adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6079, -0.3767, -0.0227, -0.0288, 0.9986, -0.0158, 0.7883, 0.6037, -0.3847, -0.0292, -0.0341, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0041 right_z=0.1804 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.253, -1.5248, 9.7846, 1.7705, -0.0513, 0.1001, -0.1587, -1.0051, -0.9641, 10.2359, 1.8046, 0.022, 0.2027, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7157579c99171f02a967866f6b612c5e2e6cb9bd0154c6df4d61e31165891646",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56928abeb15ebc6834765a4a3d545560043491f8d299934fafb7ba3c2af86415",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b464ef56d412bbeab25a386346fc3070d6c01059fc0401331836aca5380b4018",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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  "id": "rs_0fee8c9b9801dea2016ab4427a5c7c87d0a56cbeb64dfe46cf",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_0fee8c9b9801dea2016ab4427fe83887d0b3e71b5ba39a3f70",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_0fee8c9b9801dea2016ab442856a6c87d0841817a9d0a425d9",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_0fee8c9b9801dea2016ab4428a2e3487d0ae16505d90e45358",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.25,\"right_z\":0.15,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The rightmost bottle lies almost radially with its cap at the far end, making its neck suitable for a gravity-assisted hanging grasp. I’m moving the right gripper above the estimated neck with the jaws aligned across the bottle.\"}",
  "call_id": "call_OK5ERKrkNCmxffYXGeC052nA",
  "id": "fc_0fee8c9b9801dea2016ab4428d400487d08fbf97df25982962",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OK5ERKrkNCmxffYXGeC052nA",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.384, -0.0231, -0.0292, 0.9984, 0.6613, 1.8641, 1.2922, -0.1566, 0.4973, 0.334, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.9984 right_x=0.4466 right_y=0.2453 right_z=0.1327 right_yaw=0.0422 right_pitch=-0.0557 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.6205, 6.5709, 1.7851, -0.0317, -0.0464, -0.0317, -0.212, -9.6342, 9.3744, 1.7411, 0.4713, 0.315, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2366d64c710f347e44ad8c7697249404f18704e0f309a28a9c74a523b93d6d40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c0bcb71c20e03feaf742fe3cc765a05cf2fd89e71f205709c43cfc4e9f32de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52c1e012f0f52d6a461d5ce093adc815e6213fe87c19b8158923f1e6fbcc4c20",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 9 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6079, -0.3767, -0.0227, -0.0288, 0.9986, -0.0158, 0.7883, 0.6037, -0.3847, -0.0292, -0.0341, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0041 right_z=0.1804 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.253, -1.5248, 9.7846, 1.7705, -0.0513, 0.1001, -0.1587, -1.0051, -0.9641, 10.2359, 1.8046, 0.022, 0.2027, -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, -0.384, -0.0231, -0.0292, 0.9984, 0.6613, 1.8641, 1.2922, -0.1566, 0.4973, 0.334, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.9984 right_x=0.4466 right_y=0.2453 right_z=0.1327 right_yaw=0.0422 right_pitch=-0.0557 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.6205, 6.5709, 1.7851, -0.0317, -0.0464, -0.0317, -0.212, -9.6342, 9.3744, 1.7411, 0.4713, 0.315, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2366d64c710f347e44ad8c7697249404f18704e0f309a28a9c74a523b93d6d40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c0bcb71c20e03feaf742fe3cc765a05cf2fd89e71f205709c43cfc4e9f32de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52c1e012f0f52d6a461d5ce093adc815e6213fe87c19b8158923f1e6fbcc4c20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKaI-oXPOy_5u5xZvn4NW9p6mgaoNO_0bJHnK-pCSDEPVcdWdxbmCyrltPlt2UbQLcZR0T-QMGAtdmep7JEYCd9toi-nOsQsRWz6_bA8jIm-PR5nRjdWhY-WiJmKzY_Fd_uVULhPTCiOadnAGS5aog3nAkuTVNAIpR9wZ7m797yv3e1wqCq7y1Wxw3_QO6tz7ejzQdBCq0q1Xz7568RWDDonmfUb_tMwAeho0zqf0VXpKGCmJ90Xf3jtY_0RxzGzPlqbN_652q_GNbtzPQs-zK_5gdgTUNu841Z-ide0HXKbJAeaAZeeqt3nWHzkJL4cWWtXxepig1egma0GghWTtsyaR48VK3FLgbF5Da3aeiKac2X38GQi-_ZatFOSV0gaBGwIOVEucJiwd-Zfr0AU38fw2KeK_g2worULC2fq1gXByJx0KZi1UUy5I8BzTN89SsJfIoV1exuQNsagwBfbweDiqskR1L9MnDjaPA9dKlpjveUB24h6MSA0Rl8xcbPAIFX6I7xKHGxeiT4kI0gNqjyzGxWtPblAz4HxivZ_2biHfRn-fKE7-_7A3k0KMk5dqRXUb8IjOxCfgYBasB-STY1Rg6d-4Wg4rp5CfbbSNUwGLUKHHCrtzBkWBli3YX0VIMawJbB2RyCsOe_r3A0cCQrP0QOWH7DwXYLHKsGgzg1k_OaqM3SKcWarkgpMS2ZucT-hCY_xiClt7ru3HhUpCsyY0LH6L6l4X9FqWQWFk0GvD__Hw_qxl-8y9ntNtxu21Ex7_P1kPEQqltnNff-owoIdbTT6T_rMIuA8JWoxrtbT5CG_6-wwS8nlV-O7-6RhEpeShWr96SftoedJa7V-HKC6TXy2wPFRyEqV8-44sn96DHcKdLWFjRn7Y9ddeKJF6UtH7psb0gg_a1SQneE2MmtQsL9YeYWv70cX-ToF9uGvuNLMXcigBVoxzDJsoRb9w2ThxVy3wSErHwf5hmT62SeVNnm7LIjnQ4rhJfn8dOcPNcFQcCLM0L2JN1Paq3Am8UqpKtFwZ4lEX-rzykKTMB1aprcFJBHqejhWyZJ-b08-h9CNIgdmwvMZ_7qna4q5dSsX36BpKXOXk_QkN9tfBnFV_6GZJ9x-jUzRxrXmn0Y31uYm4ko-ybA7fzS5QYigs1Lc-9rk3P0yot0pSg5Wb5c43ypra_OzSmjqhkTMdkbyYcDKpJ0Th6EMTGkyCbHv_B5xZ6FgmHmMjTUJh11a7giZsW7b9acrgTBBFQBN_iy_MD9yrP0vNFWnQg7DBL_MhD_vHY-QXUVeOGrtvaE1G5iPWgvVq5FtT26blFLNu8uAWFTU6rqKeevQfBJOZqUU_CRmU6RrAcZTKJ4c7VLUB3xqySEEmae8OPE9kydcTBWN88YMBP67BiqVCFQT2yQykjGIKdJPhwZv_ErYxDbJl6dtIuYYaX-qcPq4moefn-dFKMU47UNNW7SV7iISQFcr5Vq3LI_YeUhsOuLVgi6DfzzLshfBM4NuqhtqcixOKNoWArvWUR-lmhKz-58gNDLdrF2-6wkotcUwXNKfB1lFAW05Y4B1ynjfNK333tTFjjm4FVHPD8JlppBH6JZN8iQaxiU8FCF7DK8p7r6IMNH3SkWZdL-wO2KMTe_X2IGHH4-KYc-L5xJkT6OeGpnz6BL27AdFg8BQoWylISrsSs0IuILcRbbzb61mkmXOsDHnzM6fxkS07gXr9rlw2DfPK3CbWmryzUzkIc8zshV_b0_IALSBm7PHRqj_NHt5eEuFRClg1aSEY0i2RuMfRP_3OpsqbcABZQ42BuuEIy2MJcDgBusS6pkT8Q-R4J1xJSnXfv9sCN9_DgGH1rnT7Pfx7rwG-MO0DZIsWaJvetcNrLjKs7No76p_hKYlC0Mk9WOFmcNY2EMShhH-8QbOPXfwqDMRT8H5gIGXAmM0kRchXcJwFetZFl9Vow4VKLBA_SYPQaZLScIiqGIrGxen7v3WjIzq8chWWdL9Wty9BQG6gjniGC9503pvk6zMxrAlBruQR0yoI6bkOszArgxgE_Tk7JIdsdAvdD5aQ1BQE6jDecryHsECGj317dLuvzIoQKMlN1T30ZBCWk2dijwg4N7CjdgJ1I03bTQXMigDI1NUGdgbtO03aSs1x5qblc0pPHqP90A2k-L_jRArYcPZw2eLhDQ_LjGHQJrfeB09keyEs8TAXZ45Edfs4FlTbcroSDAdkC6Lr7EYkpFtX7Iz6SH3hmYSXj_9T89E4xgHmtRCyen0SVQiwqfs5GX6E-r7bHZ-w0KBartY-bPeZfrdIxjxpEzV14-",
  "id": "rs_0fee8c9b9801dea2016ab44293bb7c87d0980beb9c8f7d3680",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.245,\"right_z\":0.16},\"note\":\"The right wrist view now has the bottle centered laterally, but its cap is still well ahead of the fingertip line near the image bottom. I’m advancing radially about 10 cm while staying high to bring the neck under the grasp point.\"}",
  "call_id": "call_qO0Om9M4vUI7Mt338NNU4inP",
  "id": "fc_0fee8c9b9801dea2016ab44299266487d08b4a378fbfa36d90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qO0Om9M4vUI7Mt338NNU4inP",
  "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, 0.7982, 0.614, -0.387, -0.0231, -0.0292, 0.9983, 0.543, 2.1025, 1.6627, -0.2352, 0.3828, 0.2352, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.5321 right_y=0.2483 right_z=0.1435 right_yaw=0.0695 right_pitch=-0.049 right_roll=-0.0335 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.5932, 6.5709, 1.79, -0.0464, -0.0366, -0.0171, -1.3197, -11.1932, 9.6342, 1.7949, 0.1734, 0.1734, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c2b8e05529e5f00f930289c6fb88a460a4f0853a1d9a8b56b51fa2cb3465c52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dd01363e95e722b96fbf36512f5f156ac2f5a20955a8c2dcfa92a927270e0bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8ff485843bb33a64a194889d666949a415ea631946e5f4d0c40bb0bbc06926a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 9 changed as sent

message 13 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.384, -0.0231, -0.0292, 0.9984, 0.6613, 1.8641, 1.2922, -0.1566, 0.4973, 0.334, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.9984 right_x=0.4466 right_y=0.2453 right_z=0.1327 right_yaw=0.0422 right_pitch=-0.0557 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.6205, 6.5709, 1.7851, -0.0317, -0.0464, -0.0317, -0.212, -9.6342, 9.3744, 1.7411, 0.4713, 0.315, -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, -0.387, -0.0231, -0.0292, 0.9983, 0.543, 2.1025, 1.6627, -0.2352, 0.3828, 0.2352, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.5321 right_y=0.2483 right_z=0.1435 right_yaw=0.0695 right_pitch=-0.049 right_roll=-0.0335 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.5932, 6.5709, 1.79, -0.0464, -0.0366, -0.0171, -1.3197, -11.1932, 9.6342, 1.7949, 0.1734, 0.1734, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c2b8e05529e5f00f930289c6fb88a460a4f0853a1d9a8b56b51fa2cb3465c52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dd01363e95e722b96fbf36512f5f156ac2f5a20955a8c2dcfa92a927270e0bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8ff485843bb33a64a194889d666949a415ea631946e5f4d0c40bb0bbc06926a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKlOE1W3t1LwwBgOeOMp998inavRcISDX5Z4Dl-5Ckl1wICaiXUqwJJqaVn1l3xvuYvhvuSfIEM2g00zOTEbeZfrqOUSEdjhaU57nWlCY6b8mY-KACNFkY8e3XkYmJyWwXldwUVwRXQeVsIGSaxziT9LRXkjV8ml47w5X29kYlIJOMOyQaoBmTQDXzHMNJptSS60nc5Eg47GgMSIO5YNlM4m8JGRvCyZuDCNG9EGxBQ8JtrSie1kNgk8so2hsrGV4df87QiXotriz3umHV-1hpA_p_mPKRUIr_a3z3ToxBHG6znFVINhSoI0aKEfBOlPjWKjU6RfojGvmPZuUMc_o9ZX8oJbfbLxHRKbgMY3uGwVs_9wI92dabaw5cQRDGIp1j2n2cP8KuFKzROwFDVaaTzRnYwM03ehZReL8NHh00TM2ayDWtwtBUVD-TpNLjJP7MNL3N96cB_b5TYab62zwV3-yM9TriW2P_I8w5AFVDkWDiEOfJ2e8OBhAiltDWtNnO52VtQvsHXGiQdmBrTjRMkMEBqUc8SATaQ_YfnkOnT7q6MkRKn50GCrCP23mup7ps0S4qDCUEIYVcY2HuLNqoSoMhHMIp8TmsGIGjRgPzqJKd-dVO933OQo01btvEEdayYNLxRVgxCrE5yUjG_mamzH8q2NcdajuPKtJo_7G_94Ejc1_iY2V7j_wA3Kebct9WmmwKe8iu9jymDnz76bwghsREbit6eQCrjMdnIkTT2NaGcYgjmbbrx-7KXTlm0mMHIquqoLM04ETbQp1np_btQ6TO7HnJyzIUknqDs2BH19Az4ra5SqQeFd3ec27mFZSQpePiZK1q0GLZbGD-GfBMCLksRTThBNbgQ5Jf-4QKnSiN7BnN1UFG_Ho2Cq_xhdaKJC65DOlvcL8F_3pUQIrwt396xqFc3wPnRG1V2JQWIAbKKgrXnOmx-LetlQutDXrOYETkHDTVkcJtYAxIS5wq6Lxv6Fd3xX0Qh7aad3O77IPtBH6Qofh-gyg2EK2cjE2TqLYS2yiHE-LKLtHm071LDXcXKBz7rsUFSN_V5uhQKGzrBQ7vCbIIl6M5RwpEpLu1Gi4cUNmFK50Euw9RpiI3jDXa-vfntb3HEUDQl9mGta2mBKLx0fiItji2Ac_7JxLwQH2g93JGSw3GeoMwGeW3apHXqyJTAnnPztjYG6DyIrTElS2Fhemr7nTyfTQp3crvtMHvm6K3zgEZ08H3QzoukxRNDIG5X__rDa83QpXHtyqUAk1tamGZGJVlpHVM_vZ9Vxf3X4KzBh4UhnvE1pjg-5NeNIn6mta8U_-DNzWkZH1F1lpoz17guHLgUZng65AjlH3IrSBWckdM1VvkiKsH86dqUBWjA3ICEp31QERn0bmDMMEDSo_ueDBFOr52GRUfDWmzLXGXc4OoFmyQx7TK1hM5sFj1Cq9A0Zy3EsfxID77w0fPJ2ngY0hfVoh0jqvlimfvDOOiNz0SEQ6r38uGGgzaPEkW2Jqz5YFKf9-XlgnZMLVvCVdLt-5ImJR2cHZb_1AsM91EklFDZuTCaxuo8Bs6H8ChUpMLywMx_jQzdYY5bfeoATmSh8AiBW4Z0dkZEJPg8oncb9PfPt0ZAnsAEOMb9dswaP7NTLrImWyXP8lqB5HwuZEo67rtxSHnQ0Z_BWGSaeuoBZShcgVy0lPTWxN3UC_WMEJSlu8FzztJ-i7PkxHv5l6vu9kUwi_fwJK55eSieVoZ3mqK5q_8FcW1nSShxCztsfHcdM-8MgYslw-IIqRxgYXV9jD2HGB46tahkt88qP6cBtAfiDCDd1IZIBxybTnEPkZXmhoo4Jx82cVCSURWuBMOzOsSHbpPIBJu4x7lintwt3c7u9UnvwHrEhD-ar64Vo0Vgc6vVoLbPklBPx7utCpdBOVbE3j-S4U0DFjVanB5kb5GXgThSRZg332ANln_K22yzfmrtkwJ7FFde1S5XW4EC-iPdSNm7xufcTotSlzWCJvGk2NWfojtPzk6AqgGI-zrjmLBGeZbOyi99W81hrMi5fdyxUPp5DeCm0F6LVX9-3jCFFGXWbJT2CbIPs0un78dJTEYEwUiPJ9WYMhugbtyXs8f5CedchWYNx36aRmyjeKfP3cknIMJ7YqtYyw1_r41NH3xKrqUHkA6dqbMng7rNX9NwX73nYa74fGGG36j67o9tA4ihOJxc645tjPEMoDazcvkEj2cxC37CdXWxcI0xwhlnJYLFpE3pamo9nc0NSCUJBox2pZOdeXGt24qzu9q2xAL0qqV1aBzU5ek_p8JnVu6H5I3R6r-m_Dfs8QW06NQaDLFagDtwIOXNTiae_E_IUshQoDvrRAwqcm6sAFb-LRlBZprpOFowH2cP_JPrvjzfOynaW7kUFk3CQydqi59bdAkZdd1f_idAY9pQAa7mgTFKufMrqqv4lrQxROr2pAd7GCg1e-7VGBvIybY_V_YnxZW0xRfYhWSA7KawtEocPhgln2lSkMseuugC8XinNoPuPHl6cBbFYkJnjp_KtOtt5MmP7Tb5JKYd09zFo0-DZWcwYhrrctQ0EAupr4qUqKFAyt88e9RHEYzfGU0gDPmDcDoDYflGR6ta3kz61OIIqvZevJhfFIbZPENRqljoHCKd-PbB0E80N5KL2lXOSARBw8ce3pqzD-oOJ0wsJzvpMA5vPnalismNnlFiINHDuFdD0CBsR1l_K4N5DTUe64VhF9TME2MhTPXfW3k3NnZsuWYJLMe9OvzPyCxJ4RNtB2xxfbGx7L7zvf87kJ4IBVWBh10D-sC1Ji4ZJzkVS3qUwi9btzQWHZ-9Xry1_640vkiFp95i76Cbfcd0vUOGDfFzzlp7WgnWDVnk6FcrGfJ7-nmr08zf1ITFDE65nXfZ9g5_5xl3QHN9AME4CAzSvcvM63kHj7a2D0F1BTz2XOYV_6isc6_yS57AdNubQP93Lv11Qwctt_oQefyMkBb_Nul6FATGgWsZM1eA1MC_-_hjc5JebOq4z52Oze832n2Ag32MmhnuN0W7NSWU54N1ejAeSsk4qeTEiHlqNFyxrP2culhRrT_S5RtcWEuUj2SBgv_0TnV2D15IoveE0Vdjbp_CfViaFVmKtbCOEmfz6A8d7pRcc3D-hnOVgGHUENVx-zMX9we3drzldWgjTZIpvjp1idjZHn_DwB2E5FuzSgPgbNjVPYao_-bL1yZLFB9yUENN3V4e7cPp6e_eQa_guf_cF0b5_YlTC7B6XQ9NWiZ8Gi5UXhWcYEw_tKBrr6nJYOXzRYczVCMUf612eNqVVmMQAYbfXhZ77Efc2nvLPrKc2qq05vkgx1HgNPhiMJcFkSZfCuVlKXtE20sQ-a7YW8OTX2M09PsRyGGqYQHVQqASkHg74Mxah_MbwqhYe7tae42v8QJJr3hsW0NH8tfKkBlvmjxpgzgHAUKLaST78PT4ezYB6M3wmw1Mee9X__lhi_9kxIz7KqyrJKceaEj-Bd8x30iNlqVYvrzuD-s3dvEVxIY7T7x5c4nc4GwFcdELAwwqMZkMJDHK-FW0sZ7LfTOknU-_lPwdaOJerZ59lAvTjVoSE6ot8xLSgVYMUIac6LD9ZqThIlkEYHcmEkYo7CYCjSFxfQlY-E4zMAlCQVmOHpg2Og1JtBHGP1Zai2xVdWICCcYgTuux_pvEi4EbkGqHq3w6uAFTZycnzmasgVRangMoGvaxjmEqxFTQ49FZIaSFGVktNt35CX_nNgtMNK0tbQd2u3g1uvxfuGvRRbv-rUYsMYKmBk9E2O_DLpz7KKIe6LG8xQTz_xnrnG7FINLI4kEWvbgg00QcwFX1pj8e5UGdSOytw2txDmDF3uZjMBFbUQ1bKVrj7a3Rv448FkTKyVy_v9z-lyDLsDeSEUjpBr1zix8o3bxvkREidyWFw5WIxELZe6m7nUUbR6REQi5nZF5BlfASlnBjyqCKF1IFTNWo-71ug7QvtUfIiX3pk0jgTV8speoxX9zjiNmNmTBVmT_P0WcJ1z2OVB6i5Kavz5nfZlWteMO5-Vmp95T1VkbAtJ-yxb7OmSIddW9DhvyglTcX8KFvKnRA2xqDKx3R8u1GOt3NUMgkSwiBCUlQGcj__nyxMwRZEPvV_CuO6s-TNdHR13-Vx_oX8btI8FHx5TcA3KMSOUcayP0fi75eodnuxsKI-YlbnA==",
  "id": "rs_0fee8c9b9801dea2016ab4429c10a487d0a44d1cfed8751c05",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKlfiqVeo9vV4Buo_Dljsf09YEclpsZCLFCbI4pIrvvsZ7MZ92lt2_kZckbHHY-1eWsMOLSDe2AWrPGiejmvFR7H8VezINsMDyTlT3WWAUznrZIlaei44fIr1K_BvsfXbKuw1JScvTrueNiu0QzsfiB5C1FO_ooFC37Fay02VmX787HTJmOObIzcsfHyeRDlCy4wfAmc7hKpL0siLOu2dU3sRnRuoyry1fUBoou3D2Eie1LuDvbVtGdTbRjFvv7MMUqiXPmLs2Iu-HCammh6VFNUdbhwY6eZjCAsFKp1vmEqSGpFT4j9yBwoJCNZba2Ta3jZowkxfUpa1zcZ7vzkuYBhbLCGyPbcoQ5Roi7L7ktzibezRYsUEUeC22KPrWx92LCSg2OlSvSB7FBvsQUfBeCD5LgmPDo4u-OTCTfjhYsQ8BPn92fSJMS8wgLnhY-d1w3uQVPgnbBuL4d1vpx1ju95puO1m08IOGhCaiwr0ZRPLVRjlPSejpamxte6lm7jgygNIvmFCPPJS43nyEWyCdw-L7nmP7Ftu9TLoHuFCd_tXsWKQ3MXSGle4RC34jPKMF7VeTFETrBYaILTAyiMuIBWjifRQePsW9xXp9hW8-2g8vcqczMgM_kSqoGSnY7aK38dkvHMozKBeRTJIdQkzaj9SXT_v2NWak1n90rGNO8oFQsuzAVbMCCPM5CYCmhj7eowedVwiIFkCwhW_86_MWf5zMjfpUl1ypX9rA5-nW6Q1BqM3xANFP9IVbh83QIJBP3GZQe7jOts4qCyY6fXrB5hPpdkk1lBsMDdkhQtM5yxiThMz2J8zXs6E74VE__pzoS3BmRYwtLkwWxh2D07CVCfvIRMcak1ryE6JRS8jLQHm2aZ6PV3gd-m2ziJb5-37qUTQMix387noMFcS5F3k3kHSNitioWXqAPsMYQm8ZWLqeGHd6bIrmUyBphXSKS7SBoCnM4L5raLMABHnP3O9GuhZr-JgxqzKAABd9naXNxOurpsaaw2xsPnt6c6sWf0M_9rzg_jWSDqZU2xkTIp71DusfKqaITRf8w61MIaHECSqBoyNRLKdKPxu18cky7P4epCIvZnDhDZdoEmoV0U099zkahr5QHaolC-eyhf078_PDjqryPHOdMZSuCm7dCoox6uIP9FmOITXKeBUBaeCypveyn5f7DG_QgvR8KQVVOqBR6Sn7lSgo09PRXyh_WrNLE1jUXZIk_sZIXp52xUzW9_ORGKG7ZuKl45aOQcEiEx1brwnNWJjH8ix1j7Ui7FxBAIuzBVC_67jnffxivE255L03eY45yfII7wIp4ObyVeE3a6l5BTen8sDb7zHbQukr9NylAVHj1rP3GCzKyoTnvuCpP3jIRbqrX53OWgA6258Zys266_vmYMzX6GGGt6-arENCmUBov8u84FBh_wZN9kIa1OjXWcR9mQuomLxZIrFF8MmpnxqzWIkkf-urOFDz7Bm7uUpynCaEgYrE3vjWVV9e848Ux90OPmX5I4oiX7RtTvXTSxATJQz1y6Q57JJ6eDQe3iJqnDhKk6qhdYFkyMFnXi5MmP68114cMuWulVwDMBWWNUkraGrM5PhOHSaiIMttZzHbEhRlOJ_Xu1MjRShOK0bIqKZv4Ed5TgTzT4hNYJVDD9CYZryF8zLcf3Rgr2bBuoIpnf0pC71LXQrYP2tXpMfAaJylfoimgFxyEYoGlYd0iJIxtqezMP66HR-BLa9zp39hsrYsMNlCSuQnxE9cWzdBOmYTZv_BsHSdCGCzfOt9wdYUhYukQObUlALRriCCQBEcL-pMYmx6e0yHTQRwKjz7U7BwPjLiS-8s53M_WAG2GU5C1ujsSpdP5rB1ldjsMgO7YpQSfTFobm4HZd5Mq2vVecbYrn4MkFwPwJhTdskx1oTBrSs55fastvIihCV688z7qYv5KBmwUizi-4RzYt0F03Wco_mPpgI2OLUZUR2DEDq3A5-LUKOFUNYFsd3Ora53XEfERJHtDnp3w__Cq6eJrBVSLpieZvETeSnI7QHkmj0dzxJYkP_yd_-wAL7V42D3JsSjWIpJvtfrz_6BG-g6UyZOzQeynhbWPQiJkdUMrjM-HBvuHUTp1maFcqR2_bW1H9WEo4wuac72pvKNY4SJ0nwly9OmxUpovJGomRbkvEbKo8M1ffXnTUMGLcRp58NTu8ayB8abBepGIONZzTOP-WH_beRLBvI9eZ5c=",
  "id": "rs_0fee8c9b9801dea2016ab442a1498487d0a8f49b0f10c63bcb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.57,\"right_y\":0.245,\"right_z\":0.15},\"note\":\"The cap has moved down between the jaws and is now only a few centimetres short of the grasp point. I’m making one small outward adjustment to center the neck before testing the descent.\"}",
  "call_id": "call_aX3wzifkdXmFEY3LdHqdQmIX",
  "id": "fc_0fee8c9b9801dea2016ab442a3d32c87d0a72c60eec47c8cfe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aX3wzifkdXmFEY3LdHqdQmIX",
  "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]: [-0.02, 0.7982, 0.6136, -0.387, -0.0227, -0.0292, 0.9983, 0.5205, 2.1685, 1.7355, -0.2497, 0.3431, 0.2043, 0.9999]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1818 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9983 right_x=0.548 right_y=0.2498 right_z=0.1329 right_yaw=0.0957 right_pitch=-0.0668 right_roll=-0.0394 right_gripper=0.9999\nstate[joint_eff]: [-0.3761, -1.7573, 6.5026, 1.8486, -0.022, -0.0513, -0.0122, -1.8393, -11.9453, 10.1949, 1.873, 0.2564, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ede10eb2e7c9f34a0ac5b022f957c84742821d4c63f853b83cddc5adc69927c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf0220b6afd4bf95dddb70d25e3a6e614ed49a59ead917a77e4f942215a685b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86aaab6d162ff419d818f6b4906f709a9de06bb6bb01d1759d5540503e58a030",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 13 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6079, -0.3767, -0.0227, -0.0288, 0.9986, -0.0158, 0.7883, 0.6037, -0.3847, -0.0292, -0.0341, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0041 right_z=0.1804 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.253, -1.5248, 9.7846, 1.7705, -0.0513, 0.1001, -0.1587, -1.0051, -0.9641, 10.2359, 1.8046, 0.022, 0.2027, -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, 0.7982, 0.614, -0.387, -0.0231, -0.0292, 0.9983, 0.543, 2.1025, 1.6627, -0.2352, 0.3828, 0.2352, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.5321 right_y=0.2483 right_z=0.1435 right_yaw=0.0695 right_pitch=-0.049 right_roll=-0.0335 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.5932, 6.5709, 1.79, -0.0464, -0.0366, -0.0171, -1.3197, -11.1932, 9.6342, 1.7949, 0.1734, 0.1734, -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, 0.7982, 0.6136, -0.387, -0.0227, -0.0292, 0.9983, 0.5205, 2.1685, 1.7355, -0.2497, 0.3431, 0.2043, 0.9999]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1818 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9983 right_x=0.548 right_y=0.2498 right_z=0.1329 right_yaw=0.0957 right_pitch=-0.0668 right_roll=-0.0394 right_gripper=0.9999\nstate[joint_eff]: [-0.3761, -1.7573, 6.5026, 1.8486, -0.022, -0.0513, -0.0122, -1.8393, -11.9453, 10.1949, 1.873, 0.2564, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ede10eb2e7c9f34a0ac5b022f957c84742821d4c63f853b83cddc5adc69927c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf0220b6afd4bf95dddb70d25e3a6e614ed49a59ead917a77e4f942215a685b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86aaab6d162ff419d818f6b4906f709a9de06bb6bb01d1759d5540503e58a030",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKoxFJ2fhhjVWXInrEa49k3lY6MgZ8xtC615-hbqFWVyX3uBWl-afaINYGL3SM5A1BHG85xA3CXJPvaTOOwrFs3u1Uu2RYgwHV11UR0DNOnceMb9cX3FinuehOM0UTL4I-lF0GK0v1anr972cOSxWRshizjamNpLVZgec7tRd7xCdYYZtDCeILXVc8nfT4AxlioJaegwmsljnCQbfyrbBgobz6zyx6Fy9ZMWjcVwwgf2eii1HM4j8baoAyZAGKBQMjnifYtmCAgfRoshw5w_kK2bvJ40qt87KKUu5row7tiawZ9Tx9t5yRBFg_gyako5VitgytCugBGEHOh7bRi8HdZM-WtTxvJkw3dmtabq3Z5V9xYa8oal0sVwLhW1t91Vh95jfHbfgyyjrrAjiuE_xP8bjAQQvVi3cJ3myIpUOUVkJg8O4YqnphiMGyi8b4mCNkMVa83Zl36dcebx2rK7eZouCYERUFYjcz3FHjQ3L3KbUGE23AN8qD7GpvtfVYFdfyolv77ZAH1bbxeo1qY0pWVNwHyciz2JGAFg6BSNFxG3aWtftWCnQ5JCo5Uev9r47EEhUInX6uBfp864WnaxBx93GNQZ8klzA_wboDsDVfgvlrHT_a77fwEZulTZiyfT9pQImez7g8N8lqnjeIyE-enMWbMfHqcD1nmjpnn_cCQH39U86WYk0CdpthiP16B8vxaIe-3iLjw4pX2tBYrpOeFgPgHaHwnLAdIeULAe7Js5z1FVBJLEpFebywwFqeBLaPl9IZ12BjUwkgHaB7Zkm-5UjLbRozXJ3WX15kVvcEeZOYmjYnG4nh3gbEkjfM-hLFqkCgKDrLDHXYnD_oP35x6V_zjUh_vQBEN2rKac9M06QdRaYejezorR_wDb5L-SQMvrPPwe7Rj5-qMz8fAY7X2pe3ckVunK1wpHWxSbHzyWBnkRsc1ky95-To9HjueZgTD1L0xhAv8rXIWAfRxr0HrzUzMCKKe6liGFrbYW6UwI_we2hGxU7aCqKSuZZ8FglXuu3ThEQFnp8qYLtGidbxg-12tNs-eVHKuuhtva2M_R-msqEzosD-c8UYdF4LnKtNXRDsrP-5uODHXRHqfgeYYqe_2yP3X1QKEuCU2UyAsuz_zu5FZQxUO0lVUMcWacYDYAMUvJq--iTIlXV7_8ac3ajwGYlzUmEpCVFpCh43w6eFpz5qE_thY6okMBRz722wKWxHOSkJ0JqB2wK7Ydll6uhi-4I54zRUF2_Q0-Ck-thbyOnffxYV9K0Ad8qQujtlbuxawkcl0cEAygPPvLyUxkw8GDmpL6yEx6_KNpTZO7-GJiCzvgAgFVVbzVT_S2703",
  "id": "rs_0fee8c9b9801dea2016ab442a6dc3887d0aeca5c7954cbfc80",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.25,\"right_z\":0.03},\"note\":\"The neck is now centered between the jaw tips in the wrist view. I’m descending vertically to the neck’s mid-height while keeping the gripper fully open.\"}",
  "call_id": "call_S2ZH0zQBl56A5keiVPPnUAnA",
  "id": "fc_0fee8c9b9801dea2016ab442a7806c87d0956ee37eeeab4f6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S2ZH0zQBl56A5keiVPPnUAnA",
  "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, 0.7982, 0.6136, -0.3866, -0.0231, -0.0292, 0.9983, 0.5041, 2.196, 1.75, -0.2539, 0.3313, 0.1925, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.5539 right_y=0.2441 right_z=0.122 right_yaw=0.0948 right_pitch=-0.0856 right_roll=-0.0489 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.7983, 6.3658, 1.8242, -0.0366, -0.0611, -0.0122, -1.0872, -12.9162, 10.4547, 2.0391, 0.1343, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:258a98ed6d664e9208dd63df669f8512da66a82ff6df548cdd5f2e23d9ef3d8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3f3b6d11ab137ce1d3f822d755ad1010ee2e9afb1c140f7f8d348e24bbfcf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d961e6a534c44f9b4b36d041292679deea31520cb904560ab6623ff13a0c504b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 9 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.384, -0.0231, -0.0292, 0.9984, 0.6613, 1.8641, 1.2922, -0.1566, 0.4973, 0.334, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0 left_gripper=0.9984 right_x=0.4466 right_y=0.2453 right_z=0.1327 right_yaw=0.0422 right_pitch=-0.0557 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.6205, 6.5709, 1.7851, -0.0317, -0.0464, -0.0317, -0.212, -9.6342, 9.3744, 1.7411, 0.4713, 0.315, -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, 0.7982, 0.6136, -0.387, -0.0227, -0.0292, 0.9983, 0.5205, 2.1685, 1.7355, -0.2497, 0.3431, 0.2043, 0.9999]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1818 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9983 right_x=0.548 right_y=0.2498 right_z=0.1329 right_yaw=0.0957 right_pitch=-0.0668 right_roll=-0.0394 right_gripper=0.9999\nstate[joint_eff]: [-0.3761, -1.7573, 6.5026, 1.8486, -0.022, -0.0513, -0.0122, -1.8393, -11.9453, 10.1949, 1.873, 0.2564, 0.1294, -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, 0.7982, 0.6136, -0.3866, -0.0231, -0.0292, 0.9983, 0.5041, 2.196, 1.75, -0.2539, 0.3313, 0.1925, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.5539 right_y=0.2441 right_z=0.122 right_yaw=0.0948 right_pitch=-0.0856 right_roll=-0.0489 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.7983, 6.3658, 1.8242, -0.0366, -0.0611, -0.0122, -1.0872, -12.9162, 10.4547, 2.0391, 0.1343, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:258a98ed6d664e9208dd63df669f8512da66a82ff6df548cdd5f2e23d9ef3d8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3f3b6d11ab137ce1d3f822d755ad1010ee2e9afb1c140f7f8d348e24bbfcf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d961e6a534c44f9b4b36d041292679deea31520cb904560ab6623ff13a0c504b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKrDMvGCYLS78J3pOwJ2leMeqWytrB183jJQ88gTDlSulB9b4GccnTBnNrah7__BP6P6NWzv_qECfiRY_iPakPDUATd_ySdEDPJmFHTbndRyi5Uhh5OWq-9nS1ezVt5X5HDIGLii0klUKGNjx8bDMtdGEFG5iSLV_s38fKkXnb4naTxhzHXm-nL2Rv7ALp_VUHFwFehb9vJljK5Ehfw6MGuZLWCDuya4kB-07i_EVMkoMSyLhUsoTgcKFf-0bspGkpxSS-X5SU23ssN4XUcAEpK-4E1fh8ngZe2UNMzl1BX1CI5Tq2vjYel63nrymcN8XZzY89iSJPIEt_sM6aYXnGrafSQXlX1fsT_DNDc_U-Mbz83_9oM9J5RVkoIINs7taZJ56dARA_m1EgciOsyHhslsH831VE39X5f1t5G4StSEJgbYoyUS7SblmPz0PhB-CCuvMnECfC863V2KfBeJQ5K8C8SHgJftlTKUDiHq4AWkdMO3F8haJPNBYUHKpDP_W9U75jdDxZ6FzgkA4u_oKCOF7_anZrehxscKScehBPWssfTZpRLh0jY9pMYnsRypnhe4-YjiZGl5YHAlWpBjD_OAKTIxDfFYBTpKsiE_UZAiUIiLuqYM_-51E7zclmXUtIcWNgsjRsIz5m5jOFyRzHYJQMI1YA20LEnH8m1fopCKNJtb0gQA8l4FzNgi2uaSJZx5kWjc2iU6skrTYwsFw-v7ezftSAbMcM-CdwbbuGsYxSNWQM8zR22Uerzp_OzdNWqCf-tlyJL9w9f08iKxAV6b9wmFIZjDjckZoKr9ENQeQWftWPsNzHouqi_6eyfryqE8Br79qSS_TUTRr-F-BSDwv2W404CUgRF5t8X6HmVUgjOae6595hAOCQqs6Oq_b_vw59M1Bbjco59uaCDiJNix85XmQPvN4dUL6mrgTNu4RhATenI8uqVYP2kE6sQBHrofEazTrx7D13T5bAhf9e4VHhwaDrYLC5jilQjDr0HqF9ZBrxjfS4CVmBUdA9dOhz7HMBz5OBBlfFoey2LcVVyOTxoB__9U8XPc8I8tZYxeJlOjOcsX58W8ma2m5hvgFX_OnY0H5_awYMfyd9sFM3rN3MgmJLucOEuJuG3N_kVgptvoU-1jCZvqRVczh9GAlrmvM8KCu5UMUOP39HwE8P4ysE-_iXgSVWbnC6Wtp1XCbhVAY377ubN3a834k9Ov2XY84IWDoAwAgjZ0O3KSxGQTfsHExlOQkXOS0KryO97p_bw0JWBZODg_P3X-VNC3WqiwddepAoD24a2kyLngvfCxG9kbCQy6YBg2ZMzmKSHTzgJZJGWMbFnhMC6mFKVlaf2ZEQxSz3obSw0EVIRplUGJRKW8Dl9W0ccpqFLfOcEBcr-wxG7T4lCDn-HGMnTMrXCmJ2OUCfyOzCRsJxKMGSqJwG9gMNtAffqnRB7AvfVIHsxFBlH0E3w4dBbu2ovPdqUj1MoHSN0WDM5EDjS7h7pPnqhQaXWX9nFjtjrTDKuj2MC7qDA7ILI7UHyUxjOalmv7U620ywuCuW634kiLvbkUYvyGiuiuAAyBL2g5hwkEmi4a8KUb34m3aY9CtLeulPsVOuiPza5ZHPSo7kttr_w9e-uI2GC-SpZ4DScsOINyUMjwVHx1bBqiW5nZgzvnbQbJCEY6Ogfq4iZwZF3p-Q3eCsNMLKTcwL6kyiNS8tfeDL3CnoaoF_7lxWuJq8W--pmkoCQEIUb5JXogwJn6_uVB-w3SiNFrtTN6_qAGd5rPoYqN4-kg96J62HO46Uep0mh",
  "id": "rs_0fee8c9b9801dea2016ab442a9e33487d08f98e6b529174119",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.25,\"right_z\":0.14},\"note\":\"The arm cannot descend at this far neck position; its readback stayed at 12 cm despite the low target. I’m retreating over the bottle’s reachable mid-body so I can pull the whole bottle inward first.\"}",
  "call_id": "call_8aBsekEQCZJEwV2KF4Twpa3U",
  "id": "fc_0fee8c9b9801dea2016ab442aaf31c87d086b80a1fb7fac440",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8aBsekEQCZJEwV2KF4Twpa3U",
  "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, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6628, 1.8477, 1.1755, -0.0586, 0.4362, 0.2878, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4321 right_y=0.2472 right_z=0.1069 right_yaw=0.1164 right_pitch=-0.0804 right_roll=-0.0484 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.1282, 6.3521, 1.8779, -0.022, -0.0659, -0.0122, 1.1009, -13.5726, 7.0632, 1.9512, 0.2271, 0.1685, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b0505305566a4d884f745f1d2d7ea5b231b49efb689bbc0670b55b4cf6274c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80687ee13b3b5a658c57705469e876f49e764de333258aefecceb2d6cd80e6d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b1f8c98572d51e9cd8ff03cfd447945ba278da2d11e410c21d3450e5bc67647",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 13 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.387, -0.0231, -0.0292, 0.9983, 0.543, 2.1025, 1.6627, -0.2352, 0.3828, 0.2352, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.5321 right_y=0.2483 right_z=0.1435 right_yaw=0.0695 right_pitch=-0.049 right_roll=-0.0335 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.5932, 6.5709, 1.79, -0.0464, -0.0366, -0.0171, -1.3197, -11.1932, 9.6342, 1.7949, 0.1734, 0.1734, -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, 0.7982, 0.6136, -0.3866, -0.0231, -0.0292, 0.9983, 0.5041, 2.196, 1.75, -0.2539, 0.3313, 0.1925, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.5539 right_y=0.2441 right_z=0.122 right_yaw=0.0948 right_pitch=-0.0856 right_roll=-0.0489 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.7983, 6.3658, 1.8242, -0.0366, -0.0611, -0.0122, -1.0872, -12.9162, 10.4547, 2.0391, 0.1343, 0.1294, -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, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6628, 1.8477, 1.1755, -0.0586, 0.4362, 0.2878, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4321 right_y=0.2472 right_z=0.1069 right_yaw=0.1164 right_pitch=-0.0804 right_roll=-0.0484 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.1282, 6.3521, 1.8779, -0.022, -0.0659, -0.0122, 1.1009, -13.5726, 7.0632, 1.9512, 0.2271, 0.1685, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b0505305566a4d884f745f1d2d7ea5b231b49efb689bbc0670b55b4cf6274c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80687ee13b3b5a658c57705469e876f49e764de333258aefecceb2d6cd80e6d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b1f8c98572d51e9cd8ff03cfd447945ba278da2d11e410c21d3450e5bc67647",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKvqZG2jsWA2DdLTk8g_pxEjILGuYJpZXkagSy1A1Sn5k31kBpr7kidWI68yTFvyAWmTqu5RJMPPqebwZhYwFdLcJVzuY6BoSfB9zaeTLX6xL21XZUWrKHb0sBsYSKnCm9LIxIbJcSvsTHenYQwZPvN-C9e3PwFUCcpXQyrlxGSVwa9Nfz01g_8byQnjR5amnz9cILoeKrtcbwVHyQWU5FO-pZ8ublfW73TbdaYcRnk5dlkKCwc84Xkriy6m3dahI3uZCrTikfWWPbaGKn66bndymnYTAuKozzozC6qFh5iOVFEHPWmaLj0ehRI3awz9zZn0RR9hznGEAvnbB94M6RxZoqSfU29DST9fLl3MxbQsxhAH357tMUuetys9NOiqGlRAlpNvLMgPaRWNDQYqqQR59ORT68l_lCcbxfBqTtxUkwICwGB8ioefjl3tq-QLS37V87YBlAxwnoTRgRhREn0ExF6vx7VFMJBDMyr4NEvdtUHSJd4MiSjPlsLdtoBe6OFtN-GWrnmrTrX2kp4dai455JrMrbGMjyOcXH3Fk4xsUr6s8RYhwQ4ZT4h5cAyEjdlGG1v4V4mE1BvNp8YSzEO0skTkGfj9jToKY49BABjMnu6GwbAl55C9BTm18TsZbnPQnKgoJYTWgi9AQbi7OJhAh960BzII0Bvr7PkMokMMgs4BGcSs5ar0BN34CAvVPva7VKFUHc2qn1lmSLAzcMk7MNQtCTl44hFnQyp_yuQriEBd_mVUCMmfu5CGzh6ozPIOGjC94LeOfcW62ojVk1GKDw_6DWfMkMQfMkneqA1a0kL8uBS3UGhzjrwI2zZQrYLOG8QAZpwCgMqzPfbL6rynsMlz4V3RMumxKb_WlDGj6ZIxKger-Z5cYWOUbc5IyCeGvQbVZwR4uhOistUJRtVWZSh5tIcXCBhmPUPHU08LP4CCe8lZnYwX52hySNyvbgCucwUoCXyfJ1LWGvCP5UynJaKbK6jO9kpCmiNwE1FnaEKtz7b3lTlSNEJmILJnQ-iM-00TVTcLj-1FvYaqrEK_pzwh14s83HpX9dlx06xxhDBa_u7bN9wAD6rxV3AC1iQ9ZOvdDYbZI4izfWVHYRHeRe0kk1R6tx_Spl83zRxgh3_sSUmHZeq5paX_BtVZQRIntQPXoOTV_IFBSL2_ZG2QL9QG5wqO3FpukMZAAqD-hvWqpiLNRtqjwWhRsk7wTzIA5LVq7nHg5nbjENGmcR1a1BF_577JDOiPA-_1E5x_DANgtWmLq0XnPGRqPoWgmcn1Ml0O3wfNyKtaoNis0xh9Cxc4hNg-nLfxQWUH-H5CvwwWYprc6wPlv0wsEelmGPW-05NkpF8sKu88LDWxIk2jAk99H_RfcWhj1234BEPznHrFLhOpr7p3WYdKgCnt3WFYIJ5LxxLFxOLjX-cmr1zVqUk98d8-6c3jI5Uv4Y6oxDmc2PNBXEhBVoqobmpnGBbgYN4fxnLruFwDvXI5yclsjJL4Gf6OxnL7jkqIb4HqN3aHrO8NBplILZmenz3o5LBeLQkX9UeHjT0iIZFriRm8Km1aRBeA1_OsZNdRcOrqtmAmABO576HVleKQmhRbuU2BCDcwYzai3uCTBxgqmUuZO5-iJ_YNYkvY03mx-0jDak=",
  "id": "rs_0fee8c9b9801dea2016ab442ada0d087d0816f88e33849deb9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.25,\"right_z\":0.03},\"note\":\"The bottle’s lower body is centered between the jaws at this reachable radius. I’m descending to grip the body securely so it can be shifted inward without changing its layout.\"}",
  "call_id": "call_WV4pnClp0pwN0HGud6qHtgv2",
  "id": "fc_0fee8c9b9801dea2016ab442ae6ad887d089c9ba21fd9fcb52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WV4pnClp0pwN0HGud6qHtgv2",
  "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, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6678, 1.9751, 0.9833, 0.329, 0.4717, 0.2764, 0.9997]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4303 right_y=0.2417 right_z=0.0427 right_yaw=0.101 right_pitch=-0.0108 right_roll=-0.0412 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -1.6479, 6.4068, 1.7998, -0.022, -0.0757, -0.0122, 0.3624, -7.3915, 4.3556, 1.4921, -0.188, 0.188, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486636f5a0adb43183393b902091d4ab3aba18c18d206d80d280b9b2a00a4ef6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c806d546ba17637e5dcc34dccc16c209987077a658bd0371b508e046947508c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67eaff54198a1c0ff7ebdce720e01f3281851bf01c35dbcc15ea9f89cf488897",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.387, -0.0227, -0.0292, 0.9983, 0.5205, 2.1685, 1.7355, -0.2497, 0.3431, 0.2043, 0.9999]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1818 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9983 right_x=0.548 right_y=0.2498 right_z=0.1329 right_yaw=0.0957 right_pitch=-0.0668 right_roll=-0.0394 right_gripper=0.9999\nstate[joint_eff]: [-0.3761, -1.7573, 6.5026, 1.8486, -0.022, -0.0513, -0.0122, -1.8393, -11.9453, 10.1949, 1.873, 0.2564, 0.1294, -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, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6628, 1.8477, 1.1755, -0.0586, 0.4362, 0.2878, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4321 right_y=0.2472 right_z=0.1069 right_yaw=0.1164 right_pitch=-0.0804 right_roll=-0.0484 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.1282, 6.3521, 1.8779, -0.022, -0.0659, -0.0122, 1.1009, -13.5726, 7.0632, 1.9512, 0.2271, 0.1685, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6678, 1.9751, 0.9833, 0.329, 0.4717, 0.2764, 0.9997]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4303 right_y=0.2417 right_z=0.0427 right_yaw=0.101 right_pitch=-0.0108 right_roll=-0.0412 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -1.6479, 6.4068, 1.7998, -0.022, -0.0757, -0.0122, 0.3624, -7.3915, 4.3556, 1.4921, -0.188, 0.188, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486636f5a0adb43183393b902091d4ab3aba18c18d206d80d280b9b2a00a4ef6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c806d546ba17637e5dcc34dccc16c209987077a658bd0371b508e046947508c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67eaff54198a1c0ff7ebdce720e01f3281851bf01c35dbcc15ea9f89cf488897",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEKxzg3BMw7GpOL-pjyL1v2AFEv2yZF-iHa_LFtyhRdRNRc1PRydzL9pcKkPQfq6jUUiFI1ZBO0w4ImOIJ2wdEVMowSJUDduSoPWuelqe1MorVy6dEIWmOU0_OBcC1stiNZZS3gX0qJNtE6j45FdjpQs3bU8fUViaYeyQUGurFedjvOIROXaxImOUL4u85n6shzeA651ktwY9UtENYHuCq5G1MkWm5aUYmkFVV3cWMYvrSXSkNURmqT5aUwAA5GiBq4HvWpEIgg61x4DthiNI1Vc6xRw5wDj3p2kUKn7CExW_CzgMATkk2INL96g8dFzJX_pLtCUDzbwc8jhiCzZoyTywbghcQ0-nRiDzVcwP5hXSq5sO-FkFzxRL52S1-mKGXoKJFUREW7QrZS2NqY9BynR5IjozYBmX9ql3MhSXBldYPtRla_wudNm3xX0gcEEgYNwrSqGonXlSvt4PPPJ4lQSCiMePjXlcEaK4Ns8HwArMXxqsfiOO5OqlL8O2QY6lPMVmAK_4IX0r-q49cjTOAkSzodzIb-NtIzfGSVDmcjIvarDlUvVHPRJBsZDswM1YmjbriNrI5Qs12ebzJMi5CWPJRZ6HBtMRJG9sZYgpG7wBUqCBeWjt8GPy_b45SROYF55oA1kBfZNh-Ud9P1mRVn8b4iqTXauacSp9OPF_mFugfqxkZjKunwfjmtn0XW62oLM-1d6a-AbzcyZSwlN1UxwEGYb1GWzorkEHbI_K-XADSJb4Sv6fKnHDRc4lK1pHpD1DHFekRQhdkjt05DEDl-JdvuSdrElZszQ4j-cqTDTgsd_N-AXL0Tt-95rcAc0jVD180pPaX7pdSeZCencRnyh9eox5NWhxK8UmOv5r5ZlJi7fvDVOAk_jwcpA7M67HKEZUCUpR8zettYkaKBQ9C4lvFZ-6iZcJ1R7YqPoYaTwVYwK1_5D0Sr6YZNgBmO6__Y8p3aDDY72l99Rr0Hx_Zz1NYSAwnx5fh7vi1vQHRjGt_BHdkekIq_qjzx7rk-tRrUQM9hEBT3WyoDyzxLTW2bd2giF5t-SwplUMW14aIDllphGWMH8UK_ux9dY2uRGmrEU5I68zSTzrF1ZrsjAxgs6Co8PHiCFW5AaQWGL0et7DnQGAFjKe8jSq3qzxpNP6lKPeplcx-0JBLWAUtNvcDWtLedmVNbxscgApyTxR6XV_91_xQfvAE70ILsayh41ov7RLRpmeeJZugNpk4hHjyi65Pdt_2Um84xwT6S5fpMtAKp-ydzyZdg86AWEKYH0SnE2ASV3o3Apao3u-f3GLK48rQ==",
  "id": "rs_0fee8c9b9801dea2016ab442b0b1c487d0844f73a26059d9f4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right jaws now straddle the bottle body at table height. I’m closing fully to secure it for a short inward relocation.\"}",
  "call_id": "call_R5Z7ZHhW1CoyHmrO5yyCgWng",
  "id": "fc_0fee8c9b9801dea2016ab442b0e12c87d0a57f9df4215a7cbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R5Z7ZHhW1CoyHmrO5yyCgWng",
  "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, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6655, 1.9926, 0.9676, 0.384, 0.4488, 0.2867, 0.4891]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.4309 right_y=0.2453 right_z=0.0377 right_yaw=0.1115 right_pitch=0.0002 right_roll=-0.0092 right_gripper=0.4891\nstate[joint_eff]: [-0.253, -1.7162, 6.5436, 1.8339, -0.0513, -0.0122, -0.0122, -0.6222, -11.453, 5.094, 1.4335, 0.1001, 0.0659, 0.9353]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6a2f4cc8ec76d0d2034c528bc3ce1d0cdfb9707bd8aa1f8116c5706a0c9cd10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7bef534d9281dceed938310a41c9e748e79286083e0f23d66a45f665e526e8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea644edc8687528bdcfec3351035c5b14da94b6997d692e0ba1fa8b5353cc07",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3866, -0.0231, -0.0292, 0.9983, 0.5041, 2.196, 1.75, -0.2539, 0.3313, 0.1925, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.5539 right_y=0.2441 right_z=0.122 right_yaw=0.0948 right_pitch=-0.0856 right_roll=-0.0489 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.7983, 6.3658, 1.8242, -0.0366, -0.0611, -0.0122, -1.0872, -12.9162, 10.4547, 2.0391, 0.1343, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6678, 1.9751, 0.9833, 0.329, 0.4717, 0.2764, 0.9997]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4303 right_y=0.2417 right_z=0.0427 right_yaw=0.101 right_pitch=-0.0108 right_roll=-0.0412 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -1.6479, 6.4068, 1.7998, -0.022, -0.0757, -0.0122, 0.3624, -7.3915, 4.3556, 1.4921, -0.188, 0.188, -0.022]\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]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6655, 1.9926, 0.9676, 0.384, 0.4488, 0.2867, 0.4891]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.4309 right_y=0.2453 right_z=0.0377 right_yaw=0.1115 right_pitch=0.0002 right_roll=-0.0092 right_gripper=0.4891\nstate[joint_eff]: [-0.253, -1.7162, 6.5436, 1.8339, -0.0513, -0.0122, -0.0122, -0.6222, -11.453, 5.094, 1.4335, 0.1001, 0.0659, 0.9353]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6a2f4cc8ec76d0d2034c528bc3ce1d0cdfb9707bd8aa1f8116c5706a0c9cd10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7bef534d9281dceed938310a41c9e748e79286083e0f23d66a45f665e526e8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea644edc8687528bdcfec3351035c5b14da94b6997d692e0ba1fa8b5353cc07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEK2AkylQmNKk0s9BhdhY9nfpzW6mH9kuasPBy37Bz75VfrSAHBVi20vcFMjdPDZTM4LZIwe4WI3i-Rn3q8BqtTWexs1J_hLRy7KmWYc57MVsstKv3eTlT3FegjZK_Q29cMk34UmrdXdk5xoJCYESqtrCLd6_DNlW-_3CAvWdZqJ6xDwMP30UNXIAgGcrc6dckyCHtHFOx3T_7bC5NVu4X0m5zQHP0PUBqUwKViJRMEeEOoZOPRN_DmP8V2Erv6ZTKghMWEkokQkgLuSn0U-pUBI-MgFNlGGrYgRdZcgeUQlvT7X7jVFL6dljSM3P3t1xuDSAJAZH2TUPvcSxd4ryiXcSei_Vc4bkuYVTg13OhiCGpJrP2qe3mC9REkJ2WDuPElsUx6GNfztaAKV2ZNETigg3FZgoPHeZib4xNHYTgGKVh1vCmZ5EFWflE7FqacElz36VjbH3HiP3W28YrPQ1qxvzsa9cLuH-fAXK5TYpL8TTCqOA5HNiI1CDp60tyGC27YrcpPLaF4enk4VKDdbNc0SAl0WWHrAK6uSihGUkm1TMdX8vsO3DLpN1TPw7jRPmHQueDHmCmkrU3Ze1eUbCf8aXLsey3eZPNci2QR9wtvsD2Rnpi20SLO0LNLx5lTYHNsUmJqH2JMGEWdhcFlMaJ579E7eSUxDC9daZTBJQTZvO7fkpbYZ1nnPhaOrKZI3c0Eu8433lqWuZnXPx5Xi79oliW45ecxgqH_TSgGgunRJvI3TJKNXzi8RxVROWl_DGdyhN0KcP0BceKjoFDYqpafdN62NXHZ0a2HiaBQOJ00pc8aVOkpyRDwDS1pU33GM2rJTgrVWbKARA4muUNv_qjAPvqMyYZhyoCx6drmZccLiQBbNQUKv_qb9bZVFpisCBcykRTAg62Icz77zQPd9vEWG0teWathFl6ESbY_t9YCL64Y1xvtMQ7U56Ivo6xGIQUEEwOisiyjYbLVuWgMEGaq7D42a2IvttysT5-Mid6yjMDCzlf37xh-05c1soNmwUdB50wC4dINtzPeukcodmRdAbVlF-O_Ogx_0AMgr3CjX8qq16PSZgDz4qVH2oiQUMp81iRoQ5f3DfuLMTXIsD5bwLnT1zHCzjuAhYTjOMiPpKrW1liFCaEPTmyTpa8PAderlQD5OOH5kW8Z7VJVMOp2g-nfKvruQDlKEqSraWvhBlMJNTFxmCHNBJhwwo60LsebuUvDZjBh7RxAozUXloBHqtJo_AdC5EX6qKLJ9D_hcXnUUMPz83ypu_SMouIQJH7np-iJ6kyOOjTEPNbBfDtUfwfhG1qcGx4wOd9d4Ej234TxLIqAbJvXHSRZ_WgtDYrDbdrdOPkjoVFJ76e4WclDzqpkT-5IbYX1U_-RaFRZ0X-5PvoBihzQzd3ACZWr-nQ4WbIxSQ4UtQwKn2qySz0y7GIAS0yp5H98907M0nnYjCHt-RXDJU92vOvIszzKTg1DhyCIP61cjt0VTXGC5okVb0W41-Uvi7pR_vJ7mvlha5Ji5jMoSjqwqc6M3PixtLz7sRPqQelU8PmDwxHjpe5pETS_Yw0DnhpgzKli6vTWKzfKfEv_YuZbYBcR-RyTnYfyOWESfa8ibTg3gFvt5xXi056Zx364TRsLe0SO9qXsaJ2obdcPq0tACfynRZkP3SzlFZ3kPu7V1wFN9SHpFfPlw1NiI_slxGcBPMATFYS40h6hgntNrULWGsso863thNuxc4vFfYM8WxHMDzFBDCzuWt8OGL6gnXd6Xn91Ia3Y83dhWGVY8soUZ86wupgwbA0iruqjFZMSCJbskEjSH9M56Tw_9kxspTdRAWkQuAWsNU1_ZubHVMko6g-6ltnTbJBrG4fb7pTIy4EVtNTgLRPaJ8zv7FFVYPCVY6tvDqp47Dw0Mz5WY3IzWINC-uTVM-vfnhZLtBOpdmxOHUMmv9t1jhYXGawX0YI6ovjntTWFYcfxbhQlkObmW9Q3vLk7yFj7sQkb5QM7wMUNjR1gssaWkXhrL2c3Cj4i8R6UvCiPm5XzMuBdvDC6WiiPnzz2BMAVcT-3qkszfRA4BSPXaI2kYHcExYvKd5b2IVYqnBd2NvIyRVTkrwKZ5rAvayUbn-2bz73eCo919APa3m-51d8tdvIbLWAnCSpUB3q86p2iTt9VGwneF9D4irUEsRF5e-BHarQBu3iPaHdKJqcqlQ1Lh4YCVRPQkshDV6z_sNHfch1WtA7BtafujzNq8YFoOzsm66q0C61lhbOVfvid_djZMjEuYWEiVKavYCDQIi5CnjybVDrV4QfyNR0Fubxwvx8yBV6z1IGUmelGQYb9GBixXILcGYwILg_gO4um8ZhEvdOXCJyfVv3VBu8l4d09Cbp87EIo2Y7RguQGXmJHV9npY_-ra9i4gClvaFMa0XydHIAA=",
  "id": "rs_0fee8c9b9801dea2016ab442b398dc87d091c767bee974bcf3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.25,\"right_z\":0.04},\"note\":\"The settled gripper width is about 4.6 cm, confirming a solid body grasp. I’m dragging the bottle straight inward along the tabletop so its neck moves into the low-reach workspace.\"}",
  "call_id": "call_flyB22OZQLfIzOwhhFrQrCUc",
  "id": "fc_0fee8c9b9801dea2016ab442b62bdc87d0a26f4de711cd1d5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_flyB22OZQLfIzOwhhFrQrCUc",
  "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, 0.7967, 0.6132, -0.387, -0.0231, -0.0288, 0.9983, 0.8993, 1.7885, 0.6849, 0.3798, 0.6048, 0.4419, 0.492]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0003 left_pitch=-0.008 left_roll=0.0004 left_gripper=0.9983 right_x=0.3262 right_y=0.2548 right_z=0.0355 right_yaw=0.1398 right_pitch=-0.0069 right_roll=-0.0071 right_gripper=0.492\nstate[joint_eff]: [-0.3761, -1.4564, 6.3795, 1.8193, -0.0562, 0.0122, -0.0122, 0.4444, -9.3607, 4.8342, 1.3553, 0.3053, 0.1001, 0.5446]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1197486eab50190c3574822cdd7ae61f76d6a7830a034adaf6b09dae725e1a99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8acf81b0978fb7c035369981302a8bac3f6f8255e7ec1ac703c7b4407a7ea67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233e858a69d44806f8e93c13e785d0e0ca9357a9e5d740491c19e8176e80baf6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6628, 1.8477, 1.1755, -0.0586, 0.4362, 0.2878, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4321 right_y=0.2472 right_z=0.1069 right_yaw=0.1164 right_pitch=-0.0804 right_roll=-0.0484 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.1282, 6.3521, 1.8779, -0.022, -0.0659, -0.0122, 1.1009, -13.5726, 7.0632, 1.9512, 0.2271, 0.1685, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6655, 1.9926, 0.9676, 0.384, 0.4488, 0.2867, 0.4891]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.4309 right_y=0.2453 right_z=0.0377 right_yaw=0.1115 right_pitch=0.0002 right_roll=-0.0092 right_gripper=0.4891\nstate[joint_eff]: [-0.253, -1.7162, 6.5436, 1.8339, -0.0513, -0.0122, -0.0122, -0.6222, -11.453, 5.094, 1.4335, 0.1001, 0.0659, 0.9353]\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]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0288, 0.9983, 0.8993, 1.7885, 0.6849, 0.3798, 0.6048, 0.4419, 0.492]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0003 left_pitch=-0.008 left_roll=0.0004 left_gripper=0.9983 right_x=0.3262 right_y=0.2548 right_z=0.0355 right_yaw=0.1398 right_pitch=-0.0069 right_roll=-0.0071 right_gripper=0.492\nstate[joint_eff]: [-0.3761, -1.4564, 6.3795, 1.8193, -0.0562, 0.0122, -0.0122, 0.4444, -9.3607, 4.8342, 1.3553, 0.3053, 0.1001, 0.5446]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1197486eab50190c3574822cdd7ae61f76d6a7830a034adaf6b09dae725e1a99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8acf81b0978fb7c035369981302a8bac3f6f8255e7ec1ac703c7b4407a7ea67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233e858a69d44806f8e93c13e785d0e0ca9357a9e5d740491c19e8176e80baf6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEK8vd7krvlKBSixKeHHrf0RH_S4-bMXIAeEzcvU9DIj5yf4K8N237BAx0g9ssUw-YwaK5U-Euy8Et1s1uE-LjVH5Wg8GvXra3rZeQa6f76bp2gCVrRc4aRGMVScMS9FrOed60MW9q-1nzHNc9a5yjPTX9BJj_zaPm3CdNagDnkmbc8AwuOeHQWgHT_Z1OInNN0MeadM5wJfnk2lTEi52rs8dF2Z20kHtQNIb-75SYfYAaQ9dyTMp07MiP3UHRI4RZYu1X3PS8hJS0xMxjyRp3Ekp8yNMXPIm-GN_nEjxeCWBd3_v4O9IfOgLqRWbT81Vk2rTB-QtmUl11atACeppqO7DPImr_YDcK3Z-2XyTVG1YgylD7Vb9d2fvA9bItXB74VIJhXxWfRC3EAwyg10zT9HebllpnM7YvdnlCoZhFK4JHs1jylSmCSB4xdMbcSeAeCkUyg7AqKddknYC0XG__kEJnv2DCvrxMSXT85qHvPE5rBjKu-8yrWnX_ijxEfBBo8l5PavdDsrlXzTwD-l5PczqguAnzPqHsQQ13hRJPW97JkTi8Ao8yzRAWQWmsyaCTBJRl-ZRI9dBEywB5I9R9IrfcQX_2v9HM1GuI9_CU2ux0VxXro8rFIQCGuR8oHSa_V6Fso6F3hFo0-Dta31Ty8G5k_W_wtsyMqbWgWDZV83JpwUM1WFTY9RzmkCL_BeYlK0_zZ9RN8Ost4TysWlsQmUu0z_QZ4XcWDaVUl59zTEcaZk_5dqDi2XZ7nZbioYkNttyUKHNsnUshYoXEr4Os1xr4UF_fSk43dZ-e_1Mp61crjClTj4baumSGb3ehUAsdm_p-SLcn7rQ9klG86PYSti-eLM8EIsLSHtaPNYAsiGf7nzfWJgMuZIxPd-m4HnWo_WGgbVpCUtc8iDk1JxlVyEP-jmzOwCoobMquDrdrcW2rMWrkwAAyEnJGw2v1AkH2mwGdoKQxL2DELa4Rf0b0kHHlo9izV7m3hMVYUC-qEztr92n8_OBeaSUKVQrSc1EMbpu5ElHWLO1Pq9MaxG9MkRJLqWlsh6HHwUDyrij76VWMzosxSwuPw1s-Rkq2K2qe-Kf214V0FIaO8detHR1QQG-aXKsqO0-aQH-SoGP9VdAX8kAid-dz-hFFklcNb_FQh2F-5fUCr3KdF71kclGrSEi6h4iMshBKeHGOOHgEh4M0hBT_84hz0W-bnoBgkdQWKy3Hdryz8J2l61OU5x-cftUU-DfmewazlugVlcLBT3FfLzTGAXn51xwJcHkXVea9cMBxdWJUjX3_rhneykmoVGJXBk5xZwf_igrSdNM3TRq78iLTL_f2hYAGQxiGpIWSV8PWyd_pylVVn_Cso9hfNHIPCMPjIjuyN99MaYEkkU6fIhA0JkB_bGGE9XWN1hHp4mAW9U3lLRdPDZB6WHeL1zsRw5-OyfscBt1GOl3PmSr7IIDbh71MIjKWHD90DG1I_JzhY_idIMz_aNFUIgN1lLtMFt8Mj_Z-WYuc9_dkTBUYZnUHeF-YTNjOaAIZJeiwa5mmTwCKhUj_q2sTUIEuaoIvRM3ujdqCOBs4FN3ECg4BL0LmrYEGIIuEx-zpCI4-A6XGtAhlIZ5yOya138dr4zUn9AeIeVuABOIrukqcT1XDaEZavfgqXRZj81AXWn9PJOUvBsnebWk7tUhaK_C2pnJCa1qFwkDQAMwydC6u3KfLYjtHs11NW9s_LR_x54PI6rqkeljMLjDr2-0zxwMWrYWLQrUapI5UQRRq59WFr2QCzm9elR7gulhu9IaEHW-FPsqH0sdomDEWDHhw_ODqAh_uK_S3qvBSdrhEhbIrj2dPy6NwWDK7ScMEJ4uGho0QFgt4oa08phrp_SZdylj2aEKIoCIRK6vshSKq_ob7aUYX6WshJpWvYuSCvGLR8mZbJsrXCqMPNW-5GMl-H_m8VC5f5pGp_8iFLV6Ml24I08hZSyyZVyA67zybI64icEVM7SnM8Cgko86GADB768ht8EX6yxRDddGbnOd-8zFRTy6MVqZq32y7Sjc6C-WiK5h5A56p98nke4hiII5TEealrOI_DT_-Sl2FFcJfJps7sy8EAFb7HWzfIiA1lOi7HfAc46",
  "id": "rs_0fee8c9b9801dea2016ab442b9785087d090ada8ad0544e81f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The gripper tracked inward by roughly 10 cm while retaining the bottle, so the pull succeeded. I’m releasing it in the new position before approaching its now-reachable neck.\"}",
  "call_id": "call_Im59cBACdwkHiVBc9caqSFI5",
  "id": "fc_0fee8c9b9801dea2016ab442bb6eb087d0b9b30211f8a201c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Im59cBACdwkHiVBc9caqSFI5",
  "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, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.9028, 1.7794, 0.6754, 0.3828, 0.5987, 0.4374, 0.9956]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.3236 right_y=0.2552 right_z=0.036 right_yaw=0.1504 right_pitch=-0.0077 right_roll=-0.0062 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -1.7162, 6.3795, 1.8095, -0.0415, -0.0317, -0.0122, -0.3487, -6.4342, 5.3402, 1.6288, 0.2271, 0.0317, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a06f1c54b3df89e88bb14b9fa0f74fd98b00164f833a7c408a3b8858c3a51835",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95219b1e01c189cfa814f850205f9309e1b3f9147c040f7eaee975efb5209f21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:becb0da3eb02c97253f5639cdca53f29b1cf30acbaac76c965501ccce4ae3c1e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6678, 1.9751, 0.9833, 0.329, 0.4717, 0.2764, 0.9997]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4303 right_y=0.2417 right_z=0.0427 right_yaw=0.101 right_pitch=-0.0108 right_roll=-0.0412 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -1.6479, 6.4068, 1.7998, -0.022, -0.0757, -0.0122, 0.3624, -7.3915, 4.3556, 1.4921, -0.188, 0.188, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0288, 0.9983, 0.8993, 1.7885, 0.6849, 0.3798, 0.6048, 0.4419, 0.492]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0003 left_pitch=-0.008 left_roll=0.0004 left_gripper=0.9983 right_x=0.3262 right_y=0.2548 right_z=0.0355 right_yaw=0.1398 right_pitch=-0.0069 right_roll=-0.0071 right_gripper=0.492\nstate[joint_eff]: [-0.3761, -1.4564, 6.3795, 1.8193, -0.0562, 0.0122, -0.0122, 0.4444, -9.3607, 4.8342, 1.3553, 0.3053, 0.1001, 0.5446]\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, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.9028, 1.7794, 0.6754, 0.3828, 0.5987, 0.4374, 0.9956]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.3236 right_y=0.2552 right_z=0.036 right_yaw=0.1504 right_pitch=-0.0077 right_roll=-0.0062 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -1.7162, 6.3795, 1.8095, -0.0415, -0.0317, -0.0122, -0.3487, -6.4342, 5.3402, 1.6288, 0.2271, 0.0317, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a06f1c54b3df89e88bb14b9fa0f74fd98b00164f833a7c408a3b8858c3a51835",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95219b1e01c189cfa814f850205f9309e1b3f9147c040f7eaee975efb5209f21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:becb0da3eb02c97253f5639cdca53f29b1cf30acbaac76c965501ccce4ae3c1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEK-sqQFBMJrqLykkNDQ9IKU7S39xqkwtgQHq-7WVCurR1rVfWE2MzDKdvW0bxrlSL3-4jc4KDV-ZnJf7zwBoElUChsLZFLtHIBeGokUvLOU0vpm8G3k2MXpavbJ6P5B3u8Ih9Kpi5CK6R2szSPfOd5w4Webw99VQbxADNvXcos489KpGwGSpiY6ycPksmZgQCyWls8Vr4hYnUQH59sOrf-luJsyM7sj8-xMzYu0kj8twb4NPZStCIgkvqVBcwmAPOWPIGotw22mnqx6nntwxxResB_iUVzaGhbDgw7Am4LRP7erwx0XMvGg5nBoH1H5Nk3Y-po1DUhOZeaaXPfQMRbx1opsnmw5ThBvZheS9JkCKA24Mib0lXPiHkd2Utu0zxE75w00Pk__8sAsfTilpa38pRS5IUFIywnQLFFkq0Ufj69gH54E4TUdPoGTdWTqPmAm73sYmVvyln2bokRMfPeGTGaRKtjQyHij8olkPYMUrzY-6C6gfgY3KqcRvFLZkhWOQdR-IaISFR928E5DEYDwg_0oogAiBhwttOkgSZssZQIG1Kx3oy_8NLDy1w-TFAkAPB2ojIdzW4KXhu_g1aaYJ0r8DsY2NJF6UeLyppC7CY9L1z9J-P1Jyz0vDpD-nh3fvi0UMs6IxVnpefhnxvKcpXmtQSrVzViKW6YG-G1yBL5hztSYGbVsO8TGQxAmdJVSO7EOk_tE1LJvtvh5noQmcDoBGlSc1Z-QOpqO4UHhEgKZtSfU-QCQ5pB2ZvAiUl_k4dUogkW6y1yHtcNatwwBAtMDliuhX-hfCwPvMljiMMOhVnnwDbhxYG8n1dAugOO6L2iomAATJx25Qrs9AqaPbOGNmsTPNvCMhlI1KM9tEapH1LEQ-UlXMzV8cbyhNIanknWsn3uFCPz4ANm9kiJ06jMdZbjULfJ-Nbu23nKNoqOluxAkpJbyMVPFEKggJmvBl5VWvXKP_SETVF4mAmoqAx2qLfPaQve7lJBTnlWWV3NxRY_bBjmugP1iliLX9xgyY8RJi1HId7JpzI22_jxEmfSBKjhnE0QvYmk7YKEgOGP4QwHZhtMl1DoKAaju12JIo4PqKl-q6u745HJCAMqtP2Ih_DCrIYK08Q6NZ3ddekVCSgBm09Hej2BoK6s6ejXPOsG3BzjbsWZTBlW25nTfCnqW8qUHX5xgnl1SaVi3nkaDRPwdkI9jWc3l8iAm-Cwu1IEyGdBZEDU0z-8XdqA-5A==",
  "id": "rs_0fee8c9b9801dea2016ab442bdd23887d08aeb552486ec18a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.25,\"right_z\":0.14},\"note\":\"The bottle remains lying in its inward-shifted position after release. I’m lifting and moving above the estimated neck location, now around 11 cm closer than before.\"}",
  "call_id": "call_tAVAnPw8QR00OmEBs73Qa8h7",
  "id": "fc_0fee8c9b9801dea2016ab442bdf7b087d0a5c9f7d43389aa0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tAVAnPw8QR00OmEBs73Qa8h7",
  "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, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6613, 1.7832, 1.1152, 0.0174, 0.4061, 0.2577, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4275 right_y=0.2488 right_z=0.1248 right_yaw=0.1572 right_pitch=-0.0208 right_roll=-0.0161 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -1.6889, 6.3658, 1.8339, -0.0317, -0.0611, -0.0122, -0.5949, -7.9521, 8.9368, 1.7411, 0.1441, 0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7089db7da0953817fe44bfb9c9e542555e67fee4e86c904a1446a0a55516dd0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c15472b88230b5f91e4c07ad98892203626f8e32463f2fe3245222e97dfaaf27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2764488a108d8d497fba004aadf59d239dc4fd4e7bf40255faa6e387c06400ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6655, 1.9926, 0.9676, 0.384, 0.4488, 0.2867, 0.4891]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.4309 right_y=0.2453 right_z=0.0377 right_yaw=0.1115 right_pitch=0.0002 right_roll=-0.0092 right_gripper=0.4891\nstate[joint_eff]: [-0.253, -1.7162, 6.5436, 1.8339, -0.0513, -0.0122, -0.0122, -0.6222, -11.453, 5.094, 1.4335, 0.1001, 0.0659, 0.9353]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.9028, 1.7794, 0.6754, 0.3828, 0.5987, 0.4374, 0.9956]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.3236 right_y=0.2552 right_z=0.036 right_yaw=0.1504 right_pitch=-0.0077 right_roll=-0.0062 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -1.7162, 6.3795, 1.8095, -0.0415, -0.0317, -0.0122, -0.3487, -6.4342, 5.3402, 1.6288, 0.2271, 0.0317, -0.0757]",
      "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, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6613, 1.7832, 1.1152, 0.0174, 0.4061, 0.2577, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4275 right_y=0.2488 right_z=0.1248 right_yaw=0.1572 right_pitch=-0.0208 right_roll=-0.0161 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -1.6889, 6.3658, 1.8339, -0.0317, -0.0611, -0.0122, -0.5949, -7.9521, 8.9368, 1.7411, 0.1441, 0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7089db7da0953817fe44bfb9c9e542555e67fee4e86c904a1446a0a55516dd0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c15472b88230b5f91e4c07ad98892203626f8e32463f2fe3245222e97dfaaf27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2764488a108d8d497fba004aadf59d239dc4fd4e7bf40255faa6e387c06400ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELCDjGmYZNzuuHs8YIX44UNkQqNPpfQOAhOoDy55rNpzKRvOQgdvetP7x2XrvOsPJsUEQYbsyFBQEpJjKt4ExHocdFdgZDSoNSfshrwvc3VwlGtIxFvACqBZt49X9O0uRIz95FFKOqRG353hwpQ4eeQZEjrEpqm5izHbSTQV5bkW-UqX0Ct-QlZ-n7K4khdpUfwfeAo3nfX4cdxlO3uHNvfDyqEpobsJgiyp8PSPzwk3sKNy9B35MTj9DK1Mc2ngxpJ9IQZ-zI5fDW8FcxnaUG3CnHR4fN-CTkJavJpS2KBqb8cZj1ifDbTbvw7byJUDP-n1U6Aa3fGSYsbFIeTs8oKIFl644GHxAhRVl3oJzeC7Tm-tagQ9sUddLsDIYjyD3Cmy6u8jJlW5Nyv2I_vkJhoQt3QQ8_jHiIP5ek1PADUg_7WjOxNjQRcsC7l2JVfjWDYkVnlXwwnrU5NXQAC9nogh7XtWHEFHahsAZtooV1jTrupvQFOyUy5L7Y_JiSE8rHC4L3aKauU9ONcSXqjtqRikrfVBEEFTojY9m-C6-RabtfzviIcI_9WlWqPy66Mjf-Av-6OX_FshdkPbsRTpYvsz9CU7tYVIRCFWg6X2yoR0Ypg3hGWqjsil4HOBEIj5rXDo6Zsg32_3-A9S44LIXrHc1giNyqw5-fluIIRAQcavmLXuIHjGZeJ3OW13Ls9Nc9iZk2HuV093N7GERJgXmeJgFXVSsmWoIm-3QFKhdS1iWMaL8sn5-LMEhqfWeR6tx810aSHDmxqJZQimr_-gXtN5-eUDlsmMyrzYQ0Pt0111ZbqHASZFqXxYyw24A6-mrG4yybBkJnCRLEOnx_hr0wQ4temMRS4op0TMX5Dkcz8mDq0d8SE4kW4ba6vmIWTleWJMm4CYr53tB--34aO_pcovSmQv2Akn1gfPpoBSGULLtxbRVQVk3uFCpZ0PCCj-jBYl3WYTDiMysJHsdsqMrMevM_1GALLcf72g7BNRw8oIO9OiEJebMqjH7vTMQc7fNfYjJwV4chc6p2FUgGCNYU2VfxfgGZeeGj96T0AGx27MD4CpLAuMboJMtbo8aJ1hBwqKPlY2SKbyHC5tDARLub2bY5HK0XqB2xcMSLKmBtlcanWxnyKgMoPpXSPzxRPTX8UrfmPIRVhmNCQ9uYY0LKCv4LYrAGi-YAdy1EhhSZETfoab3Eq2mvMdCO7CQwP7nkx_IVTyWqhz9cE5W95eP5AED526BTk0o2VqwSz8c-YEdFkFJtV1lePREt77hSY6Edju0uPuAbuH4cWqxJZMDRkj3GTkz2mayAuz5--1n1HxqrPIqWuarkedC_sQtgz8A-c3myNDXv2O8hLbi_DWdVzZwSXCyxH2inIy7624Za7rekY760w4PF_CFCzQ367lWcBWPjV-MvvmmxvfjljmYkHRTI4fzm7sO2G9oNLNdSGuzqX3YxzZxuQgz8ejLQ3B_Gd9wkz-FcwLFZCCxtmXTkSdhw-AYmfkIvN7LGMslb6kRmTz7YE_1T8GEhGoBXVEhIgi4mpu7AvjIKwwwRR3bVrJXoQf1B_k4xNbdWbGhHHvQwZoYkt9SvkNyUlds_B1t4B",
  "id": "rs_0fee8c9b9801dea2016ab442c0bc4087d0b5b378206f73d63f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.25,\"right_z\":0.14},\"note\":\"The relocated bottle’s neck is centered in the right wrist view and only a few centimetres ahead of the fingertips. I’m advancing slightly to place the neck at the grasp point.\"}",
  "call_id": "call_Tt4S21XXN4EJuAD9Bg4gqMpH",
  "id": "fc_0fee8c9b9801dea2016ab442c191c487d0bf1b7ed38435eda9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Tt4S21XXN4EJuAD9Bg4gqMpH",
  "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]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6266, 1.832, 1.1915, -0.0254, 0.3637, 0.2291, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4443 right_y=0.2484 right_z=0.1236 right_yaw=0.172 right_pitch=-0.0461 right_roll=-0.0237 right_gripper=0.9955\nstate[joint_eff]: [-0.294, -1.6479, 6.4479, 1.7753, -0.0513, -0.0757, -0.0122, -1.0598, -9.265, 9.7846, 1.8584, 0.3248, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa0ee0ac7e3574fa97999287a050151eaa4290b4acc48a35718d9fc7e2456c13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab43a5b2a82e27a52e2cc47b414897aab31d5d482c738f134c3a76e14a1ee1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea1593493195f1764ffe0acb9d1be2394b27865ceba469525119aaeb69229719",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0288, 0.9983, 0.8993, 1.7885, 0.6849, 0.3798, 0.6048, 0.4419, 0.492]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0003 left_pitch=-0.008 left_roll=0.0004 left_gripper=0.9983 right_x=0.3262 right_y=0.2548 right_z=0.0355 right_yaw=0.1398 right_pitch=-0.0069 right_roll=-0.0071 right_gripper=0.492\nstate[joint_eff]: [-0.3761, -1.4564, 6.3795, 1.8193, -0.0562, 0.0122, -0.0122, 0.4444, -9.3607, 4.8342, 1.3553, 0.3053, 0.1001, 0.5446]\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, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6613, 1.7832, 1.1152, 0.0174, 0.4061, 0.2577, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4275 right_y=0.2488 right_z=0.1248 right_yaw=0.1572 right_pitch=-0.0208 right_roll=-0.0161 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -1.6889, 6.3658, 1.8339, -0.0317, -0.0611, -0.0122, -0.5949, -7.9521, 8.9368, 1.7411, 0.1441, 0.0708, -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, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6266, 1.832, 1.1915, -0.0254, 0.3637, 0.2291, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4443 right_y=0.2484 right_z=0.1236 right_yaw=0.172 right_pitch=-0.0461 right_roll=-0.0237 right_gripper=0.9955\nstate[joint_eff]: [-0.294, -1.6479, 6.4479, 1.7753, -0.0513, -0.0757, -0.0122, -1.0598, -9.265, 9.7846, 1.8584, 0.3248, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa0ee0ac7e3574fa97999287a050151eaa4290b4acc48a35718d9fc7e2456c13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab43a5b2a82e27a52e2cc47b414897aab31d5d482c738f134c3a76e14a1ee1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea1593493195f1764ffe0acb9d1be2394b27865ceba469525119aaeb69229719",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELEMfPOVQeJ0qa-1n2IO5qlYZQg14lcBmRAAufvmHNQwpIK2Ymj2R88SHGh5f7BqtXR_olrx_HrOnEcmHg1Bl2w5OlawWhmc_6jH_n0MhwddPpza0uKlxlY2wEkOr07C12cEoChLjMiCrnK2EDHhnQCdaKuuwQ7PdVuM-fc_HiA7ezJ5dkdq2-VidZJSl7U0j5o2YSl9L-gHWRHfMUiUj5wIzhUWqlLLaBca3a9oxYhiovhdBTtY9oOMBYdhMA2XUIf_rQv9XwT-Z-qZoJrISBBZCOvTtRk-E8Tn57wHwe6Q-6Y9thI3t-ZGit0cfoK6nxuIGw4SJm-wgv-C5MVmjgio28CfnbrDfxLluFZPC9kMh_RMlLVrGd6kkYMREl1epOPZkQApqWEFmuloBs4fhA3fy8VTKtOoLVCqnrz-cUwlMrZ-dK5cZU8-fZ35b6CiEwfd4iLhLPi2Dif-VqiItfI90gux_t60zOZf0_BfcFgUPYU6qn9WN0IfsGE8-9SIH8vLYuNjfSm-oABDWbdUMCNzIi9ZvQIZ04-CGTXm6wdlR4upEJL9KbOJobmhc-OJRO8MKTQ5mOLIKfLlQOwnNUI5v72EAkwAyCa1ERE-7DL1I4IKUezsrpnbZavytTJTGEk8sgWgk1Nr_j9XGb1Lp-r3eBGZ0ek__siecipWXEm8dud2gSDq0TrnB61viLJ048wOudCfXjpFq3vv2LXu-DzrHV8Ft93DL5VTm7uozlPP6WGqDGse4K5hEzwWSBRzBhSGC9093mqquRZyu6WYUGL0cnU7DLckZVmRof70c-3cVbiSOgCOzKb-oQI8PrtqdHE_8LViopWReww9VDFhkTQZWavwLyyPPvHWJvRmxeY6wJPiETuwQnqoWh8KcmPfY4OOZSACNI7eHs9JNvswZVsLZuFVXZIpYsXglW1uTnFqn1av2nqc4DwD1YZa1tfFDtI4RN091IXvVUB4YHCcEHV4q4Q2F9lSM7oUNLeB5lJJ-vjZbNWNSMURQPvimvIOzOf9vPS4IVqOhYXuoKUGGNLRdobnyY2JjDpGAhMpScABTBzLg0GsJ0rX-ZyMMT7iJSIUb65e5astnQOfHRamcp4Y676QkdtnfsGJ4LSx7fJ8N1aQIMd4UlmtvDTOASUSQTrPohQeChu4xQUKCSFXNdXILAMqnCfYuBXv5o4Zk5FwDrgqZwDiK6nb1fqLsMMDDtbAK-f4nS-o50ZAQ4NWnPShtVUnJ1EM8MNzERUcwXrUh1lkw7ijMn5znQLuTt4bsI8",
  "id": "rs_0fee8c9b9801dea2016ab442c3b37487d09b9ed0dbcaf44c7c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.25,\"right_z\":0.03},\"note\":\"The neck now sits between the fingertip columns near the bottom of the wrist image. I’m descending at this reachable radius to capture it just below the cap.\"}",
  "call_id": "call_XuaKYhMrDmYfzKq9TZScgZLU",
  "id": "fc_0fee8c9b9801dea2016ab442c40ec087d0893d6dc4d7e0a89a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XuaKYhMrDmYfzKq9TZScgZLU",
  "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, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6147, 1.8416, 1.2018, -0.038, 0.3576, 0.2184, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4474 right_y=0.2446 right_z=0.1207 right_yaw=0.1706 right_pitch=-0.0584 right_roll=-0.0341 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.7299, 6.4068, 1.7998, -0.0171, -0.0562, -0.0122, -0.5675, -9.1966, 9.853, 1.9267, 0.1294, 0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebc62a260e9a361d86dd0903f498ee91d73be191dcd2bebdb015c5ab71c2258d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d6925bfb0f3bf9f53ce39b632eb896eafdeb598e4af3c42e9c0831cf56fee34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b2ca9601af8742f782dbb8a7c1f3bb226e92165168aa3f4aa99fd13c9d96815",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.9028, 1.7794, 0.6754, 0.3828, 0.5987, 0.4374, 0.9956]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.3236 right_y=0.2552 right_z=0.036 right_yaw=0.1504 right_pitch=-0.0077 right_roll=-0.0062 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -1.7162, 6.3795, 1.8095, -0.0415, -0.0317, -0.0122, -0.3487, -6.4342, 5.3402, 1.6288, 0.2271, 0.0317, -0.0757]",
      "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, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6266, 1.832, 1.1915, -0.0254, 0.3637, 0.2291, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4443 right_y=0.2484 right_z=0.1236 right_yaw=0.172 right_pitch=-0.0461 right_roll=-0.0237 right_gripper=0.9955\nstate[joint_eff]: [-0.294, -1.6479, 6.4479, 1.7753, -0.0513, -0.0757, -0.0122, -1.0598, -9.265, 9.7846, 1.8584, 0.3248, 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]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6147, 1.8416, 1.2018, -0.038, 0.3576, 0.2184, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4474 right_y=0.2446 right_z=0.1207 right_yaw=0.1706 right_pitch=-0.0584 right_roll=-0.0341 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.7299, 6.4068, 1.7998, -0.0171, -0.0562, -0.0122, -0.5675, -9.1966, 9.853, 1.9267, 0.1294, 0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebc62a260e9a361d86dd0903f498ee91d73be191dcd2bebdb015c5ab71c2258d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d6925bfb0f3bf9f53ce39b632eb896eafdeb598e4af3c42e9c0831cf56fee34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b2ca9601af8742f782dbb8a7c1f3bb226e92165168aa3f4aa99fd13c9d96815",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELItxrLKr70085XIFjOesNhztfuJ6xtdC-lDIb1Z4lMVfJ1_ASqVkONbMjtNJbacDnVvVUTC5nx_hLhxVceyA65QaIdD3cGNSq_T3S3AAQbYVGj6QCTmOcWVXJdDMqN6b6I6Umco1EDJiIkPpFynwLMfCMtQvjkdTcuMEWpqHHk1Q7gBW6MHlHU7K-zXvkYiiuNkN0nsgHNtGjYLY_ELA8pX_Q34-XGaH_rnW9ZDbWeuDrpvoRV_F8IVJZLbLJVQ1W0Pid2k2GJoKfCHnTItNRlltRggjbTc0xiFfdiYKU1uxAC6jwSnoMv6c_wXPnFzCID6ZFKT02-OxwQ7qn2FLGncVIxouQAnilHklCCGOMYUyfRp0Cu69Fnwx2wDu0pOTxeB7FLlyGxPeO7hTa7OwAQaGZbPoOGTFvZkLLlYlFSuMTYCh6DidAtJynJuxgeDGEuz34vQ2nDotNH3TVB4K1XtTwAuzPKhFhcODzJGSTFOLTNl385J8iQMuVUDJTjpaCDNoLzz0dZbtp-FxicIH8QLMTGEMgGYWzPnT_0E3kIddrGJSeHlPrZRdqYrxS1G0hzl1-i_27N2H7am3aiz-y1Lou9pIf0y0APGEqaud4MFTki1kwjE-TFxOaFNLcNCp51qjdqKNNVsREHvVW6djen1AegqtqpD_vppNfp1xin08CsH3Jxl9JlpmMDAXgWG97Xnq1_72u3T0qS7eUqgQ0_XIP2SmRQSN_g7r8hyLknmHLTZZ4RaQEkkLNq-nw8MzWuS2WoAf9hzlo9gaSmerNjiQ-fwdwUsqS7Nu3AuB9mwEIChwiI0_ZR48smjuGW6Q4mB4nqkCrR7TVKgN_rZXeblAN8z9Ee7fWLemj23LiGrslHvypEqf-xQgufiC2KNjMnCR-gXDLC-bawpuUhw8xl0ravNUClnVZRHURm2bxi6tGWQd_eP47or4MPoICpOBOZAffQ3SR4WRmmjypIDvt_jPowSqAKwjxOm2om2P3JdbB_4iP1l3yvfWgQZLf9fTpei9pg1rxSDV6PzUpNY-KCNGA4oTZgKYN9_Z6Y36VSbPdPp4f-Rtcbsbe6qgrYDK20DHE50-RGG2K2a_wef2-jfov0MBNY14No47Bf6llrVdEoilps46R2Bzar_Hqj6warJAQ8opdg4uIFIvKPnGGIJQlRfihb4kBXQ1-oRbElwafXIP49R6kFQslxhlVlDV-nFVmRPPFDcjecRi7V15mIESE_UG8eoxev0NV_-rXbwNbUjArr0LKqUcDJaeifYHbiUiGgWkE-K-e-pIviPniB0p-B1rUtVPWWfVvTHeCck9oh0O65LJ9NxdLvc7Q8gMbuHWKbYKGnItvZv7dQnZrRD5WYxcose2nXew9l0RzVzPyeSbLTTzd4wJ4u56prDZZqHxs_u7Jy59bgiALCjp9xBprpA7_6k9snjD03kYcA6tYOFPI2ae2-bsXBdEloh96QgAJT3zJTIIgBRbeb4IaAepc8ACUInTw6lJTkJuQGd1kWo16yznyirwnLvDFfRatQqW-aZRB0EbGPEJwACD-ojhrmosyDrG9SNmIEFURWlpzER7JXSs9Bdjd5nNXZAfXuZ_RFH76K7Bp_541Xnecl8lkJnJVqHwpcqK8mBOAoZnp-JZOosO_Di3upAIc7E9bTG873mpcBzGdGv6H5OfsVh1jYsDum5HpokelWD-6Hc0w8JtwbsGsLkns7ooLz17C_c7AWnMg8xJNYtsJPzTiAZTshMUIJX-Pt08RRj8zweT2GmGoQcUCCFs1J-_m2DDHOsr2kBV569mPxV_dlExtQY5D7NqaXb1nto7HIBjeM3GLjENcuOg8_xOVn1x6UxZpbtwd-OyuczFd-zs3HYPmCNaCqOrBR4M1o90MHzaEDSuw=",
  "id": "rs_0fee8c9b9801dea2016ab442c6aa6087d09a3fda5125ba79b3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.25,\"right_z\":0.13},\"note\":\"The descent is still reach-limited at the neck, with the gripper remaining near 12 cm high. I’m returning to the bottle body for one more short inward pull.\"}",
  "call_id": "call_Ew3Corby82YOztkbyPXnNlNM",
  "id": "fc_0fee8c9b9801dea2016ab442c7fc3487d0adfdb1c4672fc31e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ew3Corby82YOztkbyPXnNlNM",
  "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, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.8513, 1.5501, 0.849, -0.0082, 0.5156, 0.3592, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3332 right_y=0.2536 right_z=0.1181 right_yaw=0.2048 right_pitch=-0.0331 right_roll=-0.0218 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -1.7162, 6.3795, 1.8584, -0.0122, -0.0806, -0.0122, 0.1162, -8.2667, 6.2701, 1.7607, 0.2857, 0.0904, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ec856855ec55067ead6de92eb2f790ed6f94f289b9d232455a2c4df8d930e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2229fc0229880c1b512229c5418b4d534a546eaeaeb4463ef0c2b9d10d5e964",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f991946f91a0b3be1c9fbb9ab47cb6dc1a8357c42fa28fb6b8b027b403b7c8a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.6613, 1.7832, 1.1152, 0.0174, 0.4061, 0.2577, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1822 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4275 right_y=0.2488 right_z=0.1248 right_yaw=0.1572 right_pitch=-0.0208 right_roll=-0.0161 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -1.6889, 6.3658, 1.8339, -0.0317, -0.0611, -0.0122, -0.5949, -7.9521, 8.9368, 1.7411, 0.1441, 0.0708, -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, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6147, 1.8416, 1.2018, -0.038, 0.3576, 0.2184, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4474 right_y=0.2446 right_z=0.1207 right_yaw=0.1706 right_pitch=-0.0584 right_roll=-0.0341 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.7299, 6.4068, 1.7998, -0.0171, -0.0562, -0.0122, -0.5675, -9.1966, 9.853, 1.9267, 0.1294, 0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.8513, 1.5501, 0.849, -0.0082, 0.5156, 0.3592, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3332 right_y=0.2536 right_z=0.1181 right_yaw=0.2048 right_pitch=-0.0331 right_roll=-0.0218 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -1.7162, 6.3795, 1.8584, -0.0122, -0.0806, -0.0122, 0.1162, -8.2667, 6.2701, 1.7607, 0.2857, 0.0904, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ec856855ec55067ead6de92eb2f790ed6f94f289b9d232455a2c4df8d930e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2229fc0229880c1b512229c5418b4d534a546eaeaeb4463ef0c2b9d10d5e964",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f991946f91a0b3be1c9fbb9ab47cb6dc1a8357c42fa28fb6b8b027b403b7c8a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELNdCRp9xBAhKkVwuQ0y-8KH2eIuHCEIcpvHUouokGnP62p5U4_Z7vIENSx1OBxydkxSpVLWxjm39t1gnjVWBXyJxjiCOd_UuabcJFogCUM42aasYWATpnocwVKzHaC79rWQb_cW2opS-kVejXKtaBQsYeDX4-KM1bJyMrpd3U3OeEJ1BKVaH453vkj1gL4L2kbv5bFb0MRfOR460Rrya8hG1uoQs5DwAbhewDObInhDDV7C0Y0EMDySEuabr2QdOawdns97B5Svt2oXvc0UtwuW69mbqUnA9XUlpi9PhfXZTBMEd7LOtjLb3VuzDr7Bxy_X21qjWZE220UT-QCaJ2dtlizDWv0sfNlQ-AZG6zOIJpRvnAhzFDIrsAWeSmzjrVQhy5daH_3hnHFwWq4rTS59E0nrrYbpI4264kQQdyMoY0_ezbctgLMwlzqpYY64ocbbB6RYHszFBnmtKQfADl20XuseiNKuHHGsMkP6wHRftRQiP67r6tjQCy4bkdC6UjZu3dBjr2VDE_ptdHyNYaqT-pJZkMdJHPH4NjluRxi0x3eK-ukpqwXfFjD-b2HkpqqsWfB47pa1Rfy6nzxeP4yFTQ4pevaWJycwb3UYHo_ij0q6g5mC5eJUWOYd6G_N8jvMx37aHlPP0CFn-jZt3RqA2kEcw8doat71codQccpcPCOhzAqxPGH3B54px8dwN_jiPlBEQtC8r4QcG02HoLjCTBVsFDns5Bc0D3kZoGK6reQBALI8rCv3mXHiZj-WG8W4OO2pxSjZDjIw78_Bar_-nuTgnYruSCpL7jBAZbvxGFh2dpRBoAAsJPRSKxymd5A-eeDwJ8x6db7KfIlRlY0lr6srvO1WY6DpU_eTafPdD57-kk746AM0tgYabGk_QZNvsZ5DzaFemB4hkTybmCkVTcRL1yEKejUoyF9ZG09IDSjhsmA6Xzgq5Ehk1y2QziCZpfTi0E2ud9yHK7myuGX2eUbSM3f5_Tt99z9Np2XkmGpoct7xSirG20d_1s--xr6YvP1CusP5VIme7oD8gL_Hn171ARJu3NXdFRjK1-GaaasbbuZKFinZbKjhsQ5VAW6iissTgsbCOKwNGoC1yVcic_61fL3p9BgIQHU5jg_8nfxoTcDCjJA0al7UBOwLwv2_jL3dOKwC3raKdurGC9-teyat-LrukzWHNNR_TqUrYpXtYPtYZi7Os6xn2-9ZppHiqlFE2np0NhqTXCZuiqmILb3HeVGLyLdBHkcy1EBW4GdMcsL1yIL9ahbybicha38ryjbfFWp2QrhozPs-utknibVVM6QCkhP6ynLZd9BGGL0CJzmHR68MCFyoa1uvDSfbkRNZ5irWUmrcpoTIcRqOIXDYor2TE2pkIRbQkx8bpQzdG6eY_NrPvO6ndt57_AOp0r9N6r9SGwncw3TgNSFhMcTLLgzu65ER7z6feC1kWdY7Kf7AtDK8_ZiLSjUjvwYzBAatNp0i5lXySVVhX3OAVlZBLLxfpgH-Lg7Ic5S7F9lmJI1hN2G20QqcMDfzvDE",
  "id": "rs_0fee8c9b9801dea2016ab442cbb1fc87d0a9790840d35cd4ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.25,\"right_z\":0.03},\"note\":\"The relocated bottle body is again centered between the jaws at a comfortably reachable radius. I’m descending to take a second secure body grasp.\"}",
  "call_id": "call_b7qDiYI9KZHUZPxn3QydC5AB",
  "id": "fc_0fee8c9b9801dea2016ab442cc4f4c87d0a0ce14d74353bdbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b7qDiYI9KZHUZPxn3QydC5AB",
  "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, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.8555, 1.7638, 0.6422, 0.3851, 0.5156, 0.3622, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3234 right_y=0.2449 right_z=0.0263 right_yaw=0.2067 right_pitch=-0.0547 right_roll=-0.0357 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -1.6615, 6.4205, 1.8193, -0.0317, -0.0513, -0.0122, -0.1299, -6.735, 4.5333, 1.6825, 0.1685, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01432773d8be0d1b30294cc44c7ce7908631e3605ad786030fed0db92f683372",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e31dbc53d0f4c56a21472fd2421e51c3fd2851e5ff9443568599fd64c996861",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3b2c70aea637f2a54b5e908e5036c355a1f8f6e694a2170fc315b6a386c27d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6266, 1.832, 1.1915, -0.0254, 0.3637, 0.2291, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.4443 right_y=0.2484 right_z=0.1236 right_yaw=0.172 right_pitch=-0.0461 right_roll=-0.0237 right_gripper=0.9955\nstate[joint_eff]: [-0.294, -1.6479, 6.4479, 1.7753, -0.0513, -0.0757, -0.0122, -1.0598, -9.265, 9.7846, 1.8584, 0.3248, 0.0024, -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, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.8513, 1.5501, 0.849, -0.0082, 0.5156, 0.3592, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3332 right_y=0.2536 right_z=0.1181 right_yaw=0.2048 right_pitch=-0.0331 right_roll=-0.0218 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -1.7162, 6.3795, 1.8584, -0.0122, -0.0806, -0.0122, 0.1162, -8.2667, 6.2701, 1.7607, 0.2857, 0.0904, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.8555, 1.7638, 0.6422, 0.3851, 0.5156, 0.3622, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3234 right_y=0.2449 right_z=0.0263 right_yaw=0.2067 right_pitch=-0.0547 right_roll=-0.0357 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -1.6615, 6.4205, 1.8193, -0.0317, -0.0513, -0.0122, -0.1299, -6.735, 4.5333, 1.6825, 0.1685, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01432773d8be0d1b30294cc44c7ce7908631e3605ad786030fed0db92f683372",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e31dbc53d0f4c56a21472fd2421e51c3fd2851e5ff9443568599fd64c996861",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3b2c70aea637f2a54b5e908e5036c355a1f8f6e694a2170fc315b6a386c27d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELPhf1t4mohQOEZHEiYMD2YoEPOyYJFqFdtzYsJGkqXSGDugvAsJ38fZaJJCO4wCYAny9pchoUDDChgmXdDEzwupnCv40I2dfw94OJz0jID_g79WfrJRSkBQe2HXsNonRVuaBnuh6RC1iGVOSSQrA8o9-ZTkPOhh348zR-hXuWYmBY9MbAyZUX8zOO9oC5DuQMjFToLehfago3n6cBkMHMlXRvtq3RKvIDq8_x5vCV3wIbAfwb37mVa-5n8iog3AgNYMKRYBXEG-uNhqupNiheiRPm_uWTWUPUpkegAyHF9XYJu2tdkGhKBg6fqS-GED5TiSKEnbo02HWMiYm-fTu78b1j8b7rnPijhFVzaARbd2kvI46m5QKQhUUokisNzjh7G0eKLbQN7LOCiGObbmuCno-5Hy2NISRFqVQciJVvuor0arvbA93973TkKLweRZeCjvVZzxjBbgvTHHh73bfW9cRC5n8WLi_L8aS3Il3g2t--YjI-JCUoKn072XRUtcje-R2LpwiE290keYAsRukC5WTXDZ_fLz6XBBR_2vDLCc54ICXmx7AyEp8TMLTvHs4IHQ6AR9TjKe8YXXsHvxAT9b270NuVzgPk3tQ2ZnbFFq6BWtgHTWZ3437jgRD4k9rLyDRXRdwgKOZSl03LPsCPEGq6iksX1QSvAHdqGUkY80rGhvtyUz2HAOrhDwisgXydW9msCFbLF-OTZ-aB7n7ZE4oRN8NsT5kEkK1r-_czAzbiaE7cYvci-vXaBIYH_8WMWE1iZy4yNvYBnsQiRv7N9l_uSbFQdMU4yzOEvAo9akLNVBQGth1_n5qPKr_MMfP58q4wt7y0RvWUbv70exlBpHCC_wUf5HrljjhDg0YgaH_x6xpo_nCxLPBtWd6vubWXVxDX_9Gu6Bs60p-2FVAoAcsoz8aPQLMtuZQ6zF7mIoZwNtGU9j5GmcNYAJeQceUa25TG6eDbOy9vQVoZKujvKVYOpfi-AxwSBXkri3RQVl57iEMTCdimrwsj5zyVNbnquvFd_P01xPEwKAsi6lX94xOSQsKkHTicnyhAuLuPVIFSw888PZeYnpoNor62_WDfv8Ps-OdRGcxLmWtez0gxpLDZc5OToREIDR19j1wts2dgA6BEpw-tiZnwAeOK9oyDCKf6DnDRbzJbO3qlT0_6z350IMTCP9cXMCgEZ7pLSvm1lAUfgnjvXlMrCYeq4fnA-HP5MKQKj-_V1wXbUU2wUYHiFT4CF_u6HE5xZUyI5A1oOee5lr3u5VJlE6Uc78EcI",
  "id": "rs_0fee8c9b9801dea2016ab442cea99487d0925a1d2895df5f29",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table height the bottle body fills the jaw gap and is well centered. I’m closing to secure it for a final short inward drag.\"}",
  "call_id": "call_SFu0GOTADNoSb3aq8nLMwvF6",
  "id": "fc_0fee8c9b9801dea2016ab442cede7887d0982428837ddec5b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SFu0GOTADNoSb3aq8nLMwvF6",
  "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, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.8574, 1.7859, 0.5919, 0.5022, 0.5163, 0.3584, 0.5351]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.3215 right_y=0.2437 right_z=0.0216 right_yaw=0.211 right_pitch=-0.0188 right_roll=-0.0123 right_gripper=0.5351\nstate[joint_eff]: [-0.3761, -1.6889, 6.694, 1.7998, -0.0171, -0.0659, -0.0122, -0.1709, -7.5556, 4.5197, 1.7265, 0.188, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275889d18d356792657450d48fa744114da9b221bd71c629adbb853d3d7bb8d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6594b20b0b1297c1d94556910d662f2e48bf6756afbd3b7bd0f8bfc63278248f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af3cc3ddfc93fcad4a524446a196ec0b508fb9a482a43c51a9fa8c94b1c8166",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6147, 1.8416, 1.2018, -0.038, 0.3576, 0.2184, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4474 right_y=0.2446 right_z=0.1207 right_yaw=0.1706 right_pitch=-0.0584 right_roll=-0.0341 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.7299, 6.4068, 1.7998, -0.0171, -0.0562, -0.0122, -0.5675, -9.1966, 9.853, 1.9267, 0.1294, 0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.8555, 1.7638, 0.6422, 0.3851, 0.5156, 0.3622, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3234 right_y=0.2449 right_z=0.0263 right_yaw=0.2067 right_pitch=-0.0547 right_roll=-0.0357 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -1.6615, 6.4205, 1.8193, -0.0317, -0.0513, -0.0122, -0.1299, -6.735, 4.5333, 1.6825, 0.1685, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.8574, 1.7859, 0.5919, 0.5022, 0.5163, 0.3584, 0.5351]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.3215 right_y=0.2437 right_z=0.0216 right_yaw=0.211 right_pitch=-0.0188 right_roll=-0.0123 right_gripper=0.5351\nstate[joint_eff]: [-0.3761, -1.6889, 6.694, 1.7998, -0.0171, -0.0659, -0.0122, -0.1709, -7.5556, 4.5197, 1.7265, 0.188, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275889d18d356792657450d48fa744114da9b221bd71c629adbb853d3d7bb8d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6594b20b0b1297c1d94556910d662f2e48bf6756afbd3b7bd0f8bfc63278248f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af3cc3ddfc93fcad4a524446a196ec0b508fb9a482a43c51a9fa8c94b1c8166",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELUo-dH1FCuQTapj-2nqQDfz7Xn92KafLc34XI0XtYCvBDkYmG0teA26QJQdv7DW0mrT0CHhZk3rQ67EWoaFrQKvqme_hrsU-BETQz1HrskTkxdFXawsPBrJ-V-blRc35U4N65-Dk3chh1gWPHSFrEDCYcY6QfQkXVRvwYT30aNAQscVtuxccncylCHwDYGtlFEXD3cd5Sem7j8qlioA8BP4-EgATIvyJbjFV0H599cjjmafMgXNdfCuN2KILqFhebs_QPPjKIDOCwveaNjxSdFwvjg6877VYFjGnx6aUZNn-zG1sU-W2zIpAAE7cj2etreFYASXvgk3zXCH9oXehGwJkqnfO3Lc4ah-jaw4o_bkaDISMDsG_TIi3HvhuLaYpv39ItJhrp0sRi2APl5IyBzCx25ZstUUtWFkYmeEz3_HFGZXxwj85_OuoJtZhHfzscthDg7dKj_WaQO67xgYSUrOTrSvGhP-f2bRmPKKA4wTvi2_RolcOc7mXtQ-vcWb4bWski3jI1Gg_3dG8yZqXLZvIo5_I8duOz4A1Lum4KAkij2WphBfJnFPn2O0ymKxLi_FTrKloZmquIQbnaWs8DsPQd9RA8XFu3-xkEuWdhomGuo9hSzKOfeQiKOvpy5QPIGPZGYbruBPrS3sq723EfDe4JKOu9Io35SSUqniFc-cTMz3MqtnORn4iS7CS_qZ3lxYVlOpaH0U1l_ObGPkReK0fmVuk52T64MH6UN3Fx0F3UNm81NIcrnlKOmacEFwC0nkdvaTUgVxSa8U3wruR7cwfQ_XNGEL_3aVauGcEXE6U3EdYcGmmGNKz2zMZ7VEmv4eWgKY5O3d_9jUkwWq7K6g1D_-BYFCfXsf3yFk84avw5meOZs69FuDfnqq1zHZNuLb4nIztNFvBvhFmFwepjWm9V670G-e7ajm1r4A7ucBfugz40svMQ3QhR6lyyemdBYG92cLSkUgSFVnESyn-j0MzxZoBDx6S5ZFnZ-0TO-xv5btASNvq6zVnLKP0xsrCqHewhM_Z-RN89pEUDWCiHm4AFtWKowyKMbp3B7le-YujSszwUK8GEEhUgwpLM0h-u9Pe8eIBDoCB6qX03ICUAYOK7Vo-TPrhNeoqGcdPymx_SqN6bN4aX_65-s8vdHJ6Qe466xyumsrP9ZMnPDVLZpU6akxvbmLmNqVzuFVeS-mT5NLQzOq96ukKyl5492_vigIFOENjE6wOIeq9EojSRV_Heq-02n_tDmRJwwRWAILE4yyx4qpL0loJeDX0Uk5rSL6uUB_87puEOgpkByFPnkFmQIUKoFvuZKWea1sg02o3I=",
  "id": "rs_0fee8c9b9801dea2016ab442d2f5dc87d0b64f6cae5737b579",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.24,\"right_y\":0.25,\"right_z\":0.03},\"note\":\"The gripper settled around 5.1 cm, confirming another solid body grasp. I’m pulling the bottle inward by about 8 cm, which should put its neck well inside the table-contact envelope.\"}",
  "call_id": "call_1vxvwJsXFu855aOHnrEXvgMn",
  "id": "fc_0fee8c9b9801dea2016ab442d3399087d0aa5c477a8cc60599",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1vxvwJsXFu855aOHnrEXvgMn",
  "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, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 1.1194, 1.6543, 0.4709, 0.379, 0.6773, 0.5388, 0.5394]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.2422 right_y=0.2541 right_z=0.0214 right_yaw=0.2537 right_pitch=-0.0267 right_roll=-0.0193 right_gripper=0.5394\nstate[joint_eff]: [-0.1436, -1.4838, 6.5436, 1.8877, -0.0317, -0.0415, -0.0122, 0.2667, -7.788, 4.7111, 1.5458, 0.3443, -0.0171, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0f558cc2fe6872bff45584aedae125d31d14ae639242085ac4f03b112aaef38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4775aff837f5f02c2b4a4577236c518b5dd291452468cc2a8f9cbebbee4fa0f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:907b8db569edf083967c9d05af06d758cc7afa38e56da72c7451463eba492056",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0292, 0.9983, 0.8513, 1.5501, 0.849, -0.0082, 0.5156, 0.3592, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3332 right_y=0.2536 right_z=0.1181 right_yaw=0.2048 right_pitch=-0.0331 right_roll=-0.0218 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -1.7162, 6.3795, 1.8584, -0.0122, -0.0806, -0.0122, 0.1162, -8.2667, 6.2701, 1.7607, 0.2857, 0.0904, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.8574, 1.7859, 0.5919, 0.5022, 0.5163, 0.3584, 0.5351]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.3215 right_y=0.2437 right_z=0.0216 right_yaw=0.211 right_pitch=-0.0188 right_roll=-0.0123 right_gripper=0.5351\nstate[joint_eff]: [-0.3761, -1.6889, 6.694, 1.7998, -0.0171, -0.0659, -0.0122, -0.1709, -7.5556, 4.5197, 1.7265, 0.188, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 1.1194, 1.6543, 0.4709, 0.379, 0.6773, 0.5388, 0.5394]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.2422 right_y=0.2541 right_z=0.0214 right_yaw=0.2537 right_pitch=-0.0267 right_roll=-0.0193 right_gripper=0.5394\nstate[joint_eff]: [-0.1436, -1.4838, 6.5436, 1.8877, -0.0317, -0.0415, -0.0122, 0.2667, -7.788, 4.7111, 1.5458, 0.3443, -0.0171, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0f558cc2fe6872bff45584aedae125d31d14ae639242085ac4f03b112aaef38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4775aff837f5f02c2b4a4577236c518b5dd291452468cc2a8f9cbebbee4fa0f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:907b8db569edf083967c9d05af06d758cc7afa38e56da72c7451463eba492056",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELXHCSW-eIjTvIIIz_9AxUmsn5fsXdKOnLrGvZVcNuSoveV-t70vhlzQMoPAYCedQ-8wENKlBurq_WSsXv7TmLCCC0yxOh6ujPVM2oPuXxtlHPX8HVIrvIcgKjssLHPatU7sSrmRDM744vBvnrWTR4LxwWXfwCszaZ376QzE0cjdeLfKUX0B-G5y_pr7A2Mseyi6rTiMAoIJ-zB2LTC7m7Q6tcayVxrHPBsMugaYUfC-4Ptz5-t7F-PefYWC9fjVpNLt3wwqz_nyYbwRgYpgvci2mm7w5Kk_VPdbADVRzgbh2oYq-LCjZYHc1ebSuZQUQHOArtIf3dg2D02VzFEGl5R2nygzroDPqJt2z3p0dfeb_T2pB1Rur6Y0puuAGEHRyMaY3xFM6zGcCFuTtTorfLZR7nA3b-Osh5EHvxcS3c5ZVWP-CEh0a3HqqKRWdvZ7j5pIhIsYC7lA1Gv1NU8APaW_dfaGNV5zbcEwEaOkdqs3WMgujUb4o1NszL6GpBh2pyjgBFxmMDqEezYFY2UhrkIgLYsG8sKfCU4xPhFspH6J6Sl46AVuSFQkPK-ZIjkbwMqQHnNCD9qLCdR2eCtHnvKy3tsiv7BgGQZ6pq0ybyO01ahPXxPdjoJymIIOMivEcasVPV10SfpVxFOotQUSdZG97Q27n0v6I3brbO6ft0EWZrr_I_mVb2i4n09hgMncczkMMu3uKpL2mC6UV1PaTVoDWAVFA_5kW7_Nsel4IKMbSZZkcNF_fe1J8bhvc5kFzXTKUw0eXX_uugf43QQTxhAcmtni8-gcV_0q6YVUSjscaobO6aqlOnrnYS9hv_BsGsE8DDNVh5IYjfJ0uLBDuWOFVA2kmkEtQqCrRWLRq8KmYT2csHmqQ8SAqmnuYHCi_JD8rl2xdgntPQVWWf1X3nBYqCic8dcWanUz2vO110-r-dPOdPFvtzcPcnqC_sWeDLauEOOT5qBjvj8LIhkeMlzAa3fvleIRd_K6thB7SXA3JU9_wI_lp3eOPhV4nt7bFtKdlJMh3RQUfX6_Ys3VeqsvwTpo24oRT1t2-JbIWA4NSE_N3OtfVbWPb09xoiM2lXZkD3TqtWMOcPf_fLc5duVSlocchPmUyyoos5p1njkayeFKGgrUl08NQRpJ4BkPQS7ibTGFX3KltKljbNueg-gCF9WiLvDyE2BnJ1Hx3h0n8B0guWm9RgUVhWd4PqFwHUPiuOb9KwZtVuJMtXjFdJXOHJ6yZbn3jwoUpZ6elQdDfQ7_fMBFD3AU5a91ZNbVVHr18tVtbp6TgwV4aGVAYWcxzxi51fgl0-n820wvnxWw3V1tfJGr6SOHYhOr4eRSrrME4F0dKghYjgDsEfGjC-tCvknAdFre6s61hKt4g4dYp62pLnZvGBkvy3C_-hyjdUUDs_j58xvE_WPQilGjgRt9DOLrYu-zhU89KRHgwPL0K-Te6CBpDVSiW2RmKRqYJJx0TbCnEvWM2KHMNLoU5Pzcg==",
  "id": "rs_0fee8c9b9801dea2016ab442d6561c87d0a50f4f89a6158b95",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The overhead view shows the bottle and gripper shifted inward together, with the bottle still lying straight. I’m releasing it so I can approach the neck at its new reachable location.\"}",
  "call_id": "call_MilYFJXiQBXxMI5qjSxSXCUr",
  "id": "fc_0fee8c9b9801dea2016ab442d7082c87d0bd731bfe0eca8785",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MilYFJXiQBXxMI5qjSxSXCUr",
  "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, 0.7963, 0.6132, -0.387, -0.0231, -0.0288, 0.9983, 1.1255, 1.6577, 0.4461, 0.4259, 0.6769, 0.5373, 0.9958]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0003 left_pitch=-0.0076 left_roll=0.0004 left_gripper=0.9983 right_x=0.2397 right_y=0.2537 right_z=0.0199 right_yaw=0.2612 right_pitch=-0.0148 right_roll=-0.0062 right_gripper=0.9958\nstate[joint_eff]: [-0.3761, -1.7026, 6.5709, 1.8291, -0.0269, 0.0122, -0.0122, -0.5812, -5.1487, 4.5333, 1.6386, 0.2711, -0.0171, -0.2613]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9abf32f784d6bc94d586c8463874d94a81f4c23317747ee8705ac92ff342d390",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94082309848eb7fdf2f4887f2c0ae6237889f3b5fab50e76c885e20d08fd1e47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947cc6030bd256e4d8c39a994d97bfec5f0f9642eb95c064bd807b0067c94542",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.8555, 1.7638, 0.6422, 0.3851, 0.5156, 0.3622, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3234 right_y=0.2449 right_z=0.0263 right_yaw=0.2067 right_pitch=-0.0547 right_roll=-0.0357 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -1.6615, 6.4205, 1.8193, -0.0317, -0.0513, -0.0122, -0.1299, -6.735, 4.5333, 1.6825, 0.1685, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 1.1194, 1.6543, 0.4709, 0.379, 0.6773, 0.5388, 0.5394]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.2422 right_y=0.2541 right_z=0.0214 right_yaw=0.2537 right_pitch=-0.0267 right_roll=-0.0193 right_gripper=0.5394\nstate[joint_eff]: [-0.1436, -1.4838, 6.5436, 1.8877, -0.0317, -0.0415, -0.0122, 0.2667, -7.788, 4.7111, 1.5458, 0.3443, -0.0171, 1.033]\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, 0.7963, 0.6132, -0.387, -0.0231, -0.0288, 0.9983, 1.1255, 1.6577, 0.4461, 0.4259, 0.6769, 0.5373, 0.9958]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0003 left_pitch=-0.0076 left_roll=0.0004 left_gripper=0.9983 right_x=0.2397 right_y=0.2537 right_z=0.0199 right_yaw=0.2612 right_pitch=-0.0148 right_roll=-0.0062 right_gripper=0.9958\nstate[joint_eff]: [-0.3761, -1.7026, 6.5709, 1.8291, -0.0269, 0.0122, -0.0122, -0.5812, -5.1487, 4.5333, 1.6386, 0.2711, -0.0171, -0.2613]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9abf32f784d6bc94d586c8463874d94a81f4c23317747ee8705ac92ff342d390",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94082309848eb7fdf2f4887f2c0ae6237889f3b5fab50e76c885e20d08fd1e47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947cc6030bd256e4d8c39a994d97bfec5f0f9642eb95c064bd807b0067c94542",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELdmreYN8hYizJkcVfOIuo8CkRlBnvEaPHo_wsmUu3wPjktI6s7EOi9QWhk5PSc4cK7LAdKBiJAUG9foOkPfd5zN46zgWOK6AXI3Fm997nf9XAgcs2DLWNWrF_XPsF5rFNDEe4i4CY8lu-5Yj_MpjI8BEfSakvfWzjQZBzaaUQPXcoK4jfCYoxkCXu76Zn-ND4ixsM-Fbn-aq0hVFJbFBvgK-6BHRBw81vdTngGFj21d7fHqwW3oqJS7KCciYXWUpoD5B6gCmc63X6voIEsk3dk7k1gaBAQp16GIZrAxbFj_4hGWT-tr4xO3FSfgQg0YsR8KOrogAdwqBghuNls7svy6CR95uCdOklNTU6I-XJFgvv68ITJnzL-Cm9RLyXW6k1G_EF27lHwyvrPIwgu6zQpDplJsStu1HwvQ1JVm0GrnYalseaNRw5W_xVmHjYSjJR3KV8rCU2PKiu_vP7E4U_BcfeZ1fptJdcOtcxbc3AY89OsiGLADCUfs58tIiGDCTOBG28YQTYpaxa-_gHdmNX8GEMcFYmjqPN6l_mEWB-x2mdgJG0I6idkf_aokArMuUVBVZOZjgfy7LyDvQzzgj6NhyeAdKlYSTp8gxfmg-LFHiZTbiKBYkFJRVvui-mEQssOZjeux5c691qOO15969HAvuYNwN3Tqq4eVW2ANV76jhcMeEFu0GzXKPcD2dIqP9zaWBr_r0GBHIHxKH_XpP2kxLjjK1ZVtkadXryU94EaQ3nbVAPHPXJIHVBSkxFisvy3ERqeisNC17QdCgvFatc5q0xZeiSC2ANDeCkrMW8rZVnarEqZc8RtMje-itKbFwym0Wpc7iDpAjLvpVMwa9R6A1zuVka-afuTYx8TM5LncpDQpeRIpaupg_mXyWwTOManBb31ACjYzefVr24wr2v_gTYxjoTY79YE9B0kqPmqtiXfn8MtRrZ0wQG69igkR7k167c1ETpi8G4mcbeR-DPMuSDPFAB0LUW00IBm-Fwrdwt8Qz7wYV31X9r2yNa0hqTpp1p2BJe9FMQUdu3WTO4h7fBVOcEZKdlao4poNxg5JKlqhu4dcE_HcWWOECArcs23MNE0baG-7UxIHwC9sAIrDDcv2PTmLNeGmm1IVkhl3ro9sTJEFsIVai_PAUVRnuVpZ9OFmD6zDdXNUpHbDHUpGqBmPFWnguMTSFlSi0n3QhAYckmp_-Y5f0ymdd1wv-89Ewaxbevj9HI_smXAsBsVXdXp691BRx0D9qU4QCfAcM45z7grP3F99VcqRQbjTg90OF3tr70djjLwtCON2l7TzYXjrzlwyTWwT1A5PzbTBGHm15bIwAePpwwXnDAroPYIa2jAsjQ5wODO75Z-QELj1ofRyfRiE91B9_V6Jk3ZyALMY8W9sYi1CICiewQG5FrtKaGttoAkE26miMIRTyn0wBdgF60gQgRD4z9RAmCkmIvdlOCdfNoNsxohoicPIxYyghIl22ZEckW7adHxvDlqNTSaSBW4jlEYfJIO6FpJV7NF9vHH4iIj_D5hMoRgID74SFFMMbSUFHQBBqHbOgYTvSlwI1O5rFf1wcdgdsYIZjBOOp2eifdNAXeeVEDEpQks3ryrFCC_ZG2EvT6Gx2rL2UEFPZS8HaiBijZ7EPAh14FVMxsYvJNbywjelVCCn8XG8HQ_btXOCvzwAmFT3joPdWpVmYWycUOxkagDTiAxekYZJD_eZjANK9PyFkQKUVc6edNSZ43Kl5Xallnqj2MZZwuFS9dFFpwNZilIEjUxLqAUx4vbQ7M1rzkcDrmRXsNMbDKHHz3ZhNa1Ag1aY2a8xiXGkZhIuuY2f-N9XaXvh0V98OT4l7NJJU5XrZDXfgS8PaKVNSekFLFEwEM8vgC0VA6YXvIZeRme9-dEAaqTohwafac2jJ3yuGUoejh6uBQygG0s8HU9MpwG0yS4VkIMjx6nxVkrsLDLNQsDqEw7GjPbrxLGNWG1Z3OehoHIQJ3Z24DTBOKe7-Qnn8gwEHYrLqTIb113ckGuakY6QPbqTml3mx6pvjk6BzC_kJhiGj48yn6E2YzUVToO9ZpeLVoRgicwyVYNGMvRNR0AXtnmXLNHEmA7moJSKsQhhAtKldmGS_cMfuhCWldYb1LkzVZweqCWllzpUVxk_oy2KW0ujqf5lFIvUQCb6ylWqDVgsEJ_Dl_h62Rt4x_lqEa73EXd0BlaBF3oQ1FwNBRsBlxFDDEb55ACOcB_vuRqpNu02RlBTy7sO8mxGwFzY1DoJywu9FZg-dd1MhUZU5FS6tlLh1pfV45fIgazaZWU3pFFtTSv10riyDso7BvG1w38zCQ4hTyHQuIpgpTVJgpJ9O-Epg8hccnFPPi5HMiKEabXJ77EeMDuhjK11bd3TxLGX0Zn0kvrXlWYfVT6KZC9iTqgzvDdV-lWAtJcjWjPOlUCi3DFc2iXmOc9uj1kSn0CXUXRAUsRTemHeuH16GrpXDPoxLyXFwXMwbD1OO-BNCxHOU4oppNL1ADMEg85CKOFjjbD6OWA2zjizhffXwFZbMUCdlECBvL1DSS9Yn1I6Yb1M3XVG_JBHSPsgES080oricGhh6xj5gx3FwvSFgRfXEBl_mycem6lP0eiJx1wK94n_kQggSsL2Vv5x3GX6P2ThJ6nyHkvP2txxtTz-xzk1RMJLQ5gQ1yla3ZZQc80EMmTiA-InqbxS3Fox1A0cQeJaiu0iL2xGVDrgzSZUq6_BDtTOYT5QXbq-FvJDv7CVhoQW4SSBE44jC_TKAKjN6yfd9_1RQEUVpw68aOrV8P1ywRwqLA=",
  "id": "rs_0fee8c9b9801dea2016ab442d99e6487d0be54e652ae5cb3dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.25,\"right_z\":0.14},\"note\":\"The target bottle now spans from the gripper area toward a neck near x≈0.41 m after the two inward pulls. I’m lifting and moving above that neck for the upright grasp.\"}",
  "call_id": "call_iaQwuGWy4HRz0WOITSajRHrn",
  "id": "fc_0fee8c9b9801dea2016ab442dcde0087d0b02148a4e2aa651a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iaQwuGWy4HRz0WOITSajRHrn",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6708, 1.6676, 0.9806, 0.0586, 0.3267, 0.1951, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3974 right_y=0.2475 right_z=0.1264 right_yaw=0.2653 right_pitch=-0.0212 right_roll=-0.0158 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -1.7026, 6.4205, 1.7949, -0.0171, -0.0513, -0.0122, -0.9641, -7.4462, 9.4427, 1.7607, 0.0757, 0.1245, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9a911940256d3d2997b080172e33ffa249bd8d0c59a07f0fbf3cba5e9f3be12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f6e5e42a5d32c7e04573f40006d9f0e6ff06c8be09c5babb9b5777ef1383980",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519e284e1d1ed9bf3f7eceec877f5e31f813af6625bd543cfae7d4ada228abd8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.8574, 1.7859, 0.5919, 0.5022, 0.5163, 0.3584, 0.5351]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.3215 right_y=0.2437 right_z=0.0216 right_yaw=0.211 right_pitch=-0.0188 right_roll=-0.0123 right_gripper=0.5351\nstate[joint_eff]: [-0.3761, -1.6889, 6.694, 1.7998, -0.0171, -0.0659, -0.0122, -0.1709, -7.5556, 4.5197, 1.7265, 0.188, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0288, 0.9983, 1.1255, 1.6577, 0.4461, 0.4259, 0.6769, 0.5373, 0.9958]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0003 left_pitch=-0.0076 left_roll=0.0004 left_gripper=0.9983 right_x=0.2397 right_y=0.2537 right_z=0.0199 right_yaw=0.2612 right_pitch=-0.0148 right_roll=-0.0062 right_gripper=0.9958\nstate[joint_eff]: [-0.3761, -1.7026, 6.5709, 1.8291, -0.0269, 0.0122, -0.0122, -0.5812, -5.1487, 4.5333, 1.6386, 0.2711, -0.0171, -0.2613]",
      "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, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6708, 1.6676, 0.9806, 0.0586, 0.3267, 0.1951, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3974 right_y=0.2475 right_z=0.1264 right_yaw=0.2653 right_pitch=-0.0212 right_roll=-0.0158 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -1.7026, 6.4205, 1.7949, -0.0171, -0.0513, -0.0122, -0.9641, -7.4462, 9.4427, 1.7607, 0.0757, 0.1245, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9a911940256d3d2997b080172e33ffa249bd8d0c59a07f0fbf3cba5e9f3be12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f6e5e42a5d32c7e04573f40006d9f0e6ff06c8be09c5babb9b5777ef1383980",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519e284e1d1ed9bf3f7eceec877f5e31f813af6625bd543cfae7d4ada228abd8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0fee8c9b9801dea2016ab442e1059487d0874efa0d3e764dec",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELnDU96OGyh3CGeIlWrRIjzZrZx0gla3UHSGy9zQv2ENmvh16ype1dygcmazdydF-09On4nccqyOw2AnLD6qe2mSKs35Ab9OKWhOLGIQlqKDJltTlDbGz6DK1nB0SD32w8tg-mzr_odEI0kW-VzWxRyHPRMOs64nOtta7NLgg3kpORAhf0g-6yx79dlIzrBNBYb4Xds5j5MRiCutJ6X2r4QeGxznttGGsU9KIXIg0o0tf38kj0ioM_A5QBDS1S1EP-48EYP6Q4pAcOE3LX31h76htE1jjG9Fls5XvN-QGhFTJZiDpgqFRDWPnVgxNvDfdJ6chjeSZB_C8dy3L7exUSsDjGPBtinYimFlArntkhMGNCRU4F8AGybUjIKFA7-xl_0FpggTVyeu0be4qzOdaxZd04djdMiph2JdVxHhpc3Sa0kEGfUICQC_-E-_d8VczcbZGq2sYbjwjDqPua6Ik56nexoXPmmKSBuahyj77uPjJgZyCBsU4Ih1T3KHIzEesNaqJBwdituB5IdGZu0DWm1Y7EUu2cr028FpbVZGUr3krzEHzWsyu23LXgIoJqrCMAcV7pcgR_aEEhSphbPBEEWHVa3rS1BnQTV6B8bajYdubDubxx35ebqVSZlvVghJLHj_uLgjI-w985RLlGLkwKzA4dBdH8T4AUoLP-263QZVCMLvup2SBtCJqfNcUjf4y9XBtp6hIfGVH1qYOLdkjE-hWHgAEugpRQKtANJK6mb7nl4IbJuq2T3wsgQ9hQymsEgR5DO_emcb7DogU6BK_0FALfJWK5L6Tij63irXBIupnirD0mH-6DYYo-z5YGr4CvUfq-Hh3I0agqkYqWO36_A8EVSDneNpl2iIzSV_bBiVZ950rjnDCoZAG_2Y2mipulIE6dEtrXOnepzx7Jm-uHThtYUGLf_4FyKqe8rxZSO9H3nLNW_F-aw58mGoOILlyb2llxbU8yVhY-8uhrLjcPpZbGEohsRJrfyVABoJEfCKhKMY1sUZxKMeoSb4YZRZzAHPX83ZtiznhONQZi7A4t15gJr_25KSSzd8AdolkrMKtWTqk3von2MuX-g4A642ZzFQr_IsEE6gsRrJCNaUA1er1HP03SGHfQACtSCbhKgZF51k4DPdtc8c3Kq5yfHaz1VJIGhnM760BmtrZZAHnpDbBc59A2w1K_SdlbVdeR9XRpAOzPB8h8fOULA8crLTJsehYHS6kjNyiFq_kxeqPimXhQW6g1veWOxFTXnL6MIAuG4eaR57CKEG2fvUfrC1fcK7XWr-q4EasLDexFsNaRZ7ErUjxi9U7n3zgu4rGRWdHi4r8LDox7fCXnPpeHVGpGZT5eQctJWUo2q94IhT93Kf9vumOcpJknb-7xXMFnXpHbql4N2zgENAtcI8HvWt8o_Ywujmu53SasvyRTqjeqlbW0rPdAA3AYNzhFNfMMcTwZ1PRQm75C7OaiF6diVE9LY",
  "id": "rs_0fee8c9b9801dea2016ab442e5d69c87d09d3b4a0bf73b1957",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.29,\"right_z\":0.14},\"note\":\"The overhead view places the elevated gripper slightly to the image-right of the relocated neck; the bottle visible far left in the wrist camera is a different bottle. I’m shifting the right arm about 4 cm toward its left to align over the hidden target neck.\"}",
  "call_id": "call_vP7TWoi2XVvjzQ9QOIU67vWF",
  "id": "fc_0fee8c9b9801dea2016ab442e6891c87d08a2567e4fbbf27ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vP7TWoi2XVvjzQ9QOIU67vWF",
  "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, 0.7971, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.7547, 1.7363, 1.0721, 0.0006, 0.3599, 0.2256, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9983 right_x=0.3891 right_y=0.2854 right_z=0.1238 right_yaw=0.3052 right_pitch=-0.0451 right_roll=-0.0234 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.7573, 6.4342, 1.8095, -0.0513, -0.0806, -0.0122, -0.4308, -8.0615, 9.2103, 1.8926, 0.3736, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0fb0ef14d89a64a23fd2ec884c98d9ee5cccd1eb4c6cb07ac2a835211f3f6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59d752972ebb30b5d08ac6125ef82d474bdbe6fa426a2b771301c63a1056d2ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ee8df99f7a1bb28e6a31811c44123330a3d8e332d830e1e470717564ecfba13",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 1.1194, 1.6543, 0.4709, 0.379, 0.6773, 0.5388, 0.5394]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9983 right_x=0.2422 right_y=0.2541 right_z=0.0214 right_yaw=0.2537 right_pitch=-0.0267 right_roll=-0.0193 right_gripper=0.5394\nstate[joint_eff]: [-0.1436, -1.4838, 6.5436, 1.8877, -0.0317, -0.0415, -0.0122, 0.2667, -7.788, 4.7111, 1.5458, 0.3443, -0.0171, 1.033]\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, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6708, 1.6676, 0.9806, 0.0586, 0.3267, 0.1951, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3974 right_y=0.2475 right_z=0.1264 right_yaw=0.2653 right_pitch=-0.0212 right_roll=-0.0158 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -1.7026, 6.4205, 1.7949, -0.0171, -0.0513, -0.0122, -0.9641, -7.4462, 9.4427, 1.7607, 0.0757, 0.1245, -0.0415]",
      "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, 0.7971, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.7547, 1.7363, 1.0721, 0.0006, 0.3599, 0.2256, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9983 right_x=0.3891 right_y=0.2854 right_z=0.1238 right_yaw=0.3052 right_pitch=-0.0451 right_roll=-0.0234 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.7573, 6.4342, 1.8095, -0.0513, -0.0806, -0.0122, -0.4308, -8.0615, 9.2103, 1.8926, 0.3736, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0fb0ef14d89a64a23fd2ec884c98d9ee5cccd1eb4c6cb07ac2a835211f3f6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59d752972ebb30b5d08ac6125ef82d474bdbe6fa426a2b771301c63a1056d2ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ee8df99f7a1bb28e6a31811c44123330a3d8e332d830e1e470717564ecfba13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELqaXrSKf8xzSXVEM13qVQE95tbemGQ8DP19wK47OCK2YQykMLjLZwVvu4Y_R-DFPycWAmn2p7bBBEay6pJqV5n1IID-kKm8k2qVi1roqVHhG8QpDzm3Alu0iIpmHVcB3szTMdxK6HaU1AmLp60L10Pl-kCcr_TMYlvzb537BZByqL40KUnuB2qCnLKP35tujGICqNVB0yvVZVEr6YcHpELB_tXbAcgnxdEb7hvRysY0bOhuyjnjmV8l_nptiY8YzBH1DtEZibJ1nGc8JnBGibn6cU6GuZHt69b-Gu8tIWh1Ue2vsEaM_JasakBXuUz-0FxwP5SFIBN30wlDA5JVzE9OAqRDCYwgoV0Vwv1b29QVoFXa2lMYHu4yxRFivNvLrVwa_zG6e5m7Pr_CA7yIUarOG3r89JofWU5INzWAMxTuU5kWopWvRXKJhs7kg0Jn0kGjLwrLIQtXcLaCGUVyD-HKdq-LuKT6l8saqkgrAGB1xaW5nYZYTbYhsGTFr9Dk9OMFNT_UxHCsFNheG4xoppoJQbDn6HRD_UE8cRyikwVkEcw4o0MQh-NecnAaR371t0uGQYcJ18PhgsLlsIJaujcuB3mov3ekNylf0blsi8Xtw_6t5ssGagYuI6ZCarznUBlbA-w4PPioBaynESlooSH1SCcQGurB7U_fxQItiVIUHwFR4QiBmzRE2lWwW5srN7A89NmzwqzaO9sZJ1UTV3rPIwwVl0_uWZ0NI_cwRt10abIZr8hu9KrJlCsHzxmsvNo9aE6yfD-NbO-_gd5HKiDANE9Wo1q5ta67t3ZFMG0GbO_D-pTA-dsqqVjakaxyzOB_9gVqRwpVtQ5eHTsSND37RuuxcxjaVY5mJi9iJgPiVZGBW3p2AF7px5ZZHyKLeRN6GlIRfinRG8Wo-jVoI_FczkvE9N4ugYvNGXrBmm7jobRQwGHXgA5q2HXDwF0dJzZ1oUWeZHGMlwr5ERb-tEFpj6ckkNyk59HN2_lKm2fEsWVeWvcTbyl_JNjvRF6tIMnR8OAW5rL7kaQPasawrtNVrwj_qPF-uDy5jZ97_D57rpQHB5SwSU7euq0uRYaene0sQplnZBz2QQUZm0VH_hRQ7l82Cq4uyfGhCtP2ULULJCRGb0CQuPVo0SMOI580_0O1xGTF3y6NKap7V9I4ivtwjWkYb-WCEgxsm1n_jl7EdsBkw8mxlKXUMjn0_FTtCsHF_nwLcEK_h9nt8BVEne0_xnoWMki3gbwx74qZVVgv_FFoj096j7HsAbkvyVhAEhaKDdTUAJEodb0peIQk0D1W1yjiqt83yZ3Y5W1rE7BbeSIK37EfkGq0jf-pdAqyXjha5KenCxTbn-iPTS3Y90wLxtifmZAlJP0lmbl71LIO3dDh8Zva_-2Szj6BAuX-wkDoco5RXPQFkJRTKbdN26ZmXUIexOsBpbMGEygH28hNUpqA916aq9wr6-zmrVPklqAJEMstv7hUWSQyvedUBZA69c6fXBdo7_2ozBSZoRL92BCJHV40m6dyhgX9W1uReFue1kJkZlMSN4WtTOA_RMV7S08GU11XyOFArWH44qz-n0ZYIKH991IscEMnZcl0QRPlgKSfwBJBidFJ6Y2UfQRxum7LM9qtN7b1stomoUwW0wfhwvEMa7sfZg6NOZePCJ3B3KL-bR74n7yDBt9LcheGHupNk2eqxxnpEcSk8u5OjMmhrL_rbr90Fz_02_l2RlX1kJY4_0WF28YXbv_ETSmoRJ2IE-X0Ho37W3XEHzLhDY=",
  "id": "rs_0fee8c9b9801dea2016ab442e91b5487d096da206d44d8274f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.285,\"right_z\":0.03},\"note\":\"A second blue cap has appeared at the bottom center of the wrist view, exactly between the jaw tips; this is the relocated target neck. I’m descending vertically to grasp just below that cap.\"}",
  "call_id": "call_arTVHIvatZoPkuDhgGJIPEts",
  "id": "fc_0fee8c9b9801dea2016ab442ea364487d0abb292f69394fc91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_arTVHIvatZoPkuDhgGJIPEts",
  "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, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.7635, 1.7439, 1.0893, -0.0219, 0.366, 0.2344, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3878 right_y=0.2886 right_z=0.1235 right_yaw=0.304 right_pitch=-0.0551 right_roll=-0.0254 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -1.7573, 6.4342, 1.8144, -0.022, -0.0024, -0.0122, -0.8137, -8.3761, 9.0872, 1.9365, 0.3541, 0.1441, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733f7c9a2b7f88aaa3baf310aa8fa767833c4c4aa061faf84d782c1f4a293375",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b625ab00a69b6c150b02b800ed961a07552845d08e4d9021276454ca6eced86b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca5846d98a627ffe18f937e13d569728040a4dd611cd6f519f16649f178e42b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0288, 0.9983, 1.1255, 1.6577, 0.4461, 0.4259, 0.6769, 0.5373, 0.9958]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=0.0003 left_pitch=-0.0076 left_roll=0.0004 left_gripper=0.9983 right_x=0.2397 right_y=0.2537 right_z=0.0199 right_yaw=0.2612 right_pitch=-0.0148 right_roll=-0.0062 right_gripper=0.9958\nstate[joint_eff]: [-0.3761, -1.7026, 6.5709, 1.8291, -0.0269, 0.0122, -0.0122, -0.5812, -5.1487, 4.5333, 1.6386, 0.2711, -0.0171, -0.2613]",
      "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, 0.7971, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.7547, 1.7363, 1.0721, 0.0006, 0.3599, 0.2256, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9983 right_x=0.3891 right_y=0.2854 right_z=0.1238 right_yaw=0.3052 right_pitch=-0.0451 right_roll=-0.0234 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.7573, 6.4342, 1.8095, -0.0513, -0.0806, -0.0122, -0.4308, -8.0615, 9.2103, 1.8926, 0.3736, 0.1685, -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, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.7635, 1.7439, 1.0893, -0.0219, 0.366, 0.2344, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3878 right_y=0.2886 right_z=0.1235 right_yaw=0.304 right_pitch=-0.0551 right_roll=-0.0254 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -1.7573, 6.4342, 1.8144, -0.022, -0.0024, -0.0122, -0.8137, -8.3761, 9.0872, 1.9365, 0.3541, 0.1441, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733f7c9a2b7f88aaa3baf310aa8fa767833c4c4aa061faf84d782c1f4a293375",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b625ab00a69b6c150b02b800ed961a07552845d08e4d9021276454ca6eced86b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca5846d98a627ffe18f937e13d569728040a4dd611cd6f519f16649f178e42b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtELyUGtAWzvxIoGpm5tOLsEP9ePwCy_Of46C2xnNm1_NSERD1AAo8sMcDQHIwveSIgKrzuejytWUvApU-i7s0BOTnDLwdmOji9X_eSHqo3t4O8z7SKbQdRs3hUat_tnnDL52Fweod8SQOexjSf_L19oiEK3Buc1VuOBZCbQze1JyrzGwN-BocQak-Dkp0Q5Xn5_kXPcZiQC0qkOKKYmsXeqxaA4Yz6SH2dfk87R5iixM7vIk6m8qLRfQKkLSn2wsxMgs_SDKJfJ4_NS_YgfFbbZHP-lS7MPyaJWe2DZ72RlTD_eNgJJeVL59ftMKDDsmbVMq0O1-oyAts0ceXRQkCx_mlpVTTerD4mJL-8lEafzmpgVLBBvVEBmHkWJEbwM5yloA59GN2BHwC1rzOwuy_5NlXQIZMsoj3fIBcyOoCtGqHJuPyvdDM14kdRPWN1ZKMQ7odaEN9WW1BaWpkzkTIDStpaUHr8WA-tAlV0-jbLwaRC3O37hu_920cxV0LEWq1PhdCNOkVYDnBHGXyqgr4eexPjZZW4u8uHHW6EBG7DE_mZ78axuSfqNdSE4EDWCpuHZ1RMTVTCBEUJpRq_qDJKW6RR5P5omRj0usa_Ly3vcIEE4ydv4gyAU3p77pwCOiQXEYYnuIQt9xWdmxcrX8nVg_MUs55pg29oHO5sfg9TmMg_JJS2Xe1Y5h0HIXguUqDQ8hDLA3LpcQSU4fTsIpadSTODm8fTevIQpe1sIYtTINdVDromd0o9VhHWVFzzvWDXZ_QIHLlY5ac1fSLlyDwDvtn2_5yTxJFKRthjcJAy-VgOEk12JB2jVeQyVr7kQjegI2oy0or0WNn4QE3mYioa2Ngy2c7ZOkaNskkG3fZMy41dhpu6ogXZy7N68P2iZJGWdwTQHWgVvaEJTzCtHerB0473GuY6ps2dvum1iyEVtlhYBvmSb-VEn1oZ56SyfDZBdsSE7GuTE4bfCl-Wjm2x6hhyRtYS-HYGlpnkPe4J4kWxTN-TrHLFjDVNBe7K9wDkacMmF49zgL39bD_rX03Yq2oR82T0WV3DlTx6iW3IxWb2ZnAzlDpxgmdRv5ufnwP5XPUArmJiSG0KOK0pQKI0WwS8noBKVJYCqQFIoefAEm-8pKKu8_lEFS0Qd6It8nCcFSjlJXqzB74g9Un6q1-ZZsTBoZ8KVDhWZrgq_hQbn-lw9k29V4rAtYEyX8wY6lk2yXzJ0S0IfJdCS2VMAuazk-jb5MWnONkldhhlctT-gnjQPArnQZbFfI_Wo1586frCXo0HLaQQ9-gdob4Bm-0s_KOGr8mdBrGM9Ao8hk9Iroy0Xxq_YFBpAp9GcZaafV8rjR7VjiS3oBqGqcXXmpEzb4dGf9X5d9_4gw14y9E4o3XcJys3JwMIlW1tQ-5-Aw1LMCRkosn3hCVv52Clf37WUwpF2a5O8Olt7I2bsjBj86_ZqYL9ccx65eseT7TYy5mGNb6z5kBW-17NCHuvnIpmK5O3gSzuLJnTvsEds8kzb5tuo5kr_tJFKYOPoe82JqNyLgr75kOxg3BWLSGvOybh1fkaNpJB9T46G9za9870LDmnCuGuAWoIZfi5Oh5VVuEhTkllxUY8U97W9AbQUCon7kP5__K5TRh8gr6IwT4mTuW-cvanFKvFZ3obg7nSLlch0I6Sqazk2AqBwJZikge5U8XzCWFmFHkP4H4dqR1XKsOafjSdm07KsVZ6pzd-QMoQbhP0Ey8EudSG-lXTPu6u5h6R8EmY6HW1VccbXONHjpU_AsSHb45bSIIbtAdQsdHHc4cGI-XduclvrEFxkc3N-51LyqbNMgtOdb4OIVgky22rRJ9seeJk4rUF-ssVG-zkdQH6dQvKwh01g702-jl9tb_hDZu8hGnGuaz0jluiPkWIemulyuc4U_aZ3qPZEwGJaFJvL2YOqof9-min8L3LL2wbr1I8ODu6ySPpZu9KDCYBKJmnZi1E0QLrezExiecavp17VTQ8-lhxbL7by_J_A9qtBAfY902wV__FN5aFvV3VGmi8byArtgMug18NgzswFhYpk0mFcYLig83SITVN_g9NTbjGiV91ddDPPlQRDqrpVu9ouZC4n5fJkafH4WpiuDvgbTc4bP--QOrEEaoQ7YnCdDqX1HjkAB52wFfO211fRgmxWrfTCrjmrtvgbJtXllCyz2cw7e6Xlnx9W9zAYPMiwciZz2RJ6tgKcZ11tnEN9wVkwbkyYnzgOi7ErjJ03dE4tDNOgQ92HMwwRlU-st4igLHWxx9n73nrybpJ5QXFPWyJ2rF2rN4920Ye_tTSWV-jc89sZff43E1HmUbvd2_dLVmZFLUsDRxK8jteWTrgm8Sb_O6GkkON65Sx_TwQxvGgrYdkdJY4E9EGNnh_h-LCxDn1oSO3Kz_-57joSH6wgDEt3aay1yAtzoPuaswa4fwN4qanZg4HDCoYCX6UtwRs-8Wa0rPwpAKE0HE6SJNFFOTCyQhSdcfmKAf2_XCgvbWuSS53uwFti5Lgkz5UakSDG4XFyV5lQj7LdalwliCb6c8jwIOO6W9qeRiW18Lzb_T--puJZFcvHUJTLdSTi7Yzb9T2eLDJdOVNHAo8lA643cVKgQODZxSw2M2IK3HkCTiK8fUxi5LOVIWyi_Zt8NI_tj-aBO-ymzhDdzB8wCUlzvBCz_5SEWFFBdLNVHK4S340R_pknl0zd5lo4AWLuNUgdYkHsAwMXLW-FHRtZNcuWTmi7r8Qa6JDuhUu0UHXcyzPu5qtDjt3ZxEDV6xD_SN0qU-o4oj49J_D4xCrWDn8k=",
  "id": "rs_0fee8c9b9801dea2016ab442ecb70487d09cb5ad981849a651",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.24,\"right_y\":0.25,\"right_z\":0.11},\"note\":\"The low descent is limited by the combined x–y reach at this neck, even though its x coordinate alone is moderate. I’m returning over the bottle’s near body so I can shift it diagonally toward the right-arm base and reduce total reach.\"}",
  "call_id": "call_1LXViodves5DkJWQCoT8i52u",
  "id": "fc_0fee8c9b9801dea2016ab442f09ae887d0858dfc17e06a3726",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1LXViodves5DkJWQCoT8i52u",
  "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, 0.7967, 0.6094, -0.3866, -0.0231, -0.0292, 0.9983, 1.0847, 1.3235, 0.5995, 0.0025, 0.5846, 0.4286, 0.9955]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1803 left_yaw=0.0005 left_pitch=-0.0114 left_roll=0.0001 left_gripper=0.9983 right_x=0.2428 right_y=0.2585 right_z=0.1072 right_yaw=0.3477 right_pitch=-0.0142 right_roll=-0.0069 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.1419, 6.612, 1.8974, -0.0317, -0.0122, -0.0122, 0.2667, -5.641, 6.106, 1.7802, 0.3932, 0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e81f5e5c48747217af9f7e72880793799d1d1a3336f0fdf0f6ea1b8045a88357",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2575f70d75673c68be117eb8490c0af26b36f983b889a553a2fa9eb2b8904b87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d7b7aae7854d48913e97f606bd5743064420e049fb87be4a57f02265e148bd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6708, 1.6676, 0.9806, 0.0586, 0.3267, 0.1951, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1821 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3974 right_y=0.2475 right_z=0.1264 right_yaw=0.2653 right_pitch=-0.0212 right_roll=-0.0158 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -1.7026, 6.4205, 1.7949, -0.0171, -0.0513, -0.0122, -0.9641, -7.4462, 9.4427, 1.7607, 0.0757, 0.1245, -0.0415]",
      "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, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.7635, 1.7439, 1.0893, -0.0219, 0.366, 0.2344, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3878 right_y=0.2886 right_z=0.1235 right_yaw=0.304 right_pitch=-0.0551 right_roll=-0.0254 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -1.7573, 6.4342, 1.8144, -0.022, -0.0024, -0.0122, -0.8137, -8.3761, 9.0872, 1.9365, 0.3541, 0.1441, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6094, -0.3866, -0.0231, -0.0292, 0.9983, 1.0847, 1.3235, 0.5995, 0.0025, 0.5846, 0.4286, 0.9955]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1803 left_yaw=0.0005 left_pitch=-0.0114 left_roll=0.0001 left_gripper=0.9983 right_x=0.2428 right_y=0.2585 right_z=0.1072 right_yaw=0.3477 right_pitch=-0.0142 right_roll=-0.0069 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.1419, 6.612, 1.8974, -0.0317, -0.0122, -0.0122, 0.2667, -5.641, 6.106, 1.7802, 0.3932, 0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e81f5e5c48747217af9f7e72880793799d1d1a3336f0fdf0f6ea1b8045a88357",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2575f70d75673c68be117eb8490c0af26b36f983b889a553a2fa9eb2b8904b87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d7b7aae7854d48913e97f606bd5743064420e049fb87be4a57f02265e148bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEL41ugNhmT0Qgi2R5PkoHRy5RkQ6GeieO5Pi18BPJkUnif54vLXQIoh4qHWaAaCynS73axEgTQ-CQwQ3ayinfgg0Q-vCIjPM0hq0XPbnQ2Mm0JlYBWX7589Vn-1IBu4a028VKB5gfCjyMgsUxFJQb857opRz5VnZP9atV2djS1OIgDwfFTJYBnAHm5srro7LeE4mjNLIQKUE7bBZc3NCP1wsT9CRRGC2DmoDNvbictd5-YjtTWLJ2S3AtgYmU3E4cVb7XhJEWrMdr8LMeWQl6VoV-11RUo7U0eDqP4GUNjkMl3prJiAacCXZC24njTwIUJjMjQtLy6IdrbQExVdT2yQqFpVYiQqlvioAO7KmOpskllrqFbLjMQo8JzI6qhCBbOSM1m1QDdtnO2Dty1dCSKL0mw-PjxrHfKSOuDGzXRO7FFrlzNtEprSS-OR46b1vDrDTYypZmzHJYNapCxkL1IYxFnlIyzEfmD5uIYF_Q_c5UmSk8p6tK13h61QfFYli_EyC_uorzq70s3A_W69hYpbpCLwUJcdSfONPvTwR4K1CKwy27t6phnHPzU-gdKnECoCwoCJyNN_IwFrGBw7K6S0_cMPRob25Tf3xrGkHdPPAii2c6EZh_OPYJclyPudp0ezS3d4fl46ojI-gBXLFjnMH9TRiKIeWhsG5QbU6QY6AIh2vS99DPXVkCCgWmEISayG9v1psQd2B1MqQ0zX_j0sdKw6Z_8u9j_E5r6CGpS7c6stuzkWKcsFUd26KuJN-WTkLedE7g-iaUq-eCpKVJZfyOg3BW__60r1b6tprqSe2uU3shDgMDYdYSDb8hpICbZDzQZbGNEXGbVlsLRUu9YeeXimdF7YfMkLB8iHw_ZZy4gQo7k5vHM-Fi6-h0Upg6b-KG45c6VO4pxMlSvfhyp5ykcETC-5MtSAJemaPYUR1MTZ64tjhFjI9ZB4_RdOt1nmMbC21XO8pfWDgEc2FrB7q-U6yavTL21z2HZ-JW-OkyQUB38Nv2w7B1BqSXEQag0O_d1pGxLhJu8pYBaFNxfmmlEp2ii7girsz1FCGSdxNMrRia0qvIh_9fx6-h3MwXwhlZvb4v6aVI8NTDdW7yR3XUYx6VKCn9M0xDt10M1X9c3S93qcN4vY_RY507pWdo57zGBxecwGqTpsG8_cnJ1cDDWtvvWoqCDBLugWNbPoyAQuB6lHLB3Sd1S3c3UwHzFcW2hwWGs4ThxijM42JOADMUlhZnYox-nC2VrO4peUnamlXYIfqzSgMiVeqSDN1taLm3BJ1pbGWm25HVeZGY-GxXhBqCyBZjJlQDxZXPuJjaF4MMhCZWaOV2fR8njvMt0A552MrqaZICODNCGwnR3LsEDJIBJY7m_6ECNzN7Y8N9scm_b-h5qK8euIQVYGkR2JvZZkchrpJ5IBSYDC9J6ITcvCbgviJyA1zmtEKxp7vdEjGPKhrU0psPI4PfY1O5xlebafBNFALcJ4aAuK-3d94XIpX8KB5WKCRdUoy5DOur4xpEInR03uKmlILcNpA1RLw8h7FYR2iWuEdsYfZsyBeMoyhLNjzBR6Q3vSdCdFkmiZgy7uKhAFxPc2ckfWGGTSNlM0OtiPLU8Llze6BucbpIHYvr6my8HC66uxZk97TGV0FXukYLsZ_ihCyw7KBm95Hk2Jl7S56Sx_VeCcMqEp7EAVmHBRZ9CC3YRIsxdxRV-ZM9CD0sznNDg9NyR5WwVp21Djaqjj0iTsY5bsWlnoR8kZakSep9ffuMVR9bZon4A=",
  "id": "rs_0fee8c9b9801dea2016ab442f6774887d0af12ccaf4fb65e14",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.24,\"right_y\":0.25,\"right_z\":0.03},\"note\":\"The target bottle’s lower body is centered between the jaws again, with its cap visible farther ahead. I’m descending to re-grasp the body for the diagonal relocation.\"}",
  "call_id": "call_IdbA44cxtxOZeB5LvI44HQD9",
  "id": "fc_0fee8c9b9801dea2016ab442f7866887d0a5655f8d4618a4ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IdbA44cxtxOZeB5LvI44HQD9",
  "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, 0.7956, 0.601, -0.3862, -0.0227, -0.0292, 0.9983, 1.0859, 1.549, 0.3985, 0.3557, 0.5793, 0.4286, 0.9955]\nstate[eef_state]: left_x=0.2937 left_y=0.0017 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9983 right_x=0.2323 right_y=0.2412 right_z=0.0214 right_yaw=0.3508 right_pitch=-0.071 right_roll=-0.0534 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -1.7983, 6.7897, 1.8339, -0.0122, -0.0708, -0.0122, -0.5812, -5.2034, 4.465, 1.6728, 0.3346, -0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bef91a17b6fe78df89461edfee14fca4e8e16c8d4638643d1eb8a0015e5fdad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6f17b7826026af9add372630a56822b077b4222f1d266212984ed6339be6b3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19c251d795b2ed32cd85313a10abf8641a487b9522a1b8876ab9938dd9c6eec3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7971, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.7547, 1.7363, 1.0721, 0.0006, 0.3599, 0.2256, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9983 right_x=0.3891 right_y=0.2854 right_z=0.1238 right_yaw=0.3052 right_pitch=-0.0451 right_roll=-0.0234 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.7573, 6.4342, 1.8095, -0.0513, -0.0806, -0.0122, -0.4308, -8.0615, 9.2103, 1.8926, 0.3736, 0.1685, -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, 0.7967, 0.6094, -0.3866, -0.0231, -0.0292, 0.9983, 1.0847, 1.3235, 0.5995, 0.0025, 0.5846, 0.4286, 0.9955]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1803 left_yaw=0.0005 left_pitch=-0.0114 left_roll=0.0001 left_gripper=0.9983 right_x=0.2428 right_y=0.2585 right_z=0.1072 right_yaw=0.3477 right_pitch=-0.0142 right_roll=-0.0069 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.1419, 6.612, 1.8974, -0.0317, -0.0122, -0.0122, 0.2667, -5.641, 6.106, 1.7802, 0.3932, 0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.601, -0.3862, -0.0227, -0.0292, 0.9983, 1.0859, 1.549, 0.3985, 0.3557, 0.5793, 0.4286, 0.9955]\nstate[eef_state]: left_x=0.2937 left_y=0.0017 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9983 right_x=0.2323 right_y=0.2412 right_z=0.0214 right_yaw=0.3508 right_pitch=-0.071 right_roll=-0.0534 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -1.7983, 6.7897, 1.8339, -0.0122, -0.0708, -0.0122, -0.5812, -5.2034, 4.465, 1.6728, 0.3346, -0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bef91a17b6fe78df89461edfee14fca4e8e16c8d4638643d1eb8a0015e5fdad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6f17b7826026af9add372630a56822b077b4222f1d266212984ed6339be6b3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19c251d795b2ed32cd85313a10abf8641a487b9522a1b8876ab9938dd9c6eec3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEL7qhEZhuMYxzGgcTtpUJZ1G-D-2j0Nl0O6nO86W_JhVrVn8-bePD1ajYH7x3F_W1KV3LqPvInFtwi7vRZ5qFqoFZkCnS7VOHLyhct6m8_AUqpyTcxwMTLu0mede67v_kwJAh5E95l40lW6XuC6EbUhivqsOCB9wKV6DpTxj4BDypELUnIYr0kxrgwuicGq7Jioe2c-FYhb5Ruf7DxiwCKkb0ewyE5-QYDvSWDyREMMItegYb7aRSuwu3pKjwSrwGt3KFW7Se3h8A-ggsQX_QeaU1DXd2NAEIqTWFF5ZCHcFhUbDtwAJrj7d7gOg1jQutcPSGlhQCfv9IEkUIEEZAXmoHEpLpoKktVSHTnKDErgQ7k7_Ks5ICO7MLcbHDp172vreG9JUMfKbbfO9fdh5zZckQNNHDOfTx1IH8Tm38C-o90tjxZ0Q1cgRMtKhvMW4g5DX5MKO8lGSGGwTBYzr9ZnlkF7s9v-uFV2AL-xwGICyfsUGinAl2BwyZ1qgykJSM8OOF4Pc57tfwzRPDDmc7AVnUk4eP_1dn4GT3wS-eXyBkyY0nk0HyL4xCF02-id2rLYdnh40CzPTy3u5lWZ9Z_PfIZq2qioPOQdbcMuAyhwjvv3Hin6V4PDgUHR429En1pjiDOqO0blK_qArmElbnVGFLC6WEwas2jEysVleiOKgVwmTBz8l99tzR1U68I25mbqMsgkQ-F-CAts2FgrIzWu_xPy-vuV1NDS8fCDkSAuSG8Ii96dRkVdSrwnf-DtplDdnZdZD6dnwoLjPo7IK1MqKamyahPjM20viUEPWKVEnRnMCDUeYEE-Xcj3HiyEE4K_5eBrgQLfbwoBPwLdNay83XLf6V2HmPkrv8oEC9QZeLL-i3GzxkdhuRbFGxmbJSemEKnxSdDabe0jmYyx3ku9vMMn1fUHnxpPJCEp_aiQVapNfcyh5TN1-OPeZAl73N4j90VqytnYpKwXDekjUpHqsI9r_dkwm1ytlGliOUEUWXxWf61OUyIf3Gz2n-0-UAWp4TOemtledxERMCPjA44bf4rWLuPF2NOWM9oa-VZKcbqPf7BKkpCxn2O-61yHkNQtu_H94tnl_Q2BeghRZM2QUXODlMHXu8FPp5tBZvJ-soevPBRV0_khzqg8KB2zyjlMJ5NzWvzkYu66ePXaFOa5xAtZz_8v2OHzEumaYoafXRjochcaS2RJVcLErPrdCYXi",
  "id": "rs_0fee8c9b9801dea2016ab442fa5d6487d0baf79be2c2b63a60",
  "summary": [],
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}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The jaws straddle the target bottle body at table height. I’m closing firmly before dragging it diagonally closer to the arm base.\"}",
  "call_id": "call_tMUm7ln2lEobedP43SgtAuMe",
  "id": "fc_0fee8c9b9801dea2016ab442fa6e9087d0993b27946e1650ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tMUm7ln2lEobedP43SgtAuMe",
  "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, 0.791, 0.5838, -0.3744, -0.0231, -0.0292, 0.9983, 1.087, 1.5738, 0.3275, 0.532, 0.5758, 0.4217, 0.4275]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1727 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9983 right_x=0.2312 right_y=0.2409 right_z=0.0201 right_yaw=0.3604 right_pitch=-0.0126 right_roll=-0.0035 right_gripper=0.4275\nstate[joint_eff]: [-0.0479, -1.9214, 6.9812, 1.873, -0.0562, -0.0708, -0.0122, 0.0342, -4.5197, 4.3282, 1.7021, 0.3004, 0.0269, 1.4432]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3c138670b323994eee4fc519fff00fff433e3996531bec95c55c4738adcaf29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8d5547576f02dd27cdeb0c94104fd370be7e979207024b9d1cd806b6144f28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af78227936b410473719f975e04ea0bbf96876e7989dc2c32267e200edf70df3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.7635, 1.7439, 1.0893, -0.0219, 0.366, 0.2344, 0.9955]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3878 right_y=0.2886 right_z=0.1235 right_yaw=0.304 right_pitch=-0.0551 right_roll=-0.0254 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -1.7573, 6.4342, 1.8144, -0.022, -0.0024, -0.0122, -0.8137, -8.3761, 9.0872, 1.9365, 0.3541, 0.1441, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.601, -0.3862, -0.0227, -0.0292, 0.9983, 1.0859, 1.549, 0.3985, 0.3557, 0.5793, 0.4286, 0.9955]\nstate[eef_state]: left_x=0.2937 left_y=0.0017 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9983 right_x=0.2323 right_y=0.2412 right_z=0.0214 right_yaw=0.3508 right_pitch=-0.071 right_roll=-0.0534 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -1.7983, 6.7897, 1.8339, -0.0122, -0.0708, -0.0122, -0.5812, -5.2034, 4.465, 1.6728, 0.3346, -0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.791, 0.5838, -0.3744, -0.0231, -0.0292, 0.9983, 1.087, 1.5738, 0.3275, 0.532, 0.5758, 0.4217, 0.4275]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1727 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9983 right_x=0.2312 right_y=0.2409 right_z=0.0201 right_yaw=0.3604 right_pitch=-0.0126 right_roll=-0.0035 right_gripper=0.4275\nstate[joint_eff]: [-0.0479, -1.9214, 6.9812, 1.873, -0.0562, -0.0708, -0.0122, 0.0342, -4.5197, 4.3282, 1.7021, 0.3004, 0.0269, 1.4432]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3c138670b323994eee4fc519fff00fff433e3996531bec95c55c4738adcaf29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8d5547576f02dd27cdeb0c94104fd370be7e979207024b9d1cd806b6144f28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af78227936b410473719f975e04ea0bbf96876e7989dc2c32267e200edf70df3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEMBU6_xMhtDnnZDpEylt40vzpWe5XGgQNmOSp-7Z4VS2dk8jOT272zrhBeap5x142iZDJxwBMo0tdX1Iv4v6mK1HFgCeJ60hvgB2upOzr3h82mbR224u39aflOxNcMe0wNofHll8uW_3ssVLHv-7cREYa8vEeznG-PC9t_FyGTNtHFwDIQP2qfzlY-RBeEyXM101qLL8uRbRAo-DyNZGtjxF51YQwjgF8UZRRJ-8tc6O_T9LK2W9fGtpsav2WdSfuqiwFDfhzh1MtGrCnZIRk0THd-qVHHXySdSR9TYpd-4DiS6YIxEA6FJAKFY60mfYVU1U45fH4s5oUtdDR-BLQsRzGIMDsu2Zwivu9b0NW-8TzLH7MbAxMz-LX15rW1t5On9a1ntctnY7ENyD7NlZLOouXfZnehwQZo_GOdksauDUgo3TnahL0IBRCNIXPw9yiofQT44sEMHr5xQmbCXP7FV8i0cLaYfl049CX4TJLG3L46sBdCyVloAywdCL4YowXDuYeoHB9y-gCelLi3bVVLSlEwAwXteRtq0QhSvzvsG2qoEosIXKwGaT1yZ6EcU0HH1ox2ZxvTbom_WGdDhEW_cfriAuzj4hO9U81E__vkcx3MphrIq0KK22XQaVygpuzCqOQAiMqkNfy94NV4Clh_u2vFEGnOrx7iruzSyC22xsfFN85cQV8A8S9Iilk94FrXPRocNDb-Knq21wQd6kfRD_127AXZmtIGBv_U5Ljl8M-AwISvpbp4eqlMUixeVP01KXiYTblSm-4TNh_UMHTT8zKAugiOz2CesaRqguYwpY9Yb2z8e115NdMriJwf-kO3UM74XQPHq2JUwxGb0aKkn88EwJ9wOnn42Pi_RXQgMF0W8nMvWIDAUIR2-iP7XdB_w2P60dHjm7VryZ_YDzUQ5vOmbbehyJK40qEYBbQUsLXnlrHdsfxDmF6NGj0ew8PqY7H2iuVB3hsihT9vFsOIGrYnud0Syn8GhU1NZLPYfFyABB95k_ws-Ua7Yrtpo8TICyB2J4Ch7n07Hj-WEXY7DxEuahIymGd8jjYBax3U9dugNQAnnMgvMdncKN28taH_mgFBK4YS0qNF7NAet560Q8MSUn9ZXjxhqTfzL59q89xV9EFfVM2fK2itFOHGwMa0MR1X0q0H8pQ9uAa3UEOXe-ya93nckcowijDtR9xKqO8mg6BXzIXXq1Y2kvo2Z8N2QtaJy9cVRDvDcmZm9F66QblSzfg4cWi5HJLQr9aRwAos7J2WcQy15Q23dwepneWTITEOey3a_M4zqcuytqKIA-KuHBESfYeV__YATAkWD9zhq3QaTkf4hKmAcpyiA94WQgoSrOiaab5rRse8S90AO8JbU3f1PcqL9Q2COjfdzc0RQbHMhJxAfQ3HCXHYYYH4o",
  "id": "rs_0fee8c9b9801dea2016ab442ffeb2487d0bf0aeb4dc605f8db",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.16,\"right_y\":0.17,\"right_z\":0.03},\"note\":\"The gripper settled at about 4.1 cm, confirming a secure hold. I’m dragging the bottle 7 cm inward and 7 cm toward the right-arm base side so its neck will be reachable at table height.\"}",
  "call_id": "call_2pz4S6Aajv9JqwgDKEMLJSrf",
  "id": "fc_0fee8c9b9801dea2016ab4430075ec87d08f623a847aca1258",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2pz4S6Aajv9JqwgDKEMLJSrf",
  "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, 0.7845, 0.5697, -0.3706, -0.0235, -0.0292, 0.9983, 1.3273, 1.0126, 0.075, 0.1188, 0.6811, 0.5838, 0.4522]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1688 left_yaw=0.0009 left_pitch=-0.0229 left_roll=0.0006 left_gripper=0.9983 right_x=0.1563 right_y=0.1829 right_z=0.0226 right_yaw=0.4343 right_pitch=-0.0344 right_roll=0.0049 right_gripper=0.4522\nstate[joint_eff]: [-0.2803, -1.2923, 6.6256, 2.0, -0.0659, -0.0757, -0.0122, 0.1709, -0.6222, 6.9265, 2.4005, 1.033, 0.1441, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e95279cc02d6ebef3eabeb307839751a66325561135aa9f25ab254d3e045e037",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d155b0f6bf0a34c7b3f90bfd16a4106d205626a32b8ccd7335889eb06e1a826c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d28b792209a1fe166b6f054c4b883d370a9953b02b090774cf4a1537a2fe664",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6094, -0.3866, -0.0231, -0.0292, 0.9983, 1.0847, 1.3235, 0.5995, 0.0025, 0.5846, 0.4286, 0.9955]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1803 left_yaw=0.0005 left_pitch=-0.0114 left_roll=0.0001 left_gripper=0.9983 right_x=0.2428 right_y=0.2585 right_z=0.1072 right_yaw=0.3477 right_pitch=-0.0142 right_roll=-0.0069 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.1419, 6.612, 1.8974, -0.0317, -0.0122, -0.0122, 0.2667, -5.641, 6.106, 1.7802, 0.3932, 0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.791, 0.5838, -0.3744, -0.0231, -0.0292, 0.9983, 1.087, 1.5738, 0.3275, 0.532, 0.5758, 0.4217, 0.4275]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1727 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9983 right_x=0.2312 right_y=0.2409 right_z=0.0201 right_yaw=0.3604 right_pitch=-0.0126 right_roll=-0.0035 right_gripper=0.4275\nstate[joint_eff]: [-0.0479, -1.9214, 6.9812, 1.873, -0.0562, -0.0708, -0.0122, 0.0342, -4.5197, 4.3282, 1.7021, 0.3004, 0.0269, 1.4432]",
      "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, 0.7845, 0.5697, -0.3706, -0.0235, -0.0292, 0.9983, 1.3273, 1.0126, 0.075, 0.1188, 0.6811, 0.5838, 0.4522]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1688 left_yaw=0.0009 left_pitch=-0.0229 left_roll=0.0006 left_gripper=0.9983 right_x=0.1563 right_y=0.1829 right_z=0.0226 right_yaw=0.4343 right_pitch=-0.0344 right_roll=0.0049 right_gripper=0.4522\nstate[joint_eff]: [-0.2803, -1.2923, 6.6256, 2.0, -0.0659, -0.0757, -0.0122, 0.1709, -0.6222, 6.9265, 2.4005, 1.033, 0.1441, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e95279cc02d6ebef3eabeb307839751a66325561135aa9f25ab254d3e045e037",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d155b0f6bf0a34c7b3f90bfd16a4106d205626a32b8ccd7335889eb06e1a826c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d28b792209a1fe166b6f054c4b883d370a9953b02b090774cf4a1537a2fe664",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEMFofHNrGMnGKCN6XXC44iXTggL1woh6YjL9jT5O4zSL7iTd4Z6_DhnOAb2OSyVracLVaug7oPy0k_tI8Cf88mqieqI6U55GmCvP3iz9vBBDVsZwEO9FQpXXsXzNkWBkFlF64m9ieJ-vZ1YZyZ85l8feLstAmanc-ZkcpfdqDsPR29MZHttHPsuN9wq-1CMjvHvTCqM-C8C5KnAeW4GU_0sFlqbAchQoj-wMOcYROnN2A6gqI81MZ45LwJkNQud9HAX_1ROKtQKPHKdZIEQKGkJ_d9ydVbO6KJFQjhKhqYrb8t2nZNULRbg40Qvc3RLb85QhsAhWVC5u_x7tMU58qSwyoH26q7IQczRuTdpVfdpo5RnAB9lgCUz0woltoQPP4Y84-aAWtZ-hM7HKPchb1W1mkrmFteCbs9KHnxP9CTSJd66fNUUVORuhu5SS9UfHV89gf0IXCPrmHiD39mdJ2NFmIUW41WRuLl1EIM93TETyNiK7xP9qojijn6cfEeNySP9WtE6eSsVM1BuEZmdaeiNiEXjiV0sq_XiQIq1ILdHJ2sLm6VvSwUw0fEcf2Ejg6LEn9CEYN_XJJ680ptFfYfzXfhXxd9PKSmHO4nlOtLvJJELdcEPzXlSypPqI3dthqHIs9S8Hvk10jPCG9Q7NlpKl0sDYx15Fvox1BUJahXmsVX7iXjE1CSEm8Y4JTxbZU0etj6Xh2XQVYibDhZirp5hJxtB85eihGGs2EH5Ezq9J33gqJaHGe-oWZN4YUt77oR4I4sPFqLyz2ntf1PIfkvz3LvrGppQjH5Az5yLOH8DePeUqZyTFthYJCsyqcuP4s8m9vjjSc_n_xAGX9OUC0CGRq592WdCPUEMnHLgTPkbhI3tOStCRmSyPEc3Lt6trY3zcrz64q8j9RyAtQxVWSt1LWQ_d4zB4j7mYZEIVDhjCWB6U7SUnGDLxg9j22eMPLkaPODceONrg8nSN0kWSzVQlbK1kLScvNmjMlUctUJpKvml96mMiakdUWvufeCYuYs0HgTma1LES4XnGwDr1BhxB61OpumEC89GgsmC4J8zalCu0POqwjRxufbLMwZBGAukzgAjRDXVXimf602ZXv7xIGmFPqLWORPUabZrwWk6h4hz0OZ0EKw3IstuM9rl1eZjT1Cs7qtXbJXZT0kc6_OX_oeiLYyC6HRb8XChUUx4wuStSuyBqmzRq3CliUDdK_jPFH1SPyQrbI39Lsqdzfi8Qn7b3gdcwTupijrwLJOvg3hj_8gSMgRg52TgJvUnfKiSBhX8ODv27k7AmfpWI_6rqhPtNC16KZ-r-ltA2EamJ0hnExk9fpH1MQv39GvAlVKlRwKfPfQP9Ef4NJ8AjF0XXmXOR4REhgDfb8iS2M0IGAQCOJJUkRgyLlnvJRxp9SPt2xXflq8XiMDt9N1E7cbZBHSPjpxmVbeYsFq9u0sBeyyUApsMVchtGLWJdVpsmul7pcEalvkbmInJDxg3lbOuKwC9phn8UZhg6NQ-dzTYDIX8Lxp8Gu50cHYE0fj4ixGNCpMUyor_eMuSXYMe1KPIfm0iCjSSFdyqohbAUAcSyuuct1HjEZH2MrlCkH-5QLiA4wNRl72Lck3SNvYfPK7mIdX6P6dVjPL4x5MkM-U_pbAQsDae7_CNxiNNGHxBIAPlPKyBx_0FW6TMbv44BfHc0vCleXNQ0DjjRujNWvAIyN1iLunfTKax6fQTJQKQMesD",
  "id": "rs_0fee8c9b9801dea2016ab443038c7487d0957841b3a0982915",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The overhead view confirms the bottle shifted diagonally and remains lying intact; its neck is now around x≈0.33, y≈0.21. I’m releasing it before the neck grasp.\"}",
  "call_id": "call_18ih0RXOXhxCYJ56e7QVNErX",
  "id": "fc_0fee8c9b9801dea2016ab443047b8087d0b2f6b336648de8af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_18ih0RXOXhxCYJ56e7QVNErX",
  "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, 0.7776, 0.5503, -0.3634, -0.0231, -0.0288, 0.9983, 1.3483, 1.0344, 0.0532, 0.1654, 0.7177, 0.5777, 0.9956]\nstate[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.1632 left_yaw=0.0003 left_pitch=-0.0282 left_roll=0.0008 left_gripper=0.9983 right_x=0.1563 right_y=0.1804 right_z=0.0209 right_yaw=0.4332 right_pitch=-0.0114 right_roll=-0.0143 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.9487, 6.7487, 1.9609, -0.0317, -0.022, -0.0122, 0.2393, -0.6496, 5.1487, 1.6484, 0.2564, -0.022, -0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df7608379dd1b23db88dc1d888aa26cba713c7272c9d9ff9c9eda31d60cd1bde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67a06085b55b3bc935cfe35917d14673e32a21a65c3399e6bfca99810b31c85a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f67cbc38fd230f79f1dd27bf0c745f718f6eedb24153f9b6916914d31e729a25",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.601, -0.3862, -0.0227, -0.0292, 0.9983, 1.0859, 1.549, 0.3985, 0.3557, 0.5793, 0.4286, 0.9955]\nstate[eef_state]: left_x=0.2937 left_y=0.0017 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9983 right_x=0.2323 right_y=0.2412 right_z=0.0214 right_yaw=0.3508 right_pitch=-0.071 right_roll=-0.0534 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -1.7983, 6.7897, 1.8339, -0.0122, -0.0708, -0.0122, -0.5812, -5.2034, 4.465, 1.6728, 0.3346, -0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7845, 0.5697, -0.3706, -0.0235, -0.0292, 0.9983, 1.3273, 1.0126, 0.075, 0.1188, 0.6811, 0.5838, 0.4522]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1688 left_yaw=0.0009 left_pitch=-0.0229 left_roll=0.0006 left_gripper=0.9983 right_x=0.1563 right_y=0.1829 right_z=0.0226 right_yaw=0.4343 right_pitch=-0.0344 right_roll=0.0049 right_gripper=0.4522\nstate[joint_eff]: [-0.2803, -1.2923, 6.6256, 2.0, -0.0659, -0.0757, -0.0122, 0.1709, -0.6222, 6.9265, 2.4005, 1.033, 0.1441, 1.033]\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, 0.7776, 0.5503, -0.3634, -0.0231, -0.0288, 0.9983, 1.3483, 1.0344, 0.0532, 0.1654, 0.7177, 0.5777, 0.9956]\nstate[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.1632 left_yaw=0.0003 left_pitch=-0.0282 left_roll=0.0008 left_gripper=0.9983 right_x=0.1563 right_y=0.1804 right_z=0.0209 right_yaw=0.4332 right_pitch=-0.0114 right_roll=-0.0143 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.9487, 6.7487, 1.9609, -0.0317, -0.022, -0.0122, 0.2393, -0.6496, 5.1487, 1.6484, 0.2564, -0.022, -0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df7608379dd1b23db88dc1d888aa26cba713c7272c9d9ff9c9eda31d60cd1bde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67a06085b55b3bc935cfe35917d14673e32a21a65c3399e6bfca99810b31c85a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f67cbc38fd230f79f1dd27bf0c745f718f6eedb24153f9b6916914d31e729a25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEMJhcJhZZc1CnAAEG-2YF7rXcDgSLOEDXpsbxegxenXz0XkEFjXnAmcVMoceYA1deFu_azrd6JbrwtF6orLBIpGiZMSbFSrVA_4pMRimP-lyNKL4FaQv2s34EsKDJtlcry2Mk9UItZk87lQWbLd86B8UsPtO131BSN8j9gpZ_fIUiYymANIOlQajn7L7qWln63PyxwYRLpOD89mRyMtW-nmXyOw6PlTebYt2oGiWxxQAQufSExSYMPN8qceKd-BcplSggm3NmLlH8aJHc05Zxb-zsArLpLA_1zJSC5V6bb9mPRIaqDf_kLZHgdqN4JiNNtDd3WuDp9iXyK-AseEbEJul2z-GyDAc7lAMDY52cJ_SOSTeigFxjFFtjfo6GNzbTI9rxKHV_lPMwFU5lvs67Fujdh5oUsHpcPG2VUjYF40HJZHyr0oA_esxW_sJ27Ube0M6NKIRxzWhAb0vxJahKc6Gho3XhQfwOtvU1luCm96bOjydKWSNA-6xoXGtI_m93WDKCjTSF1GjWPZmDecxg49LOe8glw0ZUrH2BtLGe12IleoAYNqivsrFfuJ8Vl9L78f9y6NI6Jrlcq5zTy8LHFAJhvq2JiPLJiCmWJzaEpb7s8c4yrK6AzXfZrpfBZqp6JubJrDeh3LM8rIkGH8VFSoA4ONxMsrbZWsvC-BIlxs91MVHNVEgrN2_95TMYrao64vPpKNkORHY3P0U7R1-b5j625NNx6P2Sa_msAxLh4rGdvBsPVhjCzXpSt6I_McvxjQsCLcm8RMxnwUk-jxGfFTc-PWml6dJsUB8Hf2IaRf0pOyZbafsnky0oUAe0FD1PMJSAP6O2_dghXA_RpJfmh6q9eKmeUvxPRvVeJ2AYiCkQ_p3a8D_lvjBPvfTpxDy4tl6qS6XCx9lPVoCKF6XRS9J4_4p0YfQZWnWeEt0lXt2967XjDeZUyCoHKxZV7loob9xekwUyu75S95IrK-DgEzygP8mDQcyq3vlUi0B1GSF99wZuFbbhEAYnMoui9eOYkhv9Qx_YhfRpikme6zaIvsFNDL1ldJ47tKYGHwZExyirw9tzMiHG1bYzN24fUNZFZC-ZKBYrh46KFLbbAp3V24mvPxNHUs6IIqDEjpPks00Tig15_jG_a3FMQRsBmF1kmQcYLcnyHZ7erWfYliWvB61poNVwOy9EiSjpYijsmIi9kKAkjeBLtyz_RFMnRZutJfFuoFC7_lTXHj0HsVfZuJIRO9vLTWORS8UnjFwOax3SqNGeLT1K_zB-bvSgU6HAag2NcDv_NwPMRGuSaG2imMqzHzliorX5pmwO6s7cAiTVdASMBTwkeMoxxCYmX_pYUWgVOaDdV3zWbiN4TYXlE7q9lLKHgbNbzhbDwEpruFbDNgez_WTTwno6dDfyWzZN6PM32d3CQD9Xl_EYVeawcVFHCS7q6cAaH2PJWm17woGh9PY6gyN8zaszp3ojDWeYSbR7emkGQNaa9IlJRXMOSuEcAZTgs0OZ6D_G152xE8Ai56sySh0boFPSB12noms_CdnQen-nwGnxNBFvc4qwR2Q2aLfWvODtnu_OcvR4OT1BVdwAxNpnoobmSyEenBGgFW32Ytq-LiRRUs5J0KKUes5tEXPwcfTEOctmuLfbPXByu3nZuIVT1mEZwuYsKdJMjhMtiiDOoqSqT-ynpt6POW6jqMpvruMXDO6_9jS1CbP8TxpTg4xOT0zikk_caTwgLkhWfD7Z_xCnasq7hPH_oVNH3DyQyqaH_EvGGK7rYNXxmML_EB0ztP3kdx8JMrCTdl3K9BO-S5njOC0a85OzHsGd0g7GgvDGZFX3mDcIhPkOQGsN1UvM0fo_bPWr_fcHymmzpLKuMucYBpLr-vFSDxCM0BwPrxxZR84YXJNfP5hjRX5iN2yRmukHvWZbejlVdlJXvTJQLCV5x8SNU5MEyf3pbKgEJW8EYZk5bzaCB9O9IRe9um1bbflTCVER1s2-Ez7MuPSMCxLhyYMGjWlwYo42wfqJKue5P2qPrySWEgEugB1uQFG2nkLw4K8VYHivwR87ICLzsQXmgmClRMLa7BNJEVqSWMdIoOZgUzPaEyS_DDR_VZv6YijMypov_0PeBRDbXeAiUSBItOcRXT-3-v6-E8XNVd-HZ0J-_H_FtfxE4=",
  "id": "rs_0fee8c9b9801dea2016ab44307668087d0a5ee2a2fe69668eb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.21,\"right_z\":0.14,\"right_yaw\":0.25},\"note\":\"The bottle now lies diagonally with its neck up-left of the gripper, corresponding to a long-axis yaw of roughly +0.25 rad. I’m lifting above the neck and matching that yaw so the jaws will close perpendicular to the neck.\"}",
  "call_id": "call_J0cagkbJQh3h692n9PrkjTc1",
  "id": "fc_0fee8c9b9801dea2016ab443091ea487d0a43b7a0ae5befca8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J0cagkbJQh3h692n9PrkjTc1",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7643, 0.5297, -0.3473, -0.0227, -0.0288, 0.9983, 0.7685, 1.3022, 0.6468, -0.0124, 0.4057, 0.2562, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1607 left_yaw=0.0 left_pitch=-0.0195 left_roll=0.0004 left_gripper=0.9983 right_x=0.3072 right_y=0.205 right_z=0.121 right_yaw=0.2653 right_pitch=-0.0359 right_roll=-0.0255 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -1.5932, 6.4342, 1.917, -0.0317, -0.0171, -0.0122, -0.6632, -4.6564, 9.0462, 1.79, 0.2125, 0.1245, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1541bb9f5c677ceb9e6f5de098a53793c387472e3fcdbb66f3a96cc24e1818ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:360cc9d7a731d77667fdffc06b7b2d553651e1e39e2b5a73f07c2bc42a0c8cfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977c774a16da1dbf4a7995b8e02cbc95e8de10ca00d56ca818aba63399337666",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.791, 0.5838, -0.3744, -0.0231, -0.0292, 0.9983, 1.087, 1.5738, 0.3275, 0.532, 0.5758, 0.4217, 0.4275]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1727 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9983 right_x=0.2312 right_y=0.2409 right_z=0.0201 right_yaw=0.3604 right_pitch=-0.0126 right_roll=-0.0035 right_gripper=0.4275\nstate[joint_eff]: [-0.0479, -1.9214, 6.9812, 1.873, -0.0562, -0.0708, -0.0122, 0.0342, -4.5197, 4.3282, 1.7021, 0.3004, 0.0269, 1.4432]",
      "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, 0.7776, 0.5503, -0.3634, -0.0231, -0.0288, 0.9983, 1.3483, 1.0344, 0.0532, 0.1654, 0.7177, 0.5777, 0.9956]\nstate[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.1632 left_yaw=0.0003 left_pitch=-0.0282 left_roll=0.0008 left_gripper=0.9983 right_x=0.1563 right_y=0.1804 right_z=0.0209 right_yaw=0.4332 right_pitch=-0.0114 right_roll=-0.0143 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.9487, 6.7487, 1.9609, -0.0317, -0.022, -0.0122, 0.2393, -0.6496, 5.1487, 1.6484, 0.2564, -0.022, -0.149]\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]: [-0.02, 0.7643, 0.5297, -0.3473, -0.0227, -0.0288, 0.9983, 0.7685, 1.3022, 0.6468, -0.0124, 0.4057, 0.2562, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1607 left_yaw=0.0 left_pitch=-0.0195 left_roll=0.0004 left_gripper=0.9983 right_x=0.3072 right_y=0.205 right_z=0.121 right_yaw=0.2653 right_pitch=-0.0359 right_roll=-0.0255 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -1.5932, 6.4342, 1.917, -0.0317, -0.0171, -0.0122, -0.6632, -4.6564, 9.0462, 1.79, 0.2125, 0.1245, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1541bb9f5c677ceb9e6f5de098a53793c387472e3fcdbb66f3a96cc24e1818ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:360cc9d7a731d77667fdffc06b7b2d553651e1e39e2b5a73f07c2bc42a0c8cfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977c774a16da1dbf4a7995b8e02cbc95e8de10ca00d56ca818aba63399337666",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEMNiAFIPosPNRjBJ8Jq7hbGyJIdYL_4QKi6B6JAcoJsx0itn8M7rb-_oX1FEYwkp6E9O7LUaHPjdsD9SVBzD10XNLFHV9GjwDuEasCxbeF_tw7dVLY2whZ8cc0I6ID2RDxsmVp2Xg_cZmTkInZPcklvUE_VxudSX7RZjx9jeLVBx1q1bEkHWPKbrcxBdb_sOTnqV5bz8YeJVZBU8Em6IR_B0NJl_FDaZbkYoTM8zeISt61NVojnroxFVkcf-QrsR6qL1Zcelc8MUnA6Ft4SNMbrDNxl8YuilnlsVbLpRAZrj-s5Auo9guDJt3V8K3iS_rfSEYACWl7sAnnMqpP8MAjkINJhrt89o7ZRcJk63cDK9mKOjnSVVCNeP97rAItorLXumKKeVEhHKV4KkpF3u7yPA9edmm6b28xQ-ZKuzU-tDpFymLjU6JF_xK0JyrS3sPFSQE-izXqYcMAzeokJlefsG8SYljWB6I_k-a5ZmHnq42LZw3dvJE8tgFV45Y_t2Ixd57txAkW3ec1E56ph634g9IW2k5iZZ4rZFWzqf5nxPJZQ6TowyahfH73oMNgxhdk5czEj2rhkaWUz_Le28T1Y48Anr8ry3CVs7_Cw00zuZs_66SaowtwXVRaKZl8l_UdHObjBC2U0ApV7oTYw2dYGqf0jrpcCVT_H-0wY20v1YKAFDOaLwDhEzVJnNYpWj4qdf2aR9yDAvbb6To3Crn8q0U_XQuIF1PeWL7JDJmd4di8E_Evr6V-3rEItcuUAEkoHaq9Nk2ZdJ94s2TsSufGhUAopkGfxY8jt_Ccz40R9o8iSvhRb8RyH5oODR6dRkdnwKxtrjyHh1ho74niBBnV7kYt5clZi_vyrdCUA7XgBIWII2W-Q2vlUk8ZRvnhsIaWDzaXWVWnvdIJ6c-Uq5a3RsaSB5woaFOjC-Qev06pV3DaRhQeeDXj14VE7qVS9MjBCj9emW9-dwnwmSBpkZW4c57jB_EWvJ8zLUrU5LgVlxpY0glwXP1DQpMid0l2oJYCRJzrGrQcTdGtFYjj6u0ucooVCeq4aqp-ttj57qXgc9sJF7FLH8DUdp1pYVY2J2eZn7orPsXXM4D89zia2qMHq_6_UClgq-dasBwqFQ_FnkoltcrEh4K2O8W4PTo6D5BRChSoNCE3N_-H7ldAHE7fMpXOwkAAvgCxRlji1bgJuUukdfHOmZYpNHn_Cw4dmnHCfjMAWxFeHTHSiYaERUSNQwKcSnZyxAiMNH0wtrVs6jYgxtVUgjeELosgnnlTgIQDnrPmc30GmYnHmXi31ZdnViu1tg_Ee-ko7NObdjHSalQlr93PLpqquOzHKfHB3CYnwdPur9fevV747ea1WZ4m3s6MgmBsYShKGXOHRgL55kN69_MMPfvixQSucOq4iy0gk0OLPe6xTPVFfL1QZxhXoC3bCWMnZtsz-xDUeVBQ1qgE7AOhOIqtilbSIw0lsM1k6h_aeQjDB9TFN-saznBn2GjgA8nUmxbHLJkYh-gtfu50oODj4ylBonbZxEgjL45FI",
  "id": "rs_0fee8c9b9801dea2016ab4430c53c087d08c6db4f27e27e616",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.307,\"right_y\":0.205,\"right_z\":0.03,\"right_yaw\":0.25},\"note\":\"The target cap is now centered at the bottom of the wrist image between the jaw tips, while the other bottles remain farther ahead. I’m descending to neck height at this reachable combined radius.\"}",
  "call_id": "call_0AW4uFQO1IZTje5t9OGrrhQY",
  "id": "fc_0fee8c9b9801dea2016ab4430cc79c87d0a8a828f0b078b69a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0AW4uFQO1IZTje5t9OGrrhQY",
  "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, 0.7567, 0.5148, -0.3412, -0.0231, -0.0292, 0.9983, 0.7727, 1.5917, 0.4301, 0.4744, 0.4015, 0.2676, 0.9955]\nstate[eef_state]: left_x=0.2864 left_y=0.0019 left_z=0.1572 left_yaw=0.0005 left_pitch=-0.0206 left_roll=0.0003 left_gripper=0.9983 right_x=0.302 right_y=0.2031 right_z=0.0276 right_yaw=0.2663 right_pitch=-0.0542 right_roll=-0.0232 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -1.5248, 6.694, 1.8681, -0.0171, -0.0757, -0.0122, 0.1709, -5.6957, 4.0, 1.6435, 0.232, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03201f5b4b55498b5f0270eece845d016e88a2080d355f14f1358e6268b1320e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726b1df83a848042f751f5164420756128e83c99201976218a2c4c80baec1e1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae2181b76f83bb8a95059c39e55a01d75e3b861167cd249e142fe5b9f49c9139",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7845, 0.5697, -0.3706, -0.0235, -0.0292, 0.9983, 1.3273, 1.0126, 0.075, 0.1188, 0.6811, 0.5838, 0.4522]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1688 left_yaw=0.0009 left_pitch=-0.0229 left_roll=0.0006 left_gripper=0.9983 right_x=0.1563 right_y=0.1829 right_z=0.0226 right_yaw=0.4343 right_pitch=-0.0344 right_roll=0.0049 right_gripper=0.4522\nstate[joint_eff]: [-0.2803, -1.2923, 6.6256, 2.0, -0.0659, -0.0757, -0.0122, 0.1709, -0.6222, 6.9265, 2.4005, 1.033, 0.1441, 1.033]\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, 0.7643, 0.5297, -0.3473, -0.0227, -0.0288, 0.9983, 0.7685, 1.3022, 0.6468, -0.0124, 0.4057, 0.2562, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1607 left_yaw=0.0 left_pitch=-0.0195 left_roll=0.0004 left_gripper=0.9983 right_x=0.3072 right_y=0.205 right_z=0.121 right_yaw=0.2653 right_pitch=-0.0359 right_roll=-0.0255 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -1.5932, 6.4342, 1.917, -0.0317, -0.0171, -0.0122, -0.6632, -4.6564, 9.0462, 1.79, 0.2125, 0.1245, -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, 0.7567, 0.5148, -0.3412, -0.0231, -0.0292, 0.9983, 0.7727, 1.5917, 0.4301, 0.4744, 0.4015, 0.2676, 0.9955]\nstate[eef_state]: left_x=0.2864 left_y=0.0019 left_z=0.1572 left_yaw=0.0005 left_pitch=-0.0206 left_roll=0.0003 left_gripper=0.9983 right_x=0.302 right_y=0.2031 right_z=0.0276 right_yaw=0.2663 right_pitch=-0.0542 right_roll=-0.0232 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -1.5248, 6.694, 1.8681, -0.0171, -0.0757, -0.0122, 0.1709, -5.6957, 4.0, 1.6435, 0.232, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03201f5b4b55498b5f0270eece845d016e88a2080d355f14f1358e6268b1320e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726b1df83a848042f751f5164420756128e83c99201976218a2c4c80baec1e1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae2181b76f83bb8a95059c39e55a01d75e3b861167cd249e142fe5b9f49c9139",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEMR-OYyBrhLw6BNEhySaU7M5LLkd9Jebdy7Pcx3hAnG5FgeHcQNJBJBbqfLJ4CcofzKUIruMW02MQro7t1l08BXNhezeUuvbEDxrGuxzg5izKCN9i_53DJB3vmgw-zE1Ue0J66HxYboVqmdHo4vJFm4efmqUWf8iG5qsMVb-jJ17GWdI6ruy7m5a_nIrjcdxoUotY4jLmMEmlqxO8UgCfBltbB9ofjW_eMSPVhK176X4ihXTIGHLx7C0MYP3OK30tZc3_5y6Py5hLJezaoGbYD-2NYfZC44QbMoy8XntsY-dr_kXsMZRIBayZiAiNxGEZc_dx3oaYTJucsrl_RQA81A7i3Btutq-zRTFLnvmL70pCxFWmmlf6qARZ5m9BypVuqSz3KrlRlU59L9VdwOT9mJ67Ye3c2lP8SqBTrniQxlSh6p6LVVE6ks76M5UcQnQIXodRR7YXqdZn4enk-0zkTWhsoUTXtRQp7cS76jyKW-xtvPRlGgS-_gt478fAUlS5VjbGCZ3U6FC0bhlK72gGiBxfK2cwHf0DIm_OIbEiDeokScm8FHZEblMk2BnUSR-9HqDhOEy21iiRra4Bk7Aj-skqm_gB8ojbSPFDTxeUD0o3A8szuA94T9zodUS8iBX6V0QW9Q6UqLjMK3a_1iFanJVTJOCFzWtIYBK5zELA0n6Fg02gb_g67G3DJSBtP5PGN7bZGakubsJT_dKCE-7jg_fKEuX9hoidEFbwDM2wIDO7uSqHzbaN-20gfH48UgeWMM-RsC01shdAvHuMWgkWmkL9u2N3ulglVpwJL31Yzs-bY1IJ2CT9-Ad_NV8VCh194poRG3thBdq8Ovc2KSPGIawDrFNoObKSN1KfZ-U-9AFE7gyuNQwUapXJZW6OogE2lJlqW4GvYZeovMg2JFVle5KbSCiGVQZkrtVtgOzQES12bxaG-xWxvprghWVfJFGHEWTSBgUULeiWaXkYheMJfx1A8xfzoUMWQ0Nc4Csb0QTtAL6qFUzGD089U8FT3YpoE3gtllsQCmJwskshOuOncDnPYt_UrBccSEdQYpmDFGjs7IsDT34t4_Cjwmvh-mosMekfJE1tDYu0M37YyQcnMFXKRvRVPI26ZOMnRg3RfFczWx9xOSZJiufHBU1hctacu1npCdUT3erCy6HjB6l40GxR4gztP4djrVE1ZKqhRxkv-owwKF762Jeh85U8FW-xSXwBLqgUsNPtsssaABDzb2UxgyFKu6fzql7msOCTvFo6r5ppRmQpzHgkK15AilBhFswL3yDP7LltsHD9XN2iNRg5vhjMklo_5SJV32UcAlOSN3npRstjeAonaWlbbDDX77-UnEun_bU09SCaWSxxB7WehMb8Uz7eNUQAgPP31LGkdePXSkPnNK0FLOVJHviIzE",
  "id": "rs_0fee8c9b9801dea2016ab4431000ec87d091b27934613ac861",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table height the cap and narrow neck are centered squarely between the right jaws. I’m closing fully around the neck below the cap to create a secure pivoting hold.\"}",
  "call_id": "call_mCqYYNGBKqOKCnLxjjOltAGc",
  "id": "fc_0fee8c9b9801dea2016ab443108ad487d0ac35ce7f8905c802",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mCqYYNGBKqOKCnLxjjOltAGc",
  "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, 0.7513, 0.5014, -0.3325, -0.0231, -0.0292, 0.9983, 0.7727, 1.6089, 0.395, 0.6842, 0.411, 0.2588, 0.0148]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1543 left_yaw=0.0005 left_pitch=-0.0198 left_roll=0.0003 left_gripper=0.9983 right_x=0.3133 right_y=0.2119 right_z=0.0502 right_yaw=0.262 right_pitch=0.0863 right_roll=0.0412 right_gripper=0.0148\nstate[joint_eff]: [-0.3077, -1.7573, 6.4752, 1.8632, -0.0415, -0.0464, -0.0122, 0.0205, -4.9026, 4.1231, 0.9792, 0.0366, 0.0366, 1.243]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb8d39a5ce6eca4f5bc1706de4fac7c2f7d6b253c8e4d51342e4eb3241ebac2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70a137f1d00b8c69c95d12cc5ba6b86339bc3c23f81b103f5d46a51a703fe838",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e17c4d55a20df446ac6f800598d1cf3116a1c0f13cd141a75ed6b99a4ca717",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7776, 0.5503, -0.3634, -0.0231, -0.0288, 0.9983, 1.3483, 1.0344, 0.0532, 0.1654, 0.7177, 0.5777, 0.9956]\nstate[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.1632 left_yaw=0.0003 left_pitch=-0.0282 left_roll=0.0008 left_gripper=0.9983 right_x=0.1563 right_y=0.1804 right_z=0.0209 right_yaw=0.4332 right_pitch=-0.0114 right_roll=-0.0143 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.9487, 6.7487, 1.9609, -0.0317, -0.022, -0.0122, 0.2393, -0.6496, 5.1487, 1.6484, 0.2564, -0.022, -0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7567, 0.5148, -0.3412, -0.0231, -0.0292, 0.9983, 0.7727, 1.5917, 0.4301, 0.4744, 0.4015, 0.2676, 0.9955]\nstate[eef_state]: left_x=0.2864 left_y=0.0019 left_z=0.1572 left_yaw=0.0005 left_pitch=-0.0206 left_roll=0.0003 left_gripper=0.9983 right_x=0.302 right_y=0.2031 right_z=0.0276 right_yaw=0.2663 right_pitch=-0.0542 right_roll=-0.0232 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -1.5248, 6.694, 1.8681, -0.0171, -0.0757, -0.0122, 0.1709, -5.6957, 4.0, 1.6435, 0.232, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7513, 0.5014, -0.3325, -0.0231, -0.0292, 0.9983, 0.7727, 1.6089, 0.395, 0.6842, 0.411, 0.2588, 0.0148]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1543 left_yaw=0.0005 left_pitch=-0.0198 left_roll=0.0003 left_gripper=0.9983 right_x=0.3133 right_y=0.2119 right_z=0.0502 right_yaw=0.262 right_pitch=0.0863 right_roll=0.0412 right_gripper=0.0148\nstate[joint_eff]: [-0.3077, -1.7573, 6.4752, 1.8632, -0.0415, -0.0464, -0.0122, 0.0205, -4.9026, 4.1231, 0.9792, 0.0366, 0.0366, 1.243]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb8d39a5ce6eca4f5bc1706de4fac7c2f7d6b253c8e4d51342e4eb3241ebac2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70a137f1d00b8c69c95d12cc5ba6b86339bc3c23f81b103f5d46a51a703fe838",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e17c4d55a20df446ac6f800598d1cf3116a1c0f13cd141a75ed6b99a4ca717",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEMZ3Wuo6J6QkA1An93cZ8KAdRSpJEO6zYbBhB3T2kQWtcTtBp0qLHFfBJoo0VvnbKqiGTQLgrYULL4JhLLceJ_PyhTy6A3bXhtfLQ7mpba0ouKve7qw99b0vFTbzLAc0xxoHCTa7ATrjVTgFyjNi4ceFSM-8-zvSf_PSsZ2HUPbQk7IHuHtqOODfai1AwxMbFGQ4WtIDkR-vBljcl0MO4vpRGNCa-CXJkHSbZiNNsX94Mq5q7sRcnN5IGXyky7H_2WUR5av2HvBQy4ps9JTcgOuG7YVfJoWKU0qg7ut21hcy9Q4fS1a6w5o0ZuvsPXofO91izOzdeSongCN6xEIIpq2wJL6W2lmWCAMsuLp5b1FKrRk7O-bym-i1Tlo21QW52aQb6omaizNSuC9m5QvCPjJqmCopu1B5cW-r-f7kbICP6ADxWye2tjWCBZ3B9UR-FCAlwL3nyv_4YCutLIWKfNpSKQNTWvtyBXgV0Fnv90vPYv6xXzqf4TBK1JqmbfSGUM0p4ojfR-EMkSlqsjI2Aw0KPQciuc4XXOn6tD7igBwhRDb4z_UdcO_r4lmZS9zaSP0hzqXgAV8hLA0NlaZloH38wPrZfFltSAOtGdgqa8PjR1UR2UxA72SN7YgRdRfltflpLVcRYBIDrmdkC3VcYQKgucX-ijwFpwn7rbBRvg4WUdthuxzBttG3rxuIMvvttHNJDqLjt-rMV9r-BfsZRoDDyeioFVZgiwWIy4TKNLF72cFh2uk9Vsed7cYVN1QEohHGE7ulTvjReqEr0IJDiu4w8nP-hRWhUUZa1Ife2Z7HqBbvl9KhWabqZzmWQQmhVlZCfnWQOY9SCupGp-fRV7QK2p4bzXPNyygcylcWcY_QpOUru4GKKeUIWj4PVIvmyNlzPHSnaAGOJUXwEVl6nqUPDBYhf5YvetaneUkvwoz2m6OOJCJuoPnKNOLv29qly2uFnjithxIP0P71tjgiVYtG75fEF7GkEWNDXgoZY42TAdstE2cvQdm26vhFveQNTNzrLIs7bQ12VkZEd9jhWp339D35Rx-IDxfkh75xyHafZ5QawUUeEonq5Gkr1qwnU9Ibq6WoGUBGb3o66g06xdlSw0s55P-ClDPtRWCH1siPXhi9mbdyFacGtGnA_cWpNoKgAucREzGd_XLvJyPgrNoxakgUtiGCMkNjdhLJtrlldzED20V9rBtY2h1QwZSZofk5mGhEIZ6tNnhw-_PCOo_gTR3k5YxfC5tqHhPBne_S-P0V3vUPAZHpJvPmaHBja3w16mUfZLIWXkDrnyTj3GZ41jZkQGXfp2EiWJ-fHhKnWGcqySwoDAzMigh260IwgKs9ZKAN7rVZSbshLreSwqjNtacOwM9CkLGxUhjFUt-iOtMfnGrHnSim_45KQD1wz5K23ZXBLy5aH-Lxy0U0e5y-60qRZnQAIGc09fhrZv6VRkn5gypbY4HHGeFbDK7mv9jt-V4XoTuuReW4IZEOOHQ0BoMnxabXJtOdU6VT059SMs0nVqK1dzEVrAbBtPcvYBYTqdjfvOZmVt4nLkX_C-XqefR8yueSrnYu_4SB5PMlH9B1gQ4kkD0bYz0fB0Rqs_qYX6eOAOE7_U-HJ8AlSwFpYe1_nsM5n0rdsrNLqB3q9cUIBl5GbNVqpirSrXUCeHB2AKYw3Y9racgn4dwtbb7vuSNv_7UT0Rl_w4fUdHTzL6sJOc26px23rPmhBjE1Lu0TWKhxNCXywvet2FwWJbGPMwmv_UVAALw2BBpjfNVCaBt8ZQBPaKFGhtL-Ar-gXpQAC73Y33Bts9i4Vh7UiCa5lOzyORtI7rWjrcbSuVyvb5nBpGMybrN5NwzEN8gHVplFJY795BkGnykrcvfKLlQ-dhmIygC9gIyugh2b8rJvBz91JlfcW_O3d2Hj4gTjGL6PEXlJ6_fgDbqpYqrqbuwH1hXONiCmUTwTJi5YZ_GRUb87qG3RwCNWJqMYqrPKxdcyPxt6mXouVkMZJwkJA6bJwrZx1kpsvJ8YqODiwxk-q62DfbRbdAFZhQnO98h2Dp8tB4gcYQfRpOtP2EsGqDaeop1iRHlQprSuShEaFIWBl-SYB15fI0Y7U1te0hmDv1_ECoFwNviviVrEmAYbOi-rut2EVF5jxp1BvNuyQ803-0CpkepzynkKNMy7XnjJ1dfzsw3YIH5tAfyln4olheMkYFtPUUhq5dvCVQfj4gzCQ_E1tVp3dL7L6XGuixsi_y6XDI3pHPShOnDa-948YozWeSn55NyTzEpptYJsXWsnrSrerihX1ESfZ4mc3mSlywkDN0-FYSECzkGhr8B3DYBSjY_pQAmz8pXxaQCJqs2xqHNXUfA6zYourduMdKyZXVAM00NG8iBOfsJDiH60WLKh3d1xTx4Ioy2OTa0A7Ta8z-Oxa8ISdpNQicI8dzjn4okX8R0wBH9Befg0b1ImGF4izffGoQ5XNjx3p3KQJFiyZrJ6QgrsYcqXCXxxW9q3D1zL41dPHI10dPMsgaaPLBEAudiC2TFpg693XzmNP3SfbSoI8Pe87iuIFcozbni-Jdb9WrVPigwrUIM4OV3vE7YTNcut-ErRTauGU8f5sie-5ipQiXK-Bccq3-2t1AOj9gHsKi4KLcGU80nsg_tZBO_i4Aw6bMwtwzdGG8MY78fshA-deCFE9aBLP3wtv7quYwq6YPxX5qcelG-3mEyIeyPys_A2oYAbK6W4EWFe_0DKDqUpJ2R7N_GXPFc4vIlmZJc4CA7smE3TJ1U86_oDSBDxqHjVQHxgSd7OGOiTsYfkBbJbJyzsVd3mxi5XmpXH5wANH2DLO4ml8UzMmuLUPe3uCy-xC8AtntsKzKEnLsebahLXYTW_iylkOsUyFt4MhSJLxegko7LBD1TOyi13i3QlbHRw1RD4sgXrLFdtWPIoMM9dCIhxjBosCV5kTPyRsGDhPzQrAj4B6JUIp3YMtWmP9jipF-1k75SEAYFlUKCYNFCqoWD8zJPIaodrXTl7zDV-3kQew4nEhnZGZ9MeHs3uRdmm71r7uqEM6Vh2f0XAvWtdpIarPztoX6uOWuJOZavjfSDLpoBvlAWIQD_PyaRzg3e3AoVkvtALXJa5DHjrPPJ3JBG4x106i7ZAaI-8g-iONHg4aB6OnEZ3z37ffES6IQrmLIdjraKNP-fGGCSPtXbJMEp766ovCGifpmvwWWVM33kz8Sw6mIwhAF-pX_duVIjKanPPXQKHHUz2QPC3DtucTUmlLZi3kFjOV6Ni71c3t2-y_X_V0EZyj4mlNwFfriPNwvMwR4JIceSHJam5bzGVdaFW1BBJ70Qs8uL7Udhb1oSeHWzJKEOXqawaC8nkyKheKSE56akBkVHz7ysW_WakIPlIlC4sJ3ngKY35jsnM0V1uiIaBCMRjg8rsWO19JGMAX6MdyI9N1JijciSu33lRUe_cvQdYH2ecrDeeuN7JQwZsvWLfgXF9QekYq7CVkDQhM3sxC4mz8RvVtCXiRfYbbpa3QZ-sDKeHve-uLFYDKi5_kYeb4QxKeBa18ZUNi5kI_SZAhRl6W7eXvUzkFKelDm8XdvCN_iFBHPIzUdIKU03GemQxi9rVRI6vwye-3mX-jT5tTVeb7fODxGdYgrAMzoSvh0SnBTKV5H4Z6rHprvMVSkvdFyI0AfVgfmu_fzQ9K1dbfSyseLmGZ6yeDvaXqHtaLDl6NKcYOk8IfF6tNoROAy8_5Ujgz3vVTgV4YKUoZtIJW0AH7LLdmKLbGdmxBAdy3QtPGEBAdgqLCdUYPALnFC_wFWVWIMkJoyVcA91D-FX8CkcjVcEDJasB4YKflhnn-G2056AeBbou1NcX425ASx9K5-v5Kgj3nbSHaqwyKoKJLewEEyqjfeQ7m6oByumNh7KKHW1_qwpCpG1rJHGRmRKytHV0FhWo8UIDweQyE8XhQ5rNAh7HLTbqoQrU-BBfbzA-UKWvEz7sZRwY3c4dexdIKx_DM7H0O3a3vmQbs-lWTkJx8lYPGA1YchZQT7bxxzlEzBvFDsluoPl",
  "id": "rs_0fee8c9b9801dea2016ab44313665087d0b771009f22fd09c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The gripper closed to an empty reading below 0.04, so the neck slipped out during closure. The bottle remains lying beneath the arm; I’m reopening before making the standard small outward correction.\"}",
  "call_id": "call_P7quiOfqYtlumJcb0oNJctBo",
  "id": "fc_0fee8c9b9801dea2016ab443184e7c87d0bafd63ede9b663b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P7quiOfqYtlumJcb0oNJctBo",
  "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, 0.7494, 0.487, -0.3256, -0.0227, -0.0288, 0.9983, 0.7719, 1.5768, 0.4568, 0.448, 0.4065, 0.2569, 0.9955]\nstate[eef_state]: left_x=0.2844 left_y=0.0019 left_z=0.1495 left_yaw=0.0 left_pitch=-0.0256 left_roll=0.0005 left_gripper=0.9983 right_x=0.3072 right_y=0.2066 right_z=0.0371 right_yaw=0.2677 right_pitch=-0.0394 right_roll=-0.0273 right_gripper=0.9955\nstate[joint_eff]: [-0.2803, -1.9761, 6.694, 1.873, -0.0415, -0.0513, -0.0122, -0.1436, -6.9128, 6.2291, 1.7118, 0.0855, 0.0269, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f514ebaf4ef9ce6ea241698cf33028d6f1584729a2728b7e3afff2751dbcd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:906811c70dd416c7c07f810f6f16155d909bb7507edaa05ce3e59efa8191b4c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c0f81b64e35a95622503023b9dd628f30d47afb8110ff7a2492ed1ff8aa845",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7643, 0.5297, -0.3473, -0.0227, -0.0288, 0.9983, 0.7685, 1.3022, 0.6468, -0.0124, 0.4057, 0.2562, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1607 left_yaw=0.0 left_pitch=-0.0195 left_roll=0.0004 left_gripper=0.9983 right_x=0.3072 right_y=0.205 right_z=0.121 right_yaw=0.2653 right_pitch=-0.0359 right_roll=-0.0255 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -1.5932, 6.4342, 1.917, -0.0317, -0.0171, -0.0122, -0.6632, -4.6564, 9.0462, 1.79, 0.2125, 0.1245, -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, 0.7513, 0.5014, -0.3325, -0.0231, -0.0292, 0.9983, 0.7727, 1.6089, 0.395, 0.6842, 0.411, 0.2588, 0.0148]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1543 left_yaw=0.0005 left_pitch=-0.0198 left_roll=0.0003 left_gripper=0.9983 right_x=0.3133 right_y=0.2119 right_z=0.0502 right_yaw=0.262 right_pitch=0.0863 right_roll=0.0412 right_gripper=0.0148\nstate[joint_eff]: [-0.3077, -1.7573, 6.4752, 1.8632, -0.0415, -0.0464, -0.0122, 0.0205, -4.9026, 4.1231, 0.9792, 0.0366, 0.0366, 1.243]",
      "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, 0.7494, 0.487, -0.3256, -0.0227, -0.0288, 0.9983, 0.7719, 1.5768, 0.4568, 0.448, 0.4065, 0.2569, 0.9955]\nstate[eef_state]: left_x=0.2844 left_y=0.0019 left_z=0.1495 left_yaw=0.0 left_pitch=-0.0256 left_roll=0.0005 left_gripper=0.9983 right_x=0.3072 right_y=0.2066 right_z=0.0371 right_yaw=0.2677 right_pitch=-0.0394 right_roll=-0.0273 right_gripper=0.9955\nstate[joint_eff]: [-0.2803, -1.9761, 6.694, 1.873, -0.0415, -0.0513, -0.0122, -0.1436, -6.9128, 6.2291, 1.7118, 0.0855, 0.0269, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f514ebaf4ef9ce6ea241698cf33028d6f1584729a2728b7e3afff2751dbcd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:906811c70dd416c7c07f810f6f16155d909bb7507edaa05ce3e59efa8191b4c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c0f81b64e35a95622503023b9dd628f30d47afb8110ff7a2492ed1ff8aa845",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEMe0az4Cx4U8pyQ-RONPvJawyA1jV4NBDFYkukY5l35E5NT_QynYC8emHfLTTy1e8nQWlvkZxZ-SL3A1YYS2eqC5jQMEMCvM9sxOAZaMkM6iELDg-okeaVgpL-p92rJFqE4bTmZcE3X3e9aA7-2z7FOx2LECFake85w_V9hoaK0grB1Zk8SUlT71mm82x8UHadcbLZ48xQCJu7h4Y56apiJaQ9RIXMVApd_c_buhBD993weV9XBqArt1UJaPOdSQShV2Ewz3oqgXN2HJln7fD55cnQhg0pkZpOFzFaRNZFFjQPtT-Qk5N4a78azHswFCdDqCeGYUdf1hX-P6A5jJWvsnYjBoH1DnG9r_2aIfB36JzZQ2GKUnCZIb7h-DH6WWnt6ccVflFjrdIpfnPmRu5SgD5xsfwK8KL11mLXGLV912wxJVxLcYq5I_ETNy8H0xwYCBlTE4y8CrE1eOOHQgibZf_xBKQXgHPLtR-t2EuMXXcbPLzp2YqjnsASGlWDAyQkMiHeoPk0OazXd5S1TLmG9mPfPOV48g2OvfVJ1p7NNI5jpLLCqgGng6mFyV2LPBCHsbNm3Iz6ATiMvLGjsM09zsaE6lOr9IkNhNFHSTqR7YKi2ZXlOIjrlB7u_RS-kZs3Y-pF04miY7VaQKZs9x_LflX6ePFDCFEYgSsMxkHV80E-CkdG_XI634lyoUSYTm9pYnM7GJ0JPpSXtnUu9KWtF1X6jhGoqG8RBwI9iuDiN9TX56cjRzssrrSzYdJHQsWj3E-gwvsOHcVwtwXh1M4xig-jYP75aE3t8CY6gtaDGtirDfqQfcd4XFSc5wp-kcIRXyuXc98zlg8X1We9bzlbqnUG_CnjAIS8I7gmWF6dEpdFpc82ljuJrsSoICeqhoH8xBR55e3_uafA-7k5zVRXbudDeDzV7U7HLMuPGoJFjZSleri5ZEWar6NY4dpTqyErN2YzrFRaID3nUfjY_SeQip_hVaKixb_Mmkx4HBHwHRUFpR8kLKxsVSMd3_uKDYDhPHjMH-Zn3CY5TsFZjQT4pw6rxTkwrkrdxsn2JRnKCDG0sQQUfhIKa5S-ixRlFrAXYjtHeU3yNwxVjzf8PQLxSOmnVOPc5ckS8xQ-jvfbi1_pQ6PPY9VcNfTNzcjuBzQNrfTXNHfMHsu-I3BjfZTFzJjIu2R31mleb0Gqhu9ggA_V926JIDkTd5dQBiT-aZw9gsweH_98ZO55lZRt5KwAVLuCCiCKt6KguA7Wz0WugLY5efwfIbCvVuh7W06hh0tc5k6q6BzCuOA9CVjwg465VoR6WNgoGssuz8BGXl8kzt1dIIGE2m-Y6Xu4Z7XTjhra_Km0RiexHGWBQLWritvReQQ_KY1rjxh9o5Ut8HrmlOqzGswaPeyjPLzZrLdaxs0gi7XtSSbeLqTZKZwMpRYMONAYib-Ro55tEkYUmIxv2evJ_si-eV2mEUJ83fXi_sdtZ8v4z7Szsdh8655lm5XY3NMr_L9KS4z3hxcmc-KiXEDs0OSSnc0A0fOAjq-Va6P3qALgQMOrA8OPwZ8K5HmOsZw==",
  "id": "rs_0fee8c9b9801dea2016ab4431c8f8087d0b250ae4fc63be655",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.327,\"right_y\":0.212,\"right_z\":0.04,\"right_yaw\":0.25},\"note\":\"With the jaws open, the target cap is clearly visible at the bottom center but still just short of the fingertip grasp point. I’m advancing 2 cm along the bottle axis before retrying.\"}",
  "call_id": "call_1GfGe0cy7b4M2Z5xolA4U7oJ",
  "id": "fc_0fee8c9b9801dea2016ab4431d58b887d08f089130f995e481",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1GfGe0cy7b4M2Z5xolA4U7oJ",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7422, 0.4782, -0.318, -0.0231, -0.0292, 0.9983, 0.7563, 1.6165, 0.469, 0.4736, 0.395, 0.2523, 0.9955]\nstate[eef_state]: left_x=0.2839 left_y=0.002 left_z=0.149 left_yaw=0.0005 left_pitch=-0.0194 left_roll=0.0003 left_gripper=0.9983 right_x=0.3131 right_y=0.2068 right_z=0.0317 right_yaw=0.2637 right_pitch=-0.0444 right_roll=-0.0257 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.4017, 6.2564, 1.9414, -0.0366, -0.0464, -0.0122, -0.9231, -5.3265, 6.735, 2.0537, 0.1392, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d2bad8d05a138bc8adaa9a61bb80783baa11efef7ba489a5bd761b26461fba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce9f3ef74fc43806556bb46aab034ef8a7dc8b09615cae7942bee6dc0939ae24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab0357b1f58cc62f1f9c4fe73510fb681a719ef4ea90a8626a0bfd553525b1de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7567, 0.5148, -0.3412, -0.0231, -0.0292, 0.9983, 0.7727, 1.5917, 0.4301, 0.4744, 0.4015, 0.2676, 0.9955]\nstate[eef_state]: left_x=0.2864 left_y=0.0019 left_z=0.1572 left_yaw=0.0005 left_pitch=-0.0206 left_roll=0.0003 left_gripper=0.9983 right_x=0.302 right_y=0.2031 right_z=0.0276 right_yaw=0.2663 right_pitch=-0.0542 right_roll=-0.0232 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -1.5248, 6.694, 1.8681, -0.0171, -0.0757, -0.0122, 0.1709, -5.6957, 4.0, 1.6435, 0.232, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7494, 0.487, -0.3256, -0.0227, -0.0288, 0.9983, 0.7719, 1.5768, 0.4568, 0.448, 0.4065, 0.2569, 0.9955]\nstate[eef_state]: left_x=0.2844 left_y=0.0019 left_z=0.1495 left_yaw=0.0 left_pitch=-0.0256 left_roll=0.0005 left_gripper=0.9983 right_x=0.3072 right_y=0.2066 right_z=0.0371 right_yaw=0.2677 right_pitch=-0.0394 right_roll=-0.0273 right_gripper=0.9955\nstate[joint_eff]: [-0.2803, -1.9761, 6.694, 1.873, -0.0415, -0.0513, -0.0122, -0.1436, -6.9128, 6.2291, 1.7118, 0.0855, 0.0269, -0.0904]\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, 0.7422, 0.4782, -0.318, -0.0231, -0.0292, 0.9983, 0.7563, 1.6165, 0.469, 0.4736, 0.395, 0.2523, 0.9955]\nstate[eef_state]: left_x=0.2839 left_y=0.002 left_z=0.149 left_yaw=0.0005 left_pitch=-0.0194 left_roll=0.0003 left_gripper=0.9983 right_x=0.3131 right_y=0.2068 right_z=0.0317 right_yaw=0.2637 right_pitch=-0.0444 right_roll=-0.0257 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.4017, 6.2564, 1.9414, -0.0366, -0.0464, -0.0122, -0.9231, -5.3265, 6.735, 2.0537, 0.1392, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d2bad8d05a138bc8adaa9a61bb80783baa11efef7ba489a5bd761b26461fba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce9f3ef74fc43806556bb46aab034ef8a7dc8b09615cae7942bee6dc0939ae24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab0357b1f58cc62f1f9c4fe73510fb681a719ef4ea90a8626a0bfd553525b1de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0fee8c9b9801dea2016ab443203c4087d08be5c9e0bfecfa95",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The cap shifted downward toward the jaw line after the outward correction and remains centered. I’m retrying the neck closure at this corrected position.\"}",
  "call_id": "call_YskiYhahGLFQXKXrvErB4aNz",
  "id": "fc_0fee8c9b9801dea2016ab44321326887d08e8b0163755c0ef3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YskiYhahGLFQXKXrvErB4aNz",
  "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, 0.7383, 0.469, -0.3111, -0.0231, -0.0292, 0.9983, 0.7532, 1.6318, 0.4404, 0.6449, 0.3882, 0.2504, 0.0146]\nstate[eef_state]: left_x=0.2834 left_y=0.002 left_z=0.1472 left_yaw=0.0005 left_pitch=-0.0179 left_roll=0.0002 left_gripper=0.9983 right_x=0.3222 right_y=0.2153 right_z=0.0489 right_yaw=0.2666 right_pitch=0.0662 right_roll=0.0361 right_gripper=0.0146\nstate[joint_eff]: [-0.0615, -1.388, 6.2701, 1.9121, -0.0415, -0.0513, -0.0122, 0.0615, -5.7231, 3.8222, 1.1795, 0.1929, 0.0415, 1.3553]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f409270c7b0cbdd127df400800fe1c030da543c546a63db6b79390599240eb04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7b734cd8831e83365d71bdc00ae6e8c37ecb48c86a6ebef5c2405800b819576",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a2a0e939877918eddc2ad848dd229968f3d60c44ede13e51cf2f41c4278d443",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7513, 0.5014, -0.3325, -0.0231, -0.0292, 0.9983, 0.7727, 1.6089, 0.395, 0.6842, 0.411, 0.2588, 0.0148]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1543 left_yaw=0.0005 left_pitch=-0.0198 left_roll=0.0003 left_gripper=0.9983 right_x=0.3133 right_y=0.2119 right_z=0.0502 right_yaw=0.262 right_pitch=0.0863 right_roll=0.0412 right_gripper=0.0148\nstate[joint_eff]: [-0.3077, -1.7573, 6.4752, 1.8632, -0.0415, -0.0464, -0.0122, 0.0205, -4.9026, 4.1231, 0.9792, 0.0366, 0.0366, 1.243]",
      "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, 0.7422, 0.4782, -0.318, -0.0231, -0.0292, 0.9983, 0.7563, 1.6165, 0.469, 0.4736, 0.395, 0.2523, 0.9955]\nstate[eef_state]: left_x=0.2839 left_y=0.002 left_z=0.149 left_yaw=0.0005 left_pitch=-0.0194 left_roll=0.0003 left_gripper=0.9983 right_x=0.3131 right_y=0.2068 right_z=0.0317 right_yaw=0.2637 right_pitch=-0.0444 right_roll=-0.0257 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.4017, 6.2564, 1.9414, -0.0366, -0.0464, -0.0122, -0.9231, -5.3265, 6.735, 2.0537, 0.1392, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7383, 0.469, -0.3111, -0.0231, -0.0292, 0.9983, 0.7532, 1.6318, 0.4404, 0.6449, 0.3882, 0.2504, 0.0146]\nstate[eef_state]: left_x=0.2834 left_y=0.002 left_z=0.1472 left_yaw=0.0005 left_pitch=-0.0179 left_roll=0.0002 left_gripper=0.9983 right_x=0.3222 right_y=0.2153 right_z=0.0489 right_yaw=0.2666 right_pitch=0.0662 right_roll=0.0361 right_gripper=0.0146\nstate[joint_eff]: [-0.0615, -1.388, 6.2701, 1.9121, -0.0415, -0.0513, -0.0122, 0.0615, -5.7231, 3.8222, 1.1795, 0.1929, 0.0415, 1.3553]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f409270c7b0cbdd127df400800fe1c030da543c546a63db6b79390599240eb04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7b734cd8831e83365d71bdc00ae6e8c37ecb48c86a6ebef5c2405800b819576",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a2a0e939877918eddc2ad848dd229968f3d60c44ede13e51cf2f41c4278d443",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0fee8c9b9801dea2016ab44324122487d089a895da8e1c55c1",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEMqavU7ngQzS_snb6u2cVDxRPCzoYUW-lw-aDk3-vXLMey4LGRnTq2kG-YkSnryzYQ5eVS0YrmuvNcwY_QEyHCETQlbTpHoEZY5nt0-rsODWKVcq8FJCPP8FHJpHI-OIc49MP30EB-EnIxT4f1qV7mS1vK574Ui7qV4Ggp2fIBrMJumBMdFI5v5fYvHJpTTMO1zJ98AsATQfgc9aEo1OJP57mHK264gMv_kGHfG93ggQFDcWpHU7mMAu1GbRNkstxPRMcZUO8uDEkRioH06zzpadU_oGzB9tvAB_bF80SBLFshurPryc9o7yTO72FtbQed9lexrIorBF4fh_ADpRdzMQb5EYw3RY7iHc26Ud0hvFJKeQDQo6dD-ukA2MWQhfA-KX5kRR3lknq2Z6YmdSFda4h58N8JuNfWUz04yrj_OGLInX0XIYmLzMqXwEfFrz36mm5kjBcSfFYK8yDWDK3Suf497DGHpH-McE4rDHmQNZ-fXp9fQK1CXsULhVF_48YHRwwCWbVnDnZd-TR9y--sZJ-LlsooJB7Kv4yduyrJIvjdAwjE9HWNnchL9reaRjX5rjSptKXq-ZGbcYiCEPqvTRS1TUgpky6D-FyBUVPNYS2kgBbwhB6XAir-EAPN9ik7utzyhOUoquy0WrXIVO1XSSGFAgKTCzc_x8Yc4Gw3G88rJPMWgmyB5VccmTaICzcO5wAXOu80tYFXlNIawBSpKvtIXglehJ0q2-Yz_86kw8duov86weh0WezNs0oJGC6TO-BWqbVnwYx58_QpvY3MLyguVC9UbTzxBAJ_E0Wey5OdUJ89KDmWBZymmhz5yqTXFBcAi1I5hSXTK_b8Ea-lHK95iQp6tYGzDDRbmRFPFe6GbNjAa2ROnouS6m2k_O1B2hFZO6bh4PrOiOqCOAJw-Q96HMvTNzr4NcHeEA1AKT-tA7BmlLpWmqwYiFn0KO8OAirXODA9eqXRqnJMHyJzFikyfkdgOIF3l7e13vhhMarTD4nQE3He6pEiHkqrp7P50YeofwHqAf-TjJzjBGS6GDQliF2JwtnlyYPq3DoF1A5vv6g6aUiCg0u7FrKJ0AlPlvDmPzngJlJHXe7mNHyESqzoLNm-zprIuFKvd6Pu0q2-qL9ZVXaI_kl17FKdxPromke3e8bAPcDSwVpXukn6yN65F8h_pQb_Zhg4qUcf7jfNxkTTJEukKG14LtJeItdUSQi7wurF8PQCARorgH87LcYSqLm0cDtW9Rj8UgAZz7JP81SKMdc3IuspZvqrlFYKC_8RlEyFv5BxchjazMe7IA7Ml1Y7Q4uAsM2fhK873KTBSl_Tsbxgggc-6gLU4odRgf9TdtCl9hkohf-aY7YKbu3T9T_hBh2X97IKLPu4l3rElNi_GSlxjO86QGSgCeOPNrSXPJFmkEpro9lLA-U9byIEElozZVqtT80T33wM5P7vQ6Uyl5anlW_cQq17qSX8YXRy_WxIQG8lY9phMmDBV8TCGy_4H-65WvjNxqU6qEXo=",
  "id": "rs_0fee8c9b9801dea2016ab44328835c87d0a13e89f25f7b4adb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.22,\"right_z\":0.1,\"right_yaw\":0.25,\"right_gripper\":1.0},\"note\":\"The second closure was also empty because the cap remained just behind the fingertip line. I’m reopening and lifting before moving farther outward, avoiding the low fingers pushing the cap along the table.\"}",
  "call_id": "call_eYxk7Oxu3OJ48og9JYg3Nsoa",
  "id": "fc_0fee8c9b9801dea2016ab44328fa0487d09b98176d5a1ec979",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eYxk7Oxu3OJ48og9JYg3Nsoa",
  "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, 0.738, 0.4641, -0.3111, -0.0231, -0.0288, 0.9983, 0.7162, 1.5539, 0.6544, 0.2188, 0.3592, 0.2153, 0.9955]\nstate[eef_state]: left_x=0.2827 left_y=0.002 left_z=0.1451 left_yaw=0.0003 left_pitch=-0.0225 left_roll=0.0007 left_gripper=0.9983 right_x=0.3386 right_y=0.2172 right_z=0.0734 right_yaw=0.2724 right_pitch=-0.0608 right_roll=-0.0388 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -1.9487, 6.0239, 1.9853, -0.0513, -0.0366, -0.0122, -1.0872, -8.7453, 8.6906, 1.7656, 0.1929, 0.1929, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2e376e9de6135eb11a1f8469f562a108ef25b82063893eec8ae6aa7d8305510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9dd735208eae5c554d01eaebbe9cb786820eec76e9c772ee0c2f926d7f584d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3df746dfa6d1b3a24144bf3cb35668d874a662dd3dae8827b6b3b18027d210",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 123 changed as sent

message 131 changed as sent

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7494, 0.487, -0.3256, -0.0227, -0.0288, 0.9983, 0.7719, 1.5768, 0.4568, 0.448, 0.4065, 0.2569, 0.9955]\nstate[eef_state]: left_x=0.2844 left_y=0.0019 left_z=0.1495 left_yaw=0.0 left_pitch=-0.0256 left_roll=0.0005 left_gripper=0.9983 right_x=0.3072 right_y=0.2066 right_z=0.0371 right_yaw=0.2677 right_pitch=-0.0394 right_roll=-0.0273 right_gripper=0.9955\nstate[joint_eff]: [-0.2803, -1.9761, 6.694, 1.873, -0.0415, -0.0513, -0.0122, -0.1436, -6.9128, 6.2291, 1.7118, 0.0855, 0.0269, -0.0904]\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, 0.7383, 0.469, -0.3111, -0.0231, -0.0292, 0.9983, 0.7532, 1.6318, 0.4404, 0.6449, 0.3882, 0.2504, 0.0146]\nstate[eef_state]: left_x=0.2834 left_y=0.002 left_z=0.1472 left_yaw=0.0005 left_pitch=-0.0179 left_roll=0.0002 left_gripper=0.9983 right_x=0.3222 right_y=0.2153 right_z=0.0489 right_yaw=0.2666 right_pitch=0.0662 right_roll=0.0361 right_gripper=0.0146\nstate[joint_eff]: [-0.0615, -1.388, 6.2701, 1.9121, -0.0415, -0.0513, -0.0122, 0.0615, -5.7231, 3.8222, 1.1795, 0.1929, 0.0415, 1.3553]",
      "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, 0.738, 0.4641, -0.3111, -0.0231, -0.0288, 0.9983, 0.7162, 1.5539, 0.6544, 0.2188, 0.3592, 0.2153, 0.9955]\nstate[eef_state]: left_x=0.2827 left_y=0.002 left_z=0.1451 left_yaw=0.0003 left_pitch=-0.0225 left_roll=0.0007 left_gripper=0.9983 right_x=0.3386 right_y=0.2172 right_z=0.0734 right_yaw=0.2724 right_pitch=-0.0608 right_roll=-0.0388 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -1.9487, 6.0239, 1.9853, -0.0513, -0.0366, -0.0122, -1.0872, -8.7453, 8.6906, 1.7656, 0.1929, 0.1929, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2e376e9de6135eb11a1f8469f562a108ef25b82063893eec8ae6aa7d8305510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9dd735208eae5c554d01eaebbe9cb786820eec76e9c772ee0c2f926d7f584d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3df746dfa6d1b3a24144bf3cb35668d874a662dd3dae8827b6b3b18027d210",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEMusFfACH4D6y3tY1vJvgF8fYZErve1CvIaptSxUtsP7eIHokzc5PhDaEjvNLe4hYjkMqHj4XzkDFEy_5eqnVvMg347qBMDTDRC9Xs9y-mvFEHeWla2gzAunmE1LjENd-Y3fhGs6p5q_Q4qnZEYltxRgYCttDYxqEODmaa4ove4XuLUGrJCSww8HAIAWQMm5IFCEX2YhM-93ZykKPB4YDF9J8AENhoqFq6S2qlG44i35z78HvG473D_GzV5L2JXdu3JhmNGPQNdFDkGsNKMX5Yz0dIxwhyq659pbzx8x_f_KW0H5h8nAIt62Ym__Nxyly4_de6r6xynzkxinJB0YvfaClQaopz6qs42rcj6s4WOKdhE_QiLSyIwbGgpiC16ts3_Tki538IQI__H1bY4pyDvKtm5QumZJUXBgOZT4JOFAEoF4fP7tyODxypNTj8k69mch7t2dhfcnx1YcTNWYUNa6gSmfGQxlF81y3Naj4m3h75CTV2WxYefL7RGdVo9AAQWN2H3gHP5ay7oC_3sTAzrDyGOIg1rYCbKhNkHPtEK-5_YEGiUlTrbXN-Qu6i3lC24rnnCC626HX9X8RYkvo6bP6ohb6Ld_OLnc98nHp4WdGFxJxqfX_V3AlEn-TctiZ1B7f-UvFW0RTzJDyOPchFf0-uCla_pE6Gi-0kiLvZBqaos9dY8VNEzs9VDYWmXOzBUDmfhO0EapKPiaebk3sKuwEvqZTYSUlYQB1DvVXdV7C_S96NDUL189pnsQ8E5OoWGLrkEKTuAJqMcpSuGtcTC4ABkW9wVWcM1JcctkRYZZD6knIuiu3vdpAc3lhid63imGA87dzvkxIAu43JN095O03s48F2a8pOFJ_NKwELIsChzXrRmIdvE6UBOfPixzHgsv_PD4FzIrIMq72ZKRX7otUuiOo_XprtAGJaHvS8MX94gup8XVsHehH-KsQR4Ldd8Cpt_C6Wtny8rarnFuhk1OIxn-knIgxkjyuKF_ED5AYZ_rKxwNFfneO0fGNtOctAU7kzMzt7P0UwC-JpQQJpEIr4zYUYXdnA9OYdKvIJkcxvWhiNLCE7E--Rz6wwvfKPMSVhD1OZZRQ_WYZICwwzAQ8Hff6giaw-OTFWqSzk0k7MsIydnou2BkmaNIWYqzBXonMiA3jcfSf2rMehFkH1Sc4KMqahRGxGZTIQUdZtvyCDAyUa3k4ZcJ5i1xm1RLMCiDLwx1FtQm567MeY7NZhnUJ4LdV02vgqGgJVti6-wqBPgK8Fr0JNAL4vcY08vCit8JDpAsUc82zhPTsH0jL0N9uEBJ7M9jqaAbGBEsH0Uzuxsu8P-JKY8cNZgBcEnTGW0Lfku2cvovskKHKGNhtFRFzjIFi0BHpgFekayQfWfb5VIaV6fv3u41oTdx2eqYBu06byW97SzQu-VVVaSk91WjMvRrQovJ2jDZpCyhMw8zzQz1lPwWTpfj6rr7OqZtQl-DXwggReufyOCpOt-tCGz9Ayl1VH06aU9LtwWgMBTmu8Y2niKR1R8_ELdRstS5IFCdicdnbXeW2zKhq0qLIwRnpA9zho5nWcnyvqatpKfCQrGTuTZV8Q6do-W72ky3MSJb5LJOkk5q3nR4A6ve7Zun0ZBDUFi3fLMssul2kisov51vT15mAgC21bIPJR24yNJXWMioFEcgHjVJEOEw3n192qbfbHmZaYXvVG6bfKebhPiLPpcO3vrilHgvQv-VnTmLfVvVW5SRxOcAQomHHRzeaspqQ1g4jFCnglPOlDnDwQVXNk47DWXMN_H9rZoEYTowucjRAIqENlXbdgeLgjmv6P-oPmGkWe_9P1pPrNk76xRHh9oZTZzkjjiR00z8VfR",
  "id": "rs_0fee8c9b9801dea2016ab4432c653c87d0bab5078c2f0e2a5f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.22,\"right_z\":0.17,\"right_yaw\":0.25},\"note\":\"At 7 cm actual height the fingers were still low enough to nudge the bottle, so the cap stayed at the image edge. I’m lifting to a true clearance height and then advancing over the neck without contact.\"}",
  "call_id": "call_7mxDQX3PTB9Df2BaJJMQTyMn",
  "id": "fc_0fee8c9b9801dea2016ab4432dc7b087d0939e836d3d2aa4ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7mxDQX3PTB9Df2BaJJMQTyMn",
  "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, 0.7284, 0.4492, -0.3035, -0.0231, -0.0292, 0.9983, 0.672, 1.4845, 0.8818, -0.0525, 0.3275, 0.1886, 0.9955]\nstate[eef_state]: left_x=0.2813 left_y=0.002 left_z=0.1423 left_yaw=0.0005 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9983 right_x=0.3629 right_y=0.2207 right_z=0.1411 right_yaw=0.269 right_pitch=-0.0456 right_roll=-0.0321 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -1.3744, 6.5709, 1.8926, -0.0269, -0.0611, -0.0122, -1.0462, -8.9231, 9.4701, 1.8193, 0.0513, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9100421520f92f551550d60ac193ea25ff3f7b28e05410d58557b9c533e932cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb92d61030f1b61393531bc1d870368d0e7bdf698fd15522dce90a6637a3a231",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2afd1cc858acbafb0f61a5787a77793826f58bd8a48b62d09219f173ec0330",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 127 changed as sent

message 136 changed as sent

message 140 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7422, 0.4782, -0.318, -0.0231, -0.0292, 0.9983, 0.7563, 1.6165, 0.469, 0.4736, 0.395, 0.2523, 0.9955]\nstate[eef_state]: left_x=0.2839 left_y=0.002 left_z=0.149 left_yaw=0.0005 left_pitch=-0.0194 left_roll=0.0003 left_gripper=0.9983 right_x=0.3131 right_y=0.2068 right_z=0.0317 right_yaw=0.2637 right_pitch=-0.0444 right_roll=-0.0257 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.4017, 6.2564, 1.9414, -0.0366, -0.0464, -0.0122, -0.9231, -5.3265, 6.735, 2.0537, 0.1392, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.738, 0.4641, -0.3111, -0.0231, -0.0288, 0.9983, 0.7162, 1.5539, 0.6544, 0.2188, 0.3592, 0.2153, 0.9955]\nstate[eef_state]: left_x=0.2827 left_y=0.002 left_z=0.1451 left_yaw=0.0003 left_pitch=-0.0225 left_roll=0.0007 left_gripper=0.9983 right_x=0.3386 right_y=0.2172 right_z=0.0734 right_yaw=0.2724 right_pitch=-0.0608 right_roll=-0.0388 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -1.9487, 6.0239, 1.9853, -0.0513, -0.0366, -0.0122, -1.0872, -8.7453, 8.6906, 1.7656, 0.1929, 0.1929, -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, 0.7284, 0.4492, -0.3035, -0.0231, -0.0292, 0.9983, 0.672, 1.4845, 0.8818, -0.0525, 0.3275, 0.1886, 0.9955]\nstate[eef_state]: left_x=0.2813 left_y=0.002 left_z=0.1423 left_yaw=0.0005 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9983 right_x=0.3629 right_y=0.2207 right_z=0.1411 right_yaw=0.269 right_pitch=-0.0456 right_roll=-0.0321 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -1.3744, 6.5709, 1.8926, -0.0269, -0.0611, -0.0122, -1.0462, -8.9231, 9.4701, 1.8193, 0.0513, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9100421520f92f551550d60ac193ea25ff3f7b28e05410d58557b9c533e932cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb92d61030f1b61393531bc1d870368d0e7bdf698fd15522dce90a6637a3a231",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2afd1cc858acbafb0f61a5787a77793826f58bd8a48b62d09219f173ec0330",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEM0Kt1BV6EoIOxfcvjwqdDVMJDumhb8ylnbUStJWh9QrWsy752d1Ge8HhjlNpSmNLom1BzOMjfL9zBckDXs-aBSgfqeBKPw4NJq4OfIC9NxE0vzwK5mysRXZXKwIQykIu4s5lIbWalp6xr18Vv1mYNj5TVpkvoMMmj3SwAgXQsWrIOePMgLHp5nS3u0djlteMSVx8ZAEaCZLyuH5x8d9ONBPVHz2fJT9vftMUAk9H3miry7bHNFTVFpp1pgeVsx8KJJFrdTfO6nVxT5cnptd8TaZgwbbYLY4ocMRmMcu4y9bO2BecZ9I3vW0qLzQq1p20iHAlpMRyLEDwPHWoIvuka1HYmdmb-ZmleGNhJX4Vhxz6Kua9ShLqK3vYUfSgWQAmzO3PjAqdYHu8FBI6fyLotUYV2suiYSyGut1xqXgjtBfoC4N1dRrLa3ce-pSBuELIWqQ7cdeOV8xv3WPVQX9IKp8AV8UmaVeguktoDpc77gxwUDgydaqgIFGXdM8R6RvYdIXdooVsqLrZaoCbVmnZLEYftyNZFoO3wFAnoCk4vzQT0OjAJdKzIJ46Lsp8cMfFSthoVDWKTra0lP4J-GHvvwF7fXoFuEfs4SxxVRPjrhfve06RFy8lq8XHhrgNy_JxhM_42jIEyHgIadbvp_Z7jigBaILx6OC3ZnviPrKjsYNT-aK_KghajG_Hz0aZCUoYl0Lt16WfFeh5oWjeT7XdPYvxcya7i9dcg1l9-ePnpypevdDYt4PJBhyLYBVrhsjirjHB-xnRv5FfLnSIl0MUi5BCy1pxd4ksg52OKY8zCNBpubu46dS7huk_cj-j6q0K9p3f6I0-JswZTkoBeO2WLPpxlpJJen1VJYPHZ8RLk_TODXPJpK-VMbsSiTIFY_X07FsajjOE8gCdYnxgbwXaqGl7RvQbus4gEZjQ3WJd2qyiv48EzH6ijVsDQpgnjm58IfWge7bbvCExTSYTVbZm7IMc8rANGeQX65q4yyAab9GfaA7ISEp12emOJy3tLjWDP2wnZ2dWxLcyISlwslNddSyfJbGVtz3jye2bLxEj-umSNgPOUHrOv2GwCCvRNOu_GZythds_hLabaP2QPj46NnIFfCMWnN89ubArydTG9B4MgEgZ2NRqmoDwqqe7VoI9aUvPgZQmWrEWazE2dGixNcom0y9Ti5H7txSemvRE27FiQ9QLWHZGI8cDg2Hq1HiE5xDtRW4Fn5S7WKoP0wFs1SzOJB5PeLSe3iCCDEElqRHz9dZ0igIJBJdFMu_Y2F8njeuHIUeqc3FLcPp4fPoOZiNX2cfgOpwSRpp7Nw5MOZWzL7PNFjoEpBa6IvodxDzUZZ-CyyFn8yaFX18-e09yOsLASa3koCgBeh10TEcbwHOceknORba-dXRQaBhaE4lwhst27pt3OdOb68eZKY0QfEIoXks9ToCSwDj2Og-sZ9gy6xj4MprYoR9ddU5Gv-0CemrVjGTsxBSY6kxTjX0KKBhxZqvUA3I314ZEgYDaM22O7EkxxVpPdg1HTLTEpzHEvyGlb91NFi_KQryMOBowVlm2ybuP_p-W58I0jA2WsuvEVUKrU8iy--zlNo_EAifNcSnSRJ0brL4cODq7hE8NPq3dvm_lyoni-d_zvKPSj_qPYKJKlkrE6az1_VkgIYNhAHTPQf-zwFmfN9XtyDBUaetmz1wfvFLAZ49V3u56Y89BjBTtilOohe6AkJstgNe-27Fp2I8UAISpawz33vmfPXSsqNyDDVzLFBKLcHCeDRLS12omP3MryXXQgi-mkZmeGvDbcoUCF9XNywlSzJPF1BThStlZipyKCfEdGiOrCgNm4Co73-nJeXJpMTPr5Lzm-KDSGWlx_FpnKne1UBh3oIzfJQQOM-4IS7Q8I-tA0peH6KFiT-ikaD34aaMr1YSCKw6ICFNQPTKoHT2BFXvom7-iS51G6ryHPC7miopGmQwgT1hvXEUI9v8ZnQdHklK5laZtqpt5aoJyfTTJI2lFo9C0SIKvPArsw4lCg5pa0SrqL3Tvrf3eUeZlupKPS52riE-r7fdStR0ynzaE0hVmizEfNv9VzZvmunZma57hnaNCOF05EypN_csirmZ753g3azP4qXruUZKMCKJ5qNrbuNhJCtzM5CyhRoT5VFiSGGt9CeYMfo8R7x9masn7ibKZFeLP5sB_Drs8yF8NK06w7uCrQefD6ey-2jn9AcEWq9amRBFTOSi_F_It6SlpioMmDR92Rp_sBCxU6KsvHW9ZKLk7mGouq-tFYjlQgvEn7zXLI67O_EGjbZ8ZTF1rXjqv2AqQOFeA-ISNz09NjCyt5q2gjDz9MO-zfhGUzMKaGB_m7oTXyng8juJQWT3V0Rn4GQ8WzyvN3kF0qfCVk4NskFbG_mHNNRPbQ6i_VkGxPghwg4xI7R9EAcUYBfpzkNNd8XuBQ1-KFaA0bjnhp2S-f-E7Zb9B6hN-2tlUeYH5HSjYB-QCiwDXQIWK8oe9gwYBNObGWWpdqAhjNxl-onS25X4LYr4nYXlK7vBM_s4M7uB1_f-gCZH_HVdN5pfh37n8DfTR6HFXohgvmx0tzH54uYnJt13pr4O_h7fQbZ1tTTbPmn1SfoPxBcibCd-WKB4IDR7ZvFhH5ZrDIUfYCNr33s58jCdUMJ1Ky5MQYz5ON6ME2Qe1sn8jG2VcY1W8SAwpTo",
  "id": "rs_0fee8c9b9801dea2016ab44330be3487d0bbafe837835867ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.363,\"right_y\":0.221,\"right_z\":0.03,\"right_yaw\":0.25},\"note\":\"With proper clearance, the target bottle is visible ahead-left in the wrist view while the overhead projection places the elevated gripper over its neck. I’m descending straight down; the wrist feature should move toward the fingertip line as height decreases.\"}",
  "call_id": "call_VWU8QKx8mZhlA01DRhz59Ll0",
  "id": "fc_0fee8c9b9801dea2016ab44333814c87d0906610475968497b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VWU8QKx8mZhlA01DRhz59Ll0",
  "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, 0.7181, 0.4343, -0.2955, -0.0235, -0.0292, 0.9983, 0.6685, 1.7683, 0.6231, 0.4732, 0.3363, 0.2043, 0.9955]\nstate[eef_state]: left_x=0.2799 left_y=0.0021 left_z=0.1398 left_yaw=0.0009 left_pitch=-0.0168 left_roll=0.0004 left_gripper=0.9983 right_x=0.3581 right_y=0.2131 right_z=0.0252 right_yaw=0.2496 right_pitch=-0.0588 right_roll=-0.031 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.1419, 6.6393, 1.8486, -0.0562, -0.0513, -0.0122, 0.759, -6.9538, 4.7521, 1.8193, 0.0611, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01b810f60c237279254b7a71db46a0ca6659749860ef1dbd6ba502c1b32549e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a9a1efc72a2a41c025116e69d9945a31e065419fff4eefa1c8588fe91d712a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39a9d2479422df3593222b5c6e495ed5ab7a6c0ac1cb6d98c39f8f37b44ce33a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 131 changed as sent

message 140 changed as sent

message 144 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7383, 0.469, -0.3111, -0.0231, -0.0292, 0.9983, 0.7532, 1.6318, 0.4404, 0.6449, 0.3882, 0.2504, 0.0146]\nstate[eef_state]: left_x=0.2834 left_y=0.002 left_z=0.1472 left_yaw=0.0005 left_pitch=-0.0179 left_roll=0.0002 left_gripper=0.9983 right_x=0.3222 right_y=0.2153 right_z=0.0489 right_yaw=0.2666 right_pitch=0.0662 right_roll=0.0361 right_gripper=0.0146\nstate[joint_eff]: [-0.0615, -1.388, 6.2701, 1.9121, -0.0415, -0.0513, -0.0122, 0.0615, -5.7231, 3.8222, 1.1795, 0.1929, 0.0415, 1.3553]",
      "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, 0.7284, 0.4492, -0.3035, -0.0231, -0.0292, 0.9983, 0.672, 1.4845, 0.8818, -0.0525, 0.3275, 0.1886, 0.9955]\nstate[eef_state]: left_x=0.2813 left_y=0.002 left_z=0.1423 left_yaw=0.0005 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9983 right_x=0.3629 right_y=0.2207 right_z=0.1411 right_yaw=0.269 right_pitch=-0.0456 right_roll=-0.0321 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -1.3744, 6.5709, 1.8926, -0.0269, -0.0611, -0.0122, -1.0462, -8.9231, 9.4701, 1.8193, 0.0513, 0.1099, -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, 0.7181, 0.4343, -0.2955, -0.0235, -0.0292, 0.9983, 0.6685, 1.7683, 0.6231, 0.4732, 0.3363, 0.2043, 0.9955]\nstate[eef_state]: left_x=0.2799 left_y=0.0021 left_z=0.1398 left_yaw=0.0009 left_pitch=-0.0168 left_roll=0.0004 left_gripper=0.9983 right_x=0.3581 right_y=0.2131 right_z=0.0252 right_yaw=0.2496 right_pitch=-0.0588 right_roll=-0.031 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.1419, 6.6393, 1.8486, -0.0562, -0.0513, -0.0122, 0.759, -6.9538, 4.7521, 1.8193, 0.0611, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01b810f60c237279254b7a71db46a0ca6659749860ef1dbd6ba502c1b32549e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a9a1efc72a2a41c025116e69d9945a31e065419fff4eefa1c8588fe91d712a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39a9d2479422df3593222b5c6e495ed5ab7a6c0ac1cb6d98c39f8f37b44ce33a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEM6q5ynQcaBS_Di8h9DipzA-Se9ba4hIpPP_A_34QbXPEFX0h0xLPPx3iZcE6dIte93OHC6imVliCbwjqEacCsR1_vwi0jeGfEXdnkHLiyk8lZNt27Z9CcRnROMaKfxyuJA1cOhr_Y6YN96H40oANH8kGPwoq_SSlf-9yPZ5TIWG4ZylE2liBLdQvBq5bhm90O8PNPzb4N2FzfKdqPhSiBj2ag5XrhbMWutgYejlA7XniXUmDZs7fp9_7IWbQoP0yQSStNCuWuB-tJ8t69N6uruztOJU9sAEUJN-y6t6r1cs9Y2zlobgpn7lhFs5imox14GILNDIO3q-LeWgk0M23ysIH-yine1HCo4VI8qevbsKcRfnbXVYuMUO-WhayIzC1hunCg4teAj3Xg-AX_U_jL4SFo1mw7SX-QtohHTsMzct5PIhEnal4T4Uv-pCVrtiz5QZX7pwkLuUzRgxFphjAvaF8d6ZXmaO0EudhlA1teUzrNZpHMNWN4M590zEgjPNhqam1qTlK2tqYcV-KKEDwNtzYlpYaLW_FqtRf90qn8avzVEr7zZO0AoB7ETM77RDgFyHuxkAKqPM9SRvdTaciDiMg15mrq3DysbHjR4eXjN_T2sn01HFfCFrYWuu2r2BdrF10dzR0Svym-WLzd2J3CqQ_hMK_klzOm1xsWjkSuv6dWUaPxZKExrXIdGvPGbGHYs54pAZ9GriT8Zjlf9jAanIFPXmsRL7tre6hKjm3MfknwTa9oCRsuYa83CAqkPuvfzDU45HtnwoO81xoRpEmlJsiFCktJTdhki_qwh1tacEg-QUSqTwqV5MuTiarV9ltjpuY9dlntgY2P9PuiyU9BDlWe3SbGUuTbnoK_DXiMot6GcK28RkZYtyH3uRPLHfye1wAPhfBcvZQ68hgxR8PTtrkhCQFnQyhU_g9QYS1tL8BHNl3TMisAgV9RU4tf-lOtfPLPiBLolgBmm7BRTJGfgWENDHrpm9MiqpXS_oMmACjA-k-u-uDrZketmLZXCLcA0w56am1FI0j_Y2zdeJ7Nqt2nvNJhLTaZ-MXGQbV8CxBPYJ4LK8i6PSSful3Us4iz84rWpJsOOd-pOmziMU13KKu-lVd06K_SVpFkCqcYQsBfj9jN_Q4RDMJKWaSlNxPYUY4zI6YLinUJdeauEssDwMdj3UZMTemTgmUtowHslKmyi0wkO7bWsIhAbq8WS7U8x2hy-s6LlP9DKmS5Z2GoiOUIyiW3Ti9raKgMtQZ66QW59FCLbGMiJ8G94f6YpkWxCuqTeQw25TwpkthVjjTRcmxG8eYOefwTk-zjvUVBRJfRKCXWBI4k1k6rT1iy_nGNIa670Cd7UPAGv7EftaR1TwPkmdVFnXtUu7JDirQZoPqUEhGmP-UHtZnkvLsqTe1WS1cfnER4NJu7_MO_GCW3vLW-tefnOo9paOIf1Nnxrwx2HF3mAHuDRgd8N2N-kBduj4nAVWEgtG-kKGxMBVmSH-a-ILb5Hn0o8O5hb-2DW4C6Wi_cTQdtLm-u0cYkcUfqPZK4yVzw6wi2bceBWZ0pYxU3PVleec8pvdndzYW6oM6lLrx51DCxsFH7V2o4RfmCtszdhUazHp9OqeSIDO_2GQqHE-FnU0ChYTieO2rFipBSe13gd2f58AADsZE1GWABCBMAO9suk4grGX1_4fDf38AmlGJrZvCRPts_I97Jpfqcw-UxqDJKDYb_8QJNsk_1Y_etgh2hzYIbAuaMA2hypswSP2BBlWgP7yKjsUuaRbRUIR9tM8h1LHJOc7suPuJgHOVaVpKkRcLkWCzvKbgnUU8bEc62A8ijeXg0u6aDICFo0upeNc4Mh_l96AERjHKxu57Zsr_-_gViBC4RNTW224QBYoWgzYsoTH8Kk6zx2BthNJA1FmyFqvNvitcV19fRvTklmQsuhToQ6mSoabn8K_sYG3860aH5AuHGstUqNnF1CqPH9CN19JT4Chejv2Tn5aRVcq1zpbKfitBo6TB8oOMztGp-W05EBhAoDtJz15aOcB4jUDF1WZVH4l7TgL0WfajymGcVJG1oL_xrdiPSQB3tKU3n61kdpABW-v9kCHP23HYiKTSIRA_BBDlwUUXUgTqV2PE52IfblNb-6j2_6yiCirNdP3mqekDJp5B7Vp66J6S7y2ZjnvZzHkqrGynkAxMLwFMdaZxopEnBtvOzJqIVQPvhL_RQSnirAlhlI-GqgyRuiZKIDfAOChxWJCNrSjTX6CgOG2dtP9-U0I5upcr1N27wadzC9s132BejM02-ZqFTIDoGEW3ziwZ3cr0O6ZYTWo7_cFgYbYaZ5FaZtg8Q86KmkK4aVLmkoLOHc0mtbDa1PoVDGsbRzKiRXOYmfSgjMAYZfrKQy4_nIrn6felDJaP3CqifIPfmK3vCX-qSscTTNsQODYIBZ2pwGn0U_TM7Ap2xxJZp4gNmtpRUywB-eQvZoz3j_JXL8aJjx4nXJVkamcSmZClmcdhWPHI5ytNTr0ZwCjcXS5ARtAbyoz_IeVgpLESVA5TjAwEzlkkYSCQg2NPj9aSKKyEI5hGtPHbvHY7YBy4p7ewnK-L3KY7SRprQtjeHPPpTkr8RcLCbfU-eicqa4Oq7jwWl6CaltAdi8J_Wki6NNhhUk-Wx3TGW6yYXwBQFS40TsAEVD8APdsql_4sx2G7X8omPAm_I8ydSEt8Io7W5vEo1OzpbvKnrK_G0h75KsPGY3kTNJA7TZGA43E0tdCz0EKP3Lf-Hs",
  "id": "rs_0fee8c9b9801dea2016ab443367bdc87d0a10e969fc6c56327",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.358,\"right_y\":0.25,\"right_z\":0.12,\"right_yaw\":0.25},\"note\":\"The low pose is reachable, but the wrist view shows the bottle at the far left edge, so the neck is laterally outside the jaw column. I’m lifting and shifting the camera/gripper toward the arm’s left before another descent.\"}",
  "call_id": "call_HM5zWTJWWZo4Nux8kqHABZ7e",
  "id": "fc_0fee8c9b9801dea2016ab44339be1087d08af3063bb14589d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HM5zWTJWWZo4Nux8kqHABZ7e",
  "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, 0.7158, 0.4305, -0.2916, -0.0231, -0.0292, 0.9983, 0.7601, 1.6161, 0.791, 0.1596, 0.3744, 0.2356, 0.9955]\nstate[eef_state]: left_x=0.2798 left_y=0.0021 left_z=0.1395 left_yaw=0.0005 left_pitch=-0.0145 left_roll=0.0002 left_gripper=0.9983 right_x=0.3514 right_y=0.2499 right_z=0.0918 right_yaw=0.2934 right_pitch=-0.0428 right_roll=-0.0242 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.5521, 6.0239, 1.9121, -0.0562, -0.0806, -0.0122, 0.1436, -9.6205, 9.0051, 1.9365, 0.4176, 0.3053, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d07475efe68861076cfbb42e5ea2199f4a49fc65165b9eab9eba7df64c98b873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f587915b371a072eea2eeace5b24e63c317c495d3d5adc4de7d01f8f2852d1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d78e16890075dfadf7a88ad98fa12e91a34d84055eaec70e93a358b93f2fbc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.738, 0.4641, -0.3111, -0.0231, -0.0288, 0.9983, 0.7162, 1.5539, 0.6544, 0.2188, 0.3592, 0.2153, 0.9955]\nstate[eef_state]: left_x=0.2827 left_y=0.002 left_z=0.1451 left_yaw=0.0003 left_pitch=-0.0225 left_roll=0.0007 left_gripper=0.9983 right_x=0.3386 right_y=0.2172 right_z=0.0734 right_yaw=0.2724 right_pitch=-0.0608 right_roll=-0.0388 right_gripper=0.9955\nstate[joint_eff]: [-0.3214, -1.9487, 6.0239, 1.9853, -0.0513, -0.0366, -0.0122, -1.0872, -8.7453, 8.6906, 1.7656, 0.1929, 0.1929, -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, 0.7181, 0.4343, -0.2955, -0.0235, -0.0292, 0.9983, 0.6685, 1.7683, 0.6231, 0.4732, 0.3363, 0.2043, 0.9955]\nstate[eef_state]: left_x=0.2799 left_y=0.0021 left_z=0.1398 left_yaw=0.0009 left_pitch=-0.0168 left_roll=0.0004 left_gripper=0.9983 right_x=0.3581 right_y=0.2131 right_z=0.0252 right_yaw=0.2496 right_pitch=-0.0588 right_roll=-0.031 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.1419, 6.6393, 1.8486, -0.0562, -0.0513, -0.0122, 0.759, -6.9538, 4.7521, 1.8193, 0.0611, 0.0464, -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, 0.7158, 0.4305, -0.2916, -0.0231, -0.0292, 0.9983, 0.7601, 1.6161, 0.791, 0.1596, 0.3744, 0.2356, 0.9955]\nstate[eef_state]: left_x=0.2798 left_y=0.0021 left_z=0.1395 left_yaw=0.0005 left_pitch=-0.0145 left_roll=0.0002 left_gripper=0.9983 right_x=0.3514 right_y=0.2499 right_z=0.0918 right_yaw=0.2934 right_pitch=-0.0428 right_roll=-0.0242 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.5521, 6.0239, 1.9121, -0.0562, -0.0806, -0.0122, 0.1436, -9.6205, 9.0051, 1.9365, 0.4176, 0.3053, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d07475efe68861076cfbb42e5ea2199f4a49fc65165b9eab9eba7df64c98b873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f587915b371a072eea2eeace5b24e63c317c495d3d5adc4de7d01f8f2852d1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d78e16890075dfadf7a88ad98fa12e91a34d84055eaec70e93a358b93f2fbc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0fee8c9b9801dea2016ab4433d5c3887d0ae65a89069f3b06b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.28,\"right_z\":0.13,\"right_yaw\":0.25},\"note\":\"The lateral shift brought the bottle much closer to the jaw column, though it remains about 3 cm to the wrist image’s left. I’m making the remaining leftward correction while keeping the fingers clear.\"}",
  "call_id": "call_mSMoNdMJywa9GUUgPihmWyc6",
  "id": "fc_0fee8c9b9801dea2016ab4433ffdd887d0b45c1864584196cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mSMoNdMJywa9GUUgPihmWyc6",
  "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]: [-0.02, 0.712, 0.4305, -0.2916, -0.0231, -0.0292, 0.9983, 0.8188, 1.636, 0.8936, 0.0399, 0.4194, 0.2691, 0.9955]\nstate[eef_state]: left_x=0.2797 left_y=0.0021 left_z=0.1405 left_yaw=0.0005 left_pitch=-0.0107 left_roll=0.0001 left_gripper=0.9983 right_x=0.3471 right_y=0.271 right_z=0.1047 right_yaw=0.2969 right_pitch=-0.0619 right_roll=-0.0395 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.0872, 6.1333, 1.873, -0.0317, -0.0415, -0.0122, -0.3487, -7.2957, 9.7299, 1.8779, 0.5592, 0.2808, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33183d02ea0838cc750b02685e90873713fd88edae843ab79181aa1ee3488ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cefb5b54fed8f3b81902376493449cff411c080ec9838a95b0bb7bfe71ed89a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91778d607383855c0535ee66a9c311f49bb44c6e69a952e36bc98fdd81fa4436",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7284, 0.4492, -0.3035, -0.0231, -0.0292, 0.9983, 0.672, 1.4845, 0.8818, -0.0525, 0.3275, 0.1886, 0.9955]\nstate[eef_state]: left_x=0.2813 left_y=0.002 left_z=0.1423 left_yaw=0.0005 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9983 right_x=0.3629 right_y=0.2207 right_z=0.1411 right_yaw=0.269 right_pitch=-0.0456 right_roll=-0.0321 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -1.3744, 6.5709, 1.8926, -0.0269, -0.0611, -0.0122, -1.0462, -8.9231, 9.4701, 1.8193, 0.0513, 0.1099, -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, 0.7158, 0.4305, -0.2916, -0.0231, -0.0292, 0.9983, 0.7601, 1.6161, 0.791, 0.1596, 0.3744, 0.2356, 0.9955]\nstate[eef_state]: left_x=0.2798 left_y=0.0021 left_z=0.1395 left_yaw=0.0005 left_pitch=-0.0145 left_roll=0.0002 left_gripper=0.9983 right_x=0.3514 right_y=0.2499 right_z=0.0918 right_yaw=0.2934 right_pitch=-0.0428 right_roll=-0.0242 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.5521, 6.0239, 1.9121, -0.0562, -0.0806, -0.0122, 0.1436, -9.6205, 9.0051, 1.9365, 0.4176, 0.3053, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.712, 0.4305, -0.2916, -0.0231, -0.0292, 0.9983, 0.8188, 1.636, 0.8936, 0.0399, 0.4194, 0.2691, 0.9955]\nstate[eef_state]: left_x=0.2797 left_y=0.0021 left_z=0.1405 left_yaw=0.0005 left_pitch=-0.0107 left_roll=0.0001 left_gripper=0.9983 right_x=0.3471 right_y=0.271 right_z=0.1047 right_yaw=0.2969 right_pitch=-0.0619 right_roll=-0.0395 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.0872, 6.1333, 1.873, -0.0317, -0.0415, -0.0122, -0.3487, -7.2957, 9.7299, 1.8779, 0.5592, 0.2808, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33183d02ea0838cc750b02685e90873713fd88edae843ab79181aa1ee3488ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cefb5b54fed8f3b81902376493449cff411c080ec9838a95b0bb7bfe71ed89a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91778d607383855c0535ee66a9c311f49bb44c6e69a952e36bc98fdd81fa4436",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
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  "id": "rs_0fee8c9b9801dea2016ab443425db887d09b9185d1195951ba",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_0fee8c9b9801dea2016ab443477f0887d09262673a4c93a0d9",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_0fee8c9b9801dea2016ab4434be04c87d088eb37c6282ea8fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.13,\"left_z\":0.15,\"left_yaw\":0.55,\"left_gripper\":1.0,\"right_x\":0.30,\"right_y\":0.1,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The center target remains outside a practical low combined reach, so I’m parking the right arm and switching to the leftmost bottle, whose neck is much closer to the left arm. Its diagonal axis is about +0.55 rad, so I’m matching that yaw above the neck.\"}",
  "call_id": "call_iGxWyXPsbLSGZMVOQNnzbtNr",
  "id": "fc_0fee8c9b9801dea2016ab44350c5ac87d09753cc45544884ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iGxWyXPsbLSGZMVOQNnzbtNr",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.622, 1.7737, 1.2423, -0.4538, -0.8516, -0.8703, 0.9988, 0.3302, 0.9665, 0.6094, -0.2775, 0.0818, 0.0257, 0.9984]\nstate[eef_state]: left_x=0.4191 left_y=-0.1325 left_z=0.1429 left_yaw=0.4953 left_pitch=-0.0188 left_roll=-0.0065 left_gripper=0.9988 right_x=0.3052 right_y=0.0931 right_z=0.1541 right_yaw=0.22 right_pitch=-0.0628 right_roll=-0.0164 right_gripper=0.9984\nstate[joint_eff]: [-0.5538, -9.1009, 7.7333, 0.696, -0.6178, -0.0904, -0.1343, -0.9368, -0.5538, 9.4427, 1.5946, 0.1294, 0.0415, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4732087618a918da156520a78fa6e593845547f721afdd716d5e77286a51b749",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68cbfe48c45ddf42f186b81702c83a94a1d61aaaab1632e998b1dbc7b6a4d3b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1b9410fdada4de719d2b339e21654a30a8016fbb3528760ff01caec2b95104",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 144 changed as sent

message 152 changed as sent

message 158 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7181, 0.4343, -0.2955, -0.0235, -0.0292, 0.9983, 0.6685, 1.7683, 0.6231, 0.4732, 0.3363, 0.2043, 0.9955]\nstate[eef_state]: left_x=0.2799 left_y=0.0021 left_z=0.1398 left_yaw=0.0009 left_pitch=-0.0168 left_roll=0.0004 left_gripper=0.9983 right_x=0.3581 right_y=0.2131 right_z=0.0252 right_yaw=0.2496 right_pitch=-0.0588 right_roll=-0.031 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.1419, 6.6393, 1.8486, -0.0562, -0.0513, -0.0122, 0.759, -6.9538, 4.7521, 1.8193, 0.0611, 0.0464, -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, 0.712, 0.4305, -0.2916, -0.0231, -0.0292, 0.9983, 0.8188, 1.636, 0.8936, 0.0399, 0.4194, 0.2691, 0.9955]\nstate[eef_state]: left_x=0.2797 left_y=0.0021 left_z=0.1405 left_yaw=0.0005 left_pitch=-0.0107 left_roll=0.0001 left_gripper=0.9983 right_x=0.3471 right_y=0.271 right_z=0.1047 right_yaw=0.2969 right_pitch=-0.0619 right_roll=-0.0395 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.0872, 6.1333, 1.873, -0.0317, -0.0415, -0.0122, -0.3487, -7.2957, 9.7299, 1.8779, 0.5592, 0.2808, -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]: [-0.622, 1.7737, 1.2423, -0.4538, -0.8516, -0.8703, 0.9988, 0.3302, 0.9665, 0.6094, -0.2775, 0.0818, 0.0257, 0.9984]\nstate[eef_state]: left_x=0.4191 left_y=-0.1325 left_z=0.1429 left_yaw=0.4953 left_pitch=-0.0188 left_roll=-0.0065 left_gripper=0.9988 right_x=0.3052 right_y=0.0931 right_z=0.1541 right_yaw=0.22 right_pitch=-0.0628 right_roll=-0.0164 right_gripper=0.9984\nstate[joint_eff]: [-0.5538, -9.1009, 7.7333, 0.696, -0.6178, -0.0904, -0.1343, -0.9368, -0.5538, 9.4427, 1.5946, 0.1294, 0.0415, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4732087618a918da156520a78fa6e593845547f721afdd716d5e77286a51b749",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68cbfe48c45ddf42f186b81702c83a94a1d61aaaab1632e998b1dbc7b6a4d3b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1b9410fdada4de719d2b339e21654a30a8016fbb3528760ff01caec2b95104",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtENXxrMFyQkaPV8g7u5I7BddHcDsJVh06TmAa30qrb_ujQnE85U1-0K8I1174L1UPdWxz40iS4OhXWZISBwcC3mCvvMbEGcJcCeUwHIMMmwYo6OAvc84oygsvcbknpeK5L0lS8xdmE5tFL58AfBeDcGZBkLv5JVQJ3_-qnqlQ4vgw8FSt4x0VxvRDrPXBRvdQ2nAdb--_9miQIsE8orX31s3ibdqW4iSzSv6eexeM0oKdAcP1o-1yqfHWLlGiQa8pFnhJxDChEIQEJZeo6fwZJx_C4I0897w7N-zSHDxbSxZ4ZgF4e3j4ysgHR8K0UmABT8MWloGbITgz8j_ij-pPwQgpdSBnMob3xW9lG6ruDzA4LLrKELDUYOKcCAnkrmRwhyvC7_YTIi6mydpDIqCaY2JGQm3Vl7pHUP969PuHW5v5khui3c4bekd5MNSFN6mQVUCLv_DYIsyPdX-oqGOGCa4jXSqU2_6gw9fNfjUJM8u11SJaqTestk9SIuy0U0dnsU9Kt0Ru8FBfWN5i5gxwaT2G52GfZSPu-TO7oZPaTqgA2meYBwCS7Y9ksxKl4iRP50Xh3PaTmwTwtXEUh5rVCv7rJDIOlV3-a_6Ulmy4e87OaHCRAK-xchgtvGjaSp7LFKkfN28Kq8e-2FywGLRc_TjupWD_ivI9BT0WK6aqcf9x_kfBpseJkYlQ9JAGQiu97u-3iGvKFF04lEjojAqXpneiijcEJVF8Qqhlnq3EfIpn3Z203uQADxbQSYORwjj39k217cni1n8VN1XJTarskjOOUnQdfk8Q4qPTise_nECIsGlUzLTfS1c8xpWiIxv6VHM8UqaOat8Kx0oar2_m0-YDdonE0VKz1XRpfrn9UyQU-0ayYqae2N44Mhs1mlUZiSFZMFkr1VuHFBG3OLXIqw6fYdCc_y1ZyULgLUlwNrmGYqFDOQOxUG0TazyvHl_8l6wbybPpbsuQEsT5vrtGIzuWktMQfsHbLgKPdtJgmcwI4L92XsYdVs2_DdpxFQQxC7_LFD1EX3I_CZNhTpQUzdPViaTuA19osUx5yTgLthzOdGOhbQtS4ibF6satVTf0ZxCLThOvXtLXh_D0dXFfucQCyHC8UmO3ByyQagfVxfy1rgKQTnjG9_3Bn3W9J9tpiI2M8jzT37VlhiG3Kk0oinRnOWtxglA2SvSjn_PTDFi32Cr3Jz_dzE-1q1x_LZdDzpSe0MWL6Au-81f3YWnZP6cu4JmDmqPnCbNgcCSRkKog4QoVrpuIH_mJIzSphlagAOis5IEDsPxWThsjK8p1qOdMSFuTm7xn_SmwKLuytJuX_bDBO0e7d89DGwZrVYBu3_PUu0W_eh_QGIeH20yZrpvIE27_nhh0GkVjyYqCw-RgxgrhMr7aL9IvHQ5cJF7nx0MVlcO2Mr6mQiIQ7lWXa7xvRQFJNpzrQOva11adepVuBKzDRNIBXD_OXjOaTYaMU7l4trLZQfuRoKUDfP3uo2p0UtlQWYx5JYDIyWldnZgZPmVmkRtXGWKteVlwiuqND3IfuNPvhZFv-17BuWQtJhpmZin21X87ysXq1vZcoIkZPHvub8dIVavyQbzmJXGWfBnzMlIhhy4c2O-7JD4bFdFQr34qG8GnYiDi4DNgPLvbBw_tjpE61PfzNKejpyfwbDNQlYgPWxvlTrjzwZwG_xOfnCXsnaZGQY1hj3DZuv_Iw4uNlAJ0nnR2W9uuxRpwDWpXNYhhuR0vdkDuCDibAW7WWgH6bTaLcDEraO9UOWEGsXVlMum78UaPV6kqNkXOr-D7q6fLE7qboZyr1jZDndG-bDoBQSEvMfH99Lrdw3rJOSSFyWCT99829mbdvo7qSnIBX-9zyigrKry3Xkw-dDo_Y1UeoF3a_B0UPZxLS7cP1E0AiB7iJJUec9ouhXAYQANvl2WzFadskU8yeP_Pkqcj8qS4Fe9odX4NEWzXidN0lrTgq8jom-7xaR2iqBfEBCsFOg8wJU9wfUmQTea42EUKfgQCHxmlK8ynxbTnD5vuR-zthC4f1zNKDtwlYSqNI_9yq79LL8DgxerJJePsYjaeB19Wgle7IYfnDddvXho-LX6EzJtRr0s29qNAqPgMkSrUkQHyxWeJ1slcnIenMhstSoykpJYSxJBsqAEtnBXNcNUWWaJcSo1wOdv8kd5dviyyLff8AH1LnJPgLpQdPEo09wjUZP5Iei24nZiIBmKeJTSha1qYCQwfjG5yRRAx-Aho_mnLusZklvfyie3eaZ3Jf_O1fYR_U7Z8npHnJ98B7gbS8zXX2CNZuigpCMZ8oarP2kRsplIkpMjXuZgIbBG_M4CBmYFY5NiZTx_LW8ZMBZNem00f8HEH71mHpdhK6mQIYQwF4iZagHeyyu__5s0jA==",
  "id": "rs_0fee8c9b9801dea2016ab443548ce087d09aaf8bc92540287a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.13,\"left_z\":0.15,\"left_yaw\":0.55},\"note\":\"The leftmost bottle’s cap is centered in the left wrist view, but it is still several centimetres ahead of the fingertip line. I’m advancing radially while remaining at clearance height to bring the neck under the grasp point.\"}",
  "call_id": "call_6WRcIGCIFTSOyfR0kSB7XRTx",
  "id": "fc_0fee8c9b9801dea2016ab44356bd1087d0a10bdf7556cc3a8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6WRcIGCIFTSOyfR0kSB7XRTx",
  "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]: [-0.5598, 1.9274, 1.4242, -0.4957, -0.8642, -0.8745, 0.9985, 0.3214, 0.9356, 0.5377, -0.2417, 0.0521, 0.0128, 0.9983]\nstate[eef_state]: left_x=0.4594 left_y=-0.1251 left_z=0.1386 left_yaw=0.5669 left_pitch=-0.0152 left_roll=0.007 left_gripper=0.9985 right_x=0.2962 right_y=0.0927 right_z=0.1379 right_yaw=0.2433 right_pitch=-0.0693 right_roll=-0.0097 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -10.2632, 8.3761, 1.0769, -0.4908, 0.1148, -0.0513, 0.0889, -2.6462, 7.5829, 2.2002, 0.1587, 0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c350b7ab0aaa62e87a207ccd9b00da5b9c1296e613f75c40e7744509052d88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:466881b1f7f93ed74e938b6f0ae030b983861ee3658f8636783af32849e42822",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99715a83188d06b187fb72d4b794f358cc152e619b9ba2720e9134d8d8eee498",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 148 changed as sent

message 158 changed as sent

message 162 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7158, 0.4305, -0.2916, -0.0231, -0.0292, 0.9983, 0.7601, 1.6161, 0.791, 0.1596, 0.3744, 0.2356, 0.9955]\nstate[eef_state]: left_x=0.2798 left_y=0.0021 left_z=0.1395 left_yaw=0.0005 left_pitch=-0.0145 left_roll=0.0002 left_gripper=0.9983 right_x=0.3514 right_y=0.2499 right_z=0.0918 right_yaw=0.2934 right_pitch=-0.0428 right_roll=-0.0242 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.5521, 6.0239, 1.9121, -0.0562, -0.0806, -0.0122, 0.1436, -9.6205, 9.0051, 1.9365, 0.4176, 0.3053, -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]: [-0.622, 1.7737, 1.2423, -0.4538, -0.8516, -0.8703, 0.9988, 0.3302, 0.9665, 0.6094, -0.2775, 0.0818, 0.0257, 0.9984]\nstate[eef_state]: left_x=0.4191 left_y=-0.1325 left_z=0.1429 left_yaw=0.4953 left_pitch=-0.0188 left_roll=-0.0065 left_gripper=0.9988 right_x=0.3052 right_y=0.0931 right_z=0.1541 right_yaw=0.22 right_pitch=-0.0628 right_roll=-0.0164 right_gripper=0.9984\nstate[joint_eff]: [-0.5538, -9.1009, 7.7333, 0.696, -0.6178, -0.0904, -0.1343, -0.9368, -0.5538, 9.4427, 1.5946, 0.1294, 0.0415, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5598, 1.9274, 1.4242, -0.4957, -0.8642, -0.8745, 0.9985, 0.3214, 0.9356, 0.5377, -0.2417, 0.0521, 0.0128, 0.9983]\nstate[eef_state]: left_x=0.4594 left_y=-0.1251 left_z=0.1386 left_yaw=0.5669 left_pitch=-0.0152 left_roll=0.007 left_gripper=0.9985 right_x=0.2962 right_y=0.0927 right_z=0.1379 right_yaw=0.2433 right_pitch=-0.0693 right_roll=-0.0097 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -10.2632, 8.3761, 1.0769, -0.4908, 0.1148, -0.0513, 0.0889, -2.6462, 7.5829, 2.2002, 0.1587, 0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c350b7ab0aaa62e87a207ccd9b00da5b9c1296e613f75c40e7744509052d88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:466881b1f7f93ed74e938b6f0ae030b983861ee3658f8636783af32849e42822",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99715a83188d06b187fb72d4b794f358cc152e619b9ba2720e9134d8d8eee498",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0fee8c9b9801dea2016ab44359a4a487d09246f0c79bcc52b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.13,\"left_z\":0.03,\"left_yaw\":0.55},\"note\":\"The cap is now low and nearly centered between the left jaws, still about 3 cm short of the grasp point. I’m making that final outward correction while descending to neck height.\"}",
  "call_id": "call_umi7rOJ5X3jFiu0nOtgRHYJJ",
  "id": "fc_0fee8c9b9801dea2016ab4435b43d087d08da5bdbcd4c9bcec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_umi7rOJ5X3jFiu0nOtgRHYJJ",
  "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]: [-0.551, 1.9411, 1.4483, -0.4911, -0.8536, -0.8642, 0.9984, 0.3202, 0.9051, 0.4644, -0.1745, 0.0479, 0.0097, 0.9983]\nstate[eef_state]: left_x=0.4659 left_y=-0.1259 left_z=0.1401 left_yaw=0.5641 left_pitch=-0.0169 left_roll=-0.0017 left_gripper=0.9984 right_x=0.2916 right_y=0.0916 right_z=0.1273 right_yaw=0.2475 right_pitch=-0.0451 right_roll=-0.0079 right_gripper=0.9983\nstate[joint_eff]: [-0.7453, -10.4274, 8.5812, 1.16, -0.4811, 0.1783, -0.022, -0.2803, -2.4957, 7.3368, 2.083, -0.0269, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1acb22fb92f1de1e96bdc1d91099ebffbb2719a51822cd0377b6012cd7bfb97f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c3349e0bcbad1224c0f9e0b8460d62a8b320b4b4b660e4deb4676af3e941af7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7a8fdc4cf561df1d65acaea9e6a6c653052073fe130437c4a406048444f447a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}