adhoc

model

gpt-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]: [-0.0204, 0.7937, 0.609, -0.3767, -0.0227, -0.0288, 0.9986, -0.0154, 0.7891, 0.6037, -0.387, -0.0284, -0.0341, 0.9988]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1831 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0041 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.5812, -1.4564, 9.7162, 1.7509, -0.0073, 0.1587, -0.1538, -1.0462, -1.0735, 10.3453, 1.8779, 0.0611, 0.1734, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a721ef18c4fedd32049add0885b52f909b40347ed028f9d7b55dda8fff9e3001",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850c75c9ca72a7e5840aac39b3d6b701d0230ffbb65a1e3092fad988a3464feb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c892d6eee0d3b454e4565fe34d825aa8d1d922f9e16f638e526033c2a1fee1d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC9wRKaL04sJRGm92jNY1tpSqyQIEOawNLmVkRlnQVgZAiIgugLotiPMXKD0flsI0K-5SbecoFo8exUttDbwTFGdmTKtR1gNISieurhcgeLyp1Su05syhHrhg57sflupOz0CvlH_ngQqm3Me8LYd96O14Xu_UszApWJFLUXfSBdVUI7XFPBPNH-OZGbOvXmi9rX0m4bnPsuOIUhcA15jIeZLWNbYm7RfUELeKIAgdRt7E-EclBbyUdjiYfZa2TyAJgLkW9VhVGfioMVRy4XgWj1v0X6K-seouxaT3eIx2SAFa5Qth_mpPRJZGszyr13gBuIX8eSt48bdg7PmVSRjXx8dnEEj3n37eDryrcqIMGzuvta53JQ6AzzWOHdfVogfnOVS_OUIMBWio_er4hFRGrb-F2pO4B7_X-VcstAZtScZGGk3uW12l9AMhoXONJ4RAFi7VS7lOupGNQrMZ2PHyrtbiQtM3cG0qmEaPwk8mADJiVE9BqHcXIkZ4OO0Gd6CKwkrVk3QXQeBhfnwtvU4WsJwy4sYi4zs3eIh1qr-SOg3Q1xIycW3za7MEKf3a3FQNU_mx9eOwuM1DfNYIQ9MNd3G8NyI9SQWCpuA5fSIdKU1DqGmFL6b8GVM6BBv-VX8-Q3JxPMeQ2MtiWX1OE3pVO-PEW0vdiM1PN2-kFU5-k85-mWfh_hIs-x7B6gCrXTVWAYORnD8qw5JUxOsU3vjeQPZ1vO2-1bjMNsSYfR7hmo2Z17kGzV9Wp8os6KrX6bPJSdXjOn44e5Gt5g_0k6UCz0NfkaEM0lco181stu3gixngl7QonQzycWyO6MBY8tHpCbF31x1q2UG32zTkEOv8B2nT4eZdqNDOZl_Ejbk_Q9YYbUAHtkwC-HsAeqtq42bqUs6Hz9kuKauAdgJmvWjaPEkDWm1x9xsowkM1tJlPSC5rqw05TMKgq1TA-lOMsEGN77qsKvDBSe8o5UYZvgr5uoe-hLz9K1gfipeHwOQbBrXN-QCuJVXdCeH2QUYBNEUCaak3xxIVC61uqn2aLDK-5Jyv-EbJItqWq1zEuvGAW63kph7YbNcQ1lP1y5Ix5nRcAZP6UasulJoAnNf4UTopaqGutSE36J85TJ-yJ4hNz8O1U0B87Mu_pSkxnlVTwCa0KaY5eBIrkedUkj9jSFY2HTlWtqxtb70ZOtLvM1ISAce_1WLR9CBUTfz57cjYY368mPm7YGOo9gj0V0I8cFdDKZOP8wwS03a8yJAzDaTpSnqsL1mOzdiLSOWe0JHZA7q5u23QiXSI-zNepfpJkXNONDPy7k8WClBKIOIGyQjsGgDhQf6BsQeIUw1s8I4fE_1wn3AVZ-bpjX5LZliYp_f1a5-xJYCtC6C1DQx24knlxqFz00XvDyQZZuIo6M8iXiFT_sZ6sOQyb7gPOjIp47kan-MVDdJJ8Z4omPEkwZBUNuJzGldR3pizPAoW50XRf2Iy-30C5poTIo4FRgExIj78-m3IBuFEldQu7EMlD2qXwmpJA_2adqDWuaueysOgNWznNpZIUyCwZegBLCHOjsfWoZUng==",
  "id": "rs_00e55cafbb1105b3016ab42f6edce087d09b89bae4bc90ba6d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.14,\"left_z\":0.15},\"note\":\"All three bottles are lying on the table, with one on the left, one near the middle, and one on the right. I’ll position the left gripper over the left bottle’s upper end so I can lift it by the neck and let its base hang downward.\"}",
  "call_id": "call_u8m0EBpfRlgBzSK7nGOskTw9",
  "id": "fc_00e55cafbb1105b3016ab42f6fb55c87d096f66b3e8011e98f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u8m0EBpfRlgBzSK7nGOskTw9",
  "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]: [-0.4686, 1.5581, 0.9241, -0.0414, -0.3824, -0.2825, 0.9984, -0.0189, 0.7937, 0.6033, -0.4038, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4171 left_y=-0.1332 left_z=0.1331 left_yaw=-0.0112 left_pitch=-0.0578 left_roll=0.018 left_gripper=0.9984 right_x=0.2914 right_y=0.0032 right_z=0.1749 right_yaw=-0.0022 right_pitch=-0.0221 right_roll=-0.0002 right_gripper=0.9988\nstate[joint_eff]: [-0.4034, -7.4188, 8.7043, 1.6777, -0.2613, 0.0122, -0.0366, 0.212, -1.5932, 7.0496, 1.8926, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfe9d4f5b29c68d29646a6fc60dc309049baae55f85e54b22b59b9b434e2f6b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25cee9adeb68c186bf6c7b6c334f81d613450290686863ea5b6af16379e7ba84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc8a97af3ec005d936aa3c9385d49f0055bba3b4a618e87e866013762db0558",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7937, 0.609, -0.3767, -0.0227, -0.0288, 0.9986, -0.0154, 0.7891, 0.6037, -0.387, -0.0284, -0.0341, 0.9988]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1831 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0041 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.5812, -1.4564, 9.7162, 1.7509, -0.0073, 0.1587, -0.1538, -1.0462, -1.0735, 10.3453, 1.8779, 0.0611, 0.1734, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4686, 1.5581, 0.9241, -0.0414, -0.3824, -0.2825, 0.9984, -0.0189, 0.7937, 0.6033, -0.4038, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4171 left_y=-0.1332 left_z=0.1331 left_yaw=-0.0112 left_pitch=-0.0578 left_roll=0.018 left_gripper=0.9984 right_x=0.2914 right_y=0.0032 right_z=0.1749 right_yaw=-0.0022 right_pitch=-0.0221 right_roll=-0.0002 right_gripper=0.9988\nstate[joint_eff]: [-0.4034, -7.4188, 8.7043, 1.6777, -0.2613, 0.0122, -0.0366, 0.212, -1.5932, 7.0496, 1.8926, -0.0269, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfe9d4f5b29c68d29646a6fc60dc309049baae55f85e54b22b59b9b434e2f6b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25cee9adeb68c186bf6c7b6c334f81d613450290686863ea5b6af16379e7ba84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc8a97af3ec005d936aa3c9385d49f0055bba3b4a618e87e866013762db0558",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC95iYP6gV27x5zgDcowjZhpKttpD-QPMQWnCgyZJvr48r6H5WnB8mhiE34rItaEE9gK-npOeAvA4-dgyWIo59-vACv88-zWuWTfh38XgArMuQWxYQR0gYbUYAI2_MIHNybTwVET5IjGZIRBYgQq5Dqw1UH9atYUXo5D4uLt9RbqSqN6s9olzUVUpV16l021CwK-CnL7mqggmk5GE4B3MvBGn_Qx1WIQ8PsLCHNfmkPCB4Gp9oWMn4lSvqcgKmHBDpsYepO70IT-oM9naB3pUyglw-v_4bNi4BrWKyGYDWirW7fVVHcf08o6wXBhGtcvtIqj5eZsnA2n55euaV8aWmk8k9adQjmp7d18zpUk6fY5KwR9KMNdNkX40yOuEGhgpeDBKgjqoParKSuzjSgRpjHNQyktMVRlLIaB0R-Zuu53eh-uvblYBJT-BH9vGQ_qi4jo1W6-CHvHhRQMzWBDtZtKtEHVDpskYKGooivFFUDIOB6q7N0muQzAcXnCk7Pa0teCZiXOwgsklDIF3DajO_KeCc3rHOwvVRuBIm5UPXO9_tyv3lBBUqh9NcfsTuAqbdpwVM8Qt9vGSJ8YLyE9qkQXdEidvxa5GVwh0oXMkmVG0NgEQgrACjKvxLVe7LzsWOSeeiLjcq9Kx2jSN_fjnxhvP8_Rgtp0-T58nM-VsQDl6YUVXRea_O0axozU74WY3DE0wPP3ojRnJS-Knj2vroyHjlonKDqzkh-5v-bgG0t-DRfpEsYa1HX9hDfpOFflRdP2ZIGOHRoMXA4MF-AUUO6SIcN8ocsjGBW2nLlVeXUJoS4tItGuZGe0vS5H9lt_xShDWYXMQx9cxfM9lbELd_1ECWfsiU9RRO2YSba9be6dCqdNByFhEdei6uxovfCa_4YCwc9h-Eqcp1LAKvTdJucetB_Pahfw-np7CPZaZjao_pfDR3LGloLuIH1JCkNCNYOUB8ATv1HVYeGtGbk2h7W3dV6X3wdzEMowGixbTBqMY0H4PhrHMw1M0o3oXEiREZvM0eI43aC0DJk1bMeCI137OnQCvnAocmfHRUz7NhH6CYHVn_rObnQ3JJeDTh4I26j1kOd7nd4vjxJTp4B0UTyhoMn5zBDPiYuU7z_22D8NACqcg6vXBzDXwuM1zoDEXAFvnSoDHnjMkFz9QPmlmOinv-Ye9rJZIelLhaBAk3H_xWyeYRQXlrbh4YqZGz7_wxrAV1wIIoVsWoDMslEdPsDyxEaRxy0DTzVa0IuLOF6Wo1cblXKQijIl3vcnoMFzhxxrFxs6MPKpNIzGxUNmArZeT1gfIt9-sp4aCqO2f4DTIpMrYAoFXag9fLyX0gnZBkozrVAriIuFrC-7-vtV_5g2_R1qPl4_SqHohtYuq0hSgv1iKVtqQ0ppZnj8mKlq5XCLh0EEVRe5I2ELUN-bFVODUjyVQl_4x48IlYokZKiBLzQcFFoOthhUrZtL80TpPjNNJDbqJaWP4NQpg_U0EolbexNMKTvef_a4P2fbtL1BNwEt-2oBQkESPDhF1ho86SNkKPqj5YrT9VTYdTgbXOnqRb1G3dR5DI7WkzDi23ZVdTDiV9lwFYOOk_3h5fh214PntBpdGuL_J7LGVtZLO6dnSELAlPK6ht4VS0086w4LWbgwyfaesqKWLH41AfgFUsaG7HxvMvfm3M0WPXH7uo7eLEajEbMgTMHMZtZ4VKCc54ZrcRWH0nx0eidsZ2WHZ-_C9xwGbG8fFznIlOxnzniae4RlhqAyOJd8c530x2WXS-GatWetkV62Z3qVkiZ2xqxcbRPsZZOXXDiLIsKioCEtc5KtBMBsBAzRPiaELQ76Zb3ASuzExRK4BfCzukij9HCf4g28ItwUZJCgswKrSTJoMX3xpOvAqYDbrv-VRR4skoTsCliPYxaAtzAJhY0muPuZxQeHUn9PT5Z4w2BwZNmdwNhd9B2J1bmlQWYhU7lRR_6llHxp7rAiQgZ837aqECgSgoklQjs40aK1Hp3d39xeIUFZionmWQUw1HO3enHqz10S4dDTtjJ5GjDld_EplLE6YKu5MdqiRT9AnqwISktbx8D4JxiKOLNWY8QpI0SCoR4lPJfaz-WIkS-tRiXUnJkH0X2qOVWn0ggljPzzO5l9GdKd2-ifLv0qCFdsg9eA6w2lwV_y6XzBFBSe8kiKLKD57GgeaM21D3RVtSB_t4rLMcbjqFn_CtBGZvT_NsQgRk2eOpihIPXjxKJztfQvoec8AUZt0geTccguCLHHlKdyRzV0nGnGf76IZe0AhVhXlGPGSlmNOAB2Cnese7Hn1HFL4IbBR5Z509uqkWSwiuyy_lG1lcasHtSFb0OSsbWEfciPFGOBvIW7wKBD0-PpL5kBuQxfJvIgtW-zoZBvYwurssrQ0givGoimzqayAY3QuQebU6vArm9AWe10l8xMi20DuI65TlTRC07rpR5dalyWjuqAc_NcF5E38rCPnz8JBOYltmr2g6iqKhN3tGborCqzVTK-pevK6MnV4PnmaiCPLpAWVWrRlOMc6bxC_U5NIVGKj1OH3isTU_45H6tLCn6ZQQ8kdnzP2fdUCndc0of7izrMuSzmnL17VbC409J8CfzbETKGlRDvt6hz0atWg_rvE1i5MGVsieQ7-YddJCGtLr5CWv8B7Aj8wMoNoLctYnAZM4n8FupbpW_rouo3kc6iNJH0OQihEnrCD2mjqa8V9OxVraOTLU32ag88AjG_d-U27gDvDsOyXT5Yl7jfK8h4J5mha2A-ZlktkV6biowHI8PfyUOyHWqk7qgNnrcFRu-SkuOX70OMdOfC5Tps0aWbctw8qG9CthAX2FM3ly_KMS-hicpKrpL7sn7-z_IQXhfixs7oOWzlQUI1Aqy8IunDpVSzdULPQH7fgQouTFcN3FUdmY0Y09SXyP9xVuxJqqPNR7IF8HqBdGP8G8xHfQAdiGgaCTqnNS4XPIywPjHaGp816PKgmuEpTU2w3g6o_85CQQ3o31DmtaiC6jRIBGZxM7p-Je_9XbyN_SlLAL5RWBr1ffGAi9nOYZANJMPFWkbhqVrWxrC0n6eKFRdAPBJJSiR8EutpafSxdwP9ToYM3DTejZXDnzRz6UHqsfEiSCuMVJWni39FVZ-OuqvipgRGtYmSSQpYZGtcl9BArYQ2kMJeQzYtcUj0L8bTSe6CM4RFa5VujfP92fL5uji7arG7T-jLaHhQVOHUcbnhkknAwQ8QjVY2rT-h8MK7xJV6JvbWFSMLKS6AUocRDJCy8snzkHtRQiSxpFabe2FQDIcD3GnyccS9SiimiFjco5mx1Tz3vQo0qt1XlEyl_sQ1tWqKq3M0-JKOvzFRmqrkGGdR2OkZd5jpHaSfGh-Zk4e39WOFvMZS2LiCW_WM4Uc-4U8P23x2ZEitWhKh5loQLIJBo9lcH-89hzxtPSV9vi949CXorGl-AzdMPNNv63EFvzdYoSAsE4XhALuey7V-gxYEJdar_BtuF1eTt7i5ZNFJPrd_MOCEXE6r9RJ2ENlUxRQ_SQ80BJFVCA_UCf91lDGjrGTeV_zQz53yue-TnoPuidRCq6l1NZegoZfDY_mODIHwcU1GfLIXPLMrTk2-4uRjXwgH8LnWaXt0FDSM3zbJNZBDF6u_8KIAy5QbqKPiHy45mZ8A1SCmh_y7rxBvJdXu7a0-HSLzX5URgHYt9uXgYDdZYezZ6fJvenaQWTwZklBdBIpPDBFFKSnHec9zcFD9JmFezFVxnd0wP6KOexPLIwIv2aLaG5vMceYNudEtRhYo",
  "id": "rs_00e55cafbb1105b3016ab42f730f8887d08c0caac7097d2ce2",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC95zmvDKO81oUn9fON4M9ga2iSuZnbq0kYS4DKbMCk8XFxcro21RkfcnTVa7PVfg99LckJe40TbZ70h9qHIz9dBqSCg_WrnxLnYvLCAwLSYgirTdh8uPk42qXLPrKJ0KZHjwGuFCnTZN0GADR-0gjmaSIxRn7idlZo7eFI3QFkIeQK1cQBkIjjh0QpffNQVBxJkpoTJMFJR3qq6OyQ59_tjMmnFYgAhNXr99xQOnbn4n3E1qKqKFz6CGrleLgnb6b8Z8DKK-JgWmEYR_6P5Y-y5dlc3Axhb5PXD0PFhh3igOAiUmC10G-MGnUZetnx18xVw5KMh5lnqnssaZOghOnPWUo33UcMTpbQoSYv27AH-x2qboKEw1UV1U1qevk1i55wKJ8k1zT_lFkR3zGxxluRkHJMSLnJhLjnYAmPp49efMyQJto4GxFPYIXKOy-4evtrdRHGaSRNDxDrnbU7wm7IVR_zUXa7rJ3TbbVH63e09gQLZsKrDJrIwUJuqIBSnB_DEdQPH-5mw80dOroQbS5l0IryWjl4yCKXMW8XRBtVUeTKpmf09X989WyZgPHKeymvrn35gP__WSXBDxRR-mryju_nlW1q3gbdLReg-eWix2IaQWwTGB56dzK9oaZpOzYZt3r0ONJm8-7FGH3PCXv0NSDuDpsI7IxlFcPAhdAbNnMkGbhd2CTmBoFRHTjBsYWpiPwkHXjwjOyZlu7jbmeUzFzlAoAt3nkR7dJTUu0SLTB3LwC3UJZycHYGw0AtXCdf7ftLua3oCC6_YQAQ-HbMSKMI2ooYzAQmz_9zZXxgiaxBYPwGB98teMv-PYvnIkpwfo77yldfgNr2pPuGwTQv_OExKr13L3eMPKZPU6IJ1W3iX0s8oU0htT-waKVbBez9ldX0cO5RQdSFBgxQBQOj2_34dfGHgWArSoxa0PaenxS1xT8xU_3sP4EerY9dAf6BqwWpBtxTu9YA1k9xdbTrhQnr6n8p4DyFfbHFo-dbGNYJG7FfyEzbsldA_wNaWy_ugpOckVFPGC2BxoPqLDr6WXlIPKpNHHfuQyOYRB_72_DVTNj8iLVfoCLzsTUquVUA-T8JWe6QajJtS1Wm6gNtdKI9zpN7tX11fgN99oNZbaRyLDpCmsZTBRGow9lY_9GTyyrOY1TWAsc7hdQOjVTybFILg3Ab_9gIT-1rnmY7TfV8GHBtYSpVQL_kCklqdD4sNEjdc-xkgubKrdWhxN_00nTgtkdSUyyG9V_g0Adh7xQn1rQWkrTBD87r6V8F4VW7UpEb7eOakD-uBvefpn_6yA1QLsl_BALgbG6S3OouhvEQ3ctVLMirGsINauOXRr4zqWCIojm2TusUOAqAZOgSqrxYszrAd3NGf7wdHQaXE7kqDs3TSa_FqW_JzC5LPk0YuML8FPbY4rfTkMv_jj-5oVi6IbKAXtooSYoXYS594MyjpJLgtfq-BzNNrzdqKLoPck-DAUNJjpJWQuThKn77Nxa6kN6DANY30JXXs2oZM-ah2et4TPYMOnjNOhIJ_iYxz",
  "id": "rs_00e55cafbb1105b3016ab42f77853087d0963e660e385aae44",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.065,\"left_z\":0.12,\"left_yaw\":0.5},\"note\":\"The left bottle is visible low and left in the wrist camera, while the gripper is offset to its right. I’m shifting left over the bottle’s shoulder and turning the jaws to cross its diagonal body.\"}",
  "call_id": "call_e8mEXqQbROLLGCk3smGVXdgM",
  "id": "fc_00e55cafbb1105b3016ab42f7849d487d0845c2a8bc9e47d84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e8mEXqQbROLLGCk3smGVXdgM",
  "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]: [-0.4625, 1.6535, 0.9413, -0.094, -0.6956, -0.5888, 0.9983, -0.0193, 0.7891, 0.5842, -0.4011, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4181 left_y=-0.0779 left_z=0.1121 left_yaw=0.4017 left_pitch=-0.0261 left_roll=0.0121 left_gripper=0.9983 right_x=0.2891 right_y=0.0032 right_z=0.1679 right_yaw=-0.0025 right_pitch=-0.0339 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [0.5538, -6.9812, 8.7726, 1.1746, -0.4664, -0.1197, -0.022, -0.3487, -1.935, 6.7761, 1.9414, -0.022, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f2fe6a297a46c724a626f1ee5cec0aa9aa9a45b921c758035917485b45e3f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fdcedcc96858054548e7ee2aa3c788b9467b4fdb6317c0888e2d91daf0c8329",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5852f2e1d2161e928e6fa520d4c76aefdbd9bf6ba76cd3cbff336405a528b1ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 12 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4686, 1.5581, 0.9241, -0.0414, -0.3824, -0.2825, 0.9984, -0.0189, 0.7937, 0.6033, -0.4038, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4171 left_y=-0.1332 left_z=0.1331 left_yaw=-0.0112 left_pitch=-0.0578 left_roll=0.018 left_gripper=0.9984 right_x=0.2914 right_y=0.0032 right_z=0.1749 right_yaw=-0.0022 right_pitch=-0.0221 right_roll=-0.0002 right_gripper=0.9988\nstate[joint_eff]: [-0.4034, -7.4188, 8.7043, 1.6777, -0.2613, 0.0122, -0.0366, 0.212, -1.5932, 7.0496, 1.8926, -0.0269, -0.0562, -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]: [-0.4625, 1.6535, 0.9413, -0.094, -0.6956, -0.5888, 0.9983, -0.0193, 0.7891, 0.5842, -0.4011, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4181 left_y=-0.0779 left_z=0.1121 left_yaw=0.4017 left_pitch=-0.0261 left_roll=0.0121 left_gripper=0.9983 right_x=0.2891 right_y=0.0032 right_z=0.1679 right_yaw=-0.0025 right_pitch=-0.0339 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [0.5538, -6.9812, 8.7726, 1.1746, -0.4664, -0.1197, -0.022, -0.3487, -1.935, 6.7761, 1.9414, -0.022, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f2fe6a297a46c724a626f1ee5cec0aa9aa9a45b921c758035917485b45e3f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fdcedcc96858054548e7ee2aa3c788b9467b4fdb6317c0888e2d91daf0c8329",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5852f2e1d2161e928e6fa520d4c76aefdbd9bf6ba76cd3cbff336405a528b1ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_00e55cafbb1105b3016ab42f7a9e9887d0a347606e1246d2f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.047,\"left_z\":0.085,\"left_yaw\":0.48},\"note\":\"The left bottle’s cap and shoulder are now on the jaw column, but still forward of the fingertips. I’m backing the gripper toward the bottle’s neck and lowering partway before committing to a grasp.\"}",
  "call_id": "call_9jUjlKslCzlkE2PZhF81hfLR",
  "id": "fc_00e55cafbb1105b3016ab42f7e642887d0a8c97b6a8b718303",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9jUjlKslCzlkE2PZhF81hfLR",
  "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]: [-0.4774, 1.5585, 0.6907, -0.0132, -0.7464, -0.659, 0.9983, -0.0193, 0.7723, 0.5514, -0.3874, -0.0296, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.3659 left_y=-0.0502 left_z=0.0739 left_yaw=0.4608 left_pitch=-0.0415 left_roll=0.0362 left_gripper=0.9983 right_x=0.2858 right_y=0.0033 right_z=0.1603 right_yaw=-0.0022 right_pitch=-0.0362 right_roll=0.0003 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -8.1026, 5.6684, 1.5507, -0.4908, -0.1245, -0.0171, -0.4171, -1.2239, 6.9402, 1.9805, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:388e10d13b53ae48fcc50e7c4fc6427cdffc7eb9007a39540b47ce2f775e01ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430d172607238108be766f94abcb6bd0598d3bd566eb168655286eef0b8f327a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d171b70a589f906a18aedbecaa2006a27aad9accc92f54b177f5549e21707ce5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7937, 0.609, -0.3767, -0.0227, -0.0288, 0.9986, -0.0154, 0.7891, 0.6037, -0.387, -0.0284, -0.0341, 0.9988]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1831 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0041 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.5812, -1.4564, 9.7162, 1.7509, -0.0073, 0.1587, -0.1538, -1.0462, -1.0735, 10.3453, 1.8779, 0.0611, 0.1734, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4625, 1.6535, 0.9413, -0.094, -0.6956, -0.5888, 0.9983, -0.0193, 0.7891, 0.5842, -0.4011, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4181 left_y=-0.0779 left_z=0.1121 left_yaw=0.4017 left_pitch=-0.0261 left_roll=0.0121 left_gripper=0.9983 right_x=0.2891 right_y=0.0032 right_z=0.1679 right_yaw=-0.0025 right_pitch=-0.0339 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [0.5538, -6.9812, 8.7726, 1.1746, -0.4664, -0.1197, -0.022, -0.3487, -1.935, 6.7761, 1.9414, -0.022, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4774, 1.5585, 0.6907, -0.0132, -0.7464, -0.659, 0.9983, -0.0193, 0.7723, 0.5514, -0.3874, -0.0296, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.3659 left_y=-0.0502 left_z=0.0739 left_yaw=0.4608 left_pitch=-0.0415 left_roll=0.0362 left_gripper=0.9983 right_x=0.2858 right_y=0.0033 right_z=0.1603 right_yaw=-0.0022 right_pitch=-0.0362 right_roll=0.0003 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -8.1026, 5.6684, 1.5507, -0.4908, -0.1245, -0.0171, -0.4171, -1.2239, 6.9402, 1.9805, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:388e10d13b53ae48fcc50e7c4fc6427cdffc7eb9007a39540b47ce2f775e01ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430d172607238108be766f94abcb6bd0598d3bd566eb168655286eef0b8f327a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d171b70a589f906a18aedbecaa2006a27aad9accc92f54b177f5549e21707ce5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_00e55cafbb1105b3016ab42f80c0a087d0a6f401c0adab8f1b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-J4Uwx9QUHA6eHyCz-pwOBiX-rT9pTl18U0Pj2kiwgg_Nk-bu3_2gTPhuE4QoSNImJuoRxmC6rw2KM2HRCJ88ngYcUt-TfxJRWGC-OQ_jPJEuA5-2cikYN0WO18FdmizcLcYZ67jJ0UaUJ4NEb45aEUYNEi2bqc90hzuYcjUOsfmbelGAsHhVh6zyB3aBtLOKgzHnIgMn_8s029T-PzoVN0oIpdbFn_3j24fbGy2DYhtt8ixElzGz7_nbw401B9TeUCXlTBb99FwjO28VBzN6M2MoLY41FfO5FUquW_rEZy3T4D0RQONDhFpiaKT9uqUrL_r0mXjLtLUmrfh2ESvVPWMu6X11cM8jR2-ii2CwwKd6m_FINb0wKwsq2yabx5_bmUGxIOChYblACysO6vm-IHzfo5aL-rapQYoPMXkCiCvfyrDRICHbvQ2A2T6s6oy8s49466Cc-pULtveHwxb8rzqk5O1Uv0xpSD0fCNFlHMv7Jxn4uPPhN69OT4vfXdo6xFLiJ65Mc0o3W05jfdhrdKqLvx1YE0Boe6RxVNgRAtpi-wJe3Hf3hRdfbdwcq52d0futwLh7oi9HuDzSIPvviTozfp0awoU2R1eOZbF9cycyQmFMmj3UQmHoErMM5nM4Juyh4Xlo_lgLlTofSYSmb7sI2i_QhYRYdMQOKdQ9iiN7UommTUIlQEUPd_jXzJEbpX3yLPCG1b2f-5x2u0CbhblvIY7wIfIMVBNG9hM_oqHy9wy8kDXMX0LprLBbDEAcanwALFMBUxqhs_9TEH8Ief_HzM-AlK2bEWgvqf2Tx8c86DKdxrCAo9nFQbqzlVMFuG0cfjVPeDb4UmS7IVBOPDfS51nG3BVQzTjOHAs8zd0gOPx9K7W045Ga73AfAa53VrkTmtCPONB6TFEIsfOSfIdwuvPEygslw1NIebKOTKix6YnEk9JLYanJMJ1hX8-WiojBwIx0vq_pNkhDepejTLJ7oabJPd1pSF6w56Yczq4Nw9OhlamzvKaZm1rHtLVp3uZkdngkSehpA_q2QwShRhTBMribMvgfIrhOcJ1SOVKJlHcGujhO3WwLhLg86DdT3wXcPT9VJpXuVEphtShhxughm0ax4TiyRXHU7S6MtLlW4uyIXU4jKQOhTGOcPao-vD9pbHHrs-xT0y1tfi139bS6aU9H9lOswo8g5Sc7WO-XFAcbETlMmFU518fZ2O8NUtxnSeCtj4ctz1RLYu1Aft7R1fP1jZBlM_3Dh_hT0CxwqLojE1Fu2GxRPAPd6cRNuaaj4mywXt0CMcH2Zzf3hT8eBMI_LeJTWEFfoi7uoUR0HdBIyRyjKgZUKhZoB7M4ueDeNrxfhHK2BF72XJh6pRS_KFhKA3vFd99tsuXmfxGRzwiipnm-OTu-wgUuzvSvkC6OWavsrHuWH0RTg0p1MwsfdhyHgStdEZPCEVVip9qucagym7jRps6sbPZfoIlQJsNOovgyrkAMGW5hgDmVaWGP-CcaCBjNfdf7U94OoahyQhRuZQbkE4qC9B5VkKLP-IxRHMEvEBodZHf1sckCZoIaDi1aoMPcV6jP0XVpN9gdkEVeEufSeoba1voQlZ7Kv3nczqXNitkmldRCYgvQLvgspu5dWi0JptOAK8eQAZBYoMYhV_-oK6BJglNRoPaG_KqEiSGOKMiUWLGI0IdTfkyx7sejafUPyMU-BUAGil4Xt8Ww_kfoQp8SHBXux8vuJPctznhcLB9pnJQyKivTXvMr6t-4Ms5n23kpD9cNeyd6Tg8tslvBJ25QMbcUcUdrpm7o3z9LKPYJ4m7coFKiGFvBkJ6GVcN8jrAQaRZextIJVyhnMcvPVEgg-A0YXoa9Bweq4vTCHfEFYs2m8IrmXfz8u-9lcmBJTWlrLiKgcr57Q9Dm7Hh-WZ-pxW0txzHM7tShMnKMVsxjRYKRUAnGXgvdSCiKOHH1h_yyB6SgJC07iDt051BiGSztb7dolw6C9aPGTQ06UqigV9UAZXtPmbAS9Gki9RO3hUh9xUKWYU7AxWiDbxis8SN7HsAbWz1Z8THkC9TCfw6mI9MS6y9djLoXiqmlh2q_1bwBbbJf2JJ7f5vTMGZE1f4vgF8Pi5g8WuF0uo9DjHYevHdAlt5NlkPfBm9peamE8u_ZsN7CjdedyyxqfTrrOCc2J1zw79BYQkSB9k7XwUWWMG44heayj-GN01in5vNOx5uzjNLBxXpr2_WgEbGNtelI9HK8AYeY0EXudbmw933TfF6bXT7k-pjmpgpnxtPCy-b7fWiromoQIdbfise0YDB5Mq0ZLY6E4YUuf5CWASLnYQoFNbAwHgbNgMhfFKc5n8HUeUXKNlXc6GXIWTyp5j2aqrDZTIqt05zOtp-cDldQK5Xi3BdMRuORGCsBY6uFspTvZSyo6X3R5ovb50AkOUOz9Zr4xMOQD8oxwZTS7CTdmONipJugVAX9LGyQWYLKotfKAic6sS9qR7YOdPdrtXzyjKGAtT1ZqlHmFX0_SPxobzQFJyh4-pw==",
  "id": "rs_00e55cafbb1105b3016ab42f86d85c87d0a301e61e75df7856",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.075,\"left_z\":0.034},\"note\":\"The neck is still ahead of the fingertips, while the wider body runs down toward them. I’m aligning the jaws with the bottle’s upper body at its tabletop height for a more secure lift.\"}",
  "call_id": "call_ljxfxSE3cclfpGOI7nv9DCs2",
  "id": "fc_00e55cafbb1105b3016ab42f881cdc87d0b7cc9d8815207f96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ljxfxSE3cclfpGOI7nv9DCs2",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.514, 1.7592, 0.7105, 0.1986, -0.7753, -0.6888, 0.9983, -0.0193, 0.754, 0.5186, -0.3744, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.3875 left_y=-0.0727 left_z=0.0416 left_yaw=0.4585 left_pitch=-0.0052 left_roll=-0.0011 left_gripper=0.9983 right_x=0.2822 right_y=0.0033 right_z=0.1528 right_yaw=-0.0025 right_pitch=-0.0377 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -7.6513, 5.1487, 1.0574, -0.486, -0.0708, -0.0171, -0.335, -1.6205, 6.9675, 1.9951, -0.0806, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1038666312e423210fe9702bcefaa8a1ade419a16f3f7766717a6087b295a4cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdb90e486fd60065cce71a2c1ee3ccfefc83a4c15db9de1dbef2e0790408d265",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c57ef4aa000020b8332518f3bc7ceeeab76144e60e7b95d90516cf1a5ec6740",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 16 changed as sent

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4686, 1.5581, 0.9241, -0.0414, -0.3824, -0.2825, 0.9984, -0.0189, 0.7937, 0.6033, -0.4038, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4171 left_y=-0.1332 left_z=0.1331 left_yaw=-0.0112 left_pitch=-0.0578 left_roll=0.018 left_gripper=0.9984 right_x=0.2914 right_y=0.0032 right_z=0.1749 right_yaw=-0.0022 right_pitch=-0.0221 right_roll=-0.0002 right_gripper=0.9988\nstate[joint_eff]: [-0.4034, -7.4188, 8.7043, 1.6777, -0.2613, 0.0122, -0.0366, 0.212, -1.5932, 7.0496, 1.8926, -0.0269, -0.0562, -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]: [-0.4774, 1.5585, 0.6907, -0.0132, -0.7464, -0.659, 0.9983, -0.0193, 0.7723, 0.5514, -0.3874, -0.0296, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.3659 left_y=-0.0502 left_z=0.0739 left_yaw=0.4608 left_pitch=-0.0415 left_roll=0.0362 left_gripper=0.9983 right_x=0.2858 right_y=0.0033 right_z=0.1603 right_yaw=-0.0022 right_pitch=-0.0362 right_roll=0.0003 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -8.1026, 5.6684, 1.5507, -0.4908, -0.1245, -0.0171, -0.4171, -1.2239, 6.9402, 1.9805, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.514, 1.7592, 0.7105, 0.1986, -0.7753, -0.6888, 0.9983, -0.0193, 0.754, 0.5186, -0.3744, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.3875 left_y=-0.0727 left_z=0.0416 left_yaw=0.4585 left_pitch=-0.0052 left_roll=-0.0011 left_gripper=0.9983 right_x=0.2822 right_y=0.0033 right_z=0.1528 right_yaw=-0.0025 right_pitch=-0.0377 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -7.6513, 5.1487, 1.0574, -0.486, -0.0708, -0.0171, -0.335, -1.6205, 6.9675, 1.9951, -0.0806, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1038666312e423210fe9702bcefaa8a1ade419a16f3f7766717a6087b295a4cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdb90e486fd60065cce71a2c1ee3ccfefc83a4c15db9de1dbef2e0790408d265",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c57ef4aa000020b8332518f3bc7ceeeab76144e60e7b95d90516cf1a5ec6740",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-OwknoKrl7RxQNZQ75C0eX0OkT0rYHITpf9c2tQGRwXm0I0rrGG3LfsWBQ3jWz_sm6bMOCj2VpiKB9imOInWVOVfcwrs4EaqCapVRZRFsqr7_dcalUn1sNQCf_3-R2boVZ8kdNaDG5Lpsa8jSCeKEq4Qyrs_112oIoZCt7prRs4b9-iHh1xywl8nUKzkZQaFO-9SsD-xHPpuJcNq_Hun6212yV5-SPs3jTqdK-Q0J1SLVoxcC_AozOBpc7EcZAjTtwJPNmO4vZ-x0egka4gv5muYOg6VuJzXRO2oN_hvnLqVXmPXIpP23ANTHcuvdF0Jj3IYipmWB8zCiKHjKCFkeiFr2VTQm26yOAxO3R6mujow5pBP5m7Tlhu08RnszsFYpZfkyzks8VnJf0ZwDve-x9vc2ismmn7T0MV45vQ5mIQpHkH3-6256D3wKafH1GQ5l8iaELnA88Ki_G1d64aVZgTMv2yYUnop--ENfVLY8id0VWpPwl3YiDktEuEY4m-FAGYhJmC2AHHJSlOF8cphan9nvj0Iu8eQyutv4hqnN_bUBKhW9DzJQZtN0tg5sNSFfKyivJnJvUBPK51JQmwGWP18gh8UbFGRKqATHSAxTTJ2yxRAW1p1bnQ4oDnZ-R_4RM03Xrrdz12h-1iT5Efqv9vhyYSCEZLHRgbMYTDA_FyM_P1O2lJuILx1fsw4aCyN5jUfILKMPn1UE1w0XAzDm3SoKnu8gE6AErTPdOjVpzgsum-hKlbp9wyb0raOMLHVJqgbldUCEvz0i50WUcsr_rGpxl2Hmy5oSqQd5tNianoTkjdCwxVFSRsMbFZz32I9blBQnKoi1vyToQr1Pyulw2Dt6VC3zApcqiqBaJrMMQS7rQKgU5AeGcZJ52f_NvfOVa3Gb2iDtIJ8juHH5EpzydgqBr1cp-A5luYB_W2wBhOyjdNkTPIZ7GBLQN8FuUVsXVRH7FD-b4E-AnUQ3Y1q6NnPa_dX8wzirvbsOm5oE-IFJUVORcuvd4NAxlwM8rHjNqBJNf6CKc5el4vcVgCeGpMLQk_ceWM5_L6A4_Li8D1SCtzoeR5He0rJrSAWypjgJMWOIiA_IOqB9_voAwswuLIaJZFv6iSYhmlgsn8LDtbv9Xr4uD5dKJVJNzmMjsfMs_TBnLeSpRjYfPW2S-xJFwe_K6zLLxjHRNwD5uCaUnkcG28hCiLNTq6_0l02N22YRf0uGuksaC7X1sZL5uJYtn6yUkmwrBQK8wpnKyOrqywIvQq77kL5DI8KlTCyhf1Y4X181wxvfgBdNVsa-KjnIRmGsFcI6E7-v9N7tGsB_enm7ISbuxePQBEG-NuNeolTGvQjfjFur_tGojYZKzBsWlnVAPKxaL3ddYsfaAig3MJXvUWVmE_OMzyi0E7T_8iykqyn5hX7NZvpkYOIOwULv159_pTCzsciN5el-QKcwea5-P4vYqZdxZjiUTsLyPwKRwM0H7NuEcmIxSgrnq5PTsqQznR25CZayxo6sTQAVLPLFKYKZd4Ud1GTJKcXh8o6_unT0RssRTiAuVi3yKEbo3XjCU_WBYj8ZriC3eNM8xBdFhFvXJipsjNf9J4ZAMuvFvwq_14SmjjIm47VMSk819BxOAQlk3t6Dt4V6sZyifp61CyPfbrxgH-8Y7naD2ON5SMZpYdjw-ZFJUzMjDiOXzUYGSSr4YJ9VQiyyr1YQCw5RVUNC0EHcnLytcMMQf_kfaB_wSNsAtCr_5vuLkadiGcbwKr9T47Zl30JuwYH3tdnOq8LCbzSJXuxbID9L3NO8173PUSC5dxgKaqwhz8Fhr6ra5FhqXNWq4t0AGWaw7JXR2j-r6nl1pWdDASooupVHxVFxW6mYfw7GCkkJJtIDd2WBx_9I9poqgo1vHTZ87oFycubkJhkIc_ufnvhH0MGHN82ebtKfXxew_w1Bom2bx-8Ol6l8u8iislJ9GAiIyx6myzz2x5USaeLrEBTUuCpdihjnA9n-HNFpbvYjLfg-KegnuMYRb_azyezGyeShWVOceDQrnmserSgKwAw2nONye8cdhqjOAYoycvj_I7YFlyp4fIpKptCkG9D5UAD1HsgyVb12ARxPEMOXOPf_Yh-ph9tZD3GHs905VA18hhncohPq4j_9QNy2DrQF2Z7-gQqsDnwbR4kfolWn5eI1eTp_BE97PyxbeZG-MRt8VW53plv04LS_6fRRd5jOdLxGqkaycBV9lZW3-Fai8ZmsTqbyvSQ7ZdDl7EvZKDOtcBKcQDaNofFMCHcUg0wPOHSQQnQd2isGKEUPre2ToxFriSilablXZTrydhYazLB0qEbbjnHVvGqLDrCoNkInKgUuO9enesuAwqC8edJl3SYZ9PtdelJdOFvMamfrD3_Z_k6sJM4IRePKgxrxa_RZiVijEqXAF-yAa060asINYv6Dc152ZuGivzjJopeAY4Pn-sIKk1dZBK3yNAAKWbOvSbjs36RNB2OYJnBroBpMVHyoSHD3REpzxEIFK2YMyhgAdfTPXo_MyTtvX2nrSW2Ea2ZTBaYKG8dFa4E4iU1sFn9UfAO0TRbGd4G5Ssifac4Y49NcQbf3tBdXfYHD_kO8KAMF_FguIsSHQKq_zXEdr-98WHw_ehmtl5uFqvVfrBxA9JyqRcg==",
  "id": "rs_00e55cafbb1105b3016ab42f8a5f2887d0abefbdcb5b8e3cc7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.413,\"left_y\":-0.102,\"left_z\":0.027},\"note\":\"The left bottle’s body is between the open jaws in the wrist view but still to the gripper’s right. I’m making a small sideways and forward adjustment at bottle height before closing.\"}",
  "call_id": "call_vqREVBZSv2398LJylX5ktI8N",
  "id": "fc_00e55cafbb1105b3016ab42f8d868487d0b50b49e2b99ad97c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vqREVBZSv2398LJylX5ktI8N",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5453, 1.8984, 0.8139, 0.1944, -0.7975, -0.7162, 0.9983, -0.0193, 0.7345, 0.4831, -0.3595, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4045 left_y=-0.0934 left_z=0.0232 left_yaw=0.4565 left_pitch=-0.0129 left_roll=0.0185 left_gripper=0.9983 right_x=0.2786 right_y=0.0034 right_z=0.1448 right_yaw=-0.0025 right_pitch=-0.0389 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.5675, -8.3077, 6.5846, 1.2967, -0.3932, -0.1441, -0.0171, -0.4171, -1.6068, 7.2137, 1.9902, -0.0757, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07e181eaafb0352684e94953e3a81570f128dff4e3f9fa685657c78f8f2d69d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4bad617605680a8927ffe56945228d7b4df02063acc0092cce32027a70dc664",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b9d16c4bc656497a3b879ded128a07eb1911fe9a277da2234e524f0aa438d4c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 12 changed as sent

message 21 changed as sent

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4625, 1.6535, 0.9413, -0.094, -0.6956, -0.5888, 0.9983, -0.0193, 0.7891, 0.5842, -0.4011, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4181 left_y=-0.0779 left_z=0.1121 left_yaw=0.4017 left_pitch=-0.0261 left_roll=0.0121 left_gripper=0.9983 right_x=0.2891 right_y=0.0032 right_z=0.1679 right_yaw=-0.0025 right_pitch=-0.0339 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [0.5538, -6.9812, 8.7726, 1.1746, -0.4664, -0.1197, -0.022, -0.3487, -1.935, 6.7761, 1.9414, -0.022, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.514, 1.7592, 0.7105, 0.1986, -0.7753, -0.6888, 0.9983, -0.0193, 0.754, 0.5186, -0.3744, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.3875 left_y=-0.0727 left_z=0.0416 left_yaw=0.4585 left_pitch=-0.0052 left_roll=-0.0011 left_gripper=0.9983 right_x=0.2822 right_y=0.0033 right_z=0.1528 right_yaw=-0.0025 right_pitch=-0.0377 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -7.6513, 5.1487, 1.0574, -0.486, -0.0708, -0.0171, -0.335, -1.6205, 6.9675, 1.9951, -0.0806, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5453, 1.8984, 0.8139, 0.1944, -0.7975, -0.7162, 0.9983, -0.0193, 0.7345, 0.4831, -0.3595, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4045 left_y=-0.0934 left_z=0.0232 left_yaw=0.4565 left_pitch=-0.0129 left_roll=0.0185 left_gripper=0.9983 right_x=0.2786 right_y=0.0034 right_z=0.1448 right_yaw=-0.0025 right_pitch=-0.0389 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.5675, -8.3077, 6.5846, 1.2967, -0.3932, -0.1441, -0.0171, -0.4171, -1.6068, 7.2137, 1.9902, -0.0757, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07e181eaafb0352684e94953e3a81570f128dff4e3f9fa685657c78f8f2d69d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4bad617605680a8927ffe56945228d7b4df02063acc0092cce32027a70dc664",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b9d16c4bc656497a3b879ded128a07eb1911fe9a277da2234e524f0aa438d4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-Q284pAvhF8koJLEUsLDYIr0OSdIDDL1Ss2hzySIcb-m6VprGS9aRdTn86rybxAqb9bHLlGTjMILH6P3uXFJz4cgqdvpH3EzOp6Axj4UBvCmKi5QBKi6pah8iTmVWzjifjZH4GFvpoTrWJ9wlua4MtrA0sycD3YuaXy3N2RbetHb1YkQYPSV_fgriNum0_A7HUOckJQ3ecQGVoBkLqFZwT48KeMox5Y9NuRoYY9gQP-Btpt1xB39TGhr5YJgjx42dpegHnR7T1B4XZeBuS1F7aMuGjsroEHWwdMIqrV0AfPsTXmOgZeWbSrG2zDlxLp0vH1Wqbmdy0KrtdJOdWILBlYRmKQoxIkDZ1N7dkAHY61Bb4WN5e1TQ24ku6ZlGFQcoKCof_mRtkMYe9ogCPAmQ75SHX-h05aD31_nMX_sUwR8hWDPIM1F2JWUHtSDVLiLciu1CWa8WYLJXPTMw8huY_3SC95mGs1qFWY-UKJeG5uGp_Mie18aW-nPH1WSKvQAkCmuI2WFomz9131YbFEhpiOE8Zs1zrr4rD4XTlfqfwdfp_PNwmKiTdUULW9orNG09s-MSfwnG0chi4YMEE-LP1rg_yJj5CzMxXtXzq7nmU7zW1qLpM9QWkmF6PAv_ipH3TA6L1SiTw9D1H4_FidjMsHwIp5RNCPM3E-T2u6G7rs2tO3dPIyEZKdqOg9HxcJcmbdyGqLmKprjJ_us3Vuz9NYhjh7_qCO_3GaCHuL_4PAiZPi2f6I0S-8a_9NJimVZTNBEvzZTJcHoZdTPVZYfkV9f3PEEqXz0Gzzr3lV8X5zg5p-4lmjVjgUCTmOcfSYJ1ulvXkwx5XPX-AWouZP4eQRayGlm66RgxBHu1vvMgNpjxbcKvPMT6JViEJK2S8TJQxKVGgXI4l7OvNTckU77JDCfeYek5C1LcAYsqZBhUm1awCDlgQgNcCniy_jyVtVAhYoswXb16_18B62VlrhKfsvroLOh7abdNw-osSFqCFzpbVPVij1pdaAya2mgpSOriPTlPcnhlV2tpIf14BWYoI0dtaaTHL8TzlaVu9giovPLUtCC-WxP5g7PlOmyHzCD7LxRBAFw-NR5-iQPzN9eF9zaeqek6mRvUqt2pHxx2uZVqhKpaXFm1YbsG44-nq-4ZyqdehdnV7WibWMotBN-fDunVrnF993x4iEPDyNB0_FB6hLdkDhmZH53bb6eYIHcSvMQORje5rH-G_ehuINfvXTRbK5tJ3rx1d4xy4zfuKf5biU7KoEulo9LIxsaUiUk2_ra08Azv-gOBpmeVrUtne4kCo_Mkcpcozm4jUI6KTnjWoOvmyOsxrrPuLgLJO_rY2QwI23IMzxomdf2iFRxB1DotXFqEbjxFq1H_JZDdh5AC_mMUu70jlEbJc_JreYbXIkAJk9tDPFcTthX2bjwnsphFx7PLV1oYzD0CJMZFDKGLgx6_-FiqhOGG9RSi2nQ5qmjdKEabciVECDEEpfvEE2w==",
  "id": "rs_00e55cafbb1105b3016ab42f8f640087d0ad51acb0bd3c0361",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left bottle now runs centrally between the jaws at tabletop height. I’m closing gently around its body, then I’ll check the gripper reading before lifting.\"}",
  "call_id": "call_JRRF22bnVZggK2QBLowrWref",
  "id": "fc_00e55cafbb1105b3016ab42f902acc87d0a1dc1804c4ce12d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JRRF22bnVZggK2QBLowrWref",
  "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]: [-0.5499, 1.9179, 0.8009, 0.2295, -0.794, -0.7296, 0.581, -0.0193, 0.7128, 0.4465, -0.3424, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4033 left_y=-0.0952 left_z=0.0161 left_yaw=0.4568 left_pitch=-0.0136 left_roll=0.0036 left_gripper=0.581 right_x=0.275 right_y=0.0034 right_z=0.1372 right_yaw=-0.0025 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [0.212, -10.1128, 4.3556, 1.3211, -0.4029, 0.1148, 0.862, -0.4034, -1.0325, 7.1726, 2.0147, -0.0659, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:898ce0aafa9c5dc9053d37df765d4c0050d69f4317afe99da2b9d7efdaf15f59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9437af7bfff74220bc8b510ce7a942a813bc787aca71de785d0b0893f7c7916",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a192ae113990a85c073b56fe83cc6677f337024acc6988045e45bb8ee04a329",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 16 changed as sent

message 25 changed as sent

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4774, 1.5585, 0.6907, -0.0132, -0.7464, -0.659, 0.9983, -0.0193, 0.7723, 0.5514, -0.3874, -0.0296, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.3659 left_y=-0.0502 left_z=0.0739 left_yaw=0.4608 left_pitch=-0.0415 left_roll=0.0362 left_gripper=0.9983 right_x=0.2858 right_y=0.0033 right_z=0.1603 right_yaw=-0.0022 right_pitch=-0.0362 right_roll=0.0003 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -8.1026, 5.6684, 1.5507, -0.4908, -0.1245, -0.0171, -0.4171, -1.2239, 6.9402, 1.9805, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5453, 1.8984, 0.8139, 0.1944, -0.7975, -0.7162, 0.9983, -0.0193, 0.7345, 0.4831, -0.3595, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4045 left_y=-0.0934 left_z=0.0232 left_yaw=0.4565 left_pitch=-0.0129 left_roll=0.0185 left_gripper=0.9983 right_x=0.2786 right_y=0.0034 right_z=0.1448 right_yaw=-0.0025 right_pitch=-0.0389 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.5675, -8.3077, 6.5846, 1.2967, -0.3932, -0.1441, -0.0171, -0.4171, -1.6068, 7.2137, 1.9902, -0.0757, -0.0562, -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]: [-0.5499, 1.9179, 0.8009, 0.2295, -0.794, -0.7296, 0.581, -0.0193, 0.7128, 0.4465, -0.3424, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4033 left_y=-0.0952 left_z=0.0161 left_yaw=0.4568 left_pitch=-0.0136 left_roll=0.0036 left_gripper=0.581 right_x=0.275 right_y=0.0034 right_z=0.1372 right_yaw=-0.0025 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [0.212, -10.1128, 4.3556, 1.3211, -0.4029, 0.1148, 0.862, -0.4034, -1.0325, 7.1726, 2.0147, -0.0659, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:898ce0aafa9c5dc9053d37df765d4c0050d69f4317afe99da2b9d7efdaf15f59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9437af7bfff74220bc8b510ce7a942a813bc787aca71de785d0b0893f7c7916",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a192ae113990a85c073b56fe83cc6677f337024acc6988045e45bb8ee04a329",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-URRlttpjAoa4h1OIELwSnD14woDBHXlzD2nazhuPQEu8Fj-ujZ2VacSSB3U7wFgIO3IDSS4PUXhM3bpoivmFLHw1PKr8AVGmmgU3bmmt1KGsf-rVFOLBQmFCmXHTRUs9fbyOi-li2O5591SjTpNQlOjridT6hL5wdW5kjsiuFMHiSdPsQk16zYXTIYbztWW2gWvDnmLt9FKl5WM3KqeR-s1r-hKG-Au54SIO-Kc9xGoPiGMf5B5A1MgnU3V1OtAtNqkIpt9gGpAZ6dlpE-iyEeRwZ0KGvAQXnakSft2_UlRa0rulCD1yvX5Slz6tvVF-BfMCv4jSMSMtKsWvDvFPWPBq0-BflDUKl1gks0gNIVydtCUk1eYzKLIuZaxtDIthSHPTXeduKKZPA-GxgueRaJtYaYg69-qWv4Ih8cxWeghFWnmUr8YjzcrfA-wLeskaiE_yNiAal526wNNj6J6-dyZC4WVMSkMG3OkUNmk-4fd-6vE_ZOfTo8r7foPg3gndaJDy44vRhilUOaLLSFY02RqF6uZRytJUgyrPpDm5zzUvBrvwWUTuaJjJrL-PR3x_k7GjCiqGYMbCJV0tcW0M64JccWSGbfPPayWj7qjvoPhmb4glsPm6lsekRlHS6rihWSRKJiLLnjYHbcDo5TYRqbW6S0t3LQFKawpvWOt3sblOtH4q2pzzH800gg_5IfSv23Y-M6HkYPVfJn_GgP_If2Q5NEndCWoyQVWtwfVl7nSIGBOrbMW3E9QK073rt8TjP-DUIKqVdxXDkgt9ZPIgINq1ZshiJQXvuzZ8o6tAjYg36Zak4Mll_n--Wvjh-9RXfT7TkonxfTwWAibbaH9hVDJFmIKPZ4FNTJzBERHYan5nPgY2oGiMx98syHVo3O8AXD-dzxT7b5QjUZMwq_3t-0ogUS6xcnwmwkH6xxYC35Db2yVebTTIgLTOVJawySIZDz72i5Lu3T1gVf0HoyaRKxBGfmE4oE4EeZGqg9c8lSb9HnhQcWoKVlbFNZgMxp7fucVn3UZ63IlkZOb45sPmrOQDIULHghMUoKHuLx684TTBwHGIWJQrBf7XeOQ5XVWtQ7tjDdiOZQqGPgiqOa_dZd9_4MoGy-OTmYzm6ztAnuMHJVqkQ-YrvnpB5BumfQOnQJGWY4JFmQlDFdWmpnr0ee3bPaMyGyEY_3WYf-WcTMFhUyDSY_sbpuL7js_znnBeq5qOMtnQ6xD-e4lfFYJaCkJfJxJDI9ZizjN7WU_6wYTo=",
  "id": "rs_00e55cafbb1105b3016ab42f92f5c087d0acc639bcd96f1160",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The left gripper stopped at about 5.5 cm rather than closing empty, consistent with holding the bottle. I’m lifting it clear of the table to confirm it moves with the gripper and to see whether the base hangs down.\"}",
  "call_id": "call_tMgj8b5U5P0uwa7qP5WcWOcR",
  "id": "fc_00e55cafbb1105b3016ab42f93f7f087d08adcc623e1b906f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tMgj8b5U5P0uwa7qP5WcWOcR",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5503, 1.6775, 0.9794, -0.308, -0.7147, -0.7345, 0.5808, -0.0193, 0.6918, 0.4122, -0.3241, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.3891 left_y=-0.0987 left_z=0.0912 left_yaw=0.4173 left_pitch=-0.1326 left_roll=0.0631 left_gripper=0.5808 right_x=0.2721 right_y=0.0035 right_z=0.1306 right_yaw=-0.0025 right_pitch=-0.0316 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.5402, -12.1368, 10.7829, 1.8828, -1.2332, 0.0122, 0.3443, -0.4171, -1.1145, 6.9402, 1.9756, -0.0513, -0.0464, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00d38d884280fb9bb079895afe5b013f8e2e4d11f20f2ba65a2e5b896b5baf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c6cabb051d4d51b9b4e3ffd306d12d1bb2bfa1d35379b05726b43b70a94c22b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86d26479166f3493d282ecc80806150ee358340daa922178e232e860429a7038",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.514, 1.7592, 0.7105, 0.1986, -0.7753, -0.6888, 0.9983, -0.0193, 0.754, 0.5186, -0.3744, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.3875 left_y=-0.0727 left_z=0.0416 left_yaw=0.4585 left_pitch=-0.0052 left_roll=-0.0011 left_gripper=0.9983 right_x=0.2822 right_y=0.0033 right_z=0.1528 right_yaw=-0.0025 right_pitch=-0.0377 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -7.6513, 5.1487, 1.0574, -0.486, -0.0708, -0.0171, -0.335, -1.6205, 6.9675, 1.9951, -0.0806, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5499, 1.9179, 0.8009, 0.2295, -0.794, -0.7296, 0.581, -0.0193, 0.7128, 0.4465, -0.3424, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4033 left_y=-0.0952 left_z=0.0161 left_yaw=0.4568 left_pitch=-0.0136 left_roll=0.0036 left_gripper=0.581 right_x=0.275 right_y=0.0034 right_z=0.1372 right_yaw=-0.0025 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [0.212, -10.1128, 4.3556, 1.3211, -0.4029, 0.1148, 0.862, -0.4034, -1.0325, 7.1726, 2.0147, -0.0659, -0.0415, -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]: [-0.5503, 1.6775, 0.9794, -0.308, -0.7147, -0.7345, 0.5808, -0.0193, 0.6918, 0.4122, -0.3241, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.3891 left_y=-0.0987 left_z=0.0912 left_yaw=0.4173 left_pitch=-0.1326 left_roll=0.0631 left_gripper=0.5808 right_x=0.2721 right_y=0.0035 right_z=0.1306 right_yaw=-0.0025 right_pitch=-0.0316 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.5402, -12.1368, 10.7829, 1.8828, -1.2332, 0.0122, 0.3443, -0.4171, -1.1145, 6.9402, 1.9756, -0.0513, -0.0464, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00d38d884280fb9bb079895afe5b013f8e2e4d11f20f2ba65a2e5b896b5baf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c6cabb051d4d51b9b4e3ffd306d12d1bb2bfa1d35379b05726b43b70a94c22b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86d26479166f3493d282ecc80806150ee358340daa922178e232e860429a7038",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-ZMyoPUZjBNzHVWW5gp4-G41vG90_bnK_uilQDgOLC2cWk0Obq5y5IRi8-N7SKH3hVpV7uXkpDRDZ1kPVLXBKQSFpYvjnswz5auzaHHA16lUT8-o2FBchRoGX-qGGSaqScvfLOn96chUgGkPqRdhjP7pdzwrWuUC8Ak42sJLytn9eBiNFfGEI8rltg-dz4UNK08x9pFq7y6RsV2OC5hBNSFmBIcFUP3OTsA359ECry26RiSLiN4fvFxYEfsZ6HrZMoRXHXXZ6UDAD2FqNMK6VdUZASp79CayXshM19u7zYL4tihwHZwAmAKlCEuru5cC2NXfE2Hg1ku16Mt0PQPydgmkxMIdlBQA-lRJC9Oo76D5eRjvr1HZW5ryJ_EvWqbwEZ1cbMNZeDoLrJlxq3usVUsLNvWRsC2VEdox5e-HefbWoSdy7hoBin-GNoROS2QJNn4Jh9eKz2dUw7pzyNb2IORTSVT0hG2unRmECUhD-lg_Q9lYB0eIRqyMnG5g7RTQ3KBKeg2ZWy_KIeaULtNVy5l_Oh9y2DEAF6_mZPbnrQVmPTZYlZbboqrGgpoSWScWtr2LKy3wUWQfnBuRJIi2NarN9iHHoyTX5Bu415ewQMucbo-cWvJm4aw0H0vY4DxQBKCQCMVCSXBM_4ow6L49KjOijXr7rpPwLLjC0BFxo4F54YmB3pWgNEOBAtQ1RT6ueFVPl8pgC1szEnq9eVuJ3vqF-Tm-OTbBRm2IknZK7Js-cZ835M-vK8yB9G89HxpJ4IBVlfW2zcoezzAZbkuNkRkAe-tv_6U_auPmB1--pqqInvK6sgUv7AHj1qLwg-aTpRRN90XYy4SAERZ4D1eX4mkfHl7V6Kot9O0qrvFFy2TpYDMYI1j3BE4RxWFaTyiCXm_AyMRCxM030nLxF7i82bqfQ948Qbz0WBfGbn_PkwKQRP_1eElFQ1hwAneX1VzpYI78m16jTVtd_2pEkVzy1PykCiv4c7OI-WIy_fCRAdkUseum3uMVSr41NuI7_E2SQlmwhFCoFJbmpN6I_UBme0yaIRuejVmD46GlHXh3VLhmt0CU246fm_lfMaZw6IbMaT5slfQRXZEkFhIRmcUPZCQclDgOBi74cJy17-HD2wlv9wgywGhA0TUiTIqVMbCUa8ZH2PFUTzevSTEFs8fQJypN0sGVQ-ChorOYXENU1rZqtvUOQtKvdgPQ7GBovUrMpw-XCK7ZEeK6URcdqs-b_k88KAIG1UexNGTJP3_QtwflOBG_bxY4stByhknmonCy1hslkLSQLrMLqgmgQAEKyY2QKHJCSJ4cD9CyLYGKiL82Q6kq6pPHoz-AYEcRcwNaTcAUuoTb2yOppWTeaeRGRwfCQak4bOcAikxU9DCXo1SNA6vuv18OB2lfsa36Mk2OzUQIuUdrwbw2QTYKq5yE3OPF2IXYCqsukHNkO2KvkvbVuTgVhyHC-pnM9uG-7BagmxZ85rVKAwxh-8e7l2GvMcjU2uS-WwkIcHIzSeFknrlXBE9pYW2WUVA1fKNGA7r1jlTyNK0DQwvN7_tbpWTCuibPHrDRlf1J8PYilHGc2CHZWN6dktd-9guIpDogY14vVGr_YG2N2iF5P0g0299GHDyC_TA_OVAelvKqohCzd1xyxOE9hwmtN9BZrKQG2exFcschg8q7o4tViMmXvRNJ5Aoio2l_TFbsbfNGR5e_p4HPKwVm5Qs5hZnUE39FV8cwqe6QEy2WPTnr-SZg9VEPdbDCEFJEBX8GOyli96zQgKIhqJUBBMDPXEnt5b0O0oazrB8d89vdbtJN54aRdQDa7e4HpDlUyrn17QZsrWcKvz8-Ys0r-Nx9lwlk3JODn_Vs6ckE-TrT0U3Y4GnfGwWY76-4FhnJezUz7saG2AvWl9xTY=",
  "id": "rs_00e55cafbb1105b3016ab42f975c3487d081858a8dc8db704c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The first lift only reached about 9 cm, and the bottle still appears in the wrist view, so I cannot yet confirm it is held. I’m raising the gripper a little more to distinguish a real pickup from contact with the bottle.\"}",
  "call_id": "call_YECv3vJSUMVQXvmPZfdL7yTh",
  "id": "fc_00e55cafbb1105b3016ab42f98b37087d0956d8ff925227df6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YECv3vJSUMVQXvmPZfdL7yTh",
  "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]: [-0.5762, 1.5852, 0.9997, -0.4492, -0.7002, -0.7315, 0.5831, -0.0189, 0.6727, 0.382, -0.313, -0.0296, -0.0357, 0.9988]\nstate[eef_state]: left_x=0.3708 left_y=-0.1009 left_z=0.1143 left_yaw=0.3845 left_pitch=-0.1592 left_roll=0.0821 left_gripper=0.5831 right_x=0.2687 right_y=0.0037 right_z=0.1239 right_yaw=-0.0016 right_pitch=-0.0316 right_roll=-0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -11.4256, 11.2889, 1.9121, -1.2674, 0.2173, 0.4908, -0.1162, -0.7179, 6.9949, 1.9951, -0.0562, -0.0757, -0.0073]\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,$blob:f52b94d885915b15798dd3a99ca099d17f2f08d076e824123406c493223528b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a08a5ad4dddd265b6f2d80ee4d02d7e34db6c8b5ac4ba446e318dc728f58cfb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13e9b60d5dbb49320cc1b2299c8152e459d5f84b3e55027b16f89637495dd8ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5453, 1.8984, 0.8139, 0.1944, -0.7975, -0.7162, 0.9983, -0.0193, 0.7345, 0.4831, -0.3595, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4045 left_y=-0.0934 left_z=0.0232 left_yaw=0.4565 left_pitch=-0.0129 left_roll=0.0185 left_gripper=0.9983 right_x=0.2786 right_y=0.0034 right_z=0.1448 right_yaw=-0.0025 right_pitch=-0.0389 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.5675, -8.3077, 6.5846, 1.2967, -0.3932, -0.1441, -0.0171, -0.4171, -1.6068, 7.2137, 1.9902, -0.0757, -0.0562, -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]: [-0.5503, 1.6775, 0.9794, -0.308, -0.7147, -0.7345, 0.5808, -0.0193, 0.6918, 0.4122, -0.3241, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.3891 left_y=-0.0987 left_z=0.0912 left_yaw=0.4173 left_pitch=-0.1326 left_roll=0.0631 left_gripper=0.5808 right_x=0.2721 right_y=0.0035 right_z=0.1306 right_yaw=-0.0025 right_pitch=-0.0316 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.5402, -12.1368, 10.7829, 1.8828, -1.2332, 0.0122, 0.3443, -0.4171, -1.1145, 6.9402, 1.9756, -0.0513, -0.0464, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5762, 1.5852, 0.9997, -0.4492, -0.7002, -0.7315, 0.5831, -0.0189, 0.6727, 0.382, -0.313, -0.0296, -0.0357, 0.9988]\nstate[eef_state]: left_x=0.3708 left_y=-0.1009 left_z=0.1143 left_yaw=0.3845 left_pitch=-0.1592 left_roll=0.0821 left_gripper=0.5831 right_x=0.2687 right_y=0.0037 right_z=0.1239 right_yaw=-0.0016 right_pitch=-0.0316 right_roll=-0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -11.4256, 11.2889, 1.9121, -1.2674, 0.2173, 0.4908, -0.1162, -0.7179, 6.9949, 1.9951, -0.0562, -0.0757, -0.0073]\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,$blob:f52b94d885915b15798dd3a99ca099d17f2f08d076e824123406c493223528b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a08a5ad4dddd265b6f2d80ee4d02d7e34db6c8b5ac4ba446e318dc728f58cfb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13e9b60d5dbb49320cc1b2299c8152e459d5f84b3e55027b16f89637495dd8ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-fQ0We2kgwRxLYHNqlMiePLVbFG2y5AP3DUWuIeQO7tIyv6z93JYLCPxqIEyN2oVED3ctP9Qelmj0I6X2qaLfCC9kEc5sv5QgZxTTdW3HOW6j60Ijf_EBa4EC7UU3lDiAlxpVZHazIo1PNxNAO4f_jAQm714MLvIS2yiI8NnAc1jLTw9xwI43pkRieqBkJGpwlxnXFw191J_IZtxp_G7O8o3HEgjvYvyolt4OGvQtJM7p2lYbKx9W5UxuzOt2JrDmFZV_y5vY4GABg__BsMCgG_45t0_Qqb3IIyjw_9PTt9GU72nxAb2OK3h8baW21FG7pncY864ZkgB77sITyqBoC2FwUqZqWPlpSVOBfIRE2cuDdcYAvF8-5FttpPyRMQfy3TXZe0k-PZ3Yz0rbZHIiRnlRFZvhniBH68P1BKaFRLmTC_72tU13L1-f1NHiy-6-1b0GvjVBIqWb_m-HH_DGkxKgQOlhp7pF_bCqp951yg8-DV3XkulyteX6NLD3wYGuSarf3kxeSkJrMgIjZ_3JrXTF8rQ56lbezHpiBRf7jCgFv5LQmjJxVetAuIX4DNJsuFOjR6jqWXrAhOCEIgGTQS5MOLDEmCl5AR1-j42xZv3Hs9YSQUAuuf7CjrAGJ0s8TI0HBs7bi8Kk2usOFMJcijCV87klNjDKRqp66IDnI79Vh6MXbyR631vI_8pQedLtlSznYgx8qNMJJaRz-7G-Y-5fpdTDrYZN-w-oM_5hrAKX7YQjyOwQH_4wN7uxOSWDVMsy3lHO42MNGbJbzV2ZcMfezh68pZI43vbr7DYVjagUyavMvfgXReqqAmkYOzqPX62-j_gZUpLE4rxevoDDtSTLvJ6WFQkf1hT1Jw3HHTTtPugyxAsHTA6Eatl_Nt8kFa8ex-Xy_x0BnyQcUrcev-LTTP52ddDlRn3RC3bbaw27QVO2c92EA9fLUoYCivxhX18YXNEDVV35d-s_Wjf9c8Q1jpThI5fPVJUl4yxGUiLxcHqxVjs3s50A467NV1gGVjNXZ3-n9DV6TXgC-tI124L6s030TN6Aws0NPPeYUZepRpdJ2dUb_ZqvAngFVslRcgCExy2tcz6l_YS3WV_ls1opqZptx-Pr8qUCyJ9P7epnc0PbF5TK_1jHdStIWr-0rsoJBTd2l8QmzJ2roxEtksRPA1oL9cPSvW4bYRcFlZnzvECo5nKmQNM11FjzclUZ78suR-mVzzXGbBjs_-TMwZ6isOw0hzJGnj6BhEKWFGd7yGv-XdhiYUcupJdrJEBqkQH9CzKGFoomoduSP6zNtq4VQocJFxJHEl4GMO0e37gqnm0dgW5IZ809TC1lebbfuS098LCl3KsZv7WxJDH0W9D3_HPvIn4LGuO2K6jdwnMWdNPVQDU1O3OnEnE_7B04QU7TM8owVyCxxNx7Xhqk-9tenrMcRxmtoRdRLqzr-zgBZw5n-UEqz2AKjD7irD3_Kgum0Xo-_aQ-XZHck_SrCJaRXLzYL0E8pL_WfPzu7GOi8TVjWgP1mUBC5Oo4ndT5toAyvU50gWVRFvZhD4I8GS1xkopx2svPrLoKqzC8Xydsfy0368zGX2t2MsGghna3_yMbSxdBdBHZX-QX55cDvrA-s3EWCR8VSCUPcELXCWgojAwjZrEGHOpVkrm9YXS7rkyJQ748EbHEvf0IG7zxLal4ZCIyRXN50GQ81dWNfriUgdwxBMoHCK-RYKIW8niI5UnlOn-4j84AoH496OtaM5lx5V6rA-psYIhoqhyl0c3LimTTm9M_kUAPpFyJ0rKt6gdUM377CGxRR3B0JSKl4obD8mg1fAJom49kgAToEVgM1m1ak455k8zMf8JErYGROYK90HiNMQbXMt_CjV1OUGMRm_HX6ql9nPuap4atmVW4kTLjeh7Tb4IoxzmlWpD1oL2X_uKhJmcyHc1G1qUjgprDThEblc-Woy2pxprtwk9NC8YI9W9ZGWRwC3DwKR2h5bmlqN1FKByrdXOKjtwkBo_p4kCIKdP-NIOC7MrgX8uOzbDosVBn6eO_NbXyWl-NKvOsAroGSB4sVgA7zCGU-75PXXm9E-bG8Q-tKh7QAGY1Rf3CCSa_gp4vNKyvubb6vr7MRR00hndQpQRLJjAd0RlazwMBT5XlNoY4gzh3475bV1up-TGacdp1Twxi5aYfElrMptlNtAGk5FcWhMvzZHtixL5ugw-siQc0pxfoqppXq7reJETILWykMcVAGDZyo9NLN1l-6zImq0kWtL6WJAii-c-tlCXAws3s9HbL71wNUjc1IQQbsu-DH8xh7GWVj8pPSLR1F5D7K3CAEXQdV9VwrC7ojbEmVbv7xoiluDptFGYhhp2q63-PTXLTDqM5NKEhO-LJ6nvK62yKApwEz7dy-5mGoiqZ9SCP-mD98GPxhB4iiLRcEDjsnxHQHV-DBprThGSygzBjtE2C3gb7Izv_EkwvCvVvRbXpt44CrKpZUjz4Ye5a6U-4aWTnTezu5ZHJ4rB1vmWYVfEXVSkBfcM4Tc0a5bEs4yOSYMQ4d-F3xQCb0pD5C1XwwVoxi4jjqwf-xUFLYnwdZj-hh_xLouPfPR_NODvc-nRCrL9SkCFlT89vbAIRVwQGMQvoRYsITlJCFxkJFwZS014vQgJICJE8vWiQNfNLcb9EM9P4ebo33vvFyLWoPX2G5wQY5w9P07Jdj01Z6dVSJ8_vFcgsyqmAiZNCay47GoW8KMgBypjKwOqhrnC9jBwASR4FQYY5YgDneQl5dGULqzpNiuLnNXZF9lGHgDV3errCdNOOUuAm60-gVrh-A28Fd5b7mau2zkRSaqW2qWRVR2ndQTvsvzNz1BpeN9f-fe8Ccd3d-4k6OzGNRaVCBFMCCcyxzfrFx4f5nDuRSt1Q2Ye0hXF69hHjAc8hna3CU9-IT0dgbRj6lIU6FE5j2uqDq0xlzjDA2bnUbZcPWro9Y1MuXgINlFzv5b4Qw5YtzPl-qqqiroDg-S-6JTIo0I4qpRoJzYcDdDr4cF-HlK88gxbjN16fhiD4bTPqtNN9Ds4jPYixg33jpr7cVVzu0pVnEJrV8ExJVY53Z853Gyic7leNIikOpysx19HBn-nOTZbhD9zPQcBo5P_wpwSX_WiTvcqAOTyKoL2EYTdd1-cUxv9Juw5Nxyr1BeN7C17U_Q1EkJxtu8x35UiQb7A236gve_beDqQcuHyQ5IloRPhYxL2vQsfxEF0dT6e8rJDYUUwC_YPBzKJzyTVUiFCl4vZBXlw33QzQbA1Yg47VDSZbB93vKkTWF4A==",
  "id": "rs_00e55cafbb1105b3016ab42f9b3bb887d0a66c0aa99ab47807",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.45,\"left_y\":-0.049,\"left_z\":0.095},\"note\":\"The left bottle remains visible in the wrist camera while the gripper rises, indicating that the first squeeze did not secure it. I’m opening the jaws and repositioning toward its narrower neck for a better pickup.\"}",
  "call_id": "call_trl3LehPRujEllV9YM8L5BqI",
  "id": "fc_00e55cafbb1105b3016ab42f9e7c8487d082928cef3284a175",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_trl3LehPRujEllV9YM8L5BqI",
  "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]: [-0.3523, 1.7229, 0.8852, 0.0589, -0.6315, -0.5129, 0.997, -0.0193, 0.6525, 0.3542, -0.2985, -0.0296, -0.0349, 0.9988]\nstate[eef_state]: left_x=0.4314 left_y=-0.0437 left_z=0.0818 left_yaw=0.4248 left_pitch=-0.0419 left_roll=0.0238 left_gripper=0.997 right_x=0.2663 right_y=0.0037 right_z=0.1192 right_yaw=-0.0024 right_pitch=-0.0248 right_roll=0.0004 right_gripper=0.9988\nstate[joint_eff]: [0.1573, -7.5829, 8.2667, 1.6825, -0.1197, 0.2906, -0.0513, -0.335, -0.841, 6.8444, 1.8877, -0.0513, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72207b52c8717fa14630839f59683ecc7c8f6c3e6a95c1fe57c7b9f6dd4f3738",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6c2bbb4e20b855e748391208508425cba63da341393b8a23fc351d39fd7aaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f1b7c34435e818967b42de04f4ef273121d26e7756869faa2fe050e07683161",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5499, 1.9179, 0.8009, 0.2295, -0.794, -0.7296, 0.581, -0.0193, 0.7128, 0.4465, -0.3424, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4033 left_y=-0.0952 left_z=0.0161 left_yaw=0.4568 left_pitch=-0.0136 left_roll=0.0036 left_gripper=0.581 right_x=0.275 right_y=0.0034 right_z=0.1372 right_yaw=-0.0025 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [0.212, -10.1128, 4.3556, 1.3211, -0.4029, 0.1148, 0.862, -0.4034, -1.0325, 7.1726, 2.0147, -0.0659, -0.0415, -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]: [-0.5762, 1.5852, 0.9997, -0.4492, -0.7002, -0.7315, 0.5831, -0.0189, 0.6727, 0.382, -0.313, -0.0296, -0.0357, 0.9988]\nstate[eef_state]: left_x=0.3708 left_y=-0.1009 left_z=0.1143 left_yaw=0.3845 left_pitch=-0.1592 left_roll=0.0821 left_gripper=0.5831 right_x=0.2687 right_y=0.0037 right_z=0.1239 right_yaw=-0.0016 right_pitch=-0.0316 right_roll=-0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -11.4256, 11.2889, 1.9121, -1.2674, 0.2173, 0.4908, -0.1162, -0.7179, 6.9949, 1.9951, -0.0562, -0.0757, -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]: [-0.3523, 1.7229, 0.8852, 0.0589, -0.6315, -0.5129, 0.997, -0.0193, 0.6525, 0.3542, -0.2985, -0.0296, -0.0349, 0.9988]\nstate[eef_state]: left_x=0.4314 left_y=-0.0437 left_z=0.0818 left_yaw=0.4248 left_pitch=-0.0419 left_roll=0.0238 left_gripper=0.997 right_x=0.2663 right_y=0.0037 right_z=0.1192 right_yaw=-0.0024 right_pitch=-0.0248 right_roll=0.0004 right_gripper=0.9988\nstate[joint_eff]: [0.1573, -7.5829, 8.2667, 1.6825, -0.1197, 0.2906, -0.0513, -0.335, -0.841, 6.8444, 1.8877, -0.0513, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72207b52c8717fa14630839f59683ecc7c8f6c3e6a95c1fe57c7b9f6dd4f3738",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6c2bbb4e20b855e748391208508425cba63da341393b8a23fc351d39fd7aaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f1b7c34435e818967b42de04f4ef273121d26e7756869faa2fe050e07683161",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-kRff1z2LUmZaRSQCbmA8u6YJ0gK0bzywXpceamGkHu4dIGH2ht_U5bYamxV6nrvY-NbJn2_orlfJOB327jnXnh8efsd1InSJvkDke9qv0EXKfTKcuh3jR_okL6vLLL2zsiH5NPoDdFHtOu6lpaFGZ4vUDNVFZhZGRJPD2Jn_LyKHXa7PweY-KOHuf2eLQ979QCCrVf1pP_thUrNHfie-uBWqkh3q0sG7FJoRWcMuGF5loFyo_QKnr1vBlN93zWwvcl82c3av8E0xWOwaU4UF8z-XZg1wojwnGNiRHZw6BFvkQzkLeYcbXgKYDDqaUJftmoRhvIcmiZCQru8qCpcrTW2WyI2TL2P1V4MUVUphA40eUcTrmBcQ5lSiyjuQFlYQw45K1gqhvqy7Rfp15E932nu-Cc4FM5U-Pa8QLAv4VMOkHYZgJPtgQn5hym0hi7ABvmLOjpXsVu8OF9xsphtiOqPl4xTx5VPSxOpBGFF4p8fS9WWl3VhSKVXq3RQtEDWsiRbpCEY8-9uA8Lv25XalkxMNMQmnk_jGQSaaDePDamu5Byn3vFgcTUTdjSvCuy7Ic8Xdnq7axo8289Bs93TMLMcPCz_FhdU7hi2JDN6VIv4t4zVpjQFCtnl0NMGnTHC_bOYGzDyefFTCFUErmhEeEua4jYCRMeay5NiGn0QxbABanJQunJzGztS2quHsXHikH4_WlxuUei6dgt74-jDDimzca0HvlV7oJHo_6mleb__ubN16jueZSF0ydbb1jtz_fIYNU5wn6Q166t1zhPwaBkqWh92lI_u1YrCDHKeWdlT3Canu3hsUJOeEg7i1BuchCYqY1rS4NXVYEhPKaVqFryyz7-PVafJeQ8g7z7N46PGUnMzyaYFVDsrS1nKnCpSuO15ZHuh_-z1EQxeswMbeL629cBaUHjt33WAKka6tYyUXk3aS9y2xBV10bHob0F46fZCE1IrP2hlDpQCjfuvpncPJ0zlGiiMHvJynLffLgpGss9IpIkRWim6ab0P3efA7kldghQMr4eU0xmidautIMTCbVI9noKTIWUJXV9aJolj3XWxe495VN6Kw9swp4yYHV_o3AyC7DKGQVtaMtL66rHUR-ATq7Lu9Q-119WmIwxMao_BUsagO46XFci82RNbssUeNAUzM7imnMXYNU5fGuglOtdFJMOnoBA1G9I_GtUBFPmrJFKztzaZrObbRECKyN9o4XjbQeuInqWf3zuK_EcoCZf_tRX5zQjxxvkQoNH-eCk3arNBn3tdr0zbbtJl9kwWvXJgcPdOs1DCpcy9hmUVxyOx_sr5fpB1TuqGG6XHSeGGq0reLQmO3ODT6QNMqODZ7qYMACwNRGL6L4EogkY1X8Hbb03Tn8aCqaxwZY9j_OsHPLlikoN17Lpn4MMeKI1BW-_peaPCWxxfa35ZKn4v9IX95clYrBIuMLeF0kqSXPGBqqbIzwEHSq096n5D5Rq6SI1AQMH6EkUs-JADT7FY4ofS_zk1FADm4U-1dhhYOS6yuXmrNAanLA0weQTJr6J82GZW9DyOY5boz2Lt3ZzXVxERHOTqoYt60a5tcM0PvPOJuqvFjhFd4v5eOjgm09ytVBDFMkeIb5VCn8JBVv1CPBSpj5FOTfyLIAjZf0HZh3uLLvz0A2oLrr-zs7qXhVyF_04bGbzMQYoKUF_gQE1-g-eCFiA-kERxKcQSqGGetpEKBFo7M-p3HjIH6AWXId7JC_OJrM4j0uusjlNan7_J1CDXeoxI5QeLIDLVXw8cfnxiC72_ghn_Ks_eBHSn7gYqVpKht6zBTeXl6Q265SNtZDIAdEO6WiNeJddF_3EQwENS3YekaN3Xqe1hFp-V5zHuwEkgzf94IsJpEtvOUCwbmjcA2CUr_cX_qA_-m6dmgavuuChFOT7FK3BkpcjHXBExncIuLZ44KS9X4kiBfCKwysA5r_ikQ4BJv2YX26zbXCVAEIeztIS-Bhy-nlyuhFlBibvtL_7ygafTIN80_Vqt29KJWxDO3U-Sq73bSbynabwA_LwKuk2H_JOq5-zhcnJYUqJhZ3dMYBCN-0_ALX0Fzh9S7zqdHYsdbIvNcDiVKOiQOIDQMflTbzsm2pC8lG2BpS2fIkrtlq5S1mz9bNwsWHgdjb11UPzQ3D9an7sIIO2oFTzrqqoK-Ts_FQB5YZhAFDv2goOy1VrIs2RXSChLJ3EXSnQ4JDe84xTJrTFKkPqmidc_jn4n4OZUupn-mb",
  "id": "rs_00e55cafbb1105b3016ab42fa160c087d082dc0628fd49ce0e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.474,\"left_y\":-0.045,\"left_z\":0.04},\"note\":\"The opened left gripper now has the bottle’s cap and shoulder clearly in front of it. I’m advancing over the narrower shoulder while descending toward the bottle, rather than gripping the broad lower body again.\"}",
  "call_id": "call_i4nDdqZaHZyXB9wxER5Ucx69",
  "id": "fc_00e55cafbb1105b3016ab42fa37f9c87d0ba2adf3ea9c7edae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i4nDdqZaHZyXB9wxER5Ucx69",
  "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]: [-0.3466, 1.7821, 0.8654, 0.1707, -0.6212, -0.4973, 0.9975, -0.0193, 0.6392, 0.3317, -0.2905, -0.0296, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4397 left_y=-0.0457 left_z=0.0673 left_yaw=0.4138 left_pitch=-0.0235 left_roll=0.0088 left_gripper=0.9975 right_x=0.2639 right_y=0.0037 right_z=0.1138 right_yaw=-0.0022 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -8.3487, 5.4496, 1.6777, -0.4127, 0.0317, 0.0415, -0.3761, -0.9231, 6.9812, 1.9023, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:441ef59e5b540b750ea8ede192a47a8f418fc8458c65470823f340a2564a367d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3048a970679a5293e82da1403f565c7fe7be4ace2987b44e44a9f000fee65ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67451e83310a45b29f15f6ac6ed1bd499ce4aae1bb906eb5633ebdaa9903fc13",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5503, 1.6775, 0.9794, -0.308, -0.7147, -0.7345, 0.5808, -0.0193, 0.6918, 0.4122, -0.3241, -0.0292, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.3891 left_y=-0.0987 left_z=0.0912 left_yaw=0.4173 left_pitch=-0.1326 left_roll=0.0631 left_gripper=0.5808 right_x=0.2721 right_y=0.0035 right_z=0.1306 right_yaw=-0.0025 right_pitch=-0.0316 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.5402, -12.1368, 10.7829, 1.8828, -1.2332, 0.0122, 0.3443, -0.4171, -1.1145, 6.9402, 1.9756, -0.0513, -0.0464, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3523, 1.7229, 0.8852, 0.0589, -0.6315, -0.5129, 0.997, -0.0193, 0.6525, 0.3542, -0.2985, -0.0296, -0.0349, 0.9988]\nstate[eef_state]: left_x=0.4314 left_y=-0.0437 left_z=0.0818 left_yaw=0.4248 left_pitch=-0.0419 left_roll=0.0238 left_gripper=0.997 right_x=0.2663 right_y=0.0037 right_z=0.1192 right_yaw=-0.0024 right_pitch=-0.0248 right_roll=0.0004 right_gripper=0.9988\nstate[joint_eff]: [0.1573, -7.5829, 8.2667, 1.6825, -0.1197, 0.2906, -0.0513, -0.335, -0.841, 6.8444, 1.8877, -0.0513, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3466, 1.7821, 0.8654, 0.1707, -0.6212, -0.4973, 0.9975, -0.0193, 0.6392, 0.3317, -0.2905, -0.0296, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4397 left_y=-0.0457 left_z=0.0673 left_yaw=0.4138 left_pitch=-0.0235 left_roll=0.0088 left_gripper=0.9975 right_x=0.2639 right_y=0.0037 right_z=0.1138 right_yaw=-0.0022 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -8.3487, 5.4496, 1.6777, -0.4127, 0.0317, 0.0415, -0.3761, -0.9231, 6.9812, 1.9023, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:441ef59e5b540b750ea8ede192a47a8f418fc8458c65470823f340a2564a367d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3048a970679a5293e82da1403f565c7fe7be4ace2987b44e44a9f000fee65ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67451e83310a45b29f15f6ac6ed1bd499ce4aae1bb906eb5633ebdaa9903fc13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-q2i44M7xrqf-HqA1Q2m0zVwqVaVuDisQ-llbNNKrYZdkrdlzi_vVuXnl6T0V5j6VxVYShz2yo7eRK56-zK8hfKcpH2PMtD0E28BSp0FRB6ET6vPW9s2tMKjeNOYF9WOeDn4ZEFi2aJPF6Qi0h1fjBHmMghWPajufBxZnk0Ypmcyr90u5-pVTwTgkeZz_oeK4n-iLZMoseR3whPEfcFHIqKzjySJm9iNc_O5oMGepBlirLiLI_xO_MqMxrReCSklQuM5mb_vAV0Bu_mQTGp2PKxZcEhvje4_FncKFDajFGb5RIfBhjgQXErV6CCdNtT6EZCXeL2tfYZx_k_Jv5LcTNCO8HwnzZ2wo8wEIhAmYbanCkZHlcIsF20081CmBfSLJbWDs5P4GHKuV7kkGGdZmoKeTS0S1qbGuGUHlkS1djkoYitN1zI3p1exJRK6fu9XYSAjyL0eIUocrgKrmiWtUJf9_Hxk03hNAOmXu6d2XntITJtLhBacBP8CtCcv1TSOfgOQfzl6jNNX-xpd0gV29ZrTQxsxIVZPFMYB0DNx2uTSGnMchJ50PALdvX6uGr4PnUYbR7MVfsdas5QGC3UNhehI0ar24z15jk4xB0eakHJ3SRxfLxBRVm--9fBXCWNKlKBn_Y9jolnonUstSh19tzfkh2FapmAjw93v1pDyPv0OSDlUlzAKmtZWQKca0xr1fv8-XvyaKADo3KN7wQVf9QItUqNt9x7HTw1-Qa-eKlKmvQ8lLKesYmCd6VbdgtMmyDoLtWQxnQQNL0UVZJ8FXaF31p7MqkkHQn3bRK6PuxQPKxew0HzUaCA-DH29Z1sBRSs9Z1rMfsNeAu1f_XwCMIrdm2cX1QQleBAar9vr6TICu21Zgrvbq9UpglEk8PdmyuAsEqWoAK22WysCblTBa9YIrWU3JQOD9Dxdl-Zz7N9AcY37ERGOssoXCtPcfo1YvvDchGxL92CuaWvgEM43VZt936hrWW1ooljR8xMEOPbcp8-cBCdbwIZAlmGQ8zTp2iB9hnWDcUtXgvZLbFfNzM6k2a9c9m8sVzHHB24NF2LJHi1xzDjdomKk6G9wD1HDf8gcqePjo2chrMYoMvhHhX3xJer6oqTpAd3N5CAL2Ig5o4I-sgBFLlCl4ITRiAts-kGmsRYrx3Z3aFBh5LwncSv2nTZ4Bw3kwzxhXn28I0iYx7SV6FgsFu2DiiCMxDmvnn_C9_QhBdXDautsKWwWUmk7qYTTaYReghNpuCFhyTgYQOi94fb2HsPMkDkByRKycFe4YfOAVUdHgvG_0-YNwHIIERkq38YvMYkUOHKyHXISIMJwROahBvNbgLqmiC0yMoVEoXxfiHFRc85scnMDiB7Ej3qdNFQ4NhVfh6vlcUs-UGTjHguQeCIot2G_g3E6eG4FcvQK2SXAjFPVF1cCxgADmKp-KJOnkoZH-TO2X2wE7EJGzbMto9zg33SR-C0AV3wZcb2tnaBc_R4mScMnrnUEBXC36C8gf3LpZSlGBDnUyzzy-GSZ8r7DBo8hizmMcIAP17ac37CXIvlCkv-H0phaFX-jpNN85OxEiadA6-IgWXzpoqxW6KvKz8j6vXY8fZnd0ft--k1UvCzG7nPVTIWJNAQsRss2cYhiDJBuVKPkHbLvPP_RI0a2PPB1Gf_-o1lKoX-ZVRktLFAH_SCvq43MoICwkhFHx2uTOPA1E7k6jMnLkslazI_ORv61lEqZMQznMcLcRZL7cBdlgL6Qoi-3GTjCisX9C4f06vikqd8NnckVFgeOf84NcPe65eE-FKG-umw_5YoLcDr-Yyw9uQrbna2dY6A0PZKspIHkjNI58TlU1dLwIQHxC1n7kLdzG2hJRAIAuev8dCL6SLZEr2Af4WuB3lDPMlGakYTRaYCMvNYSyIviZLMrqC5t2jwysEG7-rvsu-A7fs25QNnOp-0AmmBispULv48PIM--HFaOKkD3uN52OT-ERljeEJC97YGNNRWs9_NZtCIGssXpkFHcQZGES923yiuB_QVGnFgBoVH4MePVnew49rEE3NBhz27k9oabZROIn48s1h3LD6huig4PB1dtJTrtc_NkmMbCHkwt1MAA-NP7g3A2kzdFzuzLxWazuvEMLPz1OpLDMag5qHA3HIMNbovJbUzq7PbNH9YDLBGVsG7dwOg_0iWo0Uij6EfQ3dh5gksbWlXzyhW-4tkpkW1PHWM3Op-IzK2XaT0VRNJ2_QwrZmBuv2Fok-o3E_-Z_9-cyHdJM5VAFzWcfciWghUMYoS-0Cs7r6xEweYM7P4tR4B2c5eaqlsIJaF9TYOVBbUdCHf-hTNFlxKh_gstkrw1ZGCzebR95FKbskr3R7i8kI32aycOF9lw8GOBeW2_XK7GPSY8AT-2dEHJd_GFTsXMPHeKm514OgXJWdKYGQATPWNhssXPly-lKGF6amueO4kDsN7K8cPH-tZ4SkiChYaruD3zIC2pERa4KQxubyvuR6BwkcAIuUYTMgC36AQjllVAvY61djN1VizR176Kzv4pu48bHEsuyrL3CmpOvxKpVEsXexWHd7C8wgY0yS0jCjwA4YvH3_VSnHhBrP-TxpG_ckhXpr_bBH8LaykzuluP05oCECUJvSglRxJIUm7F3xHbl5FKofTtA2q535XsqbtUxVvCcRm4QizJrS1OER_y2z4CqT4eNYhJZr4nRfA_OpQ-d6QdBNSTqQyRCLiMuM9rNOfJeqQtdeZaLJaeebL1rYGca-78q35jJ13Tc_XQPubK8XO6fcK3buoTem1BDjJC2ZDM61-2rBZGN3fbJ5xUQVarD7ZkYRt7LVLg8AkXx1gWm6DIYv_ixvhdYJGGyUUIfp0pbovWXIzWBT9kBQnKWio8E-RIixaw2bMLSG-u2TboHolMF8HTBFD_qGtXvZ8AkNwZajG5dAEeSJiA_RqAcOvIuFqQmpoZ6o5d4rLDYEW83ZhmbPUSVV2pkLk5Av-WeRf37a8TZkEYs=",
  "id": "rs_00e55cafbb1105b3016ab42fa5b2d487d0ab0081c9b2db5a8b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.427,\"right_y\":0.21,\"right_z\":0.13},\"note\":\"My left-side adjustment slid that bottle toward the outer edge, so I’m leaving it alone for now and parking the left arm. I’ll approach the clearly visible right bottle with the right arm, aiming near its upper body.\"}",
  "call_id": "call_8QUAbzfQgVpRSBEzkhpcFvUM",
  "id": "fc_00e55cafbb1105b3016ab42fa9213087d08a3b1e8aeaaeb0f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8QUAbzfQgVpRSBEzkhpcFvUM",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9489, 0.6498, -0.4305, -0.6518, -0.5278, 0.9975, 0.6273, 1.7111, 1.0149, -0.0189, 0.4717, 0.3153, 0.9988]\nstate[eef_state]: left_x=0.2965 left_y=-0.0034 left_z=0.1716 left_yaw=0.405 left_pitch=0.0027 left_roll=-0.0138 left_gripper=0.9975 right_x=0.4135 right_y=0.2051 right_z=0.1133 right_yaw=0.039 right_pitch=-0.0517 right_roll=-0.0373 right_gripper=0.9988\nstate[joint_eff]: [-0.8274, -2.2906, 9.1966, 1.5165, -0.4274, -0.0317, -0.0073, -0.1162, -8.2256, 8.7043, 1.6972, 0.4322, 0.3346, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab1701a6b3781686ffb8ed1e1703fbdb0c46629a40cb460aeb973f664933573",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a3b73935690a2fb130664040356d192c4018b2b5f2a7d110d24c62ef4e26faf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad90bda28f71584f6a63df32a2b497a4ea0efa3091cc5fd96f52648344660224",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5762, 1.5852, 0.9997, -0.4492, -0.7002, -0.7315, 0.5831, -0.0189, 0.6727, 0.382, -0.313, -0.0296, -0.0357, 0.9988]\nstate[eef_state]: left_x=0.3708 left_y=-0.1009 left_z=0.1143 left_yaw=0.3845 left_pitch=-0.1592 left_roll=0.0821 left_gripper=0.5831 right_x=0.2687 right_y=0.0037 right_z=0.1239 right_yaw=-0.0016 right_pitch=-0.0316 right_roll=-0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -11.4256, 11.2889, 1.9121, -1.2674, 0.2173, 0.4908, -0.1162, -0.7179, 6.9949, 1.9951, -0.0562, -0.0757, -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]: [-0.3466, 1.7821, 0.8654, 0.1707, -0.6212, -0.4973, 0.9975, -0.0193, 0.6392, 0.3317, -0.2905, -0.0296, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4397 left_y=-0.0457 left_z=0.0673 left_yaw=0.4138 left_pitch=-0.0235 left_roll=0.0088 left_gripper=0.9975 right_x=0.2639 right_y=0.0037 right_z=0.1138 right_yaw=-0.0022 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -8.3487, 5.4496, 1.6777, -0.4127, 0.0317, 0.0415, -0.3761, -0.9231, 6.9812, 1.9023, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9489, 0.6498, -0.4305, -0.6518, -0.5278, 0.9975, 0.6273, 1.7111, 1.0149, -0.0189, 0.4717, 0.3153, 0.9988]\nstate[eef_state]: left_x=0.2965 left_y=-0.0034 left_z=0.1716 left_yaw=0.405 left_pitch=0.0027 left_roll=-0.0138 left_gripper=0.9975 right_x=0.4135 right_y=0.2051 right_z=0.1133 right_yaw=0.039 right_pitch=-0.0517 right_roll=-0.0373 right_gripper=0.9988\nstate[joint_eff]: [-0.8274, -2.2906, 9.1966, 1.5165, -0.4274, -0.0317, -0.0073, -0.1162, -8.2256, 8.7043, 1.6972, 0.4322, 0.3346, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab1701a6b3781686ffb8ed1e1703fbdb0c46629a40cb460aeb973f664933573",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a3b73935690a2fb130664040356d192c4018b2b5f2a7d110d24c62ef4e26faf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad90bda28f71584f6a63df32a2b497a4ea0efa3091cc5fd96f52648344660224",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-wLre4KGypEldDjUfBfKyBhPQzUS5AEWir6nbIXl2HwfLUnu6PccYabZBxiNR39yB6aEeLM-UatTO7pN9-g0n4bYS_uX4Cv7ecD77hPF_x4h6GEudPGrHNfJkVyEjFohXJIiKjqhS-3-4_k_3zOk-YI_DQOp9_rL2aNNjaxCnZ5v8UURidmRLIL3QscCQElyRndb-ZubL8Ywf39amkprNRZ-Q9UiAJxKKVRKBUvaG943GypA_NHxwRVc27EyyFOL9TixLJrTiwN4glC-_XlbEzqQbIra5f9SNVXIPw3oyrn0IzASBALiWsAWvHqUrcdecnKprS3rAnKNEGtj7w508IlwiQ04DUa4rQizeiiviEymnxlHgSTTZNGrvKpTk0OlXm39X_6zQefvZrMwM3gMW-Ar85q6PvLOl_uvoKdiIVNdZ1pods-4Cy6oV4-625CZZQMspr5jGDkVZbxQIwhrHLfPbKOFu7KdvZjY_LzM2hMGK_r4TCAreDgzweWkGXbkiYAceMHigHlQQ9OsieB6YzPFPoKZd4D3XPQfvkMk1NFCIsDTL1UaQqvoaQ-o4PESUko8sDnpvEOi2QXzKfGnLqn_m0vEbBeE-0tjvbhct1wePzD_KTKhImMJB0iLzmMmDBYz8db49rtrrnv0VHkNb3NzcLfgYZmIsKkXWWot917NtvTjxdyOzG9vNPrsa_sopnt9XScmuk2wV7jQscCP-Ehhll4CO_AKJsLVQ65qD7YZk1OIi00Lb2j2yzo9Ila2Nsx2stNzHZeiEVKpKkhYZkT5S1FtiSGj5gujBUVUpfw8jecUMu_rAnUx30QzFrY00W4tVv4ro11x6ywlfe-yP6G1-SLNbaWzE-G0jsEseQGz64RAtLdukt7Pu8zqxxG0oSYo5cgGE02b84jPZEg8LOgKjAPYmbU9X7QADZEcLMHzUopOO2dDgVS2ZSqORcAesgnnpdplCCRphHXBupK89sqe31Erbt3i1Ot-JL5uoQj6ekfQW3KIJcI6rj9QRbogNEHEZW0VESSN38LBYyxVtgFPCaMTGgfqgVTnoVppeFxp-8WfJUestDAZg5zC0fYH97JG19oTemLh8d_VZdZy4eokQ4srHfrDZyZDpud3lTZXSDHiksuJuW5lTXzaoT-jL3e3vZtJ43CAyM2F45wtVynmqXXTE_UiX4uC5Ofh1akxTS9zgtRTf7nbIc8LS_DuvjNGHwwCp22XttYw_J9jasWN60DJPiFoMfRGrowPFzGVAkj_Nexgh9v7XU2f-dbP3QEqutA8qcbbjutqLap866yg1K0UIKgr2qp3m9MHxxz8F_9OQUwUysWYJATOH667ZLzciTtRbCDhjV-9_q5ZjPAqJdVUw0OcohNIhDChB-8mn1PPJsDvjhQhZ847vtyWNDykZIt-ykxeJOPM-6seuEyfyCWB1FcebSzNhcwdW4VjzqdzbNmMmWPCF-B5bdh_IEvqf7dF7ekCtZugovTU582XRmlePcRI23SNXrqjfif2NE_nZBuHLKRQ688e7yg9hgjXSHozfS9Dq7cGHjZoZ0YQZ2V2cbGpZlDLpw3wVe_kdKUQ6i95sF8SliuqwvSFtI3BFOithp8PUNnXfQwaLEvJbEY0BNx3PuppKSILFpziDBOmiSkRRR9caVTNfqZgg0jpgc3hDZ_Q868Bcl9PlvSoC3X8NEWxeTRoVmHR2HgTihKdOMQymC2cE4UckjKASF2hlWYsB_iNBOt3LM1rw2G-HVqpz_U9oBvZmdq5AoKxa-8gLzRN02tgwx5tlrpKMcosNhgHdgupHf_nQLLgL-G7YnOpZNFylUjtAamNGDv8ugIG9lDB6NYOO0QZFVwz7wYdo9ApDUovoreSEbmPX3mg008kEFJDdIQApABsgJWrE=",
  "id": "rs_00e55cafbb1105b3016ab42fae77fc87d090a4e1a7a1e8e706",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.468,\"right_y\":0.17,\"right_z\":0.049},\"note\":\"The right bottle is visible just to the gripper’s right, with its cap ahead of the fingertips. I’m shifting slightly toward its shoulder and lowering the jaws to bottle height.\"}",
  "call_id": "call_8S9hQFmW0eoAOkCJoam19tPr",
  "id": "fc_00e55cafbb1105b3016ab42fafcea087d0acad69916b8f35ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8S9hQFmW0eoAOkCJoam19tPr",
  "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]: [-0.3943, 0.9592, 0.6498, -0.4519, -0.654, -0.5274, 0.9975, 0.4675, 1.9217, 0.936, 0.281, 0.3653, 0.2211, 0.9988]\nstate[eef_state]: left_x=0.2941 left_y=-0.0021 left_z=0.1658 left_yaw=0.4067 left_pitch=-0.0182 left_roll=0.0103 left_gripper=0.9975 right_x=0.4511 right_y=0.161 right_z=0.0367 right_yaw=0.0153 right_pitch=-0.078 right_roll=-0.0478 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -2.4, 7.3094, 1.5556, -0.3492, 0.0024, -0.0122, -0.4718, -8.3624, 7.2137, 1.9414, 0.1929, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85065c73bd68bc65df3ed2b2143d3c39bf62bce6f223c70eaf48f8fd925dbe5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3d007c780b5883bce3815c81e057d1d484d33f9fe229139a8cf8ca288659d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cdc523df625527ce23673a0df0a9a7a1a1552eceda6e23da105d3348192b9a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3523, 1.7229, 0.8852, 0.0589, -0.6315, -0.5129, 0.997, -0.0193, 0.6525, 0.3542, -0.2985, -0.0296, -0.0349, 0.9988]\nstate[eef_state]: left_x=0.4314 left_y=-0.0437 left_z=0.0818 left_yaw=0.4248 left_pitch=-0.0419 left_roll=0.0238 left_gripper=0.997 right_x=0.2663 right_y=0.0037 right_z=0.1192 right_yaw=-0.0024 right_pitch=-0.0248 right_roll=0.0004 right_gripper=0.9988\nstate[joint_eff]: [0.1573, -7.5829, 8.2667, 1.6825, -0.1197, 0.2906, -0.0513, -0.335, -0.841, 6.8444, 1.8877, -0.0513, 0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9489, 0.6498, -0.4305, -0.6518, -0.5278, 0.9975, 0.6273, 1.7111, 1.0149, -0.0189, 0.4717, 0.3153, 0.9988]\nstate[eef_state]: left_x=0.2965 left_y=-0.0034 left_z=0.1716 left_yaw=0.405 left_pitch=0.0027 left_roll=-0.0138 left_gripper=0.9975 right_x=0.4135 right_y=0.2051 right_z=0.1133 right_yaw=0.039 right_pitch=-0.0517 right_roll=-0.0373 right_gripper=0.9988\nstate[joint_eff]: [-0.8274, -2.2906, 9.1966, 1.5165, -0.4274, -0.0317, -0.0073, -0.1162, -8.2256, 8.7043, 1.6972, 0.4322, 0.3346, -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]: [-0.3943, 0.9592, 0.6498, -0.4519, -0.654, -0.5274, 0.9975, 0.4675, 1.9217, 0.936, 0.281, 0.3653, 0.2211, 0.9988]\nstate[eef_state]: left_x=0.2941 left_y=-0.0021 left_z=0.1658 left_yaw=0.4067 left_pitch=-0.0182 left_roll=0.0103 left_gripper=0.9975 right_x=0.4511 right_y=0.161 right_z=0.0367 right_yaw=0.0153 right_pitch=-0.078 right_roll=-0.0478 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -2.4, 7.3094, 1.5556, -0.3492, 0.0024, -0.0122, -0.4718, -8.3624, 7.2137, 1.9414, 0.1929, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85065c73bd68bc65df3ed2b2143d3c39bf62bce6f223c70eaf48f8fd925dbe5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3d007c780b5883bce3815c81e057d1d484d33f9fe229139a8cf8ca288659d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cdc523df625527ce23673a0df0a9a7a1a1552eceda6e23da105d3348192b9a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-31Bp_2vw7BKfTHBSatPFFK6Lo1yASFuUC0k8hdTS9Lk_SEsYaUw0qYN0g1msKGSLaeH7nhF9XOXGmRuhbsnkoT_QW-QuKYSqb9HN70AlmigMo4eEncZj_7U3tMUcD7pkOjPbqTNJslVr-xgD8kl648LHzp0MrWkdTTegQ2yG_2iu8wYbrVkIWohh5OA0jC7T68ISi7nUymJbeEYVlyoEv14DGPw-cvkfQ24mqO8x3wgZYuuLD8UBkRL0qsPVsDh3P2JDhRi_vmVjTJMAVD5wY6AzK2Kk2rQXbFa_e8Vmm2dtMiz_Dxes4k8qzO_deXCHJEGO9W0odKDBn5JN38xzeLZ6bSiBgxzP9dsthJ6AG0XcI8wPVqaIY98qLToUtN1NXYzOoTm1AgSopA59h3JXerhLB1HXt9fcFXKatZWrPr8wsKk8r4El1KvpsIc8nd2SdlxOvX7ZKafzj_OoyDMuDiUfZCvyi8FKHMIFaqOzlEjFyFSCXFG0fcNcW_XaiVcWJsd56mcnUa7ONFp5ImLta-8jUb37kykyu1KDZ_Fj4QeDQa89-tlItI8oGQ0ySTsaOPx4jhOC2UfnZmlz44-wnq-MX3SL6TXnQ5C9UFraKILDeSwHFQ11Pecvbg2j4IjgYAeAgYgstEIKBJItDrfaohnmxYFU-BZv-v4BE0pFFFhnrAGKkUbjcr8bswnNau7-76-fwKJ3gK7aUDgyRWvy1SsKAqUueETudIRqRyEBm3OMf44zyaYIUghG0GIpZgEG58nmkoXxQaUEnBDDe6deaSqYrNqXDQusc2_-Y7zKNFgdrx_6rEqD-cWsQqdJnBrWl8SdV3Sjt9i1NmPyJFGkorNAxIGwr-BezpTi1--e0CSlgj1klGs-NElK_y3rj-kcM_M4QMQDqAyFJiE76rOxOLobSXAgc91EX2eOQs5oyskmfk4vPR17pVAm6WWC7v1rSJIgJfOzyulncBenFAAGVpXZ1kUNPISRIZzsAvGDswHsYr86Tfcxm1iK7pKlcEL7y3XOQitr2wldueVDeCie1zewiEJe8ADIP-kniPj10RpbHoefhI5w_1eFNeF96RJOSpBKv4B_Cv0r50TQ907Eog4Pr2RwLbi6Lcn5r1qmacu24lZxdqyIW-nnuWrFfcWVnYoq_fqpm262MwAPONEGqcJ6CH-5_FuBQiOWP38gfz7YWLup3L20HBbpFL-kWuiT9Q-Pz9sjWFHC9YYPasWFSxFkPrfi13FqZ1I937zugYbmjsiJib4fUOoBQXOmeUkQj5bKtwSO7QAeipXMxwo_pn2vctx9IVHrDLaE_RZNlzXHkmvRrikk3n20lIT0Ib8LGHkZ8C7pb-Mf7NRAIgEFiZ_h1lIaAvfhZ-IZkCQsGyh-Rlw7wtPlwAOjcIgks-vhYeWATEXv-N-ZtC6_ugs24Ih3S6AykuqYILbJZfr1oBYLq_naGxOoM5vNHbbu5Lf5Z82MA7oXzwHl_rblPpbur0akfZ_WlE2esyIXnZNedOu14Nc6DvWhNmI2pQbQX_TtrfUcmkzqylYEc3yGH-Jb6w7gykuI-mMGjAZY1vBJY1o-g-POoJsL2cXAthXo0hw03pd3Yopu-DFjgfa9Yp-Nf2g==",
  "id": "rs_00e55cafbb1105b3016ab42fb21b3087d0ae40198ec9c15753",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.464,\"right_y\":0.138,\"right_z\":0.027},\"note\":\"The right bottle’s upper body is now between the open jaws, though slightly right of center. I’m centering the jaws over it at about half its diameter before closing.\"}",
  "call_id": "call_Xx8P4lN9zTLGZsKmzcY4twyg",
  "id": "fc_00e55cafbb1105b3016ab42fb57a2887d0b7c8957cfc331256",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xx8P4lN9zTLGZsKmzcY4twyg",
  "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]: [-0.3943, 0.9592, 0.6437, -0.4423, -0.6518, -0.5274, 0.9975, 0.4324, 1.9423, 0.8864, 0.421, 0.3061, 0.1886, 0.9988]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1646 left_yaw=0.405 left_pitch=-0.017 left_roll=0.0068 left_gripper=0.9975 right_x=0.4574 right_y=0.1564 right_z=0.033 right_yaw=0.0475 right_pitch=-0.0292 right_roll=-0.0121 right_gripper=0.9988\nstate[joint_eff]: [-0.5538, -3.2068, 5.9966, 1.7167, -0.3443, -0.0269, -0.0122, -1.9761, -7.3504, 5.094, 1.746, 0.0855, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aadc8bb395293ed911fcf2bedd74d16e2a6816826ba6729c89c99aba5a9b8ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4888769bdba4529cbe335ed144de78626d492ccfd0a5deec12ec311470734381",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679b9fbb2542597819098b2636e991c98d950db8d47978bdf4457bf9be687de2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3466, 1.7821, 0.8654, 0.1707, -0.6212, -0.4973, 0.9975, -0.0193, 0.6392, 0.3317, -0.2905, -0.0296, -0.0353, 0.9988]\nstate[eef_state]: left_x=0.4397 left_y=-0.0457 left_z=0.0673 left_yaw=0.4138 left_pitch=-0.0235 left_roll=0.0088 left_gripper=0.9975 right_x=0.2639 right_y=0.0037 right_z=0.1138 right_yaw=-0.0022 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -8.3487, 5.4496, 1.6777, -0.4127, 0.0317, 0.0415, -0.3761, -0.9231, 6.9812, 1.9023, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9592, 0.6498, -0.4519, -0.654, -0.5274, 0.9975, 0.4675, 1.9217, 0.936, 0.281, 0.3653, 0.2211, 0.9988]\nstate[eef_state]: left_x=0.2941 left_y=-0.0021 left_z=0.1658 left_yaw=0.4067 left_pitch=-0.0182 left_roll=0.0103 left_gripper=0.9975 right_x=0.4511 right_y=0.161 right_z=0.0367 right_yaw=0.0153 right_pitch=-0.078 right_roll=-0.0478 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -2.4, 7.3094, 1.5556, -0.3492, 0.0024, -0.0122, -0.4718, -8.3624, 7.2137, 1.9414, 0.1929, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9592, 0.6437, -0.4423, -0.6518, -0.5274, 0.9975, 0.4324, 1.9423, 0.8864, 0.421, 0.3061, 0.1886, 0.9988]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1646 left_yaw=0.405 left_pitch=-0.017 left_roll=0.0068 left_gripper=0.9975 right_x=0.4574 right_y=0.1564 right_z=0.033 right_yaw=0.0475 right_pitch=-0.0292 right_roll=-0.0121 right_gripper=0.9988\nstate[joint_eff]: [-0.5538, -3.2068, 5.9966, 1.7167, -0.3443, -0.0269, -0.0122, -1.9761, -7.3504, 5.094, 1.746, 0.0855, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aadc8bb395293ed911fcf2bedd74d16e2a6816826ba6729c89c99aba5a9b8ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4888769bdba4529cbe335ed144de78626d492ccfd0a5deec12ec311470734381",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679b9fbb2542597819098b2636e991c98d950db8d47978bdf4457bf9be687de2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-6CGE6TCXVUz0DcFV8XMcmP2O1lOLqDWzOIIY2KuHOAKf7zPiNA1vhkjzq8DK0K11Z9GrypSf7LilNKyQUUVMyg5ILMB4Ug3-od9PgBgvGs5Hz5Q_A-ck_w1pdHIot7c-JSm1hlUZ-mfJnxXKWinePh9AS_r00C4zVQKf_u-3NUQc_Wl6skOrvUNujIWNJL9pjl12OUk_JfNanLmesZnqbHgYw4798p1v-9UItj9LuikCbOBv8rVCwc5g9K7d9gO3NQhKY05P0jaqP6b5s68fyeO57Oa5tRW5ZQTPZwB_dubg-Wbhask26SXtdj2ntQbiBn0SsNNKzQ6OXXDrFAW0azpG19hi_TVQ89TIpFG_1KJ4yTigH5c1NxXohmCqbBhD2SVVT9DhrTe6ccwNVf_C5Nr6UAbeOMOFaaVslBrzQ6VhcFXHgFQz17IMBtONDHsiLxTMqoDxoztTGLJNUoVSJDI2jD-S0ZfMkLNFxZ5cTfOS8S-3FunVJYv4Xruc_1-QDWRcZoJXcCqeybWvIkkiRkZNnePrNcrtLC_0EINN-j-j-a0vIVUsvOhmberbvOP11TRx2Rnm5FTdSVQHpZDertewFf5uuc_3b3MydM9Ued1jzgLp9tCajjDntFbeuDO5hz6ROPzVQxKSTvJqtXOAGfaGL9QoZPgWZicEBA7i8t-p38bah83iez0YRTitzwrqB4hW8D3HwIyDG2VxcaDQnc7ofENyQCYDwrNEvGnHyFhyebRgDGAaMMzBbwbiLDe2VLibP6XB971yH-ME5gpO64WyI906bo--2eTSO0fIxFb03SEx9Mj8VXd2B2toHg_c7KlVFjvbXPydIDr6Az93atHrCSsYLQRo6bpqfrt_e7iUyDxYsu1cVPhQsmlFG8F-mpREiP6cdyZGdP_RrtQ3vQfMbov1dPBlshTCfopl7jZvugpZkW8YlNqFAOQaDKiTAbivCQvq8hoJ6vPgE9GrMKBU1cAxomWxorKv4_psbRo_pb7BqoSA6xP-Y6LzGENl7BUXsuGf-o69cOPYPC0grnFklWZzmkMQQ74ObpMs63y1SW_HiDGjPdpbFjwHJ5n88dFXk1K71IZTHvlSHRqYk_YFjqupTkq7TjAQS7UcdFTMxpqE6QTRlZ7E_T_s-RRtVGSFJZFiKprcl4TB0819IhawpYXFroYgjOqgg8Vs6f9Km2RbQX9dPisKMnMiKbmDQRku6gQ4-n7kKHJRgX_z1AVix95LvHslf6kLouODrK87Tfmobd8GEanVbGzEbPYsFpB2VicHcvy0VLnLLYw8MgjFzb5pmNPDNFScKBG5fY6g=",
  "id": "rs_00e55cafbb1105b3016ab42fb921d487d09e2503db0917646d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle is centered between the jaws, with its shoulder and body visible beyond the fingertips. I’m closing around it to test for a secure grip.\"}",
  "call_id": "call_yKyx7Ew1pYumeekgBHW6houp",
  "id": "fc_00e55cafbb1105b3016ab42fb99bc087d09164035bca47c03f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yKyx7Ew1pYumeekgBHW6houp",
  "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]: [-0.3943, 0.9573, 0.6327, -0.4236, -0.6514, -0.5278, 0.9975, 0.4366, 1.9457, 0.8639, 0.5049, 0.3099, 0.1738, 0.4385]\nstate[eef_state]: left_x=0.2953 left_y=-0.003 left_z=0.1635 left_yaw=0.4048 left_pitch=-0.0105 left_roll=-0.0006 left_gripper=0.9975 right_x=0.4604 right_y=0.1593 right_z=0.0397 right_yaw=0.0567 right_pitch=0.0256 right_roll=-0.005 right_gripper=0.4385\nstate[joint_eff]: [-0.5402, -2.8923, 6.2838, 1.5165, -0.3443, -0.0024, -0.0122, -0.3624, -9.1419, 5.1761, 1.5263, 0.022, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80da063cda580669be05d7bfaef155b1644bd77fd7d8e93813834ba954e5744a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5fec0e287e6b8ecc7adea5b10695b7a643b88db03a96a219b5b1b6ee6d48466",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cbe253847cfe5b3d6bc879bd7813ff4f8760320107e336c68ef75a41823bd8b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9489, 0.6498, -0.4305, -0.6518, -0.5278, 0.9975, 0.6273, 1.7111, 1.0149, -0.0189, 0.4717, 0.3153, 0.9988]\nstate[eef_state]: left_x=0.2965 left_y=-0.0034 left_z=0.1716 left_yaw=0.405 left_pitch=0.0027 left_roll=-0.0138 left_gripper=0.9975 right_x=0.4135 right_y=0.2051 right_z=0.1133 right_yaw=0.039 right_pitch=-0.0517 right_roll=-0.0373 right_gripper=0.9988\nstate[joint_eff]: [-0.8274, -2.2906, 9.1966, 1.5165, -0.4274, -0.0317, -0.0073, -0.1162, -8.2256, 8.7043, 1.6972, 0.4322, 0.3346, -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]: [-0.3943, 0.9592, 0.6437, -0.4423, -0.6518, -0.5274, 0.9975, 0.4324, 1.9423, 0.8864, 0.421, 0.3061, 0.1886, 0.9988]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1646 left_yaw=0.405 left_pitch=-0.017 left_roll=0.0068 left_gripper=0.9975 right_x=0.4574 right_y=0.1564 right_z=0.033 right_yaw=0.0475 right_pitch=-0.0292 right_roll=-0.0121 right_gripper=0.9988\nstate[joint_eff]: [-0.5538, -3.2068, 5.9966, 1.7167, -0.3443, -0.0269, -0.0122, -1.9761, -7.3504, 5.094, 1.746, 0.0855, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9573, 0.6327, -0.4236, -0.6514, -0.5278, 0.9975, 0.4366, 1.9457, 0.8639, 0.5049, 0.3099, 0.1738, 0.4385]\nstate[eef_state]: left_x=0.2953 left_y=-0.003 left_z=0.1635 left_yaw=0.4048 left_pitch=-0.0105 left_roll=-0.0006 left_gripper=0.9975 right_x=0.4604 right_y=0.1593 right_z=0.0397 right_yaw=0.0567 right_pitch=0.0256 right_roll=-0.005 right_gripper=0.4385\nstate[joint_eff]: [-0.5402, -2.8923, 6.2838, 1.5165, -0.3443, -0.0024, -0.0122, -0.3624, -9.1419, 5.1761, 1.5263, 0.022, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80da063cda580669be05d7bfaef155b1644bd77fd7d8e93813834ba954e5744a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5fec0e287e6b8ecc7adea5b10695b7a643b88db03a96a219b5b1b6ee6d48466",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cbe253847cfe5b3d6bc879bd7813ff4f8760320107e336c68ef75a41823bd8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC-9xSvcEAfrDMtxU8vkaebwLnH-VYM2HOdP2vwxWI2-jsQANKYr8id9tCpo-nXEMs21EXlKqeYMU0Sg7_G8uiMe9aqTYxmh2W75G6n_B1StqCP5jibibmmo_Kmo0tuF061-TVuMLxf1CUXhArUK8uydAtOERdQVt_8Czhl4zxJ8ZvNmO18iJtcCiOMIpRovPopg6YuSIBuYF-NJSSFWdUeyIVBZpdBYNMpHErhLiUP-f4sq66m2rTVzctadSho4Qe6zb64DKK1hH7F2MQICAeHj1nMX-Hkxpw7Or0OkFe_CYFDESQFeisKbE8Lblo638WE-wrGGNypfgRP8uQYPIsg947HSwFCg1eojgIUb1z6FXsl5iqZF4PHyxlPw8A_cn4DglJTRRfP4s_fQVCYlIU8lqiE66ebhlyXtVEykysAa8ZEPuOG2b37GDDx64mn7FZEYe8SX2qn730C1tmKq6l4UceFbL6EeN_-VAZjjMB0khVjNBRqj7nnMsEoKaekm9sixxHeCyLXYkQ48Bvyv8EHDkY8hz1TQDVsYnJBSHcu2oKKi2uzXSPWrvgFO4K_7m4buzuhIY7YlNecBNFgsnaEiMjbT5fzTsKlBTBCxp0edJ7T6tmSx-OCNKPdsTziCDs04MEKuGi7afYc9OdF-nfkl_prDVmICiLaG9AOVs17BpmzumFFVF09nxdxUdOpdeKzEWdlzO5XCMcc4eE-cY-c-t-MaDnkoLc55twmlaIQMLY5Maa5mhY7eQFsxYMdzdkoxQDsmpFrqVAy7PZeiC6pbNmemAjKXwgt7lwzncBfaGnAL6JeJB_FJIGMlBnsg0rw0tIT1CQJM-zo-ayqPy7oiPwhJPV2bKj6p6OE6FkzaEuvXjNj3XqQqBlmiLNviFzk1aIrmz9-qLfYSg4-JAFaZhC0LEhvO1PLprGeuK6VXI-At2mQO58PLCxkvI4-wcvoN7XTKEeYxM1594KdrYJirGLbSrYDj8hNNY_tGz_jXkkyxrNcjsdJiSGN5tu_D_eIdJljDpURxAtQDYlmPYbtISuQUAWwI4uC3s_T3OAT1AaTdn8aNMyKNeg-J1XcwA41NVZeDyjnq1espMXkCKpoojG_zulxvP0-j_F9IiAHNeUnLK9ScwicgcI_D_FjH30KHc7OpjUF-aZI92WlZisFWw6yyb-n55QAIkamhmWyBsNZojWFK7o8h_MmUEuJswYdrmIil4jvHIcIFknh4kIfEkFuOY0olxV6u3lwrFOKpRqySvPhopr5xJ4uYI1juKrdisVlyF2Aiv1BoziGtTaicADM1151GaAsh_SIGQous-TA=",
  "id": "rs_00e55cafbb1105b3016ab42fbc523087d0b94acb6778df17fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.102},\"note\":\"The right gripper settled around a 4 cm width, consistent with the bottle’s shoulder. I’m lifting only a few centimeters first to confirm that the bottle comes off the table.\"}",
  "call_id": "call_yubNDy9Gyu39AS4NMtB4EVhu",
  "id": "fc_00e55cafbb1105b3016ab42fbc98b887d08bc80e0b8aa48db0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yubNDy9Gyu39AS4NMtB4EVhu",
  "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]: [-0.3943, 0.9573, 0.6327, -0.4225, -0.6518, -0.5274, 0.9975, 0.4374, 1.8427, 0.9218, 0.2028, 0.2848, 0.1741, 0.439]\nstate[eef_state]: left_x=0.2954 left_y=-0.003 left_z=0.1637 left_yaw=0.4049 left_pitch=-0.0095 left_roll=-0.0009 left_gripper=0.9975 right_x=0.443 right_y=0.1563 right_z=0.05 right_yaw=0.0758 right_pitch=-0.1115 right_roll=-0.0416 right_gripper=0.439\nstate[joint_eff]: [-0.4308, -2.5641, 6.065, 1.6435, -0.3687, 0.0171, -0.0122, -0.5538, -13.5179, 10.0308, 2.3126, 0.2076, 0.0513, 0.1783]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c3dbb2fdc83ffaad04efe9ae8b9a3e4adb367389481d532ba109d0a5e90529",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9feee790218717baef97d3dc6c6f68d52a64dd215ae490d97fa3928f121dbaf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae85e691caacd0d968f530af161916b524e8c07cf7a76205829e7db782f01a21",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9592, 0.6498, -0.4519, -0.654, -0.5274, 0.9975, 0.4675, 1.9217, 0.936, 0.281, 0.3653, 0.2211, 0.9988]\nstate[eef_state]: left_x=0.2941 left_y=-0.0021 left_z=0.1658 left_yaw=0.4067 left_pitch=-0.0182 left_roll=0.0103 left_gripper=0.9975 right_x=0.4511 right_y=0.161 right_z=0.0367 right_yaw=0.0153 right_pitch=-0.078 right_roll=-0.0478 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -2.4, 7.3094, 1.5556, -0.3492, 0.0024, -0.0122, -0.4718, -8.3624, 7.2137, 1.9414, 0.1929, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9573, 0.6327, -0.4236, -0.6514, -0.5278, 0.9975, 0.4366, 1.9457, 0.8639, 0.5049, 0.3099, 0.1738, 0.4385]\nstate[eef_state]: left_x=0.2953 left_y=-0.003 left_z=0.1635 left_yaw=0.4048 left_pitch=-0.0105 left_roll=-0.0006 left_gripper=0.9975 right_x=0.4604 right_y=0.1593 right_z=0.0397 right_yaw=0.0567 right_pitch=0.0256 right_roll=-0.005 right_gripper=0.4385\nstate[joint_eff]: [-0.5402, -2.8923, 6.2838, 1.5165, -0.3443, -0.0024, -0.0122, -0.3624, -9.1419, 5.1761, 1.5263, 0.022, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9573, 0.6327, -0.4225, -0.6518, -0.5274, 0.9975, 0.4374, 1.8427, 0.9218, 0.2028, 0.2848, 0.1741, 0.439]\nstate[eef_state]: left_x=0.2954 left_y=-0.003 left_z=0.1637 left_yaw=0.4049 left_pitch=-0.0095 left_roll=-0.0009 left_gripper=0.9975 right_x=0.443 right_y=0.1563 right_z=0.05 right_yaw=0.0758 right_pitch=-0.1115 right_roll=-0.0416 right_gripper=0.439\nstate[joint_eff]: [-0.4308, -2.5641, 6.065, 1.6435, -0.3687, 0.0171, -0.0122, -0.5538, -13.5179, 10.0308, 2.3126, 0.2076, 0.0513, 0.1783]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c3dbb2fdc83ffaad04efe9ae8b9a3e4adb367389481d532ba109d0a5e90529",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9feee790218717baef97d3dc6c6f68d52a64dd215ae490d97fa3928f121dbaf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae85e691caacd0d968f530af161916b524e8c07cf7a76205829e7db782f01a21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_BQ-IHfWvdeyF7W4QQr--FB0Ft7pb09l2CnSvvz1fjf_q2S_lsXPHajjGDnllD_7DMccHdIQidObw_uEw51nNwlgSll2hHj1Qr-ZXUprBVGUEe9-S70Loo5657cySTkVYo3yWGvnD-UQhIvMOKXzZIvHWyEfLoK1Mjj_1DdXhs1w3fZPEE23o6HfMi2fEcZsvsPyVt-yNWcRhjmbm3-94Th0FkxZi2MsZz_NTyJwVVdwgDokG8SKYt2BVj3ZnUkuVhl0RXAXbePIxtVPIgNYbBenHkdkeNwlDrKvNh2g93jw0-vG9CkSL34D-Jh6kaSZ3xq2xlpoQzg0FV0RLhipaxY0CvXfHj14z38BbvG9SJAWrkDm6kVNYlrqeIZuX0EncwrkraLbFzCButxN3pJXP2kJv67Qn8BirVxdBWsn-HbBVck3fPWuy9m3qU7iEwQd2r-PJmPjc20pu9FIb7SEe_9mex46wNfKMleNNyNY-KT6cRyM4szwVh--SXYxJhg5yuoOZU2ac4PC-bGAAPcSPflBMO4JU-0Ra8zTQ-6XhGcqrizo2U_v94nduPOvICezJ5Yvo8ce0oZl-lv-HOUKgiBJc9zkjB6kaNT1eeLUvCl3O6djvn5_fPpBmlk5O4AOrvq24jE0rJovZRTlHsHhFfEjyQBTyYIE5I5lT3BmjNko0Jhke19JPbsos83dP8VBb9CBjaoxVm3gNxi-UMSCZLWwHPvJINBczqxpoL6Tf5oxQpFhIsGrWgWFh0FmmTAi9vaE1um8BIt9sIRRwqiPiI3BP1alAFNMrIXVzm0pJ_kwTdwMC_axu0YnC9dkYfYKRmLj1nfURYkNXsJTDGS7thht_2kMsCbPAiSXZf4tAb-RdRFN_oMzqssVfvgExomlp60oGCwYVqT7BAGj8F31bUVLC4_up0mX4_f0AI3wuLzcUlvBgCc9S0nXhWtnRILZ7DFLBLZkCHmPENqXAto-7Rpyv7gPoFzBDIbmh-u696bLRCNJlVcD0b8Mhuigx52Xo14e9_j1n0-y-T5C_D9znQiCr67HKhBsicwy_fiH18dFUAI_WtjAOTLraQwF37ZYvDipM5ukmz-DYcDLKb-PJmr0bgTcEyITFLbUQg5Q8AMJKj_f5A7nas97mOINRX9XML4X4tIU3P3md8UwVSGlDmA3qAOSsUi7PNYqiN3obA3iyNmi5AOQEnEmsVnkbdnYF-9n5irMLPy8DvC4gapnxSmauOc8eE0Jt8PtlzAWgFFZyF0bryCffImcEYTj3IX_55TG4RP8Gx6ZyataEvMamiTYeMEhOM5wVDVW26J9qrYeeKuY6XvYyMXWmr40ajIG8pG4dATNploZHb8RvYvom5c-jNjy8ArJfLnc9QEaUFeYe6LtMAfDDvPNjtnxhqqujUUpc1vc-eMtgPvTNI_2fEC-KWvYTQ_uDs5uv34393Nn3_rlanhrV-vSomFoU3BY2MfojsDYlyZmUnM4Mwj-odEoaffj9wcMWJ3pHgtDKfIkLInMsbL1NypYoOw7Ryg-2helcBTlfff43J-RMEwHV9iIaXaSxVl6ClVuU5NzXcDyUBGjBRLIQTuTK5ctCUk_Gv_PNlofig_HNR1QHdz-cH6wbizbfujcLX-62vM8gJkgLTpjVRW3xRZuTvnlGFn1u9UMUNecqgikaj99CLgncMyZ_LMOsFtvwwQf9yOPoUQIK2Agixmy2AaI8Q-pwB8Jz2jTcG3QVOJekAcqLzjqIY2s6ayIxth7bQKcusmyqMqvCT5jzsr81i0V9uK5asbn04gTY6SPczZjtq3X2IHwDkiSFhDKutY-e0sxSRXUUqNg2E1PB-XU5c4GywejoLtS1-SIA8xseNPR57WVOATqSNKxmC3rH_afuCrujeYffjubQpOECCfd4Jc7nT7UQGwOdVFuI0KIlhFeuj_cZHiSSU43KCeF9GCzsaTM2GCnHPKzZbiCQTlKf9zSX_v1kJLQFlUMnP_TI5vfpnFZyGKhbXNqSEXzKYOewnm-1nBOrHQoJkt4micpXwlU4Xhz_duazGLGh-51nqcdobe1BUJsvDgIOVibRC8tZK9o3hR5HHqFW8h3jWh0IGisReX2k42T32oGfnNhqyt5UFrrsgN-cHTRYfAyugW8ncymVzFax_wdGekjOCOBju8tnIj03lWO19vMierXQJ36rYpgWis4GrJndvR4xcvOuLwordmvt6S_hZxwZLuFjzz9tlald3nw3l7w2I93xBjPEd1cx1ruVZVjYi0MYQifW9gM4EhgpHdr8b7DaD90VcVOv_JR6OoJtuFKa4_M2TWuhepjDVPFeozXn7mA9TjCrvDl0XvwevAPA4BkgUwgAHPt675j0YaljT",
  "id": "rs_00e55cafbb1105b3016ab42fbeba8887d0b252523679252d14",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_z\":0.17},\"note\":\"The right gripper barely rose and the bottle remains visible ahead of it, so this grip may be catching the bottle without actually lifting it. I’m trying a higher clearance while moving a little back from the far reach.\"}",
  "call_id": "call_cstoQICBBuoxmQda8GlWMqsw",
  "id": "fc_00e55cafbb1105b3016ab42fc0c0f087d0a99ce12b17173611",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cstoQICBBuoxmQda8GlWMqsw",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9573, 0.6323, -0.4194, -0.6514, -0.5274, 0.9975, 0.4583, 1.594, 0.9791, -0.0338, 0.2832, 0.173, 0.4391]\nstate[eef_state]: left_x=0.2958 left_y=-0.0032 left_z=0.164 left_yaw=0.4046 left_pitch=-0.0079 left_roll=-0.003 left_gripper=0.9975 right_x=0.4256 right_y=0.1589 right_z=0.1389 right_yaw=0.1006 right_pitch=-0.0468 right_roll=-0.0171 right_gripper=0.4391\nstate[joint_eff]: [-0.3761, -2.2769, 6.106, 1.5849, -0.3541, -0.0024, -0.0122, -0.1026, -9.7026, 10.3316, 1.8877, 0.2271, 0.0611, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb405f04bf308ef4cb2fe2d55a79a0a4fb205901e94cd8b021f86ee6afbb6415",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:320e8bec9308f3977f64864638b0d0fc3a66e6d6c8bed2b00c209e880fb31df7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f05c5e27710dffffd7f09b087f1bb6c311e731c997b3f6a5e4903d362c287023",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9592, 0.6437, -0.4423, -0.6518, -0.5274, 0.9975, 0.4324, 1.9423, 0.8864, 0.421, 0.3061, 0.1886, 0.9988]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1646 left_yaw=0.405 left_pitch=-0.017 left_roll=0.0068 left_gripper=0.9975 right_x=0.4574 right_y=0.1564 right_z=0.033 right_yaw=0.0475 right_pitch=-0.0292 right_roll=-0.0121 right_gripper=0.9988\nstate[joint_eff]: [-0.5538, -3.2068, 5.9966, 1.7167, -0.3443, -0.0269, -0.0122, -1.9761, -7.3504, 5.094, 1.746, 0.0855, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9573, 0.6327, -0.4225, -0.6518, -0.5274, 0.9975, 0.4374, 1.8427, 0.9218, 0.2028, 0.2848, 0.1741, 0.439]\nstate[eef_state]: left_x=0.2954 left_y=-0.003 left_z=0.1637 left_yaw=0.4049 left_pitch=-0.0095 left_roll=-0.0009 left_gripper=0.9975 right_x=0.443 right_y=0.1563 right_z=0.05 right_yaw=0.0758 right_pitch=-0.1115 right_roll=-0.0416 right_gripper=0.439\nstate[joint_eff]: [-0.4308, -2.5641, 6.065, 1.6435, -0.3687, 0.0171, -0.0122, -0.5538, -13.5179, 10.0308, 2.3126, 0.2076, 0.0513, 0.1783]\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]: [-0.3943, 0.9573, 0.6323, -0.4194, -0.6514, -0.5274, 0.9975, 0.4583, 1.594, 0.9791, -0.0338, 0.2832, 0.173, 0.4391]\nstate[eef_state]: left_x=0.2958 left_y=-0.0032 left_z=0.164 left_yaw=0.4046 left_pitch=-0.0079 left_roll=-0.003 left_gripper=0.9975 right_x=0.4256 right_y=0.1589 right_z=0.1389 right_yaw=0.1006 right_pitch=-0.0468 right_roll=-0.0171 right_gripper=0.4391\nstate[joint_eff]: [-0.3761, -2.2769, 6.106, 1.5849, -0.3541, -0.0024, -0.0122, -0.1026, -9.7026, 10.3316, 1.8877, 0.2271, 0.0611, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb405f04bf308ef4cb2fe2d55a79a0a4fb205901e94cd8b021f86ee6afbb6415",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:320e8bec9308f3977f64864638b0d0fc3a66e6d6c8bed2b00c209e880fb31df7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f05c5e27710dffffd7f09b087f1bb6c311e731c997b3f6a5e4903d362c287023",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_LWLo34rQSwButAXDy694SPI_X3pitCRFXhUHQrMVziOgTpwAHdQ-4n0ISvJ3XxA_wrT9uQMwhTme5ZmRk2jREPiEccxiyiBFKeKMS2TxuboCRsaljwSPMSUwpzseZ3PO9xpLbOnA0COK8I-Epa1Zt6u_b1_V0Isx5DNZuvLQKZamhICnCViDs7m2rkjj4Rcr98Q8oG9KoGHLb_d6lXzx7-CH8W58WN8zEpGmmiWMhyPIGc-LC2k7bzd0ElbdtmdrBjV4llxnBPk44ZfYXpd3LHDfTlSHdFBipL0Fl3ofufpXOF30rwmOFzMI1nD-uohGr3WV72A8inNgvbFJ2jbkWoF46Khe-AWOjAc4QPiDsG2Jy9aKQAAgkJ2ZfoKG0a8--bse_TbmVSUY5GG8-ld62drlABIjcIvXhbHpLR1uvT3INdILKz6yK459ToNnU0iMZWO36CGam5VkiriKMxTUGfvCAhm5QfIhkgHInI0jfcqcRN8Fbtcvgu4akcCSK6I_Xymmo4DQ-MbXgITT5YNxnsjqZ-TanAp0bV2HrjVVZcgsrXLUnewXIBfJnyO0q_wz8Lb5W53pk9hB3jR4K52Vt3B60_EYo01eCmGHmHGfP6-4M2-OSgFFynyqqD-QYnI8JQW7BptQm-abKqD5FC5Jez96MSrvm9YlBFLOCs36wPiPwidxrwKfJwdIElGDevImWuFcTP9pv6rSbnnP7ywaNLYHaWlPTGrKre0L9Px58z-eEePJwJTMreULJEhuFlU4q1McEZFDmKG7d1v62hZIr3cbn0vaVDQJm1VbsIEB27QyJnLID2A4H8sb5MszJy4Whl1w5WXTeE09RhTRDzhucioUs3nqG8YDJ16lW6MIPFsosgdoqy3WPqLGSvCFjf_TbWsn8nFDl2mSNcTtKwYtm_GzAx_3jasq4f00ejFY6vz0uKoBW1YcxIqE2C3EUVWEc6vpy_ufDTYbuSfFHZO2S4p2x0MEDN4xy4Jtl8nuXJBHec_nOjBvU49HPn4cA7nIpKf8OYIzGGU2P4AGwzNvK6xt0rrdYzefhJksvH3SP4VtREpqZyTVKvlMWmx8iaQ_W7wT37-kMrVDk5La48AZeSg8Ne8NTpUfy9fCPKFvLk8SnjerNDSfV1FsYnxSeZSG48Sy4NwVN63mnDAnpCVwA3__-QJWyMuiEJhQsKpKf5IpRWC9Gf36etWimH4QjtSFyFq5SaJC5i6JwFmlEe_AK9AFKPkePZMYKNfyRPufQjs1u7rOZQfTPL9Q_rH2iJZVM1bejgAleXbKyK5oAUq_Xn3qeaf3PGPvW3cdyYm1RTOC4vXdAet-XUT8RQ2xAuzJSH4Q-B8RTFvIfBxLmQt6krt8mZm5JcxJ0PR77isQQVgBY4J9nqrL8HeBYlY_44hC6my2AMiURq119Sa9ZwnWYqkl1KZyXI06Ws2IHPZQRB6SFipFhJOs-Muq7SJLca8Q7MwvArl8kwJKcX6pZJXrDhsXmnCYPZDXOZp_dzS_ypq2z_7OVEs_f6uxqqHocwI7GB74LSJauMiXkF6MJffVdHIbCkU34bMpEsGvJvrOiYP3DFDxvFEhcPlRe0PZMMuwCLIBlRpc1IPbaFV5TTZvGv8PRvdRWZXFmrf6-QSug80w_oDvKBJ3lXeSpV5LGHECY0r9jI4fCc_scPweSopUrOMN_15VbLS3PGtYMuyFeJRpTmsFh-xXQt1fAN7P6-5gGPYY88VMth-Ol4rBjvqEDYk_w9tm34ysKOyf_h2fBiWkN7PWS8eUAkwdWM2VjQl0_iHIg_Sqaugvn_Ab1NlpahjJgB-nwXwn0AQ-y9KghOJeSQmZN_UsJHByXtyY0B8tG6Mc85_WNG1d5eU3_ENElOWQ0uBDjSxYVy5zqEhfbWQXTrhKarJpEFq0f1-qfRhhw5LFa6XnoGAoIyk1K_ngkVg-_Fdjk-UiRSX33dUBRnI-70QMH7V-u1f14AFaer79oGhcCX_T2mOajMGoa1GVzOI651BjsOh3aGjn8tLsH8gsoQuKVPRzVHfOMzzjnoSJhDDKV2ltdXVAYynTPXLGc3ogcCa2jVeJHDcUORv9aE670D2yV4hQwa6SJTZRYCMDL06g5AToVhW-o5g2a3zPWsgVafcQOlfTaI2Xqrb5eBFVY8Y1FoqFX7hqQavolzCLd_JIDFG11teJTWMEo6rklZU9Kx6jIh2pP6JQZyJkBoYuByYP7a2tZaD3atdXVsJz42slyKRJaPBIeU4TpzCYPyh65_FA_ArSXDZ3djALZgzF3OWtrAdCyjxNPa_yzy1hCbR76mpBreO4ouasdqznFIGnkDxzHl6s_XIT23D1RmBca-_MUvNlGGvygf5QhRdkNlmmdbjcQEKVKIHTwnC07aRcpqShL6mI1loHHIZvDIRtCjxAGd0QEHkyO_LszFuXL8q-EoZgG9TN4YnbJHIv_1QD7eIJjLBE3jKlZ_5jKV67x0uwr6BQQKqxj2ysLYI_RCOKpJmrZEI33BPqxv9tUJ5UhdC3KBMKEUg6OunXnFaa1lH5aCo2TOAQi6BMUnzaAFtO4n1sqir_61aGOpZrCtARHQm1hPPOFyqwfdYp_yqbc_J_U9XdskEgosN8YfgG_h3B3ozyzKN9vwH9FdFAPdcV18z1ofO8BKdw2ghPydXwHCcr4ZbwTvNlc-PbtS2BnD_2osqpqt-ixXeBs4gtvhL8XKaBcGnAKFJk3Uh8Au4x93tU1TkhIcfs1D3S3tH4rMLOB5CDhLHO0w5VsDssTHUhvZa24hx9SGO2ZoDQWJ6WrRic7msPK2Oh19cjfci-bLRzbi_KQHhd1_SrQRa4pKFQLGfINsCaEXqdubeUlscoVRIPe_1hgfJJcU-dEzynmxTFoTwxGD_tOwYrf97hzEECzuLkkvxSfO-Fb9Ey3sEIbtEi_lEcphrFWPMEJyHcF30fzCc7wIT_ZRP3-0f4m7xn36daXpiXW8dp24RxQoOHF4xmtjaz7x97gqfD2egkLj27sbUDZMKPXmsLWaXHQ2Fs9-Hbz7DbbKxLwyxeW93E4qHkXsPHIIm0wdcom1Pq-9CoE96bf13fkCpRTsmuBHp61AY_G1R1cfTBV3Vtvbyvtmv7Hm_8_DWOlYy37vKK1HdqMfL2pF9ChSAUsBn0NDBEvOElEgHjca_6Mg62-RG5WJ4fSzM6d_cL0J4KzgjhtG917g2j99DzI6weGs1R7FqWFCrZuxiKxPuyUW3jcqWToribj0B48d_wLmY3Z1NeLUzkiI_Ztpr3n0He0TiibKsDyGbUVx5pjI4B3kSQlCJw7tYr6S6RQuKV-4F4SpRSUicipSI-G6zxtQAQJ5D2kwLYf5LwgnxvuPb9deSe-hPxtwYSfuAtyQWRW80YVpWYRF8Hmjgjmr__aJYw-bkd4MIL5hSRE5_MeYRYQWjLf2usCjaijeM4TvBxz5bJkaT0aaCHpNunXUfeopBeig-4H6raTo6HsN9hXQtw6Dj8iLL_rD4XZLSHRNatNQDi5J9k8GW8yZaotSBbvBlYFxp7nQcmSCgNkZu5YGsareozSvB7XCYK5ESGJObnhx4-I_YdfJWrjDBPz5OmHp64dnGzayFVBxd5W5orfvFUYzm9qi6rbLdeGzzwgFsmpVUsvTUT29k3sWCZJcNOj4MMxqw4r0DC02AwurfrmztyuvVM_sYDEaB38PE6Ado0WXl_nwOMFqa5N6mlEhfLRXYQPMrA2XpButWb35J9c97Xi5nXPlVpDMGd7Ag_d2hwqQ7joA4UJ0zwvpSIwhMF4KeN9sHoHvZkpgaiM1sWRa_w3473H194TEQXGJWagojEFS_M7cSEAdYUYBC0SdLsG-zh3X4mnSeEUFbc3U1GEkVRGJf4KN8CKb5CTqJvut04IsLKsl_G4zqKauhw6SoD7f4vbtvsj_zCdXY6ksmpZaxT6j_mnodm7bTnhC138CV2N6q0Og92GoF84vvjjuglmrgu2edotgovApSbNblR4Hh2SS_MbYUrBZxQm9IyLzvqB6UdxYelidj7g81IuN0eLRb63WAdUN5eKEo64c7JwiARIB9Yg6fk=",
  "id": "rs_00e55cafbb1105b3016ab42fc3839c87d09d914b032872d84f",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_Ljyi-0LjrX1v4uaBH3KOAtQbgOGDZYt4fcTuhLD_53ImO2OMBzOIhY7EiLuA8pPvBXnTV8JOsBjbC8LfNffu9AFw0Q0kkwmE2aLKBFsBWabrFNBmZr6o5eGIisF9w6RW4tlPwNc6SJsjDbukWQ7RkSQV6Z4-u5aov0_xbieRUGSx0iz2ov_vD7n4S68zZ21giJpuhqjm-dtiVX99kXk8dtHpDRwauj8F3xAM9XUg7FUVLu04t4dBGseYBqw_l88e8Z23uqRJL8UkJXj9C3WoRSH_lPWOtNvQZ966qk_KB_CyS5zPLu5Ll7sCPwvim23DxOMwL99Wvc5r8bN1Y4w8IaFgZijr6SpDG1uoLwI_J9bBgEVRbLtN2YtdjqRB2PPEUnSEoRA1R-uOrOc4V9NCdb74R8kKJ5W4gJ4IurShTcm8RRh8mCGpn0PnABvS2_qeUACm8hS6PpoM32ZDipWYGA66b-z2XESOZqncS99gwPyScyPodjj7ycyEPVxjx-OuljqVgKu5elPnSSkEtT5Djp3s8-XId4xmdG5wN2oVX-QMOH-_Piihe6otwcIhi8p7uzMQGd2JCWSmiRlyX6dFNx2mRY6pMT5Yv06vxS6-o3SnblliQcG_zrsLv6LobDH73jmvjAyz28jkhK8Llu5wdm2ACI0nsfRL4zK7bG9pzx7ufpnMyspeHc5-eE9NufBtCjUBem1lFtF2f7i62Lnjd3ofU9VzhcwH7-2Zx3Fr_wBpa5qngZA91UF3iIgEmyw_prH8082vWEfsRh5JSbnw1uBVLFiAUkw5UNmwHKrn_LtUNMwdhBC1LylFghKxlIZMpD5x2xikBNoEMm2Jwj9Yc1Eeh2vTdYI_KP4-zPJ2w_tLIXJOMHbcn1P0A6rdl4ZO-Cvy2YS1E9ywHaqIVaIoMBmYC3PMlmVY4zTOifwsPdG6GXCz0zsQrHgQs1-ub5LaXT8rAZUD7JtL533c5PSLF_1ZKlrh5qvN4xcPsnQmDCXb_3BaG2qwE9We5uP99568ZoYyQSt2lPb5O1YMIN1afM1x_M6-As-pCAKEVZjbI4Tk9f0a_CJcmwskW3WRy7Q-v3cWyl6Rd-Dsq5LYAbIfjELz1-iiy5SKFEnaDZwioocmj0zE_CiYnkR5BZIFgLUHFyu4pX2sv87A5qAFvUFWswLqD2iHjOO3iXlPehNyVwuJD5TWgtVEhUBPUelA1nW_j1I3aZijtmdpbIe8pXTuMwbLP3zquWBPHnPtxt0U5LPe9fwbMMyHNyc2XI-AUfuKcx9NL3SYgd8QlxzEQkk_62hpFZRdUoMAr0tc8V78nYKPrRN4BsFJ9S-4bhn7_YjXjaBJkmlWk4-gSllo8W4jQ0l92-MU1VO7KXeC_iYnWMl9QgD-BfZcFrYw2d9Dcss8JAY9le7h5k89V8vc8XQ17_GxdRNXmPYSvD376kUCZnw6vq_bziJ8z7ae6nt7vLjBhXvSErzFs-HyZ1A9x_T6_kCOspWxjcNo1f2IXRvjVzOFuYoR-a7D2DeQ8C8JOEsQA3P0HOEZmrqPR3hz2CxNvHdbrg-clJHTMy695NIQuBXZqT-cLob60Vgq12toEcCJ48iBPJAxBbUaC0JuQCeLGPDF5h6au2RmP7CgbekY10nqvpw8KG-HaHWFBkHn4dbYOk7xDFccqjGjo-HLlFdEFatC2IZejO7EHdiOqxKn4MOvgJJ4oTJGB7fb9hXKZ7flL_oJJ4E3Ov9XUEkE6F0ufcWRAb0eIvt8JLW9zf6dPiO3qhCxTG94ZuQa8lIqWNxo0RndrDrJpQz-H6CpIYbeaZT2YtcdXvB9ugIsVgfzbHm8mA5ZXmjCBBd6ztJdCoDOdeGkJwK0sUOJRKTM9REbp8wWinkTHXTOpUi0gcRgmwBUWd_G-8VxV7STIUsjjtPIZQVhxmVq8Ku5wTygvkiLcspp1A6FPY5mh2mWtsIN1at6kfQvdfsiRTACHFCl9m2F2ZUtMh5eNs_RWksL89bkad1MbXrnHuyx2F5nYoXyimero-WnfX364V9P_TYeqxeoc5Xlun_qc3CBtDh5L72WBUKCB9PuuxA2plTKPmz6gIOw4xTKtKAXImdeBjNitGKYPZ6cTeKT_YpGjzWVy3AdDzBu0yMFttbqhiDlE0Ohx1zlIcdUzth9yByT9XKnFLD7OowPuXehhLFrC1YZqhCVM3BNl2YhWaRC4pd-gcA8G-ROXMrglmcJX7gj8ta6_p3JllXKHE9qMWET4pv-OGSsrEKj0qAKs2iCR59ar9bA4f7pDcmyXUeCHeavAoMuPsTJzvXsZ4OSt6fWHWdzUECUzPQtBC-ZWO2A7TRZiI2q4IW-P2mw0bvDGrj58aq7cmQkcgNCrx45j8oqPyFLpGOJ7Fsgs4w_R0WK6yw8lf6s14gYr_4yDZ12IHBPI23EU4KoC49mb-tumqdl2m8KP8stVeVvETyfkTQL6TNtRAmiCp3w=",
  "id": "rs_00e55cafbb1105b3016ab42fc7fa5c87d08f6286fa92f16a6c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.49,\"right_y\":0.16,\"right_z\":0.08},\"note\":\"The right bottle is still lying lengthwise ahead of the wrist camera; my previous grip was too close to its lower end to tip it upright. I’m releasing and approaching farther toward the cap so gravity can pull the heavier base downward when I lift.\"}",
  "call_id": "call_GvuDPIrr55EhWjceFVOswo76",
  "id": "fc_00e55cafbb1105b3016ab42fca078087d0b636d4ded6da37e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GvuDPIrr55EhWjceFVOswo76",
  "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]: [-0.3943, 0.9592, 0.6323, -0.4187, -0.6518, -0.5274, 0.9975, 0.3969, 1.8832, 0.9958, 0.1837, 0.2234, 0.1223, 0.9952]\nstate[eef_state]: left_x=0.2959 left_y=-0.0032 left_z=0.1636 left_yaw=0.4048 left_pitch=-0.0085 left_roll=-0.002 left_gripper=0.9975 right_x=0.4631 right_y=0.1556 right_z=0.0545 right_yaw=0.1149 right_pitch=-0.1108 right_roll=-0.0393 right_gripper=0.9952\nstate[joint_eff]: [-0.5265, -2.4821, 6.2701, 1.5311, -0.3932, 0.0073, -0.0122, -1.1556, -9.2513, 9.4017, 2.1221, 0.0513, 0.1099, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6f32d656b9770c1f532dd3385db19adc2115a018ac593e430432c81406ef5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a0255f31ab4f4ec49e678aa608a854795577d378fe2ae8d21590053a1c22df9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60f45a46a521ebf943c1a294d8ec8a12c1c85cbce62c390ba59f9b0f7b49bec5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 61 changed as sent

message 69 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9573, 0.6327, -0.4236, -0.6514, -0.5278, 0.9975, 0.4366, 1.9457, 0.8639, 0.5049, 0.3099, 0.1738, 0.4385]\nstate[eef_state]: left_x=0.2953 left_y=-0.003 left_z=0.1635 left_yaw=0.4048 left_pitch=-0.0105 left_roll=-0.0006 left_gripper=0.9975 right_x=0.4604 right_y=0.1593 right_z=0.0397 right_yaw=0.0567 right_pitch=0.0256 right_roll=-0.005 right_gripper=0.4385\nstate[joint_eff]: [-0.5402, -2.8923, 6.2838, 1.5165, -0.3443, -0.0024, -0.0122, -0.3624, -9.1419, 5.1761, 1.5263, 0.022, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9573, 0.6323, -0.4194, -0.6514, -0.5274, 0.9975, 0.4583, 1.594, 0.9791, -0.0338, 0.2832, 0.173, 0.4391]\nstate[eef_state]: left_x=0.2958 left_y=-0.0032 left_z=0.164 left_yaw=0.4046 left_pitch=-0.0079 left_roll=-0.003 left_gripper=0.9975 right_x=0.4256 right_y=0.1589 right_z=0.1389 right_yaw=0.1006 right_pitch=-0.0468 right_roll=-0.0171 right_gripper=0.4391\nstate[joint_eff]: [-0.3761, -2.2769, 6.106, 1.5849, -0.3541, -0.0024, -0.0122, -0.1026, -9.7026, 10.3316, 1.8877, 0.2271, 0.0611, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9592, 0.6323, -0.4187, -0.6518, -0.5274, 0.9975, 0.3969, 1.8832, 0.9958, 0.1837, 0.2234, 0.1223, 0.9952]\nstate[eef_state]: left_x=0.2959 left_y=-0.0032 left_z=0.1636 left_yaw=0.4048 left_pitch=-0.0085 left_roll=-0.002 left_gripper=0.9975 right_x=0.4631 right_y=0.1556 right_z=0.0545 right_yaw=0.1149 right_pitch=-0.1108 right_roll=-0.0393 right_gripper=0.9952\nstate[joint_eff]: [-0.5265, -2.4821, 6.2701, 1.5311, -0.3932, 0.0073, -0.0122, -1.1556, -9.2513, 9.4017, 2.1221, 0.0513, 0.1099, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6f32d656b9770c1f532dd3385db19adc2115a018ac593e430432c81406ef5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a0255f31ab4f4ec49e678aa608a854795577d378fe2ae8d21590053a1c22df9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60f45a46a521ebf943c1a294d8ec8a12c1c85cbce62c390ba59f9b0f7b49bec5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_RzDir3BqukLPyC_-DiRtFCZTPVuhR5h2yJA2h3TmQSplq3e0koMMfc0MSJqZ5KxcB12j6OwE9JtYGhSCiQF2xjpiuBqfF9xUkLbv8phnBr8eA1Zn4t0HqAhCks7smGjK613-SHoNDuuK9J0-A7MLGU6lsQnuGUNdK6jQUxTW7DNmdC6gs9KlSpItwG5T5Jxz0x8qJXKdN_790Yk1fLsjE7kd93bppnOGkOOOERxxlq6jCgdTobVxknxcpFHjMzN62JfYG4CY5tgYr6O5EN4I9Xmm2gZbnt8c87gAuEXjoDF6lvKgEqoSVcMI2dkkK6sqQiIrVr8yRivAZVbaUjGzipKXIpmU-8GAlAtpVKSFsGvkUXj3v7gK4VH7A5VkzxX1hozET3nEUuJ9cA6wOyxXoYYT_SsmqoBaekB2Rs9dv3lj5vsciEcPkIjabZbFR7P_m0cimLN6-Yx9XioGiW0yjuaVykaWce13uTKQFRectb1qSxGxkJHa9uCoG0x79bMkTle-cYkfMDJCYx4fRPzOgQYD9c5FNtsio6Nk7Vg1T1_R8E_tEjKeEBTkTj1_2lp3hHx3mpHZTajEQ_I9hLx_9ZLCAXoj1EZ44Ckr7VlJMcLq1wwLwnU32_e_66h_AI7Gy252d5SjHwYUboUyouRms8psowdi4Iljl9I3JQMDikT5EJ_w7HStp08wcgzhlgK09rQH-FH9SlESlg32IgXCOfm1P7J1FitC3p3z3PPrnJEytNcG_AM2-U4gg49RIweHfC3xTev1abjDuW_7v-Bc3Xmi0qFu9ReLcnKdEO8f8vlIjX89azoMW98wr-w7NKSsAApY4y1pbVJfvTuqiduuh714DrUAFqMXDvOUFmXm8By6ZOqn14sKtdqiTGow2QakkA6IMy3q15O65UW3kWLbQzFRQXRtdu8s8bNcxdlrP8Cd4wBoI_LDjob262NhSJHZNtAVlyGfHPfuKOfrMCoJT9kVUdRlzrwCiKZ6kRakQKxTlyoz5tTTJP137_H4BfDt2lqE_OhHjv8-WRhJja0lrtEw1xKcn70woOvjz2bjeJjhDQ9JFC6tVQgQ03P_RrYS_0eu5BS_G42oHSoL-07Hb-WZP0e-3YKCXYOezZAqLNOwSSPngEtctic6kJwrhbO1ZWMSjUy95-5EwP2cyZ-kFgmQuRd3kcoaAOkyBJnUqUOhpl9m7ublTu2RNUx8y5aMxt5PSwMfmdAoMzawz3JA5tG1a2qrFAI63lc-JhJUDytlHdCyCbfpJkDa95y_eL-NjvO4fF9fURSPPE4rzQGOn_1_osI7WUmjcRx2rOTY0hXelOFapysQAz-Gl96v9FqqBtODUsdG5lwzeA9rO8JZ_NgCgH6W0CRgy9aT1vIonrL8DQRIrLee1io70cZ5Sm-R0XsLmi6BUu2dVjNeM7R5hglcnSauhp8KHzbmLmtW6RCoWqDpkjY4h4vqDdVk9wTpV7JN9ZH_fvFwJ-51E0P5ozHoTopNnV_eJYA80l5qurt5xKkp8tkLsU1IVwoZbakx9GVQwtoXhu--Li1-NGX537LpBphv7WnMMhlWbZx5QkGTG8Z6IXSCaTcvj_nOPbf8d_QQHtNMt-0aAySbYNcIn6UJpIIw3YNCmZsIZn2nl3PksmrXjm2Mh5FqH382ds6ccnP4kvu2DlyxMkDkAyM5yXiwHM6NutgDK89z_dN6JZe3-tFiWvuGZhWtPi4j-IeC36QskTWrR6-U5jmECNO1JGkfb13WbPB4JRjTGklVVDcYVz1L84RuInUeVUzR9GkrZ10G0MrTgl_zJzWJFycs3wQ4neNFQEwlqwZajkrkRtDmxLiUop9_tm5YBdCVTCtY8h5YgR_BYXdgO3JJRVqFaF_oFS4p0HcuBKuqIBaug8kr1NV42W5-HyfBgskr403LNIIF7PqnyhG0GXJez-Jg-zZakM0T1_oRxbi6Mqv5K72BJa0oa_6IhzbHe8QpiwZ4-zOYyr1H7AKUkd_7iH2MugvwBRvgAefQMEKK7ZhjLClSkY1sEC_jQcUsZ6ZTGz-KRO-xw8dsS_KEbobvXq3M1Zj-H1o3J10LeI2f-uJV-ZabGs9wCXRZ8k254RdTlUtJE6Ex41xXHP9sFOWcuWI61c3RVNNwamWOFSPv5ZASgjmsQ_ciy2k_rvVEt81jh48FkRhKNsPpqeABr-E_V9t6_eIMQFYE0j4GKKWIzh0Hc_3nH2Bdk3B3AYFTkDJfSC2ySrxk1_0a_mIBN2wo64qnyiJ8_KF_8C_cwr4zUdCeg7CgISJm6BSCZdMScdBtXvJCYRILBZteCE2t1LsnEsDXzjPc5i5EQODsV1mxKRxNAeq4mLFFn0ZdbrUXQb1SKMxekLy4xiuRXJg3dVwQlh6TUo8_QHIRFtvf5cEtqsjnjDvqhwlj8hLJJFwnfNr8roP898b4zjnz_07gxsj7KPREZP_Csws7pAV_0C4QAEg_Sx_OaTRcfR-QkvKO0sNYygP-SO_8fYmjdQNjkhpx_IwQwVkMyquL6-jrK8PPRZ30mfs3erWCyKDoQx6DiS_HgLoVwxUjQh_TP7WpufaDW3UYHTDTIVCEc8dCTwlKPKdCiOpmF9S-jTv3rxw94VUgThj8vKCd2Hky93ZcDZ_D5o_FypRxqfAr_p0iVxSA4qmWk4ywCAmezx0cygzAb0aVYOfNLdkuF-3o6wnRfS9KMYwXmOCp9wW1KaSG3FM6BgH3VdsK_7zpjH5DAeYFOqIGyn_9mYdO3iw2jPQU7op4tz3jROuI9lgQ7Eqaeh06cX9vf30Sfw47xrNLwNiGNcCgvSYqk77UJLrTiaQAAhn9tI1TmgdjPKGeZxzT7R15a7dJSJXzFD3Fa0h9irks76lIP-d6Y-utwfARgTJ60omVFOaBurw==",
  "id": "rs_00e55cafbb1105b3016ab42fccc16487d0a5a0a9cc43e3c0fa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.15,\"right_z\":0.028},\"note\":\"The right bottle’s cap is now almost centered in the wrist image, but still ahead of the actual fingertips. I’m lowering and advancing slightly to clamp the narrow upper section rather than its base.\"}",
  "call_id": "call_UqxWrnTHaQOZYufQ4ODy99sI",
  "id": "fc_00e55cafbb1105b3016ab42fd039fc87d081f82899a3049f48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UqxWrnTHaQOZYufQ4ODy99sI",
  "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]: [-0.3943, 0.9592, 0.6323, -0.4175, -0.6518, -0.5274, 0.9975, 0.3901, 1.9102, 0.9482, 0.3264, 0.2043, 0.1184, 0.9955]\nstate[eef_state]: left_x=0.2961 left_y=-0.0032 left_z=0.1638 left_yaw=0.4048 left_pitch=-0.0077 left_roll=-0.0028 left_gripper=0.9975 right_x=0.4682 right_y=0.1576 right_z=0.0501 right_yaw=0.1274 right_pitch=-0.0485 right_roll=-0.0125 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -2.3316, 6.2017, 1.5897, -0.3199, -0.0122, -0.0122, -1.0462, -8.3761, 5.4496, 1.9219, 0.0952, -0.0269, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752f0e280fc6089bf2cd4a4a65b0fc3518117d9403610ffbc888eca53723fac9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b2bb67d07a6f992e2c48429f23e10491f4fde6c1d72bb10cfd90a4e3968c6cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f8e85a412ea266be8ec5978d3f388fdb6ba6cb71f2778b3c7e525d75ddb2b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 65 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9573, 0.6327, -0.4225, -0.6518, -0.5274, 0.9975, 0.4374, 1.8427, 0.9218, 0.2028, 0.2848, 0.1741, 0.439]\nstate[eef_state]: left_x=0.2954 left_y=-0.003 left_z=0.1637 left_yaw=0.4049 left_pitch=-0.0095 left_roll=-0.0009 left_gripper=0.9975 right_x=0.443 right_y=0.1563 right_z=0.05 right_yaw=0.0758 right_pitch=-0.1115 right_roll=-0.0416 right_gripper=0.439\nstate[joint_eff]: [-0.4308, -2.5641, 6.065, 1.6435, -0.3687, 0.0171, -0.0122, -0.5538, -13.5179, 10.0308, 2.3126, 0.2076, 0.0513, 0.1783]\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]: [-0.3943, 0.9592, 0.6323, -0.4187, -0.6518, -0.5274, 0.9975, 0.3969, 1.8832, 0.9958, 0.1837, 0.2234, 0.1223, 0.9952]\nstate[eef_state]: left_x=0.2959 left_y=-0.0032 left_z=0.1636 left_yaw=0.4048 left_pitch=-0.0085 left_roll=-0.002 left_gripper=0.9975 right_x=0.4631 right_y=0.1556 right_z=0.0545 right_yaw=0.1149 right_pitch=-0.1108 right_roll=-0.0393 right_gripper=0.9952\nstate[joint_eff]: [-0.5265, -2.4821, 6.2701, 1.5311, -0.3932, 0.0073, -0.0122, -1.1556, -9.2513, 9.4017, 2.1221, 0.0513, 0.1099, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9592, 0.6323, -0.4175, -0.6518, -0.5274, 0.9975, 0.3901, 1.9102, 0.9482, 0.3264, 0.2043, 0.1184, 0.9955]\nstate[eef_state]: left_x=0.2961 left_y=-0.0032 left_z=0.1638 left_yaw=0.4048 left_pitch=-0.0077 left_roll=-0.0028 left_gripper=0.9975 right_x=0.4682 right_y=0.1576 right_z=0.0501 right_yaw=0.1274 right_pitch=-0.0485 right_roll=-0.0125 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -2.3316, 6.2017, 1.5897, -0.3199, -0.0122, -0.0122, -1.0462, -8.3761, 5.4496, 1.9219, 0.0952, -0.0269, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752f0e280fc6089bf2cd4a4a65b0fc3518117d9403610ffbc888eca53723fac9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b2bb67d07a6f992e2c48429f23e10491f4fde6c1d72bb10cfd90a4e3968c6cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f8e85a412ea266be8ec5978d3f388fdb6ba6cb71f2778b3c7e525d75ddb2b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_UJch1AIG0r6MqJ4qftn4e6b2VaHjLADL6Nfn6HLk5EssRrzpb1xK8S4yXBxruqYsft8qb9kNWOzm1z5E-7Om1s3gifIxKvt-npqAa0ZbXP7zQbNAAQWZwtTw0Z0hjW1MTcZzPB2_LiLvKXsXMNwG9k4lZAS5FNV8axBHZJETjR3R5fyc1HmGy4qaj1uxYic5kDUYQswKMzOt40Ux_Z1sVC5Ezot4fyTNR9mm3se57Kkud0WBhbgy4ZDCnDRSJPTbeKIiayjfkAzln_9ciVNCCLd54Vj-0-iH9B57jQqyazhYHubPiWBvdJvr-lKUoQWoSv86IipyTY6_pWylT4ft8NIySD6MgCPQ0EE-4AqpvwrPrR-klko0QU4FvbmrHK7KwT-4OZZYkMUIvJANn9-toPzXDJ__PmUBszunorlxc-OPT7PDJbdBCjcpMwFLLSd5hDlQQo3K08DhMTlKTCk9u6pydft58nN-Tc7Y8LSDbpS1r7Id8Lv4x97ClFaDYmThFL-C5fh2s1GXxOlyVrla5fBNi_snQLssH-J8TAAkaxzLrJ8cNiQT0bt72Xyk5CmqbIof3Ozz2AX7BCX0E64F_smRPpHjGnmSUZPaOeGRd9qO4dIgzdcwvdaEgOsHtwozA3KxpBJCupW74eqvDew3omk39_d3oOw0A218NdPzJZLzK36H3vHuAvwu06AhQfTlo_Rig-unnGuPUyBBMHCJTEi20bBr2sYV3cLciIZQ947ZfsETxNF00QpmU5c6eV_7cst-QzzCieMwfHiUW0dnXc_bxQNBtbco4BpreHiCheKr5LcKjnjUbkZZ9GeQHjPdJyE5bBwk4xH5QX2ECI06w5m6tDEM1BBUzzH1lRKFFtGe00UVp9U03nSbWocD0yQDHDZIYzN9Z8_5NMlrLBxd9bHGx68Zh6L9jQDeDQhn3rF-5KxCQyEoDuNJhA_neyUD41grEHZvzonhot64HXZspIeT26k-lkoVoC6y24HeVVButvLF9pVYjeegbO6S-FJ3SnyUDI-6ijPMIessRBnZveOqfEYcADrMCj64mf_sOwbrAGpg6MnmwJ3qIUkZVGR0I2_NVzJW7Apl-cPO4fLO57hbJcsgk_NPuy8xZDH5ISz1Yyls9NPKyrlJIediCaNkdY11k0L1dFjMf4Ho1IB-O5RBg9EA48IoC_jGDk-0CF5TU79l3PI0k77Fz5VkjskHUmEXebAIna1jYXvC7OyfqO8lTVzmWA5VU57NIhkki8NXgRpM8kPVNi8X9_ZMTJnsiHSPpGGpOdzVOxcXPETE5za8FZ2HxqjP6UoZKc8scv1ErDm5f_-5lk5atJwetABvsgJwTAuycRkYkS7WOYibborxujdndJ1Wqgexc0cZWvUpZ0ZaCZJ8cnyx6ICiMYpOC",
  "id": "rs_00e55cafbb1105b3016ab42fd29fec87d0958a133706a47aaa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cap and narrow shoulder are now centered close to the tips of the right gripper. I’m closing here and will test whether this farther-forward hold lifts the whole bottle.\"}",
  "call_id": "call_iFCW4H7rtW6jCis5agVQtpYM",
  "id": "fc_00e55cafbb1105b3016ab42fd32a8887d08401b1fc5912bfdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iFCW4H7rtW6jCis5agVQtpYM",
  "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]: [-0.3943, 0.9592, 0.6323, -0.4171, -0.6514, -0.5274, 0.9975, 0.3847, 1.9179, 0.9077, 0.4465, 0.1993, 0.1024, 0.0136]\nstate[eef_state]: left_x=0.2962 left_y=-0.0033 left_z=0.1638 left_yaw=0.4045 left_pitch=-0.0076 left_roll=-0.0032 left_gripper=0.9975 right_x=0.4721 right_y=0.1573 right_z=0.0549 right_yaw=0.1352 right_pitch=0.0207 right_roll=-0.0049 right_gripper=0.0136\nstate[joint_eff]: [-0.3761, -2.359, 6.2564, 1.6142, -0.3394, -0.0024, -0.0122, -0.6632, -8.8137, 6.065, 1.5604, 0.1685, 0.1245, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d107a02c901011354a8e08198e5789db3e89b929ae29cbfa07f34247efd5db5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d55f3f475c5ecf98f6f48816d81fb5251b2d0b3ee5a9d2ae16c5206bbf6e2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c15cce44c60d4462f6de62a0fefa32d576c5b4bb080fdb0969613c3e8c09c10",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 69 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9573, 0.6323, -0.4194, -0.6514, -0.5274, 0.9975, 0.4583, 1.594, 0.9791, -0.0338, 0.2832, 0.173, 0.4391]\nstate[eef_state]: left_x=0.2958 left_y=-0.0032 left_z=0.164 left_yaw=0.4046 left_pitch=-0.0079 left_roll=-0.003 left_gripper=0.9975 right_x=0.4256 right_y=0.1589 right_z=0.1389 right_yaw=0.1006 right_pitch=-0.0468 right_roll=-0.0171 right_gripper=0.4391\nstate[joint_eff]: [-0.3761, -2.2769, 6.106, 1.5849, -0.3541, -0.0024, -0.0122, -0.1026, -9.7026, 10.3316, 1.8877, 0.2271, 0.0611, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9592, 0.6323, -0.4175, -0.6518, -0.5274, 0.9975, 0.3901, 1.9102, 0.9482, 0.3264, 0.2043, 0.1184, 0.9955]\nstate[eef_state]: left_x=0.2961 left_y=-0.0032 left_z=0.1638 left_yaw=0.4048 left_pitch=-0.0077 left_roll=-0.0028 left_gripper=0.9975 right_x=0.4682 right_y=0.1576 right_z=0.0501 right_yaw=0.1274 right_pitch=-0.0485 right_roll=-0.0125 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -2.3316, 6.2017, 1.5897, -0.3199, -0.0122, -0.0122, -1.0462, -8.3761, 5.4496, 1.9219, 0.0952, -0.0269, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9592, 0.6323, -0.4171, -0.6514, -0.5274, 0.9975, 0.3847, 1.9179, 0.9077, 0.4465, 0.1993, 0.1024, 0.0136]\nstate[eef_state]: left_x=0.2962 left_y=-0.0033 left_z=0.1638 left_yaw=0.4045 left_pitch=-0.0076 left_roll=-0.0032 left_gripper=0.9975 right_x=0.4721 right_y=0.1573 right_z=0.0549 right_yaw=0.1352 right_pitch=0.0207 right_roll=-0.0049 right_gripper=0.0136\nstate[joint_eff]: [-0.3761, -2.359, 6.2564, 1.6142, -0.3394, -0.0024, -0.0122, -0.6632, -8.8137, 6.065, 1.5604, 0.1685, 0.1245, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d107a02c901011354a8e08198e5789db3e89b929ae29cbfa07f34247efd5db5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d55f3f475c5ecf98f6f48816d81fb5251b2d0b3ee5a9d2ae16c5206bbf6e2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c15cce44c60d4462f6de62a0fefa32d576c5b4bb080fdb0969613c3e8c09c10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_Y45TClsmEbUEOKuhMa1cZuc4PYruHS-actJRHtbE5rBYP9Xy_C3-UKp5rZz_wfYcotMgSB5uk5Anj09M96Cw6rGLH2BHzXNXE0hxTjeSWwHdb7Y7uHq_94aAoAH4-RVOk_Ds1Thfhw-BRrDhVlI2DWtB_SI1TZFmV50VykJoPlpYWtXkoVA_WXHyQEE_lBcknbDUyvRpyd_546hgZ3KUNhVvJHEccv73KOBO8NKH0i1-bYoEdFlquHOLW9Ns8kdGlHkIGGh2uupJfufdbxf6BYqgtDwmI2Z9urFe_GoWX_kfeq5tjR3HarpvxyqG3ZYWoNKejsNyZudTqCJm9z-GXUl1Fjts7OMWOr5MJb8Vz5ZLa-XSASvtuYqMoIWWL9MzS1pwc7zD8YybabIKyLviz-AND3IGlom3fVxVpl-pAFghvFNlbV9TNnG2aFapNFn7x1PESdO1bMr1XWMeyxZ05fylX356eaGAXXP6Qx8stbqDw2VPY5D82jfZ77lYT2Zo_ufhcAlGDyDPhr1ADoZmAiE3rUW35MT1VjjHXTJ2-DLmJX5pe079pZDzEsXoOS5TSl6LQ2vq8TEn8Ueyjf4PgLFDNNtllNb4qD6Blxf4mvoXLJRc9IoUWSmHR-ycTuwHkgZU1mCjjBQEfKTmxzIbQItov4koih9IIYxy5SHKizZWmas8eL3YG188qKgpYK9zzD2t5GJxFfKdtqbQ8jqXGFPH6p1cz5mjwdot9-TC3SxdU16KGNRD5Tnz0pXMs2BRjt983dmpCmgpLJQJ0QgZz7xgAQGwlFt0GemGZwPAw1PQvpwXVh-AsPa__3z3rUlj8hE1BBtxNZd3z118EA3bREQGbcc572RMf3axiMn6AwAOc2kYGHeBW0HG1MrruPO-YrqpH6sZc7j7AT40ksRtMovkDNNDxCH9U9q7xc_WE8pubFoTwy3TV2ewFYbmAMbb3TG0Il97ms-2o---yEZQxDC5pJ1Z9yhR9B6heEuzbOb-JyI3dHwYA-WBnJrJhyZatx00Z5a1RUFJGmYGy29zfRxpCtAd0BAMJfjtggO436ZNvSpAX82-fvKDlxzl4eahzfP9MuBfIqwiTHo68sYj2bN1JFskOaR4Ynk0NWAx1svcWj_hR4arWDk4EXUiVaNSC6FzKDDaRXC6xKLN4FhanXCRyOuo0exWiAAPg42OJl_58jn8onBvuTVlqAiwQ7qFayiF9HjftuVwHq4qjpF89wSsyUkeCnjycgf4MgleQnkh9vlPi_mB0BT2j-Cw5bVCodyD4w-nilUvvXSflJGpGUthgsE2SisaufyCcBfCCAS0lwVI5f0Ap7D582eVGa_VDDWP9j_n6hN8J8Ay-fEaF4Tv50bEnn7nAwXdg83eYTyCtULoaRw0iOe97mGbhsd_vUFRU7Ae7qzcwOW8GWSUhb_jZbD3Sgh7JZMgp2TS3PeQawmZVkA-3VpKqGQp4GleNYTYfRbozXYfIJPno2PM_K_SQylmxArp4qXTHOc1CxXN-BzzmvS07HOxbRFAJR0hL5pfAT5mCASVourLnwhWoVJL7YpYlH-YpXahC_d0aRNJncSnmmWnq68VVRTc_oi28ek9zjFVU6iBOFj3ZZoHLK24uWDa3iz4hpKrWnvzr30geztDiq-eJ_VpsRoIQvNm3K2ih35r5RtXEe0M0KqRUU27CobFwXqpPZgaZGSjUfng6thENx81SUYQ7dEQBl6yb9oQ_Yk8C1omVzcdLXQLfBkoPygq09YhvxkrIljE58pHNOt8BQ5tGJnGnfturKZjU9eth0vXhYqX0OB_Uzlr5nncitV2DWU8DoJxdnAG0-EusUFX6sYPzuzs9Zx4uUlWRavEu4GY2aGXqhs2AJ94PdZUFKKzbUIfl9KQEIoGv3mzMtgXsr6otvCodTzmgoUC-Nhoo0vEocZ0mrzmzWKKpLQ==",
  "id": "rs_00e55cafbb1105b3016ab42fd5e7a487d08cbb4a49fcaff917",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.505,\"right_y\":0.139,\"right_z\":0.045},\"note\":\"The right jaws closed empty; the cap sat just beyond and to the right of their meeting point. I’m opening, moving about 2 cm farther forward and slightly right, then I’ll retry the neck grasp once.\"}",
  "call_id": "call_QuiawOSan8kxD6N4wNOMarjN",
  "id": "fc_00e55cafbb1105b3016ab42fd7c90487d08679496c6024fcf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QuiawOSan8kxD6N4wNOMarjN",
  "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]: [-0.3943, 0.9592, 0.6323, -0.4175, -0.6518, -0.5274, 0.9975, 0.3168, 1.9938, 0.9829, 0.3923, 0.1253, 0.054, 0.9949]\nstate[eef_state]: left_x=0.2961 left_y=-0.0032 left_z=0.1638 left_yaw=0.4048 left_pitch=-0.0077 left_roll=-0.0028 left_gripper=0.9975 right_x=0.4898 right_y=0.1411 right_z=0.0349 right_yaw=0.1553 right_pitch=-0.041 right_roll=-0.0162 right_gripper=0.9949\nstate[joint_eff]: [-0.3761, -2.359, 6.2974, 1.5311, -0.3736, -0.0073, -0.0122, -0.8684, -8.5675, 9.0872, 2.083, -0.022, 0.0855, -0.2711]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92a055f6170c8950dc09631fcb1b71dc335845f7c59855e6487037e2e1184631",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d3411c9b751782e75cfb0bffaf9ae87973217d6cc9e913371ec27c591d0301",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f6dcee8fe65884a012f35db36f55c726c08aad9dc78e4dd509a9b1a48ee4dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9592, 0.6323, -0.4187, -0.6518, -0.5274, 0.9975, 0.3969, 1.8832, 0.9958, 0.1837, 0.2234, 0.1223, 0.9952]\nstate[eef_state]: left_x=0.2959 left_y=-0.0032 left_z=0.1636 left_yaw=0.4048 left_pitch=-0.0085 left_roll=-0.002 left_gripper=0.9975 right_x=0.4631 right_y=0.1556 right_z=0.0545 right_yaw=0.1149 right_pitch=-0.1108 right_roll=-0.0393 right_gripper=0.9952\nstate[joint_eff]: [-0.5265, -2.4821, 6.2701, 1.5311, -0.3932, 0.0073, -0.0122, -1.1556, -9.2513, 9.4017, 2.1221, 0.0513, 0.1099, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9592, 0.6323, -0.4171, -0.6514, -0.5274, 0.9975, 0.3847, 1.9179, 0.9077, 0.4465, 0.1993, 0.1024, 0.0136]\nstate[eef_state]: left_x=0.2962 left_y=-0.0033 left_z=0.1638 left_yaw=0.4045 left_pitch=-0.0076 left_roll=-0.0032 left_gripper=0.9975 right_x=0.4721 right_y=0.1573 right_z=0.0549 right_yaw=0.1352 right_pitch=0.0207 right_roll=-0.0049 right_gripper=0.0136\nstate[joint_eff]: [-0.3761, -2.359, 6.2564, 1.6142, -0.3394, -0.0024, -0.0122, -0.6632, -8.8137, 6.065, 1.5604, 0.1685, 0.1245, 0.9451]",
      "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]: [-0.3943, 0.9592, 0.6323, -0.4175, -0.6518, -0.5274, 0.9975, 0.3168, 1.9938, 0.9829, 0.3923, 0.1253, 0.054, 0.9949]\nstate[eef_state]: left_x=0.2961 left_y=-0.0032 left_z=0.1638 left_yaw=0.4048 left_pitch=-0.0077 left_roll=-0.0028 left_gripper=0.9975 right_x=0.4898 right_y=0.1411 right_z=0.0349 right_yaw=0.1553 right_pitch=-0.041 right_roll=-0.0162 right_gripper=0.9949\nstate[joint_eff]: [-0.3761, -2.359, 6.2974, 1.5311, -0.3736, -0.0073, -0.0122, -0.8684, -8.5675, 9.0872, 2.083, -0.022, 0.0855, -0.2711]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92a055f6170c8950dc09631fcb1b71dc335845f7c59855e6487037e2e1184631",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d3411c9b751782e75cfb0bffaf9ae87973217d6cc9e913371ec27c591d0301",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f6dcee8fe65884a012f35db36f55c726c08aad9dc78e4dd509a9b1a48ee4dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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{
  "content": [],
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  "id": "rs_00e55cafbb1105b3016ab42fdab25487d082d82366444d5786",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle’s cap is now centered between the open finger tips rather than outside one jaw. I’m making the single adjusted neck-grasp attempt and checking the settled jaw width.\"}",
  "call_id": "call_EsbPxquHvv1S8tlqkOxACvX4",
  "id": "fc_00e55cafbb1105b3016ab42fdbbcf487d08073239fa8ce4fa8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EsbPxquHvv1S8tlqkOxACvX4",
  "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]: [-0.3943, 0.9596, 0.6323, -0.4168, -0.6514, -0.5274, 0.9975, 0.3157, 1.9984, 0.9623, 0.5163, 0.0998, 0.0467, 0.0137]\nstate[eef_state]: left_x=0.2962 left_y=-0.0034 left_z=0.1638 left_yaw=0.4045 left_pitch=-0.0076 left_roll=-0.0032 left_gripper=0.9975 right_x=0.4982 right_y=0.148 right_z=0.0501 right_yaw=0.1794 right_pitch=0.0547 right_roll=0.0059 right_gripper=0.0137\nstate[joint_eff]: [-0.4171, -2.1812, 6.3795, 1.6044, -0.3004, -0.0269, -0.0122, -0.0205, -9.6615, 4.506, 1.4237, 0.2466, 0.1343, 0.9402]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23a0cf8411470ec6cae0ecad08e911554dcfa1650959303447025bf365d4ced4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f2fccd105499edb5fb6c2e0eb9f684c25a78856283c5d1cad866c65529082b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c89db18c128a29d154aefaabfe9c1436026bfba1cf9f2d33e27cc344a6aa39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9592, 0.6323, -0.4175, -0.6518, -0.5274, 0.9975, 0.3901, 1.9102, 0.9482, 0.3264, 0.2043, 0.1184, 0.9955]\nstate[eef_state]: left_x=0.2961 left_y=-0.0032 left_z=0.1638 left_yaw=0.4048 left_pitch=-0.0077 left_roll=-0.0028 left_gripper=0.9975 right_x=0.4682 right_y=0.1576 right_z=0.0501 right_yaw=0.1274 right_pitch=-0.0485 right_roll=-0.0125 right_gripper=0.9955\nstate[joint_eff]: [-0.3624, -2.3316, 6.2017, 1.5897, -0.3199, -0.0122, -0.0122, -1.0462, -8.3761, 5.4496, 1.9219, 0.0952, -0.0269, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9592, 0.6323, -0.4175, -0.6518, -0.5274, 0.9975, 0.3168, 1.9938, 0.9829, 0.3923, 0.1253, 0.054, 0.9949]\nstate[eef_state]: left_x=0.2961 left_y=-0.0032 left_z=0.1638 left_yaw=0.4048 left_pitch=-0.0077 left_roll=-0.0028 left_gripper=0.9975 right_x=0.4898 right_y=0.1411 right_z=0.0349 right_yaw=0.1553 right_pitch=-0.041 right_roll=-0.0162 right_gripper=0.9949\nstate[joint_eff]: [-0.3761, -2.359, 6.2974, 1.5311, -0.3736, -0.0073, -0.0122, -0.8684, -8.5675, 9.0872, 2.083, -0.022, 0.0855, -0.2711]\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]: [-0.3943, 0.9596, 0.6323, -0.4168, -0.6514, -0.5274, 0.9975, 0.3157, 1.9984, 0.9623, 0.5163, 0.0998, 0.0467, 0.0137]\nstate[eef_state]: left_x=0.2962 left_y=-0.0034 left_z=0.1638 left_yaw=0.4045 left_pitch=-0.0076 left_roll=-0.0032 left_gripper=0.9975 right_x=0.4982 right_y=0.148 right_z=0.0501 right_yaw=0.1794 right_pitch=0.0547 right_roll=0.0059 right_gripper=0.0137\nstate[joint_eff]: [-0.4171, -2.1812, 6.3795, 1.6044, -0.3004, -0.0269, -0.0122, -0.0205, -9.6615, 4.506, 1.4237, 0.2466, 0.1343, 0.9402]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23a0cf8411470ec6cae0ecad08e911554dcfa1650959303447025bf365d4ced4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15f2fccd105499edb5fb6c2e0eb9f684c25a78856283c5d1cad866c65529082b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c89db18c128a29d154aefaabfe9c1436026bfba1cf9f2d33e27cc344a6aa39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_hOKUKFaML0bLvyHPBLJ3kq2lw822_Ct4BJasYrYxB3BqnK2NABOW3spbcjfLRxjkJ246gsqI3fDG-HOwT8MMltq-pUQUq-d9yqXNSei0RrbKVsm46dCawyypCNih9wrruvvPJ1mZ1GEZ9AqgILVU5wiTlrk6erCo64stKNU2RDSC8x6qi_1mEip-T4CZGm1w-yXjue3jvU8ZICDNeCfuaJUJugrNE3NigegKvLeJvQSGDgkF8C1v4LEn--RJnDDXjUPHr7e4-054keDs_0t1VND7vmY1DU4aRTe54PdqZYwuJ_1Gldx4F1fzKl0AnSIMuv6ijHUy8s50yiSMBLgHUp-J-HzjIWPRVF99LQfOxibN-loPe7UvEvM9uYcxODElzbj0JJszWY4QH27RWURTVv2pvOFWNzoKYSdQaU2rDoBuAsEtBWr8OAcBHSo1Swbt6UeMOIq4towvgimPKnjcnxUiVxUx4z53uYYa6ReoxFxvUkmHlEU4A7Pw7ze8MhNfXSRNRD-kYOW7yjBe7Y_0WiOuxJamBZe-EnoQgaYr3dGHmriFEdZQCxcuEED8SfY7Fq-UCNtV5MMgmkuXrPZWcw1yVgcPUK5PqO052rl4YfBD4frwwqbIzJJSKmF8ii_5HacXClLK13YgV5eonTEULT5npwskSPpNbu4GlYOEPRpnVJD2HJPf369Hb6EB4zpjo3HJKW6Gcrj3D-LFQ7G234Y2CmydJMCQXsEilLzhYRy3svEZqFcI3Wm9ZFP3xAjuQBUC92Tq66jHi2DdqbsbRq-rmFbIKRh6oDI3HkoICV2y8N0Ns77lLeIG9v_6AYlNL61qkubhG3PRnFA44Z5hJ-q0Pi75N_SZ5UkYZ5VJkdj5sEOk6UBTn5zLvSG7frHsTvD6MYSyqbOFvTmrCkV67Y-Y4p3_XHF1FDgj3ss72_gkzJx_d6dLjgz6q3ijorApVk0uKJekZzXwgeNdaMHbqjsQEuV4xHob2n7CWy2X6hMudlZSKO5vemQ1xQ6HSd2NJ10HMm8NDbHg4ImGmrWfWpKinIgQbzsbeRmW2gdscmM7mNSY5Qc8ku9L3lhBW3pLZBHNbmn6Jb6B0FeEkar0B7CD9E2cyYM80sECzq0FtuZR-8hqLLeSqoqMYq8PX82wy2ekUDD-mVbPcQl4Fb_Z-6uxC915nNd0zVjevXnvMmRYN8g1pma0JFUWF6u_NghU6JSdE0gYDc3ZJoizO1QhQCdQK_4zYDJDawg69s2NWdQxny1O0AR52rFLp56kYiBPjshF_EGqxoq5TQdm61peoCHxOC7sqPaFGpziSZaKH10KHTYW4FE1Fs3J15ARuNl1_h_-jEob60NsGzW3DtvqPB8eQImzLmPEEnn9makKTaC5FQswV8ZCxpYvuI_njJ4-6trdho2xAJrqn1ik4KqBrNHmeJ85_pDg9Fm0VDATKz_8gazAG4lzp6xlFYMC7elYiqFaIAfrvskg0wi1hsoP9Cir4Jtz13KOfMxYcVC4d2YrJpXa1aouBrr_sybcTCDW_gscK1P4ENHQR3O1Wj3Lu2QVuGMQ-bEOsou26HetthEPQuXDfzPzSjqJDbEaXmzuQTlWyVHPHs7XQN-_1A35NlTNYPk6jdJ1Qhqqau2yktsjs0q_BLl6NzWR5N9krmWiDOvSDk2ZNdsmuXsuGRZm3ChoQukvUYu0tzllA7IUe4baO0X66V7uLjoJlOoJcgwXg8I6odjRpT9B8PxyYa4M9e9nUhAu0V62odYE3TkaFVAoHW__7FfpD9qduH9T2nxydUHBf3lPRQuVR13FROhFmhJm33K2TLuSuGzwH2RVxV0QGcCskg9sGUg8Td1xN2_MWdQFwZoidDwcc3uCkOmcu84ViycaoH47bu7apajs8xR_a6UQAhron0p0bSW0BSahjBUrdga57-J4J1epAZcv5sLDfWyIC_OVHnpRiTpwRBRQkqPHDcUYbavUFgX8BbfJNcNXlY84rXpUVumOkMA5IQ1MaiRhVMtp16xlSc1Z4FZY=",
  "id": "rs_00e55cafbb1105b3016ab42fdec64487d0b3a3c79427ac2107",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.412,\"right_y\":0.315,\"right_z\":0.13},\"note\":\"The second right-bottle neck attempt also closed empty at the far edge of the right arm’s practical reach. I’m switching to the middle bottle, whose neck is nearer the reachable center of the workspace.\"}",
  "call_id": "call_H82MOgFyHOJkyIGLCb194fBi",
  "id": "fc_00e55cafbb1105b3016ab42fe042dc87d0bad571fc419ecb27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H82MOgFyHOJkyIGLCb194fBi",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9592, 0.6323, -0.4168, -0.6514, -0.5274, 0.9975, 0.7975, 1.9026, 1.2175, -0.0101, 0.4564, 0.3088, 0.996]\nstate[eef_state]: left_x=0.2962 left_y=-0.0034 left_z=0.1639 left_yaw=0.4045 left_pitch=-0.0073 left_roll=-0.0035 left_gripper=0.9975 right_x=0.4089 right_y=0.3126 right_z=0.1067 right_yaw=0.2252 right_pitch=-0.0406 right_roll=-0.0234 right_gripper=0.996\nstate[joint_eff]: [-0.6906, -2.3453, 6.6667, 1.5897, -0.3492, 0.0171, -0.0122, 0.212, -11.6034, 9.1556, 1.707, 0.442, 0.2369, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa649d834acd3d8b6a58794fcde127c87a3dfdd77b9b238a108997ab32e23f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64c7e83975c673bc71a37d927830c30398d7d787c7b84673bb1631c47a9ee6d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72febfda71d04566125a7f90c6fa65a186a8a76a4dc93f9bf29d4ffa60eef0b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 82 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]: [-0.3943, 0.9592, 0.6323, -0.4171, -0.6514, -0.5274, 0.9975, 0.3847, 1.9179, 0.9077, 0.4465, 0.1993, 0.1024, 0.0136]\nstate[eef_state]: left_x=0.2962 left_y=-0.0033 left_z=0.1638 left_yaw=0.4045 left_pitch=-0.0076 left_roll=-0.0032 left_gripper=0.9975 right_x=0.4721 right_y=0.1573 right_z=0.0549 right_yaw=0.1352 right_pitch=0.0207 right_roll=-0.0049 right_gripper=0.0136\nstate[joint_eff]: [-0.3761, -2.359, 6.2564, 1.6142, -0.3394, -0.0024, -0.0122, -0.6632, -8.8137, 6.065, 1.5604, 0.1685, 0.1245, 0.9451]",
      "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]: [-0.3943, 0.9596, 0.6323, -0.4168, -0.6514, -0.5274, 0.9975, 0.3157, 1.9984, 0.9623, 0.5163, 0.0998, 0.0467, 0.0137]\nstate[eef_state]: left_x=0.2962 left_y=-0.0034 left_z=0.1638 left_yaw=0.4045 left_pitch=-0.0076 left_roll=-0.0032 left_gripper=0.9975 right_x=0.4982 right_y=0.148 right_z=0.0501 right_yaw=0.1794 right_pitch=0.0547 right_roll=0.0059 right_gripper=0.0137\nstate[joint_eff]: [-0.4171, -2.1812, 6.3795, 1.6044, -0.3004, -0.0269, -0.0122, -0.0205, -9.6615, 4.506, 1.4237, 0.2466, 0.1343, 0.9402]\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]: [-0.3943, 0.9592, 0.6323, -0.4168, -0.6514, -0.5274, 0.9975, 0.7975, 1.9026, 1.2175, -0.0101, 0.4564, 0.3088, 0.996]\nstate[eef_state]: left_x=0.2962 left_y=-0.0034 left_z=0.1639 left_yaw=0.4045 left_pitch=-0.0073 left_roll=-0.0035 left_gripper=0.9975 right_x=0.4089 right_y=0.3126 right_z=0.1067 right_yaw=0.2252 right_pitch=-0.0406 right_roll=-0.0234 right_gripper=0.996\nstate[joint_eff]: [-0.6906, -2.3453, 6.6667, 1.5897, -0.3492, 0.0171, -0.0122, 0.212, -11.6034, 9.1556, 1.707, 0.442, 0.2369, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa649d834acd3d8b6a58794fcde127c87a3dfdd77b9b238a108997ab32e23f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64c7e83975c673bc71a37d927830c30398d7d787c7b84673bb1631c47a9ee6d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72febfda71d04566125a7f90c6fa65a186a8a76a4dc93f9bf29d4ffa60eef0b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_oCrnjntH5hfklvNTv9DMafEsoeYdiyOX7MWm5weUjbZYw1U8Aio4Q3hQp1Vc1M_WRW4qTqto7YR4Bp2LRMF_-HFzPjqONWU7HcU-iGPL_B87IPa4movxAaP1KT7ai85y9ztEdx9gSRQbxjFJsgmm8CVLTMNVU2P2yuITJag0gOUzyxCJ2kKQ6szatgLEZuQj_Byy2BynkCK56_EK9liKGzkDEe8ctQXp0ksa13ZE_N4r_d4qpur3Vn1Stg1yuNoELEINw1xuJUu6ItM0MIo9NU7KYZqkeq2uax5A5xlnVbik9M4soI23NNnf3UCVrbk5n6f8pjg-hEYuvq0V-vtIT8vf6LqolGa5xWnd75lg4WHWvs76Zj8cqiKz5G0vVche-NlWX6vEJHZJ_3ADZxNxWQ0YlhgfTq4dylNCQOVp-x8u0NSxIaVpzM2Vo2ATHBm0ANO6EmUv_TCYRtZnoHgjVGwpluOhqCsWnvVUHd3aEGbGAFcbx-zv3ULOYgnQIPXtk2wyE8q3DoOwYO1SRu7ekiUcCI6A396U9j36SQ09GIiT84TQiljla8aFD_TAPl3GQtCPLeJLstx-wvXf5phS4zx4jUSC0mBYoGk1JMEGBTE44tZ99OB6KyttS0OV117imRG40aIdfVIRNzt56GZDPx4-lpdxaFoAbcWBrNvQLhxxlo04gr9aHkpYZ0XHNqpyKPYts0lOVxcrb_cRy-jxfnJxXNwnvJP17O3M-tpKEM4Y0c0Q3Oqe6zrNqQfduC1JFbKuxPWv_XfUC-0dY40WpJSwFUBCf2qetnw30hFlzrEoINeR9q0QoH7I7uJPiVhhMZYQudshVbqPlIa2UgweAiI712BpZPfR0_SFHTC1z2mK8wgwQ0Mrd2bBbQ0JuooDgfVEAsODtl6zOenl-hwuNw1ME4ZjGb2qZcMUZVi-q7ny8EsZzGegWOC2nVACd0s6lkaJyunEqytWq-IfEWbLWHw-qPhzEOQ1PhsDhSIooZarmvDKB_7bcz63dkB0iejvjSLWa3BuMNEIhKlFwD60sBbLR7Ihli4fNdv8l2JYoR6zQ16nPZgRZyaHY_Mb2z0qkRj21_nrPujnP9sgD_-B1GkytYsoARIDODc8sMYY7KnW-VGpLHrG5rirzOVYq9WvOt-8Jz1OajTy2kxfOH3DWwWEFjUxZCq4vO7bNPTlDXNANkwdrlSnHbyf7A4rwngCFEZjmG2U5X6lpbnoXsUpg6TkAfOWbggPW889UDVIwsWsv67f-6Rha5RmvFXvON5T9gbanf2WX8_jGOy0zNAFWvp-a9neeAXCcUEMgkGJ67GD78IIGWz8dBulPBiEbY17B45ABVHKWC7DlPs2nsSVahmpMBlWLGhuT4NxHVX4gQ_JuXfnuIhlzQlN3QCVxd0LD_rBLNX-uscz7J_bkUeMQ4eDCvacYvbSAxCoaQ8L0s2pmNxWRn1HdnnivPEjr0v9I-cbvbaULxfBz05hSSG-Zr02MFhYya0IG9FNDA6Id74l1Kwbn1YaJfVbUW5MkbWK0cov5trEY2wA3nDy0o1g0hwC0qNnXQU_2Y4OhqxAzBO7krEG_4LanwcP44VBNICu8MSIPNgWxRxnHABLWIDIrElapbTnLpBg4K5vRzFWdexrPoHDc0dgFwkodsF7wt640M7GgH2y5FPwZ04P2P3ZBV7JZItHrJ0_MNmcNO-9InbZBGqaIzD9PmeJFiWG5qDLuXIJSdMAWtV1fPuyU-fzC69IoRjG6XtDCI-r1_JTkkoRUXeDMc5M1eOZdiTD-WkKsxatroQjjxwQnypV-lelhIZxWkHND8dBM6xFfR-4kJpYLpZEKqtR_T7WtAcBcNV8WOpoM_otkhCU87nAqwDsg56FN_k2Jk_hWvuFqhVq4CVEFo_jFl827MZydeXE7hsIiG0DvE3QNtAk7xYImz2lKQjc9frsZQFrpquMVqsiNLHgKl78QEY-oyVsm4ERId7nPCPzVmJymPESBxnvvGG5FuOFnjB3CIyYW3KC4ZxA4mVzUF7I7AegdFeDaE7y1Wzjh0KyV22h_vxOTDGcIA2hh7fecAzjwa3CpDR7k1KqhC7oogkp-8oGQCeJYOF4-FZCcVez1KpbNQgSIN-k3SYUKt9IXSYnGgLylAyi4hSGmOQyTVhoczboo4ifT28GPHrd4l4J7OgmO0VneXF4aX6GnofonXVZ1omvlpvcBkkHqM7v7_3FQQYFWdXOJMDzyL97xe-OmbkNovtgDL_p1PJkfrNS2PCXVp89LbQLlkuq35ODRDjvdgxJIZottSlf-lS87Ljr2eeYU8meLev6BPIzqQ3n-yPG36QDPSobCvWUtYKtwMGAUMPa4b4UDxSSTy06LQJL9wrbzQYhT3tmVqTTeMMJ8hKEDPY1SLEolXFrPFDBGV5IfTUkMvwTPFL1kkfAk0cX5Q7PFBarvUVOKhoZDBiYl3APrMeAolmW1crKePurQ79KsSXf0k4D66h2QFN_nIBJGajNT5HOm6416yf2rkqgnT0lU3wVoHTdum8kpu2bkQc-A9uC205XR4iTQ5dZEwdTc8PPNlHHaMCZQcicCjqVcoZPMsOWBS3Sxxa0ofTRqBl55nJ1_schdmkCyrwu4yz1I_SZoyonETQNelbpIFApWpLQcl8M4jUaMcxXBs2DN7oZFkkIWxdcyiEFzdzY1UzfMOJW2p88T0D-zxHx7hSeVQ5drpLHIa8tDzrCWiWfn95QU52V3NQ8yVvqv1SLxDh-rZ8GT1AwU6IWvQETc0wne3vjt48IV_LpqZWgcVyjcM-zd1EX2THbOzmDQkc16vaU4bOKnIjikCNP_6GEavJn1jscM2ahhE7fCsfuqoWrlVxeeJQ9N6Dg1ef9SOipZfv7unjFB-mBFCF6yTJ_x5Q==",
  "id": "rs_00e55cafbb1105b3016ab42fe43c4887d08e315baeead99116",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.478,\"right_y\":0.346,\"right_z\":0.049,\"right_yaw\":0.14},\"note\":\"The middle bottle is visible ahead-left of the right gripper, and its cap is well inside the table rather than against an edge. I’m centering the jaws on its upper body and descending to grasp height.\"}",
  "call_id": "call_xLadA5nofZoJ1Ti1FLzKAd8W",
  "id": "fc_00e55cafbb1105b3016ab42fe7dbe087d0a09ed2b108717962",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xLadA5nofZoJ1Ti1FLzKAd8W",
  "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]: [-0.3943, 0.9619, 0.6323, -0.4179, -0.6518, -0.5274, 0.9975, 0.7792, 2.2284, 1.4471, 0.0746, 0.4702, 0.318, 0.9979]\nstate[eef_state]: left_x=0.2962 left_y=-0.0033 left_z=0.1631 left_yaw=0.4049 left_pitch=-0.0098 left_roll=-0.0006 left_gripper=0.9975 right_x=0.4598 right_y=0.3467 right_z=0.0434 right_yaw=0.1908 right_pitch=-0.0453 right_roll=-0.0296 right_gripper=0.9979\nstate[joint_eff]: [-0.6496, -2.5231, 6.3248, 1.536, -0.3687, -0.0317, -0.0122, -1.388, -11.7538, 8.3487, 1.8193, 0.4274, 0.1832, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d5b73b557b2ea184b1b07886876d80b984f1a716550d325161bce4588dbcc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:914dbd2f05bca3853c5df6b32ea5bf21d66b3ee07f44cc56ad6adc0418afddd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430c5e23cf48a6840be57f2a75ce4eb09e1b17c700b270b22fe2ab05d6878618",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 86 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]: [-0.3943, 0.9592, 0.6323, -0.4175, -0.6518, -0.5274, 0.9975, 0.3168, 1.9938, 0.9829, 0.3923, 0.1253, 0.054, 0.9949]\nstate[eef_state]: left_x=0.2961 left_y=-0.0032 left_z=0.1638 left_yaw=0.4048 left_pitch=-0.0077 left_roll=-0.0028 left_gripper=0.9975 right_x=0.4898 right_y=0.1411 right_z=0.0349 right_yaw=0.1553 right_pitch=-0.041 right_roll=-0.0162 right_gripper=0.9949\nstate[joint_eff]: [-0.3761, -2.359, 6.2974, 1.5311, -0.3736, -0.0073, -0.0122, -0.8684, -8.5675, 9.0872, 2.083, -0.022, 0.0855, -0.2711]\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]: [-0.3943, 0.9592, 0.6323, -0.4168, -0.6514, -0.5274, 0.9975, 0.7975, 1.9026, 1.2175, -0.0101, 0.4564, 0.3088, 0.996]\nstate[eef_state]: left_x=0.2962 left_y=-0.0034 left_z=0.1639 left_yaw=0.4045 left_pitch=-0.0073 left_roll=-0.0035 left_gripper=0.9975 right_x=0.4089 right_y=0.3126 right_z=0.1067 right_yaw=0.2252 right_pitch=-0.0406 right_roll=-0.0234 right_gripper=0.996\nstate[joint_eff]: [-0.6906, -2.3453, 6.6667, 1.5897, -0.3492, 0.0171, -0.0122, 0.212, -11.6034, 9.1556, 1.707, 0.442, 0.2369, -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]: [-0.3943, 0.9619, 0.6323, -0.4179, -0.6518, -0.5274, 0.9975, 0.7792, 2.2284, 1.4471, 0.0746, 0.4702, 0.318, 0.9979]\nstate[eef_state]: left_x=0.2962 left_y=-0.0033 left_z=0.1631 left_yaw=0.4049 left_pitch=-0.0098 left_roll=-0.0006 left_gripper=0.9975 right_x=0.4598 right_y=0.3467 right_z=0.0434 right_yaw=0.1908 right_pitch=-0.0453 right_roll=-0.0296 right_gripper=0.9979\nstate[joint_eff]: [-0.6496, -2.5231, 6.3248, 1.536, -0.3687, -0.0317, -0.0122, -1.388, -11.7538, 8.3487, 1.8193, 0.4274, 0.1832, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d5b73b557b2ea184b1b07886876d80b984f1a716550d325161bce4588dbcc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:914dbd2f05bca3853c5df6b32ea5bf21d66b3ee07f44cc56ad6adc0418afddd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430c5e23cf48a6840be57f2a75ce4eb09e1b17c700b270b22fe2ab05d6878618",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_sbJSOjsb0L6anNvhRRpEAJZoJA3IDq7vGj1hFwI1LNVpr9pRTEXEloJGjW1DYWLCSKB1d-Zkjze7n6TTKc6y53hkoujLBzobT8I6R7sp6fVRnkyO8ns8roAsHZCYTViXWoKnoCIFd3H0805-bkR_usDjJitrLEYdCUajfjY5lVsvRMMyNPBXtUNOSIk29DwLkpr02omNEvjxIZ7njZvNO8r7YJZA3tQsPAx9dV_36EP2MzGbCAMVQVT1AtoCstMiEWsHSr3wcgiPlMNE41UPYOsy-24wgq2G9zr89jWulXS6BA1cmFXLRLqZm1CDqRlybV-5DNtmwnQ7md6e9RF1gAcuZrWKkJ963piWomRinH8njPU87V4UoEyzO4pYBN4WnqT5otf7OhudHOzPSNjEc8X5b7j_Bba3GV-e7ysCnz4YTgAf41aF0yV8iqjIYmk2y9PTEtOloZCKVBt2tBeQsbANQgM7-U0xRr3xrHN0xseg_MMBar2_uN6OUCl7soj0cI22mqAEf8PpDIXeNqfATsReqp33qc0qBoLcQvr3JBbs8dY1UmByO7BMQIiwmGRSsFJZkPe1hVl1-MBALty1ECPMFonUzgZK7YF2E2RQZ3fEV12B0td7UpbegY1HI1yCH3ZO1EqHXlWusBjImJa0ikgJR1zymG9E99NKCR36gtmMJLLj6TMqd0J3zkJO4i1xyFZrpppxaohIos01fhQDKbW5N1noCe50l9qKn-ZH0TG-eXEQBTeRZZl-tjc7o-ls3dOV_F3F6cSOaEyxfP0lFVmDytZ0RO3hWKYfiWBx-6nELvPsZw6MG4UCtsFmgbn_OlGfgEbJX4dCjTg4oodcRlLcrBft7BKyHvBHQYSBgBnugB7q17Ez5A1_cgyRMFdf81kia4RMMVuAAyytzkcrTdb_v9VIaVO-73f0LSt4UX9HHq1QTTFZt_6TrIQYKYV2OjAKuOqkbtL9Gs-DR7FQhZbSEtLBfY_vqXUUlihy9wYwh6xw9yydsBBYJZzUzHpBX-gGK5EIXkZCTuXyXWZxcqpCW9wu57xv-pnJGvQ745I7Td4shAIhUAaYDyH3tKVVvkz0G7CKWmG1w2vx-i3bMe4M46j5iNnEV_c6OOiskHy5NV18LrL1zIYLX_9HZpbiryJjLbGEgtSghAiRfdvksRZxnzrcK8hSK8g74E2TqBgfM0dRfH4EiGTl7FNg0cJi5Tdmkf2yXdlIkSELbG9-Aq3b15Dua5D4xT1CX3j6r70yS8gMDcFVV8r6o44p62RFbrhO7l2tgTlY_x_ESKArnjB0zZn0yNUwTYUAtd2GcddeiGB9AhHW1jb8sSzGExBiunSbej1yBqx3gUtawosQdRUaUZ6ZQ7xPAZanr9i0lafB3hIjkhTRNkPCoo3EcHwEUlldX5mRR_uzzQZzYeHgok4Pe5VUSrHN6yowBws6scFoOZnfalVSG9siVQGY-xGiqLsjN8w4w7fB1VQ8w7RNOXxDOMQCWi5ATwweqU-tfdp_KK97IgVixf8btaoKprjB6OLrOgg91OuUiS-P_EKePM5HBKkALDLDyU2htJ7tAzNFqiDVkeNFn9u7s11q4cNjg3WJKcSY__a99ks8tp71yFIra2dDlREgUzQvMxWxuyrA=",
  "id": "rs_00e55cafbb1105b3016ab42fea7aac87d0b98c5b7495fe6eed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.492,\"right_y\":0.345,\"right_z\":0.044},\"note\":\"The middle bottle’s cap is centered but still a little ahead of the finger tips; its shoulder is immediately between them. I’m advancing a small amount to put the grasp as close to the neck as reach allows.\"}",
  "call_id": "call_bFCfLglfe5IwoxKE035zIud6",
  "id": "fc_00e55cafbb1105b3016ab42feb63d487d0be6cba6d63783d4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bFCfLglfe5IwoxKE035zIud6",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9619, 0.6323, -0.4168, -0.6514, -0.5278, 0.9975, 0.754, 2.2646, 1.4818, 0.099, 0.4366, 0.2855, 0.9983]\nstate[eef_state]: left_x=0.2963 left_y=-0.0034 left_z=0.1632 left_yaw=0.4048 left_pitch=-0.0092 left_roll=-0.0019 left_gripper=0.9975 right_x=0.4739 right_y=0.3475 right_z=0.0395 right_yaw=0.2103 right_pitch=-0.0375 right_roll=-0.0257 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -2.5778, 6.0513, 1.5702, -0.3297, -0.0073, -0.0122, -1.5932, -10.6872, 8.8547, 2.0147, 0.2369, 0.0806, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd9b595434c05c50aa4832c1214b24d572292d3870ef494d0f81f6b9bc1c6dea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cecf9891b7e82f1015776e86cd824d95c0ede4ee3ac238fb3e538bf167f5f4e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63716c2d37edfe221ce1038e19d0323006a0d3613144b1729c95e05f6686c233",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.3943, 0.9596, 0.6323, -0.4168, -0.6514, -0.5274, 0.9975, 0.3157, 1.9984, 0.9623, 0.5163, 0.0998, 0.0467, 0.0137]\nstate[eef_state]: left_x=0.2962 left_y=-0.0034 left_z=0.1638 left_yaw=0.4045 left_pitch=-0.0076 left_roll=-0.0032 left_gripper=0.9975 right_x=0.4982 right_y=0.148 right_z=0.0501 right_yaw=0.1794 right_pitch=0.0547 right_roll=0.0059 right_gripper=0.0137\nstate[joint_eff]: [-0.4171, -2.1812, 6.3795, 1.6044, -0.3004, -0.0269, -0.0122, -0.0205, -9.6615, 4.506, 1.4237, 0.2466, 0.1343, 0.9402]\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]: [-0.3943, 0.9619, 0.6323, -0.4179, -0.6518, -0.5274, 0.9975, 0.7792, 2.2284, 1.4471, 0.0746, 0.4702, 0.318, 0.9979]\nstate[eef_state]: left_x=0.2962 left_y=-0.0033 left_z=0.1631 left_yaw=0.4049 left_pitch=-0.0098 left_roll=-0.0006 left_gripper=0.9975 right_x=0.4598 right_y=0.3467 right_z=0.0434 right_yaw=0.1908 right_pitch=-0.0453 right_roll=-0.0296 right_gripper=0.9979\nstate[joint_eff]: [-0.6496, -2.5231, 6.3248, 1.536, -0.3687, -0.0317, -0.0122, -1.388, -11.7538, 8.3487, 1.8193, 0.4274, 0.1832, 0.1929]\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]: [-0.3943, 0.9619, 0.6323, -0.4168, -0.6514, -0.5278, 0.9975, 0.754, 2.2646, 1.4818, 0.099, 0.4366, 0.2855, 0.9983]\nstate[eef_state]: left_x=0.2963 left_y=-0.0034 left_z=0.1632 left_yaw=0.4048 left_pitch=-0.0092 left_roll=-0.0019 left_gripper=0.9975 right_x=0.4739 right_y=0.3475 right_z=0.0395 right_yaw=0.2103 right_pitch=-0.0375 right_roll=-0.0257 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -2.5778, 6.0513, 1.5702, -0.3297, -0.0073, -0.0122, -1.5932, -10.6872, 8.8547, 2.0147, 0.2369, 0.0806, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd9b595434c05c50aa4832c1214b24d572292d3870ef494d0f81f6b9bc1c6dea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cecf9891b7e82f1015776e86cd824d95c0ede4ee3ac238fb3e538bf167f5f4e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63716c2d37edfe221ce1038e19d0323006a0d3613144b1729c95e05f6686c233",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_vMdACtl3XIPseu_ryQohQvIQnUW9ELEjF4dVUtRJP-jAAkQCyZwKzqm8isimRvRj4kXdhMWmOKYzWoTY8hYoDWDlV0-wAwXoN2vz1brD2YASahRNNUBfZaaG93v3ez6XKSxgSd4S4wg90mU0tx-w-K79fumbMyyA1APwu_4rLWe-mmo9ta-1yOcGu3EOyP_vzwKH0A_svF2BT7CUHoJ-fNBD3Jn-3RcK0UwjMsa_-9CNRmbB8C2y9gYZZrRNY2lKCN39cJ3Mq2jIC4_hGRPUSIU62VdvRZb8D4ipgMxPO1z9lzEffadwc6BM6MQM0p6sccBsqSD-Xm4Z39ViDtjGPHWBDSpNIsk7ojxBqJrTf8LrrNduJCqMyenFMC96hr5ImaBoFOrpgS4_Vr23bf7banYQBCyG2LkyV9Hi5BK0pa2p4F9Pqq2OQvau_Qtg5ssUhA-M562474BgNoZjaLn9wjGQtY7MWPFI_I06-hyinHL4Be278rooIRFh8RkHa4zsFjWRp70SCsohH7HHx5JfRTbYUMZ5ipf3UdP0RQ3PfhHuw29WbYKmhVuDLeV9D0QJwBxPA2yRGwFaIuhWXtKOzpKhDUE2kKfmxymnILFRzbbHJl9dK4-Ln59tkOYDCN1vtGqn2ZCzYDlqs3H9OwCwXDNgrW2-N1lwzcS-1HM5JnS3QgM0vWYTHixgObPp-PTE3jgMHlLX6RStA9qHHQHrHC8G6dw6NQdT8ljBvbOx39SMzeNqfeOV2oSJ1jtZne47s6khbdgIFb_HFeKjddi3IJl8SomL-TJRm70II8hxAyM3o8mzvZoM1AnKMMccFU5SzPXs3bTV8C0A2snpQaPirYKzcRn_wcyt7IXNxcpXZaET2k3ZnuLpOWuGXwZOL-lOfIZaq85_4qSUxoM_mJSHP0IGYXjc93XRNkoSSeusVRgOz_EwpRs6Elv6CwPkYULU2VmHnsfM88zgwWjqkobuWpvgpD1MvxEZGzNA5ONwqTjzKmfyEkop47xx2cpx-v1SPKB0cEgTSi8CYxvWsN-NZup-5Jmv8j3nUS0x7t_Urtn4J2PuVoOkLDwqgsooxpOXtD99S-S-oMIt3Ah-ejN_kmB0b9gdGYJbGTfW7Nx42U-52tWyFkepCC2kwZwbXfPAzK9stZChdITvYAMrSHoeAqSNgZY0hDunMAlnReh5AOOVxDBBuw3ijoGNCRnpUgP6FyCQZyEKhhTgtoXA3UY80xmY5DxR0tu-i7EzgDECALVZMVxBJRX1Cc4pr6Tye_b_UYesmb_edkEn3zAzP9n6BWugLsSOV-FIECzVnfPZMoohjaDEc0vYopJH78LcoPuJz7fsHJxG5jq4h6EJq-OkV48MRcmOZuKHCaknSNEjtnGbkS9O-VTDrE2ny-1QKUMenMDxvRZcbktlfnwFcsPoZKxV3WTX0Fo4qKdNfvprbJh8caf1sI3t_B8k_HuEckneuRiKsXP1dWGphlDEhr3KzaSfmZ3Pi-iG6P3JGd3e1_MNFlerbhYoYEMbOwoFLhRAu",
  "id": "rs_00e55cafbb1105b3016ab42fee63c887d0a0d79948596cbd97",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The middle bottle’s neck and shoulder are centered between the right jaws, with the bottle running under the fingertips. I’m closing around the upper body and will only transport it if a short lift confirms a pickup.\"}",
  "call_id": "call_EtcnWVmy5eNyexmR7k75C9B2",
  "id": "fc_00e55cafbb1105b3016ab42feee38887d0899038810e03eb31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EtcnWVmy5eNyexmR7k75C9B2",
  "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]: [-0.3943, 0.9623, 0.6323, -0.4168, -0.6518, -0.5274, 0.9975, 0.7334, 2.2719, 1.4887, 0.1055, 0.4183, 0.2573, 0.5133]\nstate[eef_state]: left_x=0.2963 left_y=-0.0033 left_z=0.1631 left_yaw=0.4048 left_pitch=-0.0093 left_roll=-0.0012 left_gripper=0.9975 right_x=0.4815 right_y=0.3421 right_z=0.0384 right_yaw=0.2197 right_pitch=-0.0381 right_roll=-0.0358 right_gripper=0.5133\nstate[joint_eff]: [-0.5265, -2.4684, 6.2017, 1.5995, -0.3785, -0.0024, -0.0122, -0.6906, -11.1658, 8.5812, 1.9267, 0.2222, 0.2613, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f4c7177886cc2ea54fc4eed21914ea7ff85c7f1618c935a9a46e22e1ce9aa9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b53a3172c274e2f4d7f055bc5b14bce4436ede5b7624ba55a598c057abf1876",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a04955b5f98e132764da853f63234a3172e0b9fc7059323f8f4d80c9f60877d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.3943, 0.9592, 0.6323, -0.4168, -0.6514, -0.5274, 0.9975, 0.7975, 1.9026, 1.2175, -0.0101, 0.4564, 0.3088, 0.996]\nstate[eef_state]: left_x=0.2962 left_y=-0.0034 left_z=0.1639 left_yaw=0.4045 left_pitch=-0.0073 left_roll=-0.0035 left_gripper=0.9975 right_x=0.4089 right_y=0.3126 right_z=0.1067 right_yaw=0.2252 right_pitch=-0.0406 right_roll=-0.0234 right_gripper=0.996\nstate[joint_eff]: [-0.6906, -2.3453, 6.6667, 1.5897, -0.3492, 0.0171, -0.0122, 0.212, -11.6034, 9.1556, 1.707, 0.442, 0.2369, -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]: [-0.3943, 0.9619, 0.6323, -0.4168, -0.6514, -0.5278, 0.9975, 0.754, 2.2646, 1.4818, 0.099, 0.4366, 0.2855, 0.9983]\nstate[eef_state]: left_x=0.2963 left_y=-0.0034 left_z=0.1632 left_yaw=0.4048 left_pitch=-0.0092 left_roll=-0.0019 left_gripper=0.9975 right_x=0.4739 right_y=0.3475 right_z=0.0395 right_yaw=0.2103 right_pitch=-0.0375 right_roll=-0.0257 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -2.5778, 6.0513, 1.5702, -0.3297, -0.0073, -0.0122, -1.5932, -10.6872, 8.8547, 2.0147, 0.2369, 0.0806, 0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9623, 0.6323, -0.4168, -0.6518, -0.5274, 0.9975, 0.7334, 2.2719, 1.4887, 0.1055, 0.4183, 0.2573, 0.5133]\nstate[eef_state]: left_x=0.2963 left_y=-0.0033 left_z=0.1631 left_yaw=0.4048 left_pitch=-0.0093 left_roll=-0.0012 left_gripper=0.9975 right_x=0.4815 right_y=0.3421 right_z=0.0384 right_yaw=0.2197 right_pitch=-0.0381 right_roll=-0.0358 right_gripper=0.5133\nstate[joint_eff]: [-0.5265, -2.4684, 6.2017, 1.5995, -0.3785, -0.0024, -0.0122, -0.6906, -11.1658, 8.5812, 1.9267, 0.2222, 0.2613, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f4c7177886cc2ea54fc4eed21914ea7ff85c7f1618c935a9a46e22e1ce9aa9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b53a3172c274e2f4d7f055bc5b14bce4436ede5b7624ba55a598c057abf1876",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a04955b5f98e132764da853f63234a3172e0b9fc7059323f8f4d80c9f60877d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_05lX-nyF55RUTg7hV8cSZmJ0yPWD64Bp_Y7a4FuYIqGw4ueU-HOtWKunQg7wNBAdREhRSh_sRh9XhXWzV23BoIvuvdljZF621xC5Cp3-w9yD0aeYAmBEQlRALBIXwUfvTFwGA3os9OtDD-j7AnxLrF-dVJ2099bmAXobY8RYwwSNpulVpfUifAVBCcBzlwx68KUQSX0yd5j-fa32IoxdOHuGPLLvyOG9qi2EaIzzFGxp4LSsx8Re4VpOo3MiDIxZriHsiH7RdX9GN2JLpMS3JUggFHqaw-bA41b_LeyoQ98Ea7r_4LrQzNa1LzcSwVf1hRSOqHVqNykEDXUct4TB8MjGGU_6JKtOp3VNgIwX3ShWXs_8240kEjER8ntv33nZ9reMjc1H_sj6uFgHWxnzGrPe95vAGlzUaUkq4y9ZeXqqDlACBxohfj_H5RLH559eWtgn_KQTpVVhEn7V4qNa9fVVd2fjTGrrQxSEQdYPDTd385_AzwnRPf8vjSErtfrtSo2cB9G4nQtvT_fCK0-YtGY9YtORj4s1O95fdv1N2ppGt5JhZghqEKpegK7lx_AMxhP3s3p4JZEauqWOzx1VTH9hdSfwh-ImuJ0P9s6mJxwwyypkgFZVK5sRh1X6axe_3tEoIjJJh2oVEt_YFoxx0jN73PvMKIPdBUgmPXQctewlFWMNbnYtldxU1BTLh-G0r_rzos6Il27jqAngpUMxXNcFFKX9xuYE1l9jrHM0uFRIFBuxFOflEws1HPUS5WFJmZ0_MXOVUPhKxkaAuTyga3_LHkIMhij6HbeJ4w_kDUgf3RioEaffr50wfcpwjhvtnf8KZoot5S_PN8smXkmOFOKXE7OuDk-ZsHdaTm7w1SkUgc1eVoYivgMON6xeHDJAZ-MY34XFJJtJpDMrNDWIiqH8VMNcj5lP2vuQheCE-C3mG03mi8YZXfYZ5VhSYCN4lsraZOF4GOVJhEZjsXtsSekMt0Q2fOuQO0lgJ75medB3_40bYS849py_7gwKSMEiyJCX1XrX9v5kI8MWDebG9JpThdGko3h3lBOsCwljRK1JexAM4QnQcUO_vkBTMGpK4laQvCn0fUr6KNmGhE4T5PpaRuc0VP8C_7cyoIUND70HQweATyhLx-cMw-qODYkpDWTj1PDwHT_JD177jvenUCkvvOA12nrcWarhv5wIHYcprjvZWcSVYyhnefGp44pwT6eYR44-wWOyCRL2tpQbv65nxB_FUPGDuqEJiiHeJJ3xPvrrLv9rAd0DvvNqegL4iTv6VUrCHGoT0PIGQ71-fqWkgGjixQ8eGFxjkTs9z959xXqgxY22HxZMhQbuo06Ee",
  "id": "rs_00e55cafbb1105b3016ab42ff3ae4c87d0be1c464d3a1aa167",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_z\":0.19},\"note\":\"The gripper stopped at about a 5 cm bottle width on the middle bottle. I’m lifting and retreating slightly from the arm’s far reach to see whether the bottle comes with the jaws.\"}",
  "call_id": "call_iiorNEMrj5FMBJVVng7phB9v",
  "id": "fc_00e55cafbb1105b3016ab42ff42a8c87d09d3532ac9a92b4e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iiorNEMrj5FMBJVVng7phB9v",
  "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]: [-0.3943, 0.9623, 0.6323, -0.4164, -0.6518, -0.5274, 0.9975, 0.8066, 2.0068, 1.5032, -0.3065, 0.4267, 0.2916, 0.5149]\nstate[eef_state]: left_x=0.2964 left_y=-0.0034 left_z=0.1632 left_yaw=0.4048 left_pitch=-0.009 left_roll=-0.0014 left_gripper=0.9975 right_x=0.4199 right_y=0.3376 right_z=0.1185 right_yaw=0.2613 right_pitch=-0.149 right_roll=-0.0807 right_gripper=0.5149\nstate[joint_eff]: [-0.5538, -2.3863, 6.188, 1.619, -0.359, 0.0122, -0.0122, 0.4171, -16.4308, 11.7128, 2.2002, 0.6178, 0.2515, 0.149]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d12d165638fbe22a44b9096a0fb8acfadad6cb2ef297d48c6993940ec8038b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872c683aed5e85b3c54d5b6732baa6e693eaef0325285a221aed2c747e6e3c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:812a9adcb54c76bef66bdb5beaa952855ae3d884c663e5f0bf31432d8a8c1518",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9619, 0.6323, -0.4179, -0.6518, -0.5274, 0.9975, 0.7792, 2.2284, 1.4471, 0.0746, 0.4702, 0.318, 0.9979]\nstate[eef_state]: left_x=0.2962 left_y=-0.0033 left_z=0.1631 left_yaw=0.4049 left_pitch=-0.0098 left_roll=-0.0006 left_gripper=0.9975 right_x=0.4598 right_y=0.3467 right_z=0.0434 right_yaw=0.1908 right_pitch=-0.0453 right_roll=-0.0296 right_gripper=0.9979\nstate[joint_eff]: [-0.6496, -2.5231, 6.3248, 1.536, -0.3687, -0.0317, -0.0122, -1.388, -11.7538, 8.3487, 1.8193, 0.4274, 0.1832, 0.1929]\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]: [-0.3943, 0.9623, 0.6323, -0.4168, -0.6518, -0.5274, 0.9975, 0.7334, 2.2719, 1.4887, 0.1055, 0.4183, 0.2573, 0.5133]\nstate[eef_state]: left_x=0.2963 left_y=-0.0033 left_z=0.1631 left_yaw=0.4048 left_pitch=-0.0093 left_roll=-0.0012 left_gripper=0.9975 right_x=0.4815 right_y=0.3421 right_z=0.0384 right_yaw=0.2197 right_pitch=-0.0381 right_roll=-0.0358 right_gripper=0.5133\nstate[joint_eff]: [-0.5265, -2.4684, 6.2017, 1.5995, -0.3785, -0.0024, -0.0122, -0.6906, -11.1658, 8.5812, 1.9267, 0.2222, 0.2613, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9623, 0.6323, -0.4164, -0.6518, -0.5274, 0.9975, 0.8066, 2.0068, 1.5032, -0.3065, 0.4267, 0.2916, 0.5149]\nstate[eef_state]: left_x=0.2964 left_y=-0.0034 left_z=0.1632 left_yaw=0.4048 left_pitch=-0.009 left_roll=-0.0014 left_gripper=0.9975 right_x=0.4199 right_y=0.3376 right_z=0.1185 right_yaw=0.2613 right_pitch=-0.149 right_roll=-0.0807 right_gripper=0.5149\nstate[joint_eff]: [-0.5538, -2.3863, 6.188, 1.619, -0.359, 0.0122, -0.0122, 0.4171, -16.4308, 11.7128, 2.2002, 0.6178, 0.2515, 0.149]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d12d165638fbe22a44b9096a0fb8acfadad6cb2ef297d48c6993940ec8038b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872c683aed5e85b3c54d5b6732baa6e693eaef0325285a221aed2c747e6e3c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:812a9adcb54c76bef66bdb5beaa952855ae3d884c663e5f0bf31432d8a8c1518",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC_6wj2imPe31yv0YgAoNJbJJRgUy8tsZxVH18EQZsokPz5n6Slp0hadzoWQKtaTe2QmoS7ZhLCNARIHZ3IBXyE0bsYJvUR-w1WciZNaPD9rGr0vyRn8XZhs8seV2yNSgGzaXsgztVoLCgu0OuEFr-Gj6-XMMP4ox04nRNy-tQg2AJ9wMpFE1Wa1fMbNsxCP7lvUFVN5b-k3tmQ4fiSC3Cxf41iO7qmb62WwQ0kBHuP9XzlZzrCR91obOdsJzJhjc4a9HiBiT2HNiFaVRG0l4mTsi_kLv4jXzQRXPOgyuHA4EUa679vrsWE9TxNaLRCGukCNZiv9Vs12G3BxHs7YMQ0-KJOoOWC4dVjK2dMLto2zuq4AinabeOTzrq5gZgNB_Jcx7GWxsh5dfglG8TIr2driyOmjibIsoEZiQjalmD8zgBWL8iUDepNBcSldATf1xZnO23WOetRQhZQirz-s-RSdhw5uS1zKTr6idxkxeZ4KgwRRqSuYA2qwbzh2U2uS5__TURDwEMlNq1vCqLTJG1ARhRoOXo7y62PhvQsUcTMo1ZunAgrT6WRoiiag745cyJrTIA-F2Lgqo0nSPJIEiprB2zK8jHkVrN88O_pNIMtjlLAGjUvpvjxcv1UStEo0wGm9KbMsIgLozsvpYATQ-i8KAUp_tDgAmeO7j8w8lMU6Iy0aNyLZWwzuB5doduundTvA6IQSt-axyNy5zWFTC7QHQzGoIlzvHjSSKcMxHp8Qz4VBOIO_3sT7wTQXhnaMW2yRIN8nk5J1XZnv860nJgLO8MTmSMf7mXC6IUriQLn8BhIaveZFV1Jz_3Go2t6ZQDoSTnLOzEcAXs79FcIfZqZ7dxvJMMpHY81wbsy58Ajol1SmUsb1PjSnDoQF0a8BYQYcvrSEpactrdTQEhwr5263o0FJflOATWA9tjTgS5RNZ-rqKbUpnKDkGXS6tbbq6Wj6DJIpMKgIg3HUh14l-AtcWG5fUdhJwZzZT6Q0hGjDitQ1j3ALt-Dvla8zRCdohIBlO42fcbliH8D_dOp5KFiQhpxMSGCGWeGkr0rAObzPgRoCuBKY3NflX_9pbpK_nPmww4Rpx6Jfta_8hrRdKA3-klT3U9W0QrsoTpSUwZ7Ykjb5pD3-VoeU1i3yXmokCJlhSDRT2RhSn8xbGVBrgAsZPGZv4Edl3oviLB18LCIP-nlxlZFw6owFQ7mB5ZMgooM6vjmAo2qrnen3w479ZX7fJY2ostiPCnM12qcuJ6LiWOuUmCDtZxWJU82kogoT8CICL3Lbq2fW8FvetB5WB6FhufiyoQmX-Yjq-7IWKpTceYrKKveGc7GjhJXCizrQW6bfo92HAxUPnz6yEcL_Rqnevlq_wMa71zF-YcFu4JCag45ABAzfa7R8gjgruMvo5UTyjem98C5XMqp-La8-ZEtW7ujLK-OXnU2ZFNUXIpcDv0IY9dS26EoJ0qHm6oc2d6gumXkxdH935FZ6k69MQEwkW4rfOz_clBi2XIt0XYuH3OrmEqzLbSMFBtN9JLww683jPe_K_uv6usKtvWp1orLHEWX3f9HhjqA6analbXp_sEde1Etu8ptXM0axvzP41o-HHqUO162K9oGr2mcP2mwXBEx6_uC5FN2MaM6bXaEpDqdEEVP7LWDBye3P5t2kWN8zFT2-2t4GRS_Df6z5OLFlFWgLJxE1_h7ME26C9S-QILmkoHEqzre9Wydu4A_d34L-xZHux8O7xOThr7PU_CP1TXT0OStKSguqhU-_MOG_Z9fHIH_gaH_k42levaRbt8poVSu24P_ByaImfKDqcjOZdXmYNn8a2nNy_-6NOxOMmz9CFFvBvgppme5SZyYCMM1nrw4l9JJFwfVkUHgY4HQUISatWY8SSPBRhfyQlVz_AA1KdfuoxQcRUk7HCRenbZBefObPuPREMGcK_Kl5hAefxdKmxAQ4Pf-p3qqq-zV1pwIlf4FPpzzOkZ-fB6XnhgTEckp-7yACR33cKr4vN2-tuhuEI0WA3PXAvwItERytmSNoUdsBTqoL0YxP6ymdwD0YLYBflEX9goJAjpVTHsTzvpIt3x9kjXB371VpHUUD4bc0FRJul5kkVJxkhTui7hsUZf0ysETcGlK7kBJpbBHLAGGSjlh8bt7GoLPuZw9uCGH3Ft4hvTRlJyjhqXaX7t5hILWswG4gi_ShydT865HkbRtMF6uNvWZdebxSywTwar_SH2u-fZwR5APNtiHW_IBv67-lhfYPpsEUobv5AurwxiN1PDuB4xjEH_YNDPvLAts=",
  "id": "rs_00e55cafbb1105b3016ab42ff7593487d0bed9cb2ada30915b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_z\":0.24},\"note\":\"The middle bottle is still visible ahead of the wrist as the arm rises, so its pickup is uncertain; the arm also shows more load. I’m moving a little higher and back to check whether the bottle clears the tabletop or stays behind.\"}",
  "call_id": "call_U8oBzoXDp3S4O24aHNlSEWQk",
  "id": "fc_00e55cafbb1105b3016ab42ff9617087d08a8ec4941c940b93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_U8oBzoXDp3S4O24aHNlSEWQk",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.963, 0.6315, -0.4168, -0.6514, -0.5274, 0.9975, 0.8837, 1.803, 1.515, -0.4114, 0.4721, 0.3141, 0.5148]\nstate[eef_state]: left_x=0.2963 left_y=-0.0034 left_z=0.1626 left_yaw=0.4046 left_pitch=-0.0105 left_roll=-0.0002 left_gripper=0.9975 right_x=0.3808 right_y=0.3431 right_z=0.2106 right_yaw=0.2961 right_pitch=-0.0386 right_roll=-0.0297 right_gripper=0.5148\nstate[joint_eff]: [-0.5402, -2.5504, 6.3111, 1.6142, -0.3443, 0.0073, -0.0122, 0.294, -11.9726, 9.6068, 1.6777, 0.4518, 0.2515, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:760e4539938366c69395f24cb7370c695913e1b83a9d58a548dd0ad936bca1ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad992be8b4def0b6d33a495c5c72bc113227fa8f045d220810286841dde53e74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ec40774f284635415b1faf23d7f1acd577808f7e32034beba88b18b4256604",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9619, 0.6323, -0.4168, -0.6514, -0.5278, 0.9975, 0.754, 2.2646, 1.4818, 0.099, 0.4366, 0.2855, 0.9983]\nstate[eef_state]: left_x=0.2963 left_y=-0.0034 left_z=0.1632 left_yaw=0.4048 left_pitch=-0.0092 left_roll=-0.0019 left_gripper=0.9975 right_x=0.4739 right_y=0.3475 right_z=0.0395 right_yaw=0.2103 right_pitch=-0.0375 right_roll=-0.0257 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -2.5778, 6.0513, 1.5702, -0.3297, -0.0073, -0.0122, -1.5932, -10.6872, 8.8547, 2.0147, 0.2369, 0.0806, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9623, 0.6323, -0.4164, -0.6518, -0.5274, 0.9975, 0.8066, 2.0068, 1.5032, -0.3065, 0.4267, 0.2916, 0.5149]\nstate[eef_state]: left_x=0.2964 left_y=-0.0034 left_z=0.1632 left_yaw=0.4048 left_pitch=-0.009 left_roll=-0.0014 left_gripper=0.9975 right_x=0.4199 right_y=0.3376 right_z=0.1185 right_yaw=0.2613 right_pitch=-0.149 right_roll=-0.0807 right_gripper=0.5149\nstate[joint_eff]: [-0.5538, -2.3863, 6.188, 1.619, -0.359, 0.0122, -0.0122, 0.4171, -16.4308, 11.7128, 2.2002, 0.6178, 0.2515, 0.149]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.963, 0.6315, -0.4168, -0.6514, -0.5274, 0.9975, 0.8837, 1.803, 1.515, -0.4114, 0.4721, 0.3141, 0.5148]\nstate[eef_state]: left_x=0.2963 left_y=-0.0034 left_z=0.1626 left_yaw=0.4046 left_pitch=-0.0105 left_roll=-0.0002 left_gripper=0.9975 right_x=0.3808 right_y=0.3431 right_z=0.2106 right_yaw=0.2961 right_pitch=-0.0386 right_roll=-0.0297 right_gripper=0.5148\nstate[joint_eff]: [-0.5402, -2.5504, 6.3111, 1.6142, -0.3443, 0.0073, -0.0122, 0.294, -11.9726, 9.6068, 1.6777, 0.4518, 0.2515, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:760e4539938366c69395f24cb7370c695913e1b83a9d58a548dd0ad936bca1ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad992be8b4def0b6d33a495c5c72bc113227fa8f045d220810286841dde53e74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ec40774f284635415b1faf23d7f1acd577808f7e32034beba88b18b4256604",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "id": "rs_00e55cafbb1105b3016ab42ffc11a887d092c1528e4ac5aebd",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDADrpEqTiVMznRKNXUNzyHChZVQxjCtBNEZE68fQuPCRkkgoAg9J4I5DlNMdVoQao8cFb5px4oMrZZSbfVFJFzII2AK54IEYLujsbvzcF2ELR1P1h3RPNrTxvs4phdiI6hOsdUmE1qYuKWbFErFmL2P9noibQJ97SbWqfgEnXPMcuHsthGHl6TptEbKr5pxdOoAvgHDjTuyj2vSWomB3X9piD6b94iVzgqApY55fJrzjkMGUmmLBgZSMNRgD-QlLxMmS-kRErXtL4AO6NPvnQztzt5-cP6wM1gEakob9mqR4oC39hXcAybFIK_btlgwvs2cVeJGLAuQtrF49YZ9okFNuqdO0i56nGPPguK2zP_ZVKGUXwL6kfg0CkNaGcjbIGGJiXB3dBNDwlzSb8wwTRBufQq_BBQFh_Xwu3uIDLs3Qew1_1XYebxwam9wivHj4BNVhmwJlApaKarKfsAR4TlIJ8In60j9f0UxI5CzJm2ZGpEE7rVOm7mc7n4XrsakH_L4l4WtU-oi9X2IuK2fTLWjGCrIu48WFvRNJ_cVT9ShE_NwDXTSvVJeucAjn6-jzr3Q6ZlljirQt1A8c7sVRDb41Cg4Z_wQgdkrMC0xG3GlUC7xZpahOAnZXY1yu5YMztLOEWCmf1iU92pvZHbtxugJvBOA20m4bH5pQWGhZG06BvoPNss0uP-9UXoSavS0Y4_CZiTy0oXorrbcExZ8leQhpdnGOQW2OTCOfV72OA72MlEJIP89mAUEbdXnivKZlEAJB38LHBY19sUD77igrCtzTNiMFDPXpKrIKNUGUnwSfWLTqQJnDp-7fAPwCYPxl0MBcV8zzadcQh3FhKXgiylECreBkMQRSl3OoRmbBsiS1VX991ism5Cs6ji4G12fl8W4XUMN__I2xS-hNPw95Pq92FtFg7KCvWAJoE80fmvEvWzXmXBgAj7NXE1nTAGGy8WB1d5F4B_Z220w0fdr7gvPrEo8EoTO53oLZkopQrlqykza6ZHAVN3dJ8daGnKf6LH7AORwDIuXlK47kZYcewgtKwCTKhs_MgiY4XtnhcSTnwfZ3V3LODpPxPxVnUHh59AJPKk6xkY9J6NbrjbrggP8Tw9YkRfOTHPMBfXycFIGW2mIYQWYO1b0WRqPV08YyDiDVrLdR0eqbR933zV-om-h5QZWLt5DZMkWVjBrB0DqlwCfmkd7LZl_7DyDFJaPEM0_zrZQINzbWP6Y8T1yFasptSVsByJwwe-aY8sdAjVlP0NIYxUvzr9NAcGs3fYJLS0IHSxyWD8zqHVXEt0ku8qi4FHv1lw-BQ6hlCXNHlwaTPh7dGhmnp0j8gfz7j1Ff5GZV2PauH8oJD4vG3uJrJ28NlMGNXoVGcLkfuBanaoKTSqs9EEVir3yMTaG15A3D4DggSkWPHOqabrXf7VJivJDd_Zne8KNogISI-EwRk4ZYZAoC7HdjfHAOADd79sEy3eEppKgh1gMhY_ZNag5MGEquD6s3TSv80HKq8vYFPfiNhshPLnyXfFwkqpDPdlKgNrd-x3OBpOXbC8ddShNJ6e4qufBgH1Y2IXhMcOWWxfj-fM1ekD_Lz3wzchRKWzpaAhOZ3DTdqXQlXAzbUUsEru7utiKu1VcqaL9kZ4iK9rVeYEpD0StvTY2Dfnu0hpLATWBQ1IrTZ03zm1rwQ5pEJ2sFvcKqDyVF4kHe1mn86V7c7XGRpzm7qwGzChfgm8bxCusc4w3sT7UAdhPgVuNBE8siWRtL-eBAgEFy1gW1gQ1UseswS0E2DjXB7cyuIeTb3YK49lG3FJIf2HiBMyy1JPtW2sOL8VhnFoF908RVL6x6frPr6f9elrRf4yxbYyI8EZY-R6SwaPSI230MVSkDvESikMIestMcQrIp2x-QtwlOrblWF2ocLKLySCM4gG-KT-tNcWUXatoCILLzFcqd8VdWDHbCczRJuZkpuCcfGhZzUmMVp-AwyQWgMls2HnT5gf3BBdeX7QaOAS6YhpC7JXN43IMzucbqcoIXXh-WC8xhc_azA3Laay2TtAyQy7r--7Qozp8RvykltnH0KqiQVh8jyUCad0Ny-IonRpW0CYSDfRxM6ixrVSeOSOxtlDrYcqQjdxWgVzn84cu23fmiACCb5j3t92vpsHFvBBZUf4cCcU=",
  "id": "rs_00e55cafbb1105b3016ab43001775087d0a1fa33ed26751b08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.344,\"right_z\":0.03},\"note\":\"The middle bottle stayed on the table during the lift, even though the jaws remained partly closed. I’m lowering the gripper back to the bottle’s near end to try sliding it inward, where its neck will be easier to reach.\"}",
  "call_id": "call_IT2tOpmdRpNkAh1i2r4vFnFH",
  "id": "fc_00e55cafbb1105b3016ab43002f5cc87d0ae7f8aff0f960b2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IT2tOpmdRpNkAh1i2r4vFnFH",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3988, 0.963, 0.6285, -0.4007, -0.6514, -0.5274, 0.9975, 0.7891, 2.1273, 1.2304, 0.2581, 0.408, 0.2493, 0.5148]\nstate[eef_state]: left_x=0.2979 left_y=-0.0054 left_z=0.1639 left_yaw=0.3999 left_pitch=-0.0015 left_roll=-0.0095 left_gripper=0.9975 right_x=0.4317 right_y=0.3405 right_z=0.0439 right_yaw=0.2884 right_pitch=-0.0071 right_roll=-0.018 right_gripper=0.5148\nstate[joint_eff]: [-0.1573, -2.5915, 6.2564, 1.4823, -0.359, -0.0122, -0.0122, -0.5128, -8.8137, 5.8188, 1.6337, -0.0464, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363b7878d45f6e3f603b59a513cca1d46d44d3a149cf02da1e71d92f3e639f06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b15789377483f15971220179f560251ffe891aae6795ca3d012db74329bf1efe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da3ccff0598499f92b20469b337a486dfe6a382e1494f058f00c3fa605d91b02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

message 114 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.9623, 0.6323, -0.4168, -0.6518, -0.5274, 0.9975, 0.7334, 2.2719, 1.4887, 0.1055, 0.4183, 0.2573, 0.5133]\nstate[eef_state]: left_x=0.2963 left_y=-0.0033 left_z=0.1631 left_yaw=0.4048 left_pitch=-0.0093 left_roll=-0.0012 left_gripper=0.9975 right_x=0.4815 right_y=0.3421 right_z=0.0384 right_yaw=0.2197 right_pitch=-0.0381 right_roll=-0.0358 right_gripper=0.5133\nstate[joint_eff]: [-0.5265, -2.4684, 6.2017, 1.5995, -0.3785, -0.0024, -0.0122, -0.6906, -11.1658, 8.5812, 1.9267, 0.2222, 0.2613, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 0.963, 0.6315, -0.4168, -0.6514, -0.5274, 0.9975, 0.8837, 1.803, 1.515, -0.4114, 0.4721, 0.3141, 0.5148]\nstate[eef_state]: left_x=0.2963 left_y=-0.0034 left_z=0.1626 left_yaw=0.4046 left_pitch=-0.0105 left_roll=-0.0002 left_gripper=0.9975 right_x=0.3808 right_y=0.3431 right_z=0.2106 right_yaw=0.2961 right_pitch=-0.0386 right_roll=-0.0297 right_gripper=0.5148\nstate[joint_eff]: [-0.5402, -2.5504, 6.3111, 1.6142, -0.3443, 0.0073, -0.0122, 0.294, -11.9726, 9.6068, 1.6777, 0.4518, 0.2515, -0.022]\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]: [-0.3988, 0.963, 0.6285, -0.4007, -0.6514, -0.5274, 0.9975, 0.7891, 2.1273, 1.2304, 0.2581, 0.408, 0.2493, 0.5148]\nstate[eef_state]: left_x=0.2979 left_y=-0.0054 left_z=0.1639 left_yaw=0.3999 left_pitch=-0.0015 left_roll=-0.0095 left_gripper=0.9975 right_x=0.4317 right_y=0.3405 right_z=0.0439 right_yaw=0.2884 right_pitch=-0.0071 right_roll=-0.018 right_gripper=0.5148\nstate[joint_eff]: [-0.1573, -2.5915, 6.2564, 1.4823, -0.359, -0.0122, -0.0122, -0.5128, -8.8137, 5.8188, 1.6337, -0.0464, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363b7878d45f6e3f603b59a513cca1d46d44d3a149cf02da1e71d92f3e639f06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b15789377483f15971220179f560251ffe891aae6795ca3d012db74329bf1efe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da3ccff0598499f92b20469b337a486dfe6a382e1494f058f00c3fa605d91b02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDAI7r-l1u7MvpciZIQWO95TJKOUGZUaasaOxr7eJ3ZnM_kzycACWS46TwNDeVd17WMsOLnORg8M5fZVtyDfvWiLVCOqQFBNjzHHPVJHus_4hjO9cL5FRKRMeyvqScoRICGRflo_eWUu7miKaanmfp5JaGZHmlZXXigzflKU5ToeaX2BMiipMNGB3c73jjgpquEl1v1dex5yJ3_32EPQu4ro7PGtogQA0bsqRfEIC6jCOs-9bYEjVM0vmtUzpIfzjBr0Uz3yoCeqYU2FKNHYiC6ncFX8Tq4zsqU37olpX4-DqWIE8ziTH_CwcG_3oWht9MFyzQ-CtkfT-TigUFWsRIscQ_raJMAldh0RdqGZP72MPKUeDIolnmFra_CBogDvVfCoqMJWzgEaTrhg9A5MWDFFJ1DnRQkZxvUdd_7R32gezJVvhVI4VWt4pAV2Ac8VBw6tu4j37OAHY90fot0D_Dvzw86fpO5iyQV_sJrF7it6ocCh8YhO5WIph7m3YDVUAnh78OrtTW5XYNT709WQBvh0tUKubJh1EPYeuXsjzxxW67M-D069dR2OPjFRF1-l7tJCUf-gJsP2Mni1o9iv_ucAfIsR5Po5_ivi8A7I61Im-aSS7LYQRAyPynn4w_UwdaKgNRgoEK0T2ZySEm3NJhxh0WbeV7M4-UxOmI2ZkjiGYwrZ4w3eJHA5MuyBt3amBvVxldCVQNglzHzPXyP9I1f9a35uavgnc0aikR2ByJsK_XOW8FTVVltnMAhUbkX4Gh8vw23c2OMkyqUm6zOHrX5P3FHSWrCo0oLyt_KkLswQNE0JygilWPzyXpGDlUUkueDsor3yidvVo9njn41ULtmkxLXrzPBAgjJTYuETujVu8Eczn-oKLo7OtAOXJmr1aEff-SeCEUEQhgW8DaL9lC6xqXsoe9NUma1cRmzUKzJUBjtHPW-Uy1OuySaiPF-nasMwAdqSXErS2IuUt-6NtiFWIxf629zD6wQn7Si0e5gftC5vzKIAGGDOdy2Cxix41AFSqQSP5Smfc9lxnOAyAahDqy87tLE6gcAsrYeTeUiu4Tv7FdRj42rq4dSqkotgVuprvSwayljlQ1_dZIWhayEAkxYLYO1uIsMT5PXVo1WhpiK5XX3YS3hrTUaaKYAqPWJ2byslkcHRSbZEu3HRy79qLzMaY0jWLU3l5oLma6m3v2asDgXzfKRFfPdT6_r_JRIiw5jvWKe5Imdm5HGj5V3O_v7x-HLMhky57bJUldLA7sMnFwQWvEPBLvyq_KOHPdW8LlPCC1YDX9EdoE-h3T6jr1DMYvhwvTbnCpaaIpXsz10gAWJujHdck9Jv7FLRZAxkhFcifmlb3_IKzC23FCU6RWyq97Pkc-B2oqB5JYpUuiTUbK-3ZSzjgVwCbAOhjCaaQeP3K6iBqEgH5rdEaoNIpqXuucHOJTbBCP7rwrx_6L69wKDeIftL3vj_0a8he9wFShH-3KNTOeubNImNdeLb5UMeoJGfMKCP4Q0L1hArw2Qty1SbmepbXJ9QG_e_eVXeVZh_jNcu_217s6XUxchJJOkhAPcaOEW9ainLV2xUh28141qN_wJ9T69eDFjxZnf66SrqSjB-iseDcfuuAD0pJ32YYPErGrlOwSSHraYhGwumlvXJ1bAtVmvqxkdir5ppzlyazN_QIgovVpK-R4DGgOwX_ie4UgLLuQQSLvvHS2wCR5VZZ4TsDmcrzAGG56FsEab7EjrxpJg8F-PMyfKasz_9YtMy6iTsHFYqCzvAQCuueqSG_xDZ9cdzZgb8luAFigp-GFpoqlBnbCUalo9qrlwBeA-NTabelz8-iflVGH3TF6RIFxqfB7SklwIzfKSxZw4DSmhS5q0qMgot7Er4whufaWI1NEdloKAiS2Hj28fuB21Z_DCcrA0jePPTMdcrY3CT6oPV66LVZReqG5GYH_JBs7ZlPU-ZNh88qhrMWAs=",
  "id": "rs_00e55cafbb1105b3016ab430060d3c87d09d547997872de558",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"Back at tabletop height, the middle bottle’s cap now sits at the gap between the partly open fingers. I’m closing again at this new location to see whether the narrower neck, rather than the wide body, is actually within reach.\"}",
  "call_id": "call_0o5KJKiHkHkhHwm5639V2au3",
  "id": "fc_00e55cafbb1105b3016ab4300779a887d08700f1336b2dd66c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0o5KJKiHkHkhHwm5639V2au3",
  "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]: [-0.4, 0.9661, 0.6285, -0.4007, -0.6514, -0.5274, 0.9975, 0.7856, 2.1326, 1.2304, 0.3237, 0.3912, 0.239, 0.0135]\nstate[eef_state]: left_x=0.298 left_y=-0.0058 left_z=0.1631 left_yaw=0.3988 left_pitch=-0.0036 left_roll=-0.0073 left_gripper=0.9975 right_x=0.4376 right_y=0.3476 right_z=0.0529 right_yaw=0.3037 right_pitch=0.0416 right_roll=0.0101 right_gripper=0.0135\nstate[joint_eff]: [-0.4991, -2.1949, 6.9265, 1.4774, -0.3687, -0.0122, -0.0122, -0.3214, -11.9726, 5.012, 1.2869, 0.2466, 0.1978, 1.2479]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad59e712617ec704fe0f071c28ea5455ba6ddaad32c278b76f17a798071fef1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d58b77b609e1f9b9415bab97edc80566a8ac9af402640b188f1e961dd252074",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2115eca0458fdbccdd656eb04c2854025a167630156063fb306cdd4885b256dd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 110 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]: [-0.3943, 0.9623, 0.6323, -0.4164, -0.6518, -0.5274, 0.9975, 0.8066, 2.0068, 1.5032, -0.3065, 0.4267, 0.2916, 0.5149]\nstate[eef_state]: left_x=0.2964 left_y=-0.0034 left_z=0.1632 left_yaw=0.4048 left_pitch=-0.009 left_roll=-0.0014 left_gripper=0.9975 right_x=0.4199 right_y=0.3376 right_z=0.1185 right_yaw=0.2613 right_pitch=-0.149 right_roll=-0.0807 right_gripper=0.5149\nstate[joint_eff]: [-0.5538, -2.3863, 6.188, 1.619, -0.359, 0.0122, -0.0122, 0.4171, -16.4308, 11.7128, 2.2002, 0.6178, 0.2515, 0.149]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3988, 0.963, 0.6285, -0.4007, -0.6514, -0.5274, 0.9975, 0.7891, 2.1273, 1.2304, 0.2581, 0.408, 0.2493, 0.5148]\nstate[eef_state]: left_x=0.2979 left_y=-0.0054 left_z=0.1639 left_yaw=0.3999 left_pitch=-0.0015 left_roll=-0.0095 left_gripper=0.9975 right_x=0.4317 right_y=0.3405 right_z=0.0439 right_yaw=0.2884 right_pitch=-0.0071 right_roll=-0.018 right_gripper=0.5148\nstate[joint_eff]: [-0.1573, -2.5915, 6.2564, 1.4823, -0.359, -0.0122, -0.0122, -0.5128, -8.8137, 5.8188, 1.6337, -0.0464, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4, 0.9661, 0.6285, -0.4007, -0.6514, -0.5274, 0.9975, 0.7856, 2.1326, 1.2304, 0.3237, 0.3912, 0.239, 0.0135]\nstate[eef_state]: left_x=0.298 left_y=-0.0058 left_z=0.1631 left_yaw=0.3988 left_pitch=-0.0036 left_roll=-0.0073 left_gripper=0.9975 right_x=0.4376 right_y=0.3476 right_z=0.0529 right_yaw=0.3037 right_pitch=0.0416 right_roll=0.0101 right_gripper=0.0135\nstate[joint_eff]: [-0.4991, -2.1949, 6.9265, 1.4774, -0.3687, -0.0122, -0.0122, -0.3214, -11.9726, 5.012, 1.2869, 0.2466, 0.1978, 1.2479]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad59e712617ec704fe0f071c28ea5455ba6ddaad32c278b76f17a798071fef1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d58b77b609e1f9b9415bab97edc80566a8ac9af402640b188f1e961dd252074",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2115eca0458fdbccdd656eb04c2854025a167630156063fb306cdd4885b256dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDAMSpb9ZZBFmh-lOm9CNfnAioTqD6NPIq3uS4rvo5iAoqd25cjUJCO7SVsY3ts-KJR-EQBxGBl27zfDsmLEAbWVY2au0o2znLcjMEGg69cZZHsnxRQua5VCPP7u9DgHgiK9_fGsCZLBRdbUd8GZM5ykLRZZXTDMQkgJjYIoiVl5uYeJVsTdm6SDyqSMKehA07sLXO4pJqs_vQNf4SNITMP7bafbwBkfkV97wmRsMCkvB_OagOx6oS_ssJyk-2EG626h95iA0_Px3HRvwJe5dooVdNkQEjjvaKKsvd6aAaomgUll8cPKDW-ypW7WClWauIxMkWOJjFacR3eBHqjibeCnOBDIGaT8IgjY6jz67FeuaocjK9_0pd17c-bK3HKAI6gxJz6foAcUbYnXoQyY0nv3Hp9XzrNUzIQ5IxNxV_DSDehByEeYn7qWnBAbLqEZ-a1ZlCWZK7gs0BVhMxArm2Uy5m_3ZwshJpPwtkq4SYV1aHq387JKva41tvBkf7ay4vr24ZDs_GFQN6SsGTThE_1QOGsMJXoq2OZyLcb1cRq-0C4HhEVmpDwIcdsqBpxyCpxajehJOiIL1syvd6cmG2kR_EPelFSec4ejtB7ZoHcIihhMxsz608Yk7rRr8qQGeYbfyBX4Y6z_7Y0A6lQ5I_OO-8DoSzqQ0f6qcknC_8puKm855txZNVHH6w55WNg7T0Mgb0w9HTrjyTQNls1VxaX2zi6wiYYyw-74zLB5zyGxgbm45Dg5X5habNxdI78vMe7HzrFGvN7SzgWZhX08ZPff1RfJX8s0S79VtOLm4hqlwevEkx15_d9OSd1dltkBwL7Vxb5wC--krbdKicgAbaCOm_nCqy1LuZVzITyDoTCCKtRnEzo3wbuPmrgN8-foJI_cIuNJZx8qr_kRLzT6GMHCoAh4V_UaTQQTYYoZ1jFk0Tj_OLI17xEQGxp5EI1gkzvtEcDkTNBYshMmcxWIcFsyylXixs0Qb9XIR33KrBuPeomEHsG55Z0wyDTTWaKT_xptbxVnszwiCKQLusZT1kyTD0aSam_7mQ_CCRe_zbcepkvX434LKAbsZ5JLr68ezchUtnDpiWcKhmXTQSFW5d5c43U_f-8YAqk60Vutr580VgYdbE8IOD7xQKAbvxRCI2BFdRxlsUXHvcIEox1C4F35ocdHjphuVri5QDiJbjSkHNjRWJ1J_ZPFWcL8GKfMDFJ11HKdqSjDdpS3mv3f4jlxXy2nJxnKZgzFwAzbHA8jKTI-JSK79uyiD7yAzVNPuch29HgbasjuvNZ96BjRevLgk5TRwTJw0O5NLpmrLyLcOchPxst_qnEk4Ivo-YzZzL-iUhyJALrWoTh2xXbk_dYrDLWtIu8KbnwrtiZINdUrJvFd54b4f6uPLJ2ek02VOwSSHToJkOmg486rgaq2RjtlQ2kahXPqezBfCMBB8Xep8T_-6O5SFXLsXIsgNaSdmbp53Qd2k8AHOqF5tHnJ--YHy7LnLOShzgEVjTWhYMTUo1Yznn9v_hiLB3pnA7DzFLwupNhZirXYhZbR0HBKqVnRGq-nB_ntP-iBNWnzmuwLOuW7nZQj0VqsiYuTIZsZyn49d39WXQW1H5Qi7Xgng2ir2_PIhbLUiaGz6kdRf3svIx58_Eae1I4Yqm-FIRwJfmC1ftfBlKZVyZ1fTde5Xwqus7YXQaslyrOvQZ8avQJn0l-z6hFTB13Qdc0EfZYO45NypDTyE2QvYphJfLqttXZ09pG2ev6ig6Qool0EXSnN3idQILglIsRozmWkcWc26INIf1eUec0XblBqFGUawfKcgTcurbroV-sQdlIg2TNfC5bALKQJ8miU9bDZnlDpYcrVA0WMGAeySbo0Pel_VhHzvTLS6ZEXQ9Eebz6E9ZmhMambcYWkZ-6EHea89WLMqMbudwoleolr6Q70PDXIZtZABHewUmalXQqPG8SlZWFWk31jURYxnQ-bEWVv45butzafmGtNUNYc9-6aSYCXW58ED-aze_qIcjOPiE30JcO0pQeBvcxErDC_Ha5onZAcijByemnQkWyvjTkYmM6-P4qtqMYsUKNuA04PLdcv0Kfk0zY=",
  "id": "rs_00e55cafbb1105b3016ab4300a031487d0ab235cdbf63cb920",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.409,\"right_y\":0.364,\"right_z\":0.035},\"note\":\"That closure was empty: the cap is just below and left of the point where the fingertips meet. I’m backing up about 3 cm and shifting the jaws toward it for one better-aligned neck attempt.\"}",
  "call_id": "call_8tnKp3zfVPToyUjojoro59T7",
  "id": "fc_00e55cafbb1105b3016ab4300bc28c87d09efa68b7edd8b49f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8tnKp3zfVPToyUjojoro59T7",
  "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]: [-0.4, 0.9668, 0.6285, -0.4007, -0.6514, -0.5274, 0.9975, 0.852, 2.1326, 1.2293, 0.279, 0.4274, 0.2806, 0.9948]\nstate[eef_state]: left_x=0.2981 left_y=-0.0058 left_z=0.1629 left_yaw=0.3988 left_pitch=-0.0041 left_roll=-0.0068 left_gripper=0.9975 right_x=0.4125 right_y=0.3657 right_z=0.0454 right_yaw=0.3187 right_pitch=0.0108 right_roll=0.0055 right_gripper=0.9948\nstate[joint_eff]: [-0.6769, -2.1538, 6.7077, 1.4969, -0.3346, 0.0024, -0.0122, 0.7316, -9.9897, 5.1214, 1.7656, 0.2222, 0.1001, -0.2662]\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,$blob:14699b5f1d3e4e0ffe41871f2f11b1026a1f8f403371383c58d691b7f9199957",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feadc1dbff8529dee5dc5370fc790ece98d1e6bd3992e4523a2531432d6d7153",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea9b33f5298af685ba2ca84264b293716035387f4e1346873ad0fc9d3243bcf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 114 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]: [-0.3943, 0.963, 0.6315, -0.4168, -0.6514, -0.5274, 0.9975, 0.8837, 1.803, 1.515, -0.4114, 0.4721, 0.3141, 0.5148]\nstate[eef_state]: left_x=0.2963 left_y=-0.0034 left_z=0.1626 left_yaw=0.4046 left_pitch=-0.0105 left_roll=-0.0002 left_gripper=0.9975 right_x=0.3808 right_y=0.3431 right_z=0.2106 right_yaw=0.2961 right_pitch=-0.0386 right_roll=-0.0297 right_gripper=0.5148\nstate[joint_eff]: [-0.5402, -2.5504, 6.3111, 1.6142, -0.3443, 0.0073, -0.0122, 0.294, -11.9726, 9.6068, 1.6777, 0.4518, 0.2515, -0.022]\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]: [-0.4, 0.9661, 0.6285, -0.4007, -0.6514, -0.5274, 0.9975, 0.7856, 2.1326, 1.2304, 0.3237, 0.3912, 0.239, 0.0135]\nstate[eef_state]: left_x=0.298 left_y=-0.0058 left_z=0.1631 left_yaw=0.3988 left_pitch=-0.0036 left_roll=-0.0073 left_gripper=0.9975 right_x=0.4376 right_y=0.3476 right_z=0.0529 right_yaw=0.3037 right_pitch=0.0416 right_roll=0.0101 right_gripper=0.0135\nstate[joint_eff]: [-0.4991, -2.1949, 6.9265, 1.4774, -0.3687, -0.0122, -0.0122, -0.3214, -11.9726, 5.012, 1.2869, 0.2466, 0.1978, 1.2479]",
      "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]: [-0.4, 0.9668, 0.6285, -0.4007, -0.6514, -0.5274, 0.9975, 0.852, 2.1326, 1.2293, 0.279, 0.4274, 0.2806, 0.9948]\nstate[eef_state]: left_x=0.2981 left_y=-0.0058 left_z=0.1629 left_yaw=0.3988 left_pitch=-0.0041 left_roll=-0.0068 left_gripper=0.9975 right_x=0.4125 right_y=0.3657 right_z=0.0454 right_yaw=0.3187 right_pitch=0.0108 right_roll=0.0055 right_gripper=0.9948\nstate[joint_eff]: [-0.6769, -2.1538, 6.7077, 1.4969, -0.3346, 0.0024, -0.0122, 0.7316, -9.9897, 5.1214, 1.7656, 0.2222, 0.1001, -0.2662]\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,$blob:14699b5f1d3e4e0ffe41871f2f11b1026a1f8f403371383c58d691b7f9199957",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feadc1dbff8529dee5dc5370fc790ece98d1e6bd3992e4523a2531432d6d7153",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea9b33f5298af685ba2ca84264b293716035387f4e1346873ad0fc9d3243bcf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDAQOp756qZYTNDhxhqL8ZEMn2cqsPEqF89F3GFBnPmcuE__R4UDjyLIBkgLiq93dbCrSKfJqTf17l9EhD1zw_Dt8eVKO2JhgB4kvVQEci_f5GlD_aXIEs_P3YHk5XJDogwwtkTQG0fM1Db-df2S2G3sGvf27qvilhlPVEdYpjTW9INH2bPplFbA67ylvGgEBYCAv7AU5CTqNlxKQSCDqRlLar_w-jj6JqqgA16LJ3x7JBNgZ2pXuiTEYLLlvyaTHHq_VB2Hegt4lOAdqIi7G59CydTtd56E5C8O8IrUHaDZ9xlSHZqyYQaybENWTFdeofs8Mm_UxwoGDTmecI9l2L-BiQNbcVKEwCOrAKKCqKEqe9TBwkGIUyzdrGNB7NwNBDqICw0TucxchkV0fTC4wkRP0xvLa-407ZwKcW0wXDpNT7SUPuzlZI77mPrRmqabdV6o_YDo09mxoxmzdLv7EWXRSM5tgOrJnGCzRBfAHkoJ763bRMhICpic_MZt0VPI0uCSMBRP1orwEjm1jaEXiMmKpEsySPeYoPO_Me2nV_7qZpbl8iHF1DOFEthdPJqKUMx7Hvj0CI6I7U_tAxJHBvMxhXrvkttMccrGchHUONxr_nlu6JLwKKNNYfVDQF4e9wdhBebx3J9HLo2DDC3KjVaJA4pTZ-GO_uKGLLUSWN4HSrdEWAp1U3tFoCrVrlY__Q2jM1U4qUGRCGhxyl8eiDouMO47BnmvmuGSzf5o0gd2jKpRVCPbwqtC5MK-AIRy1hHgmAXbnygQDFXojYI4ATGkhLas0tr2Vr617YaFSm-BiqD_RZkhtfTQEGtG69czRMQYuaj81i-x-G7MKUjjaQgRscfHIujGPFZkcSZ5tVyz5I3ResC4cyhrc8MfBT0tg7FrhKuHMD8RlAIVodW-aaB2pg8fFZ80c8F3xSdD6d5NvdQV_WLwzswKf9HXkDVITwSzaaOrYzQ1u7Pz-qJ7D34iuYDxdy_6XsKzHlI_igZZ-u2VhFLYrtFkFHfnlKlmsZho7-jeMnYEPdO5W9_9Z2yxHOFRMBY9UBbYHjz2w14wuD-7VWRY9UAxWc4mTYWyy1q7_xctil7_3aPKW9DA59SaJbNuyHECfmfmQ9P-KPUCVbQYjLDiJbq0IMD6myB83UEXHXbDwakZ45uWYf586dlSb1qfQtPfQd7SeYVTsS1TiDDE6mfwfL-mfyXXkcOoQMYG7HrIECjJWyvVm8G9fGvb2k_mdBEX4vkpGKJfTcfjcIXuZmM2YFWH4i7MnZDyeTjNXm7tV20tZVkm7_nnXy_ygtHbJzx7RZUQZ58s_N3EDNTmPWvunJ1wDalZVKBxIqxnTiVmzq6SJMGlY9DekVX71w2ABArfUHT4lCLnE4pki315X4RKZLY7FZT1T7mZQSiR6qyWnIkC-hgxb-6ByEc53OspcAFuzj842Ig3qmbTbpwZLlncyFTLBpE55sm8vPEHl_nfnVuHtjcuM4DnRCCPSuvALUfRga9RTKZJbRp6Lh5B3AGzJCJI3DE29NwoceAAk5n3XBG6d_n0flmiWyPUb63egDni_mWwxGuRGatOV5hDjJRnV4_ITFczUxOF1JyhqAKVC4uiRYA3hK2yo34CDGI77SxEpj_rCRYHLFDC2XUZ0NOvaYWEUukabtmXDwAw2I-xf6M8mQhe24DZHdmvuxvWmbvGIxyj-ZGLuYzq6lA=",
  "id": "rs_00e55cafbb1105b3016ab4300ed42887d088b724c330051a25",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.014},\"note\":\"The middle bottle’s cap is now centered between the right fingers, but the jaw height may still be above it. I’m lowering another couple of centimeters before closing.\"}",
  "call_id": "call_9upJ4kaSGU7FHawWjhpMEZPk",
  "id": "fc_00e55cafbb1105b3016ab4301006e087d0b61f4fcf67a40936",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9upJ4kaSGU7FHawWjhpMEZPk",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4, 0.9668, 0.6285, -0.4004, -0.6518, -0.5274, 0.9975, 0.8562, 2.1567, 1.2259, 0.3363, 0.4435, 0.2649, 0.9945]\nstate[eef_state]: left_x=0.2981 left_y=-0.0058 left_z=0.163 left_yaw=0.3991 left_pitch=-0.0037 left_roll=-0.0069 left_gripper=0.9975 right_x=0.4155 right_y=0.3687 right_z=0.0428 right_yaw=0.3181 right_pitch=0.0413 right_roll=-0.0006 right_gripper=0.9945\nstate[joint_eff]: [-0.5128, -2.1675, 6.653, 1.5018, -0.3687, -0.0122, -0.0122, -0.6222, -7.7197, 5.1214, 1.3797, -0.1783, 0.3101, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0ed1082adecaec5843aaac925fbbad01ad231f7cfc8402989bb7053642e868",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b358844e30cbd43b70238a3d419a35c715a3ab8883fe759b5cc05e354215dfec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b677148a2ad1c1b113addbf2ebc74438911bcbedfbbbd0f7455548b394496c9b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.3988, 0.963, 0.6285, -0.4007, -0.6514, -0.5274, 0.9975, 0.7891, 2.1273, 1.2304, 0.2581, 0.408, 0.2493, 0.5148]\nstate[eef_state]: left_x=0.2979 left_y=-0.0054 left_z=0.1639 left_yaw=0.3999 left_pitch=-0.0015 left_roll=-0.0095 left_gripper=0.9975 right_x=0.4317 right_y=0.3405 right_z=0.0439 right_yaw=0.2884 right_pitch=-0.0071 right_roll=-0.018 right_gripper=0.5148\nstate[joint_eff]: [-0.1573, -2.5915, 6.2564, 1.4823, -0.359, -0.0122, -0.0122, -0.5128, -8.8137, 5.8188, 1.6337, -0.0464, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4, 0.9668, 0.6285, -0.4007, -0.6514, -0.5274, 0.9975, 0.852, 2.1326, 1.2293, 0.279, 0.4274, 0.2806, 0.9948]\nstate[eef_state]: left_x=0.2981 left_y=-0.0058 left_z=0.1629 left_yaw=0.3988 left_pitch=-0.0041 left_roll=-0.0068 left_gripper=0.9975 right_x=0.4125 right_y=0.3657 right_z=0.0454 right_yaw=0.3187 right_pitch=0.0108 right_roll=0.0055 right_gripper=0.9948\nstate[joint_eff]: [-0.6769, -2.1538, 6.7077, 1.4969, -0.3346, 0.0024, -0.0122, 0.7316, -9.9897, 5.1214, 1.7656, 0.2222, 0.1001, -0.2662]\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]: [-0.4, 0.9668, 0.6285, -0.4004, -0.6518, -0.5274, 0.9975, 0.8562, 2.1567, 1.2259, 0.3363, 0.4435, 0.2649, 0.9945]\nstate[eef_state]: left_x=0.2981 left_y=-0.0058 left_z=0.163 left_yaw=0.3991 left_pitch=-0.0037 left_roll=-0.0069 left_gripper=0.9975 right_x=0.4155 right_y=0.3687 right_z=0.0428 right_yaw=0.3181 right_pitch=0.0413 right_roll=-0.0006 right_gripper=0.9945\nstate[joint_eff]: [-0.5128, -2.1675, 6.653, 1.5018, -0.3687, -0.0122, -0.0122, -0.6222, -7.7197, 5.1214, 1.3797, -0.1783, 0.3101, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0ed1082adecaec5843aaac925fbbad01ad231f7cfc8402989bb7053642e868",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b358844e30cbd43b70238a3d419a35c715a3ab8883fe759b5cc05e354215dfec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b677148a2ad1c1b113addbf2ebc74438911bcbedfbbbd0f7455548b394496c9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDATNIBmu-mK94hXRZC1Lf8kfhMW_bSoft5QKUp1hrHtngOtGJ1bHGdhEGxGPA-rpQsg4RjIBLh5WM1fOM-1K8Bs3Co4BRZCu2M8-fqcI725X8_syx-DggHapjXWPrnq9ixesyHHoK0y-yFZE_EaLE3f9DrIh4KWMYNDA5pQJxzEWde33dnFRAwIaWA13O1ca6mXYxy7Y9RbwN6GpmQukDtvfrj6ge_W6ObXviAjkuIJ8kuMsYet0ZZJ0lHBVREtzkrJuoxmX95_a4OqtRxKuElHQEaltnlrvofgxL-i3n4OOePqzIwXe2bXpfhEaDSat8YF_jbXqY_VzlCVRB6xWIzi6LIWaWjq9sO8uEK3kiKEF7I55vCUMWHn7RBsckDqzE7dCfpNXzZ2tYY9VwWLLThM-8g-viT8nGpnGmumqN0JVU3_SnS_gYkakbN-pCYDqNuvMg6PL0eSH7wY0otqAqGtm4M-cdeoVxyFZhpLrlcRoxE2zxvAMrIKtEz0wcOtBfGKAj_ZwjgBU_YaS6alzyiM3joF7EETbkj-dJ7zLebIlnM1xXPAaKK7pizA7gKRLh67CgvItqqyQnVkMD6sBQxAzcjZ1aID_HNSjbIUgAJdaYqocNPd89cvPuggfTnOYzUkVD1jGpBUxdsowMccPECkU9-VY5_KAxSJbXZ_HJ6rILDO1kvpbrd0Ypt3WquzQKvwUsZ3oiry3fx8hY3uvWY7VKQGOR47Vs64PiF37-fU7uEhAOVBdKeXg1EWlNH0xHsWJuYfQ_bo5JGhsvVJwV1tbJf_uA7IkQQfGB3wV2Ifnn-z0PUlbeU_JewpVibC4xQFpB2ebKutW68J2QJ2kCrH6kDGITx2cxKkZws9H9VyM3OY7tUuH2Jcverno83HsDgFwA40VtZjjNNmk6GstC8jGDODvAkgxnDn_Ciot4PvDHXDm5XTt8Tk_ZRdOlh4OfWPM4aUJljf2LUWGfvzuiYJ3CdwFb4bHOE5OMSbukW95F4SkPXzHo26FjGWTg-GZhFl_ciiyJ4_fzGBM8sJL0wAHtYQl5bsR7DxoqQVZno2G_xjA515G1sWPv_h1M15xy4AMXuksyzWSX80oq874jOICfnV-GXtCx1xJkLSEzKQHlGWtURa0Av2Rs5COOhiHtNjbhifqaPvhNWW5OjX3K_RGbb75u0bgoCl-ufV3YaPak76IhQkesftKJqNRPl2rLhJzAh_qEMBVF11lUOGOvgjfBifZb1h56fbOSxw1cnNgRePMpRH-z0W6UvDyYyq5KUuTcgAuY7Mv_QVWqZVpw8M17baQIfYl1G8Enh4l6qS-C5AgtQ5q5AW_wtn1Hnz9ff38TmubXJMwGY-fTUervOgCmiKtBiqWK6lDD64snQ4cLeHzsF-SG9eu-buACV8WCZZnVfZMKM_C2W8SJL9m3N6sNyzgZmw4CjYUvsnZX1CtCwA-eSBEZlw5lS7M0rScina7LhvbA_XvwZyRUoTLYnssIVcgWlUEv6Y-gEV-XUGT_9W_z7oodyhFR_6IETAjiv7WlBkQTlNu-uU8QzYpoD6U6TO1C39zaEfq4kM8_M6uexkBKD18YK7cflo6-jx3ovXLtvXVhVfBzIRJ4EDaoyu3glQi-raamLcro0d8GJn4jw=",
  "id": "rs_00e55cafbb1105b3016ab43011f01887d0bbfb15e4c7689a12",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right arm stopped descending at roughly 4 cm, suggesting contact at the bottle. With the cap centered between the fingers, I’m closing now to check whether the cap itself is captured.\"}",
  "call_id": "call_jRJeaxi9vQkp1CkR5ALQ6SfT",
  "id": "fc_00e55cafbb1105b3016ab4301348e887d0befc7f607c684fd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jRJeaxi9vQkp1CkR5ALQ6SfT",
  "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]: [-0.4, 0.9668, 0.6285, -0.4004, -0.6518, -0.5274, 0.9975, 0.8555, 2.1532, 1.2591, 0.3126, 0.4416, 0.2653, 0.0138]\nstate[eef_state]: left_x=0.2981 left_y=-0.0058 left_z=0.163 left_yaw=0.3991 left_pitch=-0.0037 left_roll=-0.0069 left_gripper=0.9975 right_x=0.42 right_y=0.3737 right_z=0.053 right_yaw=0.3183 right_pitch=0.0519 right_roll=0.0073 right_gripper=0.0138\nstate[joint_eff]: [-0.5265, -1.894, 6.7077, 1.5116, -0.398, 0.0024, -0.0122, -0.3761, -11.7128, 6.0239, 1.1355, -0.0171, 0.1538, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723df08ddfa0dd02130aef2c92844b2e69a7c650f8b6e12222dc8074c5b67ca7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460d507e0fe3cd1c2990e12c8cd15072b1f67bb350fea32239f402e1bd0ecea4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6dc2a6f97e02f0937d957b4ddd03874f55fbad77e194f31640f289342d9c78",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.4, 0.9661, 0.6285, -0.4007, -0.6514, -0.5274, 0.9975, 0.7856, 2.1326, 1.2304, 0.3237, 0.3912, 0.239, 0.0135]\nstate[eef_state]: left_x=0.298 left_y=-0.0058 left_z=0.1631 left_yaw=0.3988 left_pitch=-0.0036 left_roll=-0.0073 left_gripper=0.9975 right_x=0.4376 right_y=0.3476 right_z=0.0529 right_yaw=0.3037 right_pitch=0.0416 right_roll=0.0101 right_gripper=0.0135\nstate[joint_eff]: [-0.4991, -2.1949, 6.9265, 1.4774, -0.3687, -0.0122, -0.0122, -0.3214, -11.9726, 5.012, 1.2869, 0.2466, 0.1978, 1.2479]",
      "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]: [-0.4, 0.9668, 0.6285, -0.4004, -0.6518, -0.5274, 0.9975, 0.8562, 2.1567, 1.2259, 0.3363, 0.4435, 0.2649, 0.9945]\nstate[eef_state]: left_x=0.2981 left_y=-0.0058 left_z=0.163 left_yaw=0.3991 left_pitch=-0.0037 left_roll=-0.0069 left_gripper=0.9975 right_x=0.4155 right_y=0.3687 right_z=0.0428 right_yaw=0.3181 right_pitch=0.0413 right_roll=-0.0006 right_gripper=0.9945\nstate[joint_eff]: [-0.5128, -2.1675, 6.653, 1.5018, -0.3687, -0.0122, -0.0122, -0.6222, -7.7197, 5.1214, 1.3797, -0.1783, 0.3101, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4, 0.9668, 0.6285, -0.4004, -0.6518, -0.5274, 0.9975, 0.8555, 2.1532, 1.2591, 0.3126, 0.4416, 0.2653, 0.0138]\nstate[eef_state]: left_x=0.2981 left_y=-0.0058 left_z=0.163 left_yaw=0.3991 left_pitch=-0.0037 left_roll=-0.0069 left_gripper=0.9975 right_x=0.42 right_y=0.3737 right_z=0.053 right_yaw=0.3183 right_pitch=0.0519 right_roll=0.0073 right_gripper=0.0138\nstate[joint_eff]: [-0.5265, -1.894, 6.7077, 1.5116, -0.398, 0.0024, -0.0122, -0.3761, -11.7128, 6.0239, 1.1355, -0.0171, 0.1538, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723df08ddfa0dd02130aef2c92844b2e69a7c650f8b6e12222dc8074c5b67ca7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460d507e0fe3cd1c2990e12c8cd15072b1f67bb350fea32239f402e1bd0ecea4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6dc2a6f97e02f0937d957b4ddd03874f55fbad77e194f31640f289342d9c78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDAZGEK7KBnHlNRbPcDiRCOKCtA5YQ35HEx8r4tEpbyKP4JXV7OgVBACPhX5qj9eO7575zAk3P17bDQm78yndK8dtLcNzkdChJi-Q9ZN9sOE7AHMq_vxR5dv0jZ6mM6e9rx5QEa51KqsLofjHyZRBY13sRT6KS_NWY5oyWp2S9V00XaJHTEIQIrP2HTaI2v9cSSrleHyZ3sUYNQake14UQbbGh5AcivDZJbAcNmUfPUDqM4OZwnE2jZQKshY1OJelC8BuF3jp1GlASjAcvhO-ugbffJPvlPtfx4vItZbBYzBrdvY-OsHvLfFTwZhzkDU0RfQuH0m5HqRAYA34bUl2mzHe0-mjJcUjHPJn9BhTzStOzrg7ii55YUMrzV_ytGcnk2smV73YnHMXKFnpVx-3p8JOyxaNDPTE0Pvi8-epkv50u4CJ1s1ArqlkM3-jkgHBoZwTLsnywbAoAMjl36d53_nfvgjlrAo5kxg8FdsL6DU9F2gyl9EikElK5SJOj9dMEIUKc7Ur6Ptt69TDrY2xTAQK4Q9DZDGvnXxXFrfM5eq-rsRXJwdY_pcW3w66JTsR_SbtDe9AvOqK0nXKzyh-8xRu4nN1X5Ws3fw-e4kkLnomrAoHnKC7gUFsSVGx5wNqQeNqG3BrJpmyy7mVVqXyOlqimQ_spVKPYLJZ5C8YCNgbBQAKJw05CZRv9RBmYXWqCTWN751wnl-kqCAU2E723-VRFVz9cdD4AzKKdKppnkQXjsLdC0lfOiUwIrIw46yRQuu_G8K24qOjsWOezlqm2QBKBZayhyfqmlJ5quq5qbBHYeKtFNa5XvFcOT3WuPtSWty4g2n4-yCCEiCfY-UdJgSFi6BjDVq2F63EA7DU1y-tI3w0dt6w7zjNrZ5pBu8rq7-4oAfFhGINqzZUMzRD-a2dxmT_lwdTOO_4gRKkHkxWtYSqB3mgyVP-bw1YO9bLnOVlHXIfs6g7t-wzkj3IZ3163FRAZvKTe9PXlk5MB4dnGzc_pI6R7K2eI7MXv0U9rDWx08G5Bs3V2WQ-2LWcAojz4llIhW3SJF8NYKEx0fJk0N0nY1_B5uVP_hPjdcc7zd0ULBcZt5LJCjaGqQVmUJTHVedaBFvsJB2ADCM-IiboafW9s84mUwy7krsv0wXCs5vi-F39HjjM1w6JlKjugAGqjhFNX_2QeiVu0wiWQ_v9LFR7WDv9E182gQ0u7-42Xz1jK1G3J-BssbRLEglFoIGhDUJPmdn1TtM7E6kQIkNDGP6CXDRyzEN4BroNz9eshA_9W6ytpwjCidlsYjTOOHFJ7G52P3t1T6pq0WR5g9ipUifrLC4g3bRPc0CLKz-pG0qrtPg-DKyPxlVFkpfc00CJzZqW5ZkOeoC0EQHjIs8ozypq0r89hoBDHc17lTmhcFS_L9n6CGy7jYGtpTcC360fjH7UvMzdpky2jdFDVnwAhu_jk0w-BtXmygyTt7jPGf-bXoMSh_4zltH1mK5K82Eb-K-TNSclHr4JoHWfNioQFdWHXJ7Cl6RM7zM31DxFmPIFadZc5roMlNQKqaaV-0EiD4fNNL7k0i4ATcYdjxd6sueVS5kO4asV_aNhqFHZ9syyoc8us_h8cjuRFkcscncYAjxjLpx_Qxg6xo4C4XCR-M_VLP0vdwt_lTywHRC7sMFqDtHVVdSuf02C89-g5QPbaVguhI7PMdTuINFaUQY-L7w_StYG_SQPuWemwuukfKdnKiAdLbupMdXJpkm74RSL8ILj1-eiios2xSCcEeSy_Ty4kG67_ROEJ6jkyRnfliFwgGmNx_y1amFgHL9eEXJ0JYh9hdR7vQYIeXd8zm3wuwj5zja6wzZ01dftkIsaVTHVETf7Kw4STK6CnmGHAf0qpgIrXuienfQ1vjTm6higoVC_W92jQGM-np92ot1bXV9lPhn7GC0S-DL5RjokJbbxDMr6fgr18K3W3Xt2XsbNwTLaPbfit9EawZLcrXZ44hq2I64v5_Ah_94axfyEZnj9v-6mpGaf630BtwAaxwg7gEkekGgsbHbAbK3-uOyxnoYuBT3D6LKnFTp69erjH5v5s5rLVZvhHujlLa8Hdwqhd_nwERdWJaCb8sPZBTZH9ZuRkkTtFo4CJYEupA6H5R8yYvG5PBWCi6jCPSODq988Rv4WZ-N7MpfJHoj5aWlQiPPsckZgw9zUEW6Pdnhfz60J5OZ8KsGNkJ88Nl8I1SAkPsQ_kpC4zU3-YjWZtgJlpF6NQevDOsaam9Eyh00oZ-srg8TkqaoxMjmbIIl04PGtr0YexPFMzUZZClnsy_UBv-NYTeVhhV4GNmSkCECWKI6NscCHYYbxbklKVG_b5JEZa9dbGuXtevLHIa9lgdcun0WVlEgaKt2DcG6t5BxEJL6lMnEbhGvkmXNkQ9qdP0dpR3mYqo5O5okfIVnLLMspPIXbeaYJDvBj_KASbOJN7vlreOADo0-aia50Z_LFGqjfVdbHn8DG0tDS6xbpyZLwHGwtjxFE1eVHxnnok-YWVUbfWDyIUYlYAMNGZN0wNwnwIn1S_9hpiydyVQFneE5IupM",
  "id": "rs_00e55cafbb1105b3016ab4301604d487d0a977022e427688a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.39,\"left_y\":-0.285,\"left_z\":0.105},\"note\":\"The cap still slipped away from the right fingertips, and repeated closes there have been empty. I’m clearing the right arm and approaching the middle bottle from the opposite side with the left arm.\"}",
  "call_id": "call_eeHlqgTy7IfsYfhaNgBBWH19",
  "id": "fc_00e55cafbb1105b3016ab43018543c87d08fea569a94683f13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eeHlqgTy7IfsYfhaNgBBWH19",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9394, 2.1151, 1.5711, -0.6868, -0.9485, -1.1843, 0.9975, -0.3084, 0.8879, 0.6136, -0.4282, -0.4759, -0.3717, 0.9988]\nstate[eef_state]: left_x=0.3873 left_y=-0.2804 left_z=0.0994 left_yaw=0.3953 left_pitch=-0.0206 left_roll=-0.0081 left_gripper=0.9975 right_x=0.2914 right_y=-0.0041 right_z=0.1616 right_yaw=0.2595 right_pitch=-0.0403 right_roll=0.0108 right_gripper=0.9988\nstate[joint_eff]: [-0.4991, -10.7145, 8.253, 0.5592, -0.6911, -0.0904, -0.0122, -0.1709, -2.6188, 10.0034, 1.7167, -0.232, 0.1538, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3a56f41bd6cff5e93966fdbaef838ed6f12ac439d52c19a3726e5a453683e3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb6d34ae9950a0c79596e5b943d5120056bc5b9e292890d19ab82215483d2c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbb7126308a6cc776050b226438207cf807e620860c70d7352790ea0bf865e16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.4, 0.9668, 0.6285, -0.4007, -0.6514, -0.5274, 0.9975, 0.852, 2.1326, 1.2293, 0.279, 0.4274, 0.2806, 0.9948]\nstate[eef_state]: left_x=0.2981 left_y=-0.0058 left_z=0.1629 left_yaw=0.3988 left_pitch=-0.0041 left_roll=-0.0068 left_gripper=0.9975 right_x=0.4125 right_y=0.3657 right_z=0.0454 right_yaw=0.3187 right_pitch=0.0108 right_roll=0.0055 right_gripper=0.9948\nstate[joint_eff]: [-0.6769, -2.1538, 6.7077, 1.4969, -0.3346, 0.0024, -0.0122, 0.7316, -9.9897, 5.1214, 1.7656, 0.2222, 0.1001, -0.2662]\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]: [-0.4, 0.9668, 0.6285, -0.4004, -0.6518, -0.5274, 0.9975, 0.8555, 2.1532, 1.2591, 0.3126, 0.4416, 0.2653, 0.0138]\nstate[eef_state]: left_x=0.2981 left_y=-0.0058 left_z=0.163 left_yaw=0.3991 left_pitch=-0.0037 left_roll=-0.0069 left_gripper=0.9975 right_x=0.42 right_y=0.3737 right_z=0.053 right_yaw=0.3183 right_pitch=0.0519 right_roll=0.0073 right_gripper=0.0138\nstate[joint_eff]: [-0.5265, -1.894, 6.7077, 1.5116, -0.398, 0.0024, -0.0122, -0.3761, -11.7128, 6.0239, 1.1355, -0.0171, 0.1538, 0.8718]",
      "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]: [-0.9394, 2.1151, 1.5711, -0.6868, -0.9485, -1.1843, 0.9975, -0.3084, 0.8879, 0.6136, -0.4282, -0.4759, -0.3717, 0.9988]\nstate[eef_state]: left_x=0.3873 left_y=-0.2804 left_z=0.0994 left_yaw=0.3953 left_pitch=-0.0206 left_roll=-0.0081 left_gripper=0.9975 right_x=0.2914 right_y=-0.0041 right_z=0.1616 right_yaw=0.2595 right_pitch=-0.0403 right_roll=0.0108 right_gripper=0.9988\nstate[joint_eff]: [-0.4991, -10.7145, 8.253, 0.5592, -0.6911, -0.0904, -0.0122, -0.1709, -2.6188, 10.0034, 1.7167, -0.232, 0.1538, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3a56f41bd6cff5e93966fdbaef838ed6f12ac439d52c19a3726e5a453683e3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb6d34ae9950a0c79596e5b943d5120056bc5b9e292890d19ab82215483d2c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbb7126308a6cc776050b226438207cf807e620860c70d7352790ea0bf865e16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDAfeCZS9z9CrOpVvxHFuzRdgAYu0hAXyNCY2x3woVcbqFo0y00SpIcwSIH-g9rlBWdAksgS-a4w8dX09TBgBfIhPCH-XbjUyeXtsK6DwX42kM8qUaGhc-S7cqVM2G105_zjh4EQ7UAg-2RS0TqxnDUF7kUuQaDbnqO6OAKYqy0TYXFyFGaax34_nietpAm1z8grGbP7X_qzRGIxB7nJtVf3aZyG2-JC7wt75914EWzeo7phI0n0WxE8ll0kAyRScJb2HLPUD12729pq_uUxzMd0a3VfIjpMBU9YVVD1kJOBeuRJYNAKukFf1lYAvoos22Kc_PlHr-nkWOBTU9b7Tf3bI6PNJUe-FOpaS8Qz9OFO5rCogUEjk7VZgbXOZh_sRtiOJ0pL9jhnjgCNTej85CMjOx3y4K-iHzQe5VKyTi07Oibb79gTOV-5eOIInIKJ7SAuXpdpj8HZil6hzgK5l_mAtjSeHhkgTlOg2yMM-60f70yl6O8J7mueIiDVx9MNyuXV3viQEX777hLdf1cpK0pSvtdb9kjkR3R9hvNDlX8-07eTq0cP4IXJFpHBLx6x68fWZ-043BJOCCossrvVJtuz4qS4Ja1xqKiVWa4rUpFMqivoz4cXtYORnQYC0b3p-2JRVxztzk2Vcxse-7uDUb8rEBX7Bti2MtBK2VVyDiUYIbu4oYbib_zZYiXuKdUXA4dI0wWXlYFhHZoVTh-Vfn4tWyO-7dWUC9ReXBOTWpGDtkid555JRfijjGp1BKq0jXltxuH3MJpeAVCm_gSf5LOZmVbLUqX39InsB02j0IvIaDyK1M2FSvF51CC3rk3L8ek9m6vbdu6l7WfpdM6C8KGwV8zIizNn9un9NdjlSiEOf1qCzATJlU80Xf2BBpu1_BPZPSqXCQu5dAR0kv1WbmPdrK0eGaOPfonQtLc1QGMNMsz5iuCh7gUsghaRaIBUlztKJtRCZWR_p03fLDt686aBDfV5il26XLijrVmv5tsyT4nb_0bI2NKunBLHHXHJcyhBM0bdqfaNznGOHo_Ndje26pHjaCoJAijhVnjOp9v4NM-ZZcogR2raQWj8jC9orh6B5wjc5JIWeeobVaFDadVIF2eG9SrqXapUbxoUevpM-aGKdmXAILZrkQqAMSZbiv66sZAU524GSjDb0y6ydsi9FkS9BsJAVyP3EVnDKOiuwvM-jmY5UyCN54V7OpmjzWYeFz_kqGLrfpczd02g8cqX2tfDNMJ6VGUN9vZFSQ99K8O8POOAKddhvv1CL3iDWfiGgojDE13a2Zp3WDXSbuxJTGLoPTO5IFRoeAA5UKSZ8rYbaVy1Ui4MNyepEJykjh-Y5ycm2b_24b3PeYZIbCuDgZd2OHlKFj6PWbQevdrB72jDr65g6H7Wov-Fz-xgkn4AAkhXhKVyPdttgD86SIjDMT4U4Vrxe10VSkIcCPaAb9Z8lfinyB_JzXl3jTTzRZxC8JGFp3O_9-iS_q9_iNI96tBmB1ggYxt08NcNAZnonTkPBJv4wNf5fqtIWYymZsRSOrXjYBXFV0azRzW6wIctLL-wUVUDplxisy_33BGRrcNAW1Y7upE2Mf6Ae3AGQriO1xwONqYQ97vtBRGmMXNhuYEalwd4lzTEnso3Hcbnb5YJfQUXTolokqTn0OW-rFEeah2-braWFw9Jyk-Z1Bwc-jaX_Pur8xGV2O37Y4JEf51XX27xXseFGCZBE1qxn_Je2R4L_ygopp81omIEvoBawlfzn60uAje7Oivrm_E1GB6i8C3RugfNBuVK-G9YiQ41P0v_r_IEJhEA_FwR3l9dFpLZic4B5XQ9BkAzmpviLlnnfDo2f0lyQdueT6ovqLfzA8ULmcaqnDWhIdkWz86kUw==",
  "id": "rs_00e55cafbb1105b3016ab4301d9de887d0a43187db4b3add89",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.458,\"left_y\":-0.277,\"left_z\":0.032},\"note\":\"From the left side, the middle bottle’s cap is centered in the wrist view and its shoulder runs between the jaws. I’m approaching the neck at bottle height from this clearer angle.\"}",
  "call_id": "call_2xDabENI3CRVjQHxe1QXeAcO",
  "id": "fc_00e55cafbb1105b3016ab4301ee3e487d0be18f972687c979b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2xDabENI3CRVjQHxe1QXeAcO",
  "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]: [-0.8234, 2.3077, 1.6119, -0.4278, -0.9428, -1.0363, 0.9975, -0.3199, 0.87, 0.5709, -0.4072, -0.4976, -0.3866, 0.9987]\nstate[eef_state]: left_x=0.4467 left_y=-0.2664 left_z=0.0399 left_yaw=0.4293 left_pitch=0.0028 left_roll=0.012 left_gripper=0.9975 right_x=0.2869 right_y=-0.0024 right_z=0.1528 right_yaw=0.2732 right_pitch=-0.0354 right_roll=0.0125 right_gripper=0.9987\nstate[joint_eff]: [0.5538, -9.6205, 7.4872, 1.0085, -0.105, 0.1734, -0.0122, 0.2667, -2.359, 7.0222, 1.7656, -0.1636, 0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ca4023cce27c41985aea37bbb4b155fcd88de3c87381ba4a368187e78947e61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821c7e821532c4609b4f9230045cb85edcefc6e60d281985e321b4bb87bf15be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3bacae790267b960656f4e32f937ff23a9dedc240554beaa5dd525721b0a58",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4, 0.9668, 0.6285, -0.4004, -0.6518, -0.5274, 0.9975, 0.8562, 2.1567, 1.2259, 0.3363, 0.4435, 0.2649, 0.9945]\nstate[eef_state]: left_x=0.2981 left_y=-0.0058 left_z=0.163 left_yaw=0.3991 left_pitch=-0.0037 left_roll=-0.0069 left_gripper=0.9975 right_x=0.4155 right_y=0.3687 right_z=0.0428 right_yaw=0.3181 right_pitch=0.0413 right_roll=-0.0006 right_gripper=0.9945\nstate[joint_eff]: [-0.5128, -2.1675, 6.653, 1.5018, -0.3687, -0.0122, -0.0122, -0.6222, -7.7197, 5.1214, 1.3797, -0.1783, 0.3101, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9394, 2.1151, 1.5711, -0.6868, -0.9485, -1.1843, 0.9975, -0.3084, 0.8879, 0.6136, -0.4282, -0.4759, -0.3717, 0.9988]\nstate[eef_state]: left_x=0.3873 left_y=-0.2804 left_z=0.0994 left_yaw=0.3953 left_pitch=-0.0206 left_roll=-0.0081 left_gripper=0.9975 right_x=0.2914 right_y=-0.0041 right_z=0.1616 right_yaw=0.2595 right_pitch=-0.0403 right_roll=0.0108 right_gripper=0.9988\nstate[joint_eff]: [-0.4991, -10.7145, 8.253, 0.5592, -0.6911, -0.0904, -0.0122, -0.1709, -2.6188, 10.0034, 1.7167, -0.232, 0.1538, 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]: [-0.8234, 2.3077, 1.6119, -0.4278, -0.9428, -1.0363, 0.9975, -0.3199, 0.87, 0.5709, -0.4072, -0.4976, -0.3866, 0.9987]\nstate[eef_state]: left_x=0.4467 left_y=-0.2664 left_z=0.0399 left_yaw=0.4293 left_pitch=0.0028 left_roll=0.012 left_gripper=0.9975 right_x=0.2869 right_y=-0.0024 right_z=0.1528 right_yaw=0.2732 right_pitch=-0.0354 right_roll=0.0125 right_gripper=0.9987\nstate[joint_eff]: [0.5538, -9.6205, 7.4872, 1.0085, -0.105, 0.1734, -0.0122, 0.2667, -2.359, 7.0222, 1.7656, -0.1636, 0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ca4023cce27c41985aea37bbb4b155fcd88de3c87381ba4a368187e78947e61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821c7e821532c4609b4f9230045cb85edcefc6e60d281985e321b4bb87bf15be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3bacae790267b960656f4e32f937ff23a9dedc240554beaa5dd525721b0a58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDAildAjybdFfjK8QQB1fXaLM6Ja3b8K9t0nOKX1g7NbsklJt3-8uCckOZh6rkmrTRkEXwcexV65PhCA5mVKWlPmzP23U4BoauuXvS4Yc934Xu6LRRZR9oFsDCyFdN6u3GHQb62aWXaCu4dnDeCiAsy41VdCvcvyfU7FJQMsLWl4MVq9ozuysMfoPFAZIgzqviSZ1fMQ-U8oKUA7w5d7I3safgm3_cudeCMftW5mhCNGzdcg8AI08IudrKtSEdTQlxn_tuBG1CLH9cBO4f16V-glmgUkkfRq-Gww19e9yJuZkKEHbpgwGU2ednAxjmajMcfSfWgsHZ8_dpPHmUuTuCICn1_cctvVOsZnqWO9fiRkd97RK1tpWRg04z8LzlH4S6srmDTvYZaa6H0YWkyqman5--nLHQL05L2xWwa1dVU567J_i9f8j47CWByr4853T-l0YpSi_rOrC5M0amgZP1_O5Ryp49uLmxKYYUuB3Xg4qAAb13brsmgXcG95z17dsNysTnWWd87WbyXdEMy3wlFVgtA735sPdUxX8pD2K7JNdi2EaCimz0gsqJOd9TVwkPFJ34vVQQZ05ni7JIyvsAsqKX_MPoZtELdHRtNcsZNv5SM-re9bnOXz23WYJqhv5J295Zaw010pROwdKOjE0yPtY8HEpO6aHl7rKmR_thzrELp4mtr5RLEdVgKOV4OD_8dsPyjtoq4QuPsAk93mcpD4Cd45gZh5H1VP7Y6nbq5QryIjbsPFqUX1bfnt6xpzxWIbpB6Gd4qsDC3lTt0P022O99ESoykbBj_Sic-qty_DTAvOP63PzOYdWb0SRREM7yX-mXbiTQZ_JpHGXaZnZJTDALfNdzUe4_fDg0Cf2c0H2IUpcxS1_m2B3liMgFHh-C99ru-_4afnqmmhHK90ifWxccZNhNNb3Eg0Fc3riEWDB7HE5PyYAXsRNADUUSP-zq0tXzAZkNhpkOkEszAbyu3u7XkTO1Bugq9Hb-lsttL4aID2ykSxYGcSIepTl576er9s8PNT20UC7x9ogMCRTyOv3QsqFz0CgNs7CPjhjT16JdNETzawr_oDlRXgfTM21Tv0cnQ9Bm1hdUZty3y4tb9HmsvakrZgnVb4EcrFN0j53_MdWlqFf19CKl2_xQQn0tO4ac9uWrwq3o6WjiVb8YMYNOJ0FonMJ14FhwKaUd3VIrqaUtccDj2VsvcHiGiZmYnNLfag6o7j7IIFBPgVfdrwVy9csR1G4Jz9r98H4eS7ftV1ADRo2CXHtqDENw0bO_IlBaK9FwjmfITeP_u-8b3kVnaNuKrv4mF78OAmXB-uRiAZeWHl9RBchyRKKCPOMBs57A2is6Z5wHifJTydIGyNaliceldV0lDHpb8xSbTgQgXAmnzPSi3gXaE8QNy3YMRywSTK4MuXFup_yh74WQZCiOfifOLNkqO5QS5ZeY6-oq1ua94gxHcjCpVYar1QC8gAyQLPwc97nDsUZ79hlK92pNNfUZgbQGUgHtM_yVaZ-IMNMCmTuTqQiu0OeIfNfddlPZCUWjBHmYkW6selOEglyy191wv-nEjYIt64Wk7Sle8VUh5EumCm5T3fvQnoZ6gf",
  "id": "rs_00e55cafbb1105b3016ab430213e3887d0b42151b6b19a6901",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.447,\"left_y\":-0.229,\"left_z\":0.022},\"note\":\"The middle bottle’s cap is now at fingertip depth but left of the jaw center. I’m shifting the left gripper a few centimeters toward it and lowering slightly before closing.\"}",
  "call_id": "call_hQaRflULBal9kpd4ILpolfBv",
  "id": "fc_00e55cafbb1105b3016ab43021fd7887d0a800fb1e85fe914d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hQaRflULBal9kpd4ILpolfBv",
  "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]: [-0.7776, 2.2417, 1.4406, -0.223, -0.9401, -0.9802, 0.9975, -0.3222, 0.8551, 0.5373, -0.3801, -0.5014, -0.3912, 0.9987]\nstate[eef_state]: left_x=0.4506 left_y=-0.2384 left_z=0.0359 left_yaw=0.4456 left_pitch=0.0331 left_roll=-0.0349 left_gripper=0.9975 right_x=0.2848 right_y=-0.0018 right_z=0.1472 right_yaw=0.2763 right_pitch=-0.027 right_roll=0.006 right_gripper=0.9987\nstate[joint_eff]: [0.8, -11.6581, 4.0137, 0.8181, -0.0952, 0.1197, -0.0122, -0.7043, -2.359, 6.8444, 1.8193, -0.3101, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c287458654268188f5ca18d2838ea86b43798a72a2d0fc6dc780be30b5f01f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6d3bf33ccfe46ab3991e23b1aa165442fd8441a9c24b28d0b5f999e3586eb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958665730f1fc1190ad5b7f5e3dfc3c748a95b8254f5dd0f1cecbc4c1583ac77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4, 0.9668, 0.6285, -0.4004, -0.6518, -0.5274, 0.9975, 0.8555, 2.1532, 1.2591, 0.3126, 0.4416, 0.2653, 0.0138]\nstate[eef_state]: left_x=0.2981 left_y=-0.0058 left_z=0.163 left_yaw=0.3991 left_pitch=-0.0037 left_roll=-0.0069 left_gripper=0.9975 right_x=0.42 right_y=0.3737 right_z=0.053 right_yaw=0.3183 right_pitch=0.0519 right_roll=0.0073 right_gripper=0.0138\nstate[joint_eff]: [-0.5265, -1.894, 6.7077, 1.5116, -0.398, 0.0024, -0.0122, -0.3761, -11.7128, 6.0239, 1.1355, -0.0171, 0.1538, 0.8718]",
      "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]: [-0.8234, 2.3077, 1.6119, -0.4278, -0.9428, -1.0363, 0.9975, -0.3199, 0.87, 0.5709, -0.4072, -0.4976, -0.3866, 0.9987]\nstate[eef_state]: left_x=0.4467 left_y=-0.2664 left_z=0.0399 left_yaw=0.4293 left_pitch=0.0028 left_roll=0.012 left_gripper=0.9975 right_x=0.2869 right_y=-0.0024 right_z=0.1528 right_yaw=0.2732 right_pitch=-0.0354 right_roll=0.0125 right_gripper=0.9987\nstate[joint_eff]: [0.5538, -9.6205, 7.4872, 1.0085, -0.105, 0.1734, -0.0122, 0.2667, -2.359, 7.0222, 1.7656, -0.1636, 0.1734, -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]: [-0.7776, 2.2417, 1.4406, -0.223, -0.9401, -0.9802, 0.9975, -0.3222, 0.8551, 0.5373, -0.3801, -0.5014, -0.3912, 0.9987]\nstate[eef_state]: left_x=0.4506 left_y=-0.2384 left_z=0.0359 left_yaw=0.4456 left_pitch=0.0331 left_roll=-0.0349 left_gripper=0.9975 right_x=0.2848 right_y=-0.0018 right_z=0.1472 right_yaw=0.2763 right_pitch=-0.027 right_roll=0.006 right_gripper=0.9987\nstate[joint_eff]: [0.8, -11.6581, 4.0137, 0.8181, -0.0952, 0.1197, -0.0122, -0.7043, -2.359, 6.8444, 1.8193, -0.3101, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c287458654268188f5ca18d2838ea86b43798a72a2d0fc6dc780be30b5f01f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6d3bf33ccfe46ab3991e23b1aa165442fd8441a9c24b28d0b5f999e3586eb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958665730f1fc1190ad5b7f5e3dfc3c748a95b8254f5dd0f1cecbc4c1583ac77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDAlnww6qZ4WBJx4iitjeWP48A8t33J945_SilOz6lGD6YlCyW-4L0uzFX1BN8B0O5EAIWScwv9cWNqxxPNwszE7t6st5DC4m_CGEUWifszEPIF_guH12vjVwy0RgAjVbDMpQTt1J5tQPbx2jvAE9qcG6mU5kfSBZepWnX-kGMPTrcUUrwvcOOrbYGa6jxROGcUj_CPrXr-7FK5gMlUvNLLcPtOEcH9578NfB1nm_PqNnYYcVjFWUbNnBLzz5fVGDsCOqXb5VP4PmLcHsUbI5PD1eSnhFBfsHass0SFcXIpJOK5NWSvGiZh6ExdH0mmlB_S3WFf6BMF462usAH3KiqdF690ZNjBN0TvRGSVyw9Na08XY2em2AoS2iVtPcPvFXZaPNR-mUBBnIsylg_fU5xqkvD0OzNTTNYtzUHAgY99lRQSzbk19oCyMFXYnsxMr6OTjcq0B-7KnSSbyzoUeqeq49R67SgJM1jRL7EBO05ySxt-oXQJQxqKUQlo7XoD2DsHiP2awNFUB6fXQCFD8Ao-Wo5Qyw4ldyBRDU3Ni_Gy4Vg34sBxx29GWYpQU_Ks7HjzkOgJwr5yJMYXOYC02nPwBb8U4W5gH9QCWN_FVKdh_dGsmgyOpaTPIpX7EpMAAxK76xXqT5Frs1QkzfrisRq5ikLFIoNVYWAjHqxcP7IROK5Os5cMD-sfMpxncngzKoef9bA753WBuxBVQ-cVgTwrhdqLDAy738iPEgghOB07zerC1TtQyXdu-x6GkrXxE_u3b6lzG7nTyJgz4VR_1C3yhUels4PGrACgcoYltwvRcfqw0cl4EM0iffr0luV33ceDXbJwz2HBopMt_bd-CQ3JEPHOJ8TATK_fjId2MDpxLBfW6FmEtFlZVM_oksGtg3cBXdmvdyvOi8E2m0I1O73e6lYuBhknZoMwo4covA31rGLRXAM2tk4hSdnnoSfPcX_Cb44xUhqLPmpyn9NVQJkcgkuWBADTC6Hd1A-MJQ42F_byt54iTPdTxDyFsAzkNk1E4H_P-VlS5eZbEAdKxRMsa4lXMhcy_BEqK6WHcis2tyMnMLDNlLEsonZ7RpcSZQN9W4COk1TSQ-K6oRsDo6fLdb3oe_XQkjajDF8QQLqHgyoSGJQLLRuAWEdeDujeo64_oiVCZeO-WIFdD-DAsuKaHUINWR0vf6rNpV5mxwdDVNbqRNenlNsuEW-dtTb_vrE5BVR6pwuD4GHRaSArJmWYS9R3uG8aAR4VPQ7_udITlOdru3nMdWpfN97ERnRHBR1ow7Ro274i2stZxnZg9XcTYFT8zPj6b2eufr9ZTrMSBdt8VpcZ63RamJlCEq4FIcqXOD6jC7OgVPFp9KOJpXohkedzEXA6sU7n2c_Byz5uT2HNIzLZDpecL33KUJw_gedwjNXb_H4Htx89kyEUsGEH-JHbKnBtWuv04fmCSVCr2fYXzXhE617FeiaaFzJnJWbvU85dSxmQoWMna7Ju_iNEBE8mxoyC_re5FRnJjGlY4e1s=",
  "id": "rs_00e55cafbb1105b3016ab43024384c87d0a186708011b97863",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.195,\"left_x\":0.448,\"left_z\":0.037},\"note\":\"The cap remains slightly left of the left gripper’s center line, although it is at the right depth. I’m correcting that lateral alignment without advancing farther into the bottle.\"}",
  "call_id": "call_EOZfFmOCH4iFQJre7suetjtt",
  "id": "fc_00e55cafbb1105b3016ab43024d22c87d08746254b534ef065",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EOZfFmOCH4iFQJre7suetjtt",
  "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]: [-0.7643, 2.236, 1.4239, -0.1757, -0.944, -0.9642, 0.9975, -0.3222, 0.8478, 0.5125, -0.3656, -0.5014, -0.3943, 0.9987]\nstate[eef_state]: left_x=0.4557 left_y=-0.2337 left_z=0.0383 left_yaw=0.4538 left_pitch=0.0489 left_roll=-0.054 left_gripper=0.9975 right_x=0.2827 right_y=-0.0011 right_z=0.141 right_yaw=0.278 right_pitch=-0.0295 right_roll=0.0052 right_gripper=0.9987\nstate[joint_eff]: [0.1299, -11.8085, 3.7128, 0.8034, -0.0659, 0.0757, -0.0073, -0.759, -2.3179, 6.7487, 1.7656, -0.3053, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4447ed2daf66ce2d09f2c12416c03fba4bd77968db0158f1f73f966291863002",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e56fb391d68c5d8300183f49659fce99ea90621393e52063f0f6f61f830cd8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de3af5726914b0ef1f669757660b7ddffe9823afe94762dc0979a5c961dfb7ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9394, 2.1151, 1.5711, -0.6868, -0.9485, -1.1843, 0.9975, -0.3084, 0.8879, 0.6136, -0.4282, -0.4759, -0.3717, 0.9988]\nstate[eef_state]: left_x=0.3873 left_y=-0.2804 left_z=0.0994 left_yaw=0.3953 left_pitch=-0.0206 left_roll=-0.0081 left_gripper=0.9975 right_x=0.2914 right_y=-0.0041 right_z=0.1616 right_yaw=0.2595 right_pitch=-0.0403 right_roll=0.0108 right_gripper=0.9988\nstate[joint_eff]: [-0.4991, -10.7145, 8.253, 0.5592, -0.6911, -0.0904, -0.0122, -0.1709, -2.6188, 10.0034, 1.7167, -0.232, 0.1538, 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]: [-0.7776, 2.2417, 1.4406, -0.223, -0.9401, -0.9802, 0.9975, -0.3222, 0.8551, 0.5373, -0.3801, -0.5014, -0.3912, 0.9987]\nstate[eef_state]: left_x=0.4506 left_y=-0.2384 left_z=0.0359 left_yaw=0.4456 left_pitch=0.0331 left_roll=-0.0349 left_gripper=0.9975 right_x=0.2848 right_y=-0.0018 right_z=0.1472 right_yaw=0.2763 right_pitch=-0.027 right_roll=0.006 right_gripper=0.9987\nstate[joint_eff]: [0.8, -11.6581, 4.0137, 0.8181, -0.0952, 0.1197, -0.0122, -0.7043, -2.359, 6.8444, 1.8193, -0.3101, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7643, 2.236, 1.4239, -0.1757, -0.944, -0.9642, 0.9975, -0.3222, 0.8478, 0.5125, -0.3656, -0.5014, -0.3943, 0.9987]\nstate[eef_state]: left_x=0.4557 left_y=-0.2337 left_z=0.0383 left_yaw=0.4538 left_pitch=0.0489 left_roll=-0.054 left_gripper=0.9975 right_x=0.2827 right_y=-0.0011 right_z=0.141 right_yaw=0.278 right_pitch=-0.0295 right_roll=0.0052 right_gripper=0.9987\nstate[joint_eff]: [0.1299, -11.8085, 3.7128, 0.8034, -0.0659, 0.0757, -0.0073, -0.759, -2.3179, 6.7487, 1.7656, -0.3053, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4447ed2daf66ce2d09f2c12416c03fba4bd77968db0158f1f73f966291863002",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e56fb391d68c5d8300183f49659fce99ea90621393e52063f0f6f61f830cd8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de3af5726914b0ef1f669757660b7ddffe9823afe94762dc0979a5c961dfb7ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDApInipKlOOh7n8O_70JuSi287yu0U9wqXXh2gZBaCa_tB5piYK5lVvYH7URf73U1-Pt_FqvizlJkCGYqbWDA0P-MDfF5WZYX7gfcR48MFNs6CKrhA1v22FDaLSfMllaboDFF9n_1D-Rfl44yuY2TqnJ6i5O7yniLuHRfmtTHTLBM06AiJsdK0rsmZwzg8ePN6akgC9I0fB8Sx8TK4mSrPgf6hgfKneJHGp7tqpiSQEdQXhDOkXA9H-On02EVwvzWtR04shhGhhN4zs4t_wTJ9HEZ7A5H8YIDFm2oO_U0G9wpXMbklf5-67ONot1l3aURaZfj1TvF5-EyCl53a4nC_96w3tJw91Jbj5lGhTdMmt3k6Vz7Okm1GlovaMo_BfKF8VCNubhw-c6Zsy9XS7vLqKMFDFd_jDajNdWTrqpXjLfC-bSbcC3jMZq61vdDkdt_-NgChnEeegW0zWOGpPhivudGbDpAK76xhObXPX2LJYCk2B5-qiWLLI_teJVwfb4nGnxmdYiT5WXAYYtmtGW3G_1QsADIrEtUTT9MaS28XcR-MUeUPyOmeiud942FrKZwe59OvR6pQyx8XHNQ4vjNBkS_lyb0UlR3_NAayYVCVniEyVJW7O61-r9gpieWyArFY7T2vZN_nuY447xFzVTQs7bsRfg3heAXadVNr9JnrQP9KSP9vkXTIfINcguSMo0Z9FT4FlaFPdbgMgdKcQCJ3H_otcJNwB4IbYUugxza3CUc52i-OM02CwAvbQZu_Qcyzr_IiDKPqZQl-CsB34sxJPA_319Rf68HakF34i8_KB5S5L94WloC9IGfFghQtf49SwBgr8zt_bSvsLLdC821wY3uQJAViTH8T03Ima3x3y_R21mu7nsnyUaQ19yQYPbU7r_jWJaBwp3ft0am7eWRoqBlB_buoVLaLHUjczqVQGAutqjWgiBz70UYG9MNyyBzqgs9BNAfB_MvYN70dN1eRV9nGK78JFRUH_mLw0dVznBTusOmSvbM0QfuQBJpcNWgK8HkcdrYqo-QZn3OnHTj0BqjPppeWlVXzcwG8bOi2YxL6aT1f12AjU8fVi5ta92xgjz3b-ers3Hu-8GO2uDOlAcmgFPA_ZQQQsBNpSLGfO8-WRqCrB3lApA1bSb9UYIMzNbN1u8vrWVqoacUk1DVpz20iw3LHGBH1qOl_iwLvjzgNsv0fDoryvwgQ4vKa3T7o-b0sQTkUCMJx5PIO3J_ii0C_e4eh2QklDR8kOBcCaoQEqjafdzBoLq2WuQTUDexmuJLucu1Dxx1L3wFGV91ieK8JPlMxTMse7HPSFOm0rUmdzRin0c9SX0pGo6J29fzcVttHXAICAiTEFYJwFPIPun2n_I62NuAcS8uaWsrprGH8EZrBD0WtMaFNvBoM0naFHppUo_-slmfYd8BhZE-u9IgXMIJ661YK9_xepLEsAPL1lVMYDGEum1Eppy7SFEb6NXfp_D0L5pA6pVB6kSG6QwAmlDLhPI5S15q14xrZF7upXREddzQZcbfmpk09Zo9kCehAQ3-8wQAAbm0hukKEdiz26tUqOtnvQL0ugkZK9xW1jIGWvLCOMYTznB2S-LeAjEILoypYl3h4bKSftj0RFxSzYWnq1xqdkUqzhFXzIWzOkRwT5ni5kKY-gFg-Bjlvql-4FxjiIfFiSVEmISdCXu3cX3swA4alZJ6un_3ivEX7v8GOv6XOKchuJ9Igb2yf6xATIMZilh16EWqTjXVfXHDTDTwGfcFp1P5WZOeAp9KM=",
  "id": "rs_00e55cafbb1105b3016ab43027013087d0b2460e974e861603",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left arm cannot move farther sideways at this low pose, but the cap still lies between its fingers. I’m closing at this position and checking whether it captures the neck.\"}",
  "call_id": "call_jePIjSEoghiUSfkbTkTXlKRR",
  "id": "fc_00e55cafbb1105b3016ab430286ff887d090c5a1c07f21a5e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jePIjSEoghiUSfkbTkTXlKRR",
  "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]: [-0.7586, 2.2234, 1.4872, -0.2726, -0.9436, -0.9787, 0.016, -0.3222, 0.8364, 0.485, -0.347, -0.5018, -0.3946, 0.9987]\nstate[eef_state]: left_x=0.4599 left_y=-0.2339 left_z=0.0548 left_yaw=0.4662 left_pitch=0.0411 left_roll=-0.047 left_gripper=0.016 right_x=0.2805 right_y=-0.0003 right_z=0.1355 right_yaw=0.2784 right_pitch=-0.0271 right_roll=0.0036 right_gripper=0.9987\nstate[joint_eff]: [0.1436, -9.9214, 7.0769, 0.696, -0.1978, -0.022, 1.116, -0.9231, -1.9897, 6.8034, 1.8046, -0.3297, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f100d3f48127a8f917b509723baf0387fc0c2704c414ee82903c5bd9f3c396",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e85af2437e44a7f6cae00185c8bf83db6f077ca4c2b73ea9fc3c0353facf1631",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c1185b1c3daca0b15096fd9c2fe604abf827a7488552ee140391c1f2e9d44a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8234, 2.3077, 1.6119, -0.4278, -0.9428, -1.0363, 0.9975, -0.3199, 0.87, 0.5709, -0.4072, -0.4976, -0.3866, 0.9987]\nstate[eef_state]: left_x=0.4467 left_y=-0.2664 left_z=0.0399 left_yaw=0.4293 left_pitch=0.0028 left_roll=0.012 left_gripper=0.9975 right_x=0.2869 right_y=-0.0024 right_z=0.1528 right_yaw=0.2732 right_pitch=-0.0354 right_roll=0.0125 right_gripper=0.9987\nstate[joint_eff]: [0.5538, -9.6205, 7.4872, 1.0085, -0.105, 0.1734, -0.0122, 0.2667, -2.359, 7.0222, 1.7656, -0.1636, 0.1734, -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]: [-0.7643, 2.236, 1.4239, -0.1757, -0.944, -0.9642, 0.9975, -0.3222, 0.8478, 0.5125, -0.3656, -0.5014, -0.3943, 0.9987]\nstate[eef_state]: left_x=0.4557 left_y=-0.2337 left_z=0.0383 left_yaw=0.4538 left_pitch=0.0489 left_roll=-0.054 left_gripper=0.9975 right_x=0.2827 right_y=-0.0011 right_z=0.141 right_yaw=0.278 right_pitch=-0.0295 right_roll=0.0052 right_gripper=0.9987\nstate[joint_eff]: [0.1299, -11.8085, 3.7128, 0.8034, -0.0659, 0.0757, -0.0073, -0.759, -2.3179, 6.7487, 1.7656, -0.3053, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7586, 2.2234, 1.4872, -0.2726, -0.9436, -0.9787, 0.016, -0.3222, 0.8364, 0.485, -0.347, -0.5018, -0.3946, 0.9987]\nstate[eef_state]: left_x=0.4599 left_y=-0.2339 left_z=0.0548 left_yaw=0.4662 left_pitch=0.0411 left_roll=-0.047 left_gripper=0.016 right_x=0.2805 right_y=-0.0003 right_z=0.1355 right_yaw=0.2784 right_pitch=-0.0271 right_roll=0.0036 right_gripper=0.9987\nstate[joint_eff]: [0.1436, -9.9214, 7.0769, 0.696, -0.1978, -0.022, 1.116, -0.9231, -1.9897, 6.8034, 1.8046, -0.3297, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f100d3f48127a8f917b509723baf0387fc0c2704c414ee82903c5bd9f3c396",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e85af2437e44a7f6cae00185c8bf83db6f077ca4c2b73ea9fc3c0353facf1631",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c1185b1c3daca0b15096fd9c2fe604abf827a7488552ee140391c1f2e9d44a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "id": "rs_00e55cafbb1105b3016ab4302b3e5887d098cecb0e76c42949",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDAw2PXFF_qYt3anufcaEavGFxK1SmOLBB0q_fXm6dhPw3BKJSGwbQLmsVR6AhJ4-9o1akpE7wnXq0lQiw9P_SGQhscYg6TBPpDF6lUT3YeH9ivWcvQFY1ENYOec9m8r7oD-rvkAsZtuskySTCgh4si6BX475ZRUCP6Sp7K012UCBupSY1k3NC0Il8LFEM4IVCG5ddsqJSdHXylFUO5EiWUUvLV_41P3KEg6KqBy5-eY2YsPFxXkQp_1RtWyASac_03K1W2vF8wEkWLayMQkysRh19INly67BToyiSO8yS-E5I-53zJabG2eqo0bScjoO4SWK6fs5pDu1s1lohBLeazJNy3IWOlNmXEw9eArcO14SLCsf_RWbboomJkJ7Vfqs56dJ2367RUivkVWeLoEQjcIE6VfyL1MK0E2P74OKHNLN3fC9w5JRIJLSpq2FhmGqz0xGolbzt2BDDykLdnhrVR3bzxMYQtKkXWRkM90UKDG20G1mko8iCqc8GUg8sEVCl4dhHqj2Lp655o5XC0yygZ7wcvivxrW-tYDsBl4LNmdtzrU2V7dT3E_3eY-XA0n2PooRUfqD_9MEmltK6ZH6pbiWL3B1Hb7sRUsrULfAC17_0H885fU9qaFUxkGvVIK91eybQtOWzHVh2qFyaJ3mGilYiB2YPtvn_9E-NpGKiOVD8ITbEnZUeWG5tq2Zaiqcp89Kag0hzgcOl5NuViiwI8dCK42lJ1Laj8o2BWOF068ZWEKvyr4I98tvCsCiRvRhEtKvbdO8wqWvLGoAPsgIR33xKvBx9Q0kISM6ATaMDJWmqMEksgOm2yyb78fn-a3KNTHrJL9mZKEnARa2eh0yDjXMu-JJcw-Hi-kpmVnc0ZoEuLXIBXp67rMWIymCK8ybIlHatLhgICOPnFOJmxx1mw_sWwja6XoECJX2FxGX5jm3o9sViE_bna4MMhUbXi1or1sIET7S2qjQJi7CZ9YheFMX6LAK0r5f2YMhWsQQ_SmHzJ3_OKd4lPFZ_VAaJfCuDWnQ8w7vDGPLmbMuwIwmmtoK5qnVhYTpQPLbdLAZCGRjVyK--2Qa5XCxOI9KRUomF0ef1anwG9zH3D8eW8p3qn6fRfcmOWBXN1j9jVrVCvNKlSwRrZiZVHDtwZbbZmVhumERIPInSKGct6txgLz1o6ZH3sZRHPmnkx_UtDPcY_pbNc=",
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  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.185,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.185,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The left jaw closed fully empty beside the middle bottle, and the earlier apparent holds did not lift either bottle. I’m withdrawing both arms to their safe home poses rather than continuing to push the bottles toward the edges.\"}",
  "call_id": "call_kQIBnCuaOBOKpxzwXBrE86gn",
  "id": "fc_00e55cafbb1105b3016ab4302fcd1487d08c071751c00e66e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kQIBnCuaOBOKpxzwXBrE86gn",
  "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]: [-0.0647, 0.8135, 0.6029, -0.3305, -0.1406, -0.12, 0.9975, -0.0494, 0.7921, 0.5869, -0.4118, -0.0895, -0.0853, 0.9988]\nstate[eef_state]: left_x=0.3021 left_y=0.0088 left_z=0.1853 left_yaw=0.104 left_pitch=0.026 left_roll=-0.0183 left_gripper=0.9975 right_x=0.2881 right_y=0.0052 right_z=0.1665 right_yaw=0.0451 right_pitch=-0.0423 right_roll=-0.0058 right_gripper=0.9988\nstate[joint_eff]: [0.0342, -1.4974, 8.1026, 1.8193, 0.0855, 0.3004, -0.0415, 0.2667, -0.3624, 10.5915, 1.8828, 0.0855, 0.188, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf3d48558e245bfa2acc2aee816708c1828d10373a8bfcb615ae7e8fd251b66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aada1ff592fb401204939af79e8afbcc35c0204c664a9b5efe32c13c33d5a375",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17fab57df77f889eacf1ddf447bbdb024d9d41d58a6db86da9ded8698388ae42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}