnTOyJmpmhxMdG2qHGEDy6MDZyecjR2HqwCbg-1HsNH1cn3YOlI0vl_mwCG7b_JYRDlLZ35MrLUEvR9d3C9BsyaBcYsgGoC_o3wuFLxvUx7ZtYXLbuSLur4QRL8MM31BqsNhf8uPKsirhVxdP64z2soGNMMYLoCsNxjPwPhCl4b7CXfBW5ymtw4cwTZ4i2ZHruFPoiQRujuJgX73iAIG1h3Z_Mq-PsykEGblcxn6wMZUj7Ounmf37qPlTS9iT3_x-h1qbis-Nnlr7_P-GwSA-rkhYHOFv2OJt-AobKrrbQNr9iTsKlLUM9eeGxU7E33D5D8cvKxLhvInCvSfPnwk8gZlPOiIGUEsaf2XxfajiY9cZNbF_8qwj-PggN0RvGa03seCl_EiHF9AzmYSpFH1HcfS9AjBeU39CWBiQr9xd2qxA-q61M0TaHPm01slL_Lr7rYqIBuIZLjQQ0WyKKVbUxQMHpSz6WiLJ_vrG-xxQBVKsQQ9iVx5fudXDzW01J8RDxlYW8rxRMF83kDvkFsuyyLdBcXUGkHYuvMjsHm0NSmAcywIuv4tNFuT4gkMGyCc20CSrxPowX2EJW6W4AFit8IE9YZkRrpxPGE3O9_iGBBq8COI_RExUIrK7YNUaEKsm7e6zRaJlwFoPb13C3rRg==",
  "id": "rs_0b04b84506ec6d6e016ab42264081887d09df1b17dc86f3423",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.018},\"note\":\"The left bottle’s cap is now near the jaw center, with its upper shoulder between the open fingers. I’ll lower a little farther so the jaws close at the bottle’s height rather than over it.\"}",
  "call_id": "call_vN5WQpkK5JFeheSMJiIqVdzG",
  "id": "fc_0b04b84506ec6d6e016ab422651d6087d0b44d60c4ee7e34a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vN5WQpkK5JFeheSMJiIqVdzG",
  "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]: [-0.2455, 1.8172, 0.6418, 0.659, -0.2253, -0.1928, 0.9983, -0.3557, 0.8646, 0.5503, -0.411, -0.5541, -0.4278, 0.9993]\nstate[eef_state]: left_x=0.4421 left_y=-0.0664 left_z=0.0456 left_yaw=0.0335 left_pitch=0.0584 left_roll=-0.0452 left_gripper=0.9983 right_x=0.2822 right_y=-0.0019 right_z=0.1482 right_yaw=0.3256 right_pitch=-0.0283 right_roll=0.015 right_gripper=0.9993\nstate[joint_eff]: [0.335, -5.0256, 2.2496, 0.7057, -0.3492, 0.1636, -0.0171, -0.4308, -2.3179, 6.9538, 1.7411, -0.3394, -0.0366, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1b1fe8b2f546675b6a7c3f7d238722ddd37900355bb0852f5b5d82accb38d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee20abc2184f07d3f2cc6a16ffc61efcb25ffe15b896a7758461ea5c5175da30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51a1ebc7ba748dc79cd947fc1aae9f95caea778c5f84ff3b1ce15f08cc1b6298",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 84 changed as sent

message 93 changed as sent

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6132, -0.3779, -0.0231, -0.0292, 0.9983, 0.8852, 1.1572, 0.8253, -0.3164, 0.4198, 0.281, 0.3557]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0061 left_roll=0.0002 left_gripper=0.9983 right_x=0.2743 right_y=0.2273 right_z=0.1911 right_yaw=0.3799 right_pitch=-0.0129 right_roll=-0.0075 right_gripper=0.3557\nstate[joint_eff]: [-0.1983, -1.306, 6.4205, 1.8926, -0.0415, -0.0562, -0.0122, 0.1983, -5.2581, 9.9077, 1.7802, 0.2759, 0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.239, 1.7058, 0.7052, 0.3523, -0.2371, -0.1833, 0.9983, -0.3531, 0.8829, 0.5892, -0.4427, -0.5507, -0.4305, 0.9991]\nstate[eef_state]: left_x=0.4295 left_y=-0.0583 left_z=0.0539 left_yaw=0.045 left_pitch=-0.0665 left_roll=0.0057 left_gripper=0.9983 right_x=0.2845 right_y=-0.0025 right_z=0.1544 right_yaw=0.3274 right_pitch=-0.0383 right_roll=0.018 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -7.6376, 5.3402, 1.7167, -0.1294, 0.4078, -0.0171, 0.3077, -2.2496, 6.7214, 1.9658, -0.1392, 0.2076, 0.1343]",
      "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]: [-0.2455, 1.8172, 0.6418, 0.659, -0.2253, -0.1928, 0.9983, -0.3557, 0.8646, 0.5503, -0.411, -0.5541, -0.4278, 0.9993]\nstate[eef_state]: left_x=0.4421 left_y=-0.0664 left_z=0.0456 left_yaw=0.0335 left_pitch=0.0584 left_roll=-0.0452 left_gripper=0.9983 right_x=0.2822 right_y=-0.0019 right_z=0.1482 right_yaw=0.3256 right_pitch=-0.0283 right_roll=0.015 right_gripper=0.9993\nstate[joint_eff]: [0.335, -5.0256, 2.2496, 0.7057, -0.3492, 0.1636, -0.0171, -0.4308, -2.3179, 6.9538, 1.7411, -0.3394, -0.0366, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1b1fe8b2f546675b6a7c3f7d238722ddd37900355bb0852f5b5d82accb38d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee20abc2184f07d3f2cc6a16ffc61efcb25ffe15b896a7758461ea5c5175da30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51a1ebc7ba748dc79cd947fc1aae9f95caea778c5f84ff3b1ce15f08cc1b6298",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJoEaLOeP8JrGHKtoWcfux-h__Z49kCnb_PrPCQKxKbKFLIQyScdwHu2e8N08n4KZh2YEea-nH5T7ZaQAPl07H-KrTGUAA2ECycmCnqJEtSFk92DHbBY2BNA2jIhIFnVsmcU3PXU2gCqeMhGVnb6PmyuU2OWKGSj3t3gQH7Z9csFAffu7sT08fd-eGF1lMvkgAwTR3_yNDpT-73q-621j52YEbI3U6JiddoHnZsOJD3FzV44usyi-u4p8NFKflRpbLfvNIAddkGobzz_6ygAEapFcEn-tnY12t0nz7CTq0tmmPVIkeCqbUQtL1P0zZW5WFTHmS_c-vqgf3gKcJ-Gc5Xjry1uJZzbLnvHF5CTxuWEQXVIKqlxu1ANQAb5nn_7PfkOQcMRT_TXN4INHo8Tet9rHJdcveAPFoKaR04_1RAjElUIEC34RtMkgZRSygxpmR06v84UrBiMkwIPZba3sBc3cWbAOEz58A1uBcIL_ptDjh_1S5Fi5GBrni3zUJxszGPAI-7UobpHIUJnAlis-YSSrr-XtQrVZqQxaG7kq5r4UHImlvNvfWncLVMFKnp40MrhaD9dxGLQqI_PiFjoavHKvqVjKfQ_MS_MQgKEYp5-3OlSnjQ-kT-M043ADqr5FTPQEJ8VJSFon-iVQrxQ6kGyKiAz9kVVoa9GBFvJYkhTXd-HQ1RIwJmtMiUNnbE2PWVaBE6DoEkUUetl0g4czEcbw6ccpyDvbLezXxITWekuyHA4l42k6AS4smYj4jQ1PpXiht0eqMuHPPRyrrcKxxCvZxiRsONBI9wbQpZOMSVwplSvPFbG01ThxGHAsvRz0jeaHstMpmKWPE9w5azcYnmbvdTp0iuiWFsnsUrEMa3SDqx1zyF3XKwXQ30fWBQSPZOCroYBNUDNE5WwYRn9yw5zowcxZ2cDfMTC8QPejQOTE4AMqCzLGjDSVvqNGN10uSnoGX5ihIYAUClpcKwy2jYpda5nJxWwpCJXA94e1DdAj4iwv43WK2u4FOIL4_nJhzUXnNYeDv_k88wWOVantgEaDliHBbQXFHggYbah0DmKjv7ZqoAniThkBQjhVPlpnlzxQfQ8Rnrz5y6RQlH_3plbsAhfzQ5-5klmPZ27HOeR77dT2Kw9V8i22C-2aL3_dfORVOMkC8QtElcJo-usZa0VYeCvIehlQJ3Yys4gqSlzzVBh0iLOkr_Vn6kgJsKo9bdjt5O8avTTS5MQ79u3G0ZynMxe5wrwVvWCx2YkOOZaItV4ysgkIxq-Lqt12QGl1sCl7pOZBRZEkSVwkGOWrJPoW5J4ArB6fFjnbNyBBtK6VLZajr5918icfP-nRP0v2I4aMatGVW7Mv9nXTjg2KQ85Q==",
  "id": "rs_0b04b84506ec6d6e016ab4226784b887d0a673f414d17d79f4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper stopped descending as its fingers met the bottle, and the cap-side shoulder remains between them. I’ll close now and check whether the jaws catch it securely.\"}",
  "call_id": "call_CO44V3cFU8MGLUIfKTeAogr7",
  "id": "fc_0b04b84506ec6d6e016ab42267c52087d0b7d4b0654db68f98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CO44V3cFU8MGLUIfKTeAogr7",
  "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]: [-0.2539, 1.7985, 0.6914, 0.5976, -0.2596, -0.1841, 0.015, -0.3557, 0.8547, 0.5232, -0.3954, -0.5541, -0.4278, 0.9994]\nstate[eef_state]: left_x=0.451 left_y=-0.0665 left_z=0.0596 left_yaw=0.0494 left_pitch=0.0699 left_roll=-0.0233 left_gripper=0.015 right_x=0.2798 right_y=-0.001 right_z=0.1419 right_yaw=0.3257 right_pitch=-0.0295 right_roll=0.016 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -8.3487, 5.4632, 1.033, 0.0415, 0.1197, 1.0037, -0.6359, -2.2359, 6.5846, 1.79, -0.3248, -0.0269, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9cd8c77ce521e0366bf89684d81af442b9202331e11df5accc848cc75920bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ff6d623efa67ccb238e020636061bfdf7c3fed35232b57b276a52cdc5a3c3de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b40307dafb3570e1efbb9331feae014ed890ed978d19016212edfe0935cdb17a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3996, 1.5749, 0.8028, 0.1043, -0.3317, -0.2409, 0.9983, -0.3363, 0.9108, 0.6403, -0.4694, -0.5293, -0.4164, 0.9978]\nstate[eef_state]: left_x=0.4151 left_y=-0.109 left_z=0.1014 left_yaw=-0.006 left_pitch=-0.0649 left_roll=0.0201 left_gripper=0.9983 right_x=0.2899 right_y=-0.0031 right_z=0.163 right_yaw=0.3203 right_pitch=-0.05 right_roll=0.0204 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -6.6803, 9.0735, 1.9853, -0.2027, -0.0464, -0.0122, 0.0342, -1.5932, 10.0991, 1.6337, -0.3883, 0.1099, -0.0855]",
      "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]: [-0.2455, 1.8172, 0.6418, 0.659, -0.2253, -0.1928, 0.9983, -0.3557, 0.8646, 0.5503, -0.411, -0.5541, -0.4278, 0.9993]\nstate[eef_state]: left_x=0.4421 left_y=-0.0664 left_z=0.0456 left_yaw=0.0335 left_pitch=0.0584 left_roll=-0.0452 left_gripper=0.9983 right_x=0.2822 right_y=-0.0019 right_z=0.1482 right_yaw=0.3256 right_pitch=-0.0283 right_roll=0.015 right_gripper=0.9993\nstate[joint_eff]: [0.335, -5.0256, 2.2496, 0.7057, -0.3492, 0.1636, -0.0171, -0.4308, -2.3179, 6.9538, 1.7411, -0.3394, -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]: [-0.2539, 1.7985, 0.6914, 0.5976, -0.2596, -0.1841, 0.015, -0.3557, 0.8547, 0.5232, -0.3954, -0.5541, -0.4278, 0.9994]\nstate[eef_state]: left_x=0.451 left_y=-0.0665 left_z=0.0596 left_yaw=0.0494 left_pitch=0.0699 left_roll=-0.0233 left_gripper=0.015 right_x=0.2798 right_y=-0.001 right_z=0.1419 right_yaw=0.3257 right_pitch=-0.0295 right_roll=0.016 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -8.3487, 5.4632, 1.033, 0.0415, 0.1197, 1.0037, -0.6359, -2.2359, 6.5846, 1.79, -0.3248, -0.0269, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9cd8c77ce521e0366bf89684d81af442b9202331e11df5accc848cc75920bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ff6d623efa67ccb238e020636061bfdf7c3fed35232b57b276a52cdc5a3c3de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b40307dafb3570e1efbb9331feae014ed890ed978d19016212edfe0935cdb17a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJt3oNul1Oc4FPgLPhi18pNXDP8ANfU_z9_N6DnFxalSok1gndOQZVBj0nACSBKYup5cQfZwOEMLKwj6dVXYcktQt6m8XH_QbY-vOqdSVzecz28RAiq1P8BMWrFJLKMyMhOZoKhxOmK3CjjM-iR6OfvX-N7Zl7Oiwp6_iunCE9HA7X7CzPcCp4oHnqbleIHU6EKl2FsdQbSNTuBi2e1GOLpe29yVF9boHwgVHTFeTtQ0n8207UK2J3vlBg9aYlFshTYvp6lb7fzYcQUY6p8ubsUE8M3mOWtfodZbO_QrIEYRdaplx6R4ODNZ2k7N66Pz-YOmuCoJoN-9bTpSDXjyWXgb3JPqHr7-2gelJtPcmDlSFvzbSTqQDknZ-zI05zUNGUsEI-X8Z3ByoCw00wvj8uEJQ9clKPMC2nqcAmxU8EHmXgJDAKchokyDDCAkknYn7Vuz_V2dILUqDzud9t_qOjdo1KcZu9jGR2N93csMCFbtUHcuDNTVy5xv99_YZsQN-3D0oyCMlcFxUH4aKg1WhwVayd3WD1baLAudoEgxFkRgZd9hwU5qMDgDBN7YqA35fpkiGZ6rG6Quff-4L0v3irEK5lhFc5i5LKVmDhi8QuRsvIKFwoLt4bOUkZZHryKFA03QvoZRI-BfUwakoPA3il_EWi9uJ5V6ygjKtEYnBdpyi8kgLCp-RESVNNSH3wgtrFuAQrYU08sTrMBiFSMjWeyfVvIs2KDkQe0PZq_k2XGM5eAy8xBnZDaxt6HHGb9YHX7DYBGkq4zzszqIkMwWhiJLVve4uoAo_qH7Px17n6j9bYo-wbfyOICBLcRj9qAZhWeVk2m7OW0DfkA9a1et1P9bhZ3tzF_52zWBMfTHeR_9B_8rQUDEw0hHqAkZs8zjzGneBYyQnFbO7DwDNwP3y3l3b4ZNy71WnKUI6zz4BXFWe2OxGkGHR8egAmaCasiwwv669UWfoHN_W1yoaL2ssQ4cvi6UdGEeA2fFPEoEZ3mKJBDGjzSWq3kjMwDrY2D6rbWOkLj_vK0rx9RgAF76eub_QMgpwMMrUjv3Xd9CFkvcyMUi65E_1OzpnoVWqP88ZF7FAulHOvq8XMMvFW-co0uHn0q1ag2ZpH_U4laM5s1M00WryLIlo6wO5XupXBS72EGxl8MKHB-KvK9n3dQ4p0lD-BeAYpJljzAhPER5vVJM3HirHmze7v2PygLAQcg983_uTUfMOYhL5FkBjkWkVm0SUPtaJxpxqIj7rpZyYNzso-FICAw3cGPEQvUFF6GgYeuw9CgDVVV3xXF0O9vrWtFi5JqOInIh-7ANwoxwjUc_da7dUvIRiG8fdfdsNnqziO0qKxrfrCyl8DM8eHWnw4ukQ15qqKYm29gVA8sfWO_tR-aRqU0YNmSRBPcYvRf2HWGop5fYaYClKSCmM37tCIUatLuKtseBdJQzvc_BAkFLNthYpQSu0BZxAAGiD5_dn-lrqeJnXUslinJLtvqUI0gQZtQohZ1gk_utGBpGaszQpapzaYpMtu-mntQEAZ3sB6xBJo9xzIcj0qbaFEFUWeU9CvxwMtaGBpQikMNHqUycJ76HH2oCsNHG31xm_dxsMDtuo2H7su005pix5P8acyE_ZQLy8ng6qMn8408t0Se8ezvkrIy-bJ14t6IrLCf4jeqnK-OALSV3x-mH4r7prw6lTPnC_hN5tbGAX4k7nh_Vwlai_G67Bsn6zmLKpac7-IATicpt9E-VspNrgSgbhuk6VDhY02MBxBhBhNBhv2wuDGYkgUwteFzqVN_GP3T_8fn9z91uuLVPEgedppK98peqQnwZGXi6Sl6Erw7C0_rrOj38Wt01zzny3IgfXphXtdY2U0lynUE0uTpmqCOEt0Nw6z5CldYUfpEoQ6MhTN45VfPg7hUyOX4xXGGT8ixOi163dkHMc7W15tWDLAZIB_GR8zhUXpRxiAD-X7V4WHd4eU=",
  "id": "rs_0b04b84506ec6d6e016ab4226adbbc87d09e0214d30213899e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.035,\"left_z\":0.085},\"note\":\"The left jaws closed almost completely, so they missed; the neck slipped to the left of the fingers. I’ll reopen and shift a few centimeters toward it before retrying.\"}",
  "call_id": "call_buvcCnwNR0Ky78w32oU99Fna",
  "id": "fc_0b04b84506ec6d6e016ab4226c80e887d0b5f669669989785a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_buvcCnwNR0Ky78w32oU99Fna",
  "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]: [-0.16, 1.7168, 0.7361, 0.3607, -0.1925, -0.1505, 0.9944, -0.3557, 0.8421, 0.4919, -0.3763, -0.5541, -0.4278, 0.9995]\nstate[eef_state]: left_x=0.4432 left_y=-0.0337 left_z=0.0617 left_yaw=0.0686 left_pitch=-0.0462 left_roll=-0.0003 left_gripper=0.9944 right_x=0.277 right_y=0.0001 right_z=0.1351 right_yaw=0.3257 right_pitch=-0.0292 right_roll=0.0158 right_gripper=0.9995\nstate[joint_eff]: [0.1436, -10.3316, 8.212, 1.6093, 0.0171, 0.1685, -0.1245, -0.5675, -2.1949, 6.8308, 1.7363, -0.2906, -0.022, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60f3cd5952bd04539f1fa850f4e75e62256c66e81c074894d68fde19fe808ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc7960f11e8c7b0d916924d3918131f3888d33d8de4bd32e1ec4581101874401",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953b534a1b6345ef65fcab107b231af9e4fd6045f01ba5344045ec302a6547da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.239, 1.7058, 0.7052, 0.3523, -0.2371, -0.1833, 0.9983, -0.3531, 0.8829, 0.5892, -0.4427, -0.5507, -0.4305, 0.9991]\nstate[eef_state]: left_x=0.4295 left_y=-0.0583 left_z=0.0539 left_yaw=0.045 left_pitch=-0.0665 left_roll=0.0057 left_gripper=0.9983 right_x=0.2845 right_y=-0.0025 right_z=0.1544 right_yaw=0.3274 right_pitch=-0.0383 right_roll=0.018 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -7.6376, 5.3402, 1.7167, -0.1294, 0.4078, -0.0171, 0.3077, -2.2496, 6.7214, 1.9658, -0.1392, 0.2076, 0.1343]",
      "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]: [-0.2539, 1.7985, 0.6914, 0.5976, -0.2596, -0.1841, 0.015, -0.3557, 0.8547, 0.5232, -0.3954, -0.5541, -0.4278, 0.9994]\nstate[eef_state]: left_x=0.451 left_y=-0.0665 left_z=0.0596 left_yaw=0.0494 left_pitch=0.0699 left_roll=-0.0233 left_gripper=0.015 right_x=0.2798 right_y=-0.001 right_z=0.1419 right_yaw=0.3257 right_pitch=-0.0295 right_roll=0.016 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -8.3487, 5.4632, 1.033, 0.0415, 0.1197, 1.0037, -0.6359, -2.2359, 6.5846, 1.79, -0.3248, -0.0269, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.16, 1.7168, 0.7361, 0.3607, -0.1925, -0.1505, 0.9944, -0.3557, 0.8421, 0.4919, -0.3763, -0.5541, -0.4278, 0.9995]\nstate[eef_state]: left_x=0.4432 left_y=-0.0337 left_z=0.0617 left_yaw=0.0686 left_pitch=-0.0462 left_roll=-0.0003 left_gripper=0.9944 right_x=0.277 right_y=0.0001 right_z=0.1351 right_yaw=0.3257 right_pitch=-0.0292 right_roll=0.0158 right_gripper=0.9995\nstate[joint_eff]: [0.1436, -10.3316, 8.212, 1.6093, 0.0171, 0.1685, -0.1245, -0.5675, -2.1949, 6.8308, 1.7363, -0.2906, -0.022, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60f3cd5952bd04539f1fa850f4e75e62256c66e81c074894d68fde19fe808ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc7960f11e8c7b0d916924d3918131f3888d33d8de4bd32e1ec4581101874401",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953b534a1b6345ef65fcab107b231af9e4fd6045f01ba5344045ec302a6547da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJx93QwE-iHKUTn4ImAcFZ2KkR3ITP4Wn0Na8LQi4u9s5FMdMjfm2Q0iDo65f-DZcqdK5kHxfvAsYd-fFDlCLpyTN9vkBFq9ZRT9KFz7GB1JWPs2EmR_ewyK4wD9CvK_J3-aEcuWLqw29koZhwPOiIfjSe7rwGz9NKMYq4I6W2ui9CUaG-V9oKGkxms824c__2HHrQjDjtPKXtVy8P8qZMmVf2WDpOKkHN6ETxO1VujlpxkpIh3AQrBsPEWBjYYdbVHNQFjegSPisVCbuhIH5oaA-5u7J8fp-ECUa9thjwi8r00M_YnlZVbT1UQb6vO17dNDfmS6s_5fIhCH0NFgW_vCjf3luUwNhXOhNipXoFREskjEqyvNwbnwur7kBZ5SczaymCtT-XhVdTapgvOwkMkMD6X0mnEm-95N_hOWT-21Vvcm3zKrrXIS429OctnUuLdhYHbbSP2Wke_5Oe25TDfZ-D7VR0-dH_-1KkbsSwXud7479wUfi7Qt2B5kt8jXCdxZuACPVOCnJTjvQXxLRx8oXWqHYK3-2MvEFq_z9MBqS_qznsm9bsYRyTUkvtR_ERVSHPyuB7QNGBBx5dtri-5IKE6swAoinuexdtAeezYNkMhz8DmtaOM1JOGfyRtIwSWt8jXTkeCZjMhadRR3d9e8winurw03mOcavTPv-bWcuu9LzXKXBEzpIFno3rhE_HgnHylN_dhjB7KkeV6M7b2aKqUatcLZkk5k56WrnCatMvqG4PxUnucm0Qvkxd1K83HzwmGQ-3wpudVCLq-UAs8OXYU_RpLDDbr7DDCKZ46a2V5JLUy_R0BJZpYcJDtItaJbNm1qdfANKRFNJhwRSW1NvaGGmoWjkvmfgE5AApUdxSEnxqVdjLGfdiA_CPV3PjOkHw5sgsDYt65U0OtkCFP-0j2cbbEwpFuK8xN-ewwSyQTGsWBdANhD_dZk3ZEGi5y--vS8nIrQH8RPs0jzQPx4VLcwTWBuARZ676pgt2rd-5NM2Y_4vIodliK7IqM7tYryBFg36vZ8EuFBchGyHXJ0Hbz9u6J9_63EDQZCKGBOa7R7j7ez9W5mUy4XlbqIcmySybIRyK26QOGIRp7_s1BKeEJ-BY3aaTSrS4xfWNcuNC3n09jfSVvbV4LO1d8U-kHDquvOZpJaoNmsUS-2w3o56F1XtiiLeT1XND-_qtKa3wIciI6lkxcB3kbYsdrDJ3CpTmC33MUZfAKJzLfnxRA4R8u0N0uiZmLaXnK-mRpjBwwU1H42tE87EwL4Aw3B7oFHGPELjX0VnI3EOkQYs5ckfZ6V0mt1N0qmElK8v71dBwZMtF9VeBmN0VKt14lLVsz_2nNxp1eNcEB7TOuoQXwn_Z9v19dX2VPpo-t_Bgl37C3_UJgzzinLFDU_yjeKHy5ccqLKPpkP0cRsv7ZGvPk586dnVCN1lw4JtmPIn3ov3P0UtWB3TQPQs2CTuthP5RTWaSUcRXXYlaYCL1dbBwWhy4iE0FA89aPF-4FftDY_23u4J9meEEVdfOuMzfzmCsZxmQlIo97K_FXhkn58ykwgX9tNvcjDQoXV53PL2Cqz1mtJgMwI5EcagwLYIn4anVaPdmpzKczqLqsqoZaPXM10ROU05Qmp4A2VmvAFKoNzzIXilDGvMVQQ6y4TyoOc6ADikSsEUQWgxSWYPoE745fC1CcGdUDavlsjakj2SDqsEin_w-xHzZx3cHGCKSbped7vVdGAu01PH0OVebaHe-7Ne2ldfI3P2yN8wRK7Al3vtjF8U_iR6slZAgCxZpViJwcgIvC_Xc62SD82a_zhAKJ8YBC3WEXoaAMvO-wnrhOpS2Fg-W74NQbFVCfNJViQnKX8WEYjdchapjN1v81tJ2LvQ==",
  "id": "rs_0b04b84506ec6d6e016ab4226f576887d0894885c5ce29afe7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.055,\"left_z\":0.012},\"note\":\"The cap has moved into the open left jaws’ view, but the shoulder still sits slightly right of center. I’ll center the shoulder and lower onto the bottle before the second close.\"}",
  "call_id": "call_4JNenLQA6B0lXq1lHvUWeRR3",
  "id": "fc_0b04b84506ec6d6e016ab42270de8487d082f6fd14a2af7adc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4JNenLQA6B0lXq1lHvUWeRR3",
  "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]: [-0.2199, 1.9068, 0.7406, 0.6701, -0.2256, -0.2005, 0.9956, -0.3557, 0.8288, 0.4622, -0.3576, -0.5541, -0.4282, 0.9996]\nstate[eef_state]: left_x=0.4699 left_y=-0.0609 left_z=0.0445 left_yaw=0.0638 left_pitch=0.0777 left_roll=-0.0574 left_gripper=0.9956 right_x=0.2745 right_y=0.001 right_z=0.129 right_yaw=0.3258 right_pitch=-0.0274 right_roll=0.014 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -5.4769, 4.3692, 0.6716, -0.3736, 0.5006, 0.1148, -0.5949, -2.0308, 6.9128, 1.7753, -0.3443, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e45fb90063b5c666a186b23fa40fa6887f4f9559274c8701e20bc36450fb66ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8caeddea36480a4e45ef76c57441b33d45a18f5814b59d690bf5a18f03384a1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e93845ea5afb890038cb027cc21448d4678cc0a83a63a0897dbaa9217863f18e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2455, 1.8172, 0.6418, 0.659, -0.2253, -0.1928, 0.9983, -0.3557, 0.8646, 0.5503, -0.411, -0.5541, -0.4278, 0.9993]\nstate[eef_state]: left_x=0.4421 left_y=-0.0664 left_z=0.0456 left_yaw=0.0335 left_pitch=0.0584 left_roll=-0.0452 left_gripper=0.9983 right_x=0.2822 right_y=-0.0019 right_z=0.1482 right_yaw=0.3256 right_pitch=-0.0283 right_roll=0.015 right_gripper=0.9993\nstate[joint_eff]: [0.335, -5.0256, 2.2496, 0.7057, -0.3492, 0.1636, -0.0171, -0.4308, -2.3179, 6.9538, 1.7411, -0.3394, -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]: [-0.16, 1.7168, 0.7361, 0.3607, -0.1925, -0.1505, 0.9944, -0.3557, 0.8421, 0.4919, -0.3763, -0.5541, -0.4278, 0.9995]\nstate[eef_state]: left_x=0.4432 left_y=-0.0337 left_z=0.0617 left_yaw=0.0686 left_pitch=-0.0462 left_roll=-0.0003 left_gripper=0.9944 right_x=0.277 right_y=0.0001 right_z=0.1351 right_yaw=0.3257 right_pitch=-0.0292 right_roll=0.0158 right_gripper=0.9995\nstate[joint_eff]: [0.1436, -10.3316, 8.212, 1.6093, 0.0171, 0.1685, -0.1245, -0.5675, -2.1949, 6.8308, 1.7363, -0.2906, -0.022, -0.0024]\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]: [-0.2199, 1.9068, 0.7406, 0.6701, -0.2256, -0.2005, 0.9956, -0.3557, 0.8288, 0.4622, -0.3576, -0.5541, -0.4282, 0.9996]\nstate[eef_state]: left_x=0.4699 left_y=-0.0609 left_z=0.0445 left_yaw=0.0638 left_pitch=0.0777 left_roll=-0.0574 left_gripper=0.9956 right_x=0.2745 right_y=0.001 right_z=0.129 right_yaw=0.3258 right_pitch=-0.0274 right_roll=0.014 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -5.4769, 4.3692, 0.6716, -0.3736, 0.5006, 0.1148, -0.5949, -2.0308, 6.9128, 1.7753, -0.3443, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e45fb90063b5c666a186b23fa40fa6887f4f9559274c8701e20bc36450fb66ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8caeddea36480a4e45ef76c57441b33d45a18f5814b59d690bf5a18f03384a1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e93845ea5afb890038cb027cc21448d4678cc0a83a63a0897dbaa9217863f18e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJ0izeV9KZu1x585gz4H61DJK2xSfEgjevybZSwzprE8qmleVCBCQHoGhLF2YFhzXnoNNLHXAsdtdDh1bCsjQZrkkJ4cX5U6I0b7KyZYeR1xPuNuUxnk7-3qGUb_h-ehv35RPEOdGBtmRQNV8uEiiOtfdZ4N5JOwwmK7v2_5jHHIST-ejq7i4Fab6AiE9dV2eyaOZbLiqFAq54tfsbsr1u1j2la1sDJHoJgUDzuHcICou9zz4YZP4Ba9ORioc7mGsf5bGJzggjGmLn960bW1mzbfud936iAX2gi6AkH0Mh2Tt-jru00UXLAAeP67GyzwHtuMUA_bHGoCktHRERr41LK1hYxhVWYsg_y-0iDWsceKrr2X8yTidb_RlVwFnkPU298rUfHy-Y8n1xqr88VxtFDlQEi8OMuZKew4A4V-7UnIjm-til5POiiaE08IpavliKF_pJKvSR-OjgR_niA5UE3bxcFPOYXsftVH78ogVUDyFiN2c3NVHlcMkSQ7OQfDzi5ZeyNnEculujeq6WQlXjybi3muA4of8DmMiqMvFyZoaPfbAhBMU8p8gJbm78UNUjchKJU_EW6EPtxoH5fYiR67V46dkLm641mTFRbBiMexVS-7G-DdXpGxf0H7x_Qb2C992DZQHCEICHdgEPZpUv1tRcQ3xOvYiR9ckf86W0kYqyfKdwcS5YH7ZdQuiXB5tcaGO8hSpdPs8gb_AOtIesEo6uNgAK_xKWWdgoPy_sryMEFL85ktjHW7uh79h3A_SKjq6g7CKFcm6DO3P3eBQ_dKMVRJkkiJcL0Yd2CcQxZJN3xAe9elDsSpduBqZw3o04dxr9ZLdhu87abD8odwPMFJ6IeDW3C3csFNIvuJuLzopsNOrHwRoSCa3NMV_AFit1c_IuzzAPo7tljIf2Af5rzV96XzZedJoxAU7ab9UoDZ5XcsFP0Lj3jFYodzJmz9yDJwaZ68sE2-eH3hGIM067r49u6QCWg2Ekng33272TcDAt8TBTqbSpi7UhXXdecbBx4Ogn3yXSJVNbNwzwiwcl7dCLJX_T0UrwCx8oEO7rXoIEVuV_mcOKw3-pZAPxNuVS26Ya6zFMi6y3J2vvlT8fmENbaEEufLq4J1n3-F1rqfdR5luzTye48eCEAEA9F1d41urxknHCSzYIphLaW9PtZo4IBQIMoAAbsvN2HcXF0Ley6HkA9VgpseE7ECamk0B3IzUcsO9v_LG6gw5YC5F4dzgr-Z0_FS_wm14-159oHaXEm_BvPyb8fSp3ym7UhZMQe9AQ2hxDij80s6pU-t1CT_g1fvnZBHguOd5nPkvyYaYrWLk2RaFzU0PEv36fMgKA905BKiATr9opcGjKwUicmH9UHvZnsYqy-DfJCoBH9Vi-Odg4Pl2zJx1qpxvfp7sBwlNUOfV1mScHWd4W9M_JcCPxHI8K3BWKOfB2xIL9-NoGwZjIn97Y3eFWBtV4fdSD50aLo0OTOMrI6hVVUaleioWUmGiLVO4xvarzOYu4qkXsjhITXFwRh9duTXokfOYUX",
  "id": "rs_0b04b84506ec6d6e016ab42273683c87d0bba4856c2e1dd3e8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s cap is now close to the left jaw tips, and the arm stopped lowering when it contacted the bottle. I’ll close once more at this better-aligned position.\"}",
  "call_id": "call_JvBRckZ8SWuvyiVYaukqbpbS",
  "id": "fc_0b04b84506ec6d6e016ab42273f41887d0805bc6329e1ae4ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JvBRckZ8SWuvyiVYaukqbpbS",
  "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]: [-0.2306, 1.8835, 0.8055, 0.564, -0.255, -0.2008, 0.0174, -0.3553, 0.8169, 0.4385, -0.3424, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.4783 left_y=-0.0628 left_z=0.0574 left_yaw=0.0777 left_pitch=0.0647 left_roll=-0.0389 left_gripper=0.0174 right_x=0.2724 right_y=0.0019 right_z=0.1245 right_yaw=0.3259 right_pitch=-0.0247 right_roll=0.0122 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -9.2513, 5.4085, 1.0379, -0.0806, 0.2076, 0.7106, -0.4171, -1.9624, 6.5436, 1.7607, -0.2955, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58faf0df6778b21fd1212fc33a602bd9c5223109f390b63d8de7041277a05496",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdc8480527959496e5797dffd312f004399ee82bbd272a9164ca8451d91d733",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6df4601b3d09db20376f423065b592cf5a688d15dce10efdaee9215ffbbd543",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2539, 1.7985, 0.6914, 0.5976, -0.2596, -0.1841, 0.015, -0.3557, 0.8547, 0.5232, -0.3954, -0.5541, -0.4278, 0.9994]\nstate[eef_state]: left_x=0.451 left_y=-0.0665 left_z=0.0596 left_yaw=0.0494 left_pitch=0.0699 left_roll=-0.0233 left_gripper=0.015 right_x=0.2798 right_y=-0.001 right_z=0.1419 right_yaw=0.3257 right_pitch=-0.0295 right_roll=0.016 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -8.3487, 5.4632, 1.033, 0.0415, 0.1197, 1.0037, -0.6359, -2.2359, 6.5846, 1.79, -0.3248, -0.0269, -0.0024]",
      "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]: [-0.2199, 1.9068, 0.7406, 0.6701, -0.2256, -0.2005, 0.9956, -0.3557, 0.8288, 0.4622, -0.3576, -0.5541, -0.4282, 0.9996]\nstate[eef_state]: left_x=0.4699 left_y=-0.0609 left_z=0.0445 left_yaw=0.0638 left_pitch=0.0777 left_roll=-0.0574 left_gripper=0.9956 right_x=0.2745 right_y=0.001 right_z=0.129 right_yaw=0.3258 right_pitch=-0.0274 right_roll=0.014 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -5.4769, 4.3692, 0.6716, -0.3736, 0.5006, 0.1148, -0.5949, -2.0308, 6.9128, 1.7753, -0.3443, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2306, 1.8835, 0.8055, 0.564, -0.255, -0.2008, 0.0174, -0.3553, 0.8169, 0.4385, -0.3424, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.4783 left_y=-0.0628 left_z=0.0574 left_yaw=0.0777 left_pitch=0.0647 left_roll=-0.0389 left_gripper=0.0174 right_x=0.2724 right_y=0.0019 right_z=0.1245 right_yaw=0.3259 right_pitch=-0.0247 right_roll=0.0122 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -9.2513, 5.4085, 1.0379, -0.0806, 0.2076, 0.7106, -0.4171, -1.9624, 6.5436, 1.7607, -0.2955, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58faf0df6778b21fd1212fc33a602bd9c5223109f390b63d8de7041277a05496",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdc8480527959496e5797dffd312f004399ee82bbd272a9164ca8451d91d733",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6df4601b3d09db20376f423065b592cf5a688d15dce10efdaee9215ffbbd543",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0b04b84506ec6d6e016ab42276f3e087d0b4194f7a41ab869e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCJ-hr_OxK1mUx7FSEV-wM8ALQQYEAKKOATD9une6gA50BJnJjf5evz0jNXC1DjLzUDhvIde1UbwSx7ptWjPD2xdLrrBaPHkmtI1-ALkoHNfYU7zDsh4DdaGwDnSYJhD7ZZuTf143CXxNLtmMwrkGntlxMKesffg2Im2PEwU727R-HDOrW9YkZo20zkNF4gJDYt6XepfoI5ZYE2yepAtr581-eFgSVNO5fIPYAVutCHcLtJBdgMY3f2PRaE4QeBmyuEX8g79Lew5-67O2w0p4P7H5-8JcACNqOxNNp7j9kOKLQXwD3fFCsmVbVM_W41GgXLrH3Sc0l1HzPnsQH83ybT0oTQ6MsgG3nDMrLyB4Dx53xN-zz4IpjfXjjNbknOxZLlsqLJgzGod4ldT1SXNd_Dlo5JvwAk_BbEjPs9rv3hyzgz_f20qp3e20EiQ6xUfYKpuw18Ze83pz-m0fX-qP2-dv3KoyUT__UT9x0Z1gBVDPrNpB1tqIVDKhCnqtzDw1ANKoXBjcjg3s-YLcCDqMHy7srHazXnAcKeWom8flzsm252-7OGzn8r7biO8N5YtF544swsgwEresFWAn3H1ZV481Gf4sMp2eaUENS8_QRdzyMa76RrO3lCx3NIPYh_xlCOfnEdU4IbNwlPnV9TNR6fDR83Sr4MRWrav0xu5BUWnyusljv8tj2YqkegQgzrCgjUXgZ5HdmTM5g4rifaA0TezmmfBoPKwjNE9-Dn3POrlDr1SpiNlUfvINEpon90vkIn2LYAz1orOk0MGG1IbXN8Dje5hjhvVTBC1XTGG83X1iaicM0CNjiL-w9BIDwsaRrQt0VZaOcR9H9oQoBwNtuzO6u2Buzpz3n1k6WNSZp6wbx33v-TLl-wh03xDU3Wg8-iajAEJAlnDR3CZhuZwXOCls1Wu-yASrCGqXGtUrZaYZEbUv29L10uIgLTFS5m3MRehDGIzRjgDZmgmkjtuSWX05pB9MlEjYPDi8w5K9jOZV8LsM6xs_0g4CVTgINefKjqcthUA8puF6i6hJNWutG7ctTaaFmO12K7P3S7s9f-zlrOHlgcVe7ucxmvtKTK_v4lOnPjwDywXdYQnQEqTjBoHRA8EYKRfEAfnv7vaxhvDgYGeHGACPNI9SwEj9KLsaYTnzISGQscqOsEb5W7EnlskxiJTNWMWotXT5Yyw5kQj2X344qVV_LxSQCyhL_tv6FXBujvUtwgIgnstK9L9YhGxcR9RoP3YzQG4jy6vSpmKFXCNlhSpsz3ju3iaMn15igzWW--ILIWooIyCuzZYot3yZtNhwVJ-mAuG3Fnt3pkUMz77t607B8g77b_--UrB0Odx4i15Ug2FK0lR-5sz-z4upniKEYoOEUoiNojcq9VRVIOvblTJPX0009d7iyOgif_1Zddr4lnZM3T3zB7kFzBRBFRshfxh9CN5IK3z-hcyFWvO9IOSyvzo2uOeCR_GohsYJHx5bkm9jIYvZYLjUOk0z-s4oG4p9rXRBzc3TV7crZtdlNBGG0Vz0v7W3hHOilWDzdvDoCqpL5tjyMHO0PVUVTgukCqH0T7SP-3jGNpwGSUPB7PznDe-J6VH6-P2LDRSxzWz5dOa_hSEBjA80wP8zuwG3z3raJftBNVE5IToAXhs6_PkugfFM2-GvdbS6-zFnMin_EGBLgpeS8JpCRlGoshJ4MqV-FYAsiTRtJoA74IJ4LU3E_HWQr_QeYIxTUo7S0E06l348H7wpNDYTUS45YPUiZ0KXZz8unjPL8Y5XGL9YYNZqM7K-1DauT_SK856MFBmL4StaMxj66C_v3WwMby4HmVuwPHEFyR29YqFNSELI6XA_iLC4vvgAOlWZGMfRY4iT2eijofaUkB3zDp0b2dOYEYWhanL7maSLFrYyqWeO53oBWIuq11xXIfhzevgpueKrD-AXI5pY5eAOG0HJSvOeO27fFgJPVRUhFiaUWwCUMZmuxMvGMRVGfv7I5uen56yXS0JDox3hVtGaXzOwLT-I2wJ-293V3bM_uwFVn4=",
  "id": "rs_0b04b84506ec6d6e016ab4227b8d1487d0ba5047d7ed04ee5b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.37,\"left_y\":-0.13,\"left_z\":0.10},\"note\":\"That second close was also empty; the jaws had ended up beyond the cap. I’ll switch to the bottle’s wider body, where the first right-hand grasp showed the fingers can make secure contact.\"}",
  "call_id": "call_Gb8NRAzo4NSNiMXLFWfnEsLY",
  "id": "fc_0b04b84506ec6d6e016ab4227d2b9087d0b6a4280801e09199",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gb8NRAzo4NSNiMXLFWfnEsLY",
  "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]: [-0.5713, 1.515, 0.6754, 0.1883, -0.5068, -0.3779, 0.9946, -0.3553, 0.804, 0.4133, -0.3286, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3782 left_y=-0.1369 left_z=0.0973 left_yaw=0.0365 left_pitch=0.0021 left_roll=-0.0073 left_gripper=0.9946 right_x=0.2699 right_y=0.0028 right_z=0.1193 right_yaw=0.3259 right_pitch=-0.0235 right_roll=0.0112 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -7.2684, 5.5726, 1.5458, -0.2906, -0.0708, -0.1929, -0.4581, -1.1145, 6.8171, 1.79, -0.3199, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4616107c72c0b8e615cb54381a617d01608209e3ab657ba0770c1655ad0bd3f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03873cdd4da33081569ce0a2e30dbdf31d31deaec72dc4c8792df4aba337e1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894f5a1d870a18deb2b45064bfeed770e590f63a54707aa2de8457df2f54a8b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 105 changed as sent

message 113 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.16, 1.7168, 0.7361, 0.3607, -0.1925, -0.1505, 0.9944, -0.3557, 0.8421, 0.4919, -0.3763, -0.5541, -0.4278, 0.9995]\nstate[eef_state]: left_x=0.4432 left_y=-0.0337 left_z=0.0617 left_yaw=0.0686 left_pitch=-0.0462 left_roll=-0.0003 left_gripper=0.9944 right_x=0.277 right_y=0.0001 right_z=0.1351 right_yaw=0.3257 right_pitch=-0.0292 right_roll=0.0158 right_gripper=0.9995\nstate[joint_eff]: [0.1436, -10.3316, 8.212, 1.6093, 0.0171, 0.1685, -0.1245, -0.5675, -2.1949, 6.8308, 1.7363, -0.2906, -0.022, -0.0024]\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]: [-0.2306, 1.8835, 0.8055, 0.564, -0.255, -0.2008, 0.0174, -0.3553, 0.8169, 0.4385, -0.3424, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.4783 left_y=-0.0628 left_z=0.0574 left_yaw=0.0777 left_pitch=0.0647 left_roll=-0.0389 left_gripper=0.0174 right_x=0.2724 right_y=0.0019 right_z=0.1245 right_yaw=0.3259 right_pitch=-0.0247 right_roll=0.0122 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -9.2513, 5.4085, 1.0379, -0.0806, 0.2076, 0.7106, -0.4171, -1.9624, 6.5436, 1.7607, -0.2955, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5713, 1.515, 0.6754, 0.1883, -0.5068, -0.3779, 0.9946, -0.3553, 0.804, 0.4133, -0.3286, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3782 left_y=-0.1369 left_z=0.0973 left_yaw=0.0365 left_pitch=0.0021 left_roll=-0.0073 left_gripper=0.9946 right_x=0.2699 right_y=0.0028 right_z=0.1193 right_yaw=0.3259 right_pitch=-0.0235 right_roll=0.0112 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -7.2684, 5.5726, 1.5458, -0.2906, -0.0708, -0.1929, -0.4581, -1.1145, 6.8171, 1.79, -0.3199, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4616107c72c0b8e615cb54381a617d01608209e3ab657ba0770c1655ad0bd3f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03873cdd4da33081569ce0a2e30dbdf31d31deaec72dc4c8792df4aba337e1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894f5a1d870a18deb2b45064bfeed770e590f63a54707aa2de8457df2f54a8b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKBLZE00QXisAN1s7mNCmdZby7jqLf_rXWOB5QzTVDVMs_VSzGZxRzJtfDLse8G6NkbyLelRVKf3Orf2FEdcARUtoHAH4x5qbUOno25Ba6VAoxysuUuWDhuwUJ66OwwljuIaDWjZK13YWWuFC-VPnsD7Smn5heKCLJkW0ZkpbHaHV9gp15h4WjmjQrNXgHfm8nw3aBA7OS0pVZjNvfDjbx2pV2yxKZwskKrfTZRCdPZZWyJmfEhqRzrg9y3jgviFXX9zb8M7jZmghj5zIwMPv1Vv3aGnQt4L2yGXsap40FDvlHC4s5E78D7HvgE8hQ0NlWNF50MtywewSjaaaQJkEGTs9OUntfV64ZOmpUmQK757tYbuXuote-kHnpk3qABml0gSn7cg8M51X5JVQ_Gqv5M2WMz0K-5ZnluQDKilqmRaSz_-Skv2Nj-kyqYpd5eSCmbtsyRVBwFvvMPEi9OXqJnyJ_T0skK8a7QVOYaTOG0zD1wjaznjW9xfNPr1xMl5jHZoE3V7NvIouAkBpVstRBHqQAyQHoY45rAeiirbHzMR2PzAAYIYnVZqWUcw4lNFau2fK8o55lu3lyo1fj7z1EePhQzyfOFZch5zlDdZbrmJit5QBJI3ppSmlQcrZYUfhmGXu7MVvnqmgEPHGKexnJYOnlfh6R9j9rrkZVXgs6Kw9aihOn0jCcHYWB5Z0p8vneFvOdjYQLuhh7HaULJMr31VVflcEx8-iwzAsLnXQk3jY-CPbeWUgoUkY675VTvF7kECy0wxU_WnurFLrzPHDYFO13dWg7LRjWA9kSfD7bUN9Ljsnfm4zgIzlxw6DQM_qmP_-wOcWv2yE_STmoCBM51sWg3Sfyzv8wKV9_EffxyG6ddHujpZVf7NZvF84lbZDiuGP30IOkvca3IwVV4MEGDMvT68I6Ct-pI5ODIkKhzEEcO5YmJTKu65U34NRdtXkRUN6C1D5FGgyUYY3NibcIYFpbdmZB2m66tmrv4JUKAFk9sPeGcSDvnXI9hH7GHHc0P5YujMYJds-GTfcteAzbeOEQg_rZopW0LfO-uXM0a-oOQ4IVDnBL-0R59jUC3NGLcM17EslQqcWzPueE6FmIAgfRE7rb8rjiA1Ex10EmJsv_j8d8pu3BhQhg9vuDlZc8NzOVersMxJPLJsH2_Zr57RNiYrUFbBXLBUfuP2taqxKlxYxAbOUGmgmyyDs6QqRPEGlxaHIyUwqtqAdxtUML0BRjX6e-wBKW_H3OlonCzB0oRbkCRDfabQy_YQCSjqD_nt1qc1VFOyPYBT3-GsUQoF8Nh2NYlSl_v2qkNw0P7lF8rjMG6zlKmJ55jbd-Fek4EFqDITTWm2SVApu3mM61u9BQrtWybNFcDV5ftwn5xvsQQy6fJyuyyiEGW_Uw-pOjUywHOlAPLFEt8AtzBYCDNZRITbQSLAd89m1YptlijYuAG0oE45PTtjllzmr2Ao6QIXeLVxZBDl89O_E7qfaEZkxdvT2Dmnvgaz3pGLYTb4oIqY1-MWoD8HiNZQxVq1D044nlOI3_O1Vr5alzP2yC7odbXoj2pL4vEtKwSIbIxhxh-C-Ptc0-ka_Ay0ohJkEsJq8-NS5DaLb5PWiNILdCffIjZiOiKtG86D3UO3_KEdP99Cor5wgC6VWG5rsRzjImg_EobhVw4YdshsHh1TTmW7g==",
  "id": "rs_0b04b84506ec6d6e016ab4228017e487d08840217b53469d37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.115,\"left_z\":0.005},\"note\":\"The left bottle’s wide lower body now fills the left side of the jaw opening. I’ll lower and shift a couple of centimeters so that broad section lies squarely between the fingertips.\"}",
  "call_id": "call_E0gY8apy4rzDhc5Vq0GVfcpX",
  "id": "fc_0b04b84506ec6d6e016ab422811ca087d0a8887384cc7e78de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E0gY8apy4rzDhc5Vq0GVfcpX",
  "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]: [-0.5091, 1.8156, 0.5037, 0.6197, -0.4656, -0.3481, 0.9957, -0.3557, 0.7944, 0.3923, -0.3161, -0.5545, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3725 left_y=-0.113 left_z=0.0013 left_yaw=0.0506 left_pitch=-0.0463 left_roll=0.0186 left_gripper=0.9957 right_x=0.2679 right_y=0.0035 right_z=0.1149 right_yaw=0.3258 right_pitch=-0.0225 right_roll=0.0107 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -7.0496, 4.1915, 0.6422, -0.0904, 0.4518, 0.0904, -0.5128, -1.5521, 6.5846, 1.7167, -0.3346, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0160f90bddcd1e9b7cef5270eed0a475d3a678e4644d1f1f2a979e5fce74a995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a60eab8c41349e1a3828e32d6f62b09453cd68c46e44a09c07276585222c9fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e148abd91c2395353889f84144fc6d01f98bc45f7bb557f5ad1131976c8ed6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 109 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2199, 1.9068, 0.7406, 0.6701, -0.2256, -0.2005, 0.9956, -0.3557, 0.8288, 0.4622, -0.3576, -0.5541, -0.4282, 0.9996]\nstate[eef_state]: left_x=0.4699 left_y=-0.0609 left_z=0.0445 left_yaw=0.0638 left_pitch=0.0777 left_roll=-0.0574 left_gripper=0.9956 right_x=0.2745 right_y=0.001 right_z=0.129 right_yaw=0.3258 right_pitch=-0.0274 right_roll=0.014 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -5.4769, 4.3692, 0.6716, -0.3736, 0.5006, 0.1148, -0.5949, -2.0308, 6.9128, 1.7753, -0.3443, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5713, 1.515, 0.6754, 0.1883, -0.5068, -0.3779, 0.9946, -0.3553, 0.804, 0.4133, -0.3286, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3782 left_y=-0.1369 left_z=0.0973 left_yaw=0.0365 left_pitch=0.0021 left_roll=-0.0073 left_gripper=0.9946 right_x=0.2699 right_y=0.0028 right_z=0.1193 right_yaw=0.3259 right_pitch=-0.0235 right_roll=0.0112 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -7.2684, 5.5726, 1.5458, -0.2906, -0.0708, -0.1929, -0.4581, -1.1145, 6.8171, 1.79, -0.3199, -0.0122, -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]: [-0.5091, 1.8156, 0.5037, 0.6197, -0.4656, -0.3481, 0.9957, -0.3557, 0.7944, 0.3923, -0.3161, -0.5545, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3725 left_y=-0.113 left_z=0.0013 left_yaw=0.0506 left_pitch=-0.0463 left_roll=0.0186 left_gripper=0.9957 right_x=0.2679 right_y=0.0035 right_z=0.1149 right_yaw=0.3258 right_pitch=-0.0225 right_roll=0.0107 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -7.0496, 4.1915, 0.6422, -0.0904, 0.4518, 0.0904, -0.5128, -1.5521, 6.5846, 1.7167, -0.3346, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0160f90bddcd1e9b7cef5270eed0a475d3a678e4644d1f1f2a979e5fce74a995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a60eab8c41349e1a3828e32d6f62b09453cd68c46e44a09c07276585222c9fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e148abd91c2395353889f84144fc6d01f98bc45f7bb557f5ad1131976c8ed6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKEo0-FnhwuNjxunQ_nuEMZVv0zmYbc2WvwIgXogi8Am_6jExMvpoJWQYme5aODRr45gTZKtLxv1h1T7Eqag4iEpzLbCP01OovLVBCPDv0alY-MhkDWU0I3e241zbSa0R7QlC9PIDfdEvC3mcHYqPWysJwM4NU9m-JXF4QPdjEdYquSXGYzqwYxgi-7GzB1iHUTK8PcltzQ-Vf8by2dLpVRGsbefpquSDf04jNdrT7_i1Ogi0fsnTCmgObIO1P3exe7lJpKcS6Zrv-ElASW1geHDkvViacwwxjhzd7e-2YaONGcl3_VTSvjGzzPMNbxebUsYrkLQdhApx4Mp9L8K3EvuoGj2IImVIlJj2rJ1japMjUHTJCd5N3gA6yTDcrSlKie1bsy1w2X_hTCwMqcSqWJ5I6e8nr171UwcGaNHNcuTJrFDl-SKWLezbYv7Q6gdKK7jB-bJO9UE7JTlkXXKGWHYYYZLdp18zVJ626BFcyY8-GJhUACT1RISM6wlL1h4zgwy_AK5oIE058E4BsEPbtYV68Hy5ReY6qqpmSjhPkmicdLA2lVPtCg-i5IUR7PEMhyZ5TJCYa_IceLKWLEvlt6Z02sG1U326bapjfWIzb2NwdRGU5bmOuAh4nne7MFfIIjFV5fpkC-W5Fx0YSMEtiVYIDVPsqUsKdnJZv5MAH9DiB03qETntEvKX1OwCqoDzLku9YHTf4CNIyq0a4rQCv8vHxH0hDAy-HP1cwiGvGF7CXbqFs41P2BXCQappvmc5qo5bQL9SX_PVEaOh5Nl2BWOzLi4iGJbp6MpxHKrWgmRfxrBjuz284IAE-TT1iFYzWhT19pgfntbRoppqey1qH6KTUgPP2dwrhPAubxTSmvG0-miO6qipgVazNdSc9jf9x6tyl7bNsbkFm6vM6D5hvcYwS-s8s5ORdS17pCooVfOKXpuRdHZAL4Cqzds5KaXgmW9zuM3sITd8MsBSzPXlHZazVLHIJQuv9JgZ6YvZrOLXsBRjZ2TlMrzdddn0usTC7aCguaF9HWbYmVGRt_ujjFwchvQ1wP6txmbYT1Cpv5c8KAyaQu7ZRXE5jGy_sVIG9tUJ0cLv4WvBmBNnmDn4Ub3_A2RpVjNi7tgE7I_odxpvO3ZuAkMoSyRYYKYDMh-lIOJ848b_HqCWFcZzXrc3tG4IcroEIu1iQc2Ssb583WInrXOdQbzGiPNpVPhd0cdKHW3DtarJMv4sW6P4QniAtq1SPmpdJETfA-VeTRxtHaWuc=",
  "id": "rs_0b04b84506ec6d6e016ab422839eb487d0b1686e5d6b500160",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are at table height on opposite sides of the left bottle’s wide body. I’ll close to get a reliable grip before changing its orientation.\"}",
  "call_id": "call_wf2QH22AlC3fp4dyK8UsKt90",
  "id": "fc_0b04b84506ec6d6e016ab42283dd0887d08dff89c079e6e7e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wf2QH22AlC3fp4dyK8UsKt90",
  "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]: [-0.5106, 1.8347, 0.4744, 0.7288, -0.4717, -0.3443, 0.5381, -0.3557, 0.7841, 0.3733, -0.3054, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3746 left_y=-0.1137 left_z=0.0057 left_yaw=0.0513 left_pitch=0.007 left_roll=-0.0073 left_gripper=0.5381 right_x=0.266 right_y=0.0041 right_z=0.1111 right_yaw=0.3255 right_pitch=-0.0212 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.9692, 3.6034, 1.6972, -0.2466, -0.0464, 1.033, -0.5538, -1.5385, 6.5162, 1.7216, -0.3053, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d4415b0b8201195eee53aa3594be9b0273a9aa2a9c59bbe737844063e604d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8ddc47fa3dd62087bc7955d70dc3b7b67d58b6093980c864848b16ba4c410c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a84f3c8b1f01a62539fe43b9eeeb2ce1f9350c194b4c120cc006cee150bcd536",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 113 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2306, 1.8835, 0.8055, 0.564, -0.255, -0.2008, 0.0174, -0.3553, 0.8169, 0.4385, -0.3424, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.4783 left_y=-0.0628 left_z=0.0574 left_yaw=0.0777 left_pitch=0.0647 left_roll=-0.0389 left_gripper=0.0174 right_x=0.2724 right_y=0.0019 right_z=0.1245 right_yaw=0.3259 right_pitch=-0.0247 right_roll=0.0122 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -9.2513, 5.4085, 1.0379, -0.0806, 0.2076, 0.7106, -0.4171, -1.9624, 6.5436, 1.7607, -0.2955, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5091, 1.8156, 0.5037, 0.6197, -0.4656, -0.3481, 0.9957, -0.3557, 0.7944, 0.3923, -0.3161, -0.5545, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3725 left_y=-0.113 left_z=0.0013 left_yaw=0.0506 left_pitch=-0.0463 left_roll=0.0186 left_gripper=0.9957 right_x=0.2679 right_y=0.0035 right_z=0.1149 right_yaw=0.3258 right_pitch=-0.0225 right_roll=0.0107 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -7.0496, 4.1915, 0.6422, -0.0904, 0.4518, 0.0904, -0.5128, -1.5521, 6.5846, 1.7167, -0.3346, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5106, 1.8347, 0.4744, 0.7288, -0.4717, -0.3443, 0.5381, -0.3557, 0.7841, 0.3733, -0.3054, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3746 left_y=-0.1137 left_z=0.0057 left_yaw=0.0513 left_pitch=0.007 left_roll=-0.0073 left_gripper=0.5381 right_x=0.266 right_y=0.0041 right_z=0.1111 right_yaw=0.3255 right_pitch=-0.0212 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.9692, 3.6034, 1.6972, -0.2466, -0.0464, 1.033, -0.5538, -1.5385, 6.5162, 1.7216, -0.3053, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d4415b0b8201195eee53aa3594be9b0273a9aa2a9c59bbe737844063e604d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8ddc47fa3dd62087bc7955d70dc3b7b67d58b6093980c864848b16ba4c410c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a84f3c8b1f01a62539fe43b9eeeb2ce1f9350c194b4c120cc006cee150bcd536",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKJyceukfZTU7r-YKLss0R-uyi48uO-H0glWvtMmxnHXeocw98HQ2MHEHNHS81bgaIWKENtvzl5BzCMQiR4M_xlA-AUihmLoPXLDdjoeHUu_PNcpjqJvOBJ-di7PoFo727rK-QpB_vHpU9OnJ6lCR2hQTOXkInNYpsKbqaZo0NIKXPlDz0dtX-4JcBYbbOYwHgTt2HuXLjLPRFclsP9dJ671u3bt4YtHm15aiQLJFQRxAl3JQ855fhH6y0DI59fCqhu4ZbCir2U2ffCaGvI98o-clPfj66kz_f5lBTi1NcF35rmM81nlkT1995P-YXXx79ymfFFVaeaXOL6V0f7VmFwUu9F3EbxgB9T8koQ7Au2_6IVDRMhdhYiF4uvUFlKRYZlFDFpnXPe7ETE-637TVtsjwJ7i2Q-MkF8T3CC6bYKVYakHQ-wW4VzT5WHnC_mBKlhGc2jZ4d8sfgbGsXL6Xq8WjZh9kGlUjfBMfJfMgSQJujx1Sx0jGxtDvnPN9ZVND_LIImxTpvKsWpJzpNsepl-hHTx5KnZ7p-99YO8mYv3rIgOlgnoIAEUMyAZR6oCbXzgpp3S9Q7tHA-iufBXJ737TzzgjXhmG3bULmeN5lApr6TwXjdHwbUlmmyC910LJMOJ0PShilSEU0sy4ivHY37a27o1yEbmGHjtJd8lA0cTP4pTWmh_FTtxpiw0BP5qJwbFzqc6PdCMSBgahOZ5Lt3QnJSJ0EXvCv8pUuxftHDEDd6xSKETP0zPblGQcQDSGTPY-7uMg93PivdxNTioVUtbjz6gUdhZbnmqqWtK5I15lj7H9kSTMoCaInd94PdoLltefFwL5ZMsfSQCHNJjuTLv9k-Lw9Vk5F0l00D4aUhecbDbmxB66eckBhTKdiSa69Duo33L8loaQUbmrq-i5rVDL3F8pEXeHPHunFcNseYCgXZxrWbQoZxctgV9h8_UkSTaQkh6ndnK-l78KtB3V783wVdj6NznvS6P0aS6xi-O8uv0CTev42rAAWq3AOBB8kQbC3dS3wdUCWZGG2vCIc5av9js6RBDcLl5f4irMF5PMXpYSbdxFL-3bOdOs2bhOOri6v-ENgf5XkgQpZH1vbRnRoesjYJhCUrYauevqDpgitqnSnNiwPNXObuSX5II6JTkvfvh69To1LKOhZdrScnCEjNhgIxRdPCWCImH7_BEsKQjwHgYjBEj7iWWHHW_iKf80zPP_VviQ9ykHTBjJ4ByRhZfICsVe7edmSmrXznowk-kUSjlB-DfZLoaJ-ULup9D5fv37Aifw6wwagzf5tsftlYd2gWW4OlTwKXHcg-gLuOmMznYHNZ0uLzwmxjcb1gVPaxLJOdq4cU_iCf_Df6-wKBTdyFVnXVRoosMbDWmwyCkeLr7N297lXYREtHsaaQ2wFxq6Z-_1I4oxm4eSbEVdCnYDxdnLvPEjt0gK9t30KgAPlkecHZAFm9y0-_LUuRQU1y3Z1xgB4Y5Z-IQZn7d6rhxr20yIHkZDJDcrw-nxt388_49diqJDM727NjXX9Kfg0ABeJrvN11iR5ZKtcuAsTPJRwPcLrhUhU0gfApYfqcWo_IXjcc3QRkXyKadpBQZXXQUeGhs6MHuU-quhAuMOldbyawc5T26LgC-IpaTaGuWpucoZ7SpipvBY66beZOQORhkqnPcf5QF8lUfeM4c8gn8SVX8thvsSHOZutTRxjZrTvnPMwRis7DWez67YI-VsO7xWtG2-aLPYRmxlu_fFIWm6-KsS-1joD44g8H2AbOTW336QC4fB-fKyJNTpJ5KFCgikZx1y5352Uj3ON_lfYwOXwAy8mukOFYjVTsSVzth0R5FkkOnFsl10RdWcGRYRCuHWDnt0ugkowMpnc2WO53yD5QxVDFSr_uTj8EZRLnrSAn8nUkriX33RsQHAphcomcY5e66Vu6N_zAS_6b1Gl2EzxY33COwmtZXIkZE-e32-4Qbkx46CInM0fUOJUIp4lb6jE-1e593_QhA840CUpS1rrvYQ3p8FPytXif-jEBr0IoiVo_59HTPx9VVQeV8oiGoZNGt7BylATFQi8kw9pIgl8i0wimIO2q9lN_Pww2-bkjimwqH8y3YfgcTPspY",
  "id": "rs_0b04b84506ec6d6e016ab42286f0b087d099a6305092405b6f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.17,\"left_z\":0.11},\"note\":\"The left jaws are holding the bottle’s full-width body. Its cap is currently close to the far reach limit, so I’ll carry the bottle a short distance back into easier reach before attempting a cap-side pivot.\"}",
  "call_id": "call_L5S6Jiu3zCXZsRwDj9GaXCke",
  "id": "fc_0b04b84506ec6d6e016ab42288fc1487d0a8a219ce04d09057",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L5S6Jiu3zCXZsRwDj9GaXCke",
  "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]: [-0.8967, 1.3785, 0.5476, -0.0837, -0.6552, -0.6159, 0.54, -0.3557, 0.7731, 0.3557, -0.2935, -0.5541, -0.4274, 0.9996]\nstate[eef_state]: left_x=0.2787 left_y=-0.1706 left_z=0.0643 left_yaw=-0.0398 left_pitch=-0.1198 left_roll=0.0527 left_gripper=0.54 right_x=0.2646 right_y=0.0047 right_z=0.1083 right_yaw=0.3252 right_pitch=-0.017 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.747, 10.3316, 2.044, -1.1648, -0.1001, 1.0379, -0.5812, -1.306, 6.5709, 1.6972, -0.3394, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188a32661566a9bd484cf9f5c92c754682d888e52076dc5d532532b5b31b1392",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:529fc94c4eb56cbad1faee6445d6f1d835359b67aa610ed93aef3ee8649b306e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59be95aa90532afbe1c23c1ca34d0c85ff52b3025a6466cf12e70f514ebeb007",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5713, 1.515, 0.6754, 0.1883, -0.5068, -0.3779, 0.9946, -0.3553, 0.804, 0.4133, -0.3286, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3782 left_y=-0.1369 left_z=0.0973 left_yaw=0.0365 left_pitch=0.0021 left_roll=-0.0073 left_gripper=0.9946 right_x=0.2699 right_y=0.0028 right_z=0.1193 right_yaw=0.3259 right_pitch=-0.0235 right_roll=0.0112 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -7.2684, 5.5726, 1.5458, -0.2906, -0.0708, -0.1929, -0.4581, -1.1145, 6.8171, 1.79, -0.3199, -0.0122, -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]: [-0.5106, 1.8347, 0.4744, 0.7288, -0.4717, -0.3443, 0.5381, -0.3557, 0.7841, 0.3733, -0.3054, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3746 left_y=-0.1137 left_z=0.0057 left_yaw=0.0513 left_pitch=0.007 left_roll=-0.0073 left_gripper=0.5381 right_x=0.266 right_y=0.0041 right_z=0.1111 right_yaw=0.3255 right_pitch=-0.0212 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.9692, 3.6034, 1.6972, -0.2466, -0.0464, 1.033, -0.5538, -1.5385, 6.5162, 1.7216, -0.3053, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8967, 1.3785, 0.5476, -0.0837, -0.6552, -0.6159, 0.54, -0.3557, 0.7731, 0.3557, -0.2935, -0.5541, -0.4274, 0.9996]\nstate[eef_state]: left_x=0.2787 left_y=-0.1706 left_z=0.0643 left_yaw=-0.0398 left_pitch=-0.1198 left_roll=0.0527 left_gripper=0.54 right_x=0.2646 right_y=0.0047 right_z=0.1083 right_yaw=0.3252 right_pitch=-0.017 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.747, 10.3316, 2.044, -1.1648, -0.1001, 1.0379, -0.5812, -1.306, 6.5709, 1.6972, -0.3394, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188a32661566a9bd484cf9f5c92c754682d888e52076dc5d532532b5b31b1392",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:529fc94c4eb56cbad1faee6445d6f1d835359b67aa610ed93aef3ee8649b306e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59be95aa90532afbe1c23c1ca34d0c85ff52b3025a6466cf12e70f514ebeb007",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKNa4jblWfPdc3okF2fFv770xd63t4ed7ynOTKJfWR5AthghwotsgTIuexO5f6E4WqfYUjmDCU7v5trhTerdoQo7jsuqOHxm7iDHlFaSWM2w8AT4vHe93nU8OEKgEb9pmoAcKeTCqrEgCFiSsya9Y4gBGa-9sbD9raWJTeHY0_z7HMaI7NgK4kYSq2a2shdFBs00MkRkGacwRzePyYZ8vxozcPYsU79KTR7bldFBcPQNO59Y977nYtsYa03nOxb1_AmpyPKmMJcyS9uqroNJtSztdopykcDrsBQ6IO7cSBRl3no2SVIVH7_KpN6MwKc-5wxq-ydg-VaRCMnDUhP8ht5hnjIe5s3lcRXBFcrfUGwL3fv30ZT5eVdyWHM3dYB5XT8iMzsKHrHh6kHZl1XpRzXyXnuKSJg_aYTa56dJPERcy5kalwuNtH5L7op3SY40KUhasyHttxbYKIm1_cdK9kPRmK_Peck6_sw9sHte-E5Vd_83M3oXRF-bGRsZ4EAEz7CS5xsK-1lGeZ-XtUSRn58lJm8DT-RsNVs0K8_HwgcHn9Z9eEOIlFkOXkiqsFlNlhypqcNoE-8jgt4aIApiNM7HHc_r63-SGtBONCptF7Cf15MFCjBOhJZ1kEgJYsHPPDVDpp4ju3FnLhCbUVOYN-wH_xPKa_NHXcwiJK46oCDMahtdSNESttEipHxwRMsZDWRosGtPvYP3z59kgWk835wN2tTOn3Om4ZSgTRkLu0FYPZ4aPY9lsZ4XAJC28kJ5xYc-XK6lHy1jyEmGKUimznpa2xauKL7qKEZ5kwW-qxKE63kk5Xr5pG8z2SFVGNZkM8ek4r8xS6gLHmedAon_M94yyHTJDpAEVd2Foe_U7pBVvJ2TFNJ8KRkddCoJHC496Bmw4wnSBQpUp1mQY5WDVLdeFa2d1ZtwD-MyocDFR3B93GJ06MWUpVd5FzkDWwmeANBZm-RNiqesIgbltdWYw14mQNpJBX5jJaHWfFHpQ9mZv_yU36zIGxlRiWrWj_gUDbzCOqZb3X3HwqjzP-2V9Sau4wvsJSiX5cReldYao5zPxI_ieeJButN-Wv3NOd_2es4jDhriG5TEO8gptyPwUY0KcC1G-gUJo0VPWWND5bXZCqw5o35SMhhbNaV7GbuTiQIDJbSMv4hu2Qsw7BzGmIh8hdqWpAy1u_DwUvzorz_L0tpUrIcXezlkFAmGtpLxhKmN7cfd9CzaEsNo33GqZWG04qigLDJHkFt_VzO1vtsKALWB96Hoxsg8fKFthnGOHChk3RCLJoL-aynAUabTbQP9SwVWSlWQrVIkoPZ7ro9-L7-lVWgWHDIitxCQyNt3mnGSes8wrF8uXeXo9EaM2otxb2dPX1ENBJeKkrZiqHny-j880o3JQZR61wz6hnUVlEM5_lk8j4E_UdX5QdoZtHa99wF9wPp4hd6kYzACNYCnHkRCaNYlMs7IFh2bujA3DpGDa3cndKHW7Tid1FTHQmlzACxYXvnO5SSgzEf0NupBHMMIuga7-cMtv8E8bNA3imE_t_Ite9UtwTYZM1QabKR-mVbfI07-RnUSJtYAqRyifyJsUBBgWeMVMAfKA398euQJK7rVflEUFWYLB_iaHFcP4x1z0nraI6bNiFCEqP_1dpEUm0BZ7GnkIvgEfcXrpRtqN3B-8mzRU80BHIhrTTlQ9dUWkXAh7006opW4ioEQuJG3SZUeiXLuvoI-6Otzx_jdsFpbBFmZ0uVPNFxwURTifdJWOPGAe-7nYSWJLEBIbYACJj38z8pi8wmIYkxdawUVnQ29c7WpENqFhYMOlwfde2hVJXsxamd5FG6u2kV8IQ=",
  "id": "rs_0b04b84506ec6d6e016ab4228b90e887d096690b297afac780",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.005},\"note\":\"The left bottle has moved back into reachable space, and its cap is now near the middle of the workspace. I’ll set its wide body onto the table before shifting the gripper to the cap end.\"}",
  "call_id": "call_jqHYe4cNWNAl77RWeqNax99m",
  "id": "fc_0b04b84506ec6d6e016ab4228ccf2887d09de4f2acb024e413",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jqHYe4cNWNAl77RWeqNax99m",
  "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]: [-0.9287, 1.6321, 0.3416, 0.3931, -0.7315, -0.6277, 0.5437, -0.3565, 0.7662, 0.3408, -0.2905, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.2694 left_y=-0.1573 left_z=-0.0008 left_yaw=-0.0162 left_pitch=-0.062 left_roll=0.0682 left_gripper=0.5437 right_x=0.2624 right_y=0.0053 right_z=0.1042 right_yaw=0.3247 right_pitch=-0.0209 right_roll=0.009 right_gripper=0.9996\nstate[joint_eff]: [0.212, -4.2462, 2.9333, 0.7448, 0.0562, 0.2271, 0.8571, -0.4171, -1.1282, 6.6393, 1.7021, -0.2857, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8df84e91b4948ff810196afc7f0cb17fa612f329fff5dcc6efa773b9291670e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0080cb6f4d92d4619a2e7aff701fe2c119ebf1e47cac4d4051b543bb413b324c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:518c244b061c233a27fe2316a2d32aae7ca35b068ac2b5c0bb0f10f97c763f4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5091, 1.8156, 0.5037, 0.6197, -0.4656, -0.3481, 0.9957, -0.3557, 0.7944, 0.3923, -0.3161, -0.5545, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3725 left_y=-0.113 left_z=0.0013 left_yaw=0.0506 left_pitch=-0.0463 left_roll=0.0186 left_gripper=0.9957 right_x=0.2679 right_y=0.0035 right_z=0.1149 right_yaw=0.3258 right_pitch=-0.0225 right_roll=0.0107 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -7.0496, 4.1915, 0.6422, -0.0904, 0.4518, 0.0904, -0.5128, -1.5521, 6.5846, 1.7167, -0.3346, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8967, 1.3785, 0.5476, -0.0837, -0.6552, -0.6159, 0.54, -0.3557, 0.7731, 0.3557, -0.2935, -0.5541, -0.4274, 0.9996]\nstate[eef_state]: left_x=0.2787 left_y=-0.1706 left_z=0.0643 left_yaw=-0.0398 left_pitch=-0.1198 left_roll=0.0527 left_gripper=0.54 right_x=0.2646 right_y=0.0047 right_z=0.1083 right_yaw=0.3252 right_pitch=-0.017 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.747, 10.3316, 2.044, -1.1648, -0.1001, 1.0379, -0.5812, -1.306, 6.5709, 1.6972, -0.3394, -0.0122, -0.0122]\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]: [-0.9287, 1.6321, 0.3416, 0.3931, -0.7315, -0.6277, 0.5437, -0.3565, 0.7662, 0.3408, -0.2905, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.2694 left_y=-0.1573 left_z=-0.0008 left_yaw=-0.0162 left_pitch=-0.062 left_roll=0.0682 left_gripper=0.5437 right_x=0.2624 right_y=0.0053 right_z=0.1042 right_yaw=0.3247 right_pitch=-0.0209 right_roll=0.009 right_gripper=0.9996\nstate[joint_eff]: [0.212, -4.2462, 2.9333, 0.7448, 0.0562, 0.2271, 0.8571, -0.4171, -1.1282, 6.6393, 1.7021, -0.2857, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8df84e91b4948ff810196afc7f0cb17fa612f329fff5dcc6efa773b9291670e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0080cb6f4d92d4619a2e7aff701fe2c119ebf1e47cac4d4051b543bb413b324c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:518c244b061c233a27fe2316a2d32aae7ca35b068ac2b5c0bb0f10f97c763f4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKRH3zyhX9kEKVFTJAlO60un6eKnyUWB_njV_uoTqd_dQ0KSwGEr8MFc5KqK2b2wt9Dj99mCCFrwru_Hz7D0_cIUmkQuQr2JiMA3-xggKqGGywblK4KkY-P4teo86xHp6C9ikrp7ai9x7yrLL5vtsYJDW4JYdgloh8iNYtk8voT7U-ge2aWzffjL_7iR74wNkli376GU1BzAaEqFMePLrwb86LJygMsA08ZGgna2P2ncIPgGTs6eVLIQtdgyXwuYNIJUCSNK-3XbdV5fQaQw7UBKM6KelV-oNpC4sTSNky8sCbv6gk-uJqy_NKBBk9Hy8zaRrP0_8aC49i-JsLHsDsw-H6OpxyW80ka2YXIW2yEfrhJ18PXLcR2ppalsLiuM0MmRkXFnG8wnjNXn7d2MTTzfZeqHV7bTdvSTJXffbjp1OS4d7GZLtu2SwZ8qyywnrnrWL2QHYgERO4UBw6mUibjCAbPOe7fXj2OlrKeDgcj80BBuUuoHSA37vwOqE3gtOl13LcJLKAiMRca9Jg30JqRHK0yboe2MyIZnfX5rtHm9BFPZBScR2ylLxp0Z5brO9q1DcDxEXxjmaBpgOTlvdKIG3PL_EnKSSN2q6IBXugYRSRCB-osNHrLdOhRe8QzYVLAch4XInpttdNM3PPhYuxaq_ZvPdlHpcvIamE5OUj75jk4Aug5TuB76f82oHsoAxKH_KAGOzwJw0VBcZRM8JnvV-9PaG9S_Xq-nKS62soB8LGcjScChYNf-QX2tDlqx9sZljFUxSgdm6H8F5Mp9wM2f2GsidDrcMnskOGsYhq2mXzA44LIYE4s91EMJdzYacSGAg-jRkRn7tT2UC0kkYDtWXUTdRyto5u2aPHeXNkg9TuEMrOgN6t4xaMzpjCuZ3k3zhlT4BEXz4Qk98kh9ZevJm4hf_dnLgeKU66ZFIol-q-e_8iyqesDwWylCXQ5ziaZo37k89VzSgoE63J29y9nRFQhOBNVCw8YMmPqKOXsN8yR_xbLaZ-J6_pruLBPnuXubSYOBg0GhX685us15t65JNXFpNsEgYxTXYezOfFJuYNyaZQqPNqk7hGCVnJHrv4x-X68xqJjW8WvAWt0JXy5tp4V7wrMX_0TldsbFP2drsmzcSqJlZPZ2h8vq_JrJVy-2SK_pX_y8AuGAdwlpn6nDI7XMuTOchWGUaZJJ5VuDEEiU1g-VrcOHvlUmcWYYJiHpl3Tz1fgjjh89Uqn1QVK0uiNfs0JLj3j7AMvIbYmfOc5lKaacUl-C_utzJTAmmma5thtq2EVZlvdBldcFNgP-7gC5uPgA3Z6Ehr9tfb5PwJdgzVYWwJExdwol4JdapBpC9MXIGG2A-kfqoqqMu5i_s_SYiv4vZ5B_DS2pGo6XS2hKHVL3NWWp_hwXY5JM-BCH3txmmnXZ3H7hEYWB-rewFpqOpBaQUeGIWcuWsnOitnMu0zhAGncjDetE8OdgS5Q",
  "id": "rs_0b04b84506ec6d6e016ab4228fc38487d0b2c3dd69819fc05e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.37,\"left_z\":0.1},\"note\":\"The moved bottle is resting flat, with its cap farther forward but now well within reach. I’ll release its wide body and bring the open jaws over the cap-side shoulder.\"}",
  "call_id": "call_cAGctGUgjAMb8saYok16ylLH",
  "id": "fc_0b04b84506ec6d6e016ab4229047c887d0a8eee3a17f76c516",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cAGctGUgjAMb8saYok16ylLH",
  "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]: [-0.6392, 1.5219, 0.6403, 0.2165, -0.5484, -0.4229, 0.997, -0.3603, 0.7582, 0.3222, -0.2863, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3645 left_y=-0.1517 left_z=0.0886 left_yaw=0.0253 left_pitch=0.0062 left_roll=-0.0169 left_gripper=0.997 right_x=0.2597 right_y=0.0053 right_z=0.0989 right_yaw=0.321 right_pitch=-0.0259 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -7.0222, 7.788, 1.536, -0.0611, 0.1587, 0.0024, -0.3077, -1.3607, 6.6256, 1.7851, -0.3101, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894b4523691c405b5baf61261fb5c6ec114e9b97627a2d97c759f987281bf8fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b015b63c86463f7e072e5c95f1175a126f9d40ffdf0f79122c4edad6076b52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12a893e7cff6f82e228f6b54fe8508bda8303d861e37d2a97596f8c6a1dc98be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5106, 1.8347, 0.4744, 0.7288, -0.4717, -0.3443, 0.5381, -0.3557, 0.7841, 0.3733, -0.3054, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3746 left_y=-0.1137 left_z=0.0057 left_yaw=0.0513 left_pitch=0.007 left_roll=-0.0073 left_gripper=0.5381 right_x=0.266 right_y=0.0041 right_z=0.1111 right_yaw=0.3255 right_pitch=-0.0212 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.9692, 3.6034, 1.6972, -0.2466, -0.0464, 1.033, -0.5538, -1.5385, 6.5162, 1.7216, -0.3053, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9287, 1.6321, 0.3416, 0.3931, -0.7315, -0.6277, 0.5437, -0.3565, 0.7662, 0.3408, -0.2905, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.2694 left_y=-0.1573 left_z=-0.0008 left_yaw=-0.0162 left_pitch=-0.062 left_roll=0.0682 left_gripper=0.5437 right_x=0.2624 right_y=0.0053 right_z=0.1042 right_yaw=0.3247 right_pitch=-0.0209 right_roll=0.009 right_gripper=0.9996\nstate[joint_eff]: [0.212, -4.2462, 2.9333, 0.7448, 0.0562, 0.2271, 0.8571, -0.4171, -1.1282, 6.6393, 1.7021, -0.2857, -0.022, -0.0073]\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]: [-0.6392, 1.5219, 0.6403, 0.2165, -0.5484, -0.4229, 0.997, -0.3603, 0.7582, 0.3222, -0.2863, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3645 left_y=-0.1517 left_z=0.0886 left_yaw=0.0253 left_pitch=0.0062 left_roll=-0.0169 left_gripper=0.997 right_x=0.2597 right_y=0.0053 right_z=0.0989 right_yaw=0.321 right_pitch=-0.0259 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -7.0222, 7.788, 1.536, -0.0611, 0.1587, 0.0024, -0.3077, -1.3607, 6.6256, 1.7851, -0.3101, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894b4523691c405b5baf61261fb5c6ec114e9b97627a2d97c759f987281bf8fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b015b63c86463f7e072e5c95f1175a126f9d40ffdf0f79122c4edad6076b52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12a893e7cff6f82e228f6b54fe8508bda8303d861e37d2a97596f8c6a1dc98be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKUy-sJB8sI6DWuxDi-_AUNtkL3MshwKIocLy1lfyrLKGGFF6TBCr53B-unTZUB-YtnVsXM28H2qWcZSSWZZ7hT2t_0GG_5hoEWCliZE-y9NEqIEfKpS4QRh1e4WOvodJSYLRQKyrQ6jFFRnUeXMbAfblUyS6R8e0uY5yJXa0lQBpGYbHz_eONFHJbcbai-uQiy8GgYFzsXG6dBIFIxMNcvOski9u-JM-fOWRgSpADe6JUh5XZAima_kfrqaRm2vBv1Y_9BMcUwuQnn_bn2JeEjFPwzdZ5SoRgf1DmYNQ-wODJ0kXr49u1ijIilaXAR4bh5vNiUYdBd5SVMqxSfFXZ1gABp9DB4Z8TH8rFo1huOPeaw916MnPy6KW2MY2duOKULo5fo4xJC-a5s29_P362ObbJt32S7074YyJglR5OiPHxqAC4KhdXC3TCD9t1f6zo2ure-kVNaz6osE0Wc-jLqbovC3hrTKbihNpL5BKs5fBix3UIarShaK4q3OrMDDTzQCB6RYBk1g3D0XrB_RVpPpBPiGm8rwYPmx-xiRBBr2Offjn-tzWXOiRNACR6xC3_1rFpDojhSBmR7mWNYHjVfcntWStTpj2tKxJolVJZPwDRv85qRA90lH3GqdgTSgKRAoAZQrZ2ozQzS42Gr7s2q9uQFT6q42dMB-iEZdrZGNWTf3MswlLmf0QSSBeAXC6I4pwafPQFGQ_vHhOFZ_BMyStNXbu8iDv4rGfu6Jaul3FNCuM5F38TNDpTgG0C5b9P9vo061X6_H1rRR9CEvDF3f2KamUPDRwokJCDIZsnJpKiOOv0xme9A0fw8q5jayOwDsw7DCXiW0WBp8IDVfDR4kzcS4b6LqlQei5zGDdnQGGDaMmxNTPXoPKzb_v1Yzk_kJSICDaB3ybR_c0WLzhSEwA6wJjH7ETcwdCzY82yib6B8EtdD1kCn1UtCxZQQtWDLra4LIUhJwwLG_Qp1MzpueXJNVnAn9gU892BfXLyfqhkbnht-w3zEhwkBE2F5xCNUJyeG-r-MfnU7lqQ8ubv9meuAh4KuOIyPylCl58Lg5taVoVhSvDCqMAMQFVOJfws9OVa9iC05CXQA6vC66xLozmEGFe8AqKBwp7wvV4p9irbRpBN0DVV39PckDEMmTHRlpjm4BJrSQi8ab6yZumjkDYy0gE2SBITBhbRIhDws_T2rbamZgfidF4meWW7EQLKi5pCLVxXmRqKhceJzOA81YVUMBUtbOiSWvyacuVlh3VOYjWOg-X2wABNzVm6cyzDpI39eEKYKmqzkYw32rph1Z5Wsn5Bd-sfKqDhmu1GM6sX_AQEGiLpC03gj0C4mwemnTdsDY5tfy45ZE7VDP-5MIBr-3FD3Yh7mJX-m7Z9UTTtmFIF1bmt8G0ntdi2t1zlJb5Hr1KsOVYFbXOhuUBFmdMfNaiGYmQ4Sb-qPHUuZ-Mk-trJ1nDdksQicMKEQskWLGF9ybCiPsebFiHvdMUQL6nZfiteHPykH_FEaiotucvrb1natUjUsQWrfIHIANO1tyzpg_opyzF3diLTWYO4Ed1qQilsg83ba8CMJR54d0ZOC1gzVjvxHegkvwYovC2omOUjqTGWeDwamk3bZbdBtuQ==",
  "id": "rs_0b04b84506ec6d6e016ab42292d2b887d0ad2fd173bc425825",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.005,\"left_y\":-0.143},\"note\":\"In the left wrist camera, the moved bottle’s cap and shoulder line up with the jaw opening. I’ll descend at this shoulder position and close once it is at bottle height.\"}",
  "call_id": "call_ycMoTjptumMfl12fLv4LiHRQ",
  "id": "fc_0b04b84506ec6d6e016ab42293ce5487d08cbc1399cb17cc82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ycMoTjptumMfl12fLv4LiHRQ",
  "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]: [-0.6258, 1.7832, 0.5385, 0.6331, -0.5526, -0.3958, 0.9975, -0.3614, 0.7444, 0.2993, -0.2699, -0.5545, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3738 left_y=-0.1513 left_z=0.0308 left_yaw=0.0284 left_pitch=0.0501 left_roll=-0.0243 left_gripper=0.9975 right_x=0.2579 right_y=0.0058 right_z=0.0953 right_yaw=0.32 right_pitch=-0.0201 right_roll=0.0088 right_gripper=0.9996\nstate[joint_eff]: [0.9094, -3.7128, 2.1128, 0.7009, 0.1929, -0.1294, 0.0366, -0.5265, -1.1966, 6.5299, 1.746, -0.3541, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77e7c63bde4acf1cba492c1688b185ea5eaabcb54d824bdfe31fcadd891a1b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98d2ed74918375c385549ed8f254d5a76e2cd1c43f5f41c41e278e6ff978c06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7fc35193b26838ed838fdc940102361bd6bbec960bb25a82044346ed4c2d8a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8967, 1.3785, 0.5476, -0.0837, -0.6552, -0.6159, 0.54, -0.3557, 0.7731, 0.3557, -0.2935, -0.5541, -0.4274, 0.9996]\nstate[eef_state]: left_x=0.2787 left_y=-0.1706 left_z=0.0643 left_yaw=-0.0398 left_pitch=-0.1198 left_roll=0.0527 left_gripper=0.54 right_x=0.2646 right_y=0.0047 right_z=0.1083 right_yaw=0.3252 right_pitch=-0.017 right_roll=0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.747, 10.3316, 2.044, -1.1648, -0.1001, 1.0379, -0.5812, -1.306, 6.5709, 1.6972, -0.3394, -0.0122, -0.0122]\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]: [-0.6392, 1.5219, 0.6403, 0.2165, -0.5484, -0.4229, 0.997, -0.3603, 0.7582, 0.3222, -0.2863, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3645 left_y=-0.1517 left_z=0.0886 left_yaw=0.0253 left_pitch=0.0062 left_roll=-0.0169 left_gripper=0.997 right_x=0.2597 right_y=0.0053 right_z=0.0989 right_yaw=0.321 right_pitch=-0.0259 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -7.0222, 7.788, 1.536, -0.0611, 0.1587, 0.0024, -0.3077, -1.3607, 6.6256, 1.7851, -0.3101, 0.0024, -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]: [-0.6258, 1.7832, 0.5385, 0.6331, -0.5526, -0.3958, 0.9975, -0.3614, 0.7444, 0.2993, -0.2699, -0.5545, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.3738 left_y=-0.1513 left_z=0.0308 left_yaw=0.0284 left_pitch=0.0501 left_roll=-0.0243 left_gripper=0.9975 right_x=0.2579 right_y=0.0058 right_z=0.0953 right_yaw=0.32 right_pitch=-0.0201 right_roll=0.0088 right_gripper=0.9996\nstate[joint_eff]: [0.9094, -3.7128, 2.1128, 0.7009, 0.1929, -0.1294, 0.0366, -0.5265, -1.1966, 6.5299, 1.746, -0.3541, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77e7c63bde4acf1cba492c1688b185ea5eaabcb54d824bdfe31fcadd891a1b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98d2ed74918375c385549ed8f254d5a76e2cd1c43f5f41c41e278e6ff978c06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7fc35193b26838ed838fdc940102361bd6bbec960bb25a82044346ed4c2d8a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCKXVPYSvwaNkiu9iz4yqH-MzdstT_zt2_W4HbgeIGMDcpJu-w4y9gIDLILdxQW68K9zpNyAlmu4Hyga1iDTTyreQ2cfEl5P9m7G8kuICRn3zEUM1iV7zIOA6PE9ZEIK6D52LbpitUd9UIFcpD37lAosSNqFnG8DesrqovD1ZCevgDwcAOH5MedxIvNp8TWunVGtccFosZsBLf0EGxCYhKM46rx6vkaGC2IKgdBAKpkpHsdCQS8LRgncGEoVJRLO1v40StB633QtPCMappZ6S_bfjCbpF2Axn9f9EuN7_eGChE5yg5obiDq-stbrgs3ZN46QOiD8awjfJIFgSAOJ4qffrXpR3QT_L__OHg7BU9iee4Q1CsXUr0LMqwCp4ugotj8UTqHmce9Z3DwihoOj4ZnFHfyBXI_2bZsWGKRXMhtnMNVMsVsfXXdcywB_JBdF4BAa5VfjoJVU8bQ5EbDI65ADd2w15nDYVdA_kcIk6YATawzi-cy-lN9sCSShoL7TrExncCgJ4AU9VLypEiW5ziF6j0svF_gFnqavbb07K914WTIqT502WQnjMyVLT3iU2mzxWa1Of3tbFw5qKTpoZ-j0jGwmUQN22fuCts0iuqfAxajiU0EWm3L4kypdX7qIyffH3z9kZ0x15s2EkJ3x_pLhJzQnM5T-6WSleCg_boqCjeLjSeYHMflmjlIPgvvc6txlQEi0bZRTNwJX26DQzeIEBwjpcJdmHVr3Cm1bVqb5bu8_CYjvD83itOO6ny-eYymo7hOtHb-5b0nvb_AeS-OLbaJibRhaD7rcx44J81T8Y2p0eNgoDXCHzqvhTAasNTgeGPVN09-U7ktJ_fMsQnoTxCex3hfnVUo9wb2wmJ0cuDkRd4lSiNijbyTF3N_Vh8PE6ZL5YoaPCzRO2KkMW2O8bNBVoz2n8H_BXKcHIv3VeTxNSNuEipm5kf7wIM73dwKiy3M6UkgtiL2VNVaQ8IK9ztVGzA-6PG67cWEMjxkeDZHnizWTda5ZOtza9CAoNWri8kffB0-BTLXlTTxLHMLtBl_ZBp_2AU5NECfsA0Fwe1yscEq3BZ71tQa5wyxukgu-wPmHVRxER5jPKZaeKCytfDipXga1r6rm3kPp16lNS3nKGdsf-XOeFMeYovlrpCs1oHKbiEfio7-GzTPGEmRHWGreGnbEo7uyGx-8yMElaHW0owbgM5jaKNYUR8bSN5vDOGrIIRwkOr4zeyY-yMAZl8JdNfdKk5e3EOJdUQFGB0UVGOGGSzoPtb3uCLkjirEEHpM8KbPeQ7tL8_DS2IBzOu5jQFDQze7l_DXfRo-syOY=",
  "id": "rs_0b04b84506ec6d6e016ab42296283c87d088d302a803cdb015",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingers stopped just above the tabletop around the bottle’s cap-side body, which is centered in the wrist view. I’ll close and check that the jaws retain a bottle-width gap.\"}",
  "call_id": "call_yDNkA8aAcfVxigoFzcMbeF3n",
  "id": "fc_0b04b84506ec6d6e016ab422966d5087d091cd4cb56f19088c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yDNkA8aAcfVxigoFzcMbeF3n",
  "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]: [-0.6209, 1.739, 0.59, 0.6022, -0.5846, -0.4187, 0.0156, -0.3614, 0.7376, 0.2817, -0.2642, -0.5541, -0.4274, 0.9996]\nstate[eef_state]: left_x=0.3883 left_y=-0.1534 left_z=0.0604 left_yaw=0.0746 left_pitch=0.1112 left_roll=-0.0716 left_gripper=0.0156 right_x=0.2556 right_y=0.0066 right_z=0.0904 right_yaw=0.3196 right_pitch=-0.0241 right_roll=0.012 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -5.6821, 4.3009, 0.7057, 0.2125, 0.1245, 0.7399, -0.4855, -1.3607, 6.5983, 1.6923, -0.3541, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55e881ac36df85a0db5af57cd66286fc6867851fdd6280af1a7eded78d176115",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8735546cf656adf9f50e9649332de86b02f20d48c5c3206b75ba10d2132f9d54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d860249fdeef5990ed463970d0ed3d48783781415fd33160ac6bfc3b93a0515",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9287, 1.6321, 0.3416, 0.3931, -0.7315, -0.6277, 0.5437, -0.3565, 0.7662, 0.3408, -0.2905, -0.5541, -0.4278, 0.9996]\nstate[eef_state]: left_x=0.2694 left_y=-0.1573 left_z=-0.0008 left_yaw=-0.0162 left_pitch=-0.062 left_roll=0.0682 left_gripper=0.5437 right_x=0.2624 right_y=0.0053 right_z=0.1042 right_yaw=0.3247 right_pitch=-0.0209 right_roll=0.009 right_gripper=0.9996\nstate[joint_eff]: [0.212, -4.2462, 2.9333, 0.7448, 0.0562, 0.2271, 0.8571, -0.4171, -1.1282, 6.6393, 1.7021, -0.2857, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": "I couldn’t stand the three bottles upright. I moved the left bottle closer to improve access, but attempts to grip near the caps missed, and the bottles remain lying down.",
  "role": "assistant"
}

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "Respond with exactly one tool call.",
      "type": "input_text"
    }
  ],
  "role": "user"
}