adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 0.7933, 0.6075, -0.3767, -0.0227, -0.0284, 0.9986, -0.0154, 0.7891, 0.6037, -0.3851, -0.0288, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0013 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=0.1801 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -1.4701, 9.7983, 1.7753, -0.0659, 0.149, -0.1587, -0.8, -1.1692, 10.4274, 1.8486, 0.0513, 0.2076, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c34a839c28099a394210fddc9c0013911883cbe2db44d096fbbe42024f719f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54df1788022e73e0a383350837a6f4df2879cc982eca678cd15a7c6c9bc79f47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a31de83b3e2a9bad9dccc17362a74808863b61a14a2f592cc0bb5009d5a8edcd",
      "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_0a4c666cf4c1b196016ab44ab91fd887d0bfdb0699f34561bf",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErA2Ca0DR8p3TIoEVhovMZibgPuNxOBbuXiAOGMLDLjQIvmevBYU38Pg9-v2SJF38668qOXFXN2i1EHn0xyX-E-jBKatcOipKppca9caHpu6TI2m6l97EsYavL84xubex556amJOIo8elSKmkoM6tpKTh5x2twzwhx5SzY7DlajLY4D30ZcghsP5d9XiZnCiyUUY5UXKX7ZbRkDAEwq9ou75_LM6to8MuZX1WbuiBaLbQoXXkOjPy7-h_KGY9RI-Xxe9J9qxJ-b4jA9o4JYc_LjprC6hQUPf5yY8bhwP2ZnakzJr8KPjvwMg2VPUIUd3myxOE-W8XoJYigMPnN50IXTiIX_amCWgvEIAKK6wvavzNRLZJbJ89FddnbHI7kxXIDBqjyHLifvMeyQSLNZm8mcv_FuetXdMe5DJMqueMNUr5yqYczXsmJ8s9hjChXBGD4Zbpem4DfiDOAEhUuy3QnkSu2BY9vcjg4Opq-aHEYkcFv3yFLtUCESt6ZMg513Eg04R82hhuuslpG1LFvpyp-WzaTuP_4MjXIGggszM0j_tG2gSJinLe4_kuBKZ3SOaPKjo9JMB_SIhgWN_XUQrMu-V7JS24ncy-gB7h5SaFFtEXU1E8Yx2okHLaWcCoMVbzeHKZcZRH_O6dLpw20FCNHOvD3XM0AJ368gosz0I5XhgT6gGymZXFa2smuok0lR9afAVsY607B-GaBltTbyXiYUgi1XYlXpgVNtrYBHz_xYOQnYEQzhgEKNr3hGz5viQf4hhpVa2E9gYyMfBnHv-4K-VT8zYSx8rUOWarIXHvGFXrzx4XLEw4mdy0GudvNUi8oWIuj3e31aCPMNymdk3nvKweyYfIOIJ8xKc76AD4lmVipFv4tjDRGX4QD7dqtxQrkjBt4ekPy74anDYRCDXYuwNhb28INiLykJsHHg83wqqCM2-NPgaJAeHVe4xURPS2Iorid6iKybbXvfcv_c-RRfWaB7xM0Ik-Nx_63benKH7zRl1vK20mBY0visNpu2_y7ZI--tP7lhDxugBWsLWAQbaR8FY9AIKIc5eYyj4tFPHq4jJF8JFf4Hl9v4R2b9Cma6FisrrqANboNMziOBgTwzljHBDWe7eXMztm6fcE9RpzJAWZZLbH14FlNGYEcBIpbfOISLSMsFJAyNXd5Xo4NTplffD6RTJiISQTBY3N4LbEkvUF65sX85_WW30I2u8B2Gg7MP53qmjRxQWyG3QYhAz4HDMXMvEuAwCybmCM0JYHA6HKw__uoFPxNhcqMJrqHQejuNr5wJ3Vx3QJj3lso8cUSsYALT1Yv3HPlNYl9sCE8q-GwY6wvjCLpFbqo72WMydvAjzDFEOGsawn2MYHaHrNjY-o_uZ_ALJryra0KbF4bC2pokGe_gPJwtOyvCydjqqye9I4miVYrbAlIOmeUTaY_daQO8bnMaHJFtPUzgSFTxUQybTD3G8B9A5Q3FCVdB2INGG9O_Dd87pwx1aQzVsKxV8GUNBGEdsDVErOq6Zkcgcb9-ogabKqIp1kJ0Ph0PgbVVvL0cdveUCjd7f2NTwEZq4LUdOVMJMT6DOqco9RCoKnUXXOCPvSHin5TtRoBvrQxAYLyeJTE25oNxve_BcmylrHp11RPd9wJKmcO3_Uo1KQOlvkGCngptDxq9w4_JGBKzgc_srvADziAPS_YC_x3bDDokpn35R_8V99YMHdQ1jqvBOtsMr0ANB0t4W03rp7DIqDIu3JRIC2jGcgAV43ULhd_rmw3DpsB0Vb0qptqn1khfnIoAICq2PwUBFPmfpi9xlosyZYIuXlEgQ_B2b5ALTdPrGEPwzDY9Ohri110VVJDxSAaPg54abbJ1yqncHFry0BEp6Bk7w3h0jXEBQQjBYAeBPDtXMhd86gM8s5HtJpGuqkwyfO3GQfdoGXCU2bMPMUZK9ujR5L7XNxoe5ceXx470P9JAl4ASsCl0CHlxFS5yYbaZxeQXDAuJZQRXPCFBTOVZjAU-ywVnjapAEjj_Tap-UJvoUxQmO-6ZoP1wE1Y5H14II4sgXKTjjYtq0cjD3nwcXREXXTEupNQbtg==",
  "id": "rs_0a4c666cf4c1b196016ab44abe9fe887d09a2fa6629afa4f7d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.25,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The three bottles are lying on the tabletop with their caps toward the far side; I will use the right arm to approach above the cap of the rightmost bottle so I can lift the cap and pivot the bottle onto its base.\"}",
  "call_id": "call_arQIEDmH34vp8GPKtD0eUzkS",
  "id": "fc_0a4c666cf4c1b196016ab44ac0105887d0933b65e164f281e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_arQIEDmH34vp8GPKtD0eUzkS",
  "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]: [-0.0227, 0.7982, 0.6136, -0.3805, -0.0231, -0.0292, 0.9984, 0.6601, 1.861, 1.2907, -0.1566, 0.4973, 0.3359, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=0.0009 left_z=0.1831 left_yaw=-0.0008 left_pitch=-0.0027 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4465 right_y=0.2445 right_z=0.1336 right_yaw=0.04 right_pitch=-0.0537 right_roll=-0.0414 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -1.6479, 6.5436, 1.7265, -0.0171, -0.0269, -0.0317, -0.3077, -9.5248, 9.347, 1.6923, 0.398, 0.2271, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d919e4670b1236c9cc2210886ab58dfbc78d6b538f5ed252142eee44d7edeb75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa0a9f5b30870d6226a942f116c95541dab63a605e4dede6d8278a2dce45a9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61e5cd0cddc39056a41d010d56abcadfb89247363fbf6dd418971ae8786df516",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 0.7933, 0.6075, -0.3767, -0.0227, -0.0284, 0.9986, -0.0154, 0.7891, 0.6037, -0.3851, -0.0288, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0013 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=0.1801 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -1.4701, 9.7983, 1.7753, -0.0659, 0.149, -0.1587, -0.8, -1.1692, 10.4274, 1.8486, 0.0513, 0.2076, -0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.7982, 0.6136, -0.3805, -0.0231, -0.0292, 0.9984, 0.6601, 1.861, 1.2907, -0.1566, 0.4973, 0.3359, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=0.0009 left_z=0.1831 left_yaw=-0.0008 left_pitch=-0.0027 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4465 right_y=0.2445 right_z=0.1336 right_yaw=0.04 right_pitch=-0.0537 right_roll=-0.0414 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -1.6479, 6.5436, 1.7265, -0.0171, -0.0269, -0.0317, -0.3077, -9.5248, 9.347, 1.6923, 0.398, 0.2271, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d919e4670b1236c9cc2210886ab58dfbc78d6b538f5ed252142eee44d7edeb75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa0a9f5b30870d6226a942f116c95541dab63a605e4dede6d8278a2dce45a9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61e5cd0cddc39056a41d010d56abcadfb89247363fbf6dd418971ae8786df516",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErHVcHO_qgMsH-r_OZntSwW6RdscQxNuuuOHp_rHrKvv6xTQ9zoCPxlPRLUfTNRbX7_fDlFeprP5iDWrqIf535NLrxG_tGSt-m1xiBYISLzDVkj61eZyDAS22KkIvZA8cP2ArVARWYr4QiLO8m7VyyBMDS56nk8heO_mwsBAvUfMy9Mw3MqCF6SEghWy0Qt7OoUdsKE-itNNhQ8Dl6lAHEzgaN-cUgpRMmDZYSZCih1CIxBlSJK8SR29z37OqG2wCAxfoN9l1PXZXTSFK3wbCDVeRPzga9IjL-hAOfQIOjMm-4OO_UcZ2Hp3CHf1VkrLQVbxgGJapGM8aKaNjEcuZBkUffBEp9KYDtz1enM-9Pef1ACzdTOIFVkIBReJHIyZOj9veojT0DkcBRSyPAFarX8bhv77HzF3KKXRkDBnc_LePj-lfd1P8q9s6XsN0X-QzIMs0z8AIOmFFpKmVf9sr1YYS58G7eKvd89JauWVf7xjdLKfWbfvMTvHs2l6g-B1aee8cXRdnPsqLzqJTgkaMajBI701xmMk1oCUXz9TFHuxsGfuDDkeBYYvmHsC4lJwbjFL8YlY_jKb7KtvLV1GXAj7cuONiBehr9OTes2CTuuTogiThxvUb_Uw3stRsVUI74P0npFo0QH-4DLgjbEM2OF1Pmh6mtBMy-vFNAkw0FYlo3AjQGS0yzVJb5aMOfYuKv4PDUhrumefBS9f5Swl82BIaoNjhhMxpm2CWP1HK8nFYFuyooWv1OxvWAy8HYwWrKLIlji4EYwvSdHguHBKokiJLnB6xuSgrvFzOLlD8hFwcHdvkF_aGO-K3yzx3NZgOszkjGjYB6_OKmkMIwo6ZIMcqaZG4_DijYKepsIbtuss73hnLHA2SkloUNz1hWUSwlKhmTv19IbFcTGiD2eJeh9OtMZDVNFj0JahA9uF_-JKZFJyhRGBLqau3XOCsaFbDFzdSKzz7Ow9xGyqZigWL2Nkv-mDosd1lljxvULLqPA5_FpW6eOeqck4vRV9YpLLVvmVzRWyyX6UUZLZGu1NADgVS8hslIS29yd_2ZxjXlv46QOP0-cp6QNPcSMlJKy2VZEqDMCGS7U5x_SRejJd05LyQq_lcP3do27N4i65FxYYQDp6x8XEvPHdAVrALzngDp3yxFnXrAvaO0sVphc2CILyeKR0dgpOA8ifpVhf6PqTD6aPi_9SJfRrRQeD0uehilt5huyffDuKVJmidVYZUdJWlHUo-aCjaxvv6S4zn_SmrEOVx3IFiiSKYQ6cVEOcegMZV6vmZvPa4ONxTraCFzyE6jFJsITMX7yrhc60ZXjtchPGLa__wVYE2_dJLiohtR6Iwm6BIET1QmsasQo6OQfO2mPk-WUTHJxS21R_1u7lTqEh2cRguuFeeXWc2UZLjI5bsVfxuIBvhKw-OZBd4k61-TYadvB0fExY9xrWyhZ9iUY5F8AClCiSU84IEL9dm9josff8k6JJukSRN7G1uk5p5pUb16B6CUFns_YRDvPUf-CMvU-TEhN_ogTwgxnSqN85mctydvb52gF31JYmmTSZ38VklpJJ4bBw4W27c11LWmsVSw5kUTcbW028o5vsFaby44WtAJo8ZhnMuOjfDxVqPrM-tCD8_YnUwX2d7XySRHulb84wgduWftG2ekHCiaerydiyCKSMXa3Qm2oYHoBG-62R5z-VOC39WluDr9Hb5mMaEYjYv5Ko7BoQcrgZbGIRyPXe-RLg16h7_Je9CaifhGDGd4LOitcLy9C0yfG8C0s-QYMzuno48p2G7DehGYJ3jfVQsc8hRIxSm0vN1hKzqFijFKxo6eB-yZc9iwF5EnXjVJSlZcP6YXq0-4KdZNGxpZfMq94fUA8mhUlxowQIMwhFkL8opHCqjpVtO5IWaOTSRQDJPuUqwLZU4WK4E2BhEWijFxRqZzbWSidsPv5vWbFczFZ98FceOsXvRqcXyolbsS5zlF3xc2uJOQc-QHJkzARD_yIOUcvCCxmZ0-8lXeAuIFs_wKnWeb8lB29HoCX67wkqK-fUoKYrRJRf2RUB7VlHa7zRXsvoUbJiFltT33O4whRnktZzitLEP1y6UemAbwji_JDs4SamfMXdjxv6ASTGjUk4XQKFSdQXsvkWndq5x85kpBRzyczUJz86qbrBVe6B0Vap8emlrS2vp6V",
  "id": "rs_0a4c666cf4c1b196016ab44ac4540c87d08a9bef31eae3f493",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.205,\"right_z\":0.13},\"note\":\"The right wrist view shows the rightmost bottle cap about 45 pixels to the right of the jaw column and still short of the fingertips. I will shift the gripper toward that cap and advance slightly so it is centered for a neck grasp.\"}",
  "call_id": "call_j4mV89xRvkVznPGGDegF6p2k",
  "id": "fc_0a4c666cf4c1b196016ab44ac63dec87d0ac7f860fcaff8e16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j4mV89xRvkVznPGGDegF6p2k",
  "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]: [-0.0231, 0.7982, 0.6136, -0.3794, -0.0227, -0.0292, 0.9984, 0.5377, 1.8652, 1.1973, -0.0532, 0.4152, 0.268, 0.9993]\nstate[eef_state]: left_x=0.2963 left_y=0.0008 left_z=0.1834 left_yaw=-0.0015 left_pitch=-0.0015 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4643 right_y=0.1981 right_z=0.1071 right_yaw=0.019 right_pitch=-0.0787 right_roll=-0.0472 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4564, 6.8171, 1.8095, -0.0708, -0.0415, -0.0122, 0.6632, -11.0427, 6.7761, 2.1709, 0.149, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3618e182ac7810560bf699fef0e4f4ab56bfa1b737410f47fd36d966bb743a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d51357f14b88a8e463645d450cec1e2e31a798df92460e5448d078a8c25d49c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79742c7cf5fcea13f9031684010393e1aff4c0daff75ca5488f79189e29fe752",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.7982, 0.6136, -0.3805, -0.0231, -0.0292, 0.9984, 0.6601, 1.861, 1.2907, -0.1566, 0.4973, 0.3359, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=0.0009 left_z=0.1831 left_yaw=-0.0008 left_pitch=-0.0027 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4465 right_y=0.2445 right_z=0.1336 right_yaw=0.04 right_pitch=-0.0537 right_roll=-0.0414 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -1.6479, 6.5436, 1.7265, -0.0171, -0.0269, -0.0317, -0.3077, -9.5248, 9.347, 1.6923, 0.398, 0.2271, -0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.7982, 0.6136, -0.3794, -0.0227, -0.0292, 0.9984, 0.5377, 1.8652, 1.1973, -0.0532, 0.4152, 0.268, 0.9993]\nstate[eef_state]: left_x=0.2963 left_y=0.0008 left_z=0.1834 left_yaw=-0.0015 left_pitch=-0.0015 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4643 right_y=0.1981 right_z=0.1071 right_yaw=0.019 right_pitch=-0.0787 right_roll=-0.0472 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4564, 6.8171, 1.8095, -0.0708, -0.0415, -0.0122, 0.6632, -11.0427, 6.7761, 2.1709, 0.149, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3618e182ac7810560bf699fef0e4f4ab56bfa1b737410f47fd36d966bb743a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d51357f14b88a8e463645d450cec1e2e31a798df92460e5448d078a8c25d49c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79742c7cf5fcea13f9031684010393e1aff4c0daff75ca5488f79189e29fe752",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErLhtgBdwtdtQYJh-w-7UqLvDRrcGLvzVsZiXqzioh6B8QpkGbXXrYr3flYZE-Bcz0c1DC98HBZtdY5S-yDRWFuqZlXUdumK46UM5a9N6yziBBP8cEaBwwyJD8iTkqvA0gDAPVUWdjPTGRZKX0exnTfzgFSgQI3C6TsBDTpc_acEtflIVdFNkBxzDaO4lqD1scReOCVQ541eHW7i2N3sitzw-DjtFWwMYnMAWoqy2SH9HGxXT7ZiFk5vrmBA3dLQkW3L858jgfLReCOvs0u50OUELje9o3oI7NBk8KBFkEcz53OKbnkAQPo69ANdREQj8qiEV7Znvxd8CChDI8ItY5Nkr99IcEZN1sW9yGMm5CkntudCRMeN_hX_yvu4ybxk4x8MP-8eze7IFSemquTY0xd-02XA9nBwK3pB-DPAumeEqU6J2VA1xb_Woz-wmVUGnaRCIn4BGNarergSO1C0XeqhFBuG-zW-7pGOd5-xHC9xN03A71Ht1p19Rw3EsIbIxsonFHfQmgbNTDMwReTBGbRRjuXZSQ0oLE6GkgQGD-S3zRnqWxS1BxU4-C7gaLVbH5DJf6GwR4KTOndHN8V8UgjsGEKeOQHHQc7n7mm67doqIyygRXCXc7syYrEWrjzmv_sxGeBadteVUbd3DcU3taMYjNBqWKKm5jsPESxU9VGbO65DxZYsD7j8hy2nMxqWtZ0bU83GrLW-J11MDJOnQdTSmkpq6nRmNRNaz1zahSe7AQCjpJXTsInCDXj9DcngM5pggk_7oiUe3hePvfOBZ_SCZ03B9kquUUXXZNdMpPsKSr5MRYWzILIkoRfe5-np8KtnK9nYrCkb_Y8mieugA5te3iyHAAFiCgk_4-08r3dkTuvFWawk_FjqxDA1PYnuViViBj_Ot5dILHd_IymOwbHl071xnTN27DLgHYLg8jrAKRf78NBPik_KWgn6SY_xjVMzsbXkvQPakGXSMuQ1fyU4GmFCetyC-l06A--880a-bchuECohR_VTI4-oKaKY8yQJuAtmh8_ejMvgWUdup_5-Zfn7mO30IdoXgqlm5Thf95_C-w-UahvAAy5LQRyJi1u3VcmngON7SwZYMFxW0MqRLpAZ1c3zSB6u0tHObuiYm_iUWOCBt9M1oP_by0u0oLT7IFNJlSCKAGonT0B9rzgUMmfgjcrqq95fz1T7A65OxnaUPRaXHOFOMuwc6EzuqvKoMuJW743FJadfcI1v7C_6d8LoVgOAmtyMDSTaZL9blNZ5fUfGj7Eu_B8suZvVVBbQaJs3ij-fUlfU_kyCQqegUc5BKPF3tTV_k4vFSta0g9dTitGrDba9DGdW2K09bpY_CVnCNUX47UNIYMJit6Qg0P1Di3OZBGzZsVYvjfriKRTt16zqirj3LlHp4SMV3p3j-Ox0z3UeBtmnRiJ8CogGn-BsSn90RLsy6V_JLXUOoUONwSjD1jQuMkWkS54NMh3jYJbFsbimqakGiAPtDi6nM9Q7F7GteG2EpBXID-WRWeKR551PqAUxkdn2_sAO77KUgrHd5GphAU0cf24ihGOCMEPZX9BraMhW7RV8ZkC2zbnRlOPkn-ga019ldMs7IyenPaMnXitYu7jiX4PmuFzTtWTqNC_ePGqVIyWbStoZokyivxBYQwlkWnEnG0cOZPTV5yf3Rvh_-zy172I9spKasixHf6juCjDI-HuVLwxdb9fxUzEumBYjS9k0Odby3n41XpKnZIOqoBFSokAD6KririUWxPrDLpc9qEY3Q2IUx0BnVnH1mZB8565BvihrU3BWxJpMHU22d9wJSbwneNOQqB7NSPttJa4TqxSAEn-mOwJ7hH0sxq7pfuXTBthx6cM8pS82o8lKJeAocspy2g63MBYHn0IwDZlgBtd4N5NW3ti0bs8io6rWbeIZG03jzbYm7M_ebRVVX_y3dss4nq31VmK8qLB72rAZy-vH9PtxQcQH8f3ZA24o3Gjs2tiOsXvE-mVE9EGdHwkehWwyBZRH-t79xsulAyO0TwY5n9FDlem0iVwbwXFU61Nb_AA26Xe",
  "id": "rs_0a4c666cf4c1b196016ab44ac85e5087d0a0d29c82e3737b0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.185,\"right_z\":0.025,\"right_gripper\":1.0},\"note\":\"The selected cap is now nearly centered in the right wrist view, but it remains a few centimetres ahead of the actual fingertip line. I will advance about 2 cm, correct slightly to the right, and descend to cap height for the grasp.\"}",
  "call_id": "call_JQdTswlrJHBPJQrHxFtFUTcx",
  "id": "fc_0a4c666cf4c1b196016ab44aca386c87d089bf53b11445cd3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JQdTswlrJHBPJQrHxFtFUTcx",
  "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]: [-0.0231, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.9983, 0.5346, 1.8713, 1.0866, 0.1047, 0.3912, 0.2531, 0.9994]\nstate[eef_state]: left_x=0.2963 left_y=0.0008 left_z=0.1832 left_yaw=-0.0012 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4588 right_y=0.1976 right_z=0.0869 right_yaw=0.0445 right_pitch=-0.0502 right_roll=-0.0256 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3197, 6.9265, 1.746, -0.0464, -0.0415, -0.0171, -0.7043, -9.7299, 6.8034, 2.0684, 0.2613, 0.0415, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e25567fc8f178f7e319ffc458177833a4846e8431053a2896d4fb80adc6352b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd01ef0bfea386c738fba985c0ef6cb957dadb4b18a16bc5144360d7bb95d53b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2adf398695d2e36d54929da6ee8fe8d81db45e218fa98d45e8cb3dc6a5d68f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 0.7933, 0.6075, -0.3767, -0.0227, -0.0284, 0.9986, -0.0154, 0.7891, 0.6037, -0.3851, -0.0288, -0.0341, 0.9993]\nstate[eef_state]: left_x=0.2956 left_y=0.0013 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=0.1801 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -1.4701, 9.7983, 1.7753, -0.0659, 0.149, -0.1587, -0.8, -1.1692, 10.4274, 1.8486, 0.0513, 0.2076, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.7982, 0.6136, -0.3794, -0.0227, -0.0292, 0.9984, 0.5377, 1.8652, 1.1973, -0.0532, 0.4152, 0.268, 0.9993]\nstate[eef_state]: left_x=0.2963 left_y=0.0008 left_z=0.1834 left_yaw=-0.0015 left_pitch=-0.0015 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4643 right_y=0.1981 right_z=0.1071 right_yaw=0.019 right_pitch=-0.0787 right_roll=-0.0472 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4564, 6.8171, 1.8095, -0.0708, -0.0415, -0.0122, 0.6632, -11.0427, 6.7761, 2.1709, 0.149, 0.0806, -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]: [-0.0231, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.9983, 0.5346, 1.8713, 1.0866, 0.1047, 0.3912, 0.2531, 0.9994]\nstate[eef_state]: left_x=0.2963 left_y=0.0008 left_z=0.1832 left_yaw=-0.0012 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4588 right_y=0.1976 right_z=0.0869 right_yaw=0.0445 right_pitch=-0.0502 right_roll=-0.0256 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3197, 6.9265, 1.746, -0.0464, -0.0415, -0.0171, -0.7043, -9.7299, 6.8034, 2.0684, 0.2613, 0.0415, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e25567fc8f178f7e319ffc458177833a4846e8431053a2896d4fb80adc6352b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd01ef0bfea386c738fba985c0ef6cb957dadb4b18a16bc5144360d7bb95d53b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2adf398695d2e36d54929da6ee8fe8d81db45e218fa98d45e8cb3dc6a5d68f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErWjOk_l1JU8fiCyw-TpEj3YDM3zEUw0rk1xBPkNo5j_FwqgZPbjQOqlWfdVfCjdB52nS3S1W8W9hBXDVJSwJbEoZm95Z-90SINWHj0bJN01ZU24odWMtedrWwlCPzrTFQxOCwczbVkq0A9l6vZaB1LYHw7ybrHQ1_vJgXg7Zb8rgziwmAqlShSCeP9Ay0dFR2mce4MINLV3UMMRxaYmKekd2ZD4ermJXx49dSicb90eo-oSjJYTA0TYbBpCd3T1cvIuESbxgy90VbdOfymbsfnkgayJ8cy2qhin64HGafxpPl3KCnOUVpHxPTWtMAKXlL0SWKSL7bk2vmp2aaxTBl9hcyDJXieye70S09H0scktmMX1hxL06fLVMx115pO7vKQLquZi7GgyemPqkjGbyPL_KPXmpXc1n9fy8q4gLbUpEhZ5eybjvJrDdoV53s7CrwspfCfnIl-Ba58MbBL_5dMgqg7dDg9HSVQ_rSEujuu68bGnL_Bx1xYmByQOrRXzGIAx7fhlW6EzIV_kp4kd_DH9juvd6pcNsx_DEJ_7LHsoJKLPskCAnqMJYGutfIF3Y7byBZ2UKYg7PWcCjloVU4mHTMxGJhEr0EsY6OPqw7DXMTo1UfR1tpmsIsDkXE-E0EPP55Zbv1qfrMzGU7vtaut-rVQRq8GicR8HWPAwuUebJi0cDxnJ3e8fJrGvR2ilLHcCR6VFZhroDjfD2IO1YipEeRHiCHgJbSNL7vbH82IrBCFvO4pnq8cxokM6fPhyOH82uVwtgHmIdDRIYgmTU3428mmvhY5QRjxn9WuYU6OwPBu9OBvfZmNV4dGQonV4LNBvR_08Rg6A8EZeard9KJdMmUM9DFu-T5AyzT7504L2hQxi506cJA2pS8sDOXOkLx5ahUE4aNseTLDBHWLWS-MqI2vDG3i17CTuOgbsHhT1rn8A4rvI1_4e_77VOvyw5JqGfm6muVMTjEdRUZj7CBfssqUMKR1u3NIdg3Gth7oh-1gDUeG-C26Ftdw0h1xyBjRst2H7ac3ntzf3ZKEUJwldHamB7RYP6sUg84bDfb-3dRHSrYKictUIV6spNOe9FhTy7_jZmSPcSJqR2bJy4hImHsJazzRZz5YHvQs7bBRsGBQLPmy2gWCT5MdGpRnqOB_GGd8GUbr6xT4DWXE8gJJCxq80iZEG_wJ22QClLHmwPGFKlUtmD9zOnvB08QbbdxN2XiTdDafreI0MiAI-ldHZV7KvOv0oqdrItyse-N4p7b5hsbymaAQm9B8TDosAAT8VMMvmyFboQCgP5QcZIVt2-AhRlM3emPPWtIRcvqO1YiNKPxsl6Pihl6ZtJ7XLAFlq-WprU8IUowS3Y_Npu8GlGOG4KiRL21ziIbZay4ilyL9SYH91FBX2aV1IZreEK8qifZInIemtBDyZF_jpcnuAuBBKcnSlcVi6VNybGKw5Kvl-qHE6BELnF3wtMGdnNrLLPhXLywkPkGHZwH7vF3ZGspm5Xbv1Lz7oUbGdUrQyjgBEECo-jpEKHzgS694JBp-AeMDq26KFTPT6rBowNTO6OGfMxFsPDQrSPMlYH1DiGrMAbTHaDSMfMzy4HMSqAVQ-Lnk6CNpL3LvqMFCdJp1TLrbeAOFxOE5yu64bbwj-uFmldZ8CO5xGJzUz9-xuf4k5nRk-hogL-Ez4Y0FUKViwS_rN5Rbsxv6FW-tMh3YboC3HXvOPGzEwiXkmf_AH4JoaxRqvbx1L0tp8rjY0B8mLN6g5FgCF2ljH16ETdzzoHretCmqGOI450cRfoHX_snk_vke7Dke6VLA7xqKIDnVWXj7WUH_UuSr0WEvfyUDjm5mLhMoImjG6a-zzHTlfluGLoiXExeYx405-3OijDU01fBRDDqqgxgi41sddv6syGd9-l85PiPVNUiAEwAlABiL-AQIpNNYrNdaeCOhsdK_MgcgqWGyVLQxOZ2uu5gvzxwooq29e32juDpDC2SpW40k6b5aGhjAz7glqQzP8QK-DBYx_i-w3YJwbnXW7pMM5qkrvOIue0Yi15EzUFBQkMTb-I8oRdZWF1g12sfoFKCcFbPlzToxqayL8zzj6-kk2-C9QTqAJYa_L8DZfZJtjDw4mNc8vl39HUAZXwUz0IfxRkBu_d9Jt27BtXdeEUd2r8EzuY50SVJn-aop791BXc73v3RdubSrDNTS9cZFFdAl7KKUSo4AFspwr46LGCQzlfQ3QlZ0Rr5xQmFumFOxLoiGlAU1pq4luER4p8jnRG59PrfqjVLN1Col7r4U_12E0HC42YLB8uRpz_BRQU40f7QqJT9u0FmeFqTtCHLQ_CdrBVNx05wZSrO0SS0PfiK4QpR6iwJTiP7ZlX7Qv17njuoly90_QpdclwFvqwNalwgZUmi8IosRq1h_jLqzSRl0jR6f5l_oGQMrJufGha4p14pOgfPeWoqEWp_3Mv_LgYjsHTWRoRpmasWlO9SBDnmbnBTJ4PKHyVWuLWgaYprUbmP2EG3UxWRXKTFFKvYphmTfzbX5U51XM02DEND-0c6tdtRH42ddjvuk2fi73Gxm5ZIe5RIlbQ3MtuYCjzbWblu0HjQkCRBhOCZOBHumkGiuRG6ZpGQSS_P3OQqixK7Nbp3g_0ESBC-b0wtnhVJ3djDC2ZLM5Zt1KF-GJX14xGL6azXDvYNdQjqqwrf36N_7ZErZnRrB_AX97x23dvl4RMUBaXpOR-PZT4P9in6z1bSuBPERClnac_a0PnO49RH-h5oHI6ZCa68N7fgNy53hmOzzEVAaCjx4Wpzt8U6l3RZ-54_kATLdSFmEatr1mycefqujVBoN_5LC-GBgYs0IcwzW5zsSwIVU4JqrjCE-u6TDGOg2flVoUsIAJsgDEIL7BOKaduHYFI0GyQv_0_2PP2cuxQJTIFd-znwAj7ArRiMlRTN7VEN_MpHONt8sn9YRFkXwPPwHi1UXSpnfXKkSeG-zDTViMev2SKXF9a7ytxJoczqTnWZehU7ZaW2y8hXR-fn4poB4bFUUwMA-oHxNTnlb5p0cRJnCoKm54QzPoI-Ms9moadM81Bwz0NXoCnquQpEEqKczGcORglmrHs7vlTeQb-eopORtqDBzYVmttKDja1xCS-dVgtKkTMm5uhyMN7kaa3KriEc4IvZ3T4aJCU8IVP1hhEr4CrH1DpdOxGBr328t8HdK1LBWk-RktyvGwSnfUv6agXj4Cu0tr5zj1c9kp-8jkASVgKx3wDiFPlyP3vJSFxAVyjeH4JM_6kvVyKvpbyXwccaR8e2jtrmXfG7AC_zSHhB0-C7QRsyE20IIZ5n8F4LIe6HkHtpvb5062msplJp3OSwWoXgpqWHqsK6_fLq24cQfdq5QzJRd0HEF0qHszCIXPA2OVWfz_vvDh2ZlSqc4CksrxYurspf30_uRfoRRQ5VufAyJiIeYb8aD8HO3aOKMN_CL55qMBi9LT8SonfhHYiu40Q_Ys-cjGxkR_FbvTNA6oV4thygKAktw4p7HXLglt4SUud4mK5t_Qw8LgsnqbhTdiApv4UAttQkS1i6wDanoc9pcofdJnR4PZe4PkOV0GeLsqU0jzbHb5a3OkDvlHbkrZg-PhhN_Usdhhn1ebfhYW7Q9COK5DsMJ1wNCMvvXDM3rvSgDirAyXBSodHWiOSQIA0_h3smmJJOV8RHtlFyYDO95qZq1DzhkMVDpu3t707AzvbBHzGdhi7X3Yc8G5T5Td3qHa3rXucb2MwGnFNoB3_OMAAvbILWCaRSIEfYVwgkhUBO-d6gsPc8RofjJ_WbgwFCAd4oNbzwO8uQE1HUTq0FRtU8u6BX-aOLYDoRejNA5FKKi4i4LL6YImGsHkSWE9-txSUJTMbh4sPjQ3rU4n6d6BzeqtDgVGLFd9B3X6eowWThBKuUcvYMCSrZLOsSkhL2jYKEAmtrQP3Udr72khtWyrMOhUdPGXoysRneOxGEuROM2dyjkuBv7qy2qeiY_ewo529grMR_gTGZKVEbeaqLQQRqH82T0wWAX681_spuGRrFC673xHq2q8516iPCHYy9kZD6ljnlG8_EmywHP6zE6HV8KHVNl6TIfmnn0hEbYuGwDIVmHjriwyXgBqmiykzNdpUIUBxsls1v0wMmYmSYgEFG2tv3-xC4d6BWiNVMDXsaPuyY0u9A5Yg2ufkstfuwW_8y0pk1J0eYqgWP-eiC5gAGM0SB95tFJuuHM_TSC5ySGJ0tORS3cmUprf8FZgMh3AmKxMnIHvxrGUEqM804cTid6KXrSPResFskez0Ol3kUE0FqsEIGpIr1wnXqe2lOnTUw_ShKY0TS58T2R--ckQNYfIoZcCn8=",
  "id": "rs_0a4c666cf4c1b196016ab44accd3ec87d08069618906a9086c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErWOysb1P3K9Jrxz59XZ1Tfz8SoKE_O0hY0pPLRbxnzLS8cxQ1sM8uGEtRUYIulqDb-y46VJa3vjLmqeXogLFfuGoAEmFhcbXtK12WLQCOTWwYy_0sBCPGjdKQkCgVn1Avbni8zV0VX1XraEMXSk6kdsnQ8EWpRaQ-0zeMIGkFJsxS7ggC0rf35QBK1QQw8AaXc7si4nRAjvNJPmz9Q2_U-jv7lKBWwVymHHPt43bJmLAkB89whk9FFEPFqXZi6HyDBBkWnXBI6Ev-xDldd1TZzxRpUNAvzjUKybhd2p0eecenNJya3nT55hB_mQmVm9ajcXK2bUNUxU7-liDM0ojsg8rrq27Vir3BcFVI3l8l7j3GlQTSfxkSUEoDvzCnyiNGtDIWcnXdDFRhvG379vz5SZDm_nbjRK6XENuuhclQcgURRX3Y858_h1xRTemXavjEhxmHgfB2buTxdxuDzs9IE_eZVEfNgznvmPN9kjXSYjjLgDj-_JHcwVP4Ma2ARTM3BJ7AAMhTYSewMuMK2PKuo_3QSCJgjN-jkt-1ZC8Fc1CqKy571WeTTGhe0wmSyOv577RpIJ8PxTgW4ECN5uE0hxgiUQznwKD5-hKpuQm8NUgeJqHDPf1uAco5XHvKgXS9oZKUNNeI5BRJr5NZDuaFyBAI9js1RAQX8VaAmDL9MFm9heKheAoAR0NacvDK1QI04VZM5X41GlZRHj1kQLSbt_mZ39qhkPJlmowsroNYcTJ7iG1PYf7u1iNAYUJTL9r1wnLoVhn2egEi7RRnQjjgNVxDW1BbXneNBRLEXbZIcE-aLyYtXxqcStRmijltjjc96wVRQCRsHfLKtlrxFYgWBsBPWgQXTKFr2oSY6IDdAkcdtdQaqhS4XcA5b4jcSgtmxoeL2M5NErGaK_LE9w0HXIZE_hsadlxcb0JVz7LjRBRjkZN-q3oIGySqCQHQb2F511KAhRKrr7bfwZaEiQJEh-oZLRcxXocG-Eu6y119cuXxxIbXCSYs8xg0wAAC1nLGkf8fO2RiNGCCAjaucN1Bg1civ7FD31Chz6qWzo_0gbE5qybKI0LY3xMTrxhEFVgOM3YjfLo8Fo7flCIr_kH7OEbiVTDJ6xmlp2JVpIIzbl2WxCh7eCOWp9Srx9P3mFFLQopPYu40yPpwwr13h6vS7eMMZwZ73Cmvfum4POtTAVpqjncw4NBBX4QfjC1ofpCB4VRZueQ7vQpiwhL2epgMhUOIe1f0G6KqD9SwZ9W1EwahgA_wb1v5I22mu4u9o-KW1XBflXBeaR4yQqvSBNvpe1CB0DL1A6X2IYnAJSera-mIoV2LvGlG69wWMklEQF-Ggy8eG7hb2eqB4Wshv0CHOfAsh_e1SreW0ltMKCOYdNb9xWUXrfvRTbmKit-qpEvlF_Ff0n-sXzz0pDPAsVFTVIKBp7YPHuuaLol0_hkYq24nAwrQHkAjbLx5ZfEbD7xIePwocAPAXY1PgB2NToWGTHt4b6QujGlXt_mFaqWNY9mLDIypZM6rxcy59CYfuWWnUW1CX1KRJxG_0q7umCs-UoeqyiYugE1UKuh78xkJBl71K1n5wFHsrh9bePzJHdr_MSPpbmd_L81mzi7JrvisGaEuXJyFkcrRaIC6tYlVpu-Ws2FILKW_mfp-n8JX-CLGn7uxa1CBdMnBBWGaS-zInHdYHa9hBYCQkD-yEPpbfpS_RPYECu8q9X5mJ1rT5O0ab0RHclRl2OewjCRHgZziKy9v9v1rYHmniieVA9BxP7h8t1HKtn3lmj2sSSYNeIr4FbxbdxKIS0nJJs8u0t9fSGf88AQZCIBLVw9lM4uZROI3CBjMdSCMf-mjrsOlgtR8QBqKpUEC6gw253Xy5Sk5JvQQFQPETEUBPo349j0dOEjPsMaLnU1Z3vM-ejtoE7j8NoT9YalHgtoAcCPSQVjLgMDJS4XXAJhqFeMyXbewYWSgbHpSO9qmR4fXyRw0_88FIdUoFeyE_sWotuG2WX6y2MYIC00D6g-x9sIreTAmqGANpWuFHsroS-N9txfHQT3YwIUpXN0jX2byJdETtQ50Yh5H1yHYZa9fysERl-_pHwFNIeIhThGKWCI3rh7nL6xREpkJDkHFh4FTWsEjvFcP_UapIt1tUQCuT9yf6riJSkiVmKTh3Yfa1nLeBrTG7RDE5_Psfs_7fE87X4_d8W9eczmUOVcD0vOe23E5GuYyOIxCbm2dDVeDa1fndkgUp4h5BVKzV9G-ccMprbTznG6yBc2fc6f9vAYf3olLEaf69-DzN0_oKgIAS7SKIPZMSTecS19O6AS3i16PXLAgd1aF8wkXSqKtk_cpcbnZt5DgK3llybjUsl8aw26kfUKj5DrxaWwMT-O56vMXeDC2gEUxQBxbKK3DlIerYfNn33Sjt6GHNGb4yyD8wfr3jVkLaioFPyI7nQwPW929iLYCk6qnycVZ_MTJ0u_crBOE0N4EBTEtNJc_OYqyqSPl-qDwiNDECIWeE7rMHcdghDtPPFR8i35A-0tJjMrIe7uxfTCMxrFrvFrOfL8yimVoaU4Zhe5B3dta_4q4ZjZH3MX7D-trUXFaN7HasNOTkmaqySOctWRqkXu4zYo3r9Nld6R8B3J4iJgW7L_eMX4CeTfyCB_HSkT0q76WIWFlusEUk23m_ef-Q8G-0ZSMVjSkTYKgiyZwN8oILZsPGn-IO9DgdIk2BdlS6DG6vrHQlbNOQ01RHtbVjwlTh78_cOoTEj5R0beiYp-kp3Nv0MuX1Wo1aEF1PKH0DRn4A8m5pjyJGU9MDKk8nPSC8lfUEgg_PTqekItAZzJCkii6A0b_OvYmdILQqzf3hkh5QstJdF2luyth6f_8koVQeKzlzQYGkXcmNxtKT5EkaT56itC5E3OhdlANegrv9AZrRmRe7uifKG6gFI-MMVa3kqZpC_V5Rp04BPGd-E9CYeeaJAEMbx51pJF27nAo819lxqAd4-pa_NIziuZjmwuPVuKYOmbdS8AffVDk4oYTK_qge8K6kBvocX0_jMNEXBUllJ8Ryqh1H3Eb_nObV_LdJU5nnDWJQIX6dYOpkbkF-co6R4cwcmXfmQTExSri8RJk0Bi_DKsChde2aYiZ6SljaHY54gIN0sXDtB3uv",
  "id": "rs_0a4c666cf4c1b196016ab44ad25fc087d095beb3def881c901",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.18,\"right_z\":0.15},\"note\":\"The low diagonal move stalled short of the cap at the long-reach limit, while the wrist view shows the bottle itself is still aligned. I will raise first and extend at clearance height, which should let the arm unfold farther before a vertical descent.\"}",
  "call_id": "call_xLHjPpiy0U5ObZie4pBE4LYt",
  "id": "fc_0a4c666cf4c1b196016ab44ad5f20c87d087b2d7292b09884a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xLHjPpiy0U5ObZie4pBE4LYt",
  "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]: [-0.0231, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.9983, 0.5346, 1.8713, 1.0866, 0.1059, 0.3912, 0.2531, 0.9993]\nstate[eef_state]: left_x=0.2963 left_y=0.0008 left_z=0.1832 left_yaw=-0.0012 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.459 right_y=0.1977 right_z=0.0871 right_yaw=0.0445 right_pitch=-0.0492 right_roll=-0.0251 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -1.1829, 6.8308, 1.7656, -0.0415, -0.0562, -0.0122, -0.8821, -9.7436, 6.7897, 2.0488, 0.2271, 0.0562, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c19f2c6ba2f9e23a4725e0b952a7ff13a80b5b340ed5869f6d5d042690fef5d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4852051dd9672b37699fc227a54e39bf16f3a9cfc2f3d96fe2cd7ea491e3f00b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4affa218df4fe8f5b47fe69569cef35bd5a954ce23ad7c664f1571efe03dd4e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 15 changed as sent

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.7982, 0.6136, -0.3805, -0.0231, -0.0292, 0.9984, 0.6601, 1.861, 1.2907, -0.1566, 0.4973, 0.3359, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=0.0009 left_z=0.1831 left_yaw=-0.0008 left_pitch=-0.0027 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4465 right_y=0.2445 right_z=0.1336 right_yaw=0.04 right_pitch=-0.0537 right_roll=-0.0414 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -1.6479, 6.5436, 1.7265, -0.0171, -0.0269, -0.0317, -0.3077, -9.5248, 9.347, 1.6923, 0.398, 0.2271, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.9983, 0.5346, 1.8713, 1.0866, 0.1047, 0.3912, 0.2531, 0.9994]\nstate[eef_state]: left_x=0.2963 left_y=0.0008 left_z=0.1832 left_yaw=-0.0012 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4588 right_y=0.1976 right_z=0.0869 right_yaw=0.0445 right_pitch=-0.0502 right_roll=-0.0256 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3197, 6.9265, 1.746, -0.0464, -0.0415, -0.0171, -0.7043, -9.7299, 6.8034, 2.0684, 0.2613, 0.0415, -0.0855]\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]: [-0.0231, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.9983, 0.5346, 1.8713, 1.0866, 0.1059, 0.3912, 0.2531, 0.9993]\nstate[eef_state]: left_x=0.2963 left_y=0.0008 left_z=0.1832 left_yaw=-0.0012 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.459 right_y=0.1977 right_z=0.0871 right_yaw=0.0445 right_pitch=-0.0492 right_roll=-0.0251 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -1.1829, 6.8308, 1.7656, -0.0415, -0.0562, -0.0122, -0.8821, -9.7436, 6.7897, 2.0488, 0.2271, 0.0562, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c19f2c6ba2f9e23a4725e0b952a7ff13a80b5b340ed5869f6d5d042690fef5d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4852051dd9672b37699fc227a54e39bf16f3a9cfc2f3d96fe2cd7ea491e3f00b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4affa218df4fe8f5b47fe69569cef35bd5a954ce23ad7c664f1571efe03dd4e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErZZSMEEuCgeXPBqbV4i9chL4IlFuHJmWvvcGgEfWxxsweyU4rnR8oHUA-TPHbfTqNm4T4XSpvQqbIijCnu-tqjy_YZiIDMUhpJLeG2E_9I4F94J-RqCOOHc6EX-YpuILKLXtMWaZtDI_0UKP_uzu3L186qxFRE7wP5HGAjkNkSaT4MoadKjokssvQQx8ca1mrbrIcn-7i4qgP4e4VOp74zkZxx_vVqQKrUgzTxGcLFnwaIdlVFJOlfEapGw_BZhC4HZdCQkAklMYZu7uj95_Mw0i-TdUWv6FWvRhIUQMkxP1OKhYDGsqydAiNft0fP-oUsKH4ZZo8mFErJMKKskf5GYUZZOBGAlBZQSN2mChJDDvdz15ybifatOPjECCcNiraOR--3XzV47h7pPKTLKxYFmTM11YRF1N_kwhwA70e7M9YcNtS7ONdNn_MNdpe4v9rW0KZbXjVxqes92jo9esgy5faOEqC4MI2VJB3-y5AN4ET7nrFJl29yCR-H3vfW_oT1hPu8WY5fXg8LLBJyG6Jd4eild4H6qJpuhc9MQVvRAt-KrEtI3Y7ZrKrMibQWvaH_iXzIOWsvjfHNtSAYaezBs3bO3v6FG5NEndBaClYu1MiGLqBCxQN-qzHZUIJlaKL-7KzS5O1KjH_MRMUi5nrwqO_Wh45TKbrYfvrbP5hVfqkAsj9hwervV7tKFQScNmrPf5J6rweHbcF85FoK94Qnkl07rUAWI61uRbH_jtLN9cb45LSUZ8qT6CvUVP8jjRYIAZU_6HwAV0cbRrUEQPM7UN3LnUZktx8aqXCVLY55MpOYxnK9S8uYAKvgN_QqH-H6SBTQFTy46qsutxS9Lr6OAMSoMlQpEajQKWJU-uz8gOmxXlZTVT_cEqlYQ3daU3waBW_bIbLjaVNz4_-tpBnkhzHXJhfPyTceVgdFWYK0H38FEtIBEVM9Ut3ryW-kFtv9Z9ORwcXksaWM0RK1uCvn5okS_We8513qa6Q0g_Cm9yOmRIIAQb5YNP67wjvHLpxrtjxuQpLiRxZ_v58EfBFKCfk41Q2m-lymhiKlHNrl6zjm8qBtOUwatLfvSLJqBR0BYamEYZQ9QnEwZrP-GwIe_zKFBeHsre-RZOhBrkXgg7YM1W7g6AP87hw9hlend346KS0QXz-0ML6IwyoGZEDqmaKbSuvlrmDYpAvN5NjzN_4qnZW4gDsOHLP5KkMGvaNPQ2_f4WfIuoA0S3pG-G6j1eYLFolWmR-EVCttGW8ZEhazLnTXjP7xbwdE8KA3rnAbRu5XA9_OH9zI18XeqvKzqTw963JzhVhVriEKn9h3bVFm6OiqE_lSFUNoir9KzCSmHt4_f7y3U5Bn8lOWtDURbXQQQkGXScVCR_z2dGW2i8utgITly1FBvxSxz6pUmIAmyenck8jaPBZeTkC7qtlTkylo7NIEEnEpPK-lO-3QOQDdF2LtwBDeZmeprFGfpocVGsZ8VGSayUS0_LgPEBTHb7autYDUc2fWrH6nD3ATNHh0hNeb-WZsmNvCTC0yAemLzM8h8Y49iESbBP3DvP_BHp2nD-9_viuSXazbRD7VLrg=",
  "id": "rs_0a4c666cf4c1b196016ab44ad85bd087d08d31d738edf9eaad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.18,\"right_z\":0.18},\"note\":\"The arm did not track the outward-and-up command, indicating an awkward stretched configuration rather than table contact. I will retract and raise together to recover a well-conditioned pose before approaching the bottle again.\"}",
  "call_id": "call_MH6UoUMuu0Z31oiNNEX8f4Pw",
  "id": "fc_0a4c666cf4c1b196016ab44ad8edb487d0a98540eaf59d5e44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MH6UoUMuu0Z31oiNNEX8f4Pw",
  "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]: [-0.0227, 0.8005, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5495, 1.6062, 1.0462, -0.0986, 0.3885, 0.2531, 0.9993]\nstate[eef_state]: left_x=0.2965 left_y=0.0009 left_z=0.1827 left_yaw=-0.0011 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4199 right_y=0.1829 right_z=0.1537 right_yaw=0.062 right_pitch=-0.0321 right_roll=-0.0141 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.5658, 6.8171, 1.8095, -0.0513, -0.0415, -0.0122, 0.0068, -9.2923, 10.2222, 1.7118, 0.2369, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7053f50c20caff3ef31ddd10f82dfaa985694695ce61a173a47c6f235eb4a275",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5780cbdbfa419723b483d4eadc8812b5d93b61ede9e136ac548dc020eac7cde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff6f463dd640006bc25b3a88142660d622c370f209b164642d33ec50b0f2a50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 20 changed as sent

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.7982, 0.6136, -0.3794, -0.0227, -0.0292, 0.9984, 0.5377, 1.8652, 1.1973, -0.0532, 0.4152, 0.268, 0.9993]\nstate[eef_state]: left_x=0.2963 left_y=0.0008 left_z=0.1834 left_yaw=-0.0015 left_pitch=-0.0015 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4643 right_y=0.1981 right_z=0.1071 right_yaw=0.019 right_pitch=-0.0787 right_roll=-0.0472 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4564, 6.8171, 1.8095, -0.0708, -0.0415, -0.0122, 0.6632, -11.0427, 6.7761, 2.1709, 0.149, 0.0806, -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]: [-0.0231, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.9983, 0.5346, 1.8713, 1.0866, 0.1059, 0.3912, 0.2531, 0.9993]\nstate[eef_state]: left_x=0.2963 left_y=0.0008 left_z=0.1832 left_yaw=-0.0012 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.459 right_y=0.1977 right_z=0.0871 right_yaw=0.0445 right_pitch=-0.0492 right_roll=-0.0251 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -1.1829, 6.8308, 1.7656, -0.0415, -0.0562, -0.0122, -0.8821, -9.7436, 6.7897, 2.0488, 0.2271, 0.0562, -0.0171]\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]: [-0.0227, 0.8005, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5495, 1.6062, 1.0462, -0.0986, 0.3885, 0.2531, 0.9993]\nstate[eef_state]: left_x=0.2965 left_y=0.0009 left_z=0.1827 left_yaw=-0.0011 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4199 right_y=0.1829 right_z=0.1537 right_yaw=0.062 right_pitch=-0.0321 right_roll=-0.0141 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.5658, 6.8171, 1.8095, -0.0513, -0.0415, -0.0122, 0.0068, -9.2923, 10.2222, 1.7118, 0.2369, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7053f50c20caff3ef31ddd10f82dfaa985694695ce61a173a47c6f235eb4a275",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5780cbdbfa419723b483d4eadc8812b5d93b61ede9e136ac548dc020eac7cde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff6f463dd640006bc25b3a88142660d622c370f209b164642d33ec50b0f2a50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErdCvXr0n3j_plLXBQVIp-uXRfGMsDhwWBfyLC526WYrVOXgCnGlw8tfsCvMfeR8w_l0yn7UnEoS8ss00lrkJoDAvHh9p_1qfFP4EP5vfJAR-FOfi__qCybC9VOHON-PTUadefg_edbffE0xtyO_PMWxpxpM0-fwP0IJu12x2nzVfa3p9Fov6j_57r9pFui5B5rJduxCs5MVWNpPu4D0MzEKKM4NAmujkHRceVp9xsrwiyg6z3Q3Zx5BWkMl3JbXl0AM6GLhVWMNYzxHxFfnT0b9pNi3QlDDXZR05aKKbhtdH-BVn1gHpB3IZSwcVjy9ZsYNbMTaJZUfVRuqn_O6LeDFiUhhiEQyo_Ugq7oQfgiSXLnDrEtrr1DjoQ9hB0fc39TVlXlxCuq8RlUMbfeKu2k3tGOWzCWqElTE9A59jiosoUBggGpuBnLc-4xAmvz05_2sf22DNAQzn1JEYzof14wBCoXEjPauOUEI06lwJS9f5CUg_OJz5j_O-3M7dHvIZUw0bb_IjnQ_umBZVc832A0APJ1VySThKFJdYc8esy-bx0ZLxScokLIsnjnJythzYowSVvh9JGkzXY-a3HKFF7sSdZu_ZjkY7Xj9yOqFynxIIyggFgl6woIbz1XPhE7Xe33fYCnasmJo73Y1RrREFxynsFJL09TWD09E6jfku1T5tMi4sjkjFL68MojGsxmAcPTzitqGNRa9LLkEYl86dBn5ByXR2zScjdNV0gOaZDS6OR8bheAzQ2TgdrrXTl1mg9Zhxsq_rrwHfQSCE8Pby2UivRLYtB9E942ThAAQhPi2eLGrvXsL0DuF-9gkintFn5L5QTPIKVZct835q6RTYWo2T85-QUtf7nK3wQq7ULNErXVanrC5hm5JLgjM1QQsSBb4UP7ag41kJ2YI3bAIDJzaPD6I_lyl88F3bHsjFAXNHqygT350NMy648fHZTcONyQRqGPa471u71UXS_yc8z1fq8l6RItqRml8J18BLDH9SIPy7JZpARyTGfTb7t_3q5ZaovCqx93AziNYXb0EoAMhXDWvlgNqyubEXlpFvf-J4LLMoakYYedx5crPib2INRrARJZ_9R_DN2MH5wQoWklcO82I99pDncmXANyd6X6ADOxLPy3hgbt5UyqDWa_K9gg5mDDlQAZmIrwFKciF70baeTLHaWrdpcfj2SDPmGUCQMjIAzVB3HNX084vt7Iz1f8rgD0HyiOsxkQKKeGG_ynsjgzGYyMtZT7ohqBl_oHOJ_vluj_CrudiMx88-f5GtGrC3tAh7MzfqDU2k7LQhkGY76AznQUZQmgx8zL1OpdZoXe3b0KNfRLqLvlIGonFRTO4mrNgf1NIkJEkIyzZbsYMZqioFHGuN0TmAAbg78CVI_rYiyOR5jQyjD4kz3juGKHGidi3kxzPS_2aqIAkMR-ggi8whPRTHzHW4Nu2arSHnOgh9RlJ7rLff-CItRRTMxRatC32Tmtm0ATDYoxsUCzxlgM5lPgySlhrvWuBv5l88YhV7QpE0FLzg5Ft8uSrDOSya908mG_-AjPU5jI4Z4so9-LBUNzWyKFGZ1dyNlSeVqI6DZlB43fZaVfC7XOF1n1VRbIOU88jhGqIZM-RxCwF-kUl2pESb8bXAlR2SmhssxLcz6jb73R__iFxP9dfBXFnTNdPOqJPyIdMkAEwabSbTiqRVXaGus8Qh8O0d945mBb8_x-jcAwmCueiCxWCBi21r3sL9UPu5UHqTeckIjWisWlDYGdoneON1ghg-FU-aTrexbioAdJno7ysaLmu1xlmYpUialjyY86Gy2Vox_t0HbmhlHgifjko8XgBPKAzvNG1GQWTMojGKoDVFgkGRu14ThWsYD8S8PcWOjx5RZgwzkI7vZEmpZBjFAyZ_wyIKbEx_aHW1_qVdtpVpr0LhZlaJEKo3kkAbqczlBX1IHeHQ==",
  "id": "rs_0a4c666cf4c1b196016ab44adb7ba887d0a58f3cc1cb895b35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.18,\"right_z\":0.12},\"note\":\"After recovering, the rightmost cap is centered on the jaw column and the arm is no longer stuck. I will now approach it in a moderate outward-and-down step, keeping the lateral alignment fixed.\"}",
  "call_id": "call_t5fhfdUSOowDsJj4OHwLd8mR",
  "id": "fc_0a4c666cf4c1b196016ab44adce42487d08564823c95f94cce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t5fhfdUSOowDsJj4OHwLd8mR",
  "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]: [-0.0231, 0.8005, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5327, 1.6363, 1.0275, -0.0513, 0.3767, 0.2329, 0.9993]\nstate[eef_state]: left_x=0.2965 left_y=0.0008 left_z=0.1827 left_yaw=-0.0015 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4255 right_y=0.1796 right_z=0.141 right_yaw=0.0656 right_pitch=-0.0367 right_roll=-0.025 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4838, 6.8855, 1.7851, -0.0415, -0.0317, -0.0122, -0.1162, -7.9111, 6.8991, 2.0244, 0.1538, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd50489e9785f229869d78039fedefc8c157e6e0f5033bc8f7292db8919b888",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd45626d8d013315af4871641a284c536f05a1fedcab8f6aec0035cc2642f04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f6b9138af4d01bbec9ea2693a0c11d746e20d0172a849ca61dcf794c6ba72f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 24 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.9983, 0.5346, 1.8713, 1.0866, 0.1047, 0.3912, 0.2531, 0.9994]\nstate[eef_state]: left_x=0.2963 left_y=0.0008 left_z=0.1832 left_yaw=-0.0012 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4588 right_y=0.1976 right_z=0.0869 right_yaw=0.0445 right_pitch=-0.0502 right_roll=-0.0256 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3197, 6.9265, 1.746, -0.0464, -0.0415, -0.0171, -0.7043, -9.7299, 6.8034, 2.0684, 0.2613, 0.0415, -0.0855]\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]: [-0.0227, 0.8005, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5495, 1.6062, 1.0462, -0.0986, 0.3885, 0.2531, 0.9993]\nstate[eef_state]: left_x=0.2965 left_y=0.0009 left_z=0.1827 left_yaw=-0.0011 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4199 right_y=0.1829 right_z=0.1537 right_yaw=0.062 right_pitch=-0.0321 right_roll=-0.0141 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.5658, 6.8171, 1.8095, -0.0513, -0.0415, -0.0122, 0.0068, -9.2923, 10.2222, 1.7118, 0.2369, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8005, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5327, 1.6363, 1.0275, -0.0513, 0.3767, 0.2329, 0.9993]\nstate[eef_state]: left_x=0.2965 left_y=0.0008 left_z=0.1827 left_yaw=-0.0015 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4255 right_y=0.1796 right_z=0.141 right_yaw=0.0656 right_pitch=-0.0367 right_roll=-0.025 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4838, 6.8855, 1.7851, -0.0415, -0.0317, -0.0122, -0.1162, -7.9111, 6.8991, 2.0244, 0.1538, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd50489e9785f229869d78039fedefc8c157e6e0f5033bc8f7292db8919b888",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd45626d8d013315af4871641a284c536f05a1fedcab8f6aec0035cc2642f04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f6b9138af4d01bbec9ea2693a0c11d746e20d0172a849ca61dcf794c6ba72f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErifmvBzYN8kXJws44fIhAUTFmU3LcdWy1IOyst54SPou2e8aJPX38VqVTJ0Qe0QuD_aFK4duiOpdbitM--09hOtCUHw-b5CkD4F39N9hmpRte9IrAXFIoXvkzqJ-kStrdfQuHzBN2Ue6yW5_QnHkVQYIMQc_sxnqRGK57h5L05dKo7AEnyClfVpTMDpUb3STPQM_gayV-lwq_PI6beMp8dPdDINmlvHOvV9mVIG9CqejdiIgF9LRquB85EAU0IvB2WOgRxfw_KlNmavQpz4HHtxo85vU-sT3HvO6a9V9doWQ6YxEw5wyqPPNQ3Qqua45fcEsmdxnjjrH49eMR4BYmqMFqXACRwPkRWc4_coUzQA4cRER39atiupGcKj7PNTJvmKwdwxT4C6f7l2puKUrDPv7KyqsCCEGXIn-K43m1kkutu20WMHUZb5EEroUIsKxbqhvJVPVY5TH8WAzhPWldGH2-zY3RkJm6256xtvY-ywP-25XcNT1W_AGt7sdYvgZY2SlxajrhlZMTEeZC9PDezxTplvYTMWaB_vOontpsV0s7nsnaUSSYdXR3G-tSiOzQGMcUoEVY3QrcVU-dwFdiSjyxyC0uYV1ZCHyM9EE6I-xeFwovJBc7YCSEjYsS7nk_-4TsUvdWpBe37bizbtfzNW5rtH42uZX9yFeVU8VVPyBq3X6u8Vs7Im3wyDI3Pejb7_TQTqwSzcHMrIbUQEuSxKVaOSAvshTFVdfPfF5viEbEKTauWEMwyHjevpYXE9AEHU896IwG7Ip_i5vBgziGmEWrJUCKozQhRUg8q1PewKivdYbXtr4ddCTZKgNFJiHj3CB6zywS_WXcYgAIi4sgYwgDIwyYpks0sgR84NGzJmNFfUx5b7kLxfjCV_5J5kXmDXSRYSaKsWlWfFqXEqFviZwDqYtV-uF0QO_KLfUe0pNuT3ulyC6A8A-Oh9QXAy4lFdbgO-9G2-houYUHik8d5RsiNe7hrkCgf1Rxfc85fU7NMpe7KKGUpxJSiDBATfRdVLqNSY0mUozahiTPGVBFFjrF5XqFUTB4f5YkQdMrQwOZqRA-ED4ekSBZk5laAB3bfRcB_Br8KxyPtP5YGAKWMqSqa8xEmcL3VOfHjRq6uUhZsoAu26ZTMBVFHrc8-5xsiNu6oThXqKEPzyoqQk6479yVD5ymzpUX1FLzteIWuPfCnJGjn5PS1RAGwIlXSZUSsxr55vX5NM_5VpGecxOLVsjhZZCnO6mDA_HqLvVOxVimWH3EANYvOsGcsLRAZQHXlyqJzQT3d0HQEUrdnvXM1OdykOB714Aclfg7FrzBKjZZEdSh6Sao6rTt4n7AMnRyNLCmSzsUNDDRw2JafBqiN6jhOjj00cWOSyHE0OWlDSmZ0D_NYdEPnMms33i_NsAWRsbwhOCZHbl2bX573K5OpaQIlPP3zQltsR2kXbHVaY5ASAFET2IAtoclXq3r0AWJEzvtzYSxqGVECkv8dfjudL3PhQNkc5NjaT_7ppKSVRSUBM9Xvi4Ep9TC1ONNkbXaroyqafXS8VItBdRy563IJvLcwWe3Sg8Nx4euR-18gFwt86Tt1E8wzdlYAlO64gzMKB8q9IATcpMhQ8cNewyh1imN2iOAM965H60N9eg4Qn0nTKAeRHio814bFA104vK9MBctTuqzGX9X80DMkFS_JLHc2XuSNtNhiqWgewY60uO7Ifa9uF6wwP07EJbp7QHIW7ogagODUAvIV8A6ehZqd1MqvvVSp5M-FugmfC4UGWWCQcqGpL-k7qtVMD-RAVG0u3F-ocAtgG_4yCEYeWYRsHis-JG9c-o65N823RJe-7BS5TdOJ16PJHtBnM_U-i0EnvtoIZq83a93RPuOrHg4PKbf8olcDw-Rg1sX9nFEoejUjwZ9-nABZVE4PF7rt58yUspXxMXgI60By6INS_UUnxVatm3YPF4KytW2qW0BbD2aMwiDfpuEKszAI-3MBD2rw",
  "id": "rs_0a4c666cf4c1b196016ab44adfa23c87d0a6837b1c6c594f64",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.18,\"right_z\":0.16},\"note\":\"The last combined descent again tracked only a few millimetres outward, so I will remove the descent component and extend by a smaller amount at a slightly higher height. This should avoid the arm's awkward long-reach branch while preserving the cap alignment.\"}",
  "call_id": "call_y4890C7rmxskoA0tlqmhTYQF",
  "id": "fc_0a4c666cf4c1b196016ab44ae12b2487d0927c541b197c66ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y4890C7rmxskoA0tlqmhTYQF",
  "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]: [-0.0227, 0.8005, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5327, 1.6363, 1.0275, -0.0437, 0.3622, 0.2306, 0.9993]\nstate[eef_state]: left_x=0.2965 left_y=0.0009 left_z=0.1827 left_yaw=-0.0011 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4259 right_y=0.1826 right_z=0.1418 right_yaw=0.0788 right_pitch=-0.0338 right_roll=-0.0156 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.4974, 6.7077, 1.7656, -0.0317, -0.0757, -0.0122, -0.3214, -7.9248, 6.9538, 1.9658, 0.2125, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9feec4e45ed51eec1975e66577a7f4230c277077071a301a5881e622c2d13504",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6286f4268c23e9daea7e16e92a3702133426253a951a033c6929df504d340104",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45643ce37c3a95fb3cb07b9c6b9b6d03390033a3132b72464807212aa87cbdc2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.7986, 0.6136, -0.3798, -0.0231, -0.0292, 0.9983, 0.5346, 1.8713, 1.0866, 0.1059, 0.3912, 0.2531, 0.9993]\nstate[eef_state]: left_x=0.2963 left_y=0.0008 left_z=0.1832 left_yaw=-0.0012 left_pitch=-0.0023 left_roll=-0.0004 left_gripper=0.9983 right_x=0.459 right_y=0.1977 right_z=0.0871 right_yaw=0.0445 right_pitch=-0.0492 right_roll=-0.0251 right_gripper=0.9993\nstate[joint_eff]: [-0.2667, -1.1829, 6.8308, 1.7656, -0.0415, -0.0562, -0.0122, -0.8821, -9.7436, 6.7897, 2.0488, 0.2271, 0.0562, -0.0171]\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]: [-0.0231, 0.8005, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5327, 1.6363, 1.0275, -0.0513, 0.3767, 0.2329, 0.9993]\nstate[eef_state]: left_x=0.2965 left_y=0.0008 left_z=0.1827 left_yaw=-0.0015 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4255 right_y=0.1796 right_z=0.141 right_yaw=0.0656 right_pitch=-0.0367 right_roll=-0.025 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4838, 6.8855, 1.7851, -0.0415, -0.0317, -0.0122, -0.1162, -7.9111, 6.8991, 2.0244, 0.1538, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8005, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5327, 1.6363, 1.0275, -0.0437, 0.3622, 0.2306, 0.9993]\nstate[eef_state]: left_x=0.2965 left_y=0.0009 left_z=0.1827 left_yaw=-0.0011 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4259 right_y=0.1826 right_z=0.1418 right_yaw=0.0788 right_pitch=-0.0338 right_roll=-0.0156 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.4974, 6.7077, 1.7656, -0.0317, -0.0757, -0.0122, -0.3214, -7.9248, 6.9538, 1.9658, 0.2125, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9feec4e45ed51eec1975e66577a7f4230c277077071a301a5881e622c2d13504",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6286f4268c23e9daea7e16e92a3702133426253a951a033c6929df504d340104",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45643ce37c3a95fb3cb07b9c6b9b6d03390033a3132b72464807212aa87cbdc2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErmi9G27nu_8Z068qIje2m3I4FHcQ1JUWwSo2OOw62nujeVJB6GADI6dxhB9Qu_QzSH0XEeIDOt_clXAam97vMqFBsH7d5sGDNoibJx0aQwkVDKgMXB8L0Uvc2mXrEwgYFJvtWpJ3NOsgD9kZxxzXL3oyS5GnIoCFYU6YqLZiwTqcXwV8OHm9aALNCzgdHn0nJrMNNmLXv5E2qjGZ43_RdN40QWVSHodCrp400QmIE8LzuKbihA00PFLk-NEDKt45CVWpgYk_W0qdVRBk-iMNGjQXupeN0gXbc8xW5OS3qQf3fmCcg6vcOBrn-sJjc2uiZAwSPMCESoMIooCfG0wQ2bWygwP8aIDxZ9DMROEx-XZJlqxiOHKQnDbzNx5NCWT5t6MZ2ucnWr0TlKM3jenUn7oB9esOIqOlytMNBB9Xnqce7F1az6XvBMibDLDIHnU1noqgDqYiuAiJIUkHcEsXuQeGQcBxOWGfQjukcKibDjbRJxm7NN1hdL5J8Il52nEq3OgJGnx2D-nT5XMrWf4chAxUKTM6Ni3DfFZkcfcfyrE-o3P5JlpI1jpAnKXFb0lW-TcVXT5mfV3b8vOWC77IsS3COK4yjVXWvEXgMP7rHXqKBJ5j_P_alsAA53MKdiuM-A5d6ntoZl7tAwkipF-akVA7wc-LF1CXUfuL1mW5X6W8W4bjmSZEq6BdAeK2XT5RNY-SVsM14Icc7gB568FS9B7cvlJhRlAdg0Kzk1clC6RYhXHlcw8k1FjKxRrDs1lXTLjH77mBGYI4uVk3XMOg7Rq3f5AuC_xLJiFzDgDKfF7bLP-Xd74aufvGEFm2-y8TypVd2xeH2jARYUQHdxpVZ5tVEO7TzZYVzsoJbojE_oGV3W7_tME8tz09Gn91Tec_e1kIVY8AeCSX2aFpaFMpzvflODNSzCQrVSE3sglujiQy4ScJaMg_VhVp8GlBP5KOuZfsqOmBsaJcEagPcEDuD2-EnegN359jxVYDN2ujJibJ0wmFxm7OsSPSVXhUY6CAMEUFhxGDUhaxXnbnYnHf_LaKl0TnEOshaA_0HXzfGhTJ5AuJgqOjhjn_hOEFjJwjmIlYKOlH_eclWLXHP0xy-9RE--i2LlaSuJ4CaQHCM1zWhMxIq9rXD1pHx9YJXxl-GGQwskgsuXDnm9lQEeOpo9okyotRLybGZrD_KugwWxh2_z7yEQyurLIjVk8WHtk5SfYT3beXqy93STRol7v29m2eV0jc5F26Dm3bJ8BAvNldkSFWDPV3fLzD1lQwf05eqT_tkndiwbNZB229MkSGOrC78ModfmksKu5ScZ3pT38qi6jLHyFO3uVt9qp3Lw7R3p0NZQD4tjgTh96g0IMIYD_fbfUkqjYYLK_cvzDVihoaNazRUbVUm0gP2OTfZzjqhvF5jYdTFhnQbncIWFczOkQv4C2scbXad5HbNNzI-HWEPQxZthcjUahqM8_ifXhPKDs_08WimvraZLAMOAVW5objy47T_xcLYzOJmhyT6ydJxiSHkRFNK7uKIX92b-n1rYUJcTxCf6XMezUYJTiowcTNdFhMCN4lpFRXNHAjG9yFhdti0cMqkvL7kayMYcb5bD_J8EX9rn-_Pm0UO-WK78QhnY_z0OQd28KsRyCklSnlJvq9ISreA_H3c6gIfgqdGp-BiCUzsjtNYt6zd2NLT0sMCPeHaTz-f1tZEViRuksNuwRZlHR8Xqmei51Bt60G1UbfpHg_mL3oiG3ER_KvfPqx0eRv86-VmS_QdC6m4EdB_0Th9BydVn0mCqdgbAk5JQasmcY8bVB989QL89WRvLrezkyhvwB6FETY3onzWzi15AGlGuCzTfjvAtrjeXvBdQZ7K3Kd6lMVFhsSSrV-Iy-0T4A07tu_2HQHOnnnPBBxwa3GE-MgfxQQ9rLA_0lkspfsjDtvy93sLwYYitSs-V5PW_CDyE4TEqZH5CZBVZO5u7b0k439tnM-MS-hwifnAQ7-LhHe4VxPVyzgXt7-rFklh0VqsoldHGEvoe0L5eCmiEarUbCKG9fm_qJjxUNlMvA08RC1A2wDsQ02pzSCRNYdRr_PsCg1-KE7LFDx1B2ktVoZGtZgJYwUjAq3rzNLtS1-TzpqS7IFW05so9m9l2wv0NLjpFUSrageDv7UeY7CpBQ1NRX2UFi194Doq0FN7fmH18W2AoLq2ZviXqvsAIxUNJHZ3zj00oQqP_WG12qdo4erCVSXzxiMpasGj_W7VeAkeX4OETbMkMMkfW_OaqE3nYnr5cQSVuutaPQ5A9jVzyxozzEPHZWDA5oXM1vRqslsoM4q077v6C4kKB2KMHgQvSRW2QhXBACsWw6u_bW-lbg0WgTXvLuvUohEUVOJBh-pDksRpf6LJWQKtrmpUbgZianp2Ln4CvLMUTukTyjiW-HdzpMNpHdvOUN1BfkFsBIRMuvm7J1bkPD1LGxIfS9HxN2hXLGuS7RcY3jN3iiCeKk-YSzkfnJf3qduIw_dRd8TZdvBaBaaZMiVrYo8BoeRXnNl9IcQs3UjX-Ae0QIAWGT_-PC30Z4bUT4Yo5Ido_oWwBs1c-zrAQXZfPOiTgKqtGPnt_WLhfVPg8qa774Kw=",
  "id": "rs_0a4c666cf4c1b196016ab44ae3847887d0a254b54b19efdf05",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.426,\"right_y\":0.18,\"right_z\":0.035,\"right_gripper\":1.0},\"note\":\"The rightmost bottle's body is centered and extends into the fingertip region, although its cap is beyond the arm's low-reach configuration. I will descend onto the nearer body section so I can pull the whole bottle inward, making the cap reachable for the upright pivot.\"}",
  "call_id": "call_YfNrIZEtMXTF5TbyH2ldJa0f",
  "id": "fc_0a4c666cf4c1b196016ab44ae6109c87d09ccf6d155af9029a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YfNrIZEtMXTF5TbyH2ldJa0f",
  "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]: [-0.0227, 0.8017, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5285, 1.8629, 0.8196, 0.2386, 0.3588, 0.2268, 0.9994]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1824 left_yaw=-0.0011 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4047 right_y=0.1687 right_z=0.0138 right_yaw=0.0725 right_pitch=-0.1716 right_roll=-0.0837 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.0598, 6.7077, 1.79, -0.0464, -0.0611, -0.0122, -0.4718, -12.8479, 7.159, 2.381, 0.0708, -0.0855, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b1d712d83c2fb4d76b9ac5bb900f85b20012e823ecc476c8da9003c8708a452",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7954d869e304ebdc18b63fb0bcc2718bbcb6e37c09b8b7de376907e4705b23af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627368d5c7e777bb714a0cb1c297018081b6a82e7af50da8fd567f35497cc078",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8005, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5495, 1.6062, 1.0462, -0.0986, 0.3885, 0.2531, 0.9993]\nstate[eef_state]: left_x=0.2965 left_y=0.0009 left_z=0.1827 left_yaw=-0.0011 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4199 right_y=0.1829 right_z=0.1537 right_yaw=0.062 right_pitch=-0.0321 right_roll=-0.0141 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.5658, 6.8171, 1.8095, -0.0513, -0.0415, -0.0122, 0.0068, -9.2923, 10.2222, 1.7118, 0.2369, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8005, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5327, 1.6363, 1.0275, -0.0437, 0.3622, 0.2306, 0.9993]\nstate[eef_state]: left_x=0.2965 left_y=0.0009 left_z=0.1827 left_yaw=-0.0011 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4259 right_y=0.1826 right_z=0.1418 right_yaw=0.0788 right_pitch=-0.0338 right_roll=-0.0156 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.4974, 6.7077, 1.7656, -0.0317, -0.0757, -0.0122, -0.3214, -7.9248, 6.9538, 1.9658, 0.2125, 0.0415, -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]: [-0.0227, 0.8017, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5285, 1.8629, 0.8196, 0.2386, 0.3588, 0.2268, 0.9994]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1824 left_yaw=-0.0011 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4047 right_y=0.1687 right_z=0.0138 right_yaw=0.0725 right_pitch=-0.1716 right_roll=-0.0837 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.0598, 6.7077, 1.79, -0.0464, -0.0611, -0.0122, -0.4718, -12.8479, 7.159, 2.381, 0.0708, -0.0855, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b1d712d83c2fb4d76b9ac5bb900f85b20012e823ecc476c8da9003c8708a452",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7954d869e304ebdc18b63fb0bcc2718bbcb6e37c09b8b7de376907e4705b23af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627368d5c7e777bb714a0cb1c297018081b6a82e7af50da8fd567f35497cc078",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErpRJMjTgNRORLozd0UsV8TDvt5BhLIb6MAaBRJ8u0S3247FOdfvPcBprOqXerOr26r1ezCerwfP0rhs-ki_ePTMG5sn1uYInsEStYqHrAIS9ZyRC8pwkw0lMx-hY1E5K26qCmz7wWVpqCJuVkEKiVIkWv0ukOu_nJVPsMSAifuMpdJlirS1c9793yRWreqqvBsn1iFunxxmZ5BYr_rByWIUeTJr5Jqqo4_4qVEPx9h7pTHWa-xqdjkhrN8JK2x9dxLHlQPyTI3lWxVnTpHoEnflOahdB_0EgSRayuz-nS74XS0yduLPenSxk85wbt-rkUUB0Xte58ZF6pN6o85rUf1p73xrpOLehjz6E2NwIgUzgqSTpM56rh5GaNOmY1-Ov9gIkc3AUtPVna-P7DEYD4KPejis9qhgu95aWttSeVhDCkh3crNju1rBi3Zpi9fU5lMwfJRNw7Iq3dO7bLEjllvh8cVWsrc1QfonYA7XZUCzgc8iU0Yv1tEKG3hBEXfp9ieEKC3td9TJ8kRHCihcuoBZCZZCZahqsCjK9XMXeWhjS58J1INk6pCcd8cmObgYxYOypysfUjuvIeg1f5M7MCR2poVS78nog8FVOFHgoyXdtVRT5BZT7V4r0OgA4TWotpEri-4KjLxHovRaMxvwbe5YUwtZNLaWHbMDqJ2FsrejDjmRvm9bFzDFdhetOmMS6-DGP0TyMH0yIUFct8DNqI1gy_R34EtGGdbPx2Xs565oSJZ-uyb2o_ILPHouz7WeVbkPGB7rVzmDLgIWcMfn-v9BwHbCy7b-0O_w9RFg5eC9Qo2XMzq-hZFXt8L29mX89LnXuN73dAhLs14amD-Z4kBnWddzjHG1O3xTFaA7JdODhqEk7qpFRhkNJwNDbXlTHw7p_HUQKi4iAP1VNPdaupDxRTyZ8b5HCIbffV3h6tebfM5Lf6CV_PdjfHOnWhoUBvlce8HH7p5hGOC9e_xr6rzgeHxzMbHnDWE2dCtvk3x7UGEPIftvfetjsnJiBnrmeK7Jvo5WtFPlDKJ0VUtKKzI3tONDXo8WfOP8dLloMPWfXX4ibcUKPAiB0Y1tEmgwOHEJxVUPWqyMn-T-jC0904QBMa_beQsNIxl-ZlYgnBaN5W6IHHoqFco9YF8AK6utwkgsPg3LsRifkYfy1sLnRQcgLjE6QT8a2gVsqfwa2PWo2h4UL0vjQTCpeIj6xhGHd4z8jXNKvUfgWt93KJ2yv1O2ePHUfy2LkhDEFDkWzGBhvgcNb4oI9t9uQFALzIAOlzowaaIRyrs1g5mIBoCDFNvmg==",
  "id": "rs_0a4c666cf4c1b196016ab44ae8909487d099353d2800037bf7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right wrist view now shows the bottle body directly between the jaws at tabletop height. I will close around the body to secure it for an inward repositioning move.\"}",
  "call_id": "call_B93XkWhOz26VMCBI8nikq7jm",
  "id": "fc_0a4c666cf4c1b196016ab44ae8dd7487d09fe8efb962bd5f89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B93XkWhOz26VMCBI8nikq7jm",
  "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]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.5373, 1.8721, 0.6815, 0.6601, 0.3573, 0.231, 0.4336]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.415 right_y=0.1795 right_z=0.0399 right_yaw=0.0861 right_pitch=0.0748 right_roll=0.0406 right_gripper=0.4336\nstate[joint_eff]: [-0.2667, -1.6342, 6.8308, 1.7802, -0.0611, -0.0366, -0.0122, -0.7316, -5.8462, 3.453, 1.3602, 0.1441, -0.0024, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a30de0b02e5fd1b07f97c2452f5fad485fd9a161eba67c8f53d26802f13b64af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f37f4d8068654a5e9806485744e2b54376e6df3950cb499062bc4121bf7030d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a4a092b76b316107e290dedf66f35f672cde81b483885286e0e3d6e4255ac21",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8005, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5327, 1.6363, 1.0275, -0.0513, 0.3767, 0.2329, 0.9993]\nstate[eef_state]: left_x=0.2965 left_y=0.0008 left_z=0.1827 left_yaw=-0.0015 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4255 right_y=0.1796 right_z=0.141 right_yaw=0.0656 right_pitch=-0.0367 right_roll=-0.025 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4838, 6.8855, 1.7851, -0.0415, -0.0317, -0.0122, -0.1162, -7.9111, 6.8991, 2.0244, 0.1538, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8017, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5285, 1.8629, 0.8196, 0.2386, 0.3588, 0.2268, 0.9994]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1824 left_yaw=-0.0011 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4047 right_y=0.1687 right_z=0.0138 right_yaw=0.0725 right_pitch=-0.1716 right_roll=-0.0837 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.0598, 6.7077, 1.79, -0.0464, -0.0611, -0.0122, -0.4718, -12.8479, 7.159, 2.381, 0.0708, -0.0855, -0.0806]\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]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.5373, 1.8721, 0.6815, 0.6601, 0.3573, 0.231, 0.4336]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.415 right_y=0.1795 right_z=0.0399 right_yaw=0.0861 right_pitch=0.0748 right_roll=0.0406 right_gripper=0.4336\nstate[joint_eff]: [-0.2667, -1.6342, 6.8308, 1.7802, -0.0611, -0.0366, -0.0122, -0.7316, -5.8462, 3.453, 1.3602, 0.1441, -0.0024, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a30de0b02e5fd1b07f97c2452f5fad485fd9a161eba67c8f53d26802f13b64af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f37f4d8068654a5e9806485744e2b54376e6df3950cb499062bc4121bf7030d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a4a092b76b316107e290dedf66f35f672cde81b483885286e0e3d6e4255ac21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErsJIFzXjbDafDuSnpd5B_8Dgb3uc0w0dG4S-Id_7M7SqKvxUOamwDMrLdUhlnlS5TaH23RcnLswW0IJGsTh6SILMbTah-o5zQrC2Wg9E1aqc1-4xlfJ3cMLI9pfv6NWsJGP3mMOgTNu4j-GfM5X3bl2x6VAgqoK8q7ZZGhV82hHESk8gvjKtUHDqgJ6YNRBhYiq6Y_uqvObDTgdzSmKFUqz5aHZVaIuGVqIJ2IU2Y3Ah17_y7z0lC6XGV9QoQ08exASLvcOVsqF1JF4aJ3pDRSnbwZlZqHFweJocSfLoIhAi1qFAnKq5e5Pgi3uAsznXOw_rGhIOz-cvHnCPEZsvdJbTo5fbGJXmwZU0Ir6GOTsr2_fbXfr7kqYrDtHUA9utq8lO0VXYMNGnOmlsFHGTZ_07kdeiyImMxnoWK7Eia2mjU8sJrJgIx3B7-qMXG-KYB7X9Z-QtNFzZeKhC-gKF20JDAuTY0_ZrdbfmnFNx0xddkD91yakhm-UcS5YiP601e-pKKcsOhYsxyDuOjPB0Q3tMNq_gumKQWYZ1ApAbb7ekr2XIP9u2zUlTSKeBbTU3k-5soTxjYUUw_bq8zVrd75JUYVOwkB5sxawLjqP03brjymdos09x-AkomKm4OhRZY8QKADQXUN0zsFGaFk4luSQj5q0ZmOsXWAs4CBWBu-0XcVIVUQAYpLaEJCK6WYkw8L3bpaXIy459ecPWZmREvhz6wGLIj2NH_4ZyOfuB8jghRm2Ed6XaMGmI_2v0lysf8RQ6HHz3C6GYMllk7VAPhJMvmVjK-XmCpQgakNmIqLgckxdD0eN8CqTs5THgG9trbtzWh5nxvvePaE_FdXo-LZIZf4DwdsGzzukIATOL-jl99KwoCBphguaZLsl1wrdRBHWpbU39g9Zm2gBFgne7a0s-hL1bqSEbn7UyVkRxQVPy1tiZUSJa92JZ7e_AcUL-SoRin-D_6qZZ7W40a6bcPQMf7kvT3ERMtXMixGxpQcU4RGYAFo-fYeCYpfQ8stKs-6OPjiNo_imhjT7DmKrz82v9_nQRquHzI43TkvpWLYO_B4QcAIZOREfK4xY81g_ly_mRI2wNV-zroChkTGHwFJGsSQUSFupRzolKb45acrWJsAqryEytQh7sX9NH-3t_rQBZ1Ri9wssRYL740aMiF5fV4yDvGApueucqIyeN8h5Ae54p2XXMrbjLLu0Tdi61lQ8piSvvtvdqV_CpqrYjZe-c5xjhPqxuINRyBIDte5X3R4PNj9enMsm5I4Bdn3DmpVFqsUf24oIxxaI_5I1bVflkht6bg4YU4Y8A8wbLfg1o5pCW9dW-xscSBFEKCLO1L8dbvi950MO6hFoJga5fL0VYO_ErU80ivhJs0NqUR4yF5WpN671XifjpwG-Um3AoEy0a6IEcqZvatkXTlhe3jtY_TafDHkwaqvvjjRsAh7NV7ZhBmo2Ktu_JyFHKyY-_NbSzPTQhrThohys9C6LrwIZ08o1GMG31C7Zyv44JxNQbe7APQ-o3tpMoSPo9C6IWN73zIPw6pQSgM1LtZ4tzyTKg==",
  "id": "rs_0a4c666cf4c1b196016ab44aeba22087d09a7cc69f44779bd3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The gripper settled at 0.43, confirming a firm grasp around the bottle rather than an empty close. I will lift it to see whether it remains horizontal and to clear the table before pulling it inward.\"}",
  "call_id": "call_tbzKcoWyPLu7sHghXiTCkimP",
  "id": "fc_0a4c666cf4c1b196016ab44aec57f487d081e3660014d3535d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tbzKcoWyPLu7sHghXiTCkimP",
  "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]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5373, 1.6821, 0.8356, 0.0479, 0.3344, 0.2264, 0.4369]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3904 right_y=0.1693 right_z=0.061 right_yaw=0.1017 right_pitch=-0.1736 right_roll=-0.0653 right_gripper=0.4369\nstate[joint_eff]: [-0.335, -1.1692, 6.8718, 1.8437, -0.0513, -0.0562, -0.0122, 0.0068, -12.2188, 11.5761, 2.5958, 0.4078, 0.0073, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9bda50a1bb1f7a53c9c162c91bcddd52999e1ea276b5b39dc5aba097916a6af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b87ea13b3265731179a79425fee2529289c78359931cadb6f943abeaba5cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e56b8666f7cf7f6e5c9ff3ce932f819e02deb2aebe80c4d44e35a95ad7137fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8005, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5327, 1.6363, 1.0275, -0.0437, 0.3622, 0.2306, 0.9993]\nstate[eef_state]: left_x=0.2965 left_y=0.0009 left_z=0.1827 left_yaw=-0.0011 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4259 right_y=0.1826 right_z=0.1418 right_yaw=0.0788 right_pitch=-0.0338 right_roll=-0.0156 right_gripper=0.9993\nstate[joint_eff]: [-0.253, -1.4974, 6.7077, 1.7656, -0.0317, -0.0757, -0.0122, -0.3214, -7.9248, 6.9538, 1.9658, 0.2125, 0.0415, -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]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.5373, 1.8721, 0.6815, 0.6601, 0.3573, 0.231, 0.4336]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.415 right_y=0.1795 right_z=0.0399 right_yaw=0.0861 right_pitch=0.0748 right_roll=0.0406 right_gripper=0.4336\nstate[joint_eff]: [-0.2667, -1.6342, 6.8308, 1.7802, -0.0611, -0.0366, -0.0122, -0.7316, -5.8462, 3.453, 1.3602, 0.1441, -0.0024, 1.033]\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]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5373, 1.6821, 0.8356, 0.0479, 0.3344, 0.2264, 0.4369]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3904 right_y=0.1693 right_z=0.061 right_yaw=0.1017 right_pitch=-0.1736 right_roll=-0.0653 right_gripper=0.4369\nstate[joint_eff]: [-0.335, -1.1692, 6.8718, 1.8437, -0.0513, -0.0562, -0.0122, 0.0068, -12.2188, 11.5761, 2.5958, 0.4078, 0.0073, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9bda50a1bb1f7a53c9c162c91bcddd52999e1ea276b5b39dc5aba097916a6af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b87ea13b3265731179a79425fee2529289c78359931cadb6f943abeaba5cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e56b8666f7cf7f6e5c9ff3ce932f819e02deb2aebe80c4d44e35a95ad7137fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErvV4N8uHiFwHMmF_rUks_-dPZO7wa6YJzw4-kNhpuFp7SdJjexow28vzSv_xQaIlhMqxOcJKWaCFqmLQedroffNHQiCX3tFAJ2c8mSmWxFWcc0Mp0_oHJsmCIfntFXfFda_W0q9TlE_N2G71btSA4z9gHm9iH5aXonncAxovhWPJ1M5TonRoBsUq4oV3lpRUveDtG4cSDea2Tmv1OjHtMCFfeEnFb5ka-tFhF4dWqMK9jMTgToSnC3y0ZIamNccToEjs-dvpqbfdgdXzhzyK0puAxbddTXvomQGgQyYE7J-JeKJv0V_ZAMkH4kscp-LDsrl5eGN-7FCiSVBI8XC14Ex_N7c1pN10FOsl8NhH6EmOAwD9nUWdvJi3hPyBnvUN52KNJh8fjnB4VNZ3LcYeozYFX3dUIQcf24IbuFWYoSOR7JCyerdn9iN0g-JBzLNvocXIFdF_uDpBggxWnT6MGN15uo9LHvlLvFQyhg503XuYCFngqgZ5ahIwG1HTKzUSt98x_6Fv7Pvk7YImzyfiHQkiTBlknkhxDzpV5LRRWvWQ3mW7y8npYHO0V3ySeAwNpqlVsAGBS3nWR0XlLXD4tbqalAYDdQ_y3dGv0XRWS7yEkNADr2eDF_6PZ7HnOD9nrZ0cTLyHYNowX1wd93ddIpAcSuY5yAdUAetvGr89UkTomw9LTBsZ2lFwN9E5-OkVwI_5W-IsjiD8zLLUErAJq0rMvwSDGS3cPtlzxJfq-I74OIHIPEc_q_yFD3k1_IDLttVt04g1erTTgEC7zO4M5rzVriZ1FI1nk2DGn6vttLD6i-8i4iEHkmhsK2XtFC2a4pKNQpE2MgWgN-eotiYdShGkGMthJhicthStnPU28l6F3k1PiFQW18DH_6BdrY_H3RojFoqfNQk91YvpahnwW0HyHBdSP5kDKQtJcCh1Ku3CXjVbXLmr34psuoiG2UY_axOo-jMzVPXNXTif6hTetEbeHC_mYDH73YNBN2Utlko-IH0euURtoIJZ9S4HPCgmHFcjCorZlwxa-OrnixtdxR8ebTOhVdtO4fPapG5m-Cw7eATrr7QZCzDLJBQEn2rFdZDIltX2YHANuR1JoJqHEuG9TNt5URtw_16WvrqEQKHWfQNHYMJRoevCtkW2f_XxbjwTzmJ-8u9SeZ0OQo4-41FuMFeyzussVnE3BBzvv-6djbJRvPG5m4uxf9gfsqy8H3odXl0ZF1O4seHsCNQfCdFIrWY4TnUSoFBMbmbkPGnCVDawUSFrP83rt9POhkpmFVVQOvcIxgwiCfFe8Dh718w8lby3aql_vuiE2KPxf-ZbOWu2NaPhG7CJEYxZz4URg7yn1J2DLSe3xPqTcOvH20mc-iMktcgAA-wPeMrirR2AAjmE1I03pKwZkVZsIzIPfowB5bbbkFcUCh5RRS2exVVA==",
  "id": "rs_0a4c666cf4c1b196016ab44aee917487d096fd7d7726074c93",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.18,\"right_z\":0.13},\"note\":\"The bottle stayed in the jaws, but the stretched arm lifted only a few centimetres and naturally retracted slightly. I will continue pulling inward to a much easier pose while maintaining clearance, relocating the bottle so its cap can later be reached.\"}",
  "call_id": "call_i0P7eVH2cNAP6oFIiWwIyvfG",
  "id": "fc_0a4c666cf4c1b196016ab44aeeff4c87d0bad50c47644eb473",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i0P7eVH2cNAP6oFIiWwIyvfG",
  "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]: [-0.0231, 0.8032, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.7002, 1.3922, 0.6228, -0.0254, 0.4225, 0.2932, 0.4377]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1821 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3142 right_y=0.1747 right_z=0.0796 right_yaw=0.158 right_pitch=-0.1393 right_roll=-0.0692 right_gripper=0.4377\nstate[joint_eff]: [-0.1846, -1.1419, 6.694, 1.8828, -0.0513, -0.0317, -0.0122, -0.0889, -6.3111, 10.6598, 1.8974, 0.5104, 0.2418, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce748652527bd3851ed02c00f8eab6b1fcece08789aa1ee168191d14eb55e44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff54ede85073eb200b34e2a56bdd73ac2dc220455aad09d5395a1a59cb2bf648",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef37e6bf0b339e33eddae529f094902281b1ae01266558a113f2265de7d2e91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8017, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5285, 1.8629, 0.8196, 0.2386, 0.3588, 0.2268, 0.9994]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1824 left_yaw=-0.0011 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4047 right_y=0.1687 right_z=0.0138 right_yaw=0.0725 right_pitch=-0.1716 right_roll=-0.0837 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.0598, 6.7077, 1.79, -0.0464, -0.0611, -0.0122, -0.4718, -12.8479, 7.159, 2.381, 0.0708, -0.0855, -0.0806]\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]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5373, 1.6821, 0.8356, 0.0479, 0.3344, 0.2264, 0.4369]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3904 right_y=0.1693 right_z=0.061 right_yaw=0.1017 right_pitch=-0.1736 right_roll=-0.0653 right_gripper=0.4369\nstate[joint_eff]: [-0.335, -1.1692, 6.8718, 1.8437, -0.0513, -0.0562, -0.0122, 0.0068, -12.2188, 11.5761, 2.5958, 0.4078, 0.0073, 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]: [-0.0231, 0.8032, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.7002, 1.3922, 0.6228, -0.0254, 0.4225, 0.2932, 0.4377]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1821 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3142 right_y=0.1747 right_z=0.0796 right_yaw=0.158 right_pitch=-0.1393 right_roll=-0.0692 right_gripper=0.4377\nstate[joint_eff]: [-0.1846, -1.1419, 6.694, 1.8828, -0.0513, -0.0317, -0.0122, -0.0889, -6.3111, 10.6598, 1.8974, 0.5104, 0.2418, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce748652527bd3851ed02c00f8eab6b1fcece08789aa1ee168191d14eb55e44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff54ede85073eb200b34e2a56bdd73ac2dc220455aad09d5395a1a59cb2bf648",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef37e6bf0b339e33eddae529f094902281b1ae01266558a113f2265de7d2e91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtErzR0RQDRZ6UjyK6cCJ2TcuZ2emDYv4ox2DllPRYwQn7VHxgbxM4ce_swNsdgV2nokFmCBYGIveup7vkqH8zyg8pUC-D5kl_iMblrr_OOtYD34YxUeno8Xf5qz4JYe960uMI9DVboj6mCs13nn1hDBuruiGPOOUCJcaFDOeNagIJGkHZJOgZbg5ltmtPGmiJ-QhGI1AACoKAhD7DjDBUu11RvtYpukCrPvktn1IMOK8nVKe6bOS1WFXi9IshnwMH77Q655dv_AgZG3XEx5qkPoAkqjB9seY7raTFxdiUr6Kk1qJpwfzNpoyTQuvilkPOVabQbXPcwMmnFzbPODd8QwxyyOEVJ84DaEoU6VMhEqivMk69u_PJCjM2EBrElHjwguH2FnTAqRHr-l8P_7pkrhdppAMMC9l9K-w6Vk2J0bcjCd-s0N6pS4BXfZLAS_Ho9PoNvFoASjT-DHs_Xj5bzXbv3JBnWJurX0zmKvGSoYNpiJoG3zCN_sIcxn4HXYewSYxXSpRLMooXPICzOOSPYs44ARyIlfbg4JQF80rC91s04X2b-56FMH9CwgkqQUIHNO-t9jg_gX6uTye_rmrfQc0_qFzH8OxNTsPUrJqdXrk0IUL20iV7chEMalYhFVvODuGRh3MKZsCQovAGMcxvg8Aj2Hsm6Nbhr7CMWuCi-igpFOX_IcOYIcg25XorbkMrB-OS2n_R24oxszA9a1aiM2_NfBOJuCyyiT8i4uU1oeoQG8kB5cHHWrsouTo8Cr_dwIDwzHPIGHsFARTlmuRwmvH66HHYA9HYp2zWCBldJdx9jBXEbf246enJpz5YB0Oj4lxIfoqG3a0lmXtlWzxIwU0IzE7lleeDVQSsqTQ4EF5wBHdCevHchTuDP3mDHv3BtI2izYmK2NMdsDljHHOpr6ojYcwUwQXLzvx0OColDB0jn5a0xVa7jPx-vSD0aDpJV8m5039tm5s-mxUWl91jgz3SSswycVJ2qS2E2z59-7_iByyE1FM5TL_jLPpqwtgjByK1RPeRgPwNGAx_vZ4IoSPh3EqN9dbyZQ_kiX2PL_gQWvGr8SAdQx4nHiqcWeiBludeEx-JFp4tazn_VfchknaZxRCof6Y7wI7iNazDEFbmO3N86uKqTqK9I1lvYJakHKeEhgxFvXr18fajgF1daxZnIiJndIyvpbgRVne5u47tVQKmJ4k9_yUrfCiK0i5AQ_vAOLcqU56gt8MOprKRXshbXXGL_HiL0MJsdALyJMm-QwcBZXLaEloHz5lrGQ_U01BzQnF93Bvjp5EHeKAj5ansNMHTxhyo9-dj31hJCdMPvP8GXDBpTrzkWrtnNMz86oIkFP6VyKCHx_kGr5IV6PNZ7UCijRTyiprwFgwhgDHbVmeWCoWYylqJ5wjkArAPJPmVF0cnykVBjsZfndt42t3cVcf1KAp0ux5GTtD4g1-0zWHTjD1FneLgeB8JYiq4Gi4JYNSoMN7R6KeVJ465NN1jnxi7VxgHbuk_GZpFe57sICIMHf2J5-4JLCyOm6kUSn0cn3rX5HKE_fX6Jr1d9b1zlg8lkCHh7NyBbkodjIHxuRngcDfPci7tEKS-Y9Fh7poGLeEY-D_rC4xZS7K400vmw==",
  "id": "rs_0a4c666cf4c1b196016ab44af1a54887d0ba6b1fbd13162724",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.02},\"note\":\"The grasped bottle has moved inward by roughly 10 cm and remains horizontal, with its cap now well inside the reachable zone. I will lower it back onto the tabletop before releasing, preserving its cap-forward orientation.\"}",
  "call_id": "call_4OGOWeUME1kZdsjROetlsXgd",
  "id": "fc_0a4c666cf4c1b196016ab44af2870c87d0ad64c2a46611de61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4OGOWeUME1kZdsjROetlsXgd",
  "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]: [-0.0231, 0.8024, 0.6136, -0.379, -0.0227, -0.0292, 0.9983, 0.7132, 1.3338, 0.6655, -0.0219, 0.4709, 0.3138, 0.4377]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1823 left_yaw=-0.0015 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3246 right_y=0.1796 right_z=0.1192 right_yaw=0.1265 right_pitch=-0.0333 right_roll=-0.0246 right_gripper=0.4377\nstate[joint_eff]: [-0.2256, -1.5658, 6.5436, 1.8046, -0.0464, -0.0757, -0.0122, -0.3897, -5.3538, 7.665, 1.7265, 0.2759, 0.1294, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8744a13f0b97c28706f6952e72d57d4729e808834ce2b21d11f85b60ac0bfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf0da18a90f5fba2c23bc4ca2a1d39c453dde65c98d4feb8abefd49b623cb782",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b9611669f4cd6b0493cf6d42b8829629fa39a95ebe008ed9da5e6fb90b1bb4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.5373, 1.8721, 0.6815, 0.6601, 0.3573, 0.231, 0.4336]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.415 right_y=0.1795 right_z=0.0399 right_yaw=0.0861 right_pitch=0.0748 right_roll=0.0406 right_gripper=0.4336\nstate[joint_eff]: [-0.2667, -1.6342, 6.8308, 1.7802, -0.0611, -0.0366, -0.0122, -0.7316, -5.8462, 3.453, 1.3602, 0.1441, -0.0024, 1.033]\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]: [-0.0231, 0.8032, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.7002, 1.3922, 0.6228, -0.0254, 0.4225, 0.2932, 0.4377]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1821 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3142 right_y=0.1747 right_z=0.0796 right_yaw=0.158 right_pitch=-0.1393 right_roll=-0.0692 right_gripper=0.4377\nstate[joint_eff]: [-0.1846, -1.1419, 6.694, 1.8828, -0.0513, -0.0317, -0.0122, -0.0889, -6.3111, 10.6598, 1.8974, 0.5104, 0.2418, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6136, -0.379, -0.0227, -0.0292, 0.9983, 0.7132, 1.3338, 0.6655, -0.0219, 0.4709, 0.3138, 0.4377]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1823 left_yaw=-0.0015 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3246 right_y=0.1796 right_z=0.1192 right_yaw=0.1265 right_pitch=-0.0333 right_roll=-0.0246 right_gripper=0.4377\nstate[joint_eff]: [-0.2256, -1.5658, 6.5436, 1.8046, -0.0464, -0.0757, -0.0122, -0.3897, -5.3538, 7.665, 1.7265, 0.2759, 0.1294, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d8744a13f0b97c28706f6952e72d57d4729e808834ce2b21d11f85b60ac0bfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf0da18a90f5fba2c23bc4ca2a1d39c453dde65c98d4feb8abefd49b623cb782",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b9611669f4cd6b0493cf6d42b8829629fa39a95ebe008ed9da5e6fb90b1bb4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEr4Ar300iyahsAx0gJ9qdAK7L0DBhSihrmgewKEFHylDYoIc7zJMqcI01dfCw2bqBvYar_lIB8plMsBrS4_UZBgxM8QhAT1hzCwlyvGLk2GYB6M_PmukpsbAoHGtO4IG_UlDUdBQD-OFsrkJkIWyLOioS4HzjORV-VrfW1Tpf8ckG4LMdgh29PHv_Q3pqUDpmqdiLeRrMKdKi-rsIPOrAEO3q8NaaxAC3fJj_5eKmrTppXe_8CnLEPyzr837gBgsJaI8OXymTLoAnFQcGCTEqcaTzbJdbVqFe6TAL7ylw6z0crYmfnLP7Sp7JSWzospnkV1lJWlKibB8nGFYjIhwI_QYfc7yNISIfAehqzRd4-HV7XfTlJcsEV4HS9eMeER-Jq_cDLMR-HrCu3zBzWSv6QmNx2MSyVEQEj4FF-Ud7VXQhSexryCGo9FO3KEpkq_p3PRXW3vi6pqTpWqmQLbfkiZ44wC7a1CrLS6ro8vghW_ig3yJmARxyzCjRvwYt0jHNjbP1U13mx_8EIx8Usqx4VIXGIe2dpRtoSST9_S78kKbSOG_iOZUmOgKAQJmf1MFv1OK9yRe7ljGK3SdF7z9FuOXWoKS9giBneaQ4_naMSFE1UIDaFmtKZcNYRZz9BuVa7WZOTb47bx1m9w68gtLw9nOgEF44F2VTXxxz_klMLx1orDv4L60RbofD97ZwnWX0CoxFuhcSAQQX2gNQEpX8b03rriOx2wmQkjbt0omaxdW22e-89AJrkD8o9M_jtIzngvIaG3YHS85_z4gKKu931ro6b4e8OAAZ5u_3g6eFqRD4QiMaWRinlUGR5jhRfwlbkI-PzN6WFFO9nBwa7_9K-G5OnZNa471W1Bdr2q3kqJaiJGjimX4hIyKVlB_HE8tZ--FCtdQxmv-CsGpgnfifac0jX-yaxpnb9Wg--1pe7RtBXSmWOPkK5SGW7fvHE389BdiZzHNXi1pxB8FhoTRW-noySdChAFiOorBKScJkS46TGf5PkFfAg87vBKMFHR6mEoSVlbb8MYFgZKZUMB1UnpXkADQ02bolC9B3UEjs0WOJNLOPiMKI5tMpaB0yY_X0gV3_a3aS4FMdXkCoxt66Rjozz11AtsV97lcVrC7a4yBzZZMXgQF1EvDJEeRaqZLTDGDPhvYeWUlVh-Cux2hYg-HSR0N6a1ECssbfo2dFHaI5aFWC_O7-07EJ33H2Fq6j_JZzgpjvd1dDfrrU-FH7w_xsNM-fbm9b_UNJ05qLpcFSe5jZNPv71dSjp9fnohy798T8wQSuhjnPE0lPApbOoaX2SutcmBR-_6qWLruCiK_FbVWqGLSpCWOjBXAdiw8TBYh3JXH4AaWGyq0sLz9FgnR27f5IJHSio5A8U_vxXn6OOAKov2r4sxTdLDAoAdlsKdxCmR1i1SRVJHMPbA4uEpH7LvlbGrGM3Y_hDYokF9FfY84ayD_nSi_SJchJ2GGWPsKcMpGSv1zC_SmV5Ypa7jEbUBXOJPs8I5Pfkcm2syrpeAjYNKMNFJSrPkwfexmev2HJMxAxBbPsbqOq1xM7EX6KsZSFPZp3zorFrX2fnZzxOH0U-u9FfiSWcpd_jwkR3hn7sadptWF9l-5euiJFMc1qt3eBrjSu9t7UEF52DE6r1217h-KeAGhsUMI_t3ujWasJw3WRVYxTvpJWFCVqOhhmcK-HoXWwK_P3vcUIP8uXWqlyCGNoyZCvcONzO7upleQOwkyE5hLGIJuGdjp_jeQpS5b_sE0S4JADmjHXpIST79yfJGFqhRozBXpHA5vlLu2-D8N3oI0ONtc1cQ6qbeWsudKyEEQTZKo2x-LM9b_4tUaMfRgCniHTh6ZtuCBQ1ut0vu3NK_9F6kS3DwuClQc_kubQmXbx8pPWv8kVOCjXl06MO7kFyCzBOMgCgZC-hHYNvbsfOfrENJGg-7JqdWnAB_uN7GSTUBzGyDbZsJwS2u1EHvsmptqnu-rmNiUS4F9zvyVFiiAYC6F2JXjBwd4qUTrNW3KhL6ywKnOGVB0q8DscsjYgUxWaWCz_WJJbkbBVZtjjwAB4Lqo-ltHdEYPnt8kxIdubvknyEPxyaiGetMV_eH6vI4AOviWIhUImNYDE_YLuBWWqkBbSn8AqKlbv7M356RGA5FPsrLOSkZqAnrpy8aNSDRnaf11DW32c3Js-RZehRSqSno-jtiSyS_6mCOIXS7pYqOkiiBxGXTVNI2t2VhgmIsvbVNwHpE0mR7SFT5Ib6YzHrBnL6dJS3WMAqa6mGx5jE4fcKD-j7iBvKfuA6rR2lApSucVWhxh7E2ytzrOMlM1wg0h8mU-WGckmcZG9tSf-6mZiYu88oTgJZlSkw8A1ws_qDl0QSLhZzwPzEgy5rD17ljoSkHpYw4wAArNFipa5IT3u1kIX4xWG_iSiAE-2Qaoryo0tSZP7jIWvnBdNqZp_kRHctho4rGeGU3COGI-nuxZZF_t9KvnBBkJYs6lNRrZRN84wnjbg7OF0F4T3XNk4H_t9vU420e3seD77PHm__2vu8kZaZPOWdbq-BIjtfB5PVfmUfHBqHn3Onb1IG--XCphgLaFQlWhES9Db9wIgds9CTc1Uicl7NaGI7gm2PHPDlO26Ja8w3FCQ-RuEaw_GK8cRjIztnlSDLh3AwEebI4CnZJDDtC0ioiIueb33eklBnPbfeA9noeakQUAxDcNjgeA6q--V3Xd4t-nNy0NGHZ8DArp6pjsg2bVGCMOoO6SkZiX6WdKdkozicthDHyG7XXgvs1R2FDeWR1YrCR05xcESPGMdh1f1rdzg63A-PVrkLiqhN5K8wj",
  "id": "rs_0a4c666cf4c1b196016ab44af4d80887d0b7fb7332f980e3a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The overhead view confirms the rightmost bottle has been pulled inward and is resting horizontally, while the arm has risen clear of it; its cap is now just ahead of the gripper. I will release fully before making the dedicated cap grasp.\"}",
  "call_id": "call_KhPlnS8kXEnQIlswDoJ0h4f1",
  "id": "fc_0a4c666cf4c1b196016ab44af8102487d0ba34a00d6464cc57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KhPlnS8kXEnQIlswDoJ0h4f1",
  "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]: [-0.0231, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.7132, 1.3338, 0.6655, -0.0223, 0.4713, 0.318, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1823 left_yaw=-0.0012 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3246 right_y=0.1795 right_z=0.1191 right_yaw=0.1239 right_pitch=-0.0335 right_roll=-0.0215 right_gripper=0.9956\nstate[joint_eff]: [-0.4171, -1.6068, 6.612, 1.8046, -0.0366, -0.0317, -0.0122, -0.1983, -5.3538, 7.6923, 1.6972, 0.2906, 0.1343, -0.2662]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63436ad9005caea2d1a90d214a2e3d105c25399e5b285585f560269b599be4a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d89772340f4955b0e6fd8d014a7f7b348cd0744d34025bbae8cfa9e7e89595",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c96fae39cc91d4183329160eb653a27086b078f9df8843d14c25a33331d4464f",
      "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 44 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5373, 1.6821, 0.8356, 0.0479, 0.3344, 0.2264, 0.4369]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3904 right_y=0.1693 right_z=0.061 right_yaw=0.1017 right_pitch=-0.1736 right_roll=-0.0653 right_gripper=0.4369\nstate[joint_eff]: [-0.335, -1.1692, 6.8718, 1.8437, -0.0513, -0.0562, -0.0122, 0.0068, -12.2188, 11.5761, 2.5958, 0.4078, 0.0073, 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]: [-0.0231, 0.8024, 0.6136, -0.379, -0.0227, -0.0292, 0.9983, 0.7132, 1.3338, 0.6655, -0.0219, 0.4709, 0.3138, 0.4377]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1823 left_yaw=-0.0015 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3246 right_y=0.1796 right_z=0.1192 right_yaw=0.1265 right_pitch=-0.0333 right_roll=-0.0246 right_gripper=0.4377\nstate[joint_eff]: [-0.2256, -1.5658, 6.5436, 1.8046, -0.0464, -0.0757, -0.0122, -0.3897, -5.3538, 7.665, 1.7265, 0.2759, 0.1294, -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]: [-0.0231, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.7132, 1.3338, 0.6655, -0.0223, 0.4713, 0.318, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1823 left_yaw=-0.0012 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3246 right_y=0.1795 right_z=0.1191 right_yaw=0.1239 right_pitch=-0.0335 right_roll=-0.0215 right_gripper=0.9956\nstate[joint_eff]: [-0.4171, -1.6068, 6.612, 1.8046, -0.0366, -0.0317, -0.0122, -0.1983, -5.3538, 7.6923, 1.6972, 0.2906, 0.1343, -0.2662]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63436ad9005caea2d1a90d214a2e3d105c25399e5b285585f560269b599be4a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d89772340f4955b0e6fd8d014a7f7b348cd0744d34025bbae8cfa9e7e89595",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c96fae39cc91d4183329160eb653a27086b078f9df8843d14c25a33331d4464f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEr7bUntE_0zmdvTHstILgZKI0BrGbxDZ7vQMbmZRAo0cvVrAQzP1cQkBa_TnNHA6wUQhvLZtdyABkX8rsUj8SCrmV29J_BRew1CJjH2t-okoC0pxTTqDGH4pVFGdTvm_YOQPZNPIp1yhtZDw9T25dC-bJWoMazDmzEXvjkQalR_QTqnmar1QGxLcXkrYDWdp4CKbbb8NfMdHnhgnkno_KaTxdLonW5ZA4YP14k6IYCSfAsrgZ1Ivk2buCO_o_zeXQMAioTLhtchh-GN9iNL5Mj5nKgeZvif2raruzQS8bXy_w4QFg2nhGZ3q5AuD3F01zUSpKAcRbyCtJlj2Gowk_t_EZiRZ9XE8CFagYyAPfKHuH39msuhcaRRGC6Ufmzhwbmulkd9dSWMeCag9u2mRkzCi7yJ7FU8TIaih9V1IL3Cnq9iwFNb9a8ARhuItzAcCuqtmBZfegP7FfLCx5fFE--CmISEQuOObe4Gah8HVn43r9N5-T4szLBw9XBNZ7mT_9SYHm0gzdsfKU2TLGKtjy1Fzhn_JuHFZ0G4Zja8GiBf5HeQ9iW8HQI-Q4NCT4DB9X6mxTfTF_wqpDkqTMLjuk4jR8sBj_1IDKvGPtcgn2BYKZRruuB44zk0wACSVtwI2fXSYzafun_wsZksYHrra7c9PrkV92_9J_49M3fT67of_WGF4xwL6DsS2mowPIRYsASEiAruV0ek1t705S_Vj9HD0YAG8SPwEmwmKS8-JqIJQ75DYOHNa_OUKdfWO809vawAJEjlDE6l06UI4pVcZKdCBdY5T6HiBtZrf8Uc6JE73Qo1VU5cxQVSCdKA6suyghNa3jWJ7zKEqm1GtfHqHrNqm8PYJrzxalgusyOVOyeEYbWzVZkvugFREBQbaOTdKVBxp311zLOnDScpZfpl1DEIe-HSPLWBxWM4lGJBGOE2WKSWXhCHaokeX5ECETO4wH7z3_40T0Vw98tJfX9ZA3NgpDZttsJaXbEmHghQ-IVGNLxk5mjTCVhPOmK7IyoIv7Qr1lWYfciSRlQE9Gi6AXxNNYaGjoQaD8ECr51PZklts3enVCGviCWHi0xrYOhF2-56hIw3LH-27DFkE4Q58BendX5P9HeUO6uqBrvD1tFeBlxjyaaL26p9whBXY9yEYpxotv_xQfBtoH0Xbai_9qJxtpSUnBRM514Grhcg7avODQXkEZMkD7iSCU8yNElBuRInlFeMEk5PYLxY3-Y-ly9vWYRhvE_1cUbaWfHBs9PKAzhleH20g_V0nAdUsXa5DlJ9L4T5oFdzqjhyj8etn2Eyq77aWRyscXWA6yQJB9sKLOmyxPJMqeu0gtiAuz1XWG_4nqf6ywjuOGrWgKUEX7XgSsHq0GbZOwB6Sg87oeeTcleAWau1OV-Z7YWe3C51WeGH",
  "id": "rs_0a4c666cf4c1b196016ab44afa7c9487d0801376886ce707c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.18,\"right_z\":0.1},\"note\":\"The released bottle's cap is centered in the right wrist image and now only a short radial move ahead of the fingertips. I will advance about 4.5 cm while lowering slightly to position over the cap.\"}",
  "call_id": "call_svyU0PzHXLlZR47Esqz34EvR",
  "id": "fc_0a4c666cf4c1b196016ab44afaef6487d08e4d4a40f70f272e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_svyU0PzHXLlZR47Esqz34EvR",
  "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]: [-0.0231, 0.8021, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.6182, 1.5028, 0.6632, 0.1154, 0.403, 0.2573, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1823 left_yaw=-0.0012 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3515 right_y=0.1694 right_z=0.0791 right_yaw=0.1149 right_pitch=-0.0854 right_roll=-0.0501 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.5521, 6.694, 1.7607, -0.0269, -0.0269, -0.0122, -0.5128, -6.065, 8.9368, 2.0293, 0.1294, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec79dce8807f51fae6f95a745aeac8f08821d9d94ea753c740d06a8fa9f2e6b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9af8951be2d327bec6e18efa6e9649a545ef5b1fb7d90787705a6b0791a77573",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8af3ed9f490319b83fa192c66084c20d69c56d788eb305ce8c0616c3a9ef7f7",
      "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 48 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8032, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.7002, 1.3922, 0.6228, -0.0254, 0.4225, 0.2932, 0.4377]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1821 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3142 right_y=0.1747 right_z=0.0796 right_yaw=0.158 right_pitch=-0.1393 right_roll=-0.0692 right_gripper=0.4377\nstate[joint_eff]: [-0.1846, -1.1419, 6.694, 1.8828, -0.0513, -0.0317, -0.0122, -0.0889, -6.3111, 10.6598, 1.8974, 0.5104, 0.2418, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.7132, 1.3338, 0.6655, -0.0223, 0.4713, 0.318, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1823 left_yaw=-0.0012 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3246 right_y=0.1795 right_z=0.1191 right_yaw=0.1239 right_pitch=-0.0335 right_roll=-0.0215 right_gripper=0.9956\nstate[joint_eff]: [-0.4171, -1.6068, 6.612, 1.8046, -0.0366, -0.0317, -0.0122, -0.1983, -5.3538, 7.6923, 1.6972, 0.2906, 0.1343, -0.2662]\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]: [-0.0231, 0.8021, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.6182, 1.5028, 0.6632, 0.1154, 0.403, 0.2573, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1823 left_yaw=-0.0012 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3515 right_y=0.1694 right_z=0.0791 right_yaw=0.1149 right_pitch=-0.0854 right_roll=-0.0501 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.5521, 6.694, 1.7607, -0.0269, -0.0269, -0.0122, -0.5128, -6.065, 8.9368, 2.0293, 0.1294, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec79dce8807f51fae6f95a745aeac8f08821d9d94ea753c740d06a8fa9f2e6b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9af8951be2d327bec6e18efa6e9649a545ef5b1fb7d90787705a6b0791a77573",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8af3ed9f490319b83fa192c66084c20d69c56d788eb305ce8c0616c3a9ef7f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEr-m7NAUwRB61bMDkN-eEWELvc8wKOf6r7lHeCRGbVROr1BNap2cvcnXPJuM96-AowRrfrLv3pwjS81qo4Y7dSP6u_Pm1hHmC2tzl-4wg8K41LrbYgR8UQ5rGpsIdjiaWDUJiSzXkkaVXcCipz7kAJ4z91l8TBpYz_ZSQGgnmAacrvmSDJRw08J-ng6uQ54Mhhqah_Nt8mEDupbugWVwldqW9KG_tEf6b7bFgqhJJiTE8QBghDWMyuaARlCNWoL6l2egq_O1R0CdxY_q280vQfXzZdipXmSG6PBn0hjo-jcY4h2zM3rrM2QN9SUrBcLhPeVjOWb6Zb72U8sinRA-Afu1VheMk_w8yacRh8NV5wXfHz7uGT1VBUUkzPMGRPjuDFLre_vuHg0u-BJgBKPquXuVOWooPA_qTAXxWieU973zrZB2ARYsgti7LaSUMT9crKtlWvfE0jMWkYmjbG_NLhZYNg4W3VY_k2kIvoInUKu76A3YmPxvfklNlAJhMJ0T4RJszUEEE2110xusk55gJ25TwqfBMK9y6Bl_aa3f8Y8SqA9PcnGmwnsyWgpVt-WUp-TZrd8IXhYT7rBduaIvsFwdagHLCNcTT1T3pf3tLhga6waKSP8Q2-SVz7Cs2EVeEjmFG6AtK9bfQ4pefQ0a89F9HGLK7tn05Wmqh1Qnjlkir1860_6rofn9jLlwP8j0x8RpfXFdjv0Bq3qq9UHMQzb0E3HSX-5f4fBZeJfzdlPK0jdEZZfdY0AyJg8KsFimneGO-kbIBjkuYUcKp3rC9C5QVuo__ZFIR1KbJaXTRkkTUsetzHN2fKTBUrbN5OFO96lmUZLd4moj0k07KMo2swBNtnrGrIvFEmJ0t15BvCDwhIL995LF9jo8iL5AqbE8cyLWHCGuVzkIdzMmsHzbMRM4_AFTrTecW-KlHJI32BNleCHmltQNaBN7HupyugxFFqo_VIyiPUObYDoVsjVxxds9Zmg210jZ1_cKyvNDSfJg9OrV7TBNpqAXl-tDRbQLs0VAiG1hPJOGKXgue8X-1I1xFjFTDsVyt2DvMAhAt103--Orm3XKDpBRHOdku8VMMsUdVC0nNpGb_W371eBtOoKOoB9zeNpp18jqNd068RUqQXXNs2nVlqYS1hpsdzSvmoJS871BsCVEHc71Ked0ewKtEuSwIeD-63In_gOUO-WR9O83JjQfaEapYjtGVs1Mft-FDrro06iIVlo7kFQ1IblvEirAKt-jxTLjVd50ydYj6O5mjGlpb8h8Q8a3qGISa9xYAIJcXYoVaoDegRqYiKSp33Y530hfLlFO-eAF02YoS7m9gSh1n11f_n37pofcSIMQCbljON-h18_MYkIN82HSpfwmSGa2EiOweThiO2pPIZDNk57lYqZlLxjNT3LIMGkdmzmmavVXFQvX1pM_ugE8J5w3PDc8A2e3z8mtgb2vCxIthlmZsq99n7wPwak1kCop136R9pb5FXGaV4_HK7QdZJsIN0-1eLfxlf58fdTcc1Tw-_ZBK81iRvCl8TT0mDfqLTPw7X5lZKtWktvUPh7uOkCLPH13v1ksPFaVJMlGpwCEPJx6b4sLHU4-6OfWBGAHLFjW5pEtxpxZqf6OeRWrNY5AFubHSWXXHQ2SBlrTKXRdkfu8KIiPtIWcKYQ3FlR2_J1OkvN1iqJSRMnrCngOw==",
  "id": "rs_0a4c666cf4c1b196016ab44afcf71087d09df17c0d1782bf37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.352,\"right_y\":0.17,\"right_z\":0.025,\"right_gripper\":1.0},\"note\":\"The overhead view now places the jaw center directly over the cap of the relocated bottle, with good lateral alignment. I will descend vertically to the cap's lying height for a narrow grasp.\"}",
  "call_id": "call_KHTqc4utNc8CLq3iaYgWa8eJ",
  "id": "fc_0a4c666cf4c1b196016ab44afdfb0c87d0aedf29642015cbc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KHTqc4utNc8CLq3iaYgWa8eJ",
  "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]: [-0.0231, 0.8021, 0.6136, -0.3798, -0.0227, -0.0292, 0.9983, 0.6189, 1.6909, 0.4957, 0.4934, 0.3931, 0.2535, 0.9992]\nstate[eef_state]: left_x=0.2965 left_y=0.0008 left_z=0.1822 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3431 right_y=0.1657 right_z=0.0178 right_yaw=0.1265 right_pitch=-0.0688 right_roll=-0.0367 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -1.6205, 6.8444, 1.7851, -0.0366, -0.0757, -0.0122, -0.2256, -4.8889, 4.2051, 1.5311, 0.1587, -0.0171, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2939f0c78f341214e5f9775cbfa34688dcb00c636d0c259967eb5e0320fcb13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00fb47f3774c04b94c26855d6e34f3b086923765194b0ab8122ba950be9ac855",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1c0ec4b22e9dfaebd9efce750832f3132ea9ac9a868d27fbe4d513134751b49",
      "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 52 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6136, -0.379, -0.0227, -0.0292, 0.9983, 0.7132, 1.3338, 0.6655, -0.0219, 0.4709, 0.3138, 0.4377]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1823 left_yaw=-0.0015 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3246 right_y=0.1796 right_z=0.1192 right_yaw=0.1265 right_pitch=-0.0333 right_roll=-0.0246 right_gripper=0.4377\nstate[joint_eff]: [-0.2256, -1.5658, 6.5436, 1.8046, -0.0464, -0.0757, -0.0122, -0.3897, -5.3538, 7.665, 1.7265, 0.2759, 0.1294, -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]: [-0.0231, 0.8021, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.6182, 1.5028, 0.6632, 0.1154, 0.403, 0.2573, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1823 left_yaw=-0.0012 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3515 right_y=0.1694 right_z=0.0791 right_yaw=0.1149 right_pitch=-0.0854 right_roll=-0.0501 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.5521, 6.694, 1.7607, -0.0269, -0.0269, -0.0122, -0.5128, -6.065, 8.9368, 2.0293, 0.1294, 0.0904, -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]: [-0.0231, 0.8021, 0.6136, -0.3798, -0.0227, -0.0292, 0.9983, 0.6189, 1.6909, 0.4957, 0.4934, 0.3931, 0.2535, 0.9992]\nstate[eef_state]: left_x=0.2965 left_y=0.0008 left_z=0.1822 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3431 right_y=0.1657 right_z=0.0178 right_yaw=0.1265 right_pitch=-0.0688 right_roll=-0.0367 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -1.6205, 6.8444, 1.7851, -0.0366, -0.0757, -0.0122, -0.2256, -4.8889, 4.2051, 1.5311, 0.1587, -0.0171, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2939f0c78f341214e5f9775cbfa34688dcb00c636d0c259967eb5e0320fcb13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00fb47f3774c04b94c26855d6e34f3b086923765194b0ab8122ba950be9ac855",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1c0ec4b22e9dfaebd9efce750832f3132ea9ac9a868d27fbe4d513134751b49",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsButmPFFfV1t0X61TfytvLZpO4DxFvzXLz56iu5AOK2xXhhkahRYD4O2GlpVnsolXbaUxO7R8G_ziGBSmTbJ9UdjzOq6i120BSvZwLcQT27Zlky5oJ9oyRnjEuSG4SFthZlZ3TnbkCVfCL_kAgkmIbjLCjurPOKRW8z2iaJoYfM435ROH8n7JjDu7t44-7yose5P85W9m4M-wyNmxdtYjmKyY1ILMJcL2hQ7f5MihN7nEEtJ0e3hdK30U08iKOY71fs4IbudFme2HUVgaeGcaNKUyDflHZBSGayIWx2bVf-mR_v0kkqnNQClSmQLzUpNYEUSox7P_Y9FHQ4CTKve-2jJRw6_pKrRR2douV8X90BfLxtDhRakL8J0BzNhbHcHkuElrpe-D-LFMaBrG1zT_5yBT5ROpcgEjqLbPQQlyZ9xj_tTIowIjOMSlyj3NC6AhYaCz2m2Ff41HeGqagraHjV4Y4ZopVwdCP0GYp9TWQawfYi2ckhb7BoN8XwzYJG64ZQcHYn2P4U6_8lGJaxJ-6lm94dY5at95z51xlI-CBDbx_hJE9j047tXI11OVweT1vKuO7qKwfEfGPeWktrg-SxhwkCW_-kVpsYW8b0LlEHArORCqQV3aJ0wvTeWmRSUPcxf9GqCAqhr6yYuPGqYokOmCLmvJ8zN7SpYNK96THeVfokneWrpzLvX3tdkYp9-nOwmNHMDX-5Jz4Dl6X5Fl24jQv1tyZBqOh3I8R-C6Cw89IZGj1ZDgdm8c43bj0ufxiUWVjSCJ_9owckir482P2nRgybFRRPA0EdI6oKzCQ4GVVnfopuYX0YmXY4XJ93apZeGeLt7JjcjTC9DLFD45fj4by4mfFJl9g6HpvLnm3BjCQO4U8o6XHlgzUE5swy65NUN19EwK4y9bqNFtl12pCrffgSlzoQ9yJUVDlvMK7Jbsi_SxEJbOGpSQfW_1Mn8qo-rYnyduCI5BfuiH75h0fS53DgqRV0F_0W7kB3Jevq0m9C4SEtXD4EoiMC42CR2BNOeEUpJwiDOZ7UOFxJs2S7I8pipidQkgl_I3OqLAj7NI2U9XhssQUg_Z2CMml8MAHmp-NtSqDdqn5ar17Pc8biGiIG59pHRfnAsV7HmvxhmiaBACXpD4wX_lXqIocclyBImtQX3whUk5Ua7eeGlFUPCctqZpzoSuhZDmdjc_NZweJLSwwenFGlVgMlAG3pAGxHycms7SvpqtmkDuFsFCSoLa_Rc5S2ID8ORwxM-nEASF0GuHxT34ko0s7MoAtdvD6Y6q6PFOKvok9lXCCFv7BA18YLadsy9ADisr2K59mK2DClDszaZpZrVGjkOzOBf0V",
  "id": "rs_0a4c666cf4c1b196016ab44b002e1487d0b9f36d14a01e8b12",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The fingertips are at tabletop height over the cap, and the overhead view shows the cap tucked between the jaws. I will close fully to grasp the cap; a narrow nonzero gripper reading should confirm it.\"}",
  "call_id": "call_8EcxNVaTvJESXOEo7E3BPHYf",
  "id": "fc_0a4c666cf4c1b196016ab44b00961087d08890ead6297a1abe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8EcxNVaTvJESXOEo7E3BPHYf",
  "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]: [-0.0227, 0.8024, 0.6136, -0.379, -0.0227, -0.0292, 0.9983, 0.6216, 1.7061, 0.4526, 0.7559, 0.3912, 0.2535, 0.3563]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1823 left_yaw=-0.0011 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3577 right_y=0.1778 right_z=0.0483 right_yaw=0.1287 right_pitch=0.1107 right_roll=0.0607 right_gripper=0.3563\nstate[joint_eff]: [-0.0889, -1.2923, 6.612, 1.8437, -0.0317, -0.0464, -0.0122, -0.3897, -4.8889, 3.3436, 0.8327, 0.0757, -0.0269, 0.4567]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14a9603f8ae01e4124c20f3fd101e97993a55beda6fb7e79d0dafdd587b2ea49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d771bbf2bbe1d48e924a4b9883cb15593b2d03ed838090ccd6abe6efaeca4f35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:917f735322493af56b6469f8d4d9427f1a93e910e8af249c9372db81ed828161",
      "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 56 changed as sent

message 64 changed as sent

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.7132, 1.3338, 0.6655, -0.0223, 0.4713, 0.318, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1823 left_yaw=-0.0012 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3246 right_y=0.1795 right_z=0.1191 right_yaw=0.1239 right_pitch=-0.0335 right_roll=-0.0215 right_gripper=0.9956\nstate[joint_eff]: [-0.4171, -1.6068, 6.612, 1.8046, -0.0366, -0.0317, -0.0122, -0.1983, -5.3538, 7.6923, 1.6972, 0.2906, 0.1343, -0.2662]\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]: [-0.0231, 0.8021, 0.6136, -0.3798, -0.0227, -0.0292, 0.9983, 0.6189, 1.6909, 0.4957, 0.4934, 0.3931, 0.2535, 0.9992]\nstate[eef_state]: left_x=0.2965 left_y=0.0008 left_z=0.1822 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3431 right_y=0.1657 right_z=0.0178 right_yaw=0.1265 right_pitch=-0.0688 right_roll=-0.0367 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -1.6205, 6.8444, 1.7851, -0.0366, -0.0757, -0.0122, -0.2256, -4.8889, 4.2051, 1.5311, 0.1587, -0.0171, -0.0952]\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]: [-0.0227, 0.8024, 0.6136, -0.379, -0.0227, -0.0292, 0.9983, 0.6216, 1.7061, 0.4526, 0.7559, 0.3912, 0.2535, 0.3563]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1823 left_yaw=-0.0011 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3577 right_y=0.1778 right_z=0.0483 right_yaw=0.1287 right_pitch=0.1107 right_roll=0.0607 right_gripper=0.3563\nstate[joint_eff]: [-0.0889, -1.2923, 6.612, 1.8437, -0.0317, -0.0464, -0.0122, -0.3897, -4.8889, 3.3436, 0.8327, 0.0757, -0.0269, 0.4567]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14a9603f8ae01e4124c20f3fd101e97993a55beda6fb7e79d0dafdd587b2ea49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d771bbf2bbe1d48e924a4b9883cb15593b2d03ed838090ccd6abe6efaeca4f35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:917f735322493af56b6469f8d4d9427f1a93e910e8af249c9372db81ed828161",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsGlvCxMqWmO5MK75L6ppETaa8FP6UfZQo6mXX3YP-PQJUL6VJkeSkkMFYFuYZwxfGkESEBlQ2wJ2TIFWr3Dgl-nmuuuAl695dJWkjFe9NSx-h-JOIF3Za-itcnHEqn88F8PpMVcJSjLS0RW8ppKKlIPhqkX2kcCYpvQTXrwVJkZAOvNjOygqb7ybnFws0x3brncP3_h_rrK1ddx2FHi4TmTKUMkrFuunPVOgllaSACzf289yzF7rwHWO1glEvnw-jTe_LUxCsZ0nDZXX8H3Yvyf5EshHkjMXDVGUv_n9ypxe5DPEYarb6exlp70CMXXQb-RDes571sR_8loEBZOtRznrwAMx0TBMUs46bQzw7KrN5ATy3wTDpXtMeM8G7KP5zpygBHXaRHiiNR4Wyu3PqHg5LtCMKWx_X3bX7yERzA2_-t_0Ep8g_-kxt6heQ943Fa553A7lDxAk0uJDzEaXecf94gGoAwfW_iOGT2UcKMM7pYrsDxBdiVCDaSoILGaKrjefMd4jPkq1H2mMyj28Xdmzuk8QnoQs_1SVHIC1ofcY4kXc5xvFQ8777UH2Nf0i1I7BrFrqTlt4n83DT1b7sAIlxaPze7X9zDz_DBcBIpbEBuizJ-IHcP6O7IBgLmDYXDIpmZcmsYHDs80-rR6I0Ud82ETFd1-x_c81ReAs1x8qYfe8WRHeBToYpq5T-6ohHolU1eSleseXTkZvb6KauCd2Vxg9zAn0kwMYGf5Vc_5Zou7pI1wdbT2UkX_-TE-A3PFiAIQDVna_-51YJO9_ZDCz-jH5RBPTgK1rCTyY5VpR_SYipIGTYZqB8qqFygwOK3MLyfcQ6TZP3aIv3a15weVohPJy6D4jYRhWYlVOfVCfBhm-nbrXQxluIj2DEJCnUN9voNKpgGj4-epIJqRVT_YPsi1mI7SazrH1Qgl7PFQLAEpwF5LaAL8UnV2IFHZ5FzGtxoLatgdz5BpeizZyIBTRkeDuVSPO3P3V95l_JpKqDRiR9etSn9T1Deakn3lJiZRAjLlSYwCjbDNTjyslQOHH8sL0Ytn8MRoYoooka6SAneRpPSur7RD2Ksth9VWMduC-g3M4VBhR9F2hX_AIGkFTxmNcf8MXcELxsC903oWnd67SKHbukzRCZ2VpXb9WSW6rUUJqh8vXoBHFLuO9blZqNy3OIKw8eeIzaXldn3OyFBpaZIzPxdowBWpTcf5QXwrh6zsoExCJ4y8q8cYwbU0p_F9mEkwsJMRBvJOeRQSIJgM-K9z0A7yE_NMr-9RN7Db9RePdWztb0I4OpmlD8NpMkN4QY05s4SwuGTJ7ZakrF6eLdQuI1MD45NytPlL4yS8FDHCXqm2XtDGqaphD4eFaF18_ri0DutHozLzzTaLvWg8NKUNwd0X4kfMuswkdiSE-hoZq5S1kNPiGoDtPxcGf4S4uB0j1pD-cNjWhIKxZ0IKx446wwrpZF8H42s5ZXlmF94bVKXB-lynFYYMiJ6zJ6lEiWnt2OJ8aMccYIsWV2oZ93ASLju9g9-CgBWBc3EoLFVHku_GUfasdjf5z0-RhDWFCTn-atJ63WFOFqtqrvXhHgCL1SLL6u6BbxtzVtYXvix67GAYaMgzKl2DkrGi0UfCRKTt5UaA9_REDiYY2W4Z_oBgGMwNdVpOkUGUvSQjwC1JwaIW8i022LysHXyhWK_c95A2-CgSh0BQgDwhzZ7rN1jqhnVUMhECA88YjqEUynq5AD1tkEiNr-0yq3sKIGyiBiGS-AVjUG0KLqh5pPabjfyYyjA5aIXLzvKA0qAOlP503aFeyTAIcLtPPiWpFs47r9EWZ27zc2C1t3OKqSmKkWjkVByo_Eu5jaqsh9bVoN3yEx4GQ61KqkTDAYhqPIphO8NODicLT9xicW-d3ubumyu-lv-Bz0IvjjbxbGKxT5ilVzlFX6brQDdJdZJU6XKoyx9xDUBfVebEjQFhDh1hOh4xQ2bEccd73hu1MSkzS29poAOCJcgvPDcGumJNFrZY6P2yRRduSL5Skjxxjjw4ZiNoF8IYFkUkdHrF7zF_DvanRFMb8thY5QYwmyEzh93mZTDj-BFI0xTIPECmrGPuG9XvLvzdYiz_ZMZ7IQV-vZgsb7dABuQaW-68huUdjaZcrvwJJpcZRPfmhZpuLnt-7-wPaNMVYLckeLAUA9lZTQ_bRve-1qmPJAZ4JwvuY_un50YDXLLPxf0L23TJdSmB8TKqD6N5ljxmCv31nofXPVjHE9Yk0JpN_XP1IDExA==",
  "id": "rs_0a4c666cf4c1b196016ab44b03405c87d09ac95233ec1d4444",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.178,\"right_z\":0.11},\"note\":\"The gripper settled at 0.36, consistent with a secure cap grasp. I will begin the upright pivot by lifting the cap while retracting toward the bottle's base, so the base can remain in contact with the table instead of being dragged.\"}",
  "call_id": "call_m6N9qgcSb4epyOpoDQLKMuHs",
  "id": "fc_0a4c666cf4c1b196016ab44b05455087d0b1382d7b5059c20d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m6N9qgcSb4epyOpoDQLKMuHs",
  "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]: [-0.0227, 0.8024, 0.6136, -0.3786, -0.0231, -0.0292, 0.9983, 0.7368, 1.3205, 0.5457, 0.2485, 0.4541, 0.3008, 0.3537]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0008 left_pitch=-0.005 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3234 right_y=0.1937 right_z=0.1245 right_yaw=0.1678 right_pitch=0.0993 right_roll=0.0619 right_gripper=0.3537\nstate[joint_eff]: [-0.212, -1.1009, 6.6803, 1.9023, -0.0513, -0.0366, -0.0122, 0.2667, -3.9726, 8.212, 1.6239, 0.3834, 0.1099, 0.0464]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab33d09a2e51c2cb1bb83141594df4887f9d3d30e77319255e1bc8c16b07a8cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cad0fb7106b09d61df99e184a2943c92cd02245e25d106426366d9bb8cc4cae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d37a280e0fec2cfc3c7db28a01f55c3be50b0a0fcf6143320006824d362fde",
      "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 60 changed as sent

message 68 changed as sent

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8021, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.6182, 1.5028, 0.6632, 0.1154, 0.403, 0.2573, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1823 left_yaw=-0.0012 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3515 right_y=0.1694 right_z=0.0791 right_yaw=0.1149 right_pitch=-0.0854 right_roll=-0.0501 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.5521, 6.694, 1.7607, -0.0269, -0.0269, -0.0122, -0.5128, -6.065, 8.9368, 2.0293, 0.1294, 0.0904, -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]: [-0.0227, 0.8024, 0.6136, -0.379, -0.0227, -0.0292, 0.9983, 0.6216, 1.7061, 0.4526, 0.7559, 0.3912, 0.2535, 0.3563]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1823 left_yaw=-0.0011 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3577 right_y=0.1778 right_z=0.0483 right_yaw=0.1287 right_pitch=0.1107 right_roll=0.0607 right_gripper=0.3563\nstate[joint_eff]: [-0.0889, -1.2923, 6.612, 1.8437, -0.0317, -0.0464, -0.0122, -0.3897, -4.8889, 3.3436, 0.8327, 0.0757, -0.0269, 0.4567]\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]: [-0.0227, 0.8024, 0.6136, -0.3786, -0.0231, -0.0292, 0.9983, 0.7368, 1.3205, 0.5457, 0.2485, 0.4541, 0.3008, 0.3537]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0008 left_pitch=-0.005 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3234 right_y=0.1937 right_z=0.1245 right_yaw=0.1678 right_pitch=0.0993 right_roll=0.0619 right_gripper=0.3537\nstate[joint_eff]: [-0.212, -1.1009, 6.6803, 1.9023, -0.0513, -0.0366, -0.0122, 0.2667, -3.9726, 8.212, 1.6239, 0.3834, 0.1099, 0.0464]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab33d09a2e51c2cb1bb83141594df4887f9d3d30e77319255e1bc8c16b07a8cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cad0fb7106b09d61df99e184a2943c92cd02245e25d106426366d9bb8cc4cae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d37a280e0fec2cfc3c7db28a01f55c3be50b0a0fcf6143320006824d362fde",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsJFJhWCv4zMbBhC3KqQ33wnE-4v23rWpE5n1ncBTxs2sxZwZg0DDzuQAVFVNUz5V2_Sg2k8vWkFEU8oYVHfw2uwXPiW9XgTdnRee55VjdjAnXc44Z713NhrUnQq9qP105rXjTYyr-d9KdRLTye7g16JnqQEmWVQMYYXbP0eY6uXnb-_OtPjEu7ZFiVMvTeQFptdk9syle318K21Szjiwo8i2Mu1dLsEVPKNyMNtlu4W-HBVIZgckZ3Yfk_IsQs7-unPxqBDlG7is5KkP6ndJwh2R6u1DMGz9bkmYSm-PMA-sPjxe2OskfBe6svJ1PtwIOFM0oD8vqc4g_8k2ZlMP0Hc5Kh6NGdRZSj9UFPIgAb9b5lmIJF_ViT5pT7NrTsUuFJWa2EtzSLU_Iz1kFsPX_jqNysnW8S5lD5iQETRRomZYKhSCScsg5dIYrT-VnpmZoAm0jtprkjrRLmUfa46oDptYvF46-ypbRooXTB6A6vGAw0wFUAp8wVk9JgvOArHf1wQRGGN0Gj9I6ov1CdzgyHx4s9siq7VM0PXurBDuyyxaMVBDucqH2gxyXFydDYezlkNVkUHo2Gtnta-ZfHdgLH0jxLVUkU9ospIpo28tm42-FsFod-luKN48_6gxRjETb9Xg0KCdSvgutxLhNHh2yVA4eICEOwHPoq3Xq_HI85CgIy1Jv48twlIRuad9KB6EDmNYAoDc7AoRMgJFC51--lF56DDkNCceIB_PkLu1mWxSf9sXOvNA9Iez_lDZ1IRSVqBIaUHjjSvO4IYhUoNvRabQERbXl_KtxiN983IGz32kd4OS0DxVkLq7ZzEWSxrMuHxc3GZe4jzI1u9675LJikvVsS0XMC_yUeU0YI70kwwt7wogqarfIWq33PQhdqqgUrN6LodZ6JnogbAKLAo7zhHJVD88Z-jUa4QQGtWhKrPZObK84507s8DQtCak63SJPJXhEZEFJgKdA3ap36mfFPn-YB6mg0om0wI0D5I9NnlSw2w2fyv2jcmLPpdr4C6c5qs74GDQfs1s1SRxTAPD9-o1FWx413XJihAsK-hDbej4Gr8w1uWmTjk_vEm7ol9FP5i5uIZIphbF16uprql0EnPtxg9HTTo91vql7JT3x47rxb36O11cc-YJpX3osxI5Ci1f_aziT8ASKWQUBWOju8G3ctqUZ6sunj8HIjqGOKPIWoTEYbJM-IY1TvIRhL_hd0o-r9NeHZgfs-o0JjQNNNr3eUHKEzKGp9iVNT-3GUCCkYy8Fi3pIhyl5tipoS4XZa-sfrrQBgHDgTNVd_a1OeAPK6R9odcxp6o5SDeMMz7jgZ3YzDbgZuD6TC72Z9wT8FvYnY5ly39KEHpmkbkUK6gNgmysZhBfocx8KFPvCyRYhF4kKzLoLWv-TD4hGbEmyyZNnRJ_xHm0UW0JKA-YrDKISztDXNzDGg3tWHUcPttGyay57e7V5RafzATw_AouqqpQ-yOD40syaSWaSoBHmMzqTw_SpKWnoep8eRmflvYGCzyVL68GYwVqXep-nvaZq378h-7rG49JKvJ5lepnR4KJ883KROl6ALn1rSUDOrn-hPDLELlYTuQYph6n9WBMQwO-adkNjPngoNTsioLQabsfdCN5MQ8gQHlvgKypERWRukVTCn4iWp9S1RA_mXaCdvUl5JqF2hzL5HVWWVDBqdnB4cgPEBBD61677_qtd6tuDTgGuhySjVewR1MiWIyUsigmd37WvAGyCIri7PzpKlEO8enqSGhJZIWhwHfwu22jhzoe4EW20Rl1Sx8mtvEAo4csgQWoljKywO5g2tx858vB4_9a4H0iVj58cR3ctIOqQwFfleMLYahBXO4q3YSuBZ1Bnkze36nWFrLRQf6d7MgA==",
  "id": "rs_0a4c666cf4c1b196016ab44b07951c87d0a8cc6aa666f654e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.19,\"right_z\":0.2},\"note\":\"The overhead projection of the grasped bottle has shortened, showing that it is pivoting upward while the cap remains secure. I will continue the same arc—further inward and higher—until the cap is directly above the base.\"}",
  "call_id": "call_dxwXPabScLlzWHKFnvg84AD0",
  "id": "fc_0a4c666cf4c1b196016ab44b08db3487d0877466c2ef1bb7fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dxwXPabScLlzWHKFnvg84AD0",
  "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]: [-0.0227, 0.8024, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.9649, 1.0756, 0.7719, -0.4011, 0.5911, 0.4362, 0.3542]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0011 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.2554 right_y=0.202 right_z=0.188 right_yaw=0.2189 right_pitch=0.0017 right_roll=0.0079 right_gripper=0.3542\nstate[joint_eff]: [-0.0342, -1.4701, 6.7077, 1.8486, -0.022, -0.0806, -0.0122, 0.1436, -3.9863, 9.6752, 1.4774, 0.3492, 0.0611, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c49f5af942056b0b095a73d285f77058c591c993b0a0855e17967b623312bee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cb2faa4dc61e4563447dbf4eb556f230d323cfd8796cabb6019f49a867f3f7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:302417581e6c54586c5a45c9d803cc6dbcc1d994a76a72cef14ca5de9939870b",
      "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 64 changed as sent

message 72 changed as sent

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8021, 0.6136, -0.3798, -0.0227, -0.0292, 0.9983, 0.6189, 1.6909, 0.4957, 0.4934, 0.3931, 0.2535, 0.9992]\nstate[eef_state]: left_x=0.2965 left_y=0.0008 left_z=0.1822 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3431 right_y=0.1657 right_z=0.0178 right_yaw=0.1265 right_pitch=-0.0688 right_roll=-0.0367 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -1.6205, 6.8444, 1.7851, -0.0366, -0.0757, -0.0122, -0.2256, -4.8889, 4.2051, 1.5311, 0.1587, -0.0171, -0.0952]\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]: [-0.0227, 0.8024, 0.6136, -0.3786, -0.0231, -0.0292, 0.9983, 0.7368, 1.3205, 0.5457, 0.2485, 0.4541, 0.3008, 0.3537]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0008 left_pitch=-0.005 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3234 right_y=0.1937 right_z=0.1245 right_yaw=0.1678 right_pitch=0.0993 right_roll=0.0619 right_gripper=0.3537\nstate[joint_eff]: [-0.212, -1.1009, 6.6803, 1.9023, -0.0513, -0.0366, -0.0122, 0.2667, -3.9726, 8.212, 1.6239, 0.3834, 0.1099, 0.0464]\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]: [-0.0227, 0.8024, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.9649, 1.0756, 0.7719, -0.4011, 0.5911, 0.4362, 0.3542]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0011 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.2554 right_y=0.202 right_z=0.188 right_yaw=0.2189 right_pitch=0.0017 right_roll=0.0079 right_gripper=0.3542\nstate[joint_eff]: [-0.0342, -1.4701, 6.7077, 1.8486, -0.022, -0.0806, -0.0122, 0.1436, -3.9863, 9.6752, 1.4774, 0.3492, 0.0611, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c49f5af942056b0b095a73d285f77058c591c993b0a0855e17967b623312bee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cb2faa4dc61e4563447dbf4eb556f230d323cfd8796cabb6019f49a867f3f7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:302417581e6c54586c5a45c9d803cc6dbcc1d994a76a72cef14ca5de9939870b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsNVQCkzBKnmBF-X36sIrlUVxJafAxSSc_txR8it04xhM9RmRWEes51-ncI_WybLWoW0TIOdY3ww0La2znBtofIxBXM0nwEfzGJejmTi83dMbGz7ex3i15t1CaeFgcJ4U8rjwoSkaKPKo53HQVjp2xnSwJx9weAIcw2rTP60MJ5cLh6TC4UNDWoLqmVbTV2RbKxRL7LQflSho3ZBl8o1xNOI_ux7dkF8d-Ot8DPxpXGrtnKit2dhnC92FvxhaP9OvcjoRFF-GTuGXFOSrl7IzBgnsjBmqQmUwo8BAjBzKO-UrOVFX_e2DX_g9Qvpy_0546PXdURHzgDkEga04LrKIEDLUCPGoAFb-0r6iSE9eNSvialzaGTWSpSRKomcDTCEdkEttNdi251284Fko2VB2pzopmtbURrZulINJMPghZsWF-bm_6bfcGA4B8hx0NRYuCn6kg-cUmXDb0h-4UtvwwWDsAtaLc5TdjvK0ta2L4fbHrQm_LNRGP_0ihA7WackR1mVu8UTIFO6dq6tBhS_WUct81hl7p6RXf4EYHAKtR-yfcvvUzjTROovk7M9CFMmalBMN-u4Hb9DheTggs3Fie-xwn7vCza9r92bilrtUELWYwYV79SEzPQH2v1ScrNYxJuWuQX7AQOhAy0DoE6TzNBUKmcygjXQg9i5UMlK4nsgmr0CECDoKW1lis9Q5y9f9HH6_-ylQmQ2NhPXwd1ijmnwbEQ7HoUbU9VEq9cjeBiBypW2UKP70pJ6CZWMuspHv1WXREfe19kBxorf0rwd4vvOkh0KpJqhjPbD3j5qgOtnwVz6c7gX4nENuCHna4KhPqKpaqMmGdbtCzN6QfmuCejtu-3c2qceC-j9qB5Mh55e2SY7PMEnMH4j1lfjAVmKhbD_lEp1JBcXcbi0H3FNs8Tg0HgwR8wl_AWJqj2ghBhOa-pKSfrLXTi7q6rV9tVeoAXtXn2q4tjumMqg7pjhrOy2hSybyzJQ1PwWKDnFxiPVAPDm6pv1PTgDdmDD0KAoB0xnyvBJdWcFcXngGBU3IL4tcWTqtZXWrZaL1hTYKnlrDC9Dq-K7k5WW9x8_u1F5l410L5cwV5TpP7pOLes4Hs7Gl8A86umD9Lhhy2Fs9MICC1RyouwG-AC6uA2iTKS7ZEVK_YznUz3BxLzGns5pJfYTvsTgM7gpOU6_GrHJzH9t5NVE1088W7kXp6WRFltbLERGNx1_dOXYp3R4_17pf_BuMG9vicyha1S4HuUtnajLUbClzYOEk-QOj46MgT-D46KxwyvRGRWppfE_xyw_-lZD9OnObJgPI6MyFvn2Tn7xFzbcYQzu-AHT5l4girH2q7R3ze6swM-Av_tAd29unV14MRmxOiWyUbzgTlLWDuhql48PLwrviEWq9Q7DyyeCAdycRsO7-zX4zAIPnWYtcWfHB9b0cXVIIWMTwEwEb2rPx6rGfW1UeVczbU-rBss83x-PTEdc-106289xnOMtTiPQXUlSUA5JZCfWP7t6leFdUeTLSq9kPvhOggfG6JwyCHY",
  "id": "rs_0a4c666cf4c1b196016ab44b0b6fc487d096db223e75300a43",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The cap is now at about 19 cm while the gripper is nearly over the bottle's former base position; the bottle body is hidden directly beneath the gripper, consistent with vertical alignment. I will open to release it onto its base.\"}",
  "call_id": "call_M7MYaj2dGKGs5MAFEgZuJCFo",
  "id": "fc_0a4c666cf4c1b196016ab44b0c091487d0bac23c8103c5ff5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M7MYaj2dGKGs5MAFEgZuJCFo",
  "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]: [-0.0227, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.9691, 1.0801, 0.775, -0.4416, 0.598, 0.4294, 0.9952]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1823 left_yaw=-0.0008 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2522 right_y=0.198 right_z=0.1818 right_yaw=0.2213 right_pitch=-0.0259 right_roll=-0.0297 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -1.5795, 6.6803, 1.79, -0.0415, -0.0269, -0.0122, -0.1299, -3.0701, 6.9675, 1.8486, 0.2173, -0.0024, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42e7d70735a78094c9fd997896f854968e403faac59b210356ac63c0fb9fe2bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa7aaa099a40dc74aaf1f15d59fe52c8c49905b9c9ebc94d3b00a8ee4095c4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2741f3717a471d49ca6505fce4769b2293e4ee4f06898389244d41524740b649",
      "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 68 changed as sent

message 76 changed as sent

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8024, 0.6136, -0.379, -0.0227, -0.0292, 0.9983, 0.6216, 1.7061, 0.4526, 0.7559, 0.3912, 0.2535, 0.3563]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1823 left_yaw=-0.0011 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3577 right_y=0.1778 right_z=0.0483 right_yaw=0.1287 right_pitch=0.1107 right_roll=0.0607 right_gripper=0.3563\nstate[joint_eff]: [-0.0889, -1.2923, 6.612, 1.8437, -0.0317, -0.0464, -0.0122, -0.3897, -4.8889, 3.3436, 0.8327, 0.0757, -0.0269, 0.4567]\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]: [-0.0227, 0.8024, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.9649, 1.0756, 0.7719, -0.4011, 0.5911, 0.4362, 0.3542]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0011 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.2554 right_y=0.202 right_z=0.188 right_yaw=0.2189 right_pitch=0.0017 right_roll=0.0079 right_gripper=0.3542\nstate[joint_eff]: [-0.0342, -1.4701, 6.7077, 1.8486, -0.022, -0.0806, -0.0122, 0.1436, -3.9863, 9.6752, 1.4774, 0.3492, 0.0611, 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]: [-0.0227, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.9691, 1.0801, 0.775, -0.4416, 0.598, 0.4294, 0.9952]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1823 left_yaw=-0.0008 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2522 right_y=0.198 right_z=0.1818 right_yaw=0.2213 right_pitch=-0.0259 right_roll=-0.0297 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -1.5795, 6.6803, 1.79, -0.0415, -0.0269, -0.0122, -0.1299, -3.0701, 6.9675, 1.8486, 0.2173, -0.0024, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42e7d70735a78094c9fd997896f854968e403faac59b210356ac63c0fb9fe2bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa7aaa099a40dc74aaf1f15d59fe52c8c49905b9c9ebc94d3b00a8ee4095c4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2741f3717a471d49ca6505fce4769b2293e4ee4f06898389244d41524740b649",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsR0_pIYGxjvU2KZ-H3LV4Fw-BbpSwWVtq5cQKMcMOjvgqtFuHgq_8oHe7saIb42s7SWzuLFwEXHjwpi4co_p1bEwHAC7kn2qCbQ_KbPwUNEhdK5Qddj0ebc1zF4c1ZkvtK8O-EhSfo6fGpTSkOpZRAsDpvLYXkSLxRTtXCrTMcqDAwL7saFYTWX8xGJU1UN30xxqkEUy6LMXxh3XpkWFRsPO4zJrfENVdZCMe5LEBfQSwMnM9puY8lJUJv_udT6E3P3mB4m3mJPPxTtEy6RV474N1msqbe4Rq3L_fHvi0k9dJCpt022gKr3Bz5CAKPFWOSb9Y_jTEYfj99NS1-MTjcQBWQBMiPHDkEoUS0iQyBo7c7wIYnZ7loRsTNTuplGxvkRjIx8f3IpGx3aDAJqgCLyTNMLuEnqVoITT2kjrYZUqiWXlxrfokmF6b-RcsG95ERNKkdZ2dwV7K1B3_MEpZ3U3r2SU2IQRMwAeXoPlwKqCiRhJUJ43HoysfRTwrHmJge10fomY8PdgtbSyU5haTrq0026oa7y8oMcLeVo942EbhoQazKoAhLsa5eAqwdQ6llFEuX31TJnWMjbKk2ocLeXh40d55_Yy9rqg99FEQ6p5x_8cNyProf3VsON1p7IGEzjh6HbGedFIhovtLtYYY5iOb8Hepmhg1e4mWwAQgie_0YJTtjvmRoJGhMh9elwEQu1Di4FchZJIq7_otUatxXDnc7ECE6bOMZdBVwpzw-YbcqUGu-I1lRMyHHXq8aV44PUvxla7erJ3GrMqi6IAa071b7wZIfDgndMwd6V9RF2nvO9X6KXNMqQ7hp4piT-AR3KUGS-npV0IhwdK8yyU-GoVVvXMawLeEpD6bATpB5w0bxZR-IjGh5uBBbniJozigGLXJVmsP8NTyZSWhAKL33b2hhOEma6M5UGIOBKLPtrNcPoPypwuTPRopAGOgiZnmqTwditb3csXrmqWI2u1CM9Mct2hC7B55w8eUqauqmBNHKJaWaa9TJkWLD8_ruWhqYUa-VlBCnPLqOOTWTyWwePZKtGkDSZdxWVtvcgOgpdBo8BCPv-9i9WUMTJ_uWDAu6p01HM1_xNu8Kz5GKjh4g1EXsMSXoIS_PKlOTvowHjOGFGnVfumkJCz-OdiEA_w2smjv9op0xDfGM45TSOkilclpQR6rTRTFRADphK0RqWuOtqtukBoLcDwyLbhHZCbV7COKtz1orfk8FBk8cHPnIhX3-LQcHHcsxKmAQfEqVEuRZw3wkLCRvZq6Yov9cBI1IIF2Mq-DSrN178GVRH6EOCRiO1PK-1g--K6_bZNsincETKh0anH0mslhr64TZO8lY4n_ARs8w5AGbQX_AIl4o5bwduEPKO6qIOiv_v4m0-hQd2pEv5aSa5Bmhp0RCCEy_KEOyhdWbXcTGRCP3VxvHDLixx3yWZja52qkIOv7a04QjPoARFAd9pKi5mkTrCg44-5bjwfFUkh8BjM5bhIb30q4XkOhIjBXDmJxWxlKwa-mlvAhSYjFJC_wNvi_-gVE9",
  "id": "rs_0a4c666cf4c1b196016ab44b0f6f5c87d0ab343e3454185d8d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The bottle remained beneath the open gripper after release, but the arm still occludes its shape in the overhead view. I will park the right arm at home to verify that the first bottle is standing and to clear space for the next one.\"}",
  "call_id": "call_Kw8cZlxmdAfE7y7EJkHUsGKx",
  "id": "fc_0a4c666cf4c1b196016ab44b102cd087d08110e245ae602d1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Kw8cZlxmdAfE7y7EJkHUsGKx",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, -0.2039, 0.8307, 0.6029, -0.4271, -0.3168, -0.2405, 0.9992]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.289 right_y=0.0001 right_z=0.1653 right_yaw=0.1639 right_pitch=-0.0474 right_roll=0.0072 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.6068, 6.612, 1.7753, -0.0464, -0.0611, -0.0122, 0.0889, -1.1829, 9.1282, 1.8095, -0.2222, 0.022, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:468e8c380dcab61ee55c38b68c07d16dff70dbd5d324e89666e18386d4e83ec0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929d287c6830be11a1b5a9982b51a80a4d848f6cad03d4ecb486454304cc762c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29a385ec7131ca40ad6632aa9c02acbbabf6dea3d1f9c95edd0a67b9ac6f714c",
      "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 72 changed as sent

message 80 changed as sent

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8024, 0.6136, -0.3786, -0.0231, -0.0292, 0.9983, 0.7368, 1.3205, 0.5457, 0.2485, 0.4541, 0.3008, 0.3537]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0008 left_pitch=-0.005 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3234 right_y=0.1937 right_z=0.1245 right_yaw=0.1678 right_pitch=0.0993 right_roll=0.0619 right_gripper=0.3537\nstate[joint_eff]: [-0.212, -1.1009, 6.6803, 1.9023, -0.0513, -0.0366, -0.0122, 0.2667, -3.9726, 8.212, 1.6239, 0.3834, 0.1099, 0.0464]\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]: [-0.0227, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.9691, 1.0801, 0.775, -0.4416, 0.598, 0.4294, 0.9952]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1823 left_yaw=-0.0008 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2522 right_y=0.198 right_z=0.1818 right_yaw=0.2213 right_pitch=-0.0259 right_roll=-0.0297 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -1.5795, 6.6803, 1.79, -0.0415, -0.0269, -0.0122, -0.1299, -3.0701, 6.9675, 1.8486, 0.2173, -0.0024, -0.188]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, -0.2039, 0.8307, 0.6029, -0.4271, -0.3168, -0.2405, 0.9992]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.289 right_y=0.0001 right_z=0.1653 right_yaw=0.1639 right_pitch=-0.0474 right_roll=0.0072 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.6068, 6.612, 1.7753, -0.0464, -0.0611, -0.0122, 0.0889, -1.1829, 9.1282, 1.8095, -0.2222, 0.022, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:468e8c380dcab61ee55c38b68c07d16dff70dbd5d324e89666e18386d4e83ec0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929d287c6830be11a1b5a9982b51a80a4d848f6cad03d4ecb486454304cc762c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29a385ec7131ca40ad6632aa9c02acbbabf6dea3d1f9c95edd0a67b9ac6f714c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0a4c666cf4c1b196016ab44b14900487d087fe0ed23e29c785",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_0a4c666cf4c1b196016ab44b1992d487d0b1ef92e6b0d7fe60",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsiyj0npDKnxqqAdy6DgqnwgGzFVOG_GlJpnVhsf0kRSo3PrF0CwzeXfhJltLqic2MafDI87NgyajMKNEknFS2Ola4gnbmVSeDDQbWsUgfihJRrNCuThAEW1fjPqj_RzKiCtEMtMLvzulBYnR1CULrNIpeOFbf9EXJ4k3aTKM76Ca1horO7zq4OlIjiPdzcRfVFA2xwGqtIMEI2jrEeeRVHyKey7zt-0gSC4ib-fpFycEdJqJcCqqh_femykaOrS2eC3gXUcFisRVVh1mmaeh8YfiNpkLi1MST60Um_Sa83qaGg4cn5fgYLjgN4o6oEMOdBYCzFKinzMaZMX9OD9-eFVlDfejAmSg9jBwH2S8gB8nJmSMRdUOjKomoWIThFGphn8VOLSXR9aTT7fgXdU_ytWmGLdINhhRVnys9lh2pE3D_z7KpjyUL182kitI9OKnocfLDjxdL97rbvw7nTgjNuue2P21cYm7txTHLNAfr7t1p8Mc1qYWIrBv0h1uHdiVxWn4v60Gh16B7dx4Wc-V2RVrKi4YLGVwj5VEn1DbsE0LBU7l2JUQng4yueEZ6jr94upMGfbPp4LRsnVaOlrvlmWO2IA6P5n9IaU674jO2NcCL821tn0-isebvaEL0qwmAt7euB75eqeP2BqCqABbMls0xFqylehOH6WLcyByYZUpxkoY1Rn2fevgphmd0zktjJB09aA2sZebZsMTn1hkjLUBUg3VXt0sF66xMXfSRp-7VbCrDiRCm0uuAGKezOMO6a9yuLnpyVSyD-EDyhJAD4Va6mUV4DmGa-JJiTeMzYKuHtENDYoyE4b32eJroArKkI-7xdogB6uAMXQhKnyFU14c-kEp-FFNrNuBhM29NUWEJ-KQH31nRyx9iYVvFmfvimLV2hNUAvcstnTf9vJejOI4f7HZ1YfG1-uDgr_-_IqZulGRKP1VA3C8sWVv70CA5sjA69nYZiPwteCrTcn_Cqo3NsoweOWxNPnWNNku0XTEVttzb-i2FbRIY15gLzaOW48v3zvuHtoQ21OhygQh7TYv4gO2hOIyb9I5g7J-E9yTjl0vURT5DeGc5hLiPIemrj5AqASF-Zh8PHOgOdWagabtbcfoHVZHhOW6rxBvzf0i58L4vXfmBDA1oGOzYY_-XpmZbjqrFDD05MwY1mN-Jxfps_AsHFuWfixuEZ0bF6iJX63_kOeL_E_pKNIv3EA8HKlBuMsledqBCoDMMmaFThLJm4nwxS63e0YdESiDstEfGopyP0JUtCbJWjKNUSuZBXJOfrOMU5CunLydD37oi2Z8MC0bs15dWY6ck9ykxsO7mUeMU43SUbsfrO5c0z76QKRiD5OeONi5yRcje3jHhh2xQKQU9M2yY4r4UGXZ3C4Ri8bbekQQ_1AbCe-G58vMuJ0WoekBU_2xx9dD2XsKHmfIflDHEfN5wthsuW57pqbdvxCgg3kjcy5l7cycZCn6XQMB9W2bPn4m1MV6jqU8439C-dsdcaxLSS57vC264Haec7Tf-lQmN_UmlbSExOF08dNkUKLicX2H1B6PWNKeqQ-lAqmM-sKFIvSutRKGAeA8vY13BEidoUff4iBVXbC_D9zi8j-nVvftH14bOiC68JhOycX1VNyq5dGtJK6EZ1WFO0YpD83kAeEtE3T0K_QY_lLyW3-OvPIHsYUGr8TGPlk6I1mTMv_jeWPonU0Vv_tXX-7xOAJTqRzXHDIsNZmx_0rn8lBrlI_JpaKg_XQ9E9CaP26-dyBRUchQ_1Qr1T2PHddqQNjB6Nv4lts2EaaYFrepWi-sacvA7LjqNSOIO9uy5y8iApNsrqHPUcfmyuh39XPQ5f4PZikV08k4Lb29zrwamvwhhYfwaplfSrklm5yUyP2_Pt-1Z5YfG62Fn9pl39uEYVRbItrEbgzIpNP1f3MyItXNUEGP-yo6qfhO-x3RSr9T9QCFsK9TH4qFbby1ICU-K1WBREJagPVr6eks-NArITCvdrOL4TTCd4bX9Rz9G22R70SbV5T1hR9hYkMEY4J1Ig2lhAkUohf38-BbALLLj0-GkSnCDCEM4A1-9NqeUvjt8SWR2FsvWtPmGLkETzya6zLYoYEhexxiVy39JQW2sdDJ7pF4tBZFN4kJXKc8YIZtXPBiG9IhSviSlynWWZeoXgv5FtgWF-6okfuvSWzclP0jlQA5JuRvKk7n2LIlfMh9RRMFmN6MhqiU1FZulyaLQ0KlThgXR2-GNFdhuy0Vz8K8QcJD9gWIk5WHMHQ4SsVlG9R5iZ2SmYYhhmLCUK0aSr44aY295VSe8d8aMQkddiDDBQDb-IwNp_QqJiRkv_xXNLwlAW_6oRgm2Sc4_zYjW_NELdmiAmuaC1Vyn9",
  "id": "rs_0a4c666cf4c1b196016ab44b1edb4c87d081160eef6e738c7f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.343,\"right_y\":0.17,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The first attempt moved the bottle inward but it stayed horizontal, indicating the full-force cap grasp locked its pitch instead of letting it pivot. I will regrasp the same cap and use a deliberately loose jaw spacing so gravity can rotate the bottle while the cap is lifted.\"}",
  "call_id": "call_chC6b7MP92yvJ4NFqTBWpNOV",
  "id": "fc_0a4c666cf4c1b196016ab44b21116c87d098f32e67e1ef6ac8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_chC6b7MP92yvJ4NFqTBWpNOV",
  "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]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.5991, 1.6299, 0.4198, 0.5392, 0.3153, 0.1951, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3301 right_y=0.1634 right_z=0.0197 right_yaw=0.2022 right_pitch=-0.0622 right_roll=-0.0258 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.5111, 6.7624, 1.7558, -0.0611, -0.022, -0.0122, 0.1846, -5.1214, 5.9282, 1.6825, 0.2173, 0.1001, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e1c0a4034e07d9c3517cd547ce5e3d9a9e373a8b45c8b6ba67848186d1137b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81950b6c9292432a8c75a15d59892c2893a0556fc392faccc39081eecccd911c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b24391a7064fe87220c00a847ab9ffb6989f0b982b4ddf3a4421c5967d3496b",
      "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 76 changed as sent

message 84 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8024, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.9649, 1.0756, 0.7719, -0.4011, 0.5911, 0.4362, 0.3542]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0011 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.2554 right_y=0.202 right_z=0.188 right_yaw=0.2189 right_pitch=0.0017 right_roll=0.0079 right_gripper=0.3542\nstate[joint_eff]: [-0.0342, -1.4701, 6.7077, 1.8486, -0.022, -0.0806, -0.0122, 0.1436, -3.9863, 9.6752, 1.4774, 0.3492, 0.0611, 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]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, -0.2039, 0.8307, 0.6029, -0.4271, -0.3168, -0.2405, 0.9992]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.289 right_y=0.0001 right_z=0.1653 right_yaw=0.1639 right_pitch=-0.0474 right_roll=0.0072 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.6068, 6.612, 1.7753, -0.0464, -0.0611, -0.0122, 0.0889, -1.1829, 9.1282, 1.8095, -0.2222, 0.022, -0.0952]",
      "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]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.5991, 1.6299, 0.4198, 0.5392, 0.3153, 0.1951, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3301 right_y=0.1634 right_z=0.0197 right_yaw=0.2022 right_pitch=-0.0622 right_roll=-0.0258 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.5111, 6.7624, 1.7558, -0.0611, -0.022, -0.0122, 0.1846, -5.1214, 5.9282, 1.6825, 0.2173, 0.1001, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e1c0a4034e07d9c3517cd547ce5e3d9a9e373a8b45c8b6ba67848186d1137b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81950b6c9292432a8c75a15d59892c2893a0556fc392faccc39081eecccd911c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b24391a7064fe87220c00a847ab9ffb6989f0b982b4ddf3a4421c5967d3496b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsnJUy9j4Q7l86oiiOxiiSitmeLD8oMwmvSSGeDndLsG52Z_2TKbg-gUhVaGDnGAEeCTrvCavFhvUem4zfLvC_AlDd8gbnNgGdq6qCeHzrj25ZSkWD5lz_1HMaNsmU-GgM3zhMLkHr2Nys1FSIWlIAWCvog_AKmbFnZ_qBbz7vqeoEbFOzHJfVV7dt5LBtk7SkL-dRgiN-IKrBBSsx409hmhSD0Qiexf_DVaGm-B9PEaGZEHo8YvXfMzo7WUoFpp5LLn7fQqNAEFkrq4Ttl7WsqXjy6owOLn-EC_q2azYbU9naLNUqQyT8eu1CC_rrShBvwGFp1gReXMCTvv0r-QFkpRESxJrv9lskP1EWE9F2jm4Ueqqjk7aUmpP35ZC64GiBe-hFW9i926vfdQFgmNVLM7Uo_f2SiWCF5mQA1lLNjPfXrWq4wGcdJxhJ3nUIRJD7CovP62KIGoDpQTRt9Olccxcc2YyoEA6i84dAGNNalMbg210J0kQw_BEygPcBXdfoXiZMEOSdYOP6OvaC53fNOCuXSFycLJSvpIPpNdlUsa5YeYkeWkILnQMdiFcPywZw57jgxzxbxPlYvMiL32tGqG95DWWSlM6OafamDfsz5dJvfTiAeb0YxZMqIy1kYnUYwnqvb-nSMXSRbqkXqw02DbgkelMeDhW1PlKtvLmYDJHHPHvT2EpepRegPzXnTiy0pQfB9aSbRQyNDKX-y4C_H49hIKAEZA5OFd8tKMm1SRWNCGiG7fAZwr2mHRrrOe7xDTeWWBaQt8YZs9rL4r8FDJuSwCwoxgyJPI5VEY_c9F6OzxHHmNqNqpYVyvQxD3giw0LVlzgOmzlxzA9viRsft5JfarsAUHcc1yittsvzEUOSeo6RYkhUpIvVIJ7hA4P1JSqAhrN-quC98eZy0E8P8dwVxVBeKgnzHWFCN1kNwvRSZ9MUf57boopjIP36S_jqM5KgFonzf_jwqVNQ_N1iAlEIoXd1cuaOxXYZq5Ft7sFuSDY_J8oRzYkxRIDgi24zddkFNoMVYq7bMpVBCEc12taKVV3mL5wbQB4JPd58eTpKZ4i1yYQjOPTUeRsF_FzPBARpKZOOWBAg_nZ9-hInVgmyyFc-25elaF2J7mCsdKjsaUa51eAqeMW6VljTCc8sjkuL5_5tZcxUrZrzrdKSBhX6BrPLEbe3W20rUxmurjtcbrhmU735oEanEGcpIyuoZJlAQt4A6X24s-biipw-ASQLJD9whHUI_pU_SzETqeGuGTW0N7NthHpJYNQxPsbhD2vARzo1UMA1v-N3NDA9FsHZ7CjC7Po9WnHG0ninmwRqoTPpl-DQ_KRjP9QpTx_I_HGyQySLFk5A3ZHZFfBQ8-DIikYRdH8F-JsqQycvtO7YS0mElmmhr6mJh9FvA0YSKp7sGJRjmrkpry9Pc-aT67JI9og-deCjUUSvjdYdp_ZsJYXXTCBxyJcs5JcNfHRrBOKOTgftq4jYhNqo_hJ_JXFey6U6ACYR1TfUUAib3EWN-fC_JGoLNw08nx1xAK-V_UjTP1qXcXTCYAlrJhVIks2w8i_W8tHoQWsA6XYdMXZmQ1UY4RwH2cXqOiK5RaSGKplEjUbm5J033hu_5v5HRRULlDC4RymxOMg7Cjrcr8ia3NZK5sRRSdj1L_3tk79aMer7ZF2tGMyOJkSySL5Jl-21pLzyAI9zvgASJrEBXFxh-8OAxoMpTY3FRv7z9V-66K2Fr0UQVbSVLmNnS0EWaH-g2o2AaQFQEU2Z5YR8mIVUGfJq8QDQK8jAWtwuYJTi3n8r614kYdjDbYIkTE3sgoq9jC5IVArA0ekX03YIeuTupREeE-XIaWmbLuXaY_8w-bPRGY0SEhq4i3CAg-pb46-jujdGimrzdCzWTRHtTAA_xSj4GxU82n6VFeb5hh46RRisoE4ETjw4BNu_7Zg51zDdkYzHmrpIEACuzGr5JI75wQw-AvoA1P-G4SVPwI3sz_T6M03ov1Qy_H_Eeg8R_3RuT_uWRmpKH0frAKfB8oqhvMFZGQsxcpOg77HwcbqwxknltbkQmtj_iGlMEpqIQkrV-uckK85AIJCrHXBf1MlE=",
  "id": "rs_0a4c666cf4c1b196016ab44b25019c87d09ca8c956f828aa27",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.17,\"right_z\":0.025,\"right_gripper\":1.0},\"note\":\"The wrist view shows the bottle body filling the jaw area while the cap is still farther forward near the top of the image, so the previous grasp point was too close to the bottle's middle. I will advance 5 cm at the same low height to put the jaws around the actual cap.\"}",
  "call_id": "call_OwWyw84oy58yXb29KbTJTSuq",
  "id": "fc_0a4c666cf4c1b196016ab44b26d65087d0bac59e1383d73bc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OwWyw84oy58yXb29KbTJTSuq",
  "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]: [-0.0231, 0.8028, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.5282, 1.7557, 0.5228, 0.6525, 0.2562, 0.1612, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.182 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3732 right_y=0.1701 right_z=0.0283 right_yaw=0.1993 right_pitch=0.0105 right_roll=0.0105 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.4838, 6.653, 1.79, -0.0659, -0.0611, -0.0122, -0.7453, -5.559, 5.7641, 1.5897, 0.0269, -0.022, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49771a733ee61e3639fc28ad4f275e27a41b65c186ca2a50d13cbc1755c35bc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eebf004a3c1adcb7cc3c13fc279316ffb220fa6e1ca30f3039dc00c1255ea3a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44ba4aa3b820d39b6b378fba6bd6f6cd19cbd940d142ef12a73ad7546d9cd589",
      "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 80 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.9691, 1.0801, 0.775, -0.4416, 0.598, 0.4294, 0.9952]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1823 left_yaw=-0.0008 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2522 right_y=0.198 right_z=0.1818 right_yaw=0.2213 right_pitch=-0.0259 right_roll=-0.0297 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -1.5795, 6.6803, 1.79, -0.0415, -0.0269, -0.0122, -0.1299, -3.0701, 6.9675, 1.8486, 0.2173, -0.0024, -0.188]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.5991, 1.6299, 0.4198, 0.5392, 0.3153, 0.1951, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3301 right_y=0.1634 right_z=0.0197 right_yaw=0.2022 right_pitch=-0.0622 right_roll=-0.0258 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.5111, 6.7624, 1.7558, -0.0611, -0.022, -0.0122, 0.1846, -5.1214, 5.9282, 1.6825, 0.2173, 0.1001, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8028, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.5282, 1.7557, 0.5228, 0.6525, 0.2562, 0.1612, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.182 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3732 right_y=0.1701 right_z=0.0283 right_yaw=0.1993 right_pitch=0.0105 right_roll=0.0105 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.4838, 6.653, 1.79, -0.0659, -0.0611, -0.0122, -0.7453, -5.559, 5.7641, 1.5897, 0.0269, -0.022, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49771a733ee61e3639fc28ad4f275e27a41b65c186ca2a50d13cbc1755c35bc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eebf004a3c1adcb7cc3c13fc279316ffb220fa6e1ca30f3039dc00c1255ea3a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44ba4aa3b820d39b6b378fba6bd6f6cd19cbd940d142ef12a73ad7546d9cd589",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsrXJ-LiYcTeg5u9LcddEVTenn5qfrDSX8j7-_fvaskdscT5Cf4bKJ_DXm0LyHsjJ-wZD6pz_z6V3T-oAdaaty5Rww7nXN1kq9ZaxKo_AYk_BvhGWoPNbj-v05CaKxN4_XMw0MXk3eggIPK2wze578HdNREueP1_FO1wIVhhncOkA93YpVQkzPkKWJrObItiNQM4vuUxC9BGAS9C5Tclk4U79kF4KHQp70YsK0Ps_iQmo84whYZ93RKiDLqoHcjl4d24aqPIr-pbWlexJYDwyUeMBIs5oPPYbUNL3g_MdRDD2ZKP3UhnXgpNEkz7GVZo0uomEZi8QMdLWR9tp_lBJRrHIB11TZFcwnWGY8MQdBBO1KvXH_lpuhJWOQ5L3lsJpGmpcdcC3f2yszp1p83qe5hu2RlG5fi9j5LLaAN0Ivij2MRhHaH7ZJpIcNrc7VMT1M8cEibXn2Jh3xXKjzFKKTFsF7bfriJFl1Rv-VA7o_kiDAiYYgg7lVRoSQ5JbiBeSGg61Y8-wp7rCdKdWTABJDOHrkjSMxOiefJuRHeXbLo8ZH-ncak1-7UT4R4y59UmOEDi3vm_zi9uqdis9Du3ammHf050t17t-pOtHdlC0t40mRonTFbhHQ7YQLu0o5Ejjs-z3CLmgDjOtnI8WQfHN0z8j0tazsOEFiZd4Rgg9am18S2QRjhXod8nEYFi9TyWkZmqZv5-6wudnmIxnUhFw07XxCAJTIU8yMUkgDWGIGHm-0kfdOeGoJLAe332zthHNdQ7vZ8zcWDHSyP5Hkt2fpLN-j7Uzg6QVEZ7b7u44TmitHTFApwt54OQvtj51lZ4PobDYb8RdrAvYR8sw30AC1-_w5md4O1v8jEoTeeGdcAhK_DdPkOQBzmhrKZvUHlPukqp2QSsNol8CPfB4NzJZsYqJSec50y3zR3yiz69a_BEbVcjvOw4npSti8msH8bD-5W7GdKoXCOAUFiJYPPOS2XJNoDX1TqKKjzgcZ-fBb8hz3ylV1EnkDnj_m23KYSAihiVH-SJajDqu7XdPMw-I4wA0Ozx7u8kurBikBCZsI-6QHdXaQvm7a7XpwKd6nHYMqJ0eN7TbqUBs0pnkxm3Dyq4NFHjuM-S4q13L3i8K1yt2b8_SAFBNgD-e8fGGRAH3CJRidJCSQW_sn27c0ezpfbWu9Z3qz7G_VFqVu7omFoeNzUKcw4ZC25ovtV3ID3TjzczOH3PcBp6e4b7DZSTOfa_XYhjIaJdsU56GRAZJS_CvqGeabcCnw3zPW5ZOJJcQ9mGp8_zHOHc41G1a7GMGSynBgfFCw3OovOqr9PmoDxQrwY24UilDMTr9I6mSj3J5ZGiwhkoZ4H10K88nbxp_Nktq4bnmlLopQbEJMVUcYm3csiWrI8kiTeL648qsvd84nIyUFpD9x81J6KFExHYEWDSqxUIpPJ4-RtWmlJLQQYWtEH6v2Y6Uk5zkediQ4VCQJHxpeYu5HSa7tj_Na0PKA5E8lm8ep1hqLFlNNHt8pj0AgNEScqhFlXN8AJYdxl-vAcEDzJA0ZhRPrOWwuP-VVysf4ikCk7AiYj4HGSfjHvdTnX7gEinzFr8RiOpJ1LE9Ef",
  "id": "rs_0a4c666cf4c1b196016ab44b29862c87d0aec57dbd63b047fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"The overhead view now shows the fingertips straddling the cap/neck rather than the bottle body. I will close only to 0.40—just wider than the previous 0.36 hard grasp—to retain the cap while allowing the bottle to swing in pitch.\"}",
  "call_id": "call_TWC21foM3ev1eqOwF9O7JgED",
  "id": "fc_0a4c666cf4c1b196016ab44b2a683887d09361a965d4fcdef6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TWC21foM3ev1eqOwF9O7JgED",
  "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]: [-0.0231, 0.8024, 0.6132, -0.3794, -0.0231, -0.0292, 0.9983, 0.5232, 1.7649, 0.5541, 0.712, 0.2314, 0.1448, 0.4064]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.182 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3875 right_y=0.1809 right_z=0.0473 right_yaw=0.2227 right_pitch=0.0846 right_roll=0.0337 right_gripper=0.4064\nstate[joint_eff]: [-0.3214, -1.388, 6.7077, 1.8242, -0.0366, -0.0366, -0.0122, -0.8684, -5.7641, 5.0667, 1.0672, 0.1978, 0.0366, 0.3639]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b404499f3c23fa91d0f0e7e7b05e182ef6f4a55a925743d1ef781b55eb7aeccd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423db8e5841a4468972eb15094c61cda48f91a12d0992ff67781d63336a46e73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41df2c387eac727359c8141bd0dcba526453277de6d19c041e16c1406bb82c8f",
      "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 84 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, -0.2039, 0.8307, 0.6029, -0.4271, -0.3168, -0.2405, 0.9992]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.289 right_y=0.0001 right_z=0.1653 right_yaw=0.1639 right_pitch=-0.0474 right_roll=0.0072 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.6068, 6.612, 1.7753, -0.0464, -0.0611, -0.0122, 0.0889, -1.1829, 9.1282, 1.8095, -0.2222, 0.022, -0.0952]",
      "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]: [-0.0231, 0.8028, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.5282, 1.7557, 0.5228, 0.6525, 0.2562, 0.1612, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.182 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3732 right_y=0.1701 right_z=0.0283 right_yaw=0.1993 right_pitch=0.0105 right_roll=0.0105 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.4838, 6.653, 1.79, -0.0659, -0.0611, -0.0122, -0.7453, -5.559, 5.7641, 1.5897, 0.0269, -0.022, -0.0952]",
      "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]: [-0.0231, 0.8024, 0.6132, -0.3794, -0.0231, -0.0292, 0.9983, 0.5232, 1.7649, 0.5541, 0.712, 0.2314, 0.1448, 0.4064]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.182 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3875 right_y=0.1809 right_z=0.0473 right_yaw=0.2227 right_pitch=0.0846 right_roll=0.0337 right_gripper=0.4064\nstate[joint_eff]: [-0.3214, -1.388, 6.7077, 1.8242, -0.0366, -0.0366, -0.0122, -0.8684, -5.7641, 5.0667, 1.0672, 0.1978, 0.0366, 0.3639]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b404499f3c23fa91d0f0e7e7b05e182ef6f4a55a925743d1ef781b55eb7aeccd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423db8e5841a4468972eb15094c61cda48f91a12d0992ff67781d63336a46e73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41df2c387eac727359c8141bd0dcba526453277de6d19c041e16c1406bb82c8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsu362N90qkj6Uz2HZc3uKLRfMvC1qNB-zHt2JMrLIxEiHvu8nIjINPWxItyav38xNily92102tV_xByWDbFICe5Fvg8Ymlgo6IWNanPVvQC0DBt0lZtcyH-KM9EhuWH2ukfKczlS630wcNmqslVzi9St-PuyV5gB2YNEFn4OUyN2g_HoIhtyir4Ka7KE5tjK0_njQ8uoHTKOtRsPevSQCOhAUqKGnzd7Juoumef3OKLKCXnZ4yibrkGbza3A1YiKmVH2pJETkuisERKsNc6bnC6TqbN2E0BhNNfjc13hKKHUnGVzoluIfuXU0FT-MPVSezwYpTai_EsxjZqOGvl_4WZ12gkOz_4RjYE2tp5HKMwVJULhwk-y0ghCYk9cDOKON8PQPgR77Zz7P2-wAacStNnTNPqNvzGXiAU2nv4djsevDwGXtFnBJ6APaKtDybOmV8Czim94iqJJ4N0jSrMnEyUkWGi4nwq2oywNwByTuCxKVg0T2CTd-mPxbIPYPBAfVOQwtsabvNwCn7LMbucARxCj-UF1xEDkElMdbRzgf4l8OXSb3Tdy7mqfYojgOfckwHQetjUvUFEEp1LtBaX7TD4oIPqWHKxRKVr1aWK0qto0VHcpJDQd8zcVypvjz9sMb3C9UhuKDIxgyWLsbl_GSOpWW4Rz-vWMx3wQde157UAelSu3Ik4RmwNk6oIVN1OV5q19amd1xTllLabGHqJbT6KxTk5YiBXxzyFiPM0A6lBp6F9EnlqbK4hgOhbWefAZO2NzfRZJ437j-Tl1tbZ3V32f1yWfXmpIINjUemIArZ9b5BIec2h492WvW2-eSpM-s0v0gGZ2qjsmL1mdhH3O7_feKoux1on8p9KDtew6F--bD1tlH1KCI4P7MhHQs_PktUCmYcBtt0ZiIOdBuzcBNTb1e6JdwhlqsuLRwcv4LL-elsFQUOQzxAVfJIadAf81D-5Lg5oFOK8h9TU5x6etsGnotiztO0HUAHHPAxNbONf0kHXRVo3WUEWdhxRefVGzXwhUGJXm6QPkp62Jkmw8_lMiXitPRvxSIMsgJq1LH-MefrCVek2HRmNkvxFp2n3jKXsj15jqO7U3LjCg85p4mPjs3GVvjmOh2aUQFn1aLJQm4DxoSzRchKYxiUUcVhh7_FfKPWnFv4vFNnN2kzSiObkL3APNcurU4hivpfWRlC-0ix4xihMVVKAYIRNa5vtHJnqu9wWo4YHB50t7-yzk4hu0_sONUpbmlWoaEQmr4oMaSEAeao2V6pBqTImbXRBHOQy9EplwlpM7POZv8v77yDXhPfHYAUXjjpwdKJsYlhcwlbSyNQTq8fMtwzugrc-8VQzdWLYEPjLbGSyyMgvzhyqP3y5kNGtiR0uof1Ewm8F63hOd12i_-tM7vaL8vQHAc0mc1PIFDuMQKCK35Cg6MfkzRJXGu3ep3FZsXg6owSmwz7g7F5quhJ3JIDwCz8KDpNmZlertE8jjsYmyhh5Nxj4HP7AZ6VikRw-crG_W7IoEwt5Vy7GMIZSmIvszKJ6HMEw0GFUnwyVtA9-_X4qbCMcPytYa5eoUE4dnwfo38jxqByuel2oV2Zpm9p59UgNw1XmpyUReoX8g42Ma_-q4noZXcHU4zHfl9jxqy6Z91DrQvKiIeqZ-Uu1hftQumdrdQxuf6D4KLn-TFNNkiRsFv4LPOgoehVJB2HMP5a_FY5NBMo0-imMNVUMNv-5wDpYXegAtqmb9mGZZ-g-aSuib-G586xO_Kl7g8By3wT6OK_QuHWd1MOOHRr_HBC7ZQJwVi43OkGeZn5lkf64rLSpulrv9qZZWJSSl0XgMaKmpJ9naWC0tooFY4tT2A326nM765dzTGTT4udIQvWSmJyCE56gA==",
  "id": "rs_0a4c666cf4c1b196016ab44b2cf5d087d0bb24285058db385c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The loose close settled at 0.41 around the cap, leaving a small amount of rotational freedom. I will lift straight up so the bottle's weight pulls its body downward and its base slides under the cap.\"}",
  "call_id": "call_WZEyFUAMpPROw4rQ03twYyBS",
  "id": "fc_0a4c666cf4c1b196016ab44b2e36dc87d0a251e1c1e1312af4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WZEyFUAMpPROw4rQ03twYyBS",
  "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]: [-0.0231, 0.8024, 0.6132, -0.379, -0.0227, -0.0292, 0.9983, 0.5251, 1.3949, 0.9737, -0.0299, 0.2279, 0.1295, 0.4075]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1821 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.399 right_y=0.1892 right_z=0.2211 right_yaw=0.2343 right_pitch=0.1303 right_roll=0.0355 right_gripper=0.4075\nstate[joint_eff]: [-0.1573, -1.2376, 6.7077, 1.7949, -0.0073, -0.0073, -0.0122, -0.0889, -5.2171, 10.1675, 1.8828, 0.1343, 0.0464, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c561bafbfd761241f1b8d04a140ddb7804090498935506d09e13900f2b325d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94b72b8a8a0a6a5aeb92b0c05a4e555ab62000c55f53bc463a51153b2c1a6e56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f16f4f0646ee29f7a5949b26575f4cd0de26da130af915f213d2bcf8bb254ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.5991, 1.6299, 0.4198, 0.5392, 0.3153, 0.1951, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3301 right_y=0.1634 right_z=0.0197 right_yaw=0.2022 right_pitch=-0.0622 right_roll=-0.0258 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.5111, 6.7624, 1.7558, -0.0611, -0.022, -0.0122, 0.1846, -5.1214, 5.9282, 1.6825, 0.2173, 0.1001, -0.0904]",
      "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]: [-0.0231, 0.8024, 0.6132, -0.3794, -0.0231, -0.0292, 0.9983, 0.5232, 1.7649, 0.5541, 0.712, 0.2314, 0.1448, 0.4064]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.182 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3875 right_y=0.1809 right_z=0.0473 right_yaw=0.2227 right_pitch=0.0846 right_roll=0.0337 right_gripper=0.4064\nstate[joint_eff]: [-0.3214, -1.388, 6.7077, 1.8242, -0.0366, -0.0366, -0.0122, -0.8684, -5.7641, 5.0667, 1.0672, 0.1978, 0.0366, 0.3639]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.0231, 0.8024, 0.6132, -0.379, -0.0227, -0.0292, 0.9983, 0.5251, 1.3949, 0.9737, -0.0299, 0.2279, 0.1295, 0.4075]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1821 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.399 right_y=0.1892 right_z=0.2211 right_yaw=0.2343 right_pitch=0.1303 right_roll=0.0355 right_gripper=0.4075\nstate[joint_eff]: [-0.1573, -1.2376, 6.7077, 1.7949, -0.0073, -0.0073, -0.0122, -0.0889, -5.2171, 10.1675, 1.8828, 0.1343, 0.0464, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c561bafbfd761241f1b8d04a140ddb7804090498935506d09e13900f2b325d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94b72b8a8a0a6a5aeb92b0c05a4e555ab62000c55f53bc463a51153b2c1a6e56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f16f4f0646ee29f7a5949b26575f4cd0de26da130af915f213d2bcf8bb254ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
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  "id": "rs_0a4c666cf4c1b196016ab44b311bb087d0ae99f8e083bdf9e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.18,\"right_z\":0.03,\"right_gripper\":0.41},\"note\":\"The bottle did not rise; the 0.40 spacing was slightly too wide and the gripper simply lifted empty. I will return to the aligned cap pose and then use a minimally tighter 0.34 command to make light contact without a full-force clamp.\"}",
  "call_id": "call_EP158k5KLBZuAurUCxGD67s5",
  "id": "fc_0a4c666cf4c1b196016ab44b3313ac87d0a9465aa070feb84d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EP158k5KLBZuAurUCxGD67s5",
  "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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.5327, 1.7252, 0.5983, 0.5545, 0.2314, 0.1291, 0.4089]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3837 right_y=0.1833 right_z=0.0464 right_yaw=0.2417 right_pitch=0.0145 right_roll=-0.0013 right_gripper=0.4089\nstate[joint_eff]: [-0.1299, -1.6068, 6.5573, 1.8046, -0.0024, -0.0366, -0.0122, -0.4718, -4.7658, 3.5761, 1.0134, -0.0073, 0.022, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a7b24ddee17cf3c7722a7a8971c0e699fd3981f077971565528b403648199f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03adbec8129e5e51c85ae7906a2985a21e93e402a9dd10363fbf731acd581197",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a5748a2b854bc7a8e60b9e61fd744c84db7fa7581237eff17b0d58c945ccaf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8028, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.5282, 1.7557, 0.5228, 0.6525, 0.2562, 0.1612, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.182 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3732 right_y=0.1701 right_z=0.0283 right_yaw=0.1993 right_pitch=0.0105 right_roll=0.0105 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.4838, 6.653, 1.79, -0.0659, -0.0611, -0.0122, -0.7453, -5.559, 5.7641, 1.5897, 0.0269, -0.022, -0.0952]",
      "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]: [-0.0231, 0.8024, 0.6132, -0.379, -0.0227, -0.0292, 0.9983, 0.5251, 1.3949, 0.9737, -0.0299, 0.2279, 0.1295, 0.4075]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1821 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.399 right_y=0.1892 right_z=0.2211 right_yaw=0.2343 right_pitch=0.1303 right_roll=0.0355 right_gripper=0.4075\nstate[joint_eff]: [-0.1573, -1.2376, 6.7077, 1.7949, -0.0073, -0.0073, -0.0122, -0.0889, -5.2171, 10.1675, 1.8828, 0.1343, 0.0464, 0.1001]\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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.5327, 1.7252, 0.5983, 0.5545, 0.2314, 0.1291, 0.4089]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3837 right_y=0.1833 right_z=0.0464 right_yaw=0.2417 right_pitch=0.0145 right_roll=-0.0013 right_gripper=0.4089\nstate[joint_eff]: [-0.1299, -1.6068, 6.5573, 1.8046, -0.0024, -0.0366, -0.0122, -0.4718, -4.7658, 3.5761, 1.0134, -0.0073, 0.022, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a7b24ddee17cf3c7722a7a8971c0e699fd3981f077971565528b403648199f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03adbec8129e5e51c85ae7906a2985a21e93e402a9dd10363fbf731acd581197",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a5748a2b854bc7a8e60b9e61fd744c84db7fa7581237eff17b0d58c945ccaf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
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  "id": "rs_0a4c666cf4c1b196016ab44b36cd2487d0afe835423694ee0b",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_0a4c666cf4c1b196016ab44b3c2ab487d0965b5f059c485ccf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The close wrist view clarifies the geometry: the fingertips are over the nearer bottle base, while its cap is still far forward and unreachable. I will secure this base/body section firmly so I can truly relocate the bottle inward before attempting the cap pivot.\"}",
  "call_id": "call_am1VKrOx0sfQP7x3iFYvmMTb",
  "id": "fc_0a4c666cf4c1b196016ab44b41344c87d0bf4ee77547449847",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_am1VKrOx0sfQP7x3iFYvmMTb",
  "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]: [-0.0231, 0.8024, 0.6132, -0.3786, -0.0231, -0.0292, 0.9983, 0.5323, 1.721, 0.5987, 0.5823, 0.2302, 0.1265, 0.0176]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3871 right_y=0.1854 right_z=0.054 right_yaw=0.2435 right_pitch=0.0455 right_roll=0.0062 right_gripper=0.0176\nstate[joint_eff]: [-0.2393, -1.6068, 6.7487, 1.8437, -0.0659, -0.0122, -0.0122, -0.4718, -7.3915, 6.0239, 1.2088, 0.0317, 0.0171, 0.8913]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb2d9fdb2dd9cf5f925e81e7bc3a096f6f713d154d5056da159547566ceaa044",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9c84744523757519ad3bed72cbb42a6d34b35fb4b19b4101de4ab533a502067",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49adce25bcad26d783f23e3ef6f6587e324e9a328e012e92e7470d4f943f5d5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 98 changed as sent

message 106 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6132, -0.3794, -0.0231, -0.0292, 0.9983, 0.5232, 1.7649, 0.5541, 0.712, 0.2314, 0.1448, 0.4064]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.182 left_yaw=-0.0012 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3875 right_y=0.1809 right_z=0.0473 right_yaw=0.2227 right_pitch=0.0846 right_roll=0.0337 right_gripper=0.4064\nstate[joint_eff]: [-0.3214, -1.388, 6.7077, 1.8242, -0.0366, -0.0366, -0.0122, -0.8684, -5.7641, 5.0667, 1.0672, 0.1978, 0.0366, 0.3639]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.5327, 1.7252, 0.5983, 0.5545, 0.2314, 0.1291, 0.4089]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3837 right_y=0.1833 right_z=0.0464 right_yaw=0.2417 right_pitch=0.0145 right_roll=-0.0013 right_gripper=0.4089\nstate[joint_eff]: [-0.1299, -1.6068, 6.5573, 1.8046, -0.0024, -0.0366, -0.0122, -0.4718, -4.7658, 3.5761, 1.0134, -0.0073, 0.022, -0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6132, -0.3786, -0.0231, -0.0292, 0.9983, 0.5323, 1.721, 0.5987, 0.5823, 0.2302, 0.1265, 0.0176]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3871 right_y=0.1854 right_z=0.054 right_yaw=0.2435 right_pitch=0.0455 right_roll=0.0062 right_gripper=0.0176\nstate[joint_eff]: [-0.2393, -1.6068, 6.7487, 1.8437, -0.0659, -0.0122, -0.0122, -0.4718, -7.3915, 6.0239, 1.2088, 0.0317, 0.0171, 0.8913]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb2d9fdb2dd9cf5f925e81e7bc3a096f6f713d154d5056da159547566ceaa044",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9c84744523757519ad3bed72cbb42a6d34b35fb4b19b4101de4ab533a502067",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49adce25bcad26d783f23e3ef6f6587e324e9a328e012e92e7470d4f943f5d5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtIyusTKQbeDNoxT1uPzRdYAShM1H_kou88IHTaZ8Os1N8nwQ4YVoQxsVm3S5TsOgxJJA7L6fjPWHvFkkcRAoZPpVL76Fd2N3BEkCCbR2zs1XD1q4L73I9voIo7uoOueZ90O_Wiy_jwRqUSRHFcIEcISE1_PAsLpy3whfEoRDP92SDdOkuspwgmP4_Vc97w4qW5SmQ75NeNbDrPyQozWWFXfq15wMaaGrdOi1kP-hMF-js3SN5GLLImoDqKL2VwOzyPvbqmUokdCtNg-IMC4NzDUAW7T-O-_5US0lIjbhtgziztMqtJ0P0C91RZW1PPx2eYadKUxU64FlfSYknf69qV9yupoAA8mQe0Ros4xwLwwPe4EdW48j9dax6rdmUyT5mJ7eRPR0fDcCGZTXRFuQItP0MJXl8F2_kruS8a0iLt60ePnnzAoF1kFO3u-INgqKgkUdYE4xKh6Qy4EFTeyMzthFjguB8WUUC3q1hzbdD20hxLPbevgE3AbwMphq5D0UVyqQbW9IonO_HhRqZZka7d7oUSkKkasqKag5rIY2cOVCVLF-f8-_Vx85IISDvY_7uEspIvABuSQq2k6L-_xLSOowg5JRizPzw7enbaqvTvriFkyzB46A0Bcai6F5Fo6bwIG7hF4t9itn40K4PZUk4l_REZfyOqx7SevXF7QLPC9pInaOeeSH_9AjEbYLhgcXYZlsImkdv0Mw3blj_zwaev1CPLMmRnO6VxWuyvq6NCNWYx49QYHffxI2lNBkiUeRwuaPB-cdpZD__D8ZBifc2uzGcjr8ShFbrUVxvXSXRdoJlP4dWxmR603IJfigjl7hzFtuGbMOIQHY2GNjvuzEupECNunll4ElUGvjlRPXLno8FGKnzRQVfWG3w8lTd2SHPF4VKFAk9rjbS085bFzDZ_O3xnMpMqz95EB2A7_4o6xOmfgVETmlQw7yPQzpoZ3FM02jYf5lLGvzgW5Fx-Df6QW44y38BP-XRthIC1TjXhKVO1sR73HOUK8oGM_8B_ctFp5iiFi1OZG3yKweDQlsf7uegsKjibWF81pRiS06puPt9TF0iISmFzLF27x7-QuaWAGPFsOkqPqfz1ap4X26wR9Gail9QpsWH5jV5qSDzxmwJ0NJO6Taq5R20r_on8uO62dqft7U1qf07puAvSj_t3sNH8PWCw_RWcx2i9pGPmQ-WQTvXEUOeUHADWyiFAiRqIhiHYp-NMSqQUpjmjG31hU4hsj0IbY505EV_YOJ1w_FVnmCpO2n91LfAJKPR3U_rMeabyS58RdqCUT5wgN5Ye_0GWkvG_AZvzq_Jtr4kbhNZbj2LcgRQXwuNk4OoueIGnGbyO5K2is0Jnex02Y7W3yQH5oEitlTl_Y0UUsICXg4FVs48Cdjh17wHh6M4gWeM4JljBp3SHUTVqRI7n7CCWWJUiZ41ZkRKFNbcMUYNVaJBnq9E05fFi6tzjr5heHIf6M2Vpzceogi0cDklMafw7bng4laOMXNtG2ZhttVRwSqDdJf9G_tcdCH4RfybCPQ1EFGXkv_aAhoAa_QDJPhLS7yg01R52g933RXc4I6lvdkHkm5CJN63lqzkzu4EelhJqXzd1fpmalEwlrjUI1Sfu5pSiW21lvDv-27UzcZAhtFjeDJNa0hE-TAHsx99pdz89HC55Ch69DQeEeUhlv5Oxbb1DJZjRLEwWcT3Ec8pZxpB31uMVO6BGI-RQodb8Ddt-OlaXL1NBC1pQdm90QTIBSmy242vRyjnUTxlpJbkonCYU0tAgJohxFPPNyhYTVZynDaUGUDO3TO4XsUSnMJUzzW6OMKwZpFn9MkOXZO8zSCZX-lz6BD6fzVmReWfT3mJHotrH5-TnY-ZgHUd_31vXU_G8Wv56tHagyUZmK0HA1WRfwpWHsAdmIcXwV0y1_jg9pbnCqhjdLMgTPTbQlKYqRYPDqy4Sc9kqlkWftbeWq1nsfs1cZwpMKsoD4Obt-hma8_7sbChdYMPZ2vQWs1Q6843NzJ801fVOZ__q2WMckaYa86hfFQ4qtZ0Tuq91yQapNNaHih6WOnDDzesYPzppx4O1gpCIcJ7s3QnqxmHs79xdJTEqfbnKd02HR77I0aQYbMyr8Z6bGhg3AOwVnh5VH7yO-EraXVAWRU27yAoKflk4wSuLoooY8Qe5vP8fCBccX-YOljA4qJOeuMGVzXXcvejxCkbRj71P_BTyQLo6yHjP32sWAhX5-90lQNWxkapXiYiq_H9BU7uGO62jpMO63Tc_yYEBKwpLseELW5VVJaoCqnkZQAbviCMHkETfRgShpkTIV4cPCuA05Ttfv0XQXLbOoDVK-u3wpRXaAD6nt2GhcigE0MMOzfPC_UtQ1nuZQwU8fkWy2KkiOVIDrnyXBc5cnlnx0ef8PBiQprWBs3mstCM_HNF6s7o94exulxbZHsVNTsoa4FG4JGMmeBVgRyciw_FQ_B_LL06rjhUpZGQVP2CKTkhEfaVYhInFu2ie7CDJvE5IATWKkuimGzQKTSNN9Z6CUHPhY9ETCbACWejbng5M5NfAHcm98cmRivmr7EGlmKII63O4P4lNeWctd47eSUb304T9VhzmUWqsaxwrLca5ygZp08hR8OOslbcaWrDOiclW5TxRuxIpNM__W7l5-yabqKXihulLzxN0nW722B8pyUvSTMcamznouOZ-Wy0LFkSqTD6RwK5nM53aLfZOjs-vjwLtjsG-kQLP9GE6FbEIzP91WiBfFpadYejXTNto34hnoiV_XI_vS5krPKw8Zt4eS6TkKkTPjvS3_5Ueo5CfURF_JXTlxh68X5lPIer8FBJr3mMSd9UYIgKebay6wtqjfpCKZqpcF_qhM9j9hqQXTyt1n55GZeNjhWR9KEdNUkGN9H6qxPL3i7aS9dF-lfDsd--Vm0E3ZeTS97STXg2yX1odGjjPRIx8ACssgHLVC5wEkSOnohSNo8_HGD6BokcWIeNODXgrLtLUs_dW6DKJxJGFDOnkNZlJrfQAUFoxNh168buuWb1OXI8U5S75Gz0Y4RLE99aKMofb9B6zOkdTuAIacEfEL02kHSGGdMCoUlK1rSZL0wj3Ad-CxTXKFKPP9lEEw8kX6A_JEN-pKQ0PJwUny5TOdRPbtxcAdPlfRu9FeI8N4qOKrCv9ljnxKaWEVKkW8seAJ6BfC0TfQEBD3fhB1CeF9sNFRJ3LY5IWkBvJecxg_9u46tiByg3J0cgnRGRQJVKLuJtktdsCobpfb1-MI63_i8h13aAycMQf4HxC4UM0nnykxK8N1VjwHHaZ0O7Qqi_XfRoQKHx-TcRoBK1lxvBIjIKkFDvbzGxRbdNwFxyS3_ssibfZSiMOWZwGK0rk-5S0b5Aqyuhx9_QaLMZXrqRiyqlkymHeXHwqzUvoQCFiNndYmplkIQ==",
  "id": "rs_0a4c666cf4c1b196016ab44b43f07087d08d0346c64ccba1e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.185,\"right_z\":0.04,\"right_gripper\":1.0},\"note\":\"The empty 0.02 close shows the base was just ahead of the grasp point rather than inside the jaws. I will open and advance 3 cm at tabletop height so the nearer body section enters the fingertips.\"}",
  "call_id": "call_kCHVEKA8qyoON77HAw22hHRI",
  "id": "fc_0a4c666cf4c1b196016ab44b47e9dc87d0b197257e79fa6445",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kCHVEKA8qyoON77HAw22hHRI",
  "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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4957, 1.8069, 0.6907, 0.5198, 0.1799, 0.094, 0.9952]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4049 right_y=0.1871 right_z=0.0381 right_yaw=0.2666 right_pitch=-0.0155 right_roll=-0.0096 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -1.4291, 6.5846, 1.7705, -0.0415, -0.0757, -0.0122, -1.0188, -5.9145, 7.3504, 1.8926, 0.0855, 0.0806, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b71584e07f3cfb5bfff05de144cc7961f63758186ec00742f0dce8823821b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9283ede3d9c28ff913c044622ee988d2145d9be9ea78cc96f3b224971d5df33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96e709d3a5891470c80b0cd00d0392afe12e799e413cdb970fc3bf049572c55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 102 changed as sent

message 111 changed as sent

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6132, -0.379, -0.0227, -0.0292, 0.9983, 0.5251, 1.3949, 0.9737, -0.0299, 0.2279, 0.1295, 0.4075]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1821 left_yaw=-0.0015 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.399 right_y=0.1892 right_z=0.2211 right_yaw=0.2343 right_pitch=0.1303 right_roll=0.0355 right_gripper=0.4075\nstate[joint_eff]: [-0.1573, -1.2376, 6.7077, 1.7949, -0.0073, -0.0073, -0.0122, -0.0889, -5.2171, 10.1675, 1.8828, 0.1343, 0.0464, 0.1001]\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]: [-0.0231, 0.8024, 0.6132, -0.3786, -0.0231, -0.0292, 0.9983, 0.5323, 1.721, 0.5987, 0.5823, 0.2302, 0.1265, 0.0176]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3871 right_y=0.1854 right_z=0.054 right_yaw=0.2435 right_pitch=0.0455 right_roll=0.0062 right_gripper=0.0176\nstate[joint_eff]: [-0.2393, -1.6068, 6.7487, 1.8437, -0.0659, -0.0122, -0.0122, -0.4718, -7.3915, 6.0239, 1.2088, 0.0317, 0.0171, 0.8913]",
      "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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4957, 1.8069, 0.6907, 0.5198, 0.1799, 0.094, 0.9952]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4049 right_y=0.1871 right_z=0.0381 right_yaw=0.2666 right_pitch=-0.0155 right_roll=-0.0096 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -1.4291, 6.5846, 1.7705, -0.0415, -0.0757, -0.0122, -1.0188, -5.9145, 7.3504, 1.8926, 0.0855, 0.0806, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b71584e07f3cfb5bfff05de144cc7961f63758186ec00742f0dce8823821b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9283ede3d9c28ff913c044622ee988d2145d9be9ea78cc96f3b224971d5df33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96e709d3a5891470c80b0cd00d0392afe12e799e413cdb970fc3bf049572c55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtNQYwJUMo_Mo2MdYO7BGBvyMR7NkzbW2tNC0C2FfXiZVkLM9twha26hdX7t6GYCF_a4RklLX-sAlHYFL5N_YYIZ-RpXm040XIyDcN0PdODSI9utHnnkotUuSy_9YoGGsODrBUg03OSjHC68wvMkt5TeZ1Ha77A07guoLh_Jl6z-irB_SpmCaXZ6oDPywZCNQPE8HanEcLsJS6zOG2sSwUNI0SB4ke-jq9VUX3A2VI87tb6XTmSd2ivXjB4aahenBXMyG9DQepMJwYnu4hYFRjA26AOi05ehZuZ4WYOH5YHYDDSktBIhUcc6Z5UwBpRdhBDobPvEV2SWID_poo0HM9RF3FeXDJNDpKMo92qUtYvy0JsvA00cuinAECA4Nwza4X-G8EXQO2RwIIbu9xiTsxSOfdDvGmIzeAyzDnXWsbxKUpTiHc8PrMZhKtfOk5yp3nca8b8hL9dwHDmXl4rdcq1nvjcQHLS16HS1KgIDw8P8kMcIl-n9JnrSFZHiZvqFFlS2BiuO729iAxsg6eQcaIgqyKaEc3VbWibNpqSnrRPcCFcOC8F9bZPn-jeNwiNjIVKc88mgIZvALncr9CZXJckHT0VKyK7oSs6eYbQ-D6KA9lMFGmY02T5G3d9K_Sr9DPUhNkzKaKP-YuUBWF-T0lFbMlOTpf6FMsaV9DDmE2zlO5yQmLxW6imIskJbgQJIZcq92RIRc0sQ7st___12FDSt0OyCb-wG4Vj4xXQKEALmwijoUthzCAgsKVttE0De3dCXgkjLXgZ_c3txMxMrZ5EQrKUXVvJsocQ6E0CiHz8BLDuzjyjbxZYJgGHsRXSgATjy3Ff8pHlG9KehYaxAX5ZgsZFSjGOJmA62GQUnTvFT6n31wig97PPgG39o-fTUorBdTHg6F7jP1NZS6HfEQVxE99uvS93PecIfl22Qxrvb9S9BitWbPA_nKjfs6CzY8i7Xu3ChDxUM5jVO9EziFt9l9Uxdxr-5eoYuTqzzKiS6puh-4jBLkH8rmLFNesODEVS0bu_OgH03oJhyQ50lVlPiRxOaVlh12Hb9JdiIQY7ZbjGP8iU0Nr6inZc_k3GEln4aqZ5d0GXXKAJzrrU8bzZTcAnsu1QRvA53tEYKgtF3-MBgwyoEF53AbCPtQr-UdhTdb7VxnK3T-y5n405sji0pEKOTMDTLfihIifJdRyS6ntjm8lPk9VamWpofa1b9J7CshPums5FhUB4vGdI4r5UfDENGAJxC2jDbzmkb1o_RSo=",
  "id": "rs_0a4c666cf4c1b196016ab44b4b68c087d09700f66e90994b86",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right wrist image now shows the bottle's lower body squarely between both fingertips, unlike the previous empty close. I will clamp it firmly for relocation.\"}",
  "call_id": "call_HuJAjX8hvH0fMi7c2qbAGzGO",
  "id": "fc_0a4c666cf4c1b196016ab44b4c26b887d09d5c6ce2d82441d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HuJAjX8hvH0fMi7c2qbAGzGO",
  "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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4965, 1.8069, 0.6872, 0.6178, 0.1707, 0.0841, 0.0167]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4142 right_y=0.1944 right_z=0.0571 right_yaw=0.2798 right_pitch=0.0758 right_roll=0.0075 right_gripper=0.0167\nstate[joint_eff]: [-0.212, -1.5795, 6.5573, 1.8193, -0.0464, -0.0171, -0.0122, -0.0205, -7.6513, 4.6017, 1.1404, 0.1099, 0.105, 0.8083]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e7fb44eb099fafa914c1048614cd29e74d8fcf1f069c3d9fe99594b6d2ffa1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ad7ad91497e60006fc378545938cd41e21304004928f858af2a6c196878c80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:309de10202589738e72890133a45b1412d304f227123bef700dd9146a0d028f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

message 115 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.5327, 1.7252, 0.5983, 0.5545, 0.2314, 0.1291, 0.4089]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3837 right_y=0.1833 right_z=0.0464 right_yaw=0.2417 right_pitch=0.0145 right_roll=-0.0013 right_gripper=0.4089\nstate[joint_eff]: [-0.1299, -1.6068, 6.5573, 1.8046, -0.0024, -0.0366, -0.0122, -0.4718, -4.7658, 3.5761, 1.0134, -0.0073, 0.022, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4957, 1.8069, 0.6907, 0.5198, 0.1799, 0.094, 0.9952]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4049 right_y=0.1871 right_z=0.0381 right_yaw=0.2666 right_pitch=-0.0155 right_roll=-0.0096 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -1.4291, 6.5846, 1.7705, -0.0415, -0.0757, -0.0122, -1.0188, -5.9145, 7.3504, 1.8926, 0.0855, 0.0806, -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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4965, 1.8069, 0.6872, 0.6178, 0.1707, 0.0841, 0.0167]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4142 right_y=0.1944 right_z=0.0571 right_yaw=0.2798 right_pitch=0.0758 right_roll=0.0075 right_gripper=0.0167\nstate[joint_eff]: [-0.212, -1.5795, 6.5573, 1.8193, -0.0464, -0.0171, -0.0122, -0.0205, -7.6513, 4.6017, 1.1404, 0.1099, 0.105, 0.8083]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e7fb44eb099fafa914c1048614cd29e74d8fcf1f069c3d9fe99594b6d2ffa1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ad7ad91497e60006fc378545938cd41e21304004928f858af2a6c196878c80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:309de10202589738e72890133a45b1412d304f227123bef700dd9146a0d028f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtSAkNo42-JwH8SZsnWNhk0sc_jK2fDwW6Tz0vYSVOnZO_EZSuEKz2eFalojPicjal73dppHs5lsXj7dkdmUoLGluhoUP4_kn-b2eOpjUjXORu74cej-HQ3jzqeB6EnWfiutZnh5tkmEBkKf5nwL_jkjZxZlJg4NGdjbITO1pExsVxspuI-8sBKpcmgqNwfV_FJ-GYd2GY6kdeJsabBvkcnHugl6XfayrJB7dxSAM3OREtJvQiUnPk_X5wipQr76So4D6A8aCT9h862bLG8jiei9_sf8ay6_5dx7yjedN6RCavOxmLeQSP0dcD_IN2LHtouad24tvz6u3NMvq-pT0S6EHQejysCfvx6aCV04GxRLfCtCJjHsu7dxt1cOzRLe0tmb1BqoclkCk7jVhsDQDg9sRGDMvMSbKBQKV77WnQz5m8foxtF3XVhZO5cn0KMl0XhjPKcD4oOGUZVw-0BOGfFUmjVRc5ap5FNktcU0Zk7AmJuBaJkurDGkKwLu2OYnCefmD1zdxZgvc-_LIBcDb6mx8vH27fwUCKKUMNsTFv82_SFtqIEa0jjJsszgY-7T9nkpXQOr2QDB329DeCFZWteMEBVY3d7OB3hdjvsm1c3pVC8iMeNuikGxwqD9cKG8P_WuoBrO_y7ArhjbVzRo4ThB0ta4LLTqpGdyScyu-Hg9Y5cFOkQRIs7FqeEwKyDYTGB0TO0POhyFiXH1XjTsLNf2amLUubRUtUimmmhPHro4P3d1-bhsYq2t3ocVucf8fiVd59YH2HdHMJRFSnaEknTwNv8vpHBQVrfV861dWLcKZdGe3PSRIoztAPMO5wE3DdibJGMz4GXz6qJzoHKA6lctMpZStg01JLTL5mepADuMkWE5aofQPNJ80IWgNlivoaYJREbY02pyO6D-3vNewcMWBCmeB2JfXfsabEsX9PTWAmKHBMg5gR_MNrSUtH5WSoPTwoZO0Fdqu1ftttHVtkoSPBxRIz8BjLByQmu43zc4kyXvk6hD2_2JFk4Bg_NkQ8iy7xQlVRRUG8y0-bzjxP6Qfhs0P1cmRiI_5RJh9Bucwhn1eK6dxSGs_Z8t-yRcZAkL-ceVllm3lkePdenrDNoxE_DoqMwG0mtw8btnoJQkJ-f9-x2EQ4K_0f2MuCzOooT4qYscnZdoidNKRaVd5KMUXT5aNHYTguczw6rzZfL7xm2jcZ7V7a3idw49bzy0UikmMI_SlGk5WxYwBcjGBN9FFhCa6USYnmnzP8mZqCuhCP2njFXY_vSzT2SplHOZc1a2Os9lP5IxKkaNO69jfGv3LaVDy4Ty0mij6tAIk48tp0x6iHHdRqejGQYYHgGzY7_HnyMOSB_ZKn42LPcvw5oVGTtcTCfWg-99Z-UVQ0rK-SML6YzuTagfojkr21prs2K03JynCJl7XQ53NXJ9b5NkLSuGaPtWaHJITwxVvHf6qeSnSj17zTjVS1XrCAJIuRvhAsBjH-DzbSynfe5oVSbfFLY_8Fyta584ftSyb7xn19qHauT_R2zChoeBAM8xCyTKDuqVkInfJfCNzyyNMwLKF-zzh1CqkkUcAezt7V_m65vf79BbRZBiM_5PXY4xLzxXkRIs17CY1tVRPLUia-uPMl80H5Fni_pF4zkykGuDBDD3Tz8iP7-NEfDxWGAK_fJOpw8br5s1KJ3l7cslNb7fl7K9T_5PLG7de9nrS1mkaroqnX8U_D1ZJmtP4811sANkLm2VWH74uuGucQndnpBECZTDCeGCniFDOkpUuR94-3MPAD45PfbTBs4kLHt-0BEeU-7gpvaW9TLHvWKKcgURw==",
  "id": "rs_0a4c666cf4c1b196016ab44b4fad2487d08f66aa5a3dfc1a2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.0,\"right_gripper\":1.0},\"note\":\"The second empty close shows the lateral alignment is correct but the grasp point is still too high for this thin, lying body section. I will reopen and descend to table contact so the fingers engage below the bottle's widest part.\"}",
  "call_id": "call_KQ6G6QrAuyzPfEIym1jtnh7g",
  "id": "fc_0a4c666cf4c1b196016ab44b51472c87d0ac88574144011bcc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KQ6G6QrAuyzPfEIym1jtnh7g",
  "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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0227, -0.0292, 0.9983, 0.498, 1.9327, 0.7162, 0.7643, 0.1711, 0.0692, 0.9952]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0011 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4296 right_y=0.2034 right_z=0.0434 right_yaw=0.288 right_pitch=0.1246 right_roll=0.0045 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.6205, 6.7624, 1.7656, -0.0415, -0.0415, -0.0122, -0.6496, -4.2325, 3.1385, 0.9841, -0.0806, 0.2027, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da4ec4f310fba356c5912f00a0eaa76c81e4b8249387f225a509950f309f153a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:663362b4d0f98ccd43d554575ada1a035534e25d4b06007e8c784cab52d2cd69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:185372ebe448f8d0a353f2efa9bd5948fc24892fb9d0462341c13667be8894ba",
      "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]: [-0.0231, 0.8024, 0.6132, -0.3786, -0.0231, -0.0292, 0.9983, 0.5323, 1.721, 0.5987, 0.5823, 0.2302, 0.1265, 0.0176]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1822 left_yaw=-0.0012 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3871 right_y=0.1854 right_z=0.054 right_yaw=0.2435 right_pitch=0.0455 right_roll=0.0062 right_gripper=0.0176\nstate[joint_eff]: [-0.2393, -1.6068, 6.7487, 1.8437, -0.0659, -0.0122, -0.0122, -0.4718, -7.3915, 6.0239, 1.2088, 0.0317, 0.0171, 0.8913]",
      "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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4965, 1.8069, 0.6872, 0.6178, 0.1707, 0.0841, 0.0167]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4142 right_y=0.1944 right_z=0.0571 right_yaw=0.2798 right_pitch=0.0758 right_roll=0.0075 right_gripper=0.0167\nstate[joint_eff]: [-0.212, -1.5795, 6.5573, 1.8193, -0.0464, -0.0171, -0.0122, -0.0205, -7.6513, 4.6017, 1.1404, 0.1099, 0.105, 0.8083]\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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0227, -0.0292, 0.9983, 0.498, 1.9327, 0.7162, 0.7643, 0.1711, 0.0692, 0.9952]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0011 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4296 right_y=0.2034 right_z=0.0434 right_yaw=0.288 right_pitch=0.1246 right_roll=0.0045 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.6205, 6.7624, 1.7656, -0.0415, -0.0415, -0.0122, -0.6496, -4.2325, 3.1385, 0.9841, -0.0806, 0.2027, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da4ec4f310fba356c5912f00a0eaa76c81e4b8249387f225a509950f309f153a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:663362b4d0f98ccd43d554575ada1a035534e25d4b06007e8c784cab52d2cd69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:185372ebe448f8d0a353f2efa9bd5948fc24892fb9d0462341c13667be8894ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtWV_zWpAqAg9tt4rWoSf9ZivKx892gryguGucaoOmpiO3BlH3VALfE2GmJ4XJSZBUWIQhlLaH_C6mPhjWkal3Enh_BmPnKpk3JSJ6msYQUouZvVNFunqj9h_aEphQ5g_u1jww7V2o3MFlzMqqnUWMUfFpwnla_BqhUyxKGCOLNffe1a6WsJg6rLd_gWbMyK3CRGUjQydhjbHs19H2DGOvELeSP2h-jLFdcV54NKi02reF7DBgZwjjyb0w4dJpdpp7mZyktL1mxy_us4jzbng3q6suRnKFC_cck-64qoWRCq_DiqGrpRIMGSfhn9-tCkjjBobOYU0Myaz_h5gQDBCEeaRPr3AYVp80e9dpSxmaSPLbzpmt4i8tSOBPnYAMmYw1YfApNI7sN1CW5SEmLZQW9nKQqD46TTacX7xdQ6w4i9tAY27JXNuHaFL4VsMraPK7j2mBUPguT_VMkLQSXO3oJRt9Ad09V9Efcuc4CtGLpdTkWlEbhVeC8lBAQ9p_BtyRTntuGjaRHMeh-Somkgw0ytpiCKAYflyqPwYUMbklwqjQTvwWaeiio42ALOji83M1APcMiVmrssoG7hm-V5Pt54ppRnGCob5H-1PnHKQ_W5nuTOmstjWOaJIGYke_s14yMoo_o4LjKQ0ri0VRL4isdi3RwllLtyIoFxvrq7TLMg6j64r47yD35YVjVenk112Y1BgwoftlfeXnXyJwsmiLL6YiBobtNg5QS-fOEdXCd8RV_mbqIgZUwQCoOIn0ooA85MgXxXBg7Bcarj-KS9RK7JwCJ7JZbo7VESGNVxKS0bvwd_fVdZi4dUSUH6ClTCN3edmdvWpC5hvAaSiWP-oieIdzeNJzVQ0FtKUW9vt_v3GY4zSOHHwplCI0Gi8RT1gwIiTh96wv8lwfUauThlFpd201w6oVPcFFZyzJUEi3e4Opgt9yk6XGLLIDyPIoKWOsOMw2zE51-055dnwrOyVsxw4qkHaU8NrCdaZiMUELhcvEWuEzfpTaHBxMjrTqSA5c1pzNVGTxqHL2AIlYuEj_CU3JX4U664a7cCegAs4oA1Y09ZbNy94RMNG83hUFT6-UHT3LuUHmSME_3LIncsnqYgnOYUFPO9OkhCMoIdgdJgoQJgCAtZFESTK-ZlJ3GR53QxolfQaMRA6FH9LLM_kAuSYGAnXF3AcQDfSNQa0ypj_-rUgDCxZ_uiNQ3-zZt2X4kPkedhoMde7tYP9dnoyFz3nGvb8oyR4QBsTg_0b2yrpRQIHenUWW1hDGPYsKZgZgOD9nAcL9NS1iKT_17PJG3SC_L11THCGb0fOoCCF1qNiE=",
  "id": "rs_0a4c666cf4c1b196016ab44b54865887d0b1f17b9bb90ee138",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the lower pose the bottle body now fills the gap all the way to the fingertip line, so it is finally seated between the jaws. I will close once more from this table-contact height.\"}",
  "call_id": "call_WvHHvLWbx4GqZnuyXFB8pD0M",
  "id": "fc_0a4c666cf4c1b196016ab44b54e09487d0a2eef21ce4d99a93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WvHHvLWbx4GqZnuyXFB8pD0M",
  "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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4961, 1.874, 0.8001, 0.5632, 0.1524, 0.0742, 0.0172]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.435 right_y=0.209 right_z=0.0578 right_yaw=0.3003 right_pitch=0.0656 right_roll=0.0057 right_gripper=0.0172\nstate[joint_eff]: [0.0068, -1.6205, 6.7897, 1.8388, -0.0366, -0.0611, -0.0122, -0.6359, -8.4718, 5.8188, 1.1893, 0.0952, 0.0806, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf1093a0ec3fa788237e082b010dace352c02793e4dc7b5775e92453c4df266c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1d0397b65e14a4ace89ba650bafca701304f2f28c5a0334516339051a3eeb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ebee3f1ac88745def7ad3d5e2c1f5528d1891f54d4bf674df746b3635e965a2",
      "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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4957, 1.8069, 0.6907, 0.5198, 0.1799, 0.094, 0.9952]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4049 right_y=0.1871 right_z=0.0381 right_yaw=0.2666 right_pitch=-0.0155 right_roll=-0.0096 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -1.4291, 6.5846, 1.7705, -0.0415, -0.0757, -0.0122, -1.0188, -5.9145, 7.3504, 1.8926, 0.0855, 0.0806, -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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0227, -0.0292, 0.9983, 0.498, 1.9327, 0.7162, 0.7643, 0.1711, 0.0692, 0.9952]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0011 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4296 right_y=0.2034 right_z=0.0434 right_yaw=0.288 right_pitch=0.1246 right_roll=0.0045 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.6205, 6.7624, 1.7656, -0.0415, -0.0415, -0.0122, -0.6496, -4.2325, 3.1385, 0.9841, -0.0806, 0.2027, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4961, 1.874, 0.8001, 0.5632, 0.1524, 0.0742, 0.0172]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.435 right_y=0.209 right_z=0.0578 right_yaw=0.3003 right_pitch=0.0656 right_roll=0.0057 right_gripper=0.0172\nstate[joint_eff]: [0.0068, -1.6205, 6.7897, 1.8388, -0.0366, -0.0611, -0.0122, -0.6359, -8.4718, 5.8188, 1.1893, 0.0952, 0.0806, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf1093a0ec3fa788237e082b010dace352c02793e4dc7b5775e92453c4df266c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1d0397b65e14a4ace89ba650bafca701304f2f28c5a0334516339051a3eeb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ebee3f1ac88745def7ad3d5e2c1f5528d1891f54d4bf674df746b3635e965a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtdQxFyRtVR07B5_o69vxFNf5kJRDYDvCecgsqWhSc2MoomZIkd6Xb-RzOmtTSIqsUmL1U_SJu8JKgwCOsD3mr6wcK2Bsxer8hGCP7KdiBUn5kJaAamuJmTWFjaqQo427apzAoKt8UU0upieRNyCKJQzBU9Xpq-0fn7RJ7LJcicEydPRi5iNk7jq3hwDXE_acrUZfG5JqqUSloPZrCXGC8zzpGLO3PhG4AZZ-hwpLZZx5FhsjpVuqgpAnMz5SctcPFZjNulS0Zkfe_BN-vJNnkw8Hnc7qW_XX8u7uPSlfeoopAH_LL3oRMk_EXs8CvvZZ9WOLkaqVwqu9ymMv7NLCQFkrLP_OJMYD_xJDe2xils8r_Dyf8gwmH3swWAzKz-sWBiLcXCBemGTP3cdbfo4SkkKQ1NF8x-abHj5wqnhBNa7WfI0GkQNpfDD9irDW0R5G4CbOuKCk8cJU2byT5OZ-Sg8MFjn-MxBtX3hKkBLixyTrEbd5MCw4gsbIBrDZ7mqZLuRs2-9TGNNf5m0I0MBuOQ31Iug7xBjRCRWb2R1rMUaY_4NlmETcWWnsQg39iMcbkx_vThr6Z7NrlbgZJTtaN_iK9u5aXVnnUn3CIZUUE4sCFQu3ZZTZeCoDZhlcNYBoSuNLqPSiIFA_AyQfMCy9gG9OqokqsoCJCGMjthD8xDUr_y_ZwN6o2V4BDWtUPdP5itL_V7z4zXG_ILte5Sq0zuGv-XZ9c1drrSykIbVYvN9ysHBiH68IZgB9YiSeKPITK2wTo0zqszJUHAom0rsVqbGEQM_e_otxs5lpVenxNUkJGOQhAv0BUiA9DGXoxBWTuU8RRG088xJXgdCCd9azT95ibIUBnPNSH7ZDHfMMPSRG6_lJSEmFmdfjck_fcEgNA6i-bN0NbWfYGN1n5VOBkYEuHmMUFfNn4pOKPM8PW_IJodK_y58vXWU1v_nJ3_AuZEf4XpC0nrm-DhhWjIRQPjUJEeKd2OlTId0L_gdZaP5ciTC3oWsb5N7iOSvuU4C5E_kegGR3FV0VeEO_pBgbcJHgwsZ4B8l3IuvLLORdx7CNZ-JAQeBEJItSu-ecFV8e9Ith0Azh6CJvOkYCyr2pLYSpJ_xVs5hXHXpWwwlM1QnUqeb0ls8xyc_DG2rqQfpkQ2-RcZDEX5OMmjnhThhuu2ScyHv9ni4G-rbU5DVXpZBOiJn9eMF8eHOlzHrmlJvaJfPXoEwTU6Acp19yEVtVeLvTznndWEq7bKwASfSPkH4aFYIMlyw9HUqpEJnu6VSgN9THuOPi1ILjuRQy5yGRYvdNaO1n0uB-hY6TZOXebVU-kRQsN9FyfO7JHF2ToEV2q4lRItaSD-avIBWXOxK54k1M0SG6hsOQpj41sOTEGKIDS0pnbeotHlAClLrHW5OSYbcrbd0U2jdO-0XXZHzIsxtMdmamjUeK9toDuse5LoeepT2SsNjQjjwybBzkcDBFDDO6bAdQfiz1oq9iIaTIFizTShZn2f6H31DRx4bLzX-tAq3tdI8U8jIgZ3MLG8FL6l0NlfRhAdlSOFZtevyrYuEA8rUOuqVwoXFTjkB9l0E10iQ0HHR7NZb2QLnev0fGHyALAg1R81uNMKCfqu9Dmya3u23PzRHd9mJurXIceL9wD4SEamdG3X4gBgS5SMoXlFdJv5X06QDkpx02QOTRANc544Bc93FdfnBtERHuc34fYQphRUSdvyi8HL6rFfnIIjYB-adilyPYte5OXkfNG5HOs6QI6i9O9uEgKfxY3uMioh9K1XN6i_axvOtLEDjEaWRQrWMZ-QcmGxflKc7ueQY91sR1EEUSnInFJfZouB85yWKCiNeZ2lfepf9LyxK-XlY4D_Hn8oNPC_1huHSMoIFuzEoXFjpKKazW_L9FNsIfo-ukQNodr9tKzEg2Nj-fP25YH1hmLcNmgHKDLvSl8TfzPpat_KlqfrP-T8fCiZNciPIfh65JF9SlXUAraXwXNeR6QN9hOnUqSrLzinM5eI9XjHpCgEEiez-WDQn6jP5SRjtYO5pi6uj8-AJd9jJLdjEecdAWQ5R4DIxv8aky3e9LkS8FDkyHCkZZe1AzdKnlXMWUh3pcfz1ZCl_S93vgCV4Wgb5qoYmhioGhugCICWVicZ7ZqEqZhAtOHr-zpmjcnAr_bgH1dupRqFFDgNxUTcKUFK3cO5JczN-jsYCL6yTnHxLRmoWeAZZZCUnTcR7NN_SR-CEASwuJ4WJwt9psspK3EurUsxoVKkxc29HtA5Nfw6ElNuCxjwUQrsm9S5-IzU0P7jkvm1Xla1bAkJtVfW0gxjINTZzvzQOhT6GOhj_VPq8gHron6TM_8RoQ3BLkMkv95K_AUD4Yn6qVfTRiVROLiuGxar6FbBolYFcISIOqcYM-gpiF3w3KeFOYij84fz-p4SoAIMS015QtdUke1MMbxhrQgQ5dzcIMXNuRI3j8CW8MMbxfeg84zWiwaVfJvrCWb0nP78GYUH9yAqomnYyR65alRJwkoEN5RSQzMYdiEVwJ-0MVBdQnvA8w2NbWROu2S9RajqfP2HlQkB408L5udpgEJrOB6z2Z7ex_LGF1PEQ0SJP1NBKa6inXtES2LDlvt6wLLVtx0Q787_fIZjKxu3egBDp7bWv4Noqi7KYRAulAS1B6KAeY-Fkk5HQ6noZuEuvFvbmzzJxtldM-oiyHJFmk1xngmrrfubtVZrGPWSGqaKkKfDcRHMN91xh0F7_RxVCDz2lSOWMUgbuE8dQpxivNNgXS8dPY-HTTyO524UpJ5kE_uVGFM_1r1xrjI5FBim_BjqlFp0mE70FaSMQvLh1u2chIFLWsda479thfMWGF-wYP5_eEuFoYcq2oyom-ujnWNfOtWnXJjBafj5ADyASzu3WQKmUXw3TRJ2SUYNN5SFWd13Eno0Wa5F8Zk=",
  "id": "rs_0a4c666cf4c1b196016ab44b5885c087d0a2009ba9d662d120",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.02,\"right_gripper\":1.0},\"note\":\"The jaws again closed empty beneath/above the apparent body because the readback rose to 5.8 cm during closing; the grasp point is still above the bottle center despite visual overlap. I will reopen and command the allowed 2 cm table press to force the fingertip center down to the bottle's mid-height.\"}",
  "call_id": "call_t7scZec3eRKgaQVDEgjB9BXe",
  "id": "fc_0a4c666cf4c1b196016ab44b5b94e487d0bbae09a3ca4a92d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t7scZec3eRKgaQVDEgjB9BXe",
  "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]: [-0.0231, 0.8024, 0.6132, -0.3782, -0.0231, -0.0292, 0.9983, 0.4976, 2.048, 0.8215, 0.8486, 0.1528, 0.0425, 0.9954]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1823 left_yaw=-0.0012 left_pitch=-0.005 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4576 right_y=0.222 right_z=0.0461 right_yaw=0.3155 right_pitch=0.1966 right_roll=0.0017 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.4974, 6.6393, 1.8193, -0.0464, -0.0659, -0.0122, -0.1846, -3.9179, 3.5897, 0.3004, -0.0415, 0.3297, -0.2759]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ff058773f62701bd55952075ed22c8138b38f7cd5b76e94fbc95af41d7bcf68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b317afe401268174253a985821c9167975e162f1228573b0fde08577efaa2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e484bc670939bbcfb93c8d2d4da53f98a2d76cb45e616f734401bb37e8af08cf",
      "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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4965, 1.8069, 0.6872, 0.6178, 0.1707, 0.0841, 0.0167]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4142 right_y=0.1944 right_z=0.0571 right_yaw=0.2798 right_pitch=0.0758 right_roll=0.0075 right_gripper=0.0167\nstate[joint_eff]: [-0.212, -1.5795, 6.5573, 1.8193, -0.0464, -0.0171, -0.0122, -0.0205, -7.6513, 4.6017, 1.1404, 0.1099, 0.105, 0.8083]\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]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4961, 1.874, 0.8001, 0.5632, 0.1524, 0.0742, 0.0172]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.435 right_y=0.209 right_z=0.0578 right_yaw=0.3003 right_pitch=0.0656 right_roll=0.0057 right_gripper=0.0172\nstate[joint_eff]: [0.0068, -1.6205, 6.7897, 1.8388, -0.0366, -0.0611, -0.0122, -0.6359, -8.4718, 5.8188, 1.1893, 0.0952, 0.0806, 0.7009]\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]: [-0.0231, 0.8024, 0.6132, -0.3782, -0.0231, -0.0292, 0.9983, 0.4976, 2.048, 0.8215, 0.8486, 0.1528, 0.0425, 0.9954]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1823 left_yaw=-0.0012 left_pitch=-0.005 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4576 right_y=0.222 right_z=0.0461 right_yaw=0.3155 right_pitch=0.1966 right_roll=0.0017 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.4974, 6.6393, 1.8193, -0.0464, -0.0659, -0.0122, -0.1846, -3.9179, 3.5897, 0.3004, -0.0415, 0.3297, -0.2759]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ff058773f62701bd55952075ed22c8138b38f7cd5b76e94fbc95af41d7bcf68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b317afe401268174253a985821c9167975e162f1228573b0fde08577efaa2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e484bc670939bbcfb93c8d2d4da53f98a2d76cb45e616f734401bb37e8af08cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtifkj-Kyp57As1sh6ysBoC0VBAI7cmtogV-qYY1nOlRXPjf3vGmhzBohLi1UgryMxeZ4z8E8EFBSTm9zrhnAPBMO53MagX5DfO2UjySmqrJpX9_EK6hi2gJyn-UKx1O6canp1VF5i_fjP5-WY0m1aO24CRHoAaWS7THxLjghas_p-l0KU7x4g9V38gyr3GP3Pv4tlCG-DTfdhO9NqMpQOzvBaH5Yic08tBY5T_5O4IdVGUFtELhZWqGa5UMe7uSY1EeYXykGxJfgUDWoLaPwrm2F2usKKRX_m501fzk8OqAEgK03fm0BQpjuw8kMGm_Asfe65IahVibWD45MXnG-tXYyfi8Q4SB57GOBSXet_HMywMq4A2h2BZOIwFrcUuoKtDYGPmYeJmWSFkTLjtJadCN3E3zqqp9nHrDg9A47ERbry9jDKiH0Xsnn90ExAsbps6lIgWAuomaWaS36mmtX_XXbKEjyYnRDmhIhWosA7EeqlbizfdsC-04MPJdwxWF2eHwenQp3-bttcQ1EI2DpcuYSqIXIy4JZ0MbpSQoFnsfyWW10QlQB3mUQ8JHocl5yb14iT0_LJbclYt2XZdcAbWIssRSDt-gI7uZhb76zGDqiVe3B4jLZ72XK61lKPan9mIlhGbLVwsf9IUMVS7agooYcwz6hsScDkGKf6OsImXchdrp_VhBI2v7zwuZkmwBZAspOxb3ztzjJ9dTWs-Kd35uTZrIavOMha0vgmEzroI7E8EOjj2_FRj4OoaIue2omehNg6N_fbiaaj8SjDUtYr64aNQHru0HLh61p8SCzMc4I-Io4x40IMtVCOvQB3R5-C7F8QmnCoxcbLj9sOO-A63Mu3YomwZewDTD5B-Zvlma8_UynnHbaHOSTM62vX7DJc1j32EVtddb633-SMpYzf0b4b8JJ8uj6NQ6Uq02zzv3rkSU73CmSfkVKRY5hEQ0fh0Y5720W1mv23X3XGb44TEQq-z5NlLBfzPPUfx6uCg17epINltOA2V9EpLEgd6nEgYLZVtk4oM5I3E7r2K-zL0VqNaAq_YwrJWxpLdJjn_o0HTuRLL5w2Kr8h87ZERVhduLcTwwvtdQ_CDXx76QSqEqalvQgeJs3Cb9lPxIAVcTLu8EGU846-ePQo2AlRB5NMyb_3UsCpm10tLKOArtaBifbP6yLe0QbjLP_CDzh-sQ3ow1dImhjWwZ6-klpQjqNYMAFFneVlkmIKTJIVMccdkJS2kysRXF-eQl5p16xubglPBi5xq0YRkIw22eSf30I9eWD3BsmM4HJuJqbeZNP-qXj8LLksgBUAXC7tuWOZWRasgpQh9_tLYg3DWYixnoDpglarnfE-2hdshdNKFbHwJR7AffB_R25wmACvKUcyJdIRxPCU_H_5DuOen8B7Qn4WuLGaDiWGiTcFPhtCSlrcOt3Vro2cWDaS-0zW6HfFusrZmR50o0pC0ddpZJXvLsGWt-ma-ET4UYqRqIvzo2N9G8JbCVZLPJSTq1SjO9_us6mucoAss4a2Z4Xf-FgU04fOwpjeoT69Xm3jOUFCluHFVLQi3cQdedD2hl9V7cAK6kcI=",
  "id": "rs_0a4c666cf4c1b196016ab44b607e9087d0b7fddc8fbebc08bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"With the table-press command, the body is now visibly deeper between the fingertips and centered on the closing axis. I will close at this lowest reachable contact pose.\"}",
  "call_id": "call_M4niQGTbcmi0LCCG6tpnzXKn",
  "id": "fc_0a4c666cf4c1b196016ab44b61394087d09e8dcc5448cb1c4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M4niQGTbcmi0LCCG6tpnzXKn",
  "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]: [-0.0231, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4961, 1.9602, 0.9459, 0.4957, 0.1257, 0.054, 0.0162]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1821 left_yaw=-0.0012 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4607 right_y=0.2283 right_z=0.0585 right_yaw=0.3338 right_pitch=0.0557 right_roll=-0.0005 right_gripper=0.0162\nstate[joint_eff]: [-0.2256, -1.5521, 6.8034, 1.8291, -0.0659, -0.0171, -0.0122, -0.7316, -9.3333, 6.2154, 1.2088, 0.105, 0.1197, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ded05828d8ee98cc356ee23b0de62ac48a929ae46572ed6c1985c7c964d7594b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7de5b675a26966bc29f438abdc18546e4544476e545f784165becce83b4e164",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4036303a63d2d0c623006454d8da1687dbd75935cfcb03ca3e73a409f1ab89d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0227, -0.0292, 0.9983, 0.498, 1.9327, 0.7162, 0.7643, 0.1711, 0.0692, 0.9952]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0011 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4296 right_y=0.2034 right_z=0.0434 right_yaw=0.288 right_pitch=0.1246 right_roll=0.0045 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.6205, 6.7624, 1.7656, -0.0415, -0.0415, -0.0122, -0.6496, -4.2325, 3.1385, 0.9841, -0.0806, 0.2027, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0231, 0.8024, 0.6132, -0.3782, -0.0231, -0.0292, 0.9983, 0.4976, 2.048, 0.8215, 0.8486, 0.1528, 0.0425, 0.9954]\nstate[eef_state]: left_x=0.2967 left_y=0.0008 left_z=0.1823 left_yaw=-0.0012 left_pitch=-0.005 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4576 right_y=0.222 right_z=0.0461 right_yaw=0.3155 right_pitch=0.1966 right_roll=0.0017 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.4974, 6.6393, 1.8193, -0.0464, -0.0659, -0.0122, -0.1846, -3.9179, 3.5897, 0.3004, -0.0415, 0.3297, -0.2759]\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]: [-0.0231, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4961, 1.9602, 0.9459, 0.4957, 0.1257, 0.054, 0.0162]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1821 left_yaw=-0.0012 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4607 right_y=0.2283 right_z=0.0585 right_yaw=0.3338 right_pitch=0.0557 right_roll=-0.0005 right_gripper=0.0162\nstate[joint_eff]: [-0.2256, -1.5521, 6.8034, 1.8291, -0.0659, -0.0171, -0.0122, -0.7316, -9.3333, 6.2154, 1.2088, 0.105, 0.1197, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ded05828d8ee98cc356ee23b0de62ac48a929ae46572ed6c1985c7c964d7594b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7de5b675a26966bc29f438abdc18546e4544476e545f784165becce83b4e164",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4036303a63d2d0c623006454d8da1687dbd75935cfcb03ca3e73a409f1ab89d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtmDvxvzOowTZgNfx1y48L8GUj35tDAETQe_ke0kn2ye-n4a3S-xhVrD5zqYiW6Z0aJE6jDYTlQ6kzQFhqfdIF15GliYnbdYs0eml-7H7tD0JfKU6E_DBxAl1p5s9zPtS9_OxVE3tWKq0v4jpp-xN8q5X1ZxSMTxyiRKUdH1FT1BjjO5l1gEpTjr1Fgpf7r25jLRjSxUC2LQRbUxtTGOYc-DVzBYyFlS84dffaiRhNwd9Lr_nvYZ4EaxoMr_zkqeywjZFPdNk6FESvkTVuQi5xB2taokNaujk23aXzCU6-nBbgG9Z44VZ5CaS64oSopR5KhxjLz0g_Gt8nB9UZK34KEb8CjbyJ9tySSU8i7iU66E8mxEQI-kLX8HdjHucMcuNtBzlVuMtVmZaH2srGinRoQsDroiLjmQi7dpiOtjtZzboAcalOeg9s2BxYGHB26CTkEGWAQi6v9oVDp6n0_MEdtpgtfc61IAidjBxWd-CM8D-x6_9rc3aEV7d3hhvkvYWDtsZ3fMErfKHZv5aBQA__dqPX9cHxD3tWJ-b_95Lvb67S1RihOlLwIHzX7n4hhDVheZe0kXqRbIXNvvMkfdvycJZ40B6fi0J5Nv5YdSXoIQaA_UK1hWEer2QRrfVfc5xK9yaaLE8V3l2seEqZbKnQshUki7n0KBZ2jMEJFJxDLRt1_NoIrotucJa51sFT9jjuY5bRO_crSOMF-5JB_KVjo9IKWeUGIVAVCV5rRiD_11tXp2pPQ-29I2ntXFMF5RSI6oIxSLAGOXWbMopl8WcyJj1rbah1jPLVZHfHBcghwh9HGGzhnFkftdXprvXbw0VSXHVgS0Rr1c8FfqdGTISt13hPkcMZtR6-uyPfTwHmkHqaMyiTnPIUqW4LOY2chg1e4MhBgyy3wetZfzw3RVYWd9KZGfPAVjC40QvptUX14Neh7ZRCVnwb4tCfSKNRrDjwGv6e9m39rRAuruSbEoDytFDORvtHviM7PsSGGlOnM6UO14xJkMkV7zqLDM1HVrnqCSX3QHWkVV6JCi6rK7C6SWokA6yoMpl36gpFnaVh4Idt4hZWlBDXUXosnYYhqo-IsbD3FtSUOZI7az-ul-Rge696R-1b0IUEmmOnASqjs5wtWEcDM8_kvVcdKXrhBU94V8G-InT0YdV0uT6PNO5266r4yJOHD_7gpd0rSS5qW08YO5Gc3KIuHfvm3mjPHoBsC-JEojmRklKfkxrvtcDETEok1B9oCuEHx8IqmFZaYzqZ2JlW--u_OByKOPlreWE1WgK0zQXB_NlQYojEfBYd104npKzFrjrN5iZHzSjKP6t5jluuowhzKG0r0Dn7wgCRybruABVMZmFwQn6FclEZhzE1KcGZB4fqs8OkwbO1lIeFqtDiMBDfUf62OywKafBZa32g00Q6-jTHfRsdt4U8LU4USPetsldioE8AOEj862sbNIhWEcLB57bGu2gBWFv6cum3QnKplEiOBRlP6gMVvG46aWfnqBE886xKMx4uzjfmJUd6YIbUX-UAaOGa4BhhoITiw6tlbDrrP3SB7egSwplKsTSrqkrcqe-jbn9k5t8McBg7XVe7zD32eFkI2wdEBoLIKhb0VgYb9MaWTgPVKAmetDTbQ5op9sNsmbc3srliHxeW7HHIf8qgnNEzx53B8OqRCkFCUbbsLdG408iNBug4fnSJbecD6A2pdJ8TWqO602GmpJmD2Gq7pKrGAFY_jFBb8TywhOFdUXQHuo-4y7FmQ2Emeq84yrGt96EnegRzGp0OjWHplsiGTWDtixQJPsvMBV3YthrLgooo80JLxS1q8Cqf8qagwYiAz04p1emwulLLUwRs_qzTCcUP-WScVjbozaqNNY5VDljmaOdxnhpc6awykm4w2KummUuHnHcjUX3idakaxagJWo_TQd9vd",
  "id": "rs_0a4c666cf4c1b196016ab44b6426cc87d0ac70ddd794b41d87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_z\":0.0,\"right_gripper\":1.0},\"note\":\"The gripper still closed empty because, despite image overlap, the bottle remains just beyond the true fingertip point—the wrist camera looks past the jaws. I will use the remaining 3 cm of table-level reach while reopening, keeping the same lateral line.\"}",
  "call_id": "call_LdFHVqdbOMbBXBfQN312T8oV",
  "id": "fc_0a4c666cf4c1b196016ab44b65b73087d08e7f8a08ef092e46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LdFHVqdbOMbBXBfQN312T8oV",
  "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]: [-0.0231, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4706, 2.1216, 1.0649, 0.6022, 0.0917, 0.0093, 0.9951]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1821 left_yaw=-0.0012 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4978 right_y=0.2391 right_z=0.0453 right_yaw=0.3603 right_pitch=0.1176 right_roll=-0.0156 right_gripper=0.9951\nstate[joint_eff]: [-0.2393, -1.2786, 6.5709, 1.7558, -0.0317, -0.0415, -0.0122, -1.3333, -5.9419, 5.6274, 1.0574, -0.0317, 0.3004, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:550d1fd4f5f174d69ff723ecb73a02f4d5e649f9b606bd9ea1d5fc2b62351f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316f4b785ca8290db366e6cb905c77d9b65e6891e70f2223aa1095db3e2c8002",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e4ef65e268de5170bf3700070e7601140647798ceebd4a2ee311b0a7f05ae2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0227, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4961, 1.874, 0.8001, 0.5632, 0.1524, 0.0742, 0.0172]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1821 left_yaw=-0.0008 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.435 right_y=0.209 right_z=0.0578 right_yaw=0.3003 right_pitch=0.0656 right_roll=0.0057 right_gripper=0.0172\nstate[joint_eff]: [0.0068, -1.6205, 6.7897, 1.8388, -0.0366, -0.0611, -0.0122, -0.6359, -8.4718, 5.8188, 1.1893, 0.0952, 0.0806, 0.7009]\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]: [-0.0231, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4961, 1.9602, 0.9459, 0.4957, 0.1257, 0.054, 0.0162]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1821 left_yaw=-0.0012 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4607 right_y=0.2283 right_z=0.0585 right_yaw=0.3338 right_pitch=0.0557 right_roll=-0.0005 right_gripper=0.0162\nstate[joint_eff]: [-0.2256, -1.5521, 6.8034, 1.8291, -0.0659, -0.0171, -0.0122, -0.7316, -9.3333, 6.2154, 1.2088, 0.105, 0.1197, 0.7204]\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]: [-0.0231, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.4706, 2.1216, 1.0649, 0.6022, 0.0917, 0.0093, 0.9951]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1821 left_yaw=-0.0012 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4978 right_y=0.2391 right_z=0.0453 right_yaw=0.3603 right_pitch=0.1176 right_roll=-0.0156 right_gripper=0.9951\nstate[joint_eff]: [-0.2393, -1.2786, 6.5709, 1.7558, -0.0317, -0.0415, -0.0122, -1.3333, -5.9419, 5.6274, 1.0574, -0.0317, 0.3004, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:550d1fd4f5f174d69ff723ecb73a02f4d5e649f9b606bd9ea1d5fc2b62351f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316f4b785ca8290db366e6cb905c77d9b65e6891e70f2223aa1095db3e2c8002",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e4ef65e268de5170bf3700070e7601140647798ceebd4a2ee311b0a7f05ae2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtqRdJ3nWkqL2jlS7WHUGwq_PKPdOoNCcg21rcoIjKO9z2VOv2-Grh7BTKJSYKrgYM6jO4TM1uLtWpdphCYJRtECrjkwbH2L8KnrG6YG8XYRka_s5jF0UjiS7YcxAn0GakbmGH6ohoysanfJBSAese4rKB8kahx5rV2uk8QIjlQISV0hMd67mF4hdSXgpOauslBeWCm-q60jWsZq8IEDVO_HIiq4ZVCKmmtctFetnJjpFLxgZ3YnQJsFdQOWrJqS3Ga6yMHSVgGVVbhIKDnJEIJZypC0tRH8x0XqloV_r_tTrKSClfb6x3j2674p7oS4orKPQWmjks4IrtvhjpgVmCApwmHqEDkA9DGg6DSQGXH3kp0wo9DLMNkuIkBxXqPTT2RUNsZIu7HF3U6a1tQ8DV1LfHrG2ydG_9DXyDdSzKbuQoTNyzM9Uop7Y8mAU6tflfEdnF7XQ16_jlDc_YvKUrbWouNLkgjZMBaIHFs2fzH9C-rwbnpwIP58OUY5I25hERIAY2LvhTvo5W6pDuz4pj3LRFTri_QmulYYD2RXaeU7bExonwBKjcmahZjgYOVg363pxW4UJpBjiYuo6hBcUPvOr0NjOiq56M1CMHhSxm2BpFz1C2t9-nEQf46nmvPTPvVqbZaWzq87wXSS4cB_RE_t6jI33iL5mryA9qL2sEM02hupuMw7dWXMh3i-qiWK7ocvuRWMymOd0bESc_fCWwwY0JNv6ZMJQZ1Qijz2MYuVNdEs9WYUKCh5qRKQcm0DfPlOlYlZ-JBqjOIy1h7uoxoM87bJagUE_MEe6Zx7SOmqUkYZ4mzq9KaKLecomgNXwFxSK4k04RuQ8nmfWZuuWyVF8euKyO3fSWNwQvjd5G1s4Ku4r0clJNDvg-80fUIDyMyMF9rhtb1dB6Nwguca_o5ZHOrMJG3ktDs6AePCeq_UQFtee26jbayVLf1pO2exweLDo8b-b1CnG2LmC3pcwwSidFu6KnLE9XoTHidC4JvrQNLVrQW3D5-f6wGVyFrVqPb_y2MO2fWSd1awZlduhFDP0buWjata_oK37Tq23D_0-lyhx-QHhMSB6iS8mYhf5TgFU1j5Qc-0A3h-ytyLnpYPawxk47ft4p9FT0M0JrDX0MJQX2CRm0P-LPexHtU1ffyaC2wKadCxnsyiJDAF_CeD3xzgqrcGf9jnR9zk-t9JAE0Ov7nzycpBPzdrXapnuo6lnSqwuHvbQZ0MjemV6h78odxi-1-HRiKm7rFqxb8Brl36PayrkxvwK9HBJeczN3RkiL-B2Cf-a_UHDBND9yaTQBBBZzFmtC7GGl9ZYc3g04gAb9JA_fDt-vsKNAm8w4PiTEk-Yx_iBFYXmyhF2c7pgO_q69HEt8ROJmIKuMC1JLC8c6ue4ORiHDoInu8twwihf9cF2b4Qynp3pGCqtKPoRC-aQedbwLeSG_CDLE9g8JMlHcP4caSaHD2cxe1JgWlRO6ykY0Z6dGrhl0MyLNxy1vA80E3J5Y7I6qwLGQjH0uXmaoat3hhW-ev-JLNkcQvmUaNDp3X9d2_WcIm786BzWpo7kqvBZyloxddriOOzzFjvRhxrTihHBGEKqduWkQq2issLIPsfWRtdwqrHDtDvuluWm4UrVO2QckpZpAdbySTMrrAeYv8B3PdBkYw19R6nVfVToktcmg7NqhdGdT3ceeoKaslGMYDuQrcz2EFNoU=",
  "id": "rs_0a4c666cf4c1b196016ab44b68fa3887d0b2b8f5fe578f3413",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At maximum reach the lower body is finally enclosed symmetrically by both fingertips, rather than merely appearing ahead of them. I will make one final close to test whether this nearest section is actually graspable.\"}",
  "call_id": "call_qUnQFhYEKy83JrGHrhEQLR2M",
  "id": "fc_0a4c666cf4c1b196016ab44b6a06a887d0b16264982301857d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qUnQFhYEKy83JrGHrhEQLR2M",
  "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]: [-0.0227, 0.8024, 0.6132, -0.3786, -0.0227, -0.0292, 0.9983, 0.4709, 2.0884, 1.1488, 0.4358, 0.0547, 0.0097, 0.0158]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1822 left_yaw=-0.0011 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9983 right_x=0.5015 right_y=0.2485 right_z=0.0602 right_yaw=0.3922 right_pitch=0.067 right_roll=-0.0029 right_gripper=0.0158\nstate[joint_eff]: [-0.2393, -1.2923, 6.5573, 1.8486, -0.0464, -0.0806, -0.0122, -0.4308, -10.7966, 6.5709, 1.1551, 0.1929, 0.2271, 1.0525]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:344cb4612671a18417e1cdf1fe8be06d60578d7ba0a3111b836e47f3fb2e3c8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7490b8f6d6cbbe113ee9238a00119e6318ae0a9c930f86e102b2dec6cc9791a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63104f25a33149730a2427746ec14b6717e58a0213ebb8a0b25020bfd011da51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}