adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 0.7929, 0.6067, -0.3775, -0.0257, -0.0284, 0.9985, -0.0158, 0.7879, 0.6037, -0.3836, -0.0128, -0.0254, 0.9999]\nstate[eef_state]: left_x=0.2954 left_y=0.0019 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2938 right_y=0.0012 right_z=0.1807 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4308, -1.4291, 9.8803, 1.7998, -0.0122, 0.1441, -0.1734, -0.9368, -0.8821, 10.2359, 1.8486, -0.0806, 0.1001, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:609c60bbb81ac513b34ae8da478a9576d752b2c7bf9ead26e5e6562a14906984",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4eb7139765b083d9caf2242a35d971b17e16367911903b8ff40d11d652003c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3e08f3969a9488d9f8577bf315f86fd113ecfba69fc1ba848f7177e69b4f36e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtEiU7OhqrS5SPMEn-qAiQeKvW12IFLsSvza8fNcM2eweuXUlLArTvbkK3j7eKJNZ7mQ0Fd_K28j78Rg461JCqJ-WvJiEpdg8Qs4Dm9ayD0mU_4BCrXvXa0ChaT4Kchx0LUtmvZm_Wqpuhc5jagnZk8mWa-N5tIzuJEL75xpnU2O9xQ4C9SR1QTJg2pt3PSaFnzUEqz2Nsrxw9ylII_B4j_D9L9qkBBiq-CyjRpvawQV8xidXEsm5l6gjZ6npuzbpdQ29J3ycjxOYvPK-tHs9EaHZoxvVxqfp-tMnhUHHuULoTc4GUFFw1qRKUVIHDhJvngW-NiRs17BqAApThvV3vj7_lu-gQvTXBY1Z0J2qFSke2VrjU7oRU7YPNPRWtE4YCYRp3AwA1K-HvCtM7eqKEbOMr-ChUi9Sx2ki_mKiElMmhgset4RGFVasrgMz2e-TmM6aqIy-_ofhv5kyAUuFkbQNxGnVAQ6U03oiu1DrVXtKH2sJs6_uv3L0WzBNlJJ77-b0IGOF41YR9FTKGZSmahQeKhk-r09qzEQ2HQtczw3Qhw3Ewv-XK-JnPoicUDo9QYXNYh1IJ350JEV6NDtGNTF_zD1a2TTfdPmtT4jxxnAoRUgweoIGaVa3Qx5fE7P3iGSLsbpt1cdb3LkwFqltbqUISk8bM3h3m3ptHGUGlpLleEgi3bc2pejjkrQhXsXTulv6nUXUNFdvu9m9H2FroaVft-NC6H1WHbDsz8Ex5NNKoPLrn0F4Xc4uAeuByCJE2KXnif7sMKjY302xHcQtw_RrCh_SqMY2Al_lhRgA_b4t6WkC3rYEnpRm8DJNq2Sv65JgfWlDrDMMW_2V1MYSS1Do3AWtH2c7A7kIrZGWElaNwAPzyIesNUtNPNsIk158BiI3uJXa0iwNa4JsLwAOXzsR9FtD9ERvplk5D2uW0esLK7lkteHTjcUvcIVzSWXhy9pBvRhk51pZYUF-dYfJegJTrtUZTjk1F20T0W2BV8RRsRJSFYZN61Rkf1K20epmvUZy7_4H_Lfm7pSJ7BrLAGmlTBDxuqlvp35fCO6_CjwM59ipC_wKvXELT8Nt3KjmA5wLzrSqzG5WJMkfDxvCyTm7pWzq4YhxSTskLXhfGquABgDKN1-86xbedSfLzHezd8pPXBBG5aiLNp4B7I80xB0AkrHsZXAhtn8evCRJQ8CWoDPOxJN0_VrSpN8LE6zM7I6ffe0WpyMeeH1Vj8eLOvkHgXmb8RK8Ad0_iLWoB2qEZp5MDI8yW8KQ8gD5dbJwg-D7xgKCW2Hoh5f6xg10Gmh9HJnGTIBxTBXbYLhCCP7D3AJN79HbkbxYpNXCr0kIxX5gzVr9A2DfWphlbQr3_kUzwQ3VKY5evnUsa81gC6IL4MzQg16en4GXIU58iYzYurEW5jSSkou9vDZxZU6VTAXwf8yDZJ6HLiAhQctITyi27FJ9MGm3kODqgxyOsk6OpNei_niykSwk9Aph4JNk8O1eA6MahRGaIyDxC3E2gBj5sb1cuqDXNOZXSfDFiFzz0uypJyIc8saQzZUoFpJwESFqa6yGSquABFp_kaDGW3UArA2Bs-WK6d8imOBEMe-GRwqNZxMdZvKZyYjxABA1CeHOV0YJfWjoHnwOEBmbzjy3EVpCTvnN7-JhDbxwlakdZMs1JbCR3bMxaBQneMOL2Rp4bOKxCQgrDLb2Vg4nFCxz_DuK03XcHfLQ9HeJUYt2Oker324O6orMIdKZFFCTZ9OcHGko55pCZmxAanmkAJr1ehV-zZV_tS__0k4E0NIPjOU5fIbMRAs08_iMTPkM4_-50XfwO-hmERYd4v61mdw8ow9p7YWHW6qjSpPyvBamL1dAHhdY1loXR-kiUBqrXXgzh9vhpDZC1h3xi3av7U4eZa6tzWoVsLH22-0j-MQedMwa913JnGcI_9DbHNlcG6gaqC3D2xwfkvEN84dh6zxiG5wY-2US9hjL7020OoPrrUbRfbSPCX-JVdNzV7ddPohQozQgLtQPrq3IziH0gZqIJpldPdEy8b1n1RxTVEtY_zL2_fauchF-K4EOUGaCtXqzJzPXX6zoD3gs1V5gB7owT4JtvOOlscgl0txT1-pR8A2MWyOlm9amxW-sL8ZGRcDwvKADxDrY5WIr3uEu7v47jgPzWhyqWLKg8JngojLfFeJ6uFgoqfNWGe0wFzWa2Ju_49AheYtup_uyLE7Ma3fom1FrfMAzAR5hORp0SkPSOR6YV_GzEw-bI2GVeELUfgK04C8T1vrcGUcQL9IPPJih67L8qA-m_zEBDnVrTsxQ7kYmmoWBEgJMaeJWXTc7h5UzNE8klMja-4-mwxQbBFbpI7HF7L_tHw8JdFC2oHgtL0NsspjXUItBIH6gQsfahhNJ51BQAZW5IcSg7y63cJYwgdRlbN985u7ibMk1orPTJqP0nfDCsDAkJVnRqGIgUBds3S7GbLUhe6-ZsviemsCiRxOOoXhM-LEapMHhAiX_b5p68d0ANofEJ1wNYenCGCCOAomxYIMz1JkeZHCi7Ij4A3_1WnwEpc6l9jgHz_3L_-FvaWBgTbD9QHl_2h7zHKcnnYdOJq_fclI98zHTtZZxRuxIAyiBB36yf96ijl3dEOSZ04jqVcDv4jjr0KtwbvfBLPiNcu90UpzQgQsxbKx_UM-KSKmhZC0VEFVL9oo5O_rpxcyc16VHTAeyRd9eVm8meskwkADP8g9ziRHTF6DTU8NfT0VokSAG1SuhbZTa1BZBrMAX8PqixfMV1fmzI19b4H75vriiqhEpMnMwwwfVEc054iI1buEM6c3IxPE8Hh4lKC-G7DxKTj3Cns6ZyVSw3XB3FDR6nY5Lx9_PQiq-6YHgOvBp1YQBb004_x1ZZx9Pv3fqb_aQ4I-VeklXvpRpa-qoMi_QTPSXfRq18VwYqKcCgU8rzw0hmNoGtWjsi5NmRfUH3IttkDgQb1FuRhW8WKsf28kUDGiKiVNYgkQ5R6-O-AAVd6vEJDLiT3rT0lsjeS5-xwZqBWSygkMl2gpu1NIP5lBndQOOBuYljeTIRYRLVM-YL2HfkrfyjJsNV33WZA5Xr0AMv4EzWLfAwfQiaRAEhCWg66Q5sSBXAP_Ezfifsvs9Q_bahiVmVb_UXuDS_BijiLBKxOKZ39w2P6YIab-IzGUgyzk-2VGPXzFWNFScmgDUcZmB73sLMSMLKbrPaTy9-MW5C0wCz6NvcTAE65B9uXNIMB7vjykq8pj1sL_EsP10BPt2wygbPss_-LAPF1T2jglZ4ixuzj991f3VEF9hn4HlXzSlQA3K6ykUaZK_e_s3epoto1XcmRdFiMb0DGKz1jffSkCeNPUdoQ0RQIBE0wl5Z8RO399-9EDMctk0rCnEH0hiCn6S70i3w4o0H2rbMmESx13OfJHl6urRN3dyZaGPXtKQu9Jog3-1c6wjW4lFp_X40rYab9Zw-aW7qI37vjD9NhA9Vv_VmJvhHyglyz7X5UhbGCJfARE2pJDYjKbrjb767IoUWjYXG9IUdd8Q5j0KlmHX9KX30niFB3NZESBSpizkBbS0n0bafywb3k4Jx4bbDkFRwW6Xr9CSTYIOaHHVsU13kXWtLDYueAKGDdLtY_wZAUrNn_m9yA_BR2ZP5cB_Q0rkXmbDKQxxB8u2IYVBlNm31gq5l-qVnZSBsOj-zqfo7zG4ACidWOFsHgqJc0mINLVXxNzEa0c88X7YptElEHgaUeSX2-rBLFEzqB0tP8aQBJ4aWgZ2F_xlminXR0uQa2vAU6wuFj5GDC9RZW5t8r_xU7XrZj28DGUDwG2Wh4sMj7P1rCxgHki48GQpCRRLrBwYsKMNyf98mNo5gIUaU_Uv05H1b3QSl3exAjvMrWSTDiUQBPHv_nqZglSaD5a7zOeMoI8FEYkYoZxe2Dcvf_DL7nkAcNUWS-fgOlvQBD0BWFIKqknzH9dxnf0TnWJV6hcrXYsO3bP72APEhfcgP4GlMl1thp3xLR7FTmZvF3kv2A-OI8AyiugWTEXq8M9i_Jpwn16YOmQx8syuWa07wl7lqzhddRdf3_ZXRpSgRyarFuRk3ihMTo153mJlzJxo57SNJcSSHqUiSrijGUF0tu45lCuyJUk9dhQICL-bKBucSOmQ_I0KeizioTXee_v98YaNGNp7UREUMnzrwEWJCECheHXR9GETR7-8CBtuxZBP41iT6IYXAQ25GMHvJY1AfS-wSNTR7CMxDG-Goinf4IzYvfSN-GXId_PqxpSyIg48syoLg7ztdH7Sd7cQ8sxkd404gs98_xVZuAImDrv1KVCTQlNmFNFPi-27xs8LNg6QEqg_r7PDbRQ=",
  "id": "rs_0347101e88931267016ab44872f04487d0b199ac751b3df1ff",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEiUUIxMQbpqN4jJ27Dq61um3iyGvO7HTucIj014cliRZqHR07LGPqJLRqQCl9fwKsm4H0pg6IkiWWB-u9OHe1DXrtgoMyhZSj7PAOd2X9Z7PeVdI8Vf_j2p6wbVnKYMQIbTAHOTwHN-hoWcnu68sQJBBVe72HqdicWPtOKFlAbLraE6BBekVzHbZKGcFiCtlE0tlAMEz6VR-duJ21kdqmH6JB_jH2Kau9GZN1_tqekQh88PVsh3mF5rdEjRJDMLE23Mvru-MPVcszKmNZW35iPk0wUMIwwpfEIYiHnV40mI4AaPBth6nZtoLSsPMSikWC2z39s6-yrG-qTuNTaFUVYq8kwQozusfIcHV4THc2198wpQVZCdBlmjvSjnBlMLILBGaQeLAI0QzDqfLTsnNTMpPD6Zo-Jc0JK0gRW6ztC1lzzKDS14rkKBeOEAiu_NGk5ED4jyIuSanp72reR1QOn7KXfVKWjoirQUCjS2klqFWHu_ysNsVsHni29V3wbx1z4_3GBSJivUrUETT546buFB9fm58SwA4JAcgrYKbTsXt1J9U_3_n8E3cEnRgniv4Qq0UuF2JYRC2TqaXfzpB93dhFw_yNgfMNhapaDCsrT1iUKXO_pdg0OPveUtvtmxU9-Qa3Kx2oY92XtE0hiM-IMhgIq5HfpXI22TgSG1q_PXipOu0MPUjAwBX4v9pZP-a_XlrmArpwvEtCJlgNTxK5twOjuorg9jZC-51mDjwJ1GRnfZ3vpOhPpL8HRZ0Hu9XoV7KmV6CfhiWLpRTNqyeSa4hED8qHxViNstL_8FgTGTK_ZlEJRnrrYwqafw3f_pw4e0ie1WyEXJ8peHJ8H3x32wZ-vMtzui1_Grk1aM9wEMRZnYxukHSFNR4fiH8ZZ-xUT9oqOGgEm3L6WNH1nDwCXRe86wY0esv-xJmRBiiDK8ekuL_VHb0mB2baW8a26OMgOQKTWI25xIi1TS5rcMjbSRHvYjUyexVcRHHkgd18vFfJzOr9xnsgIy-2zodvXESlzYCwRvYk_-QrE3FHaVn__ctndXhjaP-6YczpqSXVLFLMLV4tIWDihTnr1VgIUpMML9JNNlDjCmTbOjvUJGk094TFgznQDLqXQb-b7usB6pHuy1spISmD8h7Df4q2DAiHh6ePfaPMQy_bjDn4LGNkt222Szsnk0wzqTEkIc8JF8GnuxRCWUyiUvS4gv2b9O3pNlgt_wu9zfNhF2LzlQhRaPIGiwDo8TFxJTT2gITMenK6-ljEsp58MQQfy5UERoH_CgUcaEsismuV0WBZ39kUAvhHBZeYBBnBLmAP0nqbZCcqlGx3UwV1kTqlFpHzhl99x2PifEU97-7l8r82j_-v2wqKO2uKEKd8hVW12u-RvVgZcTgklXH2jtLAhd4hf4-a89RnbYt4r_G1q3QBO_w4kLzXAwerDXqSCj0DehPDxJBwnw5BDPeJY6z8mUV5tyIMxoWj94wVB334TJOnE3kGbbbJuC7s0YZOvWIjXc7gTF6bg56gwV5P1jt7y34qJUZ8IK37SiRJvpXkumynnemiuVKHc0Jw1YAJKGuPGJICHhYAo6JinppO6Ruu8g3Eb38K4Oztk1_t-EIXcKx9BsvA2K-NADRGg938S8DkMqZ_5Rti8uIfCItqHVMYgd-mfLywhMYZB3FjsdDbDRVuHkTf9ho_4LTu7gDFMGwDk01tyZT_KPmTS-Qm82GY0SNmnMynnn2K-fgINq60ubaiWG4mlP17GdCtPfSQeJQlU05IRLzS8UMNsESwoBLkkyxDqLY3c6_iTUbZ5g3ZZbaqD9Eti3McLyz7iXKafMjbJVYs2hrYQY7UgPmWCDSe4nXXy0_Mrk9S_jm8NLw52441Qu4RQEKKmSgNad3d-6eFnPWMbzF7GRuWPLXfGg184iW4xkvuYdW3Aznv6NxJsTpRpPey1RJFMoFKTr1VoDcxSwyhJe6xQgTeSUqtxYibpb9z5x7s5HKg78is2wntTJFQSJ7efTZSOSfo5w8t3ZON3_2Us9ShloMZfZRdz5FkUuwmlyuWCkuOPhTY2LjiatqQeupx6lj0Ip6S0Wa-RCvYEedCmwwgQILgiEb59jWN29HdQTXTHZOXStuzbLyuNC7qlRFUVOKbiN3rzbDT0GZpW74SWKaeTeMhbnC7jkXdNJu5zcTeKls4aL4yOI7NzoBTsgaE6bBet5mPZHpBaepNG_tzOwc8DodkUpQprGIDrgQEOFsPNE5xdE6ZZXoQTLlQENbo3yEWOz2lovcB0cc37UioDgw3nyDU934oUIejZihkY__mTrYuKUqjOkutXkqFyJvCdWYsqHcQ5IXUeC5YV2krJ9LRmn8DPfT_jU4i2gRoVcjOSODLtTJZtn2Dj3pizXzgSBuF0JH3jkx2QGDfOgV9X67jQNJM7HelWw-XJ1dE8rh5yNQIpb8EXwz0QWEPolYCu8znvdxJXdAv31b3xAofgRbVKku9XVZHuLNA1GhALIdp05toNeSDfx8kKWzfc97SXopF0e0HPqkWkq92xOLtXWffZyyL5p0SWgqjRr7rMxVbe562FWvikV_mIEpIDpBKHA766cMOkskCJEPGypVmAb4G1dnf0Bd8v51U7S38iGZZOHMb_F4ZLESWWTHV2CJLV5v7YVdxDP63oyWnhUYEa8LW2jIXVrJPUqPK-BwWeGGhwOBdTaGqTsr0P3we9C9K5F3p3UTDF4GjDucOHnkN1rDHER-Jntjo9dl2twx_Lp6YRN3wKd0jlpcDNDQazm5B7MlOpBrMv4e9JdXi0b86HLN-1XM2gNBYTHDNsSF5ZZTBU1Rl5m4k_I_5geU40rNn-DCZKzG8CLZYT5yuffkO8fO6xXw5DmZHUwo7uk-J2wvKpc7HY5fUYdexdNHkhy9p7b2hVpKlwVdfuJKKvQr7B3J1N_0rpHzdW_vSLJTUUl8zrQzq_T5picTpqnbpYItXhQPKBGBMpZ2rVUNnEvtauMGKr0tUpdKLaC9mDT_3lWQx1ajkL6aclzVEQsjOodjXKZSnb9LjNddT_00MFj2GpHwN-p4UQK4NsF3hT4vKyx31kk_p0_vz4wPM0il0Letah7YqAHGCARDGvFwORH7j6lNMOwxeL1o9DWMy8iDeXlX6gMB4dZtjv4UdDli0zHb05haQd-qFh6xz3rDVWGXCOPCFYOEHNoWCAlzOMmTJsKr21OedCa0Agqdf0kGd3zcaPoRQ69tvPBTidY1xE0qgXLuwBc-m_zNFyP4T00RC4f0nlbuBfCub_aif91sKcv9OZXHJOgAbgvD5EbbjtD0KT0sVvE_cnfbQieeN-WdmFHxUnFQh7P21_I9lBKcxGeTU3C3ql3TIQMWIKNuTaxL9ctCjnmTPbJRboVUhk0kRGPDIhcxQ65B_kUtWx9OenymOvLAo0ezzVMwPmUtYL_HZiuR1gBOBrF8I6mUKAHuff4XPUkvW6tzfE1Zvw7IbvXbpR-ooWqRl_AqBoUt8XfUkxGogsbNNoDQPodTo6FPszSFx5iPK1_t73DXlRNbuxDCrMB_u_fqzL4uWuzhCNE6lpELlqZgV32fpJTNf7t3YaUdnhO31P1hzb2awpkyKbEZ12V9LPg8m61J3ZtRxXM0yLdodzfj9y_T1Kx5N-OwZVo8j412gBIvVIjJPaJAplj5BouR2NyP5L6JBW-8Q8XpNdtG0H3kfktWs1QDm9v-MShktxljmbyIjL5UPxweTglA0U8eO84fLQODxOKUvkmaGEBe8wENB4RuE0zQEbB3PiK0p562g9tL4e0Vr6xLZTFB88DRFPsShc4UdskvHUbIAtSP00TGFIyLbEnOPUC77ho46rui-OSI8yuBC3oWOr5M2iN3-EFesshLrs18mq-KhstSTY=",
  "id": "rs_0347101e88931267016ab44889cc6887d0a357c95e8b372435",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEiUc4Tu7dfC-nb-FGdQzKx0fuG1sta76QULqtCeA9lAM2O5xYGEILUncGah3cz0ypwcseN0PGmDFDteOD981zFhrc1Hu8cmXn4Vr7j4W1EaO_3SR2_SoRC6haBqls-zBjJjkmNjdV_GuX4H1Ro7VubAhIuxfQH8ClHSiqrYAZ2XD-SaMCA8INLIexoqNoUlAMlktS_HKSA3lkMYPxo1xSejo4NYaTjV-eosyxK-ZJ5w3jWm1PDzneV0CH45wLU8HgCitjGhR0kvsbZF7VL4ITBT5-eETsFGyAVKtBPlhK9Pe8gOhIbEhg5lNPjOF8V0pKYpBdTU1QM_dHqN8NQEabx8S3f0RlpyGAQxRWNPaF-j9Uw_l1WA8tkODq9ya-LaXpcN3WooaECC85KmmMT9_NJ0RK0PYRMBh2sKAVufBA0tmuo0wZ2IiNPk45F79dOj1hFTHeXTrPw4kKa1hrQ2otNKqxkLIB4AJPPCKWX9-v6W7St-ArGLspTgDWifhFEbQxHvqVImW355dw4hca6YUp_vNJDrgsIGfzSQVVuGAXS1glgGalt-nYAA_IQPGCIJqg9wb3dGjloF4--Y-b17O_npIibCi_YNsKxeBdOcZbfATw4JCh9LBuw6Wj072LBRIh0td0iTlg0mzK8Fx59s0ReamHSL_U9SRrvR3KQBXR_R7_dOOmYgwLiBJjhX9YN499-LVVX2LnVsvzzAstXclKO0fP0fSZKSgdltZX0Yno5y2U_HZqLlNZJrtSfZTEwo_lan2ZfVdXVQ5MN5WvAaiWUmjbNbcuKCK3PgouKviAbl-nV7BPHVQFPC5KtA_FhCGI-BX9UM6EsVWIaj42ez5gShPi8e7dGSU9EzT9dYzQwgcxLWMYXfICVC8NS50P8_1dQmquTXB4aZxSBMGimgYE2573JAdGbUo5XC31s0oon8Y-oQ8ZhIJtha9XE5db1LYOjYMQ6v_kYvxctNHEDb7ZyFbDgG-uG6jhJ83jCjU8O7H4dda5OvqT7eUEbXBwUATeubWGqA-4J47VNTY4udP4EUj4lLGgVpWogdrxvTu6OVUb9BqJsf3ZqneBeBsgwKmqxz0kLvJtwpcYsVl0SWeuCxGCh8Z2Po9Eh4CAPPROfpP7m1Rq5oaXyyWlRrhNmjg4-Ii7z13_uu_uNClyyPw0HRzwLD9WYTMPO6Rm8g-QDXaETbBg91y_QPtH-dB3xjfNa-MZqT-Ep9MFzjkQqfxN5qig==",
  "id": "rs_0347101e88931267016ab44891fde887d0b6868d3c7e51738e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.21,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"Three bottles are lying near the table center; I will start with the rightmost bottle and move the right gripper above its cap/neck region while staying safely elevated.\"}",
  "call_id": "call_xC4SkBCEif6aQVS6h16Vs4YC",
  "id": "fc_0347101e88931267016ab448921cf087d0848757e6f0878752",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xC4SkBCEif6aQVS6h16Vs4YC",
  "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]: [-0.0208, 0.7975, 0.6136, -0.3866, -0.0257, -0.0288, 0.9983, 0.7204, 1.5455, 0.9726, -0.1917, 0.5556, 0.3931, 0.9999]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1821 left_yaw=0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3677 right_y=0.2036 right_z=0.1412 right_yaw=0.0419 right_pitch=-0.0618 right_roll=-0.0471 right_gripper=0.9999\nstate[joint_eff]: [-0.1983, -1.5795, 6.7761, 1.8095, -0.022, -0.022, -0.0317, 0.0068, -6.8718, 9.2376, 1.7265, 0.4615, 0.2222, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a93b83367af2f17cbb42c836e3a629e6389ff1b724a43d147089be5913e5c0a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f57978f8cd531391e1625ca2e2ac3fadc7d28bab0ae513e5e5e8420410a4c1c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd4a2c05e5b92e3b9f4652823696ee3aa6b08e97f8ddf5c3359246f2392bfb8c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 8 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 0.7929, 0.6067, -0.3775, -0.0257, -0.0284, 0.9985, -0.0158, 0.7879, 0.6037, -0.3836, -0.0128, -0.0254, 0.9999]\nstate[eef_state]: left_x=0.2954 left_y=0.0019 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2938 right_y=0.0012 right_z=0.1807 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4308, -1.4291, 9.8803, 1.7998, -0.0122, 0.1441, -0.1734, -0.9368, -0.8821, 10.2359, 1.8486, -0.0806, 0.1001, -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]: [-0.0208, 0.7975, 0.6136, -0.3866, -0.0257, -0.0288, 0.9983, 0.7204, 1.5455, 0.9726, -0.1917, 0.5556, 0.3931, 0.9999]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1821 left_yaw=0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3677 right_y=0.2036 right_z=0.1412 right_yaw=0.0419 right_pitch=-0.0618 right_roll=-0.0471 right_gripper=0.9999\nstate[joint_eff]: [-0.1983, -1.5795, 6.7761, 1.8095, -0.022, -0.022, -0.0317, 0.0068, -6.8718, 9.2376, 1.7265, 0.4615, 0.2222, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a93b83367af2f17cbb42c836e3a629e6389ff1b724a43d147089be5913e5c0a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f57978f8cd531391e1625ca2e2ac3fadc7d28bab0ae513e5e5e8420410a4c1c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd4a2c05e5b92e3b9f4652823696ee3aa6b08e97f8ddf5c3359246f2392bfb8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEicNcK77g7BBR3Hgm_lbJaSLKnS4vQzFyYuf__IaTeMVOBGQd-V6J1G2iAC1bWQ9Wv9vvA5lP0qn-vRanHShOLXnFNAp8Gc3howrceo-imU66a0ZgAZZwIj4VwAlAZzN9ONkQEVZOGvWrAGtmIlHDae7i8UK8RkrdR__8XbTLI1wwARNb7UJ_j4Ef1qIL9H1Z2MiUMoo0w6y3MIZo0f9S5Mlj7Q7vd7OQGPl1gzYE5Be4jCqWgPG9EJ82nG4zM8Qb3--zVkXZRaQEBSFIOaEXaTce3j3hZOVU0YupA24OlGkYovAo3P_jdpf2pu2ilcTWYwL0_fB73FAUKUYcg3ho280aVnpJ-sErYEG5mzhT1BmYxiARIYeU_10kSEOi2A4JpWXiCnmITtvF_Pl1AZgB4LUw4CkE-b2seb-5HdN7VacKBD8lW0-PGhHbbQnvf3T9F0rtjPrc7bugYy3tp7fMxRLtn88Y-R3-4VUdPaFF2AqjVTsvO1Bh10uEaFOtW0FCcQ7iFffRJioADxfsYNahvdurlUlaVEVaJ_jiz2b56Q7L9FTtnMZ1GO2-a8I9EdT654OqUKEPS738DJbJKyai2pfuzizcmQAZmxYulf7aFFKZe1o3AFgH-EKqbhrzRNw7-m98JEPYs-gtB6b9vcB7r9-WIa95RYW2j1aVCLtI4XSczVqd5IZxu3K7YcBozsehSoBeezonMn-qI0wipeDK6Npw8-VilTrsbYjABXvE9noHMdvPJWKLHM2oWUqxBTQ3IsDlV7KqLKfza6-JxVa9G3EWT9RsHSGpiz8Yzc7hRBe-GuQCrwduXqdWWulvHaPUkph6zGP-nhR6Qaa1Va-1XimXs3dvbNfB2MonuWrkAoXKgE_C8-juWs5wPZIhNKwiRNaY4hkRITpDNo66p_nrW1R2_MIiNKnFvPrIF0WZz3sF7KGRTnjGZJ1FPl3HXgfaUn8sO0XsFozJem9OkAQnG6XYGRA1xJn45Rk2Cmu7H9ez_Qe13BVNKEvsu8UTbanucoF8mHmV-ijXgt2yTfBDnsu3qGu7XqhOy_slJ6ltkz6uoMsdyo1NhjbhtBZwLzOQWwj5MyMq9-Pb_3wnldMQdpMFVmFnSUzGE_lzQ7iFe_s6un7M-kWlRjGWEx9qOZVMN65XkSafyUhHUOyuTJYAofKIeso3PtzDPx_rXSSVPPldAzDhwaoCDXenqFPwyoWcopalAoxqlY0HRm6IUwpdZXDnlYwJJZVYZV67I-mYfPptj7pQlsCFIr_vB7LgYOjrMRAo4zgnLKd39xWKjUawfRd_isLc42MDkXJ6Ptki0jeXorVK9oN8fl3PPLyWGv2NgJKJ-9i9oZ2e-uta-KWlQDsDgHIqE7w_QYz76mEJflUMsNtmPHuaVuPUi9Q62EsdHtlpQHmEfVWcfBn0skU5FQJiqpyatwniwvf4lus5NKXvfmQx1GG2qICo2M9gfAAnhtbOdiJmpl5kqnPhiljrNIwo5_T3imS3nxsGTTUXjy8y6i2IuXFasMv43b5tdd_ukS9aRd4aEaFGdy_5JvpKvHLQBLqyrbi8qv0bxeyfG-B2m6kATrTMGcY3u43OKelLWBnEWYlGuEe_jXmCWI-yGs6JVXfRETYOGIGhKapWsNy7o3BwOAhsIqPcn2KEj-jVj7U6geCJRffmbbQ7vaXMTUCdKPMqMADc4kvajAyJGIh2msiO4Bu-ZyGbWPRRqFbURwuwyq4PtZEOdVkANoiF7ovs4X3AycY7SkUOQORFSeeNeYvx6AllsGdPZFSeUCz-hJ15YhV1qFjDhLzQDt72-Jn0o_G1z2ZzVgabpG8jaH-mdi1NL34xpE2kOGadORncRR7vwcsuiWeB50k2gLFYm3jNPDgQKj4MHV6bNokYjsIhK7DD_e6-2-OSI4SD-lsmZTsB4_5-55wvy3buspvBelYsx4uRcm75cRIC4uO1EjhbwZ8t8vatpq159bM9QXKH5FYsnx0unYJYtx3e4Hdnb5O0jQnQzeQtit4LRIapTAe_Wctd03v_xIorn6HSx15HR0kyDemnysPv_UC0fDCytLEDQa6jWNbYbPq62dJrmmwk_FbbS34AvfKUOBnepfn0P4K9yDiiRD3l1SwejUH9Aaj3XQpv5WN5Nz4pPh7wp2GZDpQa0FZZhYK9QkMhXqKCfEOmgIjRmyGpMWwYK4n-x8XgD62ckGvy74FtnnxaJPZF5QrUrPCsbJYBri968bfAPLXCdXYLOxbLEOkejCXpujj3FRITNZeyJutc4uOXx3MzdwYoax2fE16Owz88CfWQG3N2nx7exhrAgbrAMRl8n4qU8PP10tSDghNIkbcfNibq_AD6MGb5kfy8kQvd98lGQWwf2T2R326gO9AzO57OIB36Wu7V43QCYw1RT7gsNObJXnyviuopb2LjKrO5ql5rLhccCbOJPAR5sfBOne_-ZHZQReSWVX4DqOkTZkTaLPOCc65Mx6WlxP0v08rlmi8BEJJsLipPb0KftuOk1eAkAF6Eb_lnN9Oo4RFamlzRT3AE2tM2vGz4SiG-vJzbet8IpGxWYDQEfTnCEel9bdoN8J5kmNkME5Ec0NkbzT3NQ55VB311jSom2NIV_0BgDlUyi7U2RzUUaGvBLL8YSNBkmc2mKZwCzpjJd69GV0T0WjgtuWrvxNBXnWSkDVnTfXh00Kes9Oxps3LrLEyKp25AYskcFZuRhfC-BKI8gACFRPDhutLRCXddDnhODLN0URg9chXFpF_ZpSpvcW5WfQw4Ja5cm0OaNUd9AbRfy0oIigF7Zb4YpTukYZedeyMD5eg6XoiMvgI1ZK5SzkYg3jl2lfBs1N0tbWvp8gOwR2cSTIaho3scrKBOKpGRERewmH8Umb2nv9btGRLusgKYamJjfMTelwZZy0zTtYNawDW2Q653XUEVgn7YnIrDaEPGrcXRTL5yZsbyvAqpGSSuTqjkz3PDllu-SUWhtSKCFB7ILvfulQkVOceS6EE-bC4NZYZBciUwXVIx3VcImKIj8oyg3DT29e7fmainTQ84pFoEFtp3wvT8NBYbeR-3GtkCBBcOolZlx6fHNDIAwcDACFs-vwZPef2jrhsMk_z5raTqeJgy55wejuh0o8FVBLuludbrZxBy_crUSISpR0WFA8F1t-xZ003ZtnA9HgXpzubsvKa4wgo6o79dwQacG6LFHRtDPjhOLll857rxE04wee2ZiBPjvi5bwfTEIhzDyn0NrJHCBa2OdmeLVNieDrnEYveHhGSbVCORDvWGp-z675yiKL3g==",
  "id": "rs_0347101e88931267016ab44896f00c87d0adef16a225d12e15",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.19,\"right_z\":0.14},\"note\":\"The right wrist view now shows the rightmost bottle nearly on the jaw column, but its cap is still well ahead of the fingertips. I will advance about 7 cm and nudge slightly right to bring the cap under the gripper.\"}",
  "call_id": "call_o72mYa1mGpmxssmVfGWPbdew",
  "id": "fc_0347101e88931267016ab4489b066887d0bcedfd159a1bd841",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o72mYa1mGpmxssmVfGWPbdew",
  "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]: [-0.0208, 0.7979, 0.6136, -0.387, -0.0254, -0.0292, 0.9982, 0.5705, 1.6905, 1.0153, -0.0578, 0.4397, 0.2832, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0019 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9982 right_x=0.4184 right_y=0.1834 right_z=0.1141 right_yaw=0.0422 right_pitch=-0.0835 right_roll=-0.0522 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.6615, 6.653, 1.8291, -0.0415, -0.0659, -0.022, -0.759, -7.6103, 9.4701, 2.0293, 0.105, 0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db8c16c1535b260655845a3a4e26b374ac55c7d9f519c3f455a3d1f483d0768d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1d120a36c07575563f366e9b062d595f9e519d834f5d4962a0d2adcca80766c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64d7462d2e2367381a6310bdbdf552d7dc99ef644efbdd8ddda553b42376dfd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 8 changed as sent

message 12 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7975, 0.6136, -0.3866, -0.0257, -0.0288, 0.9983, 0.7204, 1.5455, 0.9726, -0.1917, 0.5556, 0.3931, 0.9999]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1821 left_yaw=0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3677 right_y=0.2036 right_z=0.1412 right_yaw=0.0419 right_pitch=-0.0618 right_roll=-0.0471 right_gripper=0.9999\nstate[joint_eff]: [-0.1983, -1.5795, 6.7761, 1.8095, -0.022, -0.022, -0.0317, 0.0068, -6.8718, 9.2376, 1.7265, 0.4615, 0.2222, -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]: [-0.0208, 0.7979, 0.6136, -0.387, -0.0254, -0.0292, 0.9982, 0.5705, 1.6905, 1.0153, -0.0578, 0.4397, 0.2832, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0019 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9982 right_x=0.4184 right_y=0.1834 right_z=0.1141 right_yaw=0.0422 right_pitch=-0.0835 right_roll=-0.0522 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.6615, 6.653, 1.8291, -0.0415, -0.0659, -0.022, -0.759, -7.6103, 9.4701, 2.0293, 0.105, 0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db8c16c1535b260655845a3a4e26b374ac55c7d9f519c3f455a3d1f483d0768d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1d120a36c07575563f366e9b062d595f9e519d834f5d4962a0d2adcca80766c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64d7462d2e2367381a6310bdbdf552d7dc99ef644efbdd8ddda553b42376dfd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEih5cGdSsKCuHjWVWU9fKjvZZYPLi9Bs7tAprmC1Yx7MwQCc9iL-mK0AGGrKzf6QUEWjY4l81EW8VL1Tn4XJ-JX4GW0ID-aTyPxhGTI5cWKDBZZUBL7BickYiqUYTI2Esm5aZpfIWEICs_cLESzAfGFBbSIbvEIdMnKUsL_B6PoeZVmgecgl15uZRhRKIj3O0yhCn0-mrwa79uhL2jPznEmrPBPU6ACFaoZnDM6zTLlF4us3-exVIqdfmpwftmPu2ysgkPUIcT6fcm1i4aGREELAsAmnyhUuEULcrrh2YaVLsN5O-gCDgA25qE7PUeAIukz8Fa_rQ9z4jSIVJu79J5zorzh9NvbYqMnHjuQf4ctsaNXMlNdErWGGXhMsgKMY3CPQtRvD_L3Kl7OnlG3SI09FOvEE6UarwWHmfwGgAWd9Vlgvh9tdm2k9n_C9vqjAj5yxjtpK-TzpWk71_qHTY6q-XX4_Y7AcwYgvc8ainlyjcpipZkKHhNAYogaZGv9tVMsisBTwr8u9ZSVlW-HvMMEejErdNzvcRXh2N42OXLAqU93ZiIxUsdhQ95785OzwwQX5VvwJeEr113EVCGQbMjwfIsSBxptotlQsrtrMU9CeB3vIOXR0nMOGUiasZGSqVXfILQEVNLOLSzWEKfyCgVSPC47g-JbvRDmiQxz7Ed5NsIs-k6vypoiBIAGS91v4EufA0qD1Ros2KmzxF10H4IfgEhH1Q9itcyPrBlRpDaptAmFTw82i7meodcvLJMwKjwcrJC8ORBxsKO1p2BuqsUzggYYbc9LeXsT7mU1ARtakjNGGgt-5eXFlcjkk9lzEmgxsZdn02YIinLMfI2CZGEFb4Ei2Rpe3efu5QNi2RBAkOr_IgKDHI1esOuxCNGl9GuGhJaXi3p8W6ABRCbDKT2hfzQgxRUN0yyr8RCLv5-UamM_fWZDLUEDRNkxibnKV-w9fI1AK5H230xN8RJkpsybeyXRvpYXAnSE9rurAPj7N5K7vXqS91tTNi9Ln6fYZrGW_2a4nvwuY5fjzx7XeQXdpMto42b-ZazDyOLjRp23gbuwwlRjiHzR6N5m7J0t8H1EXhdlgnufMbQX-aMs1qBG1MZLaSVpCKXJGss3veWZpAB_AooD7WH8oYwqp1XEzeYjv2Xt82tOA_Q-JY_5ozVKCd5o2x6X9b86xzW2XsWIllCGbLHJcjHTwHAO5HnDo1Cb_AszWrGzk4tAcaJccdSqoH5Qm1wBnjSB7QOehCDPIbieDMjZBD7awAfy9oxvffw6PmSXRJsLYRapLmEdKuahYOfwa8oZ9f0U7Vwo8LsH9NoGNaScsoUZJOebrhCIwIxU2DitkDKo3jGTw0lURdP3JO1gFubujr1zl_cUmmQLUTlmWFUVujsiwXA9q-93kH6N9ccahbx6ftOCeMmogbJPqc_N0i9R6ocHhBi8DQ8XX6MQFxeGYiCm3R0i_vuqumw7GGJ95FluSU7kR2KSzwZMRvh3O8QVxbQ0dzs4m1A1xdbkY10G7p6bS7kOmYbkz4t5rS5uv1cqP4oica6VJG0xOcHUnro6oXDB32nknwIIIQUfH50uurzcpN-dbA1jRWlFRcFhuk8rHh7xiPM8mD9Q566B_IiQ2Q0fxztO-7XiHE_18Yp4Dg3yDlQx849_AcFvkvk1PsgnBF68YLEqAQPRKRuBuuHuxQp5J4ArhVYQLj56FaKaM-R7n1zGxrN6ThWAAU0NnaTa9LisZ6Slpr7SX7zLFE0igqTOKq56lW12VMWzOqPXNyX2xs_PQFmMEH1ojw17zPmYG5zMBpKsVYkT0D5YFB8DxYJqNl2k1OBZAzyEi2DxKhfPaw2VvMjKtyhdGxGnsPVaIa31I5srhz70CnU6zl0ck4j-q_9Euvu9YvNrl-8hyY25hvM5SrKxnrcx_2wHAiJmNC5YiStzyRG9GaLj3YKw8PI6nTdcALEmUPbr3xPGRcx-4DhbDz26x0Uhosvz7cfEDhqEeweHCnMLVEztrp4vSt-ZCzgYyYgM_YSy2XUnKS-Fom8VzWYCVAIfvAPgnEq1nAri8AtEmXoy4k6g3AM6I6IHooSfKrjaLSzbBDVe4oEgDEpJTR7m-RWv08jzbiFEREeHxEebpJwl0LO652NxFfzX8GeoCM37EH_BPXDCWRc_aAypy6jEon_ZllefDUCuJMWE7FzamYAYDbznHZnp7K9zLFIdZkeGcG8mgcnq6YCibJfAlN8TtB7cLlEpypVZnO24gNDFb5i50-G7zWO-CsbgcqtjZdji1DKTlLFVoQIMlk3Ug4636N0FEtUo6B7ZXLFpp0CmuOaCOw==",
  "id": "rs_0347101e88931267016ab4489dc1cc87d09a649989c62ac151",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.19,\"right_z\":0.16},\"note\":\"The right bottle is centered laterally, yet the cap remains forward in the wrist image because the previous reach also sagged downward. I will advance and raise slightly so the cap approaches the fingertip row without contacting the table.\"}",
  "call_id": "call_Unnf2tpJHm8qPPA3hBawC2np",
  "id": "fc_0347101e88931267016ab448a055c087d0aad6628e8b95a07b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Unnf2tpJHm8qPPA3hBawC2np",
  "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]: [-0.0208, 0.7982, 0.6136, -0.387, -0.0257, -0.0292, 0.998, 0.5255, 1.7615, 1.1542, -0.0895, 0.387, 0.2443, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1818 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.998 right_x=0.451 right_y=0.1886 right_z=0.1309 right_yaw=0.0616 right_pitch=-0.069 right_roll=-0.0357 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.7162, 6.4068, 1.8046, -0.0464, -0.022, -0.0366, -0.8684, -8.8684, 9.7709, 1.6777, 0.232, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648fe4b3d431f98a33490718fc982f974478afe2ab83330648d1c243e8c0cc9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bcffffa45de258a0a0f90a8e8902bf2a938f770d5ef38b93cb4e85738d24395",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d2e632d2c9cd9c6354d7f6584f728a06606c20f8bc86a89d8428cb1b34e3889",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 0.7929, 0.6067, -0.3775, -0.0257, -0.0284, 0.9985, -0.0158, 0.7879, 0.6037, -0.3836, -0.0128, -0.0254, 0.9999]\nstate[eef_state]: left_x=0.2954 left_y=0.0019 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2938 right_y=0.0012 right_z=0.1807 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4308, -1.4291, 9.8803, 1.7998, -0.0122, 0.1441, -0.1734, -0.9368, -0.8821, 10.2359, 1.8486, -0.0806, 0.1001, -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]: [-0.0208, 0.7979, 0.6136, -0.387, -0.0254, -0.0292, 0.9982, 0.5705, 1.6905, 1.0153, -0.0578, 0.4397, 0.2832, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0019 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9982 right_x=0.4184 right_y=0.1834 right_z=0.1141 right_yaw=0.0422 right_pitch=-0.0835 right_roll=-0.0522 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.6615, 6.653, 1.8291, -0.0415, -0.0659, -0.022, -0.759, -7.6103, 9.4701, 2.0293, 0.105, 0.0904, -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]: [-0.0208, 0.7982, 0.6136, -0.387, -0.0257, -0.0292, 0.998, 0.5255, 1.7615, 1.1542, -0.0895, 0.387, 0.2443, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1818 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.998 right_x=0.451 right_y=0.1886 right_z=0.1309 right_yaw=0.0616 right_pitch=-0.069 right_roll=-0.0357 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.7162, 6.4068, 1.8046, -0.0464, -0.022, -0.0366, -0.8684, -8.8684, 9.7709, 1.6777, 0.232, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648fe4b3d431f98a33490718fc982f974478afe2ab83330648d1c243e8c0cc9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bcffffa45de258a0a0f90a8e8902bf2a938f770d5ef38b93cb4e85738d24395",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d2e632d2c9cd9c6354d7f6584f728a06606c20f8bc86a89d8428cb1b34e3889",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEitL_vTvMddaDOBQubLnPSmVdcDIjS55DU--KkrUjddez2UYDfTzVxq_17jv0WGtxsxKloDPk1GacMQeEt88mivOoqnz7UOspzQhV4mgwF6SPeO65jU98Kkyl6-jI73imZNzPUWky4wa1J_E-r08Z6iOXfQCRisRfNdK6VJtzfo51_xA7GhTOnfsny2Lk3nh3fctsxzK4sxGDv5ggrJqTiYTptSYuAr5-1s7xtdua72WnnLDxclQrYyAMn6gcM_PEu7mbKFUnAcV-ogKijxNtKSN8CiT_PnzjXpsZxIihSlcWhb56yaoc8gsS8zJYIl7sLxNMsV_-kwCxVW3Lz-_bZ39wyl_YxdyjsGZES_ZlujZ09QDjv8ZfKR05FBr9eO6fFjpCP1oVZpdn4tP7NGxPBOgZ9stQJ9x8sopHFfbAAS-l0eORrDugT8qyabyCbwCawQPGJ4xgVQjoAkB0FlgLEyx85ovzMhCsVNU2EZk8mkrdbfK3fbXDhZ9Z3JDDhunqlU10MYw0fbaCRu8Dg-D762DTsO8dSvknQhlGvTSzJtfAZGD4UxKl-2yzmNzcyc_C3eGPPNgqp4C_jiW0QqTeRyrx7NVfDqB9YCv9-KrnrLZkKLYDSQtejM0Qq9lbxpOTvou4Bw_NWPKIrO7foP7ljmYj6opVBaC7ZC20iyIy-yy8XImg-6TtDPyRepCxOCE4rLBXr7c9WTh5RvPpqgGshZITQOka0JLrzug4vdOEAiN2TvSiK0avmBWolcaOsOIjc8BJ_jkgKuqDd_KVSQIx83b9xxwks9obqp059tJPAgHwhr1U4kxLco4pnai_N2egQDPdy-KifhjhJr3Mz8XFenOezkTqmoNIODdB6My159GyCWm28ZH6y-c4XqXbj3aE2Cya3bFR2R8EK1njk54cO3Bw4XpoEJOy6UUPDvGpbgaUPFL4YKUqPv68_3UNN2zQ5GqRAZaPOrrXwl3Y0hK5uxJG60Ta6enhPZ-TaFQIjX_lepZ9W88C15dP5Dnsh0OaePWgcVeHh0oM0Sw5WhcJ6BKrh1im57jjIN16TwU3VwvTCtCe0L9j0MG7aSUafYV-3rjv4k3vMWZ_Pq6LSq7IAkOpNtnKv-NSCwbXDLnbY5HbaBLCwKenpK5ziYKQdFzI2X1rshwat2-COrnunivHQRH9IyFvcTPMlg1Hp8IwYT2HXvXk9qcIsxr_Cd34T-d0D8_kzuPP7UMnv1tVuCD3F820emmn6hkqqFEGVx5ynkVw31c-Rw_DMeppUO5U-rjwYKlZLCEPj6pWW5jSRpqJMy3shpc1Q8brKOAmPHAGxB0N8-fIgkohx1MVI97cIiaYD74LQ8zEJDFW4_01fBNHLKlMwbiEeVmbfedaxAFnryv5R8XkXVsDnoxqQ0XR3Yg8EOfApieiaXyiiLe9W6zJPLGQsMagcQawrhKWxTAWmowPs4RjQUAY8j6jh3_HvifUTkWazULAgoLAQNtfFl80U05lE2OslYHiDWAeMgv8TTWdrZkwTbWiTLHm8FHvDMD7fb",
  "id": "rs_0347101e88931267016ab448a41b9887d0846bd666b4beeaae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.19,\"right_z\":0.17},\"note\":\"The cap has moved closer to the fingertip row and remains centered. I will make one more small forward-and-up adjustment to position the jaws over the cap before descending.\"}",
  "call_id": "call_Z5STvoVswhNOUKhAl4vTEkeS",
  "id": "fc_0347101e88931267016ab448a7e1d087d097b6828ebe2c788c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z5STvoVswhNOUKhAl4vTEkeS",
  "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]: [-0.0208, 0.7982, 0.6136, -0.3866, -0.0257, -0.0292, 0.9979, 0.5156, 1.7668, 1.1988, -0.0975, 0.3836, 0.2337, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1819 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9979 right_x=0.4609 right_y=0.1893 right_z=0.1455 right_yaw=0.061 right_pitch=-0.0422 right_roll=-0.0286 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.7299, 6.4068, 1.8388, -0.0611, -0.0562, -0.0171, -0.5675, -9.0051, 8.9778, 1.8632, 0.149, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feea5046f3e0370ead0b064462f141a510757832b52d03d199f5eba36dd08fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a04eed76a32ac638837bb98d5f295ffd3c330681f28127a8b3a123aa0026d55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1cef9cf449562569badbed3f62774199b5c5280adaa31c4df406078bdec62ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7975, 0.6136, -0.3866, -0.0257, -0.0288, 0.9983, 0.7204, 1.5455, 0.9726, -0.1917, 0.5556, 0.3931, 0.9999]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1821 left_yaw=0.0006 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3677 right_y=0.2036 right_z=0.1412 right_yaw=0.0419 right_pitch=-0.0618 right_roll=-0.0471 right_gripper=0.9999\nstate[joint_eff]: [-0.1983, -1.5795, 6.7761, 1.8095, -0.022, -0.022, -0.0317, 0.0068, -6.8718, 9.2376, 1.7265, 0.4615, 0.2222, -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]: [-0.0208, 0.7982, 0.6136, -0.387, -0.0257, -0.0292, 0.998, 0.5255, 1.7615, 1.1542, -0.0895, 0.387, 0.2443, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1818 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.998 right_x=0.451 right_y=0.1886 right_z=0.1309 right_yaw=0.0616 right_pitch=-0.069 right_roll=-0.0357 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.7162, 6.4068, 1.8046, -0.0464, -0.022, -0.0366, -0.8684, -8.8684, 9.7709, 1.6777, 0.232, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6136, -0.3866, -0.0257, -0.0292, 0.9979, 0.5156, 1.7668, 1.1988, -0.0975, 0.3836, 0.2337, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1819 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9979 right_x=0.4609 right_y=0.1893 right_z=0.1455 right_yaw=0.061 right_pitch=-0.0422 right_roll=-0.0286 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.7299, 6.4068, 1.8388, -0.0611, -0.0562, -0.0171, -0.5675, -9.0051, 8.9778, 1.8632, 0.149, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feea5046f3e0370ead0b064462f141a510757832b52d03d199f5eba36dd08fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a04eed76a32ac638837bb98d5f295ffd3c330681f28127a8b3a123aa0026d55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1cef9cf449562569badbed3f62774199b5c5280adaa31c4df406078bdec62ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEixAk7kewJ2Yt_sLyHn4bClJH-FH0jWa6JHOM01vK2LvPM2vBSrcrm5loorQpIvm7JLE-JCdA_JBDezD3zIAG2mms0jFJxmvVX5r3oiUPX9rk7Ig4sKyI6FoDAsN5D35emx7ZSEf-vaPjHXwjJ83Nzr60iw3-TfUJVYpjkLPUpRsg6ZpWFxKNKhDKay431WqlMiOPE5Wbl4gx4OeEQ1K04kt6g_hLkZKGRNHbnLsQxmzJqt-RWaV-THAQacwefQq6FGqPMVo7WAAoHcYfTLd5eIdemjTou0lOlK3m_OUfk-lEvOOdTrmzOgSl_ndXXLcZ0HuABPEu7WI4YJwkiH6OxATqyuvMrGI6zAivHO7c6L1I1XG6hhn_64JZ7ZLXiTtLERoyj6HvAR8vEyXGrdVnVOkAcm2O7IOMDS5HP14qkMg02awKAE99miUr8jLsTDf4rLBRxlaTQd46B5_HgOHbzDPMYD2Z0ysirxqYtd3JhLajhazvg4nEs-I_YzCWki1_6BGqaU-cpar269ZRHESPYiWf7WWRtG5E64UaiB8TWIuoEfWWtqQrYzh3_6lZatsfNj86tAxBHGZFtjGgY6LaShV34uuZwLkTEfm0oK_di6eQ8UxuWOttvpbpkl0FAKAt-UEC9TSPOs7vGbFBct7xq28P3j5qGAxflLE0Ed8EqtX9V3UppUaHjtSsiQ_MU9OM_oq5x5dn4ZZsaqrkzAG_rvhQ_OP1zOgqbwPbOya4g8CRa6J0RWAMHl87rN5ABo9Geh8Vu6U6wqd0YEQJXOyWc9ZJgNswo01WjuIAqwI4H0pqx2V7KxpelNfH5Zmp00RtfOhh8AdeIe7jrWP-tF9lMm926r9aOxIijk7f2StHbFo0PTeZx5NoyH1pD78tkIJNr2RflWU_q8yKxqMElN8cRIe6js_TFkKLRK6WL3JPVE3-0c1XAdNYrQHADVPgutUMqPyylppQbjnVCCXEUM1Fa0pZLZfCH2sc8tCIVkESRdBdc8B8aqlXvd9CJHNMQ-xhyBTMvqxC4440-tgLtNHO86vmfrf-RkjpRc9U9jDSE1asvUk-v9G3BU4-dqvuRY5-zxrXcguBdeX2kp6TbP-2GhJ4DH9JpaqD50pZr1ddV75V_x1n0s4lCb0tU1cFK8uab1KYlCXO2pgLp1sqhjTMSdow1HRiapDYuHSnYfixgEcUmVdi1P7IdC6sGXNyB8MbA5cOTxStCmFpgfIRp43h6izsMnzasx_BbUnmvW2pY-C9EpeLw9OLA2RjVXIBjwjhrsrNKJ2_AOOee-lBsw4x7uqnJIl6LreHSp57V3Eow4vBMXkR77-ezKJoOtenFdUOPciDPueJ1QqXcHLXC5IsW4c0LJNOR3OwVlY4rMRtYKwg3amAzYtIQr8Pa6lH6r83cus4zQHupIUbc6VAzemoCzo38RxYr4Uz3A1XB4L9V8KT2X6DZKAQmoAty14zCtRaT8x-cUyEaVlZyMAd9Qbjer0TD4_xHv9WK_-6DxYZcSFCfa-WyfeuSSBQoiBeiktuDF_aHCwZPgG2IRi_cY2VzzXIIWOXQ2qlsqwiuIAe7oONNfuFax6YhDoetSSqN47VUCnPNR_mpy4GhQ-hwaB6xgDO6aGjEFeaG5AvIRQgdKLzjkIhPu3PKW40Fq8zzg142sS4Aq68DmSaOheR1SYj45xdtxqxR2gFxzhfzdT3HSKBRoPs9ZQHqAedd7f-7lyN-gN1cD5LZuKQ_fXNhBR7Q_DKu0XcH2iMvuhsOnlezPsq3NSJ51xbZPRINnRwmR_UvnFSmVI_I-VbwaW2jEk9xGyaUz4u1oQ9yztQxk3Pil8hOEo9zSVv6R4hvKmHDSsUGECxkPMn5-gnP-5PWITalIFg==",
  "id": "rs_0347101e88931267016ab448af615887d097273813c83d1ff1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.19,\"right_z\":0.2},\"note\":\"The bottle neck is aligned but still slightly short of the true grasp point below the wrist image. Raising the arm should improve reach and shift the cap toward the fingertips while keeping the same lateral alignment.\"}",
  "call_id": "call_khodJkWpcOt8I7Y7ANyPPMxX",
  "id": "fc_0347101e88931267016ab448b0de9887d0bdfc6dc03ff3ec3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_khodJkWpcOt8I7Y7ANyPPMxX",
  "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]: [-0.0208, 0.7982, 0.6136, -0.3866, -0.0261, -0.0292, 0.9979, 0.5156, 1.7668, 1.1988, -0.0975, 0.3836, 0.2337, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1819 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9979 right_x=0.4609 right_y=0.1893 right_z=0.1455 right_yaw=0.061 right_pitch=-0.0422 right_roll=-0.0286 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.7026, 6.5436, 1.8486, -0.0171, -0.0513, -0.0171, -0.8137, -9.0051, 9.4838, 1.8339, 0.2027, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c76c01442b1e6edb2360bc462c14945f9db6a6329cbf3ea0149af8c4dd52b33c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc2b57ad73e0b7fd7a43b91f92841499b75ecee0edf6d4945391c9da14abbea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d30bc88779e1d299bc8ea255d08f2e8c3545bd04d04604fc82744d735077e6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7979, 0.6136, -0.387, -0.0254, -0.0292, 0.9982, 0.5705, 1.6905, 1.0153, -0.0578, 0.4397, 0.2832, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0019 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9982 right_x=0.4184 right_y=0.1834 right_z=0.1141 right_yaw=0.0422 right_pitch=-0.0835 right_roll=-0.0522 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.6615, 6.653, 1.8291, -0.0415, -0.0659, -0.022, -0.759, -7.6103, 9.4701, 2.0293, 0.105, 0.0904, -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]: [-0.0208, 0.7982, 0.6136, -0.3866, -0.0257, -0.0292, 0.9979, 0.5156, 1.7668, 1.1988, -0.0975, 0.3836, 0.2337, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1819 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9979 right_x=0.4609 right_y=0.1893 right_z=0.1455 right_yaw=0.061 right_pitch=-0.0422 right_roll=-0.0286 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.7299, 6.4068, 1.8388, -0.0611, -0.0562, -0.0171, -0.5675, -9.0051, 8.9778, 1.8632, 0.149, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6136, -0.3866, -0.0261, -0.0292, 0.9979, 0.5156, 1.7668, 1.1988, -0.0975, 0.3836, 0.2337, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1819 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9979 right_x=0.4609 right_y=0.1893 right_z=0.1455 right_yaw=0.061 right_pitch=-0.0422 right_roll=-0.0286 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.7026, 6.5436, 1.8486, -0.0171, -0.0513, -0.0171, -0.8137, -9.0051, 9.4838, 1.8339, 0.2027, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c76c01442b1e6edb2360bc462c14945f9db6a6329cbf3ea0149af8c4dd52b33c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc2b57ad73e0b7fd7a43b91f92841499b75ecee0edf6d4945391c9da14abbea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d30bc88779e1d299bc8ea255d08f2e8c3545bd04d04604fc82744d735077e6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEi2IZaNDz4A1YgzN9GJA3cQJq5qQmCKvzRd0D76X20vyYcnTh1yWyTqrgHTzdj-blJQ94XxF1U_lVNOqlvoVyB1x-Y1lp6JjJ0OwlGMBh4ZXn4elJHkapuSA_eWfvWIV2jbAv786zwjqPFgU98pOd-fj_06--B65yqKAmg9aAD3Ub8CUu4ZSbGXV3_3N4osHxbMsqf4yyXikq7trcIjr0Zn_6yNLyOhZmKwu6HaAdGmwIPJiC7u5m_ZJqdPfLBKPode-8d6w1f_8XeugAuNNc88BB5OOKBb6jFja2btKXBY7KP5OeLbxN2lV8oCkorgVZByJsypXYhZly-uFUJ29kRuJpn4sopjZgi4HjGwMovBKnCukOM-ooVF5rtXgfzSuiXzx5BDwcWKX8s0ej3bqGyBIYRRUAXzrTfW7rJON12wcptlc1jP4Z4b9FpLmMO9K878jqlIoCuddadBMdkg89nu3CdYIWodpsayraBPxrc3FwERBr-ISotdIX1yEJjgIgPbpZopiHyvAuVZL7WhU_afA8v_cwOQFW_kFtn1t-EGAKQQALiQMQQwdQGBv1HGq2otQJEsU1KWKj7zGDf1PAWMm8H_yImDsbFSw4iVUAOSiUTsg6sWlEkLHD4LhhSQN24SRdb3nTJFnCkYtETDAZJ744MFRpIIU3e4pD6CAzomax7VzSsmjfGildmZYKjo-dGDTJ--GEZck1lnZhS3ySxmVhRI8x_6IhxEn_zCnmm5Q0ae5M7jPMNUUyKd7JLrghn_6QSQi3_zT0bOwNn4KfIYP57_G_UXC9QrkNRUW__XEZfNPAZbrPVpbTckw4wxXOvfeAJOzUSpmK2xSNIf4HxCKfIfSoOtlIGNZ3Z5bA0OATqoMeGti5hpzrXFkQPX2rB4LsCC3ibRzMpvUlr8dRNd6bLsmAMby4VIanlZc18bFM1NmLeTzsCt9Qp1G5TWTLhDFpTBpwtP1hN7pxfumow7bw3zq6GHcTY4JVAjqxgOcqrpst67ugY3_W3ctdupyZii0_WeJlZrlled1CY0GquJnOjF4UbHcka-zE-WNgUoCu1B0kYw91niaYYF6dTldrFU7QNCh7rK2lEV5Lesl44UhaqMFPCnqgcRNDh7_YmvdNtLTxm1Tkx1xSJ_ZrpQl9pjET_tL25chzIuqK9f28uZdGJEnNqmXYD7vGSikHZ4D6WIu1STjPbCUiTha2EOcHSsdEbRQZ2G26rWO3SxotWbwWZBhRoWtJthshg-impR80JytvN7I12Wmw70ifwMJN4J_CbQQIDzczg8CT_DGPZ_GqCqMR-b7yKWozAOh-goGVV5EE6rkG2QumkmcNVG-HveUZTH9LHgRwo9PXb0N20eiy-YRbbxeVR9JXuIJnF_LyKMsrvr1gz3byKGPYmMyQUtIU5KDhVmCeyKAawwekeAG83Lm3smMkZj8IFdW7wZJ0J9oiqfwhAdNQAH_n9mQGkGH8NJzw7y2G6hUmmJC2VpDmc-y-0yI2kHFJB9Wz6r_wNeRtN8ElUH4qxlrgQl1nz5Uv7x3I0mqu9o9UaUtSCZLXLqYzQ7vMKuj0vpAg0OAMEQLbm8L9S7ZF30NzUkCDJpOmlM3XMfQpnzipylB8GAEuzfoUZ1WMoZDb3gyGi1XQhBNx5Q5MyW1JqRQj45HUABnHX9zgHiYXmNyXAxDLNF808u9pV29eQowRnu2rAkNIKmWq_4C7lPj2t1bReN3LtyUR4-e9gjsy-urHCllofwET_JCsgTu_yPNn87DAWYgKhmepNRDvQsdUyI3vxNtdD3OVULGH8Uhnl99CxldZc7yBG5QQB-afNrxwKn-SycH7ZDLfo80pUfMGVMOlHhrBRs95wOQ78GIQKsU5jTGsSRCcRL3rvWicQdyQr9iSWl2ilYfefWz2SbxryaX3N6ZwHdAzHPXarZWrzfxLoFDUULeZSUg2Zd0zCkIFg3XT1v2j4r2_mnd3k-bRJFNYnIqYyZag3-p_1nWbnKivnad66ayK-3NQKtRzJ5qRA2j0tj8MHQ1qvulRchO2rxfv9e8DO5WzcgfkdOOzPjQn6myoFCCWaXTFTxghHP8q5Bgfu69jpzcVgx3A44A-_orepJBj2C4PKSXv3ODw3b75GqmYTaX0324yzDRB9RMuocz-zkIs9X9cuBgbbo9Z49z-ydIZPdkh3iBFsEF_yIylOc3KdvuHBMr0-NmYfzfnfYLL9mS3xWZgKRmoOl78p1RIS-3KG8cCto46MjmnnkY3iwstXz4LJEe9_itwxj2qPEwIuUdL8O6M1agtyon_agUc3_rvMzMUBiq97q7ihyFQmqQHJncCYTnQtyRso51rIfYxSpn09Vus_QW5SybxxVzfQDKjwjh_sCNZymvyWp0UR97k-wSW3U0tK9WG5hoQFiEWVRGjQwb-rUqRfsEP0iv6vcdaWv",
  "id": "rs_0347101e88931267016ab448b3213c87d0ad359d8ebe76c61a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.19,\"right_z\":0.22},\"note\":\"The arm did not track the attempted higher forward pose, indicating an awkward reach configuration. I will retract and raise modestly to unfold the arm, then re-approach the cap from a better configuration.\"}",
  "call_id": "call_0fGSqew1g8AhU9CDWAbhAGqe",
  "id": "fc_0347101e88931267016ab448b59b1087d097e3d1c15f1dc085",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0fGSqew1g8AhU9CDWAbhAGqe",
  "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]: [-0.0208, 0.7982, 0.6136, -0.3866, -0.0261, -0.0292, 0.9978, 0.5526, 1.6516, 1.219, -0.2581, 0.392, 0.2436, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1819 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4326 right_y=0.1917 right_z=0.1784 right_yaw=0.0853 right_pitch=-0.0622 right_roll=-0.0364 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.4838, 6.5026, 1.8388, -0.0611, -0.0317, -0.0171, 0.1026, -9.9624, 10.441, 1.9121, 0.315, 0.232, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a7a0e13169c0ae73c7e1cdaa063547017365689c3409b0389c9a2d61ac2faa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cbfd6136a024dee11b3cdfa72639a5c39d3be07d0d2d46114e84dd9ab091b69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4166acfd4fb54eb113422c096f7e25e03a3ee47b694c883f566a9048fa764a51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6136, -0.387, -0.0257, -0.0292, 0.998, 0.5255, 1.7615, 1.1542, -0.0895, 0.387, 0.2443, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1818 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.998 right_x=0.451 right_y=0.1886 right_z=0.1309 right_yaw=0.0616 right_pitch=-0.069 right_roll=-0.0357 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.7162, 6.4068, 1.8046, -0.0464, -0.022, -0.0366, -0.8684, -8.8684, 9.7709, 1.6777, 0.232, 0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6136, -0.3866, -0.0261, -0.0292, 0.9979, 0.5156, 1.7668, 1.1988, -0.0975, 0.3836, 0.2337, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1819 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9979 right_x=0.4609 right_y=0.1893 right_z=0.1455 right_yaw=0.061 right_pitch=-0.0422 right_roll=-0.0286 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.7026, 6.5436, 1.8486, -0.0171, -0.0513, -0.0171, -0.8137, -9.0051, 9.4838, 1.8339, 0.2027, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6136, -0.3866, -0.0261, -0.0292, 0.9978, 0.5526, 1.6516, 1.219, -0.2581, 0.392, 0.2436, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1819 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4326 right_y=0.1917 right_z=0.1784 right_yaw=0.0853 right_pitch=-0.0622 right_roll=-0.0364 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.4838, 6.5026, 1.8388, -0.0611, -0.0317, -0.0171, 0.1026, -9.9624, 10.441, 1.9121, 0.315, 0.232, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a7a0e13169c0ae73c7e1cdaa063547017365689c3409b0389c9a2d61ac2faa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cbfd6136a024dee11b3cdfa72639a5c39d3be07d0d2d46114e84dd9ab091b69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4166acfd4fb54eb113422c096f7e25e03a3ee47b694c883f566a9048fa764a51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEi4RJXIkz-s3jGrNO98WGXBmlBCqqlS2YaA7u2kR1hkp_Sb6_L3Y0CT9yEXXcVvlMZ24IN6CoTKuLdpMU6FjrZaSOvNTGHtxNqhEuq1ueLEoOed5kY62nQMFjJkTFwn-gd31XUabktNf26A1ne2PLDXDRmmfeJqHbjpMy-9VMOFAGKDxxt-L2vVaUyciOj1YWwQ9x8x7pLQHbEKO09okYe9Px6QUElaWy92LMird8S0GH5kX5QMkydsDnTNxXyGT3XUqfMpIxlKXgKIoippOkYJJI_8zl0lsF5a0t0SjM4fYGyFGg6Pb81POrXuifuyoUNPM6YRm6AXrndMpHQ4m4uNpXoQ_79AkZf8q9UOp9Mcnl8fPKGpOCzzSUDiPFgaMoHOr7mQPrZhYPu10yVx6S8_4zE3Rv5fmKTE2_blO4WiXobiJWuSsZTc-WwpHh0dvg94fDQ9GOx1ULsoPCq8FfaalN-qaq8wCfm2fIul9XFBeIJtwV7t8L_eDgSI-QzCU0oKufwytzGXdoWoxloed6IscX4lRETYN9s_8E9g1DrFiDCBf1kkyrO0uLuGxtyV-KpY3_bxDTprnDkPdF6SLSrm4n74pHkPHri1SmCZ0uOgUvUFgedQJadEWeGp9ecm4TL20iiOgLIDOu7aMK_8OwsIuL1XqtovT8-LD_jCSQWtaH9Aq25Juu_YvFQDdnf4SnkgWWQvnKbF1skzsi4cMDO5qqZfKyjDnLWQc9bUHe2VyRZqLXR7Epgfao_lOKouN15i9G-Xa0DG-iKf_hb88EKu_4A0mMGLja-PRbIa1FUCwwNtON60B7sp0NA2CXZIxRFcSTo0a58Tq3CP8R6kvLoH_H86a_UGVCLtnhVVThYg_vXrTC0PNrtdclVzSMGUgDFG8Jatp3Mho-goJboW1wUTDN-qnCM92ZZtFGXlYeGuvSM2Q_ihmrIHmSsvEaLUL058slPcVMjyzDyq04B4Lq7bfshgx7BpKPcnwhYhzBN4LS6J_P8Oy10tATmPuxedFYjok0l9hylFvdKA30WwJaB0fSNIusxqnRGWXh7NOHH2pY-kPCgpk7tXeYzrzepw9jkfoS1lRWrhME97kHGBoLnJYWETIxmF56gIPSfyMDvNIbpIRg7Z0khz_RE-KEctFycQ5cBUFMBVQFZxw12A2wCuZqYTL2exwENQACgrZU5WsuRR007cXWbezl6JBlWNyyCQwz8EWXn37JU4j2blmyuu2Mmrlg7nelGrdMPG7lwq62fkfdgUrrQjGRdfILC6OIidy1Qg3CktyEFQaaPQUR1BNyIJSwbg02JD77Hy4i_N-TA=",
  "id": "rs_0347101e88931267016ab448b7d59087d089c1eead154cf009",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.19,\"right_z\":0.22},\"note\":\"After retracting, the arm successfully raised and the cap remains centered. I will now extend at this higher clearance, which should bring the cap close to the grasp point without the previous reach stall.\"}",
  "call_id": "call_14GxEvkMe9n8VbDNwoA3LMpN",
  "id": "fc_0347101e88931267016ab448b8235087d0a41f7930bed5a5a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_14GxEvkMe9n8VbDNwoA3LMpN",
  "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]: [-0.0208, 0.7975, 0.6136, -0.3866, -0.0261, -0.0292, 0.9978, 0.4904, 1.7535, 1.3594, -0.3279, 0.3355, 0.2008, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0069 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4624 right_y=0.185 right_z=0.1766 right_yaw=0.0908 right_pitch=-0.107 right_roll=-0.0503 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.5932, 6.5709, 1.8584, -0.0269, -0.0464, -0.0073, -0.3761, -10.4821, 11.1932, 1.8632, 0.2222, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c8d08ac060a54c93fadb90f32bccffc1c14ff59ff76488f37ad7b8fab1c455f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74bbdb6355693030b02c001fe075c221b9dea96676158819e22e814501f8c55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b0e322a818bd1a43adf68f043adf4d12d20541772f22a1975f5a08835513f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6136, -0.3866, -0.0257, -0.0292, 0.9979, 0.5156, 1.7668, 1.1988, -0.0975, 0.3836, 0.2337, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1819 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9979 right_x=0.4609 right_y=0.1893 right_z=0.1455 right_yaw=0.061 right_pitch=-0.0422 right_roll=-0.0286 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.7299, 6.4068, 1.8388, -0.0611, -0.0562, -0.0171, -0.5675, -9.0051, 8.9778, 1.8632, 0.149, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6136, -0.3866, -0.0261, -0.0292, 0.9978, 0.5526, 1.6516, 1.219, -0.2581, 0.392, 0.2436, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1819 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4326 right_y=0.1917 right_z=0.1784 right_yaw=0.0853 right_pitch=-0.0622 right_roll=-0.0364 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.4838, 6.5026, 1.8388, -0.0611, -0.0317, -0.0171, 0.1026, -9.9624, 10.441, 1.9121, 0.315, 0.232, -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]: [-0.0208, 0.7975, 0.6136, -0.3866, -0.0261, -0.0292, 0.9978, 0.4904, 1.7535, 1.3594, -0.3279, 0.3355, 0.2008, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0069 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4624 right_y=0.185 right_z=0.1766 right_yaw=0.0908 right_pitch=-0.107 right_roll=-0.0503 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.5932, 6.5709, 1.8584, -0.0269, -0.0464, -0.0073, -0.3761, -10.4821, 11.1932, 1.8632, 0.2222, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c8d08ac060a54c93fadb90f32bccffc1c14ff59ff76488f37ad7b8fab1c455f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74bbdb6355693030b02c001fe075c221b9dea96676158819e22e814501f8c55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b0e322a818bd1a43adf68f043adf4d12d20541772f22a1975f5a08835513f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEi77FEIGLwPGG2-pBozX8EO6M4xK-lJW3uqI6vCumskyk5TC9X1SckJsqp-ISXyQg4-dTfiK5Mxu-QScTe5aUY_LYq58qTYfqIhO0IlHiyCvdRLlsbY0PxX1x7bQn2x74hJ32eyq_qjNMILBc7MA9mxUyM6hkQhZ4OT_efedMEp5jl2QluJKCrOVstdtqg_LAmNJof0y8VYIU8LtahGo-XJjlExoSLXCl_M5awCX7jLFuwR7OjhDnjNIIVnHPLmtqlSddtQEn7o_74Ofn21wDtzWes6pbQ5qAl-G7hEpuqCDEfI-ZiS4ZmfhIu5ZTYn_LFCgauJnv5VeMfQXEr0UAyjhe9W77RXcaEokITSEJMLkqj3oTV-Y_J2VObU1tmBxnk4mKlGd-lciwO3tcAqNUf_22EQJ1JaMvg2TTy-JrS8GijfqRHny98FcyhN0r0mXPetiFOZszMagN8iThrZblfoET_E5qd1QjFQ-sZBP7ipJcZTe3stfnT0SGI5gOHWwca1urNjuZ9aKIsVAdXqBl22T9Ah8XWRHfgGs4a5qJKjZj_EGGIB9sXR89x7v8oV3375bR5zFEFeaArrCNR2U8ZNKpS3qK5bMVonhuW5UqTjYk3Z2TOZGF24sFbDQqgnZB4mlVupmIDmMifW1sDZvqo5EY08qeR2Damxuuyi1lJdeDmiLoZLahzThkdEO9vX6eUuXUzXmn20Ny1u4feKeYztffIjBUWhlXWblZhDqttoHzQlpg8eQJ0I9uon7qMQDJ7ti1BuX_u5wFTu1PR3bJ___idXNqa1eVacLnjiW3LGnUnehYgKu8omqmgWEWbGN2Fz0WQGLYS4AsxzObX3PQ9gGShlsjTmsTHnerUMQYE2p-ulHxs28lOhp0TsD-EG_ymDGN_q9Px7qLj5KK5hkn6kqzaYRzi677QdpS8U92uR8V5pwuNXWk3KE5ELBn13Xin9aIyYQrImxYrRpval4PrgjpvnT57FZ-PqGXKvvk9cdp9BjeC6LhmpqOK0T0v9uQQ5c70Iix9dMsw4IpciRb7r-BGV7I3KlhMfaxZr_Rn9J-NVF5BeBDNzkp8Mh5BLXblqsWMVI36JBIFKwlfs0AVdRw6I5cRcXmpXtigPJBglhQRvWg3piIsMuXIsOGMp9-xxcvOl-gpgHAtKgFMC6JiABXdCNDNH9TayQonVGkXvfQOY_CXihzWRA2aCRg5Ums1IGVNyvxcBlchMKhrjno2NgZDgnh3sdFUx2Re0GsHcBeTxz0vBNSRmzFeHLJqTJoEe5EevyCsyjponG_g3NVImK2Mn5TMdxTJOzVhh3DfaDBPPxSDgwvsfuvdY6WVr3MCl9RTrD-qMRC2E0vLj3c-CtG4Oc0M-yHFSW-ySAjo9-viCjCmvWcfEiRvNuP6zHUGaUemu72crFBmUTjgQg5dKhf9XVFGZmOWleuEY2TjRCgzU0sypD331ts6ASrOfDuY1H0N4Gd2HODMsE16697VPFQ==",
  "id": "rs_0347101e88931267016ab448ba425487d0859439e9c4ba19dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.19,\"right_z\":0.24},\"note\":\"The higher re-approach moved the cap lower in the wrist view while preserving alignment. I will make a final short extension at high clearance so the cap reaches the fingertip zone.\"}",
  "call_id": "call_G9itxOHMljUFrdDML5MGDE2A",
  "id": "fc_0347101e88931267016ab448bac08c87d0a71a3319b8191042",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G9itxOHMljUFrdDML5MGDE2A",
  "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]: [-0.0212, 0.7982, 0.6136, -0.3866, -0.0257, -0.0292, 0.9978, 0.4866, 1.7592, 1.4075, -0.3298, 0.3279, 0.1886, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0019 left_z=0.1819 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4709 right_y=0.1888 right_z=0.1939 right_yaw=0.1012 right_pitch=-0.0718 right_roll=-0.0399 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.7162, 6.4889, 1.7998, -0.0269, -0.0611, -0.0122, -0.759, -10.2085, 9.5521, 1.9316, 0.0855, 0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8510fa328085f3fc5e8c975f5afa2cf2628d072aaaf474210db3b10faf48d64b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1d040b9cc86b4ffdc680717cf338a854689451a6424fe5998947eac1c49619d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:672db6208111fdb1163d3796ba6f67a37b7a89fd5e2172be4f81f3ef22b33ca1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6136, -0.3866, -0.0261, -0.0292, 0.9979, 0.5156, 1.7668, 1.1988, -0.0975, 0.3836, 0.2337, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1819 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9979 right_x=0.4609 right_y=0.1893 right_z=0.1455 right_yaw=0.061 right_pitch=-0.0422 right_roll=-0.0286 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.7026, 6.5436, 1.8486, -0.0171, -0.0513, -0.0171, -0.8137, -9.0051, 9.4838, 1.8339, 0.2027, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7975, 0.6136, -0.3866, -0.0261, -0.0292, 0.9978, 0.4904, 1.7535, 1.3594, -0.3279, 0.3355, 0.2008, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0069 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4624 right_y=0.185 right_z=0.1766 right_yaw=0.0908 right_pitch=-0.107 right_roll=-0.0503 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.5932, 6.5709, 1.8584, -0.0269, -0.0464, -0.0073, -0.3761, -10.4821, 11.1932, 1.8632, 0.2222, 0.1245, -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]: [-0.0212, 0.7982, 0.6136, -0.3866, -0.0257, -0.0292, 0.9978, 0.4866, 1.7592, 1.4075, -0.3298, 0.3279, 0.1886, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0019 left_z=0.1819 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4709 right_y=0.1888 right_z=0.1939 right_yaw=0.1012 right_pitch=-0.0718 right_roll=-0.0399 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.7162, 6.4889, 1.7998, -0.0269, -0.0611, -0.0122, -0.759, -10.2085, 9.5521, 1.9316, 0.0855, 0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8510fa328085f3fc5e8c975f5afa2cf2628d072aaaf474210db3b10faf48d64b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1d040b9cc86b4ffdc680717cf338a854689451a6424fe5998947eac1c49619d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:672db6208111fdb1163d3796ba6f67a37b7a89fd5e2172be4f81f3ef22b33ca1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEi_Jjfwrdk1VSa6dm0StBMyvMB_aZrkjbmG_IsPu3n06Kyrh--uguT3W6UczSAWDGd85xmMrtmZDWa7m_KpbqL0m_EB10a7LamGW05YFXTdN1ujeB7A9A9fFUT5R8T1CmnLxllGFNZxpHtJirhIrjpMehS0ZL3wLWclXv3C6FXWzFz-SRVte8X-JxnUj1Pp6U1soTRRuZlMtrL2QMZhK7elFF1ICTGWi8SUz57D7BfopfBFKEgLO2Mx1drXTlW464eIo-gTHGCf4flSEkKrTI7BAOyL7Do71nzu_46NL8re9_qQ42uzmm5V1AATDqZZcqEcP8L30bwFFTWofj6RebYPxShus31c3jF8ab4j6ZfjDdR0T8tmgomBbif8liPwgajlAhZHVkCsBxlp65dOgEqdVIS5EKVbIBjt07i_FshA8U3XJcyXxuFYApdYo3NDVMjNZHIrtFjm-YVs0uxAtzGXP6nCJDykX6ZtVfCO3JXYA9QXajYPMJ-3grKU82FMGDFvXdALZGE4R8dhFs3PnnIgHVSJus60bCbQPGKq4QfwLVBNgDCfvr-6LhDQ1KeGNoXEP7PtWeg5QiOsEEDCxf4kpw943C0HN-X5ei7yCdyQhqp0H6MBGnm7FYpJ2_hMeEEJ33uFO_apcCGyqyhju-tp3wVtne89GCfviJzZwJzs8gAD8g6JD8H5lyVquF6axQpRsz3Hdo8CrAGIjyGLMPrcMgz9TZDMUY6vVDYoJebi1kst5KltJqgpxMDaOVf5b7QNFyi1yUG7jNSeseFmfKcZ9RnJbwCaqCtujCrm4-_XhFHu51oio0fVYCwUhZg-jWx4PEdRVb-DSBzl0jX1-LnSzkQk0zpS4tKcoustoG7cZT-u3nzaAy0XwtltJ47AELC274UTL-qyA5zGdSKHiP1fFTOi5h1Cxbm9zgtiEqyafSJVHMC4AEPuDw2r212qgYTsnDNPBKye5JLBghO56oevSByZUohr1VouoGpGpOfPf1dMl1odj_gWCOn5v94RMkdM7TAdVusIGKxE8ICKtQdKbM8Rbrsb9QeT8REpiI-AP7gdOPxXVQkdOKeyG4F-EaAqv4QZagQUbuJj4kI4OAuvXCYGAspLwkEQ_W-eBXRqUBY0btnfR4zi9iq_Au-5VFxZUIExdB7wIEKsiWOR8HnRyE8eYwZY_OaeevHeJihBNVO1Kp_BDhRp1vDjsTyf07Apo1plELhdGcEnNI4RJ3e9DyWt45Zued_NFSSwA_l6yFLO5uhEEsmk78mMnpvGVvH-uHIVyOcDQV_k2A0Khvr_DUQICY4voxqXgq8btFV-_2UKmkipQc674Ilmq8Q97blW2KRA-XYspGPdN0zPFJSJE0Y2KKGlTofq94umS2tB1lGhzU84fQKdG5yTH0mDzNV-F_sYVDscMW7PQcahKpBmAAE4LlJpUZJBIAwz1WRYV9z4XnrvR8Q1pCZSAK-ElhDYtaGaTsSYFVE-G_7r4bJ7o9E4KL75fJoT0Hav9Ozdb8SgsGt28t3oaCAGVg7R6LY_4Cupb_KVbOY77k9oK9wZ3RUbto43x64Dtba1ru8ZcJNSrwyNwXbc4sxvT-XUAt70wDpJ9EcfsQKYPmvpK5CEUAA0yqpaZ1bzXh_Q450uLlQ_YwCBK8Ouj5w_VWHrR4xjVRDpZpCwstOGOlVpRq3KV0KWdJ3c35qqJhxMuJj_H7B9dLOkzWeTB1z0f2F7LgxsGTucxRSjkPibDahJPD1KEI8KZLECnmwFnmYi6Zl4H8IywOwnPBeMlG624PqIgd11",
  "id": "rs_0347101e88931267016ab448bcf07087d0973e0827464da931",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.18,\"right_z\":0.25},\"note\":\"The cap is now very close to the grasp zone but sits about a centimeter to the gripper's right. I will advance a few centimeters and nudge right for precise centering before the descent.\"}",
  "call_id": "call_2yiP8va2Aohxjmp0a4O2BSGh",
  "id": "fc_0347101e88931267016ab448be4ca487d0b2b59e968ebb162f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2yiP8va2Aohxjmp0a4O2BSGh",
  "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]: [-0.0208, 0.7982, 0.6132, -0.3912, -0.0261, -0.0292, 0.9978, 0.4847, 1.7592, 1.4101, -0.3367, 0.3279, 0.1886, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0021 left_z=0.1807 left_yaw=0.0011 left_pitch=-0.0126 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4708 right_y=0.1876 right_z=0.1938 right_yaw=0.0992 right_pitch=-0.0757 right_roll=-0.0415 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.7026, 6.4342, 1.8486, -0.0562, -0.0317, -0.0073, -0.2803, -10.2496, 9.3333, 1.9707, 0.1441, 0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845b7ffd7514e646ace8582eb06d949dc705141d0328a128575d63cc4f3ff8dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c14ad21e0ccb49d8a84a7730ba87d706f40a1cce48e6322d1b7376405e15c8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4545c14bc45611db24c9616a73cf9996934036fe8c87fc86e3601df58b66d687",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6136, -0.3866, -0.0261, -0.0292, 0.9978, 0.5526, 1.6516, 1.219, -0.2581, 0.392, 0.2436, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1819 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4326 right_y=0.1917 right_z=0.1784 right_yaw=0.0853 right_pitch=-0.0622 right_roll=-0.0364 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.4838, 6.5026, 1.8388, -0.0611, -0.0317, -0.0171, 0.1026, -9.9624, 10.441, 1.9121, 0.315, 0.232, -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]: [-0.0212, 0.7982, 0.6136, -0.3866, -0.0257, -0.0292, 0.9978, 0.4866, 1.7592, 1.4075, -0.3298, 0.3279, 0.1886, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0019 left_z=0.1819 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4709 right_y=0.1888 right_z=0.1939 right_yaw=0.1012 right_pitch=-0.0718 right_roll=-0.0399 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.7162, 6.4889, 1.7998, -0.0269, -0.0611, -0.0122, -0.759, -10.2085, 9.5521, 1.9316, 0.0855, 0.0855, -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]: [-0.0208, 0.7982, 0.6132, -0.3912, -0.0261, -0.0292, 0.9978, 0.4847, 1.7592, 1.4101, -0.3367, 0.3279, 0.1886, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0021 left_z=0.1807 left_yaw=0.0011 left_pitch=-0.0126 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4708 right_y=0.1876 right_z=0.1938 right_yaw=0.0992 right_pitch=-0.0757 right_roll=-0.0415 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.7026, 6.4342, 1.8486, -0.0562, -0.0317, -0.0073, -0.2803, -10.2496, 9.3333, 1.9707, 0.1441, 0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845b7ffd7514e646ace8582eb06d949dc705141d0328a128575d63cc4f3ff8dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c14ad21e0ccb49d8a84a7730ba87d706f40a1cce48e6322d1b7376405e15c8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4545c14bc45611db24c9616a73cf9996934036fe8c87fc86e3601df58b66d687",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjDJv2Mn-PsR7BMNYtb0t-Pevr092hLeBh8OT-detnTa1qYatBIQubhVZXl5-Wyq9280RlE3yhz7HBbyafklaES-J57Wn2F95CywvbM125NBfWzexULlUZS5im0paGF8_EW4YxsiCqprfohEr2acCl7UHTOz_mSULsidCUbBSRGqc8oieEJuJdwWE6TAA7-LdxvhcwCYB38PYEehi8hC7HLAc-xqhObUWfW6teW7RQyYuVjdhf6_dIt_tG1rDgs4lYJV7EI3ajJ0_2uE0NBFtPl1IinTPOsKXLBYfUYxpRtgEg9ZihQtc53gUlIe48asozrudXlG6Cf5cwtDajQjfy7LcyntpxxkGwBMOR9vCF2CNKsIaqkngKQELDKJYWY52-FwCl8vcMtTw4zZFCJb-Pok_hmTN65cgw0N1l1zjdf51loUSKEO8uhnKEnBHl1FA_DLlkZ0LtcE9gAVv-ep-zmOy23BJ6MZbKFnjtIZju1EedcdfyA-mIdVKSpsrIgkRz7uYsRLwaVi1tdOIR-kl_Gi8eHzQw_uRFKr_UywCftz3fPjh2t6vbP1NKAi1i6PwS4N9YZ-QHT6jgTWkOZ4OTIbyr9hrMBOqVTs_SfY6WGz38kFZ3WxBNCIwxQq70qvvJQXFjot3qFYFAlWNZkyud_BHKP1G0V_7ZCafEKqNwybDPJClCOiV55gtUpZJROEiDl_CpEJmQDW6EY3PxyUJB41DDD1e6QnWW9yzoF99nQnN3fxm85F5YdlrH8CpxZf6Ll9UVHAka5rehhFeNmWvkt-zKpAv3QB94D4EBAUtRII5_KB2Mkd4Yji0YzVeI39tJFjNGtzPGXWgFabi3YEMJtoiO01kWMDJtoQqw4DzHGVFba6WOUmXPNVwKnl7_E4I8-_nAIAyGChKR_vpcw20eRfoh0_mARYLCdKm7ghFmN2dXNe5GIZP77l-JcAq4XvfnUGOJVr9i2_tKBZLgv3jOZ3g-YFcKSxsqNbuqa5fuevYrpnGhnGzHLRSndLmrTHmY9gtKmVRi9nBXK9tYRZooAX1wRoeO1t5V9DFCqXO65FNsRx0ZiWRsHFJWJR60FbeNb6XlTIxRujVVGOo_EA5FrBRHbjVWpdAIuh4gftkIP0lwqWVaycOpvoODGyFr3ynHICQicu0EOxiahD4Fs8TPXL27H-5uVXwYH8KpNv-zQRr9wYOy8aJGSUIDLB0oj_srvwD6qu_yYWpgVaap5O8yPhSeUUgoLFLCJf89JZE9e_s8AS_W9BXw4XhZdrerc7mG-vnGMRpo2z627wxqS5ll_afxc1So-dyQDfwRtDZG5kjlasB68mBebhiE6z4_BOl-A5F_m8OGTIHPN2nFyzjiB9o3u7Y2wjC6r_SR9-QQgW_mi5w7dK579GR2oixVWqyAqNhDeain2bSTv-XqtphMVjoBetmydLAm7PlCZxjnPGEJJs8Xvcd52kAVwGuc72QIGGo9ShlFu4Tjh75o8rCcxtqD-sA6TNQ8EWVRrDOjpzlggObrcLpjtgziM2MehWwZ8_9yab-4NDd-MMM-TkTgOlAvxm4YQIfwIEHqhxN-NVB0biddgoRnX9-hwbdT8CLCeYo2ltcYlEOZjaWy6ZXtDMm5Ld7OOJXsusr1fFgqHUiSfrOAXyJKjXhCgEP5RbfOefl6fP_ON1mjZo7YWhyNGiI9sxckAsZcaQVcUbEKpRjExaKW8ChuTuywLVATAUOSXQn6G6pHteGSEVuuJIXfhGx3ycngGDRlN9omzImrCv38lrGO4Mi_M0QA5wMv2DL5uuJKrpo_K7T4-vonDc_aLLk7dioEKKIQ0MHD6zH8_H91Oj7ujIvoAdyKjvTh5t9F-z9DarNc4b8Jnf7OnMT_TLWbnm_FpP-LfewFvz5EPtGfuourXI_1vQAEddB2IYhwUNid5iCFN2rJ4MVozwdP79ap6e0uLgMwuFomrOsOYb6MPhvPdUgPJy1b3CNT8BWFF5T9TjpouGDakqglBu-8pwGpC7svHwqFG-7zPYTIhoMO1aqzUsH-wXh3iCGTBuUPGP5qJfVrkRF-iGauB40Do5BM19_3OEcCdrwVJRIkjNREW00Z_9fuelQgb-VHgAqRVMLPcJkIjubs4bqXrLm04Iin-yXOQZq7wOtWZHlFhX2ExWKMX4Nx3ZZ-zkiXW3PUAo9kz6zPAIj-7MfoOueA4L9gqf9PqPNN4jrsGFl8VzHb_1t6vrWT6ZOnvGSH6C9CDQJNiCZmp_nMOofIfV6YaZdP7r3FRv1T2W4RlnV0_gfcHqc64D0poEMKUFyLMMNYT2CTU9Kxa0SNsBlY4bE1YWhJUS2fLxL2H0L_yMIjbbgcB8JC2cy5ujlRGTMif8XmyFc9_hey81OEbMRI8mh7Asp_C2-7sTMUSQdSrYysmAUCSHLfROQHAPZzPPyC18XFJc6M7InZDn-6FPYr_vM0Hx6ynT1HHlmxh_Lq3w1RONEceAxJIMYdmOKCepS-akJ4VNHNcN-9huoAmJ8SsISYN_IZ9S7i6qGCE7HGwlFnf4YHZBfhEy1RK7MVWVaPoE6FocNox6IfH5Gpb5cIW2WtJRQ==",
  "id": "rs_0347101e88931267016ab448c0828887d0bc6d2fd93d439f2c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.471,\"right_y\":0.188,\"right_z\":0.035},\"note\":\"The arm has reached its practical forward limit, and the bottle's neck/body is centered between the jaws in the wrist view. I will descend vertically to the bottle's center height to attempt a secure pinch near the neck.\"}",
  "call_id": "call_8b7bs478gej2ngShCSOFuXLS",
  "id": "fc_0347101e88931267016ab448c2eafc87d0b9a0ee9fc9429b95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8b7bs478gej2ngShCSOFuXLS",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7963, 0.6125, -0.3916, -0.0257, -0.0292, 0.9978, 0.482, 1.9831, 0.9836, 0.3531, 0.3199, 0.1856, 0.9998]\nstate[eef_state]: left_x=0.2944 left_y=0.002 left_z=0.1808 left_yaw=0.0008 left_pitch=-0.0118 left_roll=-0.0004 left_gripper=0.9978 right_x=0.4659 right_y=0.1851 right_z=0.0372 right_yaw=0.1056 right_pitch=-0.0411 right_roll=-0.0247 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.812, 6.1333, 1.9316, -0.0366, -0.022, -0.0122, -0.0479, -8.4444, 5.0256, 1.7998, 0.0611, 0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:183ae1229a4329493f6d2177b4a524994f41fa3d19e0f5bb90958f05f92f72c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:437e2a9849d8c0de34a6c7af3082037ea28928772458d744caf96d5054688113",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eea9bdeac363d19bccc9898a9565465f2ea8b716a4bbad5ffd56a32103295da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7975, 0.6136, -0.3866, -0.0261, -0.0292, 0.9978, 0.4904, 1.7535, 1.3594, -0.3279, 0.3355, 0.2008, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0069 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4624 right_y=0.185 right_z=0.1766 right_yaw=0.0908 right_pitch=-0.107 right_roll=-0.0503 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.5932, 6.5709, 1.8584, -0.0269, -0.0464, -0.0073, -0.3761, -10.4821, 11.1932, 1.8632, 0.2222, 0.1245, -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]: [-0.0208, 0.7982, 0.6132, -0.3912, -0.0261, -0.0292, 0.9978, 0.4847, 1.7592, 1.4101, -0.3367, 0.3279, 0.1886, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0021 left_z=0.1807 left_yaw=0.0011 left_pitch=-0.0126 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4708 right_y=0.1876 right_z=0.1938 right_yaw=0.0992 right_pitch=-0.0757 right_roll=-0.0415 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.7026, 6.4342, 1.8486, -0.0562, -0.0317, -0.0073, -0.2803, -10.2496, 9.3333, 1.9707, 0.1441, 0.1343, -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]: [-0.0208, 0.7963, 0.6125, -0.3916, -0.0257, -0.0292, 0.9978, 0.482, 1.9831, 0.9836, 0.3531, 0.3199, 0.1856, 0.9998]\nstate[eef_state]: left_x=0.2944 left_y=0.002 left_z=0.1808 left_yaw=0.0008 left_pitch=-0.0118 left_roll=-0.0004 left_gripper=0.9978 right_x=0.4659 right_y=0.1851 right_z=0.0372 right_yaw=0.1056 right_pitch=-0.0411 right_roll=-0.0247 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.812, 6.1333, 1.9316, -0.0366, -0.022, -0.0122, -0.0479, -8.4444, 5.0256, 1.7998, 0.0611, 0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:183ae1229a4329493f6d2177b4a524994f41fa3d19e0f5bb90958f05f92f72c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:437e2a9849d8c0de34a6c7af3082037ea28928772458d744caf96d5054688113",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eea9bdeac363d19bccc9898a9565465f2ea8b716a4bbad5ffd56a32103295da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjHsd8h0vgDf2e0oJiSu1jp0LqPh_dhnrC1K390XNiXu9ULfEC2_hdjrRz5OwKqztYm20lYdBSfprhRC0VbLQn5Svweb6nIBUZL58j64-h6gwe_rh4Njjp2l8mVSwVQ9lDMHwz7cgbErLKeDaUKWGoqBRxEOrKtYzuqYn-2DBzUStz75YufFIyf_WPWJfDi0w1bhcxXdmtfVYr3nGLQPq39XJVzEkQM3-5W_VC6NldgbXi0k77lI_WmbUIY9D4_fiqLUyEYssupMSEPWG6Adsutejf_Y2x8B3yk-4dHs-I0ds5m14Vx0iXuwIizAwa0U2BW-v6FIXeYMIruQ2xfBwoo0ZMKJ_p4har2L83M9oknFGfoS-gB3eyzzzmJ8lDoPI9S-dBia3Gz1J8FJvxlJUYCsnXdgSoeBUfz9IspSgw2NyUuQ9rxGqjdsFdtB-sB_KlsdRI0nOTeMOQhxswrFgqQjqxoJdFPUgjRlkKtCf4ecM3qbSYkRHhIZSFt24TS3PIEAk1xQnXyLsISvzt1MQOxHjGMLVLTQ0HzgWGnqdJAnHWeHIsBNVF4rYOOZDx1uw2XHNxo1sH0Xs2JcKO6ZEtAqOJmHcnNBwB_ghxd0Ocesc0CknUDfp20CTa1vN5Io5CetXrtEpTy0XEhO3r4S8TgFHfqUDEJHLYo0RmXcSD32cWLvye5E1fz0_phBu_zGOxytODWfXpMFZKxmT8WvhMm59uPVcacq1MEDWFrQ301lcCR1K4a1gtc9wHtiXdSKo7UxYg2toVG4233VNdhUk3_dvYAG7dPRMw6rxlwtoF_u2VUNJk8lB8MRSIG0Ui6o2QaQQVXuuSb6250TZuceCjYlr0F355UJGuALfK_ZYXA5nHxSaeDBcQ9pJz6sLK5mDMrO9qkzhlnCtQMbuWSKtUBZOglpXcY-dWS_F9vxBN6YAHh5twvNBti_LBj3mWRpkDYzhlJCaFbnV9WbrLmmWzEHTIkJtVGe7kQb8opML6Q-CAyheC-KwAn6znpEIlo3DWLyyuI9PLPkrRCw52CilsHRLRYQ4xD85Fn3u2CnWiNgX--lt1Jpdm1Og5GGmNTuJuuaQzIjSRVvHc_YpvMPg54fBcx0SWp6zAtWLIoaKEByf4cNlQLGkjO6fyHsL6Vm8Idsssn7w1mP2hHmg2ohgQVXhjdNef9-F-8xw8F7-99KphpFtNRgGiHcg63K6RF5CGbNW3D8-aWFRy0OxR3UhEXjfZeglmerDLN2dvKq6Crtdc6vEP0Zb_pDSAnX5nV2gWcL1ft5SElDlX51jGT_2NatkjCCKgNofvPCm53ewqpNMKeiMapRkK98RCh8DALBdEvh6AqssV_7iRizpXc0x8xJRNcgOCVd-I56QjXKDeefn1_-HIKkBCsyoF-l68WcCISj-J-4d4wHIt_UYAD8PH3WRehbK0OBiuasxurSsp5ihs=",
  "id": "rs_0347101e88931267016ab448c5e1fc87d08ba6746abb74b26a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the low pose, the right bottle is centered symmetrically between the open jaws. I will close the gripper around the bottle and then verify the settled opening before lifting.\"}",
  "call_id": "call_xT2jGjDe7gZq9hICcrGzi9KN",
  "id": "fc_0347101e88931267016ab448c66ba087d08e99d6c7afb95bcc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xT2jGjDe7gZq9hICcrGzi9KN",
  "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]: [-0.0208, 0.7956, 0.6029, -0.3916, -0.0257, -0.0288, 0.9978, 0.482, 1.9945, 0.9554, 0.4435, 0.3126, 0.178, 0.4838]\nstate[eef_state]: left_x=0.2932 left_y=0.002 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0206 left_roll=0.0001 left_gripper=0.9978 right_x=0.4681 right_y=0.1876 right_z=0.0384 right_yaw=0.116 right_pitch=0.0046 right_roll=-0.0087 right_gripper=0.4838\nstate[joint_eff]: [-0.0752, -1.8803, 6.8308, 1.8437, -0.0317, -0.0513, -0.0122, -0.253, -10.4137, 4.7932, 1.6972, 0.1197, 0.1099, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db0ce548ee85e6e9ff513ee77cb443f5ea2949b1ada6d05fbf360603fc5283c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a39d12af805e184faa8cb0e99c55f266a6b3351bd4cf62c61951dfc639dc1f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1245a799f8269b53dd82eb51b70a8a39e3788f8fd936040e529332d933b2e2f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 0.7982, 0.6136, -0.3866, -0.0257, -0.0292, 0.9978, 0.4866, 1.7592, 1.4075, -0.3298, 0.3279, 0.1886, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0019 left_z=0.1819 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4709 right_y=0.1888 right_z=0.1939 right_yaw=0.1012 right_pitch=-0.0718 right_roll=-0.0399 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.7162, 6.4889, 1.7998, -0.0269, -0.0611, -0.0122, -0.759, -10.2085, 9.5521, 1.9316, 0.0855, 0.0855, -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]: [-0.0208, 0.7963, 0.6125, -0.3916, -0.0257, -0.0292, 0.9978, 0.482, 1.9831, 0.9836, 0.3531, 0.3199, 0.1856, 0.9998]\nstate[eef_state]: left_x=0.2944 left_y=0.002 left_z=0.1808 left_yaw=0.0008 left_pitch=-0.0118 left_roll=-0.0004 left_gripper=0.9978 right_x=0.4659 right_y=0.1851 right_z=0.0372 right_yaw=0.1056 right_pitch=-0.0411 right_roll=-0.0247 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.812, 6.1333, 1.9316, -0.0366, -0.022, -0.0122, -0.0479, -8.4444, 5.0256, 1.7998, 0.0611, 0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7956, 0.6029, -0.3916, -0.0257, -0.0288, 0.9978, 0.482, 1.9945, 0.9554, 0.4435, 0.3126, 0.178, 0.4838]\nstate[eef_state]: left_x=0.2932 left_y=0.002 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0206 left_roll=0.0001 left_gripper=0.9978 right_x=0.4681 right_y=0.1876 right_z=0.0384 right_yaw=0.116 right_pitch=0.0046 right_roll=-0.0087 right_gripper=0.4838\nstate[joint_eff]: [-0.0752, -1.8803, 6.8308, 1.8437, -0.0317, -0.0513, -0.0122, -0.253, -10.4137, 4.7932, 1.6972, 0.1197, 0.1099, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db0ce548ee85e6e9ff513ee77cb443f5ea2949b1ada6d05fbf360603fc5283c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a39d12af805e184faa8cb0e99c55f266a6b3351bd4cf62c61951dfc639dc1f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1245a799f8269b53dd82eb51b70a8a39e3788f8fd936040e529332d933b2e2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjLvgMlHdL8viWpz3-AKjY9risl2UPQ5i77UbnDT8-LZWltj7JxQPfLwXe9U6Fdh7010LaiNwWGG0Be5v7auo6t69Xz_iRtewZWqbW1Fm8vvAp3O1GM_9OPUWy-hibUkWfbGukvPJWnch0eljts-enI_AF_AYXfcV2nvYrgptf1qrJbDLgi0keAkg-VMCHakrBXGTQ5gKfZNAaCUzbrcVKZ3NOKIin5MhIxjGS48xL7F9-khHU4SxRKLDRiOqR9YTDvJgQTyWIJym17zZkTaVyBUyHAfGEnvPWRCxiPAmOQWHRCiVErkSSDRJD9NsVyDawtHnrnxJep5wt56twbHSEEGtZQCs4vVSYtNzaQXcW-BMg-amp6bvLC8WO5FfsBj2Y9MFeHx01dur3SJQdRaYUvnabfVAdvNSATxFs382pT1S3OeQl-q4dYQLowjnQRuV7FmB6HT5mAZtSAlUqtHKUAa6Jq_gi_KMzEGYN2rHG96QwU6xmExWErtlCjTPzWxXT9IRfQwqAL0RxkEpkHDkajtPTDB8sZAQ8ceJtizNJCDbFlMgECH-QhJhpk1utpGnG5Qxj_Jhl6Y2aHP5REPb3UIjB4atkKfYii6LlFPoXNf-KdF5-egw00JDix-jHOwqPjuqIpubGPWUW3-yvv0U0vW0SYWHVD_8HBlJi9kTG3PD7DQ_Y4FMcYJb-Ha0kNDtQArZuc8X9Y9sC0aHVsyNWY4yKYGCV69U2B80eDobuN0T_8Qa6Xrkd2c9Yrjh0RA53UIwCHNbQORwLSaFTS9pYX88QMeLVPKkxNFmTXTAKrXB4s6h9xmSuNhf04mbZTnvBQqDrvaivbbiQiWSH_eKns0d0QAAr22vsHb93qRNQtqk02yxCnf4TpV9OUMtCYg9FIeQ0I7KQ_K7Jgr6SCaS-Aadh1Kxrh3CSF-0kvswXqNT8BDhUZxXQb2PIYMJXkc4PPxaRJV6QnaZ-Oj50jM1zF2Ai5OqWq_OEFJvCYylp3qp9OqIx0wZfGTVIJ29HoRtE6PlSxGrxy5ts4G1Znf7ZEnN27v51ZOzGKP91_1wo1SBjMLjgcrUMOxmL6EXGiIzR4r0Xl6pGOwIdcS7qhah7bkrWjbeDVkVw0tChToVH3V4I1u2QPBnHdS8X6tvJRHWEVA3pjrm6rMdO4TPhnoXQghA9ZSJf4zFUl-P_aTnazcPDtV7e5XlK-5-I2pRbNxMsM7jG0H8yP_mhyNTXDTsK5Kgc1LVOreZQ3-kwPI4ngHtik0kJB4d56bqOwKjrNxFlkZiN9-BdAE2viByKM9C1EXTTOCtxdOSMX9aWjmDCvCnB9iv4_1fiu6mDoPMDQpDDYfJmXLSN4mBcv4BlauEWCcPwLDupioMVb5zA6PA_JCmXxMd203_m1X07iDamhHCaEdka8EVS7_mTV4-rUB-iQcy8kTRhE9nt-kKdqRhqj1Bk5ZfBR-3NyGCTxhh43cepwxKGwX9mhJSYkH0CypGcf6IUeHczBTa73iDhxeBbBNt0cOuzRKboUXWBgoGcroPM-yFnlaxNz6853JfBEnKNqeI7frQyT9FpZUJ7jwC4a2H5s3IgtZA2_QTXyJviAH806uUudL3ci_PEVhXePGho7gswvzhL5hDkDTNpB3PJTPPaIB8EbvOF9ITh1Rvzg_0Pyfgw5LGX9-q_iki0CKCyOD-MTZX6M_8Gl3Y9dIBz-TMR98-akqwdgtWFDTAtTztOh",
  "id": "rs_0347101e88931267016ab448c97e8087d0b61c54fa0518f041",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.28},\"note\":\"The gripper settled at 0.48, confirming a substantial bottle grasp. I will lift well clear of the table so gravity can let the bottle hang vertically beneath the grasp.\"}",
  "call_id": "call_HgOm0hRI77HHRAb15DvM7vDm",
  "id": "fc_0347101e88931267016ab448ca7d1087d0837765d0ce4bdb26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HgOm0hRI77HHRAb15DvM7vDm",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7891, 0.5831, -0.3744, -0.0257, -0.0292, 0.9979, 0.4828, 1.726, 1.5646, -0.4976, 0.2855, 0.1658, 0.4841]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.1729 left_yaw=0.0008 left_pitch=-0.0168 left_roll=-0.0003 left_gripper=0.9979 right_x=0.4659 right_y=0.192 right_z=0.2461 right_yaw=0.145 right_pitch=-0.0605 right_roll=-0.0258 right_gripper=0.4841\nstate[joint_eff]: [-0.212, -1.7162, 7.4051, 1.8339, -0.0366, -0.0366, -0.0122, -0.6222, -10.6325, 10.2769, 1.8681, 0.2759, 0.1148, 0.022]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e1cbaeb3d7a0b084a0a78b0b31107fe8449537269a0b11d49ad21fd1ded945",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2addc9435b21657c74460fdd9e3b45a8c1bbd38d7e158dab37eca1efd15e122",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c8cef4a427e61024cc21f9509adc6786a21288e9204d680d708202ac4d8dd9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6132, -0.3912, -0.0261, -0.0292, 0.9978, 0.4847, 1.7592, 1.4101, -0.3367, 0.3279, 0.1886, 0.9998]\nstate[eef_state]: left_x=0.2947 left_y=0.0021 left_z=0.1807 left_yaw=0.0011 left_pitch=-0.0126 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4708 right_y=0.1876 right_z=0.1938 right_yaw=0.0992 right_pitch=-0.0757 right_roll=-0.0415 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.7026, 6.4342, 1.8486, -0.0562, -0.0317, -0.0073, -0.2803, -10.2496, 9.3333, 1.9707, 0.1441, 0.1343, -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]: [-0.0208, 0.7956, 0.6029, -0.3916, -0.0257, -0.0288, 0.9978, 0.482, 1.9945, 0.9554, 0.4435, 0.3126, 0.178, 0.4838]\nstate[eef_state]: left_x=0.2932 left_y=0.002 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0206 left_roll=0.0001 left_gripper=0.9978 right_x=0.4681 right_y=0.1876 right_z=0.0384 right_yaw=0.116 right_pitch=0.0046 right_roll=-0.0087 right_gripper=0.4838\nstate[joint_eff]: [-0.0752, -1.8803, 6.8308, 1.8437, -0.0317, -0.0513, -0.0122, -0.253, -10.4137, 4.7932, 1.6972, 0.1197, 0.1099, 0.7497]",
      "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]: [-0.0208, 0.7891, 0.5831, -0.3744, -0.0257, -0.0292, 0.9979, 0.4828, 1.726, 1.5646, -0.4976, 0.2855, 0.1658, 0.4841]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.1729 left_yaw=0.0008 left_pitch=-0.0168 left_roll=-0.0003 left_gripper=0.9979 right_x=0.4659 right_y=0.192 right_z=0.2461 right_yaw=0.145 right_pitch=-0.0605 right_roll=-0.0258 right_gripper=0.4841\nstate[joint_eff]: [-0.212, -1.7162, 7.4051, 1.8339, -0.0366, -0.0366, -0.0122, -0.6222, -10.6325, 10.2769, 1.8681, 0.2759, 0.1148, 0.022]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e1cbaeb3d7a0b084a0a78b0b31107fe8449537269a0b11d49ad21fd1ded945",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2addc9435b21657c74460fdd9e3b45a8c1bbd38d7e158dab37eca1efd15e122",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c8cef4a427e61024cc21f9509adc6786a21288e9204d680d708202ac4d8dd9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjWNvbME-L5fZ04by3InKbPW12k99YX9jiMDk5JGXpXB-2CBYeG-W6xhp7VUzFvwiiTLOWsov7bbGhuGM9nvfo9_zVlU018CgEl9eDlM7rHxIV8CeLrHCA-RagiiW0zIMXMCu4QwiHNHip-b6gB9ItP9kY7kLI630XTBnoShoxs_O5eS19Ci4K1vT03uhWbNIfYmzx5URO6G0rAsAKVO-_LNbO2w_GHWWSL_5QhOBexAiaLLVvtVYSdK2RrETzcBvqJP7eA4w6xoZRyeO-a4HC7Ycj4w2Z9q3XEt3sL7mSUktxz8GgVoiNSN1PoOU_juaFzlzc8HtJFKoHlJBbOMYmdbXXF00k4d1iinOs-HlgFRk1X4x9E38bKpDPrbglCJ-Dowf4RH43OXzqW8M0xjzqjegRrVrG-fYO0oLsiFV4J-vNedzuRi_kQTJRomAZa1j4S-BxuzEct0c9BNDsk9si8K3LIxqiSN5tcWPBLKASbbcCSSNW1qqwqVmSAnT8Nf1OquXeWGEzsk4xczq957k2HCvik-2bTbV0FKuzd2g9O74ppcd9tlnVGa0gcrf4XuAYMYn3vMrONoJAo39wg5ekzHJ5BVe1mnIUWH-DGAPwLaEbiuzJkFa0-p15aoVGaKw4IGkR29oi7QMRhOC2PRBXFcTKpqwcTy-FIKhMOXeT1qt9o5DNPsZKLMi52XRZvQwHQE1s4BuP2CDl2eTaukydnPIv2jXFld3BcND2YnXSZHYk_kJrZ3cE8dPoJtRkTtl8vGiAbL9LXRpOTmu4XbxzSnK465sk5o4wREm14H-9A7UW6HfyaehZaak-KAsSd7ndyV1POOAQdyOAIUkGJvyhh8lfXnv3X6BFDVH5VGvnZg61YB2mj98lnt4CoAgf2oT0UbnVo5_K8wVOAZt9-NQvgQyUFY096O-72a6y3LaFzxemiDiHnJxywY7IUSngl4DJnHuVlJnpPGYp3nLfSfCAncK7humP_FRRt5thkUShyf_RoZpBCVDxbiiRAPAfMmmulY2-9ENG8eK2NkeQRV4QLyOToEmPA0CE3mDeBQH6SK72Ju0OSlrlGzPVD1DdqdWITM8A48jalCu45s8S0xlYZpf3u8h7l4musFWdn5IpCEIDV_HSOh1U1ofqdgZk-cNKkR1CP-a2HgTXZaA8-9oRn8Uj3BAu3N82Wc2Wva8K3HrDFUQw_vSV4davQbot7AmRTmUTNZL5BYE-5X6mvvB2Bo8Cs7duyjfia60obX-o8hiCxDy2ymWydU4zB0PaNTTruu8yrdhW0HL0VtVvyBS-VRl341rqEh_B6ptE6QmCfTtLnOEoXR68v2CZNG12UP7y69aRYgX7FV-1dk6onBx-y54bHazh6GNU6W8tSN25fHbBSvqOR41khmMPUMxSR4hszoj8O2rKjGuDwuhBeshjUK1R0SwOfu5IsMpiUk9yCO317jQenAhkVRW3w4r2KjrZkiGq3DhZ-bAJaIcZ2mV5oVjigTb5ISPBikTf290dfv0JuGrH_rnFzlCPYzxBIMIWrYQMDwOFdTNzuahJnQwEClpi4jfTkOoEr-u1vHG5LgHpGCo06WxVzFw9sG67mGdHoy-gEFsabseu6c23qZc6fgi0ux4CMM7R1ak5d8KjGbP1bD4S3nduG1Lx3a5E57v1Zu1tlPzSAnFgyPp0ucqSK2mwDHJsHN8JWzrjRRhldOF8VE92oT0IDfkxAD-VJRBbCL6NNc1hAMGqdddR0g9iW9unserpKGLParJgggqYFp6AyPKIFMl4NPgMAJNJ03cxh2lNI-RNBUR3XPvbEMkKyHxZ23kNRu_st2QJvGz4lXx2C1r-ytso7n9N958WU9GLRtnax6mS7ntsKoSLsxMAZ2xodo2VBQHbhM_5JgG30DikYsWBq8oACErdcennVfBhsts71EA7pVmpMSZnt25iLgqcTadpVYcGC_O_O0F1hz013ERgllssxg1RMmYXzIJWJlXnLTe-e6aiEw6cRyPSPKWM_N5-09MB2FeVLjo3VNauLVEam7B9TOEX2sS-_RBYpKx0N47GH7e1KUGbuDmHofuyZB9C0C335knXwBIYjQgm69rnO4hdpY5m8JDkKezPjjhX_Pq4FZ2zcOLrbWx4aoohDLft4Fhoz-VWuk5eKJtT52SF0ro-uRUYQXUeq41G5kDxnPX4FyUzayqIqVi3HxCXocgJxQQTUz6z44UpolyTxuQlpBiPVJr6djfa_ARQOUC-EnrVDgrcok6p2tF41CkGeWipc8MTnMgbg8L9rBHIH8Rbur7w0EzhUEv7zuCigNMUSB5WC9FTF0D15wLeRu-iu30askpnMaFBodOFmexBYRua1_Ur6a5AoJC-e4VSINXWl8X5ZsTfZIH32E19G7Jp3wrv7FlOWrzmeyiysv41A9gDQhXoYdyflPwh56v79RA88b9wX97ULvRd4bCeAeuYsc5CGT44tmsG2wNX6iYs3vTEvRmySvh78NMWv4fsxTBxzXPXkDQKHMIWv8xMaUOvcyK_G_IE7YygtgYneP6Zy64ltGJERCScfNZXix4_4n2qWIZKiXK_nbFHbEY4ntbcJ57-haJgQrtlLgfADq88IAEQ5HaD5aFrivr37eRvxpl2vhp09_F4GfGJD7HUySq59ShtE-9814smIpLCN-wfmZsfXeZo_HjlNfNhPqDXzJBuR67PBJVF93bxuFABZQozJWddWKyF6oywfKDfIuB5uzPLpj-Jj_7ZxvTnJz5D1chl2pwhLDIO8vq2G3dZumBCPscjJQoIyREw5568iFJJYzMlS7t_3apoHfKU8Abf4Nb6J8uImA0xP04JlheDPulE12S4eeL1WVxrYN555AzbRHCTB-LQhwI7r7zVps-1QcvZlxQwwXvyAABmGcjzVTwApU99r2H1SA8zSXe_hnX57OuyTC1XXvFAHoWE5v3363rcsnQ5k8uKKd7KFAkiuw3KmJxeCRHClnjx-w3dPBEjJQr8sembFt09Iv41klq4GJ14o07e8s7yiN2KJT9ydPU0AH8-HxuJ_86jIs9i_Tw2YYRlPba0dwgmJCBmnaKohOsn6Cc6c12HBzhzfj4v2rUxig0gHG8Sxq-IYJ0Ki4s2I5d_3GI64l6u2tZK6tmpW9EF-z_AxmRi-uvatfKOUI8FL8Y2yOq2tnDSOVnjBnl2i9SvUHtnCB59_Coxcj2pGEnaPy686xck0dFx7ztOYdxrxmAqY-XkSu_L1mAuXUiBxh6hYVYqFJRar9pHnO8tspig5n95HOAE9ErESQvkA3YyhpqNjPMyy5gmlRZG97bIrLVfAKl4vTHottSrGCmeG8VlYaY0uWLnkBhXgFFMR3ySkkhfDNqilkfk4KzEs35lTBTtlpJ4rzIr_Pgcm69B_mogivSwAIe6SSPAe6w80Zhg87ENQOypCkEi-_om2HzpD8tE8SkBgX_a8jILeoTVkC9d_DCGjH1QgVAUBhV8clzuAQWrpelgfIrMbK1zo7xatEQJA9EMx9Ow9_bYj5fqcapavHq7Uwy4OYHgIFQGKVeRWeracnvNd_oxFoIWl2jdbUQold9qU42OWxXc1I1R9hMroIsZDbx_DHT77U-3Aj-uG-Zak0PWpS3Zu_MI1caZPWLhphAgE4KxW4jEEVBakcic_oGI9PYIrEfSXWQ7NWLBuhNZBdNcJvq3QNW-pQevXvB7vdGQWREXVHcqpfCbDppj0In36vkSInoIoTxpgaxttDnLCc9hj7sVh5g_aZgLhiVP4BROQe_GO7THo86QruifquSFjG2mbURg0kN5tkfK_hSPXOGhnD3jR7bswU5orozYO9fK8proTL00UEGyo6TwejDJ2JiB0ryLFOpq9Xy1gpmaTR48h-8_ygzeAkA_81xnQOlLZINBT0V7udbO05biQ6kW5w1F6FoxXT9ureS3IM6R0897kT5bCpZi6f8WFlO9t7ouX4Ub3R02wFht6cX7pCcKbVkF9j7sZqfb4QrgY4-xqRR2QAAnfS8-UCOhq8f24CtFTKtpLRdgeVjQZDhdbukm2boL9LgNa4lMoxEqlpiELYUJyEkuvahX7Cxlztq0SK88zGtfjB8i-iEgITLGL8XaD6dQ6lS4tRE1ORZAxVyPYhkj0ilITWW6yTIjOToCRhWLxFPTvNQSphugTEBAUUpq_SnrGfMIBwrBvdefeD-u0I2_uf0zgCwcfLSoOD3Gc7JZkB3Nk3uTwy9MeQx5hQX-_SU7vzBDncNODEISIqGgf8INq5Cxb9an0QsVkTn8Vxk5ZkeuQcHEfZBeOTyCLhLcvw1-Z-p9D5TscVrUfr8Cte51cu0xMVoMwYyJOXpTyVjWyTtbozPXmGeLDsgYxYGtoXqgEVaHtut87GQ==",
  "id": "rs_0347101e88931267016ab448cdcf1087d09cea0dca2e60c4cc",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjWAMvImt2j98yHEqxXRYYlg6cDN0sosmRhtpAf-XuIf3a0ivgej2glwSho2Vs6C5mGjKeuxDMu3L25xRxHbU0W07QfZbHE3-cL7KRkvHRynyi0i0seCZBHh0BnnblDdGcwxXR7fzSIbQ8TEMdw3LZwtBTJFRPaYWgoSMSe_5HPBHNS0h3hvI6URtHgJf1YpejO-jiRhjTAytbRtNRHpOTGGqYOlO4FtaovA6pzHSpSt1mOUCYog8Ft8GNjDoEXbrVo0aKPrfEurMxCWtKBokh5-0-MVXouWM8KpH81i0tz0QJ3zz7K1VtXejrfexfFgA9OZBwDrFSR7D00uChmVFdzqMR0j6gwWRp9X752PiXnLQ3aLe5zIRaeEgIU6W1KnP_iPGLA7QV_heQWEzkCRnY8xc7IPdGeEpq4BTVqhlzuh9VZwdB8FzdJICMRLHldSjQSghFhd4B5nCRaM_P1bfY9Zp_JTe9mKcr3QU6b2UFoWS9KdxIAmz47DWJ4jd7508A2b_xkWb0MHj0t23wJgTBI3JYyWfVOCF5i8Vrh_oOMxBJXYN3NHWef7WMCcRwabvaeJ0yOPJGgRxD_UcdD5ub7aDov2jMPu6q_i_zNvb4jwN1knbcJIZgOVW8xRLioQKPLJS3hK71s-4A7okTDe8TnmFXnkuD3aVf6wHOmj7UT4BO8PFDlHc17zI-O22clHDIoyKqKQ7ZVrny_mlQRy5TwqODeawCZ8S19oqMMTqQ-c19tXRQi-7JmjbiIZ4VuPoLkbuTDr4Q7ba5OMl6SN54N0iTRJNo4o3caZubjOVS93iYmE49Zqm3eNr7TQFRKluDOjSrFU1YFPuZw9xJrYGi5vnnc4VkulnaEJTbeT6X4jWKbYdjN6nFy5mo8VN9xB7-TjxEMYa-pp2iVjlPpYZj8hq7FLp9RkjTry3uNjbYloJRsK5q02d_nGRtwQcFSfE56XniQeyjTqD0Yem4ytepO8mWrzsvIMrxta8rwkBdoO-bprdZQj6OZeNE8bpVshN_2HpK1-q1YMv_Fs5ddRUNXk0tn2L22X9h40BEXrxe5PEvON2ndYBY9vK9dirIHTQ2aD_beQKbGG2dsdGYEU8y6BgsYAfBggeh_WeVXGTCzU7I-VWt-4FLuu1xCRyZ53-oiahu_A7apBNvO1miyG8XL1hf_J2CmWEJ5UTJC5A0ls91DH_Nu231wxy0nM4y0sxD1udklNsj0H7Xgc5Hwbl1IYxHWxRp85obN3tKMkpRzLOdCLIAgAKeOFGxOkkVhh78pbqDowMBPQ5aWHZEhWnqR0Z8EDHsERp-GxjlOAF-ro9rg3x0OnNYw1r-Z5iGWCui0T5zqxoXMCVQDVHUlm0KlB0IzCMFU5feWmAL18RUstUjDl6WX4_iLhQeIQcyhSoMlhtOLqNATMsEa5H9YbsBfPPWnubZY_CArbjRLSOLa62MNJnKNgTEVbO89eVzD8c17L6fdIvRqmvXo8m8Xu-nXFRHTkHt37SZuGhS6-Zyghz_ypM6tHoMScrJl5D0ZdM4Q_X24OF19H_vZvUMTmGTQW53eK1JLXBBcnye5cEzJBvWuU_BSdNFsyOARWzU-BvZZrYJ6nMYoBhlw3pgWBP1xNGi-1t6NDfMHk9SOyJt1q_DekJ0QpO7TwzbNu9SmbVlY88TTP0BOqy_1NKJgMGsXvmndZ8tTHSrdp1jdOr-p5ViLHjhBPKYTs_76LIghUF4TS9412D50LJxkLgkv1Ss8elnXECX3oFdblTAOrJ4Tb-mZVAKlOTJE1MIDVZvNVqvkkwIDtwGcc7WgQMaLt28DjQaEoI4yxGnrjM-UonieeC1ciU9kFWqpjWPKasTPJWbaULLUI0WBA5jUSzuwUnlGhG3DK60nRH1DFV41-7dhduPkSFeV2T5v85wmMeXI3P7ILej-oOr9u-nNwHQRG4GsA0H_106rx5WLXel2hSnM4jvqM6yF8A5MsSffRAy3ye9HcAzDQIE5KXbS9_6_rCnexsLOl5K2hq0kAZ72JTbKgLeigixi0ulA9sP_KM518gfSlUpvQH2CPi1cCVgY2TIldSg4PyUtrSYbsQzf6zS_9EKRxsV4k3xPtslL4S9EdsKdf0dWTzzAnZbB0ZfayM0PLroclnRA_8FPgIbyphtbbtoHaTiTyQofy2Ofuzl2bf3VHKQB4uTZ9Q0cimkKVgjvxgK8tCpPPwQFMzeQ0ZSDdKbj072fEciAkoJx-h9tbcHc1kemYyZXmXcXGFeCT4z9s_d3jfljvb_75949gEruR4uIn7cYOnQlbwEb-P4S-e8kPzEYAq1fIg3InhEZhSgTT7umFU31grfneOzqTTPxbS_V5GivqpJDAi33SGLQDDAY",
  "id": "rs_0347101e88931267016ab448d3a83c87d0b3157a3b58bdefe2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.18,\"right_z\":0.26},\"note\":\"The bottle lifted securely, but the overhead silhouette suggests it is still horizontal because the grasp is on its body rather than its cap. I will relocate it inward to an easier workspace so I can set it down and regrasp the cap for a gravity-assisted upright placement.\"}",
  "call_id": "call_FiXmf5YB2UbmakmrblixThWS",
  "id": "fc_0347101e88931267016ab448d5d81887d0bb7bbc8da5d6312a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FiXmf5YB2UbmakmrblixThWS",
  "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]: [-0.0208, 0.7799, 0.5709, -0.371, -0.0257, -0.0292, 0.9978, 0.7155, 1.253, 1.1374, -0.543, 0.4454, 0.292, 0.4841]\nstate[eef_state]: left_x=0.291 left_y=0.0021 left_z=0.1705 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3264 right_y=0.1876 right_z=0.2538 right_yaw=0.1798 right_pitch=-0.0174 right_roll=-0.0105 right_gripper=0.4841\nstate[joint_eff]: [-0.212, -0.841, 6.653, 2.0, -0.0317, -0.0611, -0.0171, 0.2667, -5.9009, 6.7214, 1.8144, 0.3248, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e177f731d39a74f27f0043675fd1909d502922840194162b82e6cd916d7eb60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a1cb0ad173714c34f2cd0e835283925d3d595fdb869cb93e91233122619e37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3442a532cc48b6f7ec83f3da272ca95dc50143bf73a0e5059fd4cbd5768da8e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 44 changed as sent

message 52 changed as sent

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7963, 0.6125, -0.3916, -0.0257, -0.0292, 0.9978, 0.482, 1.9831, 0.9836, 0.3531, 0.3199, 0.1856, 0.9998]\nstate[eef_state]: left_x=0.2944 left_y=0.002 left_z=0.1808 left_yaw=0.0008 left_pitch=-0.0118 left_roll=-0.0004 left_gripper=0.9978 right_x=0.4659 right_y=0.1851 right_z=0.0372 right_yaw=0.1056 right_pitch=-0.0411 right_roll=-0.0247 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -1.812, 6.1333, 1.9316, -0.0366, -0.022, -0.0122, -0.0479, -8.4444, 5.0256, 1.7998, 0.0611, 0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7891, 0.5831, -0.3744, -0.0257, -0.0292, 0.9979, 0.4828, 1.726, 1.5646, -0.4976, 0.2855, 0.1658, 0.4841]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.1729 left_yaw=0.0008 left_pitch=-0.0168 left_roll=-0.0003 left_gripper=0.9979 right_x=0.4659 right_y=0.192 right_z=0.2461 right_yaw=0.145 right_pitch=-0.0605 right_roll=-0.0258 right_gripper=0.4841\nstate[joint_eff]: [-0.212, -1.7162, 7.4051, 1.8339, -0.0366, -0.0366, -0.0122, -0.6222, -10.6325, 10.2769, 1.8681, 0.2759, 0.1148, 0.022]\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]: [-0.0208, 0.7799, 0.5709, -0.371, -0.0257, -0.0292, 0.9978, 0.7155, 1.253, 1.1374, -0.543, 0.4454, 0.292, 0.4841]\nstate[eef_state]: left_x=0.291 left_y=0.0021 left_z=0.1705 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3264 right_y=0.1876 right_z=0.2538 right_yaw=0.1798 right_pitch=-0.0174 right_roll=-0.0105 right_gripper=0.4841\nstate[joint_eff]: [-0.212, -0.841, 6.653, 2.0, -0.0317, -0.0611, -0.0171, 0.2667, -5.9009, 6.7214, 1.8144, 0.3248, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e177f731d39a74f27f0043675fd1909d502922840194162b82e6cd916d7eb60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a1cb0ad173714c34f2cd0e835283925d3d595fdb869cb93e91233122619e37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3442a532cc48b6f7ec83f3da272ca95dc50143bf73a0e5059fd4cbd5768da8e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjhMQB8JBE3yTRIcISm-vzhXYAZhcvVbrpXIUwNls22vhp2dPJTR98DRK6gs_SLKI2xoA71oaHV80Q0ggchBFob_w0XTQ6PdpB47PFdsWt4ghtRhaZ-8QQrrLeViklqwS1Gp2iEcptH1vn9z56Dhycfbzlj0FKfb145KMo2LsrwgKGYvJ23O-b1E8ekeBd-wxnLxUYrJZ3qpGwZ78qDf1omJek2gNJp3YI4Pc68PEIXy1RVWrMLf29cHY70PxvF4x8UPnmxm4-nr_tlmvg_ZAsgeNK_hXTVhgoyy8jOyT_f-1iw7gkqaMBwHCi1Zo42ZrXCZul67BTJDZbFsTptzUWn_Z2avmwmNvXkaPBpuWH3nOVseHDzLG43hFJnxK_e2uMzYa7L3QrmmQ6VvHdTlpNAAmWYhdBT_GVq9dQWh-K2AfDqenqRvrvJXurVnP-4yM2RZFVqm3xPKoczUf7XX7hkYngGuVW4AEtAatvgTo7cWZhh69LTmXNvkNBn2Xyz4sF6UwLgD_s2RCOrtk-zS-C1SKYVryqUN204Wxmd_sa70zCLF7pcTXAmIhMb1hU4BJcSdfHJOVWpG4T-INQouw2lBB8OsQmvDwYu9MucCV3oFMzA9bvX2baCOs0sbCx_6wBXQC193rYxlFjfj5yJle9YcOGVANlCgOezwUbfXXjTgMwmF1u87TYB4PK3xGqA7Q7gFi0rslNd70AZk2on1MZ8DsUhO8pp7d2g2n7PmMwgRvvAsQDnzc75_sIGhgCMoUzgc95vjzpjyvdGK4lzmQYmbvShlmpzYJ1R5castO7HpODJXFkWV6jna5iFcYlDJv40Y-JDQryBTa0FjKIwUayQ7ZTiiI1mToPJIvmlODWSx-K37kbbUgPwUQZBnUcgffFR_Vmf--rUFBzlkNih-hLFUBGeNiGNwqwLACTsNZuOsx218y7VhF_1HyuJUWW-xRlWQZWFLNd8iyqWEjFQjSwvvtDJSUOgIyDmEm6NkNDtrJVUgrLt4fDsblhSdT52xspyjwHJwJcUY6EpB0zpgfbDSSNlNOn07tjRf0LaMWh0S-z_p3uPKBTzymNiv_59xRfEZUoqAdaSGhf7U1dqg9sY8gYkWIXMDou9qc25WrsZ1O3B5aqFZPI8q8TvEFT6J_yMTSkrvL1VdNywetR8MrnwjLIvadLE1kSiXbHSuzNLYNq-sCUd6P-ctg2DeNgi2kYL4kqXZynv3Fyy-rR8IOHRzLY4_r5uLnu-gscJ6XLBX9YiTfcUkg76QDG4GXyiesvPR-BKdK_EBlxFgPSSLj4UHIYFkHXVeJHWXsliMxzoCqwQyWXRHgR7yf4tCP9wNFkHpu4m3NtsffjttfpoEsPmZDWKDovuA_KORIWdJiqfFmkfnQSBEtHLsV5sF2vTN5yDexchyUawwQ4HtkwqrLBOUbxGekwI_ErETa4YFLkpyB04jsJMUVBFm02I1ROhV8-DTgW-_J_gKSmfxHoAn2ek_R_0V7MJI3tm1l8MWq1wFTNEJZ2HDxvsFWUeQ_drhOHDprVNaLaMiXECbUuwNPs63c5cJ7wHur-H0KR8C_GovVFaecNIPww14v1sg8w584eKGmMoVoqJkf4_VOj7I8UeAGO87RPhNZKAQBz3f8H_p3NIE2emk7VODtRogi9Zoqn79qBO4CNDDGQ_rKEULAeHCbNFnARoW-571V2LWgSrHToQMFvuIUeojCH3rve1HX1b7b9PHMh-b58dbPhKbmETMBusEtkMjMQm-JasN22nxl8qncBLoTv9RRWrU3KpP70fUO8lucG5JLbzEddP30D2pqq7yEvZFsJHsykiBan-vK_hqmih5igLwqPirk7D1MnhLsmD0rA3j9rDzkWihX2ceaKRbEN_WEcGeccz6tNQlC7atKOUJJbN_xWGEi7R2taXi2soG72f4O8nqN4vy5POWzVfa_AeN4tiylMd7hNHKeMYISNAZUnkktzoo0FfP8X1LaE6ARbfCJLuI8sTNR0SCeaVGSU7sSyGHesBlGB1UxkW7BUs2tIk-m2iYq37CgYS1Aztkohe0iMrvBwdjGgJkBT6okBMfGF2z9vrA_3XFd00WmZiR0jD-aRHJPW777XyIMzh3oZOOj-_QVq26cvdYeGWFVLoAfJdskBu_D_Np-6gFm7oMNWjsDv6fvgJpqdGc0D3vq1xQzLJRT45dLlFBxynQcFgchXxNlKiHvm6XZ7oA9-_a6TRbiP4LNSaCyPDi-LMt570hxMYFUGtwilP-JngNARGAGRbjfRZK1r8i4XPuC4FlzjYdsCBDWVP8uGdNOx_bWODC7mVNbUVH-G4K0vbs-umuIXEddWbCG7DAjMpochA7UR1sRy2zyChhRp-X-xIkbyTPwQHSMD_YUZ8rcU95_sJ9rNwG04OjUDH9qF5VFFIsc5cIdhE47e9g7lcpNrnm9pYJxUzVjzhMPYYIpjQzebuGhsexij38vuqCFZdygyUr0d8--ecAd0a0c4UQ8GL7-JwKCfxJY9YgbEEMySVM28_oao6V2qUSG1uoJ0QQA7MLHs30bLqA_pelggyeRhA9Tr1qPwhlviWxOMJkBZQpaCODb5FZ2Gj9CMAdVFO4VHPvR6sQyoDWMGLcKhjNFSKT61WV3anLfOjgf6UAXatkKhJ7zZ7qRyvhioNF_SYGUv4ViDwqo5x5uHbwMrS7_bPQ2oILr7FJBy0IUP47_suZcHpQ1SjY3DuQmQTuhcvk6BOdTIL7v9xGNP882H6KTSzeHumtTJRzVMPx3IQa-HNb8SBifkMOQnVMqNQixjxpvNKSbCOQAo7sKijxVFHWVdlfKiUiA8wB913em3qvpk-8LPrKzJcWUg5WBBcSFObAe3w3TKaVGzLlI_FdS8PpcxO1Q5bVenoWPmBe9bOI6D9LxxgCdSk1SPsUlBmVLfoej_1Jn6vpzRDqojuAYrbmJxiMr-oldRXSGSftV9SN2yq79hiIvXSelZ9xTIy3IJdo2wrjGWKSPsgxN5bMH0jafebo8DdGeLFbs1dOxBqXN1-MyEZGYAlLmbb_e72C-ZxGq65uqm8QSxEBrIHXXNchbzaQi8gyu8Fr2sEtp-2cKqH0JDrwZVf6fmN4S5HtQdZHZ7QLwGDjKjukyyTGlJX7rz9Hk_i6GgVXPpdAVbvMQHq-GHRVz61IJZ4yw97VHsvWurJcl4cBQ3lYFIdC0YLbWwrTxfa1vpAcTrozqIcm6Sp7NI2dTaKCJcfaswziD0exoz7d_itmGSbEkRZO8PKMZZVS9nncI0AjAisjftouX8msTajPidRR0iJtYErAhILe2ZksrAVuJH6Pd2I4dQQIjDYNNQe1CXPmL-vNnDXcQeEuCC5KkrytspX9PzLlEVRC7dSS2qBEcA2PnzRQE8YPdnNaBbGg_6nFEHWWlwJkeS2h08__OGU61f6nHFIJ79dElZdf0FLt68uq8UDg61eW10LCU2iw9Vsifb79xlIIcrh3Gjb7BgNCTKiBveJIihAdrtjvXf3PkLzvx7nr0oSLp0_-OduymMKs39I9NibR97Wt3QJHAjWj4k26ro1R1fc98SAn6YUAgWJBxBqAMXWOzhlbshzkFnZemDIzHWwMf_DI_CXCE7vwOCqE1Jh6fD_VCNslPvfi-IDFxjnZvp2B74rpLL_lzC22bJ4E4rrWggovqLIO9vNyodmT28X2QjT_VWpV5EC7N9Diwk8pPqfXvzy_VtucSpJBr7D4qz-iiz2zBNLSgMrPJIzjA9amgnXbXsaO1xD0mVU5gNd1pZWd4R2VC4a7FqzeaxHmTBTw_8GoEV0P36KKLYt4jLreWdicQLErpsgeoeK8Q29NepwuTPpCjYWDUCJ5wlUkFlsmM1dmKA0jHwW3ZD1KmKMLAkK61ih-lXO4WiwhA4IOHSmKeHrXsvWa_Iyo9byjs6G9aDOzyYanTnnOcV60PVKomdjMcyKEN12ZlgZlxu1CzjQeaTOSBWY9scyhLWxZpKPyHS7JpjsFXJV63I3yQUzkB_kCLkinOknm1E9YA27keAExdDH89zlxrT2ZUG_ponboY2SEQe14f3DLp36iyEKyfdot5rHdIUiTnrH65Nyjp03pEYwjpS7CXJRDG3AZ-9nNur5xLGEcF1gNvcNuZvCPZF5b2orl-XGSyyAnDIZauWEWriuznaq4EKqX8ImebOaO4DKuO0OvdOz3oFtGZaEwszb_q3cBBHfuz3gwe1JF01vy3J4BSSkDB5ubQw5BltjkUYA8-hPwefHc3h2J4lEl6aXp9mOKPs9vAbKMR2YzrCXEU76O8V8vgjZ5ozYAWB19lbmX8yFjA7lJbxsnC2kwayJzcPu2YDEfZsMEE-PHkPyt2OzsPvP5kSrMzW1Zl-Yun7RAaR5ZMmo-Cbl-il_EDzh9L2p4kT5kDFamoqhwYne",
  "id": "rs_0347101e88931267016ab448d9260487d08e131c86a870edd5",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjhOg2OE0sQCTNsRVDZ4_9FUhE5Ys4Zu68FYzctJVMJQbvIrJhrUqF9GdJne7T9B_xIbHC2I5YJp4tSmKd0zzJSNhlAnfPmll3IOssldHPwO-0wNGL-mpHMtaQpgy0k6eWGlvSwIueOUB9ZZT0y-oZJwuyLlVq6jSVQdCvW_FXnNS6_6ywLrOtTE9gm4rSJ6mL8JcQIpLXCZhUgEC00X8cLwpOJ0-CZUJN1qjSPIDELT5aY7Mn0-O6c5IpxFY4jlaN48d_WHM1zLfQDWWLRbSeqzyjKL0h9JeL8rOaQDP480OXicHwe281_cbjtZjoJ69FC2Pj5lWa8X-4mRNOn2eI5KJLh1cmRrn6HCPWIbESsggshWUvKneKUf8wB79GpG4D8Egylw9SqDeFUG7sGFUpAuin3cX5iYrRaw4GLv6cz2Vh5T9VHJVZipXN3wH6sx2-bgmqkq3x05Pd1dImPrL2wl2yeBo-WcRSAh6XGr0GMnAENpJm2vner8L_GiojWqwvnr0FTsVdWZ7RnIjXD3AP1X9x1I7RrOeUHC8v618V6FfvnsVILW8yvi4vua1trw7rorjeH2atlL-xLhtP0fT_qJ_NHzwkHqLsAJlFZ09ofFWfHmL7awy4rrxW0hRnHnWKmexIrkKvy85nUFl12zIiIaFumSfx9_SnFOUlghH5uA7a7S4P_rVvHqO-LW29BVdhgRdxgHE94XczHO03e7Gvx0sNZgF5rHb4nCJ9mC4JnxnaZ-C3kERq-2PAp0SkBVrDBsn9AVRFkOrkuuUx3IV_-pXzpEpDclCsvUXNohCrwPqLj9uA6CfHYue7uhCqIWXR5XCIrRHiH7Rij8IUVBixN8ow4oJRyPZsD-cjM9lJzz9IpXRop-DqZZOPXpHua5JSgqsRfc6Yb6QqnccyIIj_7SwanD37hPCQnAxIZWk6KnnjnKNl4PRJdZ8aXG-RNOlcof9wyt09mfMBdf_ekJDVII0B_8AC0RMkQWx558zw3UbDWAu6KA2BXXKzgRFjoa7crS7-LCI2gBL5ij1sz-V3C7F8pyOteHIDfrAuxdGkCWc3oK-K_j9bmT9lTs-sbRPlUPwknMAZ-q-s_z0UANmW3bF-2hzOx9hwlC4l9_KHBnZyLnFoyak_nh4r3VbHxIcsFSra0K1dTeHbU-F3Kz7gwM9Y381aD9UoybfFprimOAj8_G-vgY4oZEyoWNo1doIthSEP53prmRFZ63Zl3g0ADIP7SMKUGBuViL6tF3X6njwd_tDeqgTCO1t8Ue5mze3req0h7ssSUK_RN7HebQDvtYL1nt7hr_CuiGq74z91iZx279qRwM6yG6b1Xd14Z83msximaWvJuL_fjay1Hx9RXzkpYd8Yon1ersWSay-yiqpTFdwNIcCulLljiRYWpzXyMGgUHkJPO58Dac2pxKXnH71lubPJfxIv7kuERZEd0kTU7rxJYhOuYcYV2TWkRpCUctexf7Y9F93DRi2tluULCvcQrozEq79TOcaWjuGOrHGHh5caaeFvPYVeK9e5V7cP0KQqE0vVhDXKJe6rijm_O8hJFYF1ky5vAz9zcEYDs0IA2dKLrQB6TBg3XAhzc5loWrSWlGn6r6iMKgUDpsvX3pYezEoMarZIqbr4h4Kmk-sRL7W3YlXgXEIDKy_FZqDeb8N_XNY5IAHbgqc4Y_O0HEH1RxulzvGoJ10xxLUhAhJjXWTYX8zTp_rZkCzIRaLgGwXogQgqWLbeZWiXenNqiODZ2tQmH4VzsmJe55RAJMXN0TzQgGoCB0m5hUMyiSK4nOhtJ23WqDAISYv-kLBaeyn5KKCrGtGrR7uSO6R2y5Vo8lOCze8TyymDyV69X43J0I8-H2D8t16Y8PGCsxy-JkhcPGWRxSxJ_ikhuvBHzvoadToxVyBspUhmYbR2IZchOIcb3kfbpe78zYUu1AVsMZMNcje3HNlOJ0gPtkQ5p54hOb5W4lGC13A3IhFVTQxwTy0ftnllBzbjp8SLd-lm8CU47pVmVLhBukZsTzZ8rJ9D3Pvm2jss2jWy7GuToaIdHNFLf_J8-28gQ6K9vt1dVJcOCusN_-Y-TPtJ4_cfeSgtecPVcHwnW-BlIFVIRcA1erVI9e-Dd3qSHvvfz-gkWDl6jiO1YOYhZrTKx0fPvzvJITxUuTXH_mZxW0WhpPtvJe_lRo7tYlFyllNBFuBvKE3VdT2TsHBbZB1V2leMFWqB5VU7hafVM7ud8RJVMzckY",
  "id": "rs_0347101e88931267016ab448de3f4487d0856a6496ceac8955",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The bottle did not translate inward with the gripper, so despite the nonzero closure reading the grasp did not retain it during lift. I will open at the current safe height and re-approach the now clearly visible neck from the easier inward pose.\"}",
  "call_id": "call_H0KceD5c16zSOuUrx0xJVtSt",
  "id": "fc_0347101e88931267016ab448e0397487d08ad5f76afbb39681",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H0KceD5c16zSOuUrx0xJVtSt",
  "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]: [-0.0212, 0.7776, 0.564, -0.3717, -0.0261, -0.0292, 0.9978, 0.7189, 1.2331, 1.1141, -0.5522, 0.4416, 0.2832, 0.9959]\nstate[eef_state]: left_x=0.2899 left_y=0.0021 left_z=0.1678 left_yaw=0.0007 left_pitch=-0.0217 left_roll=0.0 left_gripper=0.9978 right_x=0.3205 right_y=0.1849 right_z=0.2488 right_yaw=0.1909 right_pitch=-0.0295 right_roll=-0.0221 right_gripper=0.9959\nstate[joint_eff]: [-0.2393, -1.6889, 6.3795, 1.9805, -0.0317, -0.0464, -0.0122, -0.3077, -3.9179, 6.9128, 1.9756, 0.149, 0.0757, -0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92a4aa889599aabe409980fadcb3a3facff5e86e5cebd84f43a1a69a70756b21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9189dd836a023e97f3846459b7e962174533d4bcf1d3a8c7dda727d4626cda7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e693b80d5feebb1727a336c3a99374ca871ecf03168721f5b091878bce0b567a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

message 57 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7956, 0.6029, -0.3916, -0.0257, -0.0288, 0.9978, 0.482, 1.9945, 0.9554, 0.4435, 0.3126, 0.178, 0.4838]\nstate[eef_state]: left_x=0.2932 left_y=0.002 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0206 left_roll=0.0001 left_gripper=0.9978 right_x=0.4681 right_y=0.1876 right_z=0.0384 right_yaw=0.116 right_pitch=0.0046 right_roll=-0.0087 right_gripper=0.4838\nstate[joint_eff]: [-0.0752, -1.8803, 6.8308, 1.8437, -0.0317, -0.0513, -0.0122, -0.253, -10.4137, 4.7932, 1.6972, 0.1197, 0.1099, 0.7497]",
      "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]: [-0.0208, 0.7799, 0.5709, -0.371, -0.0257, -0.0292, 0.9978, 0.7155, 1.253, 1.1374, -0.543, 0.4454, 0.292, 0.4841]\nstate[eef_state]: left_x=0.291 left_y=0.0021 left_z=0.1705 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3264 right_y=0.1876 right_z=0.2538 right_yaw=0.1798 right_pitch=-0.0174 right_roll=-0.0105 right_gripper=0.4841\nstate[joint_eff]: [-0.212, -0.841, 6.653, 2.0, -0.0317, -0.0611, -0.0171, 0.2667, -5.9009, 6.7214, 1.8144, 0.3248, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 0.7776, 0.564, -0.3717, -0.0261, -0.0292, 0.9978, 0.7189, 1.2331, 1.1141, -0.5522, 0.4416, 0.2832, 0.9959]\nstate[eef_state]: left_x=0.2899 left_y=0.0021 left_z=0.1678 left_yaw=0.0007 left_pitch=-0.0217 left_roll=0.0 left_gripper=0.9978 right_x=0.3205 right_y=0.1849 right_z=0.2488 right_yaw=0.1909 right_pitch=-0.0295 right_roll=-0.0221 right_gripper=0.9959\nstate[joint_eff]: [-0.2393, -1.6889, 6.3795, 1.9805, -0.0317, -0.0464, -0.0122, -0.3077, -3.9179, 6.9128, 1.9756, 0.149, 0.0757, -0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92a4aa889599aabe409980fadcb3a3facff5e86e5cebd84f43a1a69a70756b21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9189dd836a023e97f3846459b7e962174533d4bcf1d3a8c7dda727d4626cda7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e693b80d5feebb1727a336c3a99374ca871ecf03168721f5b091878bce0b567a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjlvG29aWh74wsIycAQtNaw02vVFe2nzMyPA1GJoD5ZUXqkff0zuV1Pa7Kx1rWP3zdL091NC8B5SlGcaVZP1b87t40l5xu9LTDIAGZiZ-wYc7pkVKZsTpkE8oFbPHtUpXkCaAompXwUkzR1AT3T_wG8IyBwkWevZ0IMEnBWnjwwS6F0Tw9gLgshN1gAB7U8npOgsajkdbl5B03jaNQS3I8TGect3R1bD-sWtEEZUu8r-Y6AIgutjpQZPlHACt-4O8IuuyjLxIVOFonGn5AvCJDxkObs8f_XTXVtBtO29aoaq6X_0Zm5VNJMAAvqI2KRWAUkCxw9dVFR4eXF0rPOkGlTqTKbz62rNIhuIAqOabLNU8ql48fvFs4Wbz_2FblNHUOQU6Ol5gRH6VPtIYkKTVr2WqdUwUJ6EiJu4t0Pl6duNbzdklXaF0u5GbSi45FMQX8KTvBV7OUp-51wndZX4r5v2UkkuweAz9TvzfgLGmsaiZFYmAadN8JXW72keJW17jFa7iumr6tFqK5wIFlqJHDYCrKFAvc87n5DC2NJTijnuvw28Re5sG75e1iyVFGhAUhDyvB97HGmzaDas55gOuXQaMnf9SC-uWoDPaUCwd3FyKVpshhVzDPsLHXYVjSsHgTCMsCwEqT5xxnxbnJzO6IheSClDXWqJhC_HdbDuVlnZ-q2GR9KCy0RLf5LDli-pns4ZzRGrbUIOUrn5YsB0hYzYjdjcCP2V5T07rezR9hlWeKX2asWqGM0BMBs8Lz20_lSBc4icaqaNQ64Sph_JRWee38Akas60TysUnvoTHpzBnl_HcS2yS7RVJX-iUy1Ny2B2EeuoWeE-po7mH_fV0B2m1hsJ67KsHCiF0pKkWJrgg1NB044oO7xKMGk_iCA_Y93AtfPDVYFGsS6N2EU8gNBU3HCSZSOU_u5GJgFnTWMDQwxzkdaZznFHnXDnv_3U5zMvvzD1wvnF7SwSg3O45-XWa0J4imTR8IFGkowkxKYM6nxrM2Ri4Mi6tvdWoiG2AgLYwi0i2sObF0R-IODhwi9k1EuAa_6nEAtl-shXgfoNWxqKiUPMopkgPtUYRNtXJ1Ry65iDGvlCVQsO-EfWbWB_Ade_qNbcUBiB0wTisYnx2N6AmoH2h4jSabWloPqgBPLMOnBo_qRUohGC682vrHxZbwuJKuol5nY6R2hSew1lSxeea0RxFQSmHL3HjmNwLjXxA1yg5JEYDjMIEM_925sVPzmYRMTFPtW6VbmFTp_c_KsgKeyxuuHK5svhQEw8eFRDjvip3a8IPCD1rOuQY6ur0jfPQjiFPiRPTftg1Pb00AHjhbQkjvgC2-a4jYtuoR5sVCmcICQX1uC7z88NzJcRFExkzMwyW9-C6YHjHTnAmKEJVCsi78rC6nlj7NG42HxPZ-2wbOiYgsGh95s8Z1KBi0z-lTKuMbOzPZRrkipKaZlRUTQ7gs-N4apCYfpysHUmDQj_FiVRjMJXEY90AZHS2Gf_2EnJ1auSPlDoJUAJdHdtOOq3qhfdLHF-SIp81xAs8-hq_X2J6cHYcg581UNA2xQDVYfKE3Fy6kqkjwS2rYcVmfIJkeBnOEbcXpsmjdrnyOEiiDLJCY6SHEW2vriBZQfH4qmhsr1NG5FmY3jS-4Ih_MNcXuqcCd093vYfoXhwDVeSg5TPG5ASekdTmiAxzFMr2oy0KWGmXf7qfGEHLlTuQPQZegVb-MyEz-CEccwl8Qg5Mp7t8Fd7qGcPMqFBE_Q8XigDZb38eQIBNlOVp7feAaVHbbFeKGIi8WUflNJRmWzanRTScATrefWdJbu6u92nBgE5zjOx5Nr919MVnK7hcLdHEQDmnqlhjayUXuNdtapBUPQelWWesSekwRhPogrXbf9nZE7VU6Kt-ihtQ6QgWulhDW--dbLVbNXDwWh8ZMcmJ8y_9uDWYtqpSRjlgJ3BlKDqrHGxvN2XZ0mtDE=",
  "id": "rs_0347101e88931267016ab448e31b2087d08c9dc21e97f87726",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.165,\"right_z\":0.25},\"note\":\"With the jaws open, all three table bottles are visible; the rightmost cap is about 2 cm to the gripper's right and well ahead. I will approach it radially at constant height while correcting that lateral offset.\"}",
  "call_id": "call_ko3ygKRR8l6SwCt8FXsSggRv",
  "id": "fc_0347101e88931267016ab448e4abe487d0b6ab1ef7fbbc5488",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ko3ygKRR8l6SwCt8FXsSggRv",
  "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]: [-0.0208, 0.7681, 0.5484, -0.3641, -0.0257, -0.0292, 0.9978, 0.4534, 1.491, 1.2522, -0.4351, 0.226, 0.1204, 0.9956]\nstate[eef_state]: left_x=0.2884 left_y=0.0021 left_z=0.1648 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4118 right_y=0.1606 right_z=0.2245 right_yaw=0.1892 right_pitch=-0.0863 right_roll=-0.0314 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.5248, 6.5299, 1.873, -0.0464, -0.0464, -0.0122, -0.7179, -6.2154, 9.9761, 2.1807, 0.0171, -0.0171, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed9a45744053238430ca03d263b565f69b8d1e621d225c455544fef10172b5a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e636b8e16ca403394fbcbcb1c66237f398c4d177140f2b8a809b93db2b5ab90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a8243b9f8499cdde0693db2602f3207d79a0d08c114c1a9e6328c9130713374",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7891, 0.5831, -0.3744, -0.0257, -0.0292, 0.9979, 0.4828, 1.726, 1.5646, -0.4976, 0.2855, 0.1658, 0.4841]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.1729 left_yaw=0.0008 left_pitch=-0.0168 left_roll=-0.0003 left_gripper=0.9979 right_x=0.4659 right_y=0.192 right_z=0.2461 right_yaw=0.145 right_pitch=-0.0605 right_roll=-0.0258 right_gripper=0.4841\nstate[joint_eff]: [-0.212, -1.7162, 7.4051, 1.8339, -0.0366, -0.0366, -0.0122, -0.6222, -10.6325, 10.2769, 1.8681, 0.2759, 0.1148, 0.022]\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]: [-0.0212, 0.7776, 0.564, -0.3717, -0.0261, -0.0292, 0.9978, 0.7189, 1.2331, 1.1141, -0.5522, 0.4416, 0.2832, 0.9959]\nstate[eef_state]: left_x=0.2899 left_y=0.0021 left_z=0.1678 left_yaw=0.0007 left_pitch=-0.0217 left_roll=0.0 left_gripper=0.9978 right_x=0.3205 right_y=0.1849 right_z=0.2488 right_yaw=0.1909 right_pitch=-0.0295 right_roll=-0.0221 right_gripper=0.9959\nstate[joint_eff]: [-0.2393, -1.6889, 6.3795, 1.9805, -0.0317, -0.0464, -0.0122, -0.3077, -3.9179, 6.9128, 1.9756, 0.149, 0.0757, -0.2369]",
      "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]: [-0.0208, 0.7681, 0.5484, -0.3641, -0.0257, -0.0292, 0.9978, 0.4534, 1.491, 1.2522, -0.4351, 0.226, 0.1204, 0.9956]\nstate[eef_state]: left_x=0.2884 left_y=0.0021 left_z=0.1648 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4118 right_y=0.1606 right_z=0.2245 right_yaw=0.1892 right_pitch=-0.0863 right_roll=-0.0314 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.5248, 6.5299, 1.873, -0.0464, -0.0464, -0.0122, -0.7179, -6.2154, 9.9761, 2.1807, 0.0171, -0.0171, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed9a45744053238430ca03d263b565f69b8d1e621d225c455544fef10172b5a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e636b8e16ca403394fbcbcb1c66237f398c4d177140f2b8a809b93db2b5ab90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a8243b9f8499cdde0693db2602f3207d79a0d08c114c1a9e6328c9130713374",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjogIgC8Cbly4Wp3ft-STc00D7T4q5hYcsHZzlNeMazZo0RVCZ85PmPt_n0MzaXyq6fhcPHdVB4RCZLgjpLFa_hAGbjVEDKm6izHskZ0_6gx4RnhvlubFFNFHrYcMtNf2orDAYCBQwF8NCofjzMeGebnAbIx5f53ZBSN53sKUzS6XCwpLJx3EHahf9Ut7k2iLLg1VOJvsmnvPHu7tIQr6KdgEjgXZmguziFnav70wn6pQZ6Nu-kaBf_qkKoXvEKYVOerG0k64dxVDbiSBVnOpJ_UT-CdGwk2i1jETiFkR_8DvFFaVk4npPWqnQC99Ype-u_gefsUy0uAd02yQaPX4AoSG804gKAOQZUmLK7ojrL12HEFIoGIsCMAN0FQLLCdbK55K7lwUIoZXi1x3bfycYA6vO60tmr3PYDdRnmbXCu_JWFOrB_9ht1so3JwMYDbtAS8Rc2EOWDo6DiJVIGniiNxTj13pn-nUFDKHhHuYrnz1fzuxOzUoeUucJqwXMBBjda7GWnUAae_IF7E5A23nM2F3XwfNa8Wkwcisz2T7aqz_6WySZWQqTDWXaHay25Oi-0PBbQ9f35FfY4XtCoX4yUOG1Nl3P2T0loFTTMjf3uPT8Qws0LwJfZRjSgD5keWp42arUTJrHs1QXbfWfw9hbDf_aLRAkTi7nn6dYnh1iXRaODrn0neOhl4z2pTGVlmEFBYpeCuCjuTto6eszuL-rOIuYNLsbTaQUJTyxESFHsCSYktttv2JKt-hrFhnKacmQCznAO5b84_X0TKGSCHTG3GgLtn83BeQpXORlxEQ6C_DIh2Q9EmJDMEYDrPT9aq6qIdBxNdg-S1DiXuhvGW9ScFB508gN69ZQgqfhlF3sJWzkB3Ovc-AhrlNCZ5qUZWcC38r6a83E8F3Pgtxtdn8fRTijHdblEHaMnNYAB7JbrpMFLgLUyVsye9c1lqGBl4NT7nVc52DSPgayojc5FNm2waWBnJdZMOEZy1MwJ6siwxdhfRE6PWzpzrUlNsp0i_UZX_yxX9djTd-GA8Z2ceg9wDOJpBWJ7WFXTY2PS6JYNuAsdM4-3YB4I43AVRCCDPH7IR80S99fUk2Pq2mrP9DnCVVE8lwPCgYn-A26vTLS_of9GTLdfXlLDO7_FX5refGU07AOF_rwVgDM7BryFECi2QrypeBxawBsxKqAnBQhooIg6tnixpMwXfVvGYt0AXBbMHeAb2Z3QhkcuU2r1I7nHtv9p5buWhOouZAbdKlg8Fzcgtc2S2qICDt4T4Icf8BWOZIkqrHlpCvrhcw0NKaYEFaWlFmv3l4ObGe7I-EneHwzNm-jDAoWPo8K2ircYdcDDf8Ci7scfrysDDx4eFwUU3F6J6mEDKX9gz_Gee-njn0xK8OV3OJfBgbl3sVyvOBMvEX_K8tn_oWbBlHaYxxa_mwS1J9Pzp6bJbXNyxmMfb5vYurgA0uQfIWeuMY-BY2Tl6sy996-sfKB1U9CuzYbvD3y-DnYjb4gFDDrSFeONKYQ=",
  "id": "rs_0347101e88931267016ab448e78df487d080bff5555b895e64",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.165,\"right_z\":0.25},\"note\":\"The rightmost cap is now exactly on the jaw column and has moved closer to the fingertip region. I will advance another few centimeters at the same height to put the narrower cap, rather than the bottle body, at the grasp point.\"}",
  "call_id": "call_Nq7tK5gRS9aaR9DlwUlzkJWI",
  "id": "fc_0347101e88931267016ab448e820b087d085590ffb43a1d8eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Nq7tK5gRS9aaR9DlwUlzkJWI",
  "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]: [-0.0208, 0.7609, 0.5335, -0.3561, -0.0261, -0.0292, 0.9978, 0.4126, 1.5993, 1.3403, -0.4084, 0.1795, 0.0906, 0.9955]\nstate[eef_state]: left_x=0.2871 left_y=0.0022 left_z=0.1615 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9978 right_x=0.4431 right_y=0.1634 right_z=0.2203 right_yaw=0.2035 right_pitch=-0.0873 right_roll=-0.0254 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.4427, 6.6256, 1.8828, -0.0366, -0.0366, -0.0122, -0.841, -8.4991, 10.1128, 1.9658, 0.1197, 0.0611, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce286522cdbcefc85a0a5a9c2b077307c4e767337dc6e3e8f40aa6eaf16a7bcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d5ec484d06a7dc6bc1dad72148215ae79c0cefb21a25a2e848201c4cec7bc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff46700fec71bba5a4f60765668d31a72558a41e32c688c2dc59d4c3aa75b01",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 57 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7799, 0.5709, -0.371, -0.0257, -0.0292, 0.9978, 0.7155, 1.253, 1.1374, -0.543, 0.4454, 0.292, 0.4841]\nstate[eef_state]: left_x=0.291 left_y=0.0021 left_z=0.1705 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3264 right_y=0.1876 right_z=0.2538 right_yaw=0.1798 right_pitch=-0.0174 right_roll=-0.0105 right_gripper=0.4841\nstate[joint_eff]: [-0.212, -0.841, 6.653, 2.0, -0.0317, -0.0611, -0.0171, 0.2667, -5.9009, 6.7214, 1.8144, 0.3248, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7681, 0.5484, -0.3641, -0.0257, -0.0292, 0.9978, 0.4534, 1.491, 1.2522, -0.4351, 0.226, 0.1204, 0.9956]\nstate[eef_state]: left_x=0.2884 left_y=0.0021 left_z=0.1648 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4118 right_y=0.1606 right_z=0.2245 right_yaw=0.1892 right_pitch=-0.0863 right_roll=-0.0314 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.5248, 6.5299, 1.873, -0.0464, -0.0464, -0.0122, -0.7179, -6.2154, 9.9761, 2.1807, 0.0171, -0.0171, -0.0513]",
      "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]: [-0.0208, 0.7609, 0.5335, -0.3561, -0.0261, -0.0292, 0.9978, 0.4126, 1.5993, 1.3403, -0.4084, 0.1795, 0.0906, 0.9955]\nstate[eef_state]: left_x=0.2871 left_y=0.0022 left_z=0.1615 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9978 right_x=0.4431 right_y=0.1634 right_z=0.2203 right_yaw=0.2035 right_pitch=-0.0873 right_roll=-0.0254 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.4427, 6.6256, 1.8828, -0.0366, -0.0366, -0.0122, -0.841, -8.4991, 10.1128, 1.9658, 0.1197, 0.0611, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce286522cdbcefc85a0a5a9c2b077307c4e767337dc6e3e8f40aa6eaf16a7bcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d5ec484d06a7dc6bc1dad72148215ae79c0cefb21a25a2e848201c4cec7bc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff46700fec71bba5a4f60765668d31a72558a41e32c688c2dc59d4c3aa75b01",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjsy0GMDrx-b59nFvSTWLZG5XuceuqyKpbWDLt_2p0-cXM9ODpurCHohVz5O-nsNNbDOR7iutXBe97F9q221Cr8Zyq9jjF-GishwGbRuI5lRH7omZC-LKHPsxzsv37CYQ2UvfmZh1ot_ohb2DFBhMSHh3VpgYT6ZGwWhx1AIRoUVG4UI1KlGPB5vX1VXKcKwGSL8Htdl9dnTJDytjDhsEYe1rW72A0FUsk8Q7ct-BaXjnP6ZihboLp0SgzXqGqmUB4O6NVW48Am1d5meNS0lNbNn31hbepZDwq_IIhmVcyijfnEZU1l4aK4hb69X7MloDYXR0DXZY6-Smuggy_ADMOgtcw3YaD0UkwYpTqmwOMLPGlsmkpyDsJVc9Hn-iBDjwDcmpEiZwgqF1n1rvVkcBUxoIwAzlt27PKpPsbAGtsQP7tv-HlUUGZG6ZchOOvAF4DicgC4wPzR6ZpRDn2AX4_NLFfT25BxEErEhEClS2jXBhrOq-jx2JIeyZ8wI3yq9GkVB2Rs_MsyAxGdRsOLFGF0DxLcSMK7giWLVf4xI13IYZhqPk_2vUzJzJUpjZlJKuL-1Gf6RMmwfB6NveobNc4kWUdoV4hmkOXksddXc6gVkuJMRWkpK0str6P8iMzajQOH9hRwQ7eh1A93KMLxgM_mmBtJXz4vOMYcktvGhEQZtjftmI97PCsupgSJPjNRdvFaZ-F-gTNuOMa0Rjza_oSwKC2TbnTxejwwW8vQ2HjucuFvOr-uQlBWy78vjovaTZ4rOt7zYQ1tKtNCDwV073JrX5orwEvhKAiWTMag0qBiCDdjE92FiKAlmggrY4MziYOIc4NitbSqblKD33wgPA7lCF4LHEK6nnqfoZdqGe0KWzebHzRXrDr5zFxL3YgcRK0slVOIsEBgilNGIh_INlc00t5o_B3a33Rq7elui-QBCShQe-5VYVE-9MsCIKbfKKzMqabYTu880DzWdxx3kH96Y4kj1IpHYo_remxoS00ahR6xjIgGcwlW22VcjRbU2LLyaUxtqpA_ewqjsWndSU39u8O3xrRWdEI3UAhScjDRN0qHowZ1DPGijkCoqVBnfVgzLXFW5An2_NsAy39IKowtKI59--8EYJ69M4SbgydfWSZpclvDSaRKV9RFFMVRgHQLfUmTgXO9O_hMJyCVqmC6EqvHtKxgAkz4TPVcCTaT0lta496ODceuCMqZisY2QIRgEViG7RGKhA1NU1yG38FY8QxQdsG765OadDDzOi7eCsV8pppBZmBRTtOCPX2UK5TAjqS2YwQINP6UtkkH2A1GWcdRuq_jXELQOhMbXhriyjTZSsTMwbt3g--lLBPdkDPy",
  "id": "rs_0347101e88931267016ab448eac1b487d08560aac95adc738c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.165,\"right_z\":0.26},\"note\":\"The cap is centered at row 160 and is close to the fingertip zone. I will make a final small forward-and-up move to bring it just beneath the jaws before descending.\"}",
  "call_id": "call_tgEvC743Bf1z38ZVHqKAK9fF",
  "id": "fc_0347101e88931267016ab448eb3a9c87d0b6c2a23a5b3288b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tgEvC743Bf1z38ZVHqKAK9fF",
  "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]: [-0.0208, 0.7551, 0.5175, -0.3489, -0.0261, -0.0288, 0.9978, 0.4061, 1.6154, 1.3582, -0.4026, 0.178, 0.0803, 0.9955]\nstate[eef_state]: left_x=0.2857 left_y=0.0023 left_z=0.1572 left_yaw=0.0009 left_pitch=-0.0229 left_roll=0.0004 left_gripper=0.9978 right_x=0.449 right_y=0.1629 right_z=0.2221 right_yaw=0.2039 right_pitch=-0.0801 right_roll=-0.0311 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.2376, 6.9128, 1.9072, -0.0562, -0.0317, -0.0122, -0.4991, -8.2256, 10.6462, 1.9902, 0.0317, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bee09ff36e144130516b5bdd733b04d586b58f14734060cfb53b41e29edb068",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00724638d15ad4aa71a1fe0eb299f66cbd2cbbc68148b092c73f3be3843f40da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e100a8c0e517f3555a723050a2c98a34be94202c04e1b92ba66984c56fd37729",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 0.7776, 0.564, -0.3717, -0.0261, -0.0292, 0.9978, 0.7189, 1.2331, 1.1141, -0.5522, 0.4416, 0.2832, 0.9959]\nstate[eef_state]: left_x=0.2899 left_y=0.0021 left_z=0.1678 left_yaw=0.0007 left_pitch=-0.0217 left_roll=0.0 left_gripper=0.9978 right_x=0.3205 right_y=0.1849 right_z=0.2488 right_yaw=0.1909 right_pitch=-0.0295 right_roll=-0.0221 right_gripper=0.9959\nstate[joint_eff]: [-0.2393, -1.6889, 6.3795, 1.9805, -0.0317, -0.0464, -0.0122, -0.3077, -3.9179, 6.9128, 1.9756, 0.149, 0.0757, -0.2369]",
      "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]: [-0.0208, 0.7609, 0.5335, -0.3561, -0.0261, -0.0292, 0.9978, 0.4126, 1.5993, 1.3403, -0.4084, 0.1795, 0.0906, 0.9955]\nstate[eef_state]: left_x=0.2871 left_y=0.0022 left_z=0.1615 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9978 right_x=0.4431 right_y=0.1634 right_z=0.2203 right_yaw=0.2035 right_pitch=-0.0873 right_roll=-0.0254 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.4427, 6.6256, 1.8828, -0.0366, -0.0366, -0.0122, -0.841, -8.4991, 10.1128, 1.9658, 0.1197, 0.0611, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7551, 0.5175, -0.3489, -0.0261, -0.0288, 0.9978, 0.4061, 1.6154, 1.3582, -0.4026, 0.178, 0.0803, 0.9955]\nstate[eef_state]: left_x=0.2857 left_y=0.0023 left_z=0.1572 left_yaw=0.0009 left_pitch=-0.0229 left_roll=0.0004 left_gripper=0.9978 right_x=0.449 right_y=0.1629 right_z=0.2221 right_yaw=0.2039 right_pitch=-0.0801 right_roll=-0.0311 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.2376, 6.9128, 1.9072, -0.0562, -0.0317, -0.0122, -0.4991, -8.2256, 10.6462, 1.9902, 0.0317, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bee09ff36e144130516b5bdd733b04d586b58f14734060cfb53b41e29edb068",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00724638d15ad4aa71a1fe0eb299f66cbd2cbbc68148b092c73f3be3843f40da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e100a8c0e517f3555a723050a2c98a34be94202c04e1b92ba66984c56fd37729",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEjx1e1VEcFoKErDiVpgjEhd__3jXlpyWjPqJ9uBZkdiKNm0-MFV3nVqQDTA3eoubGX-SnteXBkQJG27ZbUyHj9jdW7HH73UlmxpJoChVA3cR897C970acJzIt4FJ9pBv31l6XVgCnkzUDuk4XQXAA_3ZDGEUVu5Ziuyaok-6rzwp7cmZtkM3oTIT91IWaPJXfMImqvSw-jOUvGb-65WM2MmvunnE2TeT-rbRfb3TCIdzlH9HPBgvEeaAdaCpLiaOs9Frhq1_broJm_HkBF96bVGmV8yQQSZj-1CNmlHornzi_sD0NAhI0snO79-YjDpCe9OB_ttrcx0NIflHQq4hBSxBWqjjx2y-c5-jgl1ecmW35QBMxCBneoO3FTABOBmPi8lQuyHJoBLJBWGdPzJVHV9pJ7x4vD-LwGuJcxGOYjURAr-B_m02jNCpPQLSY95rq14TFFbTZUlKfR0dFsuzri2io4ubwQSizcbgXlUNmoIxOlV6kltl9SguTeKW5GO_wn3U77Cz16EAn9_BCJV87l5Vn8rDkFRZLpgW3D4HpYtgm4vq7RvE1q4Hf9PXEyynRSJ-84BnGXLALETOjgb8PAmO88Pi-IX2LObKcWiLET1GGGePADwIvlpiYEgtfZMKOU38aNg_jmInnpAdrMoaBTmgPsGbTBP7dGzuS5k_U1uxhy0sW--_oARi-IGW6TjSWvy8UcBMYiyKc2Fz1CpjQPSD754j0spnMzx-zlgbjEBTd1gPf-ZBoPN0hptIRrlKjZxDMYuDh9lzHQHHq3xHPANPrrJx_WfkKZACRU0e98VW302oMkOXGAsMgvmTWNL-i52eFW0oMzXoisD_XBl90dJA2IbxscKDOK-4ftIj9BKWiAEaqqzUXXMYvEMIETsJnE8l31QZATT16wpZ7E9kLhKeLjIe89geZsAh3t2drU5klh9P6m7Ia-_z_3-hUJ1LyZcbkzX8p8WcJ4D-112QZEd8A8AwRAzMbwCSEY_S3S4o7veFxNG71AWSDGSnHF4g6mY_gqw3jYb7DYe5ZqBDD7PDAapuX6UI_DBFs0Lb2F0J2q9_fzQi8eRVj6vXRudUhRFIBnvtmN-LOYouhifk4-nbGzN4l-sEFfO0NgBqRrDE-610w0xva3T9dkxsh6X9Zfvi3txwq5Nc-QiOBdi5jZf-Bq3J5yJPug73oxssISLLIW2DYO550t4TJ868qU5Ez4I16yVBU9Xk55LpmwO9OwZnY9hmriSM3VlHhn-ItvWFMDMBZ9D_CK66EshRI1R3DNQPNt1ttRuZX4wcz91xa8gXuOx2Hvxtjdkz630UYzLIy3qx5rSePiHQyHG_w_SjnONR-VemWUkpY0nHd7lqXr8-67IeS8sY13H-CDgSCEGysdVdEVFIAYPvB6su06ViO_rGGLHB2fItgN4VC8g3yeTr3wWt8E5XTQWPJgw1DW8HouxqmTRtcJyIjoSBTDiQhxfmCz-uavoEpnXDHGVTu_2cRqJsTF6WKth-fzVe-OcVsuLwpdj1SGyM5kiFLyI_aqjksQuSsvs8Y6x1AB3Bp_3kMywTrGkm5WLib7VWSsJhSQu62sXDImbWTf0rvSbRhudIl24V00Oc0KWLZIA_h9HItiAU9236H6k_dHpmOFEoc7DcKEmuEYFsfesAHnsMnBLCJr3fAJuRbgp7h_RETOJU0eZSsfvChNCuEzjU5pnGZCjeFYXl6KUU5GK0kdpMrSiLrYJnWtSrUpMx0gpxvAC3JBAXn04Sqe9NJiluoU7oURnRuQIz1nLroSzHEMQFODc9WqYt-hdq3MONlPve6eFU7FCNR9CErp2fvP-pLeBNC2zFm-rVxyMhAdNa-ZdvsystcB1lY86-FGlWMfe8v_N27wQIcdycSyZGNT1Z2VGIu6Q5yo3Sot6S1crKH30IwXUOoEAsoAq4wXPIlDuuMf6NNTdtjudwnpNzd5VWBJ08t-UPokvv1dS3Q1eCfqmqmcOgzK5j93ZbFmcWk_5ofnsqBGfNQ9azBShYnrUhtR9MUOCAHKZdKElyHKnRF_lGRl6zDow5xgmiJBW7tC4U_W9GBIZegeM3Pi0_YbLF0lC2M05q85fu-uc0mFZHnl9dJSCN82x3rzQivp-5UPInnw4gOi6pX6wF4G7LVqaxZY738UCOBQJ1ZSsy-ju9EdGiH4J7LRfHq89n6_PiT5MDYRkuBK8QurMTkChyQOccVfr1gbAmQvmyKJbjapmU56Yp5NGMiv6ihAy5ZvJNSeGRSy1ICGXp4Hpi9TLlsecpOQwoe5OoDIsWuSHXpv9gvV6TTQ03Tp98_1y0FWk5MSPpjnHTxP8-418gfoMNx0-_gm-m233fH06mtyBKf1OJgeQx5tjmP3udkYYPwkY2ixFjDI1tw==",
  "id": "rs_0347101e88931267016ab448eddb2887d0ac02f14bbab5b78b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.165,\"right_z\":0.035},\"note\":\"The high pose is reach-limited, but the low configuration previously reached farther forward. The cap is centered, so I will descend while targeting x=0.47 m to place the fingertips directly around the cap/neck.\"}",
  "call_id": "call_nHbmwoFfkS8LTeNh30HRvF22",
  "id": "fc_0347101e88931267016ab448f0506487d0b8ecf53909722183",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nHbmwoFfkS8LTeNh30HRvF22",
  "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]: [-0.0208, 0.7429, 0.5014, -0.3374, -0.0261, -0.0288, 0.9978, 0.3916, 1.9354, 0.8989, 0.3767, 0.1486, 0.0734, 0.9955]\nstate[eef_state]: left_x=0.2845 left_y=0.0023 left_z=0.1555 left_yaw=0.0009 left_pitch=-0.0152 left_roll=0.0002 left_gripper=0.9978 right_x=0.456 right_y=0.1639 right_z=0.0285 right_yaw=0.2178 right_pitch=-0.0836 right_roll=-0.0188 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.306, 6.5162, 1.8681, -0.0317, -0.0024, -0.0122, -0.4444, -7.9385, 5.1897, 1.9121, 0.0855, 0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078ad004b515af0b666acf54d27e3e0008db6051eade38020d8fed9b588786c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7f0a995d869c2a02860170a3ba1b79a08fc113cd504d9f8e655c741934d795d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6539d5380c5768d6cb2637f307b4981bd6c440a067dc178416548e5c41f2954",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7681, 0.5484, -0.3641, -0.0257, -0.0292, 0.9978, 0.4534, 1.491, 1.2522, -0.4351, 0.226, 0.1204, 0.9956]\nstate[eef_state]: left_x=0.2884 left_y=0.0021 left_z=0.1648 left_yaw=0.0008 left_pitch=-0.0202 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4118 right_y=0.1606 right_z=0.2245 right_yaw=0.1892 right_pitch=-0.0863 right_roll=-0.0314 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.5248, 6.5299, 1.873, -0.0464, -0.0464, -0.0122, -0.7179, -6.2154, 9.9761, 2.1807, 0.0171, -0.0171, -0.0513]",
      "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]: [-0.0208, 0.7551, 0.5175, -0.3489, -0.0261, -0.0288, 0.9978, 0.4061, 1.6154, 1.3582, -0.4026, 0.178, 0.0803, 0.9955]\nstate[eef_state]: left_x=0.2857 left_y=0.0023 left_z=0.1572 left_yaw=0.0009 left_pitch=-0.0229 left_roll=0.0004 left_gripper=0.9978 right_x=0.449 right_y=0.1629 right_z=0.2221 right_yaw=0.2039 right_pitch=-0.0801 right_roll=-0.0311 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.2376, 6.9128, 1.9072, -0.0562, -0.0317, -0.0122, -0.4991, -8.2256, 10.6462, 1.9902, 0.0317, 0.149, -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]: [-0.0208, 0.7429, 0.5014, -0.3374, -0.0261, -0.0288, 0.9978, 0.3916, 1.9354, 0.8989, 0.3767, 0.1486, 0.0734, 0.9955]\nstate[eef_state]: left_x=0.2845 left_y=0.0023 left_z=0.1555 left_yaw=0.0009 left_pitch=-0.0152 left_roll=0.0002 left_gripper=0.9978 right_x=0.456 right_y=0.1639 right_z=0.0285 right_yaw=0.2178 right_pitch=-0.0836 right_roll=-0.0188 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.306, 6.5162, 1.8681, -0.0317, -0.0024, -0.0122, -0.4444, -7.9385, 5.1897, 1.9121, 0.0855, 0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078ad004b515af0b666acf54d27e3e0008db6051eade38020d8fed9b588786c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7f0a995d869c2a02860170a3ba1b79a08fc113cd504d9f8e655c741934d795d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6539d5380c5768d6cb2637f307b4981bd6c440a067dc178416548e5c41f2954",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEj4mTpF5lM87EftGCtyP-0wJ_21h-w2dFi5Y7uGSufm-zzwOqW2Jx1FUzNBvhRZt3LqMAfoXiynhm3jVEh8Fnuf7STIuSNXSt8t6rkFk7N8egfW4qQq6kjudGwuKSvUBm4UEcZeFJt5BcanXJ4ejaHGgKPkNXZLXYAg81ro_zfpUe7T1322FFlbAjw0ck3sxifb7AokoNPkkb_VYta7_e0zGin6oKNuCSIWW5jKJhsyJfMZ3j_R3b0VEhL4le9CRIzSY7bjA10SxU3O7BvGa_g9F_gyYTFiHLp1l4uCTAYlNCvpmOMsyV96G7PZ-CepVTiSSldOs6lpZ4jEUXCpfMRR_6UEfuU6IIq4WEAa3OVDAwuTbpwYOaWps_JBlK9bl2nj3jEwe78QCm0QQy6_5xPuSv_u7_XReo9_UE6wF9HxnYhqUPm1UU5NWa0wBl_AGjvW2SuMK7fxWqTyUXwLq8b_RroPsvQLeEu5MzELXXxiIMiYR1vPN5skCyzyOSYFawAZeZvY9YAsqOCJSeU7BlB7-kpBdH16Fsi8rTneKZi-Y7BvdsCwZb1YQQ6967Z3Xv35ZGwj-vvoB878WnFZr4SrEyys08Na1u_YMHKPqa5HXMGX7sQltKIfPnezMcJ4IBrbidzI6aX7pktvj6grKBppDBwLlHSzjwuW4VQMbiJZ_28aoCwbbdQhE3jX2HR180PxKru7o5HZ8DXMcNAQ2QPdjFSRHCuVd_RdCQGW2ZfaxlVTAA5m9RpE2Ejkf7KgsEgkum7peTky2g1hZ1oARjXA2nrsqVYRMXC8JWI-MidaVX7zLJI0qguqd_xqFaw_2I1IY5SrEvRvcd2h3Xxu3cuajCt7niV39BCqkQJ9xu4lj03wSprJtPDODUzI8BJQ6qmiZkweFHT_ICdcF8To9mOGr6OD-qQAHW9SupBuknZp0sfn9eBlZLypyQEL_iPBIqPOuh_3es0rufPKLrSOCKwtvBuiLIYkqQVjVEvhQamVb0uetQvTo7d4YwLsLdH0w9LYboI3t0MiMhXmSwGo6584odNEWNnp8zYM3lKuiOA0liUkij-7GpqO-MeJyjCRMZrZFXuHzgSB7SzxKuu7msEuZW14Zo_iqbR1Cylqp_DZR6oYooaKTq-xdkbuBPgXk3g5et5b85MfH7W_2JNQ4sXR5iIzWoqDEChyIfS7pw5_LWry2WS7FjObWEczA_fDVGeUe3WtTnP5CwQcn8bW_VXXLkPTkW36hmyOhQSq0pW1DuoacEnZfQlsXvMgPDy0wdkt3X61iecGad5PHuhBkbMtYVLXbrEOsR3LeuZtoOvHTh1dOzuJxWkHdTZ6k01fr5rDzDWH0Fjodh_cts3Vge41-_VKo4MkwL9ohEpTiqrYOZMZAZRqRbofCuhNbtHGteNkYT1wjLFZmh4Y7DRZtq3jp9f_CkVdD9xcF9kOjZJtStA3C058SqqZNtcvaqtq8X4H03UxcuFULh4ARRlV7kROau37cuOAzOVXI5fxwyheOOpQYmNvdNJy6-iUhrE-jNtO_El-k1TMatDQZ0Yw_Yx0a0d3AitaJXOjTXYWc0TM2JxwrI3u4Cxkg3P1nms46CQXmB9gjqJL7rSoH2D6Vb5RT9lobWpdmL4z0bUp35QIrcRFlbLFZcXaL4yhekptUqM-NgkBzTtRo7gpKqYu5oTPfQ5oqGf2sy-RJswmDm-Zm9KChJfkUBcs36CiR1jszqF6RGvYqjhoPqPawmp3ndNMnVH8InMYlk2kBfQ5OG0XgMtQBIdd5DHe2cYaC44Jg56KrcHKEKSCXynJew5M04tCg_PbQ_nxLHwVr3xoMZMtrUwy0Fr3KEzvWHcpO8XQmq5RvPxn_0UamIKAMvAIS7-IOJvp2gY6EKvDgAZHfN-4mtbFHdjtx7lezTJqj5eJ9hHZ1pEiPUBoDRYD7HkLYMc4jLp0c2XuzMxr1GctO3yf8sqD_eLis5KuvIXiiOCKzZx_-FSAhrn9Cai3q0NSZNyzrdaoGmwzKHysTE026lK05fq1zLOPWoF5sytje9F3zkRWCKJxV0fk0qUqUuTCGStdIM2szj8O_G3micn4EErsiWICoQtF5WTB6kzGs_E3_FVqrl_1WmqAgEQo0OSX5gzg3W2zjxeaSRfBZKz6Pd5a8iHkVO4zOQ3osHdNecBJt4QDFphQVGl0qqqUZs1wBNLb9SMUrUXEXKvXjBsmM7YZP-Iazo6NBTyl_ABJ48iQkREMoMc1atOikI2uul0pg2FrUspB-ucuMKOngEmYxFDXQyZ5Ozmtns-SQdIp7hY27Tyxzp87DcnlX2k1-5U7BXwGYj0v6_vUUYETDe-oz3WuO28qvhkNq56UCEokVhGxCGr5Qi6CUhvj9DGckFjevG-ijWIuAieFsCOObrOpFZtKt3WySfa0F2s3MaZWD9Lnbh4k53snC9yYyThrx1TWbWZJYp3v1ja0NIXzdEbUhgXI16NTdBBcpAU34vIRFLcBbEKeOFj_5Wb6195nGtGJWmuGYt8kA5SGPkW8_5qECaZAk-XiJzVuW-pe4n2_H0Y_nkHFj9RkmoAoUsy4qjL_l86VSERwdoNYOTRf3sJbVjXi_XYdKU_Nm5tyiTb54CmNow8-TrAkQBD8-Z5oRHmwj4ouHlNqtT5Vpo4000gYssMnO43ddSKxFZhKT2x5tfeVOBaTekI3ybHr7haJcnRNMD4SuDzI2RCrGVywPJ6mTzyQ8TIrP3aVm9BrF9-iS_3qYhJRyIkHyRBiFSsL-U4lbCvQSm725ANa2ct_GX_8J6jAmF1KFo8vNf4alvhJdZUP9UdHcW8K6_YXq-Z47CdSsvMYuW4JZUqWPlk4xlfzqkICSX2Z7U_bqVb1gx_G8bD5woKrLIfLnlDgpfMmxT6RNPMhbpirW6ZjL6t1l2OxslBb3-ySFZylFpNNEXTIrmASgxSUADwKF98gaCQe2E_jmf-0wD_RTgMkPvWxRo1Sqo1RrNN2R0fzENx-lyZ6Y1NjsjI0z8x6R4DDUwssBJvs5x16NA==",
  "id": "rs_0347101e88931267016ab448f3fadc87d0803f82189473de08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.62},\"note\":\"At table height the jaws are symmetrically around the bottle's upper body, while the cap itself remains beyond reach. I will use a gentler partial close sized to the bottle diameter to avoid squeezing the rounded bottle out sideways, then test with a short lift.\"}",
  "call_id": "call_mHLCkgbqytEfOM62Xhz4fnc8",
  "id": "fc_0347101e88931267016ab448f7112487d088a1f3dee2598825",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mHLCkgbqytEfOM62Xhz4fnc8",
  "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]: [-0.0208, 0.7391, 0.498, -0.3347, -0.0261, -0.0292, 0.9978, 0.3889, 1.9553, 0.8463, 0.5732, 0.144, 0.0799, 0.6266]\nstate[eef_state]: left_x=0.2843 left_y=0.0023 left_z=0.1555 left_yaw=0.0011 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4641 right_y=0.1667 right_z=0.0393 right_yaw=0.216 right_pitch=0.0381 right_roll=0.0105 right_gripper=0.6266\nstate[joint_eff]: [-0.0205, -1.3333, 6.1333, 1.9267, -0.0464, -0.0562, -0.0122, 0.2667, -9.388, 3.8222, 1.4676, 0.1148, -0.0366, 0.2662]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50cd02d96b38f783733d395f390cef30e01d1205f7b11944ff3f44c529252516",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b66b73722e9b37331907ee469cce2922c3b99fc075567e5737e0e9fbaca15b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ba18f6f68d2f4b2b68632eaf8a9196da71cb4c5346662bd1f6663b1f180b92",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7609, 0.5335, -0.3561, -0.0261, -0.0292, 0.9978, 0.4126, 1.5993, 1.3403, -0.4084, 0.1795, 0.0906, 0.9955]\nstate[eef_state]: left_x=0.2871 left_y=0.0022 left_z=0.1615 left_yaw=0.0011 left_pitch=-0.0198 left_roll=-0.0 left_gripper=0.9978 right_x=0.4431 right_y=0.1634 right_z=0.2203 right_yaw=0.2035 right_pitch=-0.0873 right_roll=-0.0254 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.4427, 6.6256, 1.8828, -0.0366, -0.0366, -0.0122, -0.841, -8.4991, 10.1128, 1.9658, 0.1197, 0.0611, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7429, 0.5014, -0.3374, -0.0261, -0.0288, 0.9978, 0.3916, 1.9354, 0.8989, 0.3767, 0.1486, 0.0734, 0.9955]\nstate[eef_state]: left_x=0.2845 left_y=0.0023 left_z=0.1555 left_yaw=0.0009 left_pitch=-0.0152 left_roll=0.0002 left_gripper=0.9978 right_x=0.456 right_y=0.1639 right_z=0.0285 right_yaw=0.2178 right_pitch=-0.0836 right_roll=-0.0188 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.306, 6.5162, 1.8681, -0.0317, -0.0024, -0.0122, -0.4444, -7.9385, 5.1897, 1.9121, 0.0855, 0.0611, -0.0171]\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]: [-0.0208, 0.7391, 0.498, -0.3347, -0.0261, -0.0292, 0.9978, 0.3889, 1.9553, 0.8463, 0.5732, 0.144, 0.0799, 0.6266]\nstate[eef_state]: left_x=0.2843 left_y=0.0023 left_z=0.1555 left_yaw=0.0011 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4641 right_y=0.1667 right_z=0.0393 right_yaw=0.216 right_pitch=0.0381 right_roll=0.0105 right_gripper=0.6266\nstate[joint_eff]: [-0.0205, -1.3333, 6.1333, 1.9267, -0.0464, -0.0562, -0.0122, 0.2667, -9.388, 3.8222, 1.4676, 0.1148, -0.0366, 0.2662]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50cd02d96b38f783733d395f390cef30e01d1205f7b11944ff3f44c529252516",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b66b73722e9b37331907ee469cce2922c3b99fc075567e5737e0e9fbaca15b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ba18f6f68d2f4b2b68632eaf8a9196da71cb4c5346662bd1f6663b1f180b92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEj64lRnqvwxWr4hJM46nmsuiz0hPgEf2l9K-05fYQAZw_3ZiV-JArJ-CKU_CjkFNkMKOXTYr1W2EvxVg-i0bylPTavhw6V0mteHL5EWkjgeNZa3OxNKJyOKisvRxgsQA54czeIuEiRqkP9_sRDq-Vaqlk53uh4DTr7Ar5SSDFmVV7Hbf5Q5qo2rCt4SCpxTVmv5vvE_aZ6lsT7wtgwphmut1uo7DeKmp8JiNYVE6rPQ-syI_xR2yosH1bUKRl_NEqUv4EHyJ0jMO1bGPB4_FCPGtclu-j-XU7mdCIkrmjXnMhwVf_3HCMg3AnPYS1EbZ85yCSRMWH-tre5UsVY4Ru8ntrMqopn76Etmc8J34pHJZd7O_iVjlQbVIV0Tb9a8jDF23MYFQKMKEiot9bUGaxQVPv_kFn_j2rYTK-TmZLIYE0zAkApj-t_be9i6D2O7n3dhyBm_5QxukZQ0Rc2CxLixCYpVJGKAzbPbfJoVN8imrSTICMTmrO0DWoryYhIpdHhNqhftv4q4uMhkbtusckoIDOUhdohNpClpjGQoB0u3vuhC2qNnaosc1hZmn9uV3KRbwQrfUs0-43SsYZbcojyE-HnkvItl3QHjyZE6J1Ayio5elJW4vf1J6AycwqMJ_1p_KbEoZVXUfIvFHFnDbCvDtwrBmnS-tju3vYvjccis7FhqBanDczB63u5fgufO6T563gjKbhhegdJTCOyIwqrnusp2sSfpI6yeYufXuVXEoXAseaEK-LpMUm13IH57QcL2fyMs7FGf5G2ezOQLfedmKBunmX7cxxEjZrOUCXaxphantyV1tI2-dM1831Q2F9280rNYAHqyCbnl_JfKYDTAdA2VoolJGsrYN13t8fb6T0Exn5SN7OxjUKIGpF99T8Xao82bHm0TD6gvAjXAJFMi4m87uS-bUo-kt2t03OzPJsBaDPpMNtiRqcTgLwYXlBkzM5Shq29b5JBF9B-gmCLiuuogCeRruD5aX6f-svF-xrP-yJQENdjXEjy32KUI7nxVDccB13lzd9TUazsGWM-8SydXdi1emgPVv1e53gd1CKm074dpFF1JDykm3ChJUXNTTH6Q7If7M03yZVo6qRjkON_OSvdoFOp3B0Xsltm5DcsyEfnXF96Om7JVwTmc0gDFT9V3s2KXqdPFyCM8vthOWNk0CcaYAt_GqX9L6-m39wdreC5ncdHBmCFCIAlf5um32CBKj0jskIP83CxuyjyvCUz5wDiNxvGWNMZd0zgR2ZuewWsoiQbv8SWCjvepqBEjqKDpkmuXQiiw4aI_gcXwrCsf8W1wJVcnQna8K_6ro-yKkwUkc5zJ2StvFg9lCpmjmOoLIgWQAvPiH7KJw4nOsls2HZC-grE--QF8nrwgvjE=",
  "id": "rs_0347101e88931267016ab448f97aa087d0a9240e8ebffcb8c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The partial close settled near 0.63 with the jaws visibly contacting both sides of the bottle. I will lift only 5 cm to verify that this gentler body grasp actually moves the bottle.\"}",
  "call_id": "call_8Wgmj1uKLDM1STRq5l7KddoM",
  "id": "fc_0347101e88931267016ab448f9fec487d0ba650d5612979b7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8Wgmj1uKLDM1STRq5l7KddoM",
  "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]: [-0.0208, 0.7391, 0.498, -0.3332, -0.0257, -0.0288, 0.9978, 0.3923, 1.8462, 0.9081, 0.3363, 0.1444, 0.0696, 0.6267]\nstate[eef_state]: left_x=0.2845 left_y=0.0022 left_z=0.1558 left_yaw=0.0006 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9978 right_x=0.4584 right_y=0.1661 right_z=0.0655 right_yaw=0.2247 right_pitch=-0.0269 right_roll=-0.0096 right_gripper=0.6267\nstate[joint_eff]: [-0.0342, -1.3607, 6.106, 1.8535, -0.0513, -0.0317, -0.0073, -0.3761, -11.0701, 8.7043, 1.9609, 0.0757, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6d027fd5042b8e379c7784382b27bb42f8e92df4fbc4211d6a6c87c391db57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b34103f51f48b98625da8619439fc51feba134e57745266f3f92faa9ad6b477",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8bcdfd2bc94f3f41f56ea1a3d72991b09c0e3c03c00a218840efccbe33cd7c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7551, 0.5175, -0.3489, -0.0261, -0.0288, 0.9978, 0.4061, 1.6154, 1.3582, -0.4026, 0.178, 0.0803, 0.9955]\nstate[eef_state]: left_x=0.2857 left_y=0.0023 left_z=0.1572 left_yaw=0.0009 left_pitch=-0.0229 left_roll=0.0004 left_gripper=0.9978 right_x=0.449 right_y=0.1629 right_z=0.2221 right_yaw=0.2039 right_pitch=-0.0801 right_roll=-0.0311 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.2376, 6.9128, 1.9072, -0.0562, -0.0317, -0.0122, -0.4991, -8.2256, 10.6462, 1.9902, 0.0317, 0.149, -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]: [-0.0208, 0.7391, 0.498, -0.3347, -0.0261, -0.0292, 0.9978, 0.3889, 1.9553, 0.8463, 0.5732, 0.144, 0.0799, 0.6266]\nstate[eef_state]: left_x=0.2843 left_y=0.0023 left_z=0.1555 left_yaw=0.0011 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4641 right_y=0.1667 right_z=0.0393 right_yaw=0.216 right_pitch=0.0381 right_roll=0.0105 right_gripper=0.6266\nstate[joint_eff]: [-0.0205, -1.3333, 6.1333, 1.9267, -0.0464, -0.0562, -0.0122, 0.2667, -9.388, 3.8222, 1.4676, 0.1148, -0.0366, 0.2662]",
      "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]: [-0.0208, 0.7391, 0.498, -0.3332, -0.0257, -0.0288, 0.9978, 0.3923, 1.8462, 0.9081, 0.3363, 0.1444, 0.0696, 0.6267]\nstate[eef_state]: left_x=0.2845 left_y=0.0022 left_z=0.1558 left_yaw=0.0006 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9978 right_x=0.4584 right_y=0.1661 right_z=0.0655 right_yaw=0.2247 right_pitch=-0.0269 right_roll=-0.0096 right_gripper=0.6267\nstate[joint_eff]: [-0.0342, -1.3607, 6.106, 1.8535, -0.0513, -0.0317, -0.0073, -0.3761, -11.0701, 8.7043, 1.9609, 0.0757, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6d027fd5042b8e379c7784382b27bb42f8e92df4fbc4211d6a6c87c391db57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b34103f51f48b98625da8619439fc51feba134e57745266f3f92faa9ad6b477",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8bcdfd2bc94f3f41f56ea1a3d72991b09c0e3c03c00a218840efccbe33cd7c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkATM_dmc31l5yFOfw4TqP8ejzwlLQ-tvRKg1FBOsowWm3PQKVb4N10qADVOKDD4PKhJdp1eTrL8SXl7jHad8DspXstFIxhXTNtRfGlKiIW-khcGapGdXshMkmSbUhs5nYWIXYADkt_24VjdiNsc2tReue0RZ95CU_9C0_JSLXVOd4aO9un0UsWmen5Ndu_jy-vF24xB7y-X6CNAKzGuiasi8L4Q8YKGHoc4PERlJzz7Qq1rMek9TJUESapRsO895a0cIAQOWmDHw-IhUprFA9jrKmia7nK0kMyYgVP7b4bWgg0KqtYNd0V2bmKmTeyu2ZfgqjZxBgEUX_x1GzD6bZh6IQlm5xgfImw8n7tBnC8RCDS2B6bTMJCOfgcUA0A44DsLEVadOi6drcnCO3YAmMffm7ab8NhcCAlH_y6-Rv9GIWeHV2xXBvmFCuaCaDHMT7H1OwK6OPvlmCnTAhk6LOA2Tz2kzpQNdlTdfKDaXsRhmvqkKyp2_RwwE7O22BO8OVoqhJgY4RemvMgIeIbVXZ2NyOFAB0YFQ4A1yXqgNuV6LLbliG7z0WEb8gCbHz1kwcyZMogyPfpZSXGQiGVfX7s0Y9PPLmX-jkCdMtewBNfQhbC0W9MJxX3_jKzLJU5TGqjihYyNlAl4c1pYf4rwQHhjKEryr_51Znha6qVCmncidDwApFW7u2CPrXLdbyVx2LH3p889yUOW1_irWmLMmow-Pk-j4om1lFyEgHgfHPcryV1p8TI2pRwxuXHYButCIzMy2gioOhr0Ddj8LgFUDzv7HJRM5-UrGs8AVlHdHmshDfqQ5-AYGGoXHn4-JBlA_VVHLvYxHZxAKJN4SeyNWXFUmUldpBtoTtW3OrsyvKdTxRkjgZbcfGUQiKz_EUe_3c3lnUHxaAPzKJ0dAl7WsKP_4bDpz-qFdEmfjcOREK3UIztv68iGUcXD4gxIfDffPXygFa48LARPeiH-1yfOTasxqDuTXWyiJP8vBFS6_H-TYVIR0Dey5P40rQPkFuBdrYavQdhXiph-xgJ6q172b4NkrYE1VYxbEmfThTul8ORR2uE8uog-5pMaW0IrjyK4ZS8NWRZSIAno-xW5FXTutcbagbGo4STletqjNCM5t6jjAqqJwoGTpLrPl9TVa6SYElUxNeu61uSXeeOYSJYBNGz9wMhzTK1mAtcBeMEyD54GRt1GluacIGCEzgg8vlXqLgOMqmlNfmKRbDiQqF9OT71mK_NuOpCs_qHwwQQGch3nUEsxHtiRVjSZhYGU1TDry_1StKtATDYuwP7ezFZnEYtmAxIlPdGIvGUkBK9zuPghBdBuibC0lm5ITsSyxiBxuGkxNVdrCq_u5C5GEt6RBdSVaoJBt3mfbXX89CmkQQaT2qWdbB4DUEq30vDz20YHIv5UVmk90zOfBZt4YLzagbhvPecJIyAuo4KmCXJZT_ADpn2dPY_T_iYx70t0npysM7MlgRjnSkFxXb8zaI7snRLlYlvBpcdPiddipkvhn0swUoP-m1ZV6krlIeWhQ3uvZCb0aP9_5JT1bQixIIYe3_U0ON9wfaB40yziHh75TKLGTyTuFixt3Q1Pv2ykft3BqLODM8qStZHqpHR7-IKP-F-k4T43MutYSBy012jTAbnjz6BK8tM1VEcIKv8m-YTIiaC1thqf9yK-s37tOrS9PD2cEa_9hEnKS4SDKWuIt88QJ_UghAg3DigCbE1252npsW-Qi8N8HoSj_YV9muh2MXvQnigJutZB0I2w8X4sjAAF9gOUKTn1QP1DP48UV0ix-nq8zx0TJYOeW3e_f8-w6FdIjeZq7Mt7lONXRSnKds-ar9vcgj9tSHZl4uaNGpYNE-4q-vI2qtCDDgQEh6dZG998SGsjoFjVs9Nc1ehkApjpf-LAW8t2sksQED2jwDM6sYaW8xuc2HJEOsz8Zs96jKsT0-bnudLY9xWaJdaov8zAHFqLXUChO2a2JevGs__57PJH7AJ0AP3hXirDJVaw7zlwapzpjcNnKOxxbTwKA1-bsKpWhcssQFU1EwLiBTYuZcOZXatv6I6-kZgYMMBRmipCI7q6ii8RkNohpCqletSPVur2wXjYTzHlsrijVh4_GoiygVUGIEcEYp-ygFg4XeYnQNcf65o-VakVdfvJCRw6yS9BGEq261YfR1lXnfwk_OLPS-xI4Hsdm9HYCxgQI8n0LwTiEKzabF6tAxVmilSIrGww7fY9rmtq391IoLi5hu3n7W3ZpxF6RdVD6PYQpDi7rLx3Odmg4sFRfJHAQSbHjCNs0Kuqyv5tXV1rG7R0ORD3Yhnuwz2Urtg9hb6nWhfIYMylKVQoKvOIasijeYZXoDck-sPTYkiblyPAFgwDdin1_tXZB_oqSGaFJvBvtT5AXOavscPoPxSqDnS8lpwJIigQaJn_nrfkLWDoE2816o0kg03KTDkN9bjX9uy9GhvPg==",
  "id": "rs_0347101e88931267016ab448fc604887d0a76f05b13aa54701",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.165,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"The short lift confirmed the bottle stayed on the table; the wrist view shows it is still just ahead of the true fingertip point despite appearing between the jaw columns. I will reopen, lower, and use the last few centimeters of reachable x to put the fingertips around the body.\"}",
  "call_id": "call_k3IxvcrIa76bFxfPXvjg7wZM",
  "id": "fc_0347101e88931267016ab448feeffc87d082a6da78abd74f4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k3IxvcrIa76bFxfPXvjg7wZM",
  "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]: [-0.0212, 0.7364, 0.498, -0.3332, -0.0257, -0.0292, 0.9978, 0.3584, 2.0087, 0.9443, 0.4805, 0.1246, 0.0456, 0.9957]\nstate[eef_state]: left_x=0.2844 left_y=0.0021 left_z=0.1565 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4823 right_y=0.161 right_z=0.0309 right_yaw=0.2204 right_pitch=-0.0111 right_roll=-0.016 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.0462, 6.2291, 1.8388, -0.0415, -0.0366, -0.0122, -0.0615, -6.2838, 5.8735, 1.6142, -0.0855, 0.0415, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d655f85a477e24c089c7515263103f20a8311a21372c15b4700402d085491737",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2baf20698eb8ae4942f8c085d7e97e3ae00a0c92ad1d36abbd85f806aa4be28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e040a841fb94886759cbb98692d15ad2a63ba2ec16cc5cbf32d2b5a57c510196",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7429, 0.5014, -0.3374, -0.0261, -0.0288, 0.9978, 0.3916, 1.9354, 0.8989, 0.3767, 0.1486, 0.0734, 0.9955]\nstate[eef_state]: left_x=0.2845 left_y=0.0023 left_z=0.1555 left_yaw=0.0009 left_pitch=-0.0152 left_roll=0.0002 left_gripper=0.9978 right_x=0.456 right_y=0.1639 right_z=0.0285 right_yaw=0.2178 right_pitch=-0.0836 right_roll=-0.0188 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.306, 6.5162, 1.8681, -0.0317, -0.0024, -0.0122, -0.4444, -7.9385, 5.1897, 1.9121, 0.0855, 0.0611, -0.0171]\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]: [-0.0208, 0.7391, 0.498, -0.3332, -0.0257, -0.0288, 0.9978, 0.3923, 1.8462, 0.9081, 0.3363, 0.1444, 0.0696, 0.6267]\nstate[eef_state]: left_x=0.2845 left_y=0.0022 left_z=0.1558 left_yaw=0.0006 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9978 right_x=0.4584 right_y=0.1661 right_z=0.0655 right_yaw=0.2247 right_pitch=-0.0269 right_roll=-0.0096 right_gripper=0.6267\nstate[joint_eff]: [-0.0342, -1.3607, 6.106, 1.8535, -0.0513, -0.0317, -0.0073, -0.3761, -11.0701, 8.7043, 1.9609, 0.0757, 0.0611, -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]: [-0.0212, 0.7364, 0.498, -0.3332, -0.0257, -0.0292, 0.9978, 0.3584, 2.0087, 0.9443, 0.4805, 0.1246, 0.0456, 0.9957]\nstate[eef_state]: left_x=0.2844 left_y=0.0021 left_z=0.1565 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4823 right_y=0.161 right_z=0.0309 right_yaw=0.2204 right_pitch=-0.0111 right_roll=-0.016 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.0462, 6.2291, 1.8388, -0.0415, -0.0366, -0.0122, -0.0615, -6.2838, 5.8735, 1.6142, -0.0855, 0.0415, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d655f85a477e24c089c7515263103f20a8311a21372c15b4700402d085491737",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2baf20698eb8ae4942f8c085d7e97e3ae00a0c92ad1d36abbd85f806aa4be28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e040a841fb94886759cbb98692d15ad2a63ba2ec16cc5cbf32d2b5a57c510196",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkDZ8GOThryUR9apuHXSj3r4r0DAJR0-bvcXQYvc4SLR4gK2RyIzDJnKDwIEIwUCwr2MfhBy4UOWiqsYSmFAj6gs38glGWy8rkGcrGjGBX_VF0WFlhI-bi88cNBx_M5j1CCYPjBj4TSBrTI6dChfcV-mKO2X5lBtOyQdNWI_tF1JLeJ2FTO35mfbdM4cu5ZbGZ6rqaAtv0hto1nGY0IeOL0HTuoPpHLDViGdrhIs9Jj_rCTsgiSh8C0qq0uq-TF2a_jiIeDmusCxLnPF7YfKS3C4W4oJliKGGE5ENa-u-lHR4UL-gPEQFlSIMECLmxzVN9PMKfKSHHe9xp8Ujr8PSjU8XPeSCUdOAIn1QgzB59GREKcDyrgNa0soGzF9iuhthG_XW_0zEPNpBrMStKd7hyWjCpHt3nWSeku2o7RzUvEQP0zFZ0IYsxt1bTT11KhYTpGoeZTDEODcz2_b4dhvW18_n52cQ7AJc0yYnhAzYJyzx_1q_99bBdyhK8to8awU79FlQjbdobUXSUT7vc5a9QXTNgjBjhc6eCpscLUK6SMn4_C2-2kV9hBol9jGj6kx9vzyexCSrBcy4nFBgCkaKdroa1lDnpFt7a5eDRd_i2MmFHxKVYB5Dh1bPPpZ9j95bd3pMCZCzSwPmnzqpgwPrpk1VCYSQEuw2mM7PH9X_kjf2KHigv4783qGAB4jF5OLsb8a7J2OgjKjRcmjMiKxcEogC05yrU201AfUjGfZbnh7JrmFLY24KYnv33LBofiRcqy2KCAz1m4plCbytF0CQjeJtDS6DBkEe6YYQwOhbok1znUf2mNS_Qs2iFGSxlf698PmGY72I35jsdgAm40ha1EN6Yjx78JSo6W_N0lWV64srWPtFFLHkTF7B4YAq-otbfsnuAN98m_ogm4P8-WxbKJYyQq6PH-St7be-hgHKuMtk8My2FZMTk9RFzA8UD4vgd0zh0jnQ3ru-hDNQbzr27bTQd4vCk73l30kIpAxDAebNzAfUoVnZvYzoU3MZCC2ndRoTuIx4vIvDIZipjxxO4BfFYd2Dgmp5dBobcufUcptiK0_Nj6__GDC9VTC4qZ-UnwLfk-iKXE8nfBgxK9mNec2cRk5eEfMi4Wqtg40eb3gffaHLD8pZXdeuS2e5okLjGWi0XyncP1skPqrWFxOF5lL7YbGoompPN3105Kg8vasbrMM_srJkbVPNotb1Z4aTUfPFJfQr8G-6oF9aHy1yz0q6D7lPm0NvwlB2BSQrRSrAEowE73SBaK9ZmT2AODh6R2CNNEKK5txfU-oMvQHKWXzsk1r3QbP0J885K84osJrP9i2oIDTMoFrhekSS5R5BI5AxZyqzd7_jj_kBjSYHg0MM44KtpKV2qerOVTuKjv053bvEf6HjXeMjwetGUl9EkL__qxkfj8SZF-DeuABs9cSqPq0ODqG2jUqzTDms1ra4kKXCHcqEsfLStFjCbRwHbqOMCEp7a6N_gde7bS5v0QTrNNln2TTlxu8aPaQBCaKYO1KGmFhzM05Ul1kRM1X_BpXRRsIJSpk61Vj6sU20k5zA==",
  "id": "rs_0347101e88931267016ab449019ee487d0bb33c997ccc8cac6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.6},\"note\":\"At x=0.482 m the bottle has moved notably deeper between the jaws, with its body filling the fingertip region. I will close gently to about 5.7 cm rather than fully crushing the rounded bottle.\"}",
  "call_id": "call_G3YY5KQ9CpVydwruuxqYLOo6",
  "id": "fc_0347101e88931267016ab44902810087d092dc27aad8b545d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G3YY5KQ9CpVydwruuxqYLOo6",
  "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]: [-0.0208, 0.7364, 0.498, -0.3313, -0.0257, -0.0292, 0.9978, 0.3607, 2.0403, 0.9607, 0.5762, 0.0959, 0.0479, 0.6068]\nstate[eef_state]: left_x=0.2846 left_y=0.0022 left_z=0.1569 left_yaw=0.0008 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4945 right_y=0.1723 right_z=0.0413 right_yaw=0.2453 right_pitch=0.0669 right_roll=0.0108 right_gripper=0.6068\nstate[joint_eff]: [-0.212, -1.0188, 6.4479, 1.9023, -0.0122, -0.0122, -0.0122, -0.6359, -7.9111, 5.8735, 1.2772, 0.2222, 0.0611, 0.3687]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08fd6d80600d3c243078846a0b8ae2ca5bf34a4c14cc13c5dcd3cf041ae3e667",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1debe208f0f61dc79d021415f96684660f176c3cd9d3dcfa0e4423d522c8426",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1540d83a0f57a0e5481ca216a05f0a52f71530ba735281c01306de0fbc457f00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7391, 0.498, -0.3347, -0.0261, -0.0292, 0.9978, 0.3889, 1.9553, 0.8463, 0.5732, 0.144, 0.0799, 0.6266]\nstate[eef_state]: left_x=0.2843 left_y=0.0023 left_z=0.1555 left_yaw=0.0011 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4641 right_y=0.1667 right_z=0.0393 right_yaw=0.216 right_pitch=0.0381 right_roll=0.0105 right_gripper=0.6266\nstate[joint_eff]: [-0.0205, -1.3333, 6.1333, 1.9267, -0.0464, -0.0562, -0.0122, 0.2667, -9.388, 3.8222, 1.4676, 0.1148, -0.0366, 0.2662]",
      "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]: [-0.0212, 0.7364, 0.498, -0.3332, -0.0257, -0.0292, 0.9978, 0.3584, 2.0087, 0.9443, 0.4805, 0.1246, 0.0456, 0.9957]\nstate[eef_state]: left_x=0.2844 left_y=0.0021 left_z=0.1565 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4823 right_y=0.161 right_z=0.0309 right_yaw=0.2204 right_pitch=-0.0111 right_roll=-0.016 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.0462, 6.2291, 1.8388, -0.0415, -0.0366, -0.0122, -0.0615, -6.2838, 5.8735, 1.6142, -0.0855, 0.0415, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7364, 0.498, -0.3313, -0.0257, -0.0292, 0.9978, 0.3607, 2.0403, 0.9607, 0.5762, 0.0959, 0.0479, 0.6068]\nstate[eef_state]: left_x=0.2846 left_y=0.0022 left_z=0.1569 left_yaw=0.0008 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4945 right_y=0.1723 right_z=0.0413 right_yaw=0.2453 right_pitch=0.0669 right_roll=0.0108 right_gripper=0.6068\nstate[joint_eff]: [-0.212, -1.0188, 6.4479, 1.9023, -0.0122, -0.0122, -0.0122, -0.6359, -7.9111, 5.8735, 1.2772, 0.2222, 0.0611, 0.3687]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08fd6d80600d3c243078846a0b8ae2ca5bf34a4c14cc13c5dcd3cf041ae3e667",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1debe208f0f61dc79d021415f96684660f176c3cd9d3dcfa0e4423d522c8426",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1540d83a0f57a0e5481ca216a05f0a52f71530ba735281c01306de0fbc457f00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkFgkT08C3SlvZUinfnFxBYdGkzx8ZK4VNgNPq79Ka_ylCSNPhAHbZ4LJtZT-XyeBixKWSolSmqVk0Qc_q8laLb_hi9cJuauQ4rxU2wnGwf1A7p0p3lSJ3m2KNJABwC1PtG3woJ4rogg871wIpdf6trZSJrSnzYe-JM6uIEz14MjXiIb9jEWOpXBZlxIRNN4nOdJaOQRnErCvnGuJ2Y5nBgGlVi2r9tjoXEl-3gPxABmbE8C1LQGrg9VtbFZMi6wxtsHmyCaslRYemRhbka0_0O-Bj6izqDcziGysxEJ1LMUTSWkk7lvrz1LcRilmxDxaGh45OdY5cdWPMLSfczvvQKnd2JHz5XH1aYTGEWJNqDpG6-pseNl0qOiVPgleQS-9bJiIL3Skpk5hNwziA7A3tE7-PNeyXJWwXgB2A0inyTZSJopAQp26PyIHTmNUSFzedbWks-hGEoDtRwxT4SsWHej1U-MQUZonup-dec5N9pO9JVMrc0AHjducSF_bt7uoWh79BAHnNyAt0qZEQaYWbfL8bx5ZWXoOu6oCCHXzYg9Xuy9RiEGtUf1YeQxi2fVsPe8taQAnZGOZsKHQX25zHJKQ-O1js0jlrOYybkFcYOAzBeirbmsNL1teK2EJGhH8Ijw70vyTYhVPdemVEUXHYvm_l4wHfETOZEVoAy74N_v1-1Lh2HZS4ggZuer5tds6pQaGLG8u0MPuUyo_e_R9A5xzu0hWq16dl_KAuzpalSWoCI6uiYKyfqpTVnMsXzZAcRASrwT7DlOCjp82mCWzUXvq9DLgefN-BtnCa3QqwmsN3MC8oUvVYODfxYtsa4qcwUZwDkg74ZJmXherbeDEL5ZkcwLEOf9060O4umXQbFk_iSS_XA_9z5iKE9g9Zb9xK-lXf6tvmA-xzgKwkuLKXhuUkb_8rJEZWPV6nuwJcJRiMCYwy3MW5eFo5_z756y-IJIGQJiQ94YjB2TtaThWbWf-Y_TathteIEILe6nINOq5XT9nTux88f7Er6j9Hr46nzKHv8xdwsm8ebijnT0qufr06j-MUW9uIb9mMFI9gheltdoaaGrVFPdsJa6AjDHggTGZD13bPid3J0EtzGQsep-80WrevI_mU0I5uDd6_j1_eoHgea_tEQutEoSw-MjQR03mSVHS0m0oVrE1QyodOb9sZGGHvOe9DXv3m7EhqHtQ0lcZ_ZgYzn0Ps8bgG0Oj8-7PgfDrNXNl8IsG1x0c12Zi3kYAeIoRWmkNBs5jXwkZUunbUnTeZcPEaLZN7XLJzhK3pXtBpYUF0JPDUuol2EdhuGHLYe87GqG93-zCTveC3uKTnUWQMmi0a0PbLHg4eU",
  "id": "rs_0347101e88931267016ab44904ba5487d08105e981be15fcb0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The jaws now visibly wrap around the bottle body at the true fingertip location, and the 0.61 opening matches its diameter. I will lift about 8 cm to confirm the bottle moves with the gripper.\"}",
  "call_id": "call_ehIWPwyXqMK2XPKbJWaQRKKG",
  "id": "fc_0347101e88931267016ab4490520e887d0bc420f5604faebca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ehIWPwyXqMK2XPKbJWaQRKKG",
  "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]: [-0.0208, 0.7364, 0.498, -0.3313, -0.0257, -0.0292, 0.9978, 0.3607, 2.0403, 0.9627, 0.5777, 0.0929, 0.0475, 0.6075]\nstate[eef_state]: left_x=0.2846 left_y=0.0022 left_z=0.1569 left_yaw=0.0008 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4951 right_y=0.1731 right_z=0.0423 right_yaw=0.248 right_pitch=0.0702 right_roll=0.0124 right_gripper=0.6075\nstate[joint_eff]: [-0.1162, -1.1282, 6.5846, 1.7802, -0.0269, -0.0464, -0.0122, -0.6359, -8.1299, 5.8188, 1.3065, 0.1685, 0.0366, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3cd947afe45c58267059cc3cef90c75aab7799bae071be56008bf9e013febc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51382d45947eebf45d97defc6ee7235f81b690680d127e119ae14ae8a4b1f1b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a59ebf465b3f6780226aa9c557374d46055395be2ba9885959ba20c1a04da37",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7391, 0.498, -0.3332, -0.0257, -0.0288, 0.9978, 0.3923, 1.8462, 0.9081, 0.3363, 0.1444, 0.0696, 0.6267]\nstate[eef_state]: left_x=0.2845 left_y=0.0022 left_z=0.1558 left_yaw=0.0006 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9978 right_x=0.4584 right_y=0.1661 right_z=0.0655 right_yaw=0.2247 right_pitch=-0.0269 right_roll=-0.0096 right_gripper=0.6267\nstate[joint_eff]: [-0.0342, -1.3607, 6.106, 1.8535, -0.0513, -0.0317, -0.0073, -0.3761, -11.0701, 8.7043, 1.9609, 0.0757, 0.0611, -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]: [-0.0208, 0.7364, 0.498, -0.3313, -0.0257, -0.0292, 0.9978, 0.3607, 2.0403, 0.9607, 0.5762, 0.0959, 0.0479, 0.6068]\nstate[eef_state]: left_x=0.2846 left_y=0.0022 left_z=0.1569 left_yaw=0.0008 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4945 right_y=0.1723 right_z=0.0413 right_yaw=0.2453 right_pitch=0.0669 right_roll=0.0108 right_gripper=0.6068\nstate[joint_eff]: [-0.212, -1.0188, 6.4479, 1.9023, -0.0122, -0.0122, -0.0122, -0.6359, -7.9111, 5.8735, 1.2772, 0.2222, 0.0611, 0.3687]\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]: [-0.0208, 0.7364, 0.498, -0.3313, -0.0257, -0.0292, 0.9978, 0.3607, 2.0403, 0.9627, 0.5777, 0.0929, 0.0475, 0.6075]\nstate[eef_state]: left_x=0.2846 left_y=0.0022 left_z=0.1569 left_yaw=0.0008 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4951 right_y=0.1731 right_z=0.0423 right_yaw=0.248 right_pitch=0.0702 right_roll=0.0124 right_gripper=0.6075\nstate[joint_eff]: [-0.1162, -1.1282, 6.5846, 1.7802, -0.0269, -0.0464, -0.0122, -0.6359, -8.1299, 5.8188, 1.3065, 0.1685, 0.0366, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3cd947afe45c58267059cc3cef90c75aab7799bae071be56008bf9e013febc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51382d45947eebf45d97defc6ee7235f81b690680d127e119ae14ae8a4b1f1b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a59ebf465b3f6780226aa9c557374d46055395be2ba9885959ba20c1a04da37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkI6ksVSVA4M0qwbgV74piTt7vp8chQNWgAE4EwWlryGh3RabiMr2F8MCuyx0-nVQGV22nxYN-fW_g1GsZsas2uY8KnVoJWrMkz8n4jtahT2JYUsJTftdHzlu-cQ2jXZWCe6z7ClciXpYn4qbOuGYUfdyyCJjA6mdXshVUFtC4zoQpXTNePCC-E3_Hx2YvoSnAcxVgHl-0nf0vzoPl0b2rfgYSYQvys8n7sbK9yfhVfUWaqXhab3g1APBfJYLZ2t_5ZGwbRQuFCcAWE_HeaRVjS4PpOCSWV2O7c0cmHyJhIc6Z6Dhn3szwX9tiXWnvsGHLCNT98xGw4YM2XWaGgxnkRH77xzMOsJQeT9cDrAEXqhMtdPjFFCxoTcsDNGEWiW22LKmgip_G6uGaFb__haFKrGD8wE67fBFREcuJzfG-VYcf6wZ0TK0zXm66nnMBp2tPRUlw0efR0o5v-ep6xiIv4MxcEX6mvZFDSRuW0Z5EjsNEoD1XA6yK0K3miOEY7Enff8IcgfLlwK3mwjLEP5BbS-3Rsv3rWO7xLlLgyjAFnnvwwsne00CAwXIsghfIG82Ywa6wyK4vrZDKWkOehwjBZOcpNg3MS_TKhECMlfLoWCLWNtqeuj8nUMdtRc118k4gYD_5mpq59P50DY-Wa_9AjPf1Y6J_86cmXdRzKTGRw7NRvJgf7osIHk6HJ0jh5UsyfoGG3Uc4R2iLTpe85LP3oycIZD4SEF5Glzca7r5veelP19Q-w3Pgh9bsky3B5tXw04Xun6NiIsPEDGV4OIzGNX97NLTtMcdkiV-Y5BSKKWu-A1lQ66SrZJO7ZPODGPSvLeGZH0HRadrExtCw3K_DMaZVpq5sKousFozsn5vTjDFyxtEEeJXoHZfmdv79z0ypg8_AfWk4rw2dxnZKO6bs-6nC-zfl7d6n3YQZN8Xdw6UBC1IPKC3mx868okj5yvXiyKzW6u5Q7TbFa_TaHBPjhZUxA3dVjEAot7iOTR1r5gQDVTCJkrf3UIOiOy_bU5ZQwtUdToqy51cc-dzAMO-WL64ZyDsrnN7qreqXpYBZ8Vr2tXrzVqY1tsgD6SXDjBUAPEc8aAWKPHhr61dM-fx-_W5bQ3pLmmBNeY6dqeBdhk4vfl0Wa667ehZIrPy6aQ1ZDKyleJX0Y6-B7Gb6-NiHvGlKX9p-JsUTlFkPrE2YLmHqA7yG7WJ3Pm75OWdwtqP21WqoSXK9Padh3jei-sNW56wHd7eHUCjC5oVrhCuf0i-5o3-r9Xxc9v8xLRwWveINS4tD15mUuKkGSbQhvPo6DMohvXd0TH1q9bWarcqzGXJQP9eHJnqwnXeOzDNe0zQF8aS3I0loZhDPPeuicfwiyA_FZn2_ZiSHurresKVF-x0CDOn8E9xPjZ_dmlLap3TYddCtEJ5DcZNE072UmLXqtNXwvfeI9v1SNu6z_WatczvTp4CHsF03AoixLToeobMYj",
  "id": "rs_0347101e88931267016ab44907799c87d0a392fdc2e824867e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_z\":0.14},\"note\":\"A pure lift at the extreme forward reach stalled, so the arm cannot raise from this configuration. I will retract and lift together to leave the singular edge while maintaining the bottle pinch.\"}",
  "call_id": "call_6osqFkfoq7yoQTnnpOEUhP2f",
  "id": "fc_0347101e88931267016ab44908102c87d0a8a8d2ed68379e5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6osqFkfoq7yoQTnnpOEUhP2f",
  "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]: [-0.0208, 0.7364, 0.498, -0.3321, -0.0257, -0.0292, 0.9978, 0.4152, 1.6798, 0.9642, 0.1444, 0.1307, 0.0578, 0.6076]\nstate[eef_state]: left_x=0.2845 left_y=0.0022 left_z=0.1567 left_yaw=0.0008 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4465 right_y=0.1756 right_z=0.1265 right_yaw=0.2655 right_pitch=0.002 right_roll=-0.0072 right_gripper=0.6076\nstate[joint_eff]: [-0.1846, -1.1145, 6.5983, 1.8584, -0.0464, -0.0269, -0.0122, 0.4718, -9.7436, 7.2274, 1.8144, 0.1343, 0.1392, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2f43edcb6b4494a22a207fcd4b0f99340cf236565fae60fea5e36f45bf904b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1efa743b3557190bf9c0a45afb1b9a19fa250910d57109a967da601963a7cf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8434f712077b2eda77a9a629db84d5322d0e2b4848d73016ae58b1227a0cead",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0212, 0.7364, 0.498, -0.3332, -0.0257, -0.0292, 0.9978, 0.3584, 2.0087, 0.9443, 0.4805, 0.1246, 0.0456, 0.9957]\nstate[eef_state]: left_x=0.2844 left_y=0.0021 left_z=0.1565 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4823 right_y=0.161 right_z=0.0309 right_yaw=0.2204 right_pitch=-0.0111 right_roll=-0.016 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.0462, 6.2291, 1.8388, -0.0415, -0.0366, -0.0122, -0.0615, -6.2838, 5.8735, 1.6142, -0.0855, 0.0415, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7364, 0.498, -0.3313, -0.0257, -0.0292, 0.9978, 0.3607, 2.0403, 0.9627, 0.5777, 0.0929, 0.0475, 0.6075]\nstate[eef_state]: left_x=0.2846 left_y=0.0022 left_z=0.1569 left_yaw=0.0008 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4951 right_y=0.1731 right_z=0.0423 right_yaw=0.248 right_pitch=0.0702 right_roll=0.0124 right_gripper=0.6075\nstate[joint_eff]: [-0.1162, -1.1282, 6.5846, 1.7802, -0.0269, -0.0464, -0.0122, -0.6359, -8.1299, 5.8188, 1.3065, 0.1685, 0.0366, 0.0562]",
      "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]: [-0.0208, 0.7364, 0.498, -0.3321, -0.0257, -0.0292, 0.9978, 0.4152, 1.6798, 0.9642, 0.1444, 0.1307, 0.0578, 0.6076]\nstate[eef_state]: left_x=0.2845 left_y=0.0022 left_z=0.1567 left_yaw=0.0008 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4465 right_y=0.1756 right_z=0.1265 right_yaw=0.2655 right_pitch=0.002 right_roll=-0.0072 right_gripper=0.6076\nstate[joint_eff]: [-0.1846, -1.1145, 6.5983, 1.8584, -0.0464, -0.0269, -0.0122, 0.4718, -9.7436, 7.2274, 1.8144, 0.1343, 0.1392, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2f43edcb6b4494a22a207fcd4b0f99340cf236565fae60fea5e36f45bf904b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1efa743b3557190bf9c0a45afb1b9a19fa250910d57109a967da601963a7cf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8434f712077b2eda77a9a629db84d5322d0e2b4848d73016ae58b1227a0cead",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkPcD1TUU7_ANQ6YwjRZut5a41Rcvob5mVNSqJlPUESMhQi1QzKd-ExBYa-2NSNluqPR7UJH_bGLmsGzgB5N5uEHUlM9uf6-11hwELx67qSEy6-N9nmyNR0gdU8svDB7_HTu45oBD34AJfwHgl0G3otdktEJvgszoHWKMD-93hIyxk5mo6xGCg0exXi8PHNON47tTkhDImnX19z76wldrRHhVvU1x96BAaUEDWyjfrDlUsODqGNiLtNQn2OX6tpYWWccVjK6LQjaMJbffXhB9ryuo9gbMKFTBUcEapcbYjpOmRxXjHfFUNR7ZRXecyLr7Snrg0oaX2AooCtu7RSdC0nCZRcxcSVhMbijNc64kIqzhk-fqWhzNnha7g7eUhr1PZ7SJdC4gaHYhI5rdGDyWeJS6_-iWhEPU6MCoZ5RMWaBk10wy-DBwOQdB2nlLbebyLZ1wSWV832tYdmQ-pMegXXd908DNGR0N4m3mOjDQ_aH8KWJWnMryf9O1NnP9SQQU-EwecFdGw4FQf-hdzkO4k5uUA1n1YeeUKV5P43NuKz_Rm78_UeyUcpIcfPmElVXU5Y5xF5svrMSa0ejSrRBAeF-3Tobi5P8A2rbfcn0Xy9vn5Txbv0cprFOqMRc9Few2U1bJChGnbezneWi3ADlUdUa8Eo0RJkmQYX-YZoKj-MURyyesQpVfWYBqcfhS6tI-RQEHeLLHZ-WFYbxfLKmAF0WGXDEMzLcHn7ki9QRVkqeYXgj5PKohFVlcDL-2zDAZDsQgC3wleEN8-rcm65YvLLBYAiNMHfjPFvPxh1FOf4VbWNMfEzuCUmm6YBhFRfQQWYZV31oqURd5NsQsca-viepn8KwuKJJShfVkdmdu0DoDoBsqC0kTiLs0GvGH3RfkfwMcbb_dGwJfx48i0GBAv52fFOAwl9eKePeZ-35k-GQIoxoHtCyyZo7pIFgcchotsRa_3QFWkpG1rj_WnUhLWYXUn8n3nCJEvsNIkM-E3Z-CtenDbkXgq259Anu4SpN0KzLhGa9RsK4Pc4X2VH8-Al4ist_V22JJI_mKagV_Mfmfgpw_5Mkv8DrP-p_nqL_ot6F4dZvMLIpRIM8JO-yHUiggN7Br3uSKs-N9Sxn-D8o9TsGDFASMcpozMBQAeuqacbVlaOmviLsGo21zPZi1GkRg_RE8kqcknQIdcn-B8azFKxfE8ys_pFEKVFLEJ0U3M09DxG1W8dxQL3U5S6U4003EsW6Qv9HlmGI1-VgHMDkeWeLKigL9HtF2xS_Q7EpC6DA324MWvid_Fw69ZdWAhdOxfjgf1tS9HfiX5LFxnBn_D5KWs-iwC4cD6HymHdYKuirNXXVDEoiCVFgrIJL5oiCJlese6H_BY-TULcjonyvrRDf5pXz_R2Mh1cVmj4gSAToBH32m8gZS8tbJb-jzMbMN6bzXO1rNUiLbE7riiKwq4KzHL6E_7eOfL1yP5yUi3EtzKwaTnJ_wn3mqTIJSTbQUi6cZI6wUH-eg0LMvB_8i_aiWvgt9uUABI_d4Ycfy9CruVlto0r570shUoreAVs_e27ApDkfRHMgy4Ivbj83qoRBUYCkRbZ7eT_EwRP8Q9QVE5OT1F16ovOpex-y3QlnQ10kTf5agd4O_XDoRKq2hPDTAAYt5oFaW0ctPI9V1vGDV3BfQnRj7dS6m8wECQKflzKQ4L7T3i_BC_a_niSGaUfPSK0BC8anLWM-XSCv7UXBLh9vBItm-7jtu5e8u0C5e8NcQdxFxFNY1mgbmublZJWxy46jhKnkCHTPJUpvAsqoC6TJnh369Ws24Ya4DAq8BICGLYgpvXHP6UlL2I6oySyhy1oyDBGAngTUv50SiyE9S62vOEb8kfzIU4jSnWtzm6eX2WHQ7vkvv76CDjgHR85M4jmtbh5nAffozJ6AJyXmQE1P3heQnRS_Qa2wUHLxFF4xjoM8t-uNpfC5bNwksiQodQ0NMOHK-GMwYoS3KZ2XKcjM4Ulk3PPwrsGdRE9TuDj8I_ax9_yXKTRzOHIdfhFmMOsxklK3YkFfSOVj4Xo6p5ACQwaA45_K9WBmjCWxNIE21zsqMoeFMUDoR2inLY92Vi1-BePX_j9gaF4rvm83AAsFYiPxymDYYlom0mfwrxNzGkEp5YHhvy-ma2UAUPTKNjWHxmrrl7TsiMjZguTS7MneIKYnLzRXyf7j4ytNWcCgql_GBu8Bw4cNehBfkueIhfpcuHlqYa4dHNwJTldQ7xzIsN4g-a-m491rx2nARPOsk7LKhxnIW53FkuE3RokAAubzHfV-3o01570LJcTSXs8lIBJR-ZURwrEdUOiU7AuYPbjOVM68bz5EoIe62lxrOW2To_B-2jsJ3RaV6l9Odv7JsoPw-VvlyafREtWM3IFtxuJY8HUTUEU1qqSfar4l1uPePBvr2Ef9o-8sRCMy25lrYQqTbTOaiPJ4XAXJxjVCd4e0EZBPInanhZxrZfxwULOByg6SbKlHSWVN-FwzgdBkEcjmukJGj7JRN6JOfBCfurfhV8uug02WsJhPWqAaZRpu1xIJByYOqHLHtOafEsESmAGOhx8LGADgsDfvnzNxyQBfuxRHDw6BIx02PZhH6-kWrTK6NqwSGdtVeTlyFXpmdBZFmzkbdNtnpwzj4pDPY-W06W5kZ3hYOxglUKwfWhfnumZUeIgyk-OHLNKJC_bnRBWR0O4jU58WiOye4a4FMrcDURraatpk8CAg5S-ghuz4GECPfStT3WdaNB6d852bNHykwPBEEyEzw3rZmENCkfmm2KLzZGZIZ1wvOQoDRkqwnLI_6KcyTrACeeyGMM0ELPKxTZc1cUuLEa2Brak0KUqfkUmygzPepRNJeAXaIo_PdcinKmx2C3i9bOjIFwkwZZV32oytaICsdOeDWgcE5byhiphg8wRutM6sBjSKGHFOOG9Vo6tdrM9I2Im_x4STZCJL1ESj5ABZf0eYUjNNOXnhZn6BwMyP3fG3I2CkK7Ly9N_9-ZfQL0sHg7DdO8GtZmXbiOtWhtraomHbMQ7tfnnB6szm8HL7K6g_hEgB_UZs1nByUhr5jjpF_5godPKU1o4pa2kMin3snG1dPThiVkwK_2k449DOEK65a9MGCaHj8KURF7rS4vNO3Q8yQdsBDDNfvhs84E9AvfkRLEwQ1HrBAalvhoibiWX4u9sacnZZZINYWJoEcUmMvft",
  "id": "rs_0347101e88931267016ab4490b110487d0a52d8d9d6041977b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_z\":0.22,\"right_gripper\":1.0},\"note\":\"The diagonal retract dragged the bottle inward on the table, which makes its cap reachable even though it was not lifted. I will release and back away high, then approach the relocated cap directly.\"}",
  "call_id": "call_pt7rJtxEslji0H6xN5twDnvb",
  "id": "fc_0347101e88931267016ab4490e392087d0a604b5dfe6a7dcfc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pt7rJtxEslji0H6xN5twDnvb",
  "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]: [-0.0208, 0.7364, 0.498, -0.3325, -0.0257, -0.0292, 0.9978, 0.5045, 1.3876, 1.0046, -0.2207, 0.1833, 0.0975, 0.997]\nstate[eef_state]: left_x=0.2845 left_y=0.0022 left_z=0.1566 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9978 right_x=0.3836 right_y=0.1791 right_z=0.1975 right_yaw=0.2893 right_pitch=-0.0244 right_roll=-0.0086 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -1.0872, 6.5299, 1.8828, -0.0171, -0.0513, -0.0122, 0.0615, -7.5419, 9.9214, 1.9219, 0.1783, 0.0952, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4aa15d8fba10163bf2ef96c88be84ca8b47ea4a92a2c0e75d9fcab5f3575018",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f4ade926b9486dc0905ad3410229b31a3409cc7758360da281c68e99ce79ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f81eb56256b2af7c7f6350b4d04e74fbae3f08081f252612f5f363736134096",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7364, 0.498, -0.3313, -0.0257, -0.0292, 0.9978, 0.3607, 2.0403, 0.9607, 0.5762, 0.0959, 0.0479, 0.6068]\nstate[eef_state]: left_x=0.2846 left_y=0.0022 left_z=0.1569 left_yaw=0.0008 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4945 right_y=0.1723 right_z=0.0413 right_yaw=0.2453 right_pitch=0.0669 right_roll=0.0108 right_gripper=0.6068\nstate[joint_eff]: [-0.212, -1.0188, 6.4479, 1.9023, -0.0122, -0.0122, -0.0122, -0.6359, -7.9111, 5.8735, 1.2772, 0.2222, 0.0611, 0.3687]\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]: [-0.0208, 0.7364, 0.498, -0.3321, -0.0257, -0.0292, 0.9978, 0.4152, 1.6798, 0.9642, 0.1444, 0.1307, 0.0578, 0.6076]\nstate[eef_state]: left_x=0.2845 left_y=0.0022 left_z=0.1567 left_yaw=0.0008 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4465 right_y=0.1756 right_z=0.1265 right_yaw=0.2655 right_pitch=0.002 right_roll=-0.0072 right_gripper=0.6076\nstate[joint_eff]: [-0.1846, -1.1145, 6.5983, 1.8584, -0.0464, -0.0269, -0.0122, 0.4718, -9.7436, 7.2274, 1.8144, 0.1343, 0.1392, -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]: [-0.0208, 0.7364, 0.498, -0.3325, -0.0257, -0.0292, 0.9978, 0.5045, 1.3876, 1.0046, -0.2207, 0.1833, 0.0975, 0.997]\nstate[eef_state]: left_x=0.2845 left_y=0.0022 left_z=0.1566 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9978 right_x=0.3836 right_y=0.1791 right_z=0.1975 right_yaw=0.2893 right_pitch=-0.0244 right_roll=-0.0086 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -1.0872, 6.5299, 1.8828, -0.0171, -0.0513, -0.0122, 0.0615, -7.5419, 9.9214, 1.9219, 0.1783, 0.0952, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4aa15d8fba10163bf2ef96c88be84ca8b47ea4a92a2c0e75d9fcab5f3575018",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f4ade926b9486dc0905ad3410229b31a3409cc7758360da281c68e99ce79ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f81eb56256b2af7c7f6350b4d04e74fbae3f08081f252612f5f363736134096",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkSkGwBwYjMFb2ZzaCeODY_m6ZrZIoSdQS2rkW7WBd4Z_C8FaLSWnq40DK4ScOUtsOLmK1NPUKHVPEbQuvKXSDtYD03ptMw1GsDjzJ8XfwJroN1pd8ZxcUvQRcH7ZlsZtBpR083KcodD_oD11eZbqGTTGSiBuTNQsnLT3hFc6fnUF7yaZLowO__y8xXfuWWaV4ZC5Kf3PUzBJVXR2_gfpZNrQ5_n09-ybK-SjFzR1TK1fagZLQvygWfN0YOG1rRAAJfV56swkmM9MfhpadZwkqDdqNHUfB4vkOzh0uZsEbnLL_R5FMf98H4agZ7530CDKj7zx4-MNDVc3TD5uuLb8jmXIH3N3J_vERRzIg0R6NtQUkXDNnZxmPgJrLZSycCuSHtztaSU33R5qaMoED22u4sKvfqMPuazEmKrZAmVLqRvIv6qu9XIw_E-UQXvjAaqxO4WPqw1zUTNMB-a3Gn2s3qbRckmxoGPmncG2i58Ac6zTGZVCzK9GflEEx7JXZ7I1i2BWA_tZX9XLMZJcUCzj62OFT8cYlVcUNGEJMSVnNeoAi47VUcctaClRDiLKxsrDh2Uze8dmcE3HBKBaWZBJIGxfC1WNiV7_0a5bw0hEV3xg6rtAeERMTwRNuIp92EKTnonxTnwiRJlhTHtAV0KxWayu4WazXsmya0EEn-QOZVG3-HATZO7ysQYfZ8wfSoQctv8-AtG29MXrAnDAZ07H6YpOpAMcQknzr2jlN5s2pBiFPMuyVuwCjE0qDKO0BcZpM0oqI34FWTRLGTBK7EeCZjfMfxfSdJSXPKdJMEKFouv4ggdcPXoHxioqBcx6ya-ObiOLGXEkqJLowalC3HLqeXG7xlJkMDahcyt-UmXtrhL7nrzuyczbjPG69XYF6uAtfb2r4-5R3J0macgh_cQpu9rIjMnDdqI8rK6EGbvAuQcz3JLDp_bQIjNbTj_7olgykkm2W2KKSA_jASsWc-kjeM7dsw2_x0T0W6bxwx7-ppHGFMFFvkRIOBYTWSvJcX34k6fCxbCMj0Y22_GDocWIL3Cz3b0p30qyuuaMlS26Y_UCzZKoeeO9VqVGuul5bz0mgwvBESlJIgRrpLVvlXBe_ew2XzDqiK2-MZ9WZnakbxqFE01C0jGUV9J5wAOPvFRLumRRDXBKYkL2ZJgTw4LiwI0ypwLrGVwnGEhn8xDFKt-4-qwAScqo3RWQj5NDw4WYm5m-jW3UKNhmHgZsnoJu8spYblU3siP-XVKGzqmyXWsEWSezxR811Y7iCqpfqAIRBFQwwjiKKOz8zxSaOLoyIKKDwJwL7eKlyIzTMhhpprinBjcNMIay0nKHhxTZfyDRnndmf9aShYxvevx_zewulLjvykAh92gMVEQQiib5DHA1Ncwdap-PFrLf4kSVC56Jcm7XQWfeY5BiwsVwBpONYY5HTh4Ut0mGqf9QpSi0rl9NAdlCu2ATOc2fek-hn27p7-lIM1jRoxP8giJhMH4KdY0SOK3QBZX7C5DzJhO2DkKeVblH53GBm2H2PVxKXingj9sFAWuuLWRRrGStWogaLGA4yzWF_oqCxeSIixh12RPHjTHeMF8emGP7XqJ6ot-TaDxQwqTjEP9V9DH8DFm2ATgPzKUVwMNZjsszalMXAO8sFpSQ3nqNM8VvcowmZpuw7peV1bAt589lO6BxZH1W24Xw==",
  "id": "rs_0347101e88931267016ab44910d4fc87d0abe2911623370352",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.16,\"right_z\":0.22},\"note\":\"The relocated right bottle is clearly visible in the wrist view; its cap is slightly right of the jaw column and ahead. I will advance and correct laterally to align directly over that cap.\"}",
  "call_id": "call_9HwRxUELHQqOzIOXx2rShLoh",
  "id": "fc_0347101e88931267016ab44911a6ac87d082524124d55917b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9HwRxUELHQqOzIOXx2rShLoh",
  "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]: [-0.0208, 0.7353, 0.498, -0.3336, -0.0257, -0.0292, 0.9978, 0.3714, 1.5471, 1.1774, -0.2703, 0.0727, 0.0162, 0.9989]\nstate[eef_state]: left_x=0.2843 left_y=0.0022 left_z=0.1567 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4334 right_y=0.1589 right_z=0.1965 right_yaw=0.2926 right_pitch=-0.0703 right_roll=-0.0165 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -1.1829, 6.5709, 1.7949, -0.0366, -0.022, -0.0122, -0.8547, -6.4205, 9.7162, 1.9902, -0.0024, 0.1538, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e159d4f41fdd1f150f32ad8e30c135b1bd62cd96a1cf134a575b289f56807efd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:582eedff56acfb682d88625d1757e69c07598d56eaec13d9c7f3f6b53ac93475",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f01ce21300c655fc4034aef30522f7e8cfe5ef6212795cc60614fd658dd6ca1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7364, 0.498, -0.3313, -0.0257, -0.0292, 0.9978, 0.3607, 2.0403, 0.9627, 0.5777, 0.0929, 0.0475, 0.6075]\nstate[eef_state]: left_x=0.2846 left_y=0.0022 left_z=0.1569 left_yaw=0.0008 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4951 right_y=0.1731 right_z=0.0423 right_yaw=0.248 right_pitch=0.0702 right_roll=0.0124 right_gripper=0.6075\nstate[joint_eff]: [-0.1162, -1.1282, 6.5846, 1.7802, -0.0269, -0.0464, -0.0122, -0.6359, -8.1299, 5.8188, 1.3065, 0.1685, 0.0366, 0.0562]",
      "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]: [-0.0208, 0.7364, 0.498, -0.3325, -0.0257, -0.0292, 0.9978, 0.5045, 1.3876, 1.0046, -0.2207, 0.1833, 0.0975, 0.997]\nstate[eef_state]: left_x=0.2845 left_y=0.0022 left_z=0.1566 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9978 right_x=0.3836 right_y=0.1791 right_z=0.1975 right_yaw=0.2893 right_pitch=-0.0244 right_roll=-0.0086 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -1.0872, 6.5299, 1.8828, -0.0171, -0.0513, -0.0122, 0.0615, -7.5419, 9.9214, 1.9219, 0.1783, 0.0952, -0.1587]",
      "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]: [-0.0208, 0.7353, 0.498, -0.3336, -0.0257, -0.0292, 0.9978, 0.3714, 1.5471, 1.1774, -0.2703, 0.0727, 0.0162, 0.9989]\nstate[eef_state]: left_x=0.2843 left_y=0.0022 left_z=0.1567 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4334 right_y=0.1589 right_z=0.1965 right_yaw=0.2926 right_pitch=-0.0703 right_roll=-0.0165 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -1.1829, 6.5709, 1.7949, -0.0366, -0.022, -0.0122, -0.8547, -6.4205, 9.7162, 1.9902, -0.0024, 0.1538, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e159d4f41fdd1f150f32ad8e30c135b1bd62cd96a1cf134a575b289f56807efd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:582eedff56acfb682d88625d1757e69c07598d56eaec13d9c7f3f6b53ac93475",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f01ce21300c655fc4034aef30522f7e8cfe5ef6212795cc60614fd658dd6ca1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkV-X2r3JNkFbVUt02QZHdqWfXNrMeEbDAwFysJdif76trKK1Orza0Dq-_wS8n2HAGlSKy1Qun06ZfIPGrK-cL04vUt9zXhDZVtl4m9ZPXTIoaRXiBDQWPT0O1BBJURL1Ld1UvXPCNxhZE5mAijq5eqlwtOShvaF0OUjZcio0au26HNmE6vmgBF5yWt_9yUtcS8q8QPMdD7uVBNWsLn1I2N10yC5Z3_KDVmhhe1NCDu0YzY32RzS2HAsipjphzjGgAcNTabJViZ7HkPR96bpX5u-J4E0QGzRPzXpG0lQhE_BrWfvVRyjq1qOwGr0zpEvLGezbgen0bx9ECCmywTWDJhKyx9I58mSvYicO7DIdpxTRwGj-jABFKdNLmhbM084_pZp8S5VkAXOTxquuMyA3R_ne7B069Rhc5VmB4-9L9UlR9Rjv-XzO58o2z_2T0dls3x5sDEM8771G5ib0WuiXMJnd1aURsiIFOUwQz3R2HDnbVrcYHjeNj2dR4EVIrUUxAqIg5Z4nkFBoJ0JESxm5VgrEha5WQy-CbZE_nVQN2DU81YxFa-lOVKk5d8Y3iOBebVDJZbWCr-3_6Ylg1TfD83E0w4lruOZThrG_qA9TV9jFYEqk-WAggbS2EIbd1CLNntfGDdzrLPLntnbOrdxez6mdPPxDkDWHtB42sYL2oMeozBjWr-Y_88Klq8771yZ4B2cKnRNr8lFfxzIqNZzYLSDL6LldXg0cRMcbMJTtZCgyGBNCoq5h_EFH6ic8oSuD0_h_pDmNQI2FjTD5R9IgkEfKIIQ7Gk_vw-YyQQ4MiKtcEJ6njR6Y7lNqRcit6VytYHp8sQIwb--fbOctNo1876R5oSFIO1jX64qoNqQC6m_C5Z1j4NKSWL2VLy89oS68zyFGuN13yvFFQgtbaxd0aCZIlDGZndlkuEu-TQ9P3-TiTwLXdHMZ9OgSmxHlZXt4yMxSff4iurF5_Y9hzBdv5j-sYREChjghPtz7Jm4gHw0RlykWsRx7jZj6We9IqMPlrTPetzxQTt87vU6Tms9280Q1vGyYK3hDmczIBLcxHV7vSo-WV77_a_nlwFHbjVQwdqDzLlbWPaNLqkvyMn_x0tsmhxGqhAyQq0IA9xIN5ySAOZL-9c106IfzTlRl3oMsNwmv369P-4leN9CvW_v4llbjusJ4ZPC38cbGCoNenVJ7F14K4zgq9rxaWabWpavuwFk_ogcBHKt8lQJLYIInegXm5Edtpz-oMSIOaiMYd9-TChSI-OpltW0tFlJ85viF1fJOwnY2G_aOzoKCkvO-Q4pWLxVLkjspEjMooPhMVMR2jfcJ8_pCTbVcr-9tGID_RwLiD53wz9McEzAOhQv7C2CMKBhPVkv8lpGt82jVEkgZifITpeAiI7P2q5hWWrzLA2Bv7ljn9jVZXECY7VswHjwVxWLi1xLhirSQCKypKC4IFIPMTf_DAlbUK7wrhqsi0oaOY5t21IsNkB9ULEVkqM98coE62Ns6DKOJ-BpRzVD8E=",
  "id": "rs_0347101e88931267016ab44913f84887d0bedfe27f4d134045",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.16,\"right_z\":0.25},\"note\":\"The cap is now centered on the jaw column at row 125. I will make a final high approach, using a slight raise to improve reach and bring the cap near the fingertip row.\"}",
  "call_id": "call_QJmiyHToRoOoOPpkvO7Gp1kg",
  "id": "fc_0347101e88931267016ab44914bf5c87d0bd3f4889d1d097d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QJmiyHToRoOoOPpkvO7Gp1kg",
  "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]: [-0.0208, 0.7341, 0.498, -0.3336, -0.0261, -0.0288, 0.9978, 0.3279, 1.6928, 1.4311, -0.3622, 0.0208, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2842 left_y=0.0023 left_z=0.157 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.4778 right_y=0.1624 right_z=0.2247 right_yaw=0.31 right_pitch=-0.056 right_roll=-0.0107 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.2376, 6.6803, 1.7802, -0.022, -0.0611, -0.0122, -0.8957, -8.6222, 9.7846, 1.6679, -0.0073, 0.1001, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0897156a242c00fb0a96858b197f7ea19fdc37b711f752f17b0b9875511a6683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c32ec0c1193f20df3fd39c0ce9b40f35dcb5dc627a626d3f67baf5de488b83e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05cddf90f533a1d11f43a015e185c925c2fe051130245db1325fc5732a066456",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7364, 0.498, -0.3321, -0.0257, -0.0292, 0.9978, 0.4152, 1.6798, 0.9642, 0.1444, 0.1307, 0.0578, 0.6076]\nstate[eef_state]: left_x=0.2845 left_y=0.0022 left_z=0.1567 left_yaw=0.0008 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4465 right_y=0.1756 right_z=0.1265 right_yaw=0.2655 right_pitch=0.002 right_roll=-0.0072 right_gripper=0.6076\nstate[joint_eff]: [-0.1846, -1.1145, 6.5983, 1.8584, -0.0464, -0.0269, -0.0122, 0.4718, -9.7436, 7.2274, 1.8144, 0.1343, 0.1392, -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]: [-0.0208, 0.7353, 0.498, -0.3336, -0.0257, -0.0292, 0.9978, 0.3714, 1.5471, 1.1774, -0.2703, 0.0727, 0.0162, 0.9989]\nstate[eef_state]: left_x=0.2843 left_y=0.0022 left_z=0.1567 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4334 right_y=0.1589 right_z=0.1965 right_yaw=0.2926 right_pitch=-0.0703 right_roll=-0.0165 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -1.1829, 6.5709, 1.7949, -0.0366, -0.022, -0.0122, -0.8547, -6.4205, 9.7162, 1.9902, -0.0024, 0.1538, 0.1929]",
      "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]: [-0.0208, 0.7341, 0.498, -0.3336, -0.0261, -0.0288, 0.9978, 0.3279, 1.6928, 1.4311, -0.3622, 0.0208, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2842 left_y=0.0023 left_z=0.157 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.4778 right_y=0.1624 right_z=0.2247 right_yaw=0.31 right_pitch=-0.056 right_roll=-0.0107 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.2376, 6.6803, 1.7802, -0.022, -0.0611, -0.0122, -0.8957, -8.6222, 9.7846, 1.6679, -0.0073, 0.1001, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0897156a242c00fb0a96858b197f7ea19fdc37b711f752f17b0b9875511a6683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c32ec0c1193f20df3fd39c0ce9b40f35dcb5dc627a626d3f67baf5de488b83e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05cddf90f533a1d11f43a015e185c925c2fe051130245db1325fc5732a066456",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkY3BLstJxcAL9YHrqfzXPYtG5tLd4kd1XRy_tHcs9lLHcpe275ScW471NW4991CBZSHI4v_9rkJaCx5pvxa7KA0hWxoDo_0VFzgoBK8oGaPsMpmvGm-JdxsARO91LIfLpS7cHdGBzXCGizlL2-kMf0cIEbbrXWAB5dY4d2qOhzo_rKyg5ZtLpmTB62HczV92t9hQ1d-KeHjAqzorHeC7rZd8rCfbxRnmw1_fYR_cqpDM4J8k848KKtZwRyYfnvzwQD_ZIb8lXPXO_fzyAXVrLRCkfFEB8B9BaiI_d9HFjS79iNvT3j1ntDv_o2d0yc-EjLKQsK1jwE_S2HNR92NJjn4SvwQdUfYNyqk5R-cegsYFmopahE1pIn5mnjNnQUZfCDvPKFLH6NJ99J569NgHPW2MGGx6y8qHA-We76MyU6k2LH0eItGINBKyHhM5AohGvmyKJ-i5h0l0SPKVqhPHrzdk5WfTmfbjlpV5dp8pbFvo597dAjiJoRC-9fkYJ2gWw-fXaa6LhqlsoVRpR2wefbmJ38PScfeODAfU0QqWD3K1jl-RewfIPqDgDqIaHCCsXFaHXJpN9taX1hd4TI5XnSCSIwaXtO1FB5gxkGADMzmth4DMI_cQ-XzlIweVtHgu4LY3ro83DkqPsyhaX--Adk0VmSgqZlIceHrd4rHU7OiCHd95_yZEeuAqZ0cxw7jlhUasTHNRonCkbrpLgGEsCKA2be1B1GybJVxtH7WLuBSaygFXciQjckhLM1ZfRNpNW0bYq2o4eEGUDlfDpKX2l4dfAUME8SBlFxzbwW9fUNvC3OK1G-2rXxb40p0IWlMueZvIIsvbvy9pSeV4O5M9obKj4i3x8MS8-xDWidY45vveR3n4UMu6fa1inu3v5yIt6qu9ewiVKaFGnve4WI2I-SO1gcgcGoBWs86t4PNwRfkQ958eLesgkuv2P8-6PTYUf753rcUCbbNz82FcC7oB2OIoLvhboWDDsApXozTIOyAdXnpEJeEkAe-K_-M0M-1BDUu8D9S1NhtkIj8Fk5l1B02Ls1QEtvcF7PAuNHBT9SFUwu8BoQN0JBSBieQlaOg6poou11_p_yf96qfPxb_3pZbULEhLRNsJIm7JmP8ktlbzOZmifa0hViWp7qwRxy20459srGqy_4nr26mrgqs9TfSfMemoQp_3c9_jjYitNHdzVAl6uQB7yyXkXPd1jO8q0J-rYUvWOdJdXcajYdAQK0bbmsifh654ciNQ5DIh_pWvQlthXpPflal6lzOFR1KRIVKSWYJ0i_n6t8orMVsOSCCi9wuLn0u0F_MRuxEepyJFN3d47qNAuRRjijCOGjFyWFSMCrLB5jVn8uiUMfKcgsQbsUC2NmDhgCP18V855GXNoNiWrQKyo6s2cFXlg9WvSA7Mhg_TJuweffblBTZfWFTsZbqrw2_CvLbZzLIpadPBTqrikz610W0wgAMrGDEPE8VHXbUOr0AmkqIQynyJWUeBB2RxryfjJT8NSDQNcNg_AhKkGN8QxyqEbS_AEGykHyp-09MwSwr5wYyuKcePQEAisK9shvLshDLgC5ihak0yHfuynplG60tMmtExDzsaH3i8kVvukKSoN2nQIPhzIIayFWR49QZr-pzl55YwU29uw-azdRum7QF-nNyWwJU_9s44U9wUCBfQ8dO7FCw6itk3wbMetKjCYGhMPDLki2AF4=",
  "id": "rs_0347101e88931267016ab449170e2c87d0807c3e26b323406e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.16,\"right_z\":0.02},\"note\":\"The relocated cap is centered near row 160, much closer than on the first attempt. I will descend while holding the maximum reachable x so the fingertips close around the cap/neck rather than the bottle body.\"}",
  "call_id": "call_sO5uT86Q62VMeHwUXSCHTENW",
  "id": "fc_0347101e88931267016ab44917fd3c87d0a075f4a85bf86ff9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sO5uT86Q62VMeHwUXSCHTENW",
  "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]: [-0.0208, 0.7349, 0.4976, -0.3294, -0.0265, -0.0288, 0.9978, 0.3141, 2.019, 1.029, 0.1734, -0.0063, -0.0162, 0.9988]\nstate[eef_state]: left_x=0.2847 left_y=0.0024 left_z=0.1575 left_yaw=0.0012 left_pitch=-0.003 left_roll=0.0002 left_gripper=0.9978 right_x=0.4627 right_y=0.1553 right_z=-0.0016 right_yaw=0.3198 right_pitch=-0.2488 right_roll=0.0056 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -2.0034, 6.8308, 1.4725, -0.0269, -0.0024, -0.0122, -0.2803, -4.3829, 2.1402, -0.823, -0.2369, -0.4078, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b917fb7d0fe910b8bb11fe60386ef39b1593d0c86784075c69a3c414e47093",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e3acb4045831fff8174720fe3a451f832882c34961c5f2227c160b6ff1d46a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26d0e6208faeea51fae4efcdc587f8159cd95c533b328ab0580c5e53dfa9646",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7364, 0.498, -0.3325, -0.0257, -0.0292, 0.9978, 0.5045, 1.3876, 1.0046, -0.2207, 0.1833, 0.0975, 0.997]\nstate[eef_state]: left_x=0.2845 left_y=0.0022 left_z=0.1566 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9978 right_x=0.3836 right_y=0.1791 right_z=0.1975 right_yaw=0.2893 right_pitch=-0.0244 right_roll=-0.0086 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -1.0872, 6.5299, 1.8828, -0.0171, -0.0513, -0.0122, 0.0615, -7.5419, 9.9214, 1.9219, 0.1783, 0.0952, -0.1587]",
      "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]: [-0.0208, 0.7341, 0.498, -0.3336, -0.0261, -0.0288, 0.9978, 0.3279, 1.6928, 1.4311, -0.3622, 0.0208, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2842 left_y=0.0023 left_z=0.157 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.4778 right_y=0.1624 right_z=0.2247 right_yaw=0.31 right_pitch=-0.056 right_roll=-0.0107 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.2376, 6.6803, 1.7802, -0.022, -0.0611, -0.0122, -0.8957, -8.6222, 9.7846, 1.6679, -0.0073, 0.1001, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7349, 0.4976, -0.3294, -0.0265, -0.0288, 0.9978, 0.3141, 2.019, 1.029, 0.1734, -0.0063, -0.0162, 0.9988]\nstate[eef_state]: left_x=0.2847 left_y=0.0024 left_z=0.1575 left_yaw=0.0012 left_pitch=-0.003 left_roll=0.0002 left_gripper=0.9978 right_x=0.4627 right_y=0.1553 right_z=-0.0016 right_yaw=0.3198 right_pitch=-0.2488 right_roll=0.0056 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -2.0034, 6.8308, 1.4725, -0.0269, -0.0024, -0.0122, -0.2803, -4.3829, 2.1402, -0.823, -0.2369, -0.4078, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b917fb7d0fe910b8bb11fe60386ef39b1593d0c86784075c69a3c414e47093",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e3acb4045831fff8174720fe3a451f832882c34961c5f2227c160b6ff1d46a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26d0e6208faeea51fae4efcdc587f8159cd95c533b328ab0580c5e53dfa9646",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkeU_y6nPT3StYIsUO0vjfQiO6GEa5kdkifqsYvxuif_72TsfknfaqmrqkyOCJOyxweU_WJQ0PJOG6FVSplwzgoJN2FQjNYprVN5Bwwe_qy-XjaafoqXMYsQiGpld0EOdTgnvFiyTJxRbWCuPF8xP3ep0_4-zgDoAzjwbaj4Z3LZlLTLOVD7ofsVWNnZUUDsM3pq3eQzldG50dD-hZAGqhVehGV-KoTle4CXRK3EPIW41bY0VgHN_BIEgZfNo5Y2c0w9NLa0OnMG7Rq8nEZUMR2uTgmu8KhJXDsRllqIpoMLXvsJ-l7JbjqxUXf32C0zDnG5wOlkIZwCIYkeD3P8XQRHIGstAFSaGu1Pz7qYidCcIKprnUYQMf3reOtBSiDAAv8q5UJz9KXq5d6j0TNPdk7s3EqQ-ZusnjnXhNiIVFZL3oMh_aEtzqy-0KHu3jXGlqnTeNx7s7Xq-WJLdYy056vAA6ZlkKbSQGDvhsn7lca-4rMQ9P1e0x0kkLbzu347FW4MWhqL1ASW470niEbzeINgv411P4ZHnB2QkFMcosN0gFzQIuefTXa0el30FkSv35bLDylotYtPHGYNHG19xVEnOa05rByo3mZcrUH2oMR9p1nxJWbeRSfM7Lqslf_vIxjKAJJtELbtBa5WWTIZ4czFeMNd-eN8z42cUBL6_q2TKug548025-xGHKbniPPSHFBvHedAZnjEafKvKwUyU3HmMbKOrhyU_mRRdE8P0j9ux68h_nNrTNAueOtVSs4xTuiJY4hiHbrgNLIfAv1R3mjRPYd41EFh-SMKMEN0jdw3p6nikTW-dAJYhR_RVy9ERKXIxpdwl9bLXjto711cFPEDJAucejmoTio4QfI_6ullNjPw11N2wWGpOCPEGba32sq4WtWL6DHLkVYyJ0VyUZPdAxjixBArApHK8MdFu7iVOQqItIdq_01taRUyAO22lRtrWDloR6cpfFhpJQZjZbBAThEwHGVFtanHBuPxYOW6VySG9TV5hdZOexI3nGnIewu6EoOWAr_L9QHaGtyh28YYLg1j2AK8lRupUUDARK3EpyCccpUGbU7CUDCHKhDN7ZeW-dDDIq2jJQqftc1IGbX3hLB4_rm7lJaKh4EGoMjODRWNzJpppjIZ9fCs7g_DjT09Hv2Y7eebLyBRO5upn4_QVNKpr62MbMfWY5fqVI0I8ztmjCVht8ZHcI5Gz4eOpBUR4c0uEIa3r71j7O6tvwLvPJl8SL4oohrtpmg8u2YZYVhOhXn8awHZUQ9O6dciu1jqacfHWEftho06B5stNKVQH3OsSeTsgb2Pmp2QmriJ-Ih2rjrAuZinoGPpG240tKWYqyJQJz8VOEEI2Af7wtjiiHwHQYeeK9RrXgjup78aIV14hyUYhak9Lk4t1m0NoJvH1t-BrZM3GQZJpKgB2ndTWlbAuJoaNK8X3BskdgpT70d3bQDDRD7vRuRfY0iXQeZSdvlpy0HpxYyRMpqMD2MvNfnEdnJI0CnCTTeNIFS0BbhlG1KzYmT7e6iQlJzrWFIR_8Xc10YkSb1Xt-e-hwa7eO9ifCFqA8H0iuBQhNKF_jCfMRHIiNPmr80R7MlaXcrRKKaO8WKMgmcswCSYBpMepTs5JvkA82KeD02K7tTXqoHXp5i6iehCQ2pXF0mGVWYxZdnD_WwP7NwTC_duydelyb8ie8hKnqZrnL6x_eM5sLcakLmIH3TPAy7AlG9rJYF-0OW9vgPeaMlOkoezro66htFujoU9xsXzFlPLfkdX1SM7lN_h02LxYEPCXXKDD7mbI90QSn3Jy3amy8YXaHIJrePiDz_s3lvzK0sWSxoSCorgnqZk-LQObu0ztibxLPxLH02ACBgUH0KIk5Oxh3iwm_oKXEEdQxfA_blWLnO9ioM94Re0si-EaHRl7QxCaECmdGrgzICxlf_xyuwIsCIsvq0-zCwvK2ycBeofShp_pqGDGpKD8dPuHDXBucKjVQqvSj7m0fqUjaihd4SpewyW08w7ql39DmeyYwb24sA2nvTNGtsxYomVFmiaH6T403nbKep9GeZhog-JfkgUB7CKu-YgzgXCfvjPeWS66r3QvEeMJxiSMKa-yevRurzN9wmBojcarbCI05grjm4fPrNNE1tE0_gmRGZ1Tnu0lOU3wd-scQqvop7qvJR68pc_DlD9_r7enjCrtUhbCH6rHrRpbX3HOqmB6tKZ0cghE1XVRGTSu1mBPBezxQ6BPVpsPeABzoD2Gk4wd96LKwXkJ14nhXp_CXdxRznQLik8f2h0hrE_JT2naU5IfeB-kKmrJHA7AMFBQu8PBm-FH7l3leKfw==",
  "id": "rs_0347101e88931267016ab4491b6ab887d08a5b4013b526a92e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.6},\"note\":\"The descent again folds the arm back to x≈0.463 m, leaving the body rather than the cap at the fingertips. I will use a gentle body pinch to deliberately drag this bottle farther inward, making its cap comfortably reachable on the next approach.\"}",
  "call_id": "call_mmlm6c52MA9tGqxlPUWkKfTP",
  "id": "fc_0347101e88931267016ab4491dad1087d097daf1839460ee18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mmlm6c52MA9tGqxlPUWkKfTP",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7353, 0.4969, -0.3328, -0.0257, -0.0292, 0.9978, 0.3138, 2.0102, 0.8471, 0.6842, -0.0277, 0.0021, 0.7156]\nstate[eef_state]: left_x=0.2842 left_y=0.0024 left_z=0.1563 left_yaw=0.0016 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4764 right_y=0.1635 right_z=0.0363 right_yaw=0.3274 right_pitch=0.0888 right_roll=0.0299 right_gripper=0.7156\nstate[joint_eff]: [-0.1162, -0.841, 6.8855, 1.7802, -0.0366, -0.0464, -0.0122, -0.2256, -4.9983, 2.8923, 1.2283, 0.1783, -0.2662, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2941f592f4fda6676191d3597ea8fb1db3a2df3e76a46a98a848f1c2dd8af2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86553d0e12f4b7755fad50ae9bd4f938911f3e751cffddc60f8f0e6e86fdd42f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6111031dbc158bd618f0f74ce2c2b8e26b4998b0f39832877863f0aed6f4ab1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7353, 0.498, -0.3336, -0.0257, -0.0292, 0.9978, 0.3714, 1.5471, 1.1774, -0.2703, 0.0727, 0.0162, 0.9989]\nstate[eef_state]: left_x=0.2843 left_y=0.0022 left_z=0.1567 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4334 right_y=0.1589 right_z=0.1965 right_yaw=0.2926 right_pitch=-0.0703 right_roll=-0.0165 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -1.1829, 6.5709, 1.7949, -0.0366, -0.022, -0.0122, -0.8547, -6.4205, 9.7162, 1.9902, -0.0024, 0.1538, 0.1929]",
      "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]: [-0.0208, 0.7349, 0.4976, -0.3294, -0.0265, -0.0288, 0.9978, 0.3141, 2.019, 1.029, 0.1734, -0.0063, -0.0162, 0.9988]\nstate[eef_state]: left_x=0.2847 left_y=0.0024 left_z=0.1575 left_yaw=0.0012 left_pitch=-0.003 left_roll=0.0002 left_gripper=0.9978 right_x=0.4627 right_y=0.1553 right_z=-0.0016 right_yaw=0.3198 right_pitch=-0.2488 right_roll=0.0056 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -2.0034, 6.8308, 1.4725, -0.0269, -0.0024, -0.0122, -0.2803, -4.3829, 2.1402, -0.823, -0.2369, -0.4078, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7353, 0.4969, -0.3328, -0.0257, -0.0292, 0.9978, 0.3138, 2.0102, 0.8471, 0.6842, -0.0277, 0.0021, 0.7156]\nstate[eef_state]: left_x=0.2842 left_y=0.0024 left_z=0.1563 left_yaw=0.0016 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4764 right_y=0.1635 right_z=0.0363 right_yaw=0.3274 right_pitch=0.0888 right_roll=0.0299 right_gripper=0.7156\nstate[joint_eff]: [-0.1162, -0.841, 6.8855, 1.7802, -0.0366, -0.0464, -0.0122, -0.2256, -4.9983, 2.8923, 1.2283, 0.1783, -0.2662, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2941f592f4fda6676191d3597ea8fb1db3a2df3e76a46a98a848f1c2dd8af2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86553d0e12f4b7755fad50ae9bd4f938911f3e751cffddc60f8f0e6e86fdd42f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6111031dbc158bd618f0f74ce2c2b8e26b4998b0f39832877863f0aed6f4ab1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkhfFoi4XtD7kiVGLqULH9WM_qWJAwI9F2i6hGHBS7humDkBz2EuN10iQL-MuF3-FbuPqkQrM5rZ27lq6qBEwoF1YrS-cnNWBiltaNbhobxX7kRcTmE7yMbsS00Yqpcr-nBIdU9QxSsC_yO_J8eKBl5C05GrVEh9SWTEbpg2a0LOa-Y_PGAH8QenjAkMNSajMsy24JzEzUTq4-xEhMFzGGBqdGQVXLJLkIccnGAuNTVctAQ-TCUD-YQrRrvWe0jrazr2b5d43_7M7ctbtoD6uHuJx_KtQEMo073iw9jqU1CyhIEbV2L9bMd8zv48Q8nmMiyVcrdrcvwTQ4c4ldrYPXqFM-SrCPZ2UiBhnFGpip-sgzMNCUrY-Bhl9DXNeHxudOc8HjNeUYK-UJGSKmKvOv_Uhjz9kR7ZAt4kjVlOYhB74oqlD7n6DpW5uzlkawt-a9w0lnmmLb2rn76p9IsRXbIeST438Ui5ptjIu5n04bVO3dPiXrg6ZK8f28tFFDd4hc82cqe1TKDLkTkqzpvPLHpB4QvmGeF3kzBECUyqnwhGAQC7HXXWozTDZ6amibmf1v5UGWPw1ZECgiMSGvlPI2LxGOgx7bMk6HH8JK2gUjv0w985aWoKNTIZwZFIzUD6HMfzphX_y-DtB5bAzygewgi_5pJvdPQCwYjte_jIbPSqH6UndsEenkbYILg4jqXx_VITeRk5I8q7jv3DWRouebTUUG32KblYMFbQcEapXNMftkToXnaWH6jG8bJkJKQ1BhiPIfrpW3_L7PrBY5kBX6TdKbZXJYyQlSnnRQyKkgdK2RqJjy3tj4M8jA2yGAzm_I5Ybp0xW1XIyHc8VSRH6iX5J8DMLvo0AuQT1NcYXiGIWx_0qMj2xWcXjBBTn2VubGt4vY2cORXiO5nrFe3zTgM4sSZLmSX84pxan4EmNwpzB6KStvYDk7Q_Hw5Hb79Xq20qJyhn0T-9GSvXRzceupDqgH30_jtTXkjD6cWq8XQextBMED8c_YmqFE3G0MxsbOBdb8-c3XeUyY5dzaTKWCyPpq3tvrPACOrTPmmV0Cfwm5rLuYsYd3xuzYIdsTGeFnhsXGh6kVQcONmY0LsYdrC9Ti32enckw0ns65iYIeofYrvP-xfDuq_hzbJmoMEKdQeHqAtXEgRZWjQyTGDVT0uqzgy6EufjT5fATn5zsda_qtr7xUOatj49wtEKKhAa1Mzs1qUayB57yfxpE4RSNb2G2APvY7nsT_F9_NARDoMFq6maJvj-YTGUFfLBHkCGBNxi84y4IiFfwFd5q77KIj2jqAiQX-MZDv_qPmDsCkynADri6agakLqLhcl9V9P0F70OBNoVje-s6aSftCRvGPbiBQvH-cqybDH4MJMcOeXcD4ruspDteH_ytTQH7VFNh9APJSoZNTa6SryWhxwMLYRDcqfCpmjsoCTIZVGPvN_8cgfqRIpJo3-Tmfvw8YEIxB0",
  "id": "rs_0347101e88931267016ab44920256087d0a710a30db87356fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.16,\"right_z\":0.035},\"note\":\"The gripper settled at 0.72 around the bottle body, confirming symmetric contact. I will keep it low and pull inward so the whole bottle slides to a position where its cap can be grasped directly.\"}",
  "call_id": "call_LDKXJfGFM5fYlt4IklGBZ6QI",
  "id": "fc_0347101e88931267016ab44920a63087d09063517747d42ff9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LDKXJfGFM5fYlt4IklGBZ6QI",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4969, -0.3321, -0.0265, -0.0292, 0.9978, 0.4866, 1.6135, 0.4095, 0.6533, 0.1253, 0.0563, 0.7157]\nstate[eef_state]: left_x=0.2843 left_y=0.0026 left_z=0.1567 left_yaw=0.0022 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3484 right_y=0.1634 right_z=0.0404 right_yaw=0.3422 right_pitch=0.0219 right_roll=-0.0027 right_gripper=0.7157\nstate[joint_eff]: [-0.1299, -0.8274, 6.7761, 1.8193, -0.0171, -0.0611, -0.0122, 0.294, -5.6821, 4.7932, 1.5702, -0.0513, 0.1294, 0.0073]\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,$blob:6057f91a04be178729347c3de554972a868c5f1c3dadd7760d0a881b7701630a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25776a8967e97839dfbcb496ae00729efd3fd95ed07a5064fcca20c7ff7124e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:228943bfb21d905ab46cc0eaaee404d2604d64c5509b87090a8446a7763f0e88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7341, 0.498, -0.3336, -0.0261, -0.0288, 0.9978, 0.3279, 1.6928, 1.4311, -0.3622, 0.0208, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2842 left_y=0.0023 left_z=0.157 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9978 right_x=0.4778 right_y=0.1624 right_z=0.2247 right_yaw=0.31 right_pitch=-0.056 right_roll=-0.0107 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.2376, 6.6803, 1.7802, -0.022, -0.0611, -0.0122, -0.8957, -8.6222, 9.7846, 1.6679, -0.0073, 0.1001, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7353, 0.4969, -0.3328, -0.0257, -0.0292, 0.9978, 0.3138, 2.0102, 0.8471, 0.6842, -0.0277, 0.0021, 0.7156]\nstate[eef_state]: left_x=0.2842 left_y=0.0024 left_z=0.1563 left_yaw=0.0016 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4764 right_y=0.1635 right_z=0.0363 right_yaw=0.3274 right_pitch=0.0888 right_roll=0.0299 right_gripper=0.7156\nstate[joint_eff]: [-0.1162, -0.841, 6.8855, 1.7802, -0.0366, -0.0464, -0.0122, -0.2256, -4.9983, 2.8923, 1.2283, 0.1783, -0.2662, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4969, -0.3321, -0.0265, -0.0292, 0.9978, 0.4866, 1.6135, 0.4095, 0.6533, 0.1253, 0.0563, 0.7157]\nstate[eef_state]: left_x=0.2843 left_y=0.0026 left_z=0.1567 left_yaw=0.0022 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3484 right_y=0.1634 right_z=0.0404 right_yaw=0.3422 right_pitch=0.0219 right_roll=-0.0027 right_gripper=0.7157\nstate[joint_eff]: [-0.1299, -0.8274, 6.7761, 1.8193, -0.0171, -0.0611, -0.0122, 0.294, -5.6821, 4.7932, 1.5702, -0.0513, 0.1294, 0.0073]\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,$blob:6057f91a04be178729347c3de554972a868c5f1c3dadd7760d0a881b7701630a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25776a8967e97839dfbcb496ae00729efd3fd95ed07a5064fcca20c7ff7124e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:228943bfb21d905ab46cc0eaaee404d2604d64c5509b87090a8446a7763f0e88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEklnSCyh876f3VQjUXmw4glFTkUn6eXgzrAv0FEyhmNmyOFlQlhe-GHokANNei5EJL1NtAa3OpN8yqb5HtoX8r2EmgSE-S06ebvGLfjUTb0CPXoLRW6sQM_xUebiU46h5CydeSep9c3TVypRyEiGJE5pgA31Qs5S6wB0pB6ucZ3DRlf0qNwgLwwJMP6DWI3BKZqLiR6m2P0WbhmTiiFYjBsIePGnB28g-IYOzJ2-k1GJDk4DA-AkJqxdnp7Rv1IjEW0JI6MagOc0HNQUTBsmzCftjtDkkgST7QxBYs-wdkjrM2jkcpBNT-yWQPSZ_0X9--xDyp5kSpeO2w-l1Z-RET61HELrGMwe-EW-ErR1SNKhPhH_y2pN0ZD7dMBHdPeHE8AF2Sq7cE_Ziir_8RppvcrzPA1exlJrIJtzu_tne0fOlvfIafI0rGzuvhdM2lSpzYMm4il8GEq-SXUizAPHmRbJOIEgNjtUX_D5Sg7BB5Gdm6QpwfFRUIEvqP7SOtJOWKPd72JjT7HYrEjTbr_vjjLlBBkZToVtKvi5DKvwyaIRFN4UXQ46Pud8mM3MulBH_096QGYFakLf8zdvZFlyuQMw7xyofmfptHUk2QCxLRavXCs0EovHhGN92hLle2jsBYdQLDEOksoRYfxSW6Iu2sBEnp995TQwsgbf2bH1RIw-NMjpA_27um2sWK8rM92hUQoke_Jz1oOwWVaaljVgWk3ucGgURXxC15TpAMoBj28ftO2dgbq5lOLszJYZJzglhmSSQibAdGdfH3CYn1RXYyr6_PkbYoQivHhqxSifb9r3vSTk2Kb41Biu58bJeKD2MfZcLuzhY1gQjFcI2QPx-tf8_5F2aPAf0H2MMlPuGb9DpB3Zwexjil6oavTTrgElQQpz9-4aVDDPC6eYUajo29V1D-FhnsNQ-wRXCqhCKJci7vMi6NR7KjBrXfW-6U9HEruIVVHC7s3F5-O9oLW9fN1PO4ss4rXHY_RamqRCHxQVHPA5VWbu1x9NAb1ouesDZporUZZRDNNZFmGbaWKDhLLyWWIFvq-23vALuBV72MhTdCEFtHgPidn9LeFjxcjBnbvAKUPStKPrxN-tJndQ6kgQ9_HzNSf4YXVQizz_2azu1NeJgwi6Syv9IRzxZ0sfDzmoE9vshsVyZG7Db4gpaju5smLiy5Yy4kw0Uy39B9f9shDWdqNf5Fhb24eEZDCwLNHWnia-Oj_OLYbK7HL4dIh0by-uGuMs8fysTPYTRVFRtORcAgHpJwyEnN33ieGsRsJ2rr4Jz56qNGaao4WHyBSUOU202hPV3Oh--JmiAn2KZ3AhM0itrz_Fkl4FgXPGvNwjNp_Z264EzCNNViTjPs308iNTMQEJ-SdyNrr-Pf7W8_0Y8nEYiA2JsZ82CZkGktyJcekUxhFizyka2k6LDYCmjEHyFu9-KurchKikN1yqN8KiLiP_iTOXW-RBH8fMftC0BPOPj7AUi3V1PSLsp1KABD6Efex1vVeBvbGydelTTQBk9yYioG9p0HrQchacb1_Ny28ycVQOLaU6ShnvGAN1OcS2bzvqAFtC7QSjPDLsgeLANRwwZvlXHKiKf2qk4eEqPK9KZJ3w4GIKHGwIS2oc6JyVC0v7VSILFToKbSecL8wng0DIg6W0ct3Vo5tCcnB",
  "id": "rs_0347101e88931267016ab449239fd087d0b53d27beddba42a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_z\":0.2,\"right_gripper\":1.0},\"note\":\"The bottle slid inward with the low pull; its body now lies around x=0.35 m and the cap should be near x=0.42 m. I will release and rise behind it for a direct cap approach.\"}",
  "call_id": "call_ip5wL4XP9F3CzTynWwwgWtpz",
  "id": "fc_0347101e88931267016ab44924b86087d0b4d6bb65c41ba24c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ip5wL4XP9F3CzTynWwwgWtpz",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7341, 0.4969, -0.3313, -0.0257, -0.0292, 0.9978, 0.6544, 0.9867, 0.6945, -0.2958, 0.2375, 0.1307, 0.9987]\nstate[eef_state]: left_x=0.2844 left_y=0.0024 left_z=0.1569 left_yaw=0.0016 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9978 right_x=0.283 right_y=0.1693 right_z=0.1852 right_yaw=0.3762 right_pitch=-0.0017 right_roll=-0.0065 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.1009, 6.7077, 1.8242, -0.0317, -0.0464, -0.0122, 0.1162, -3.3573, 9.7162, 1.8095, 0.3248, 0.1929, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3555afcd75a3b66198cd4b01754a954fec826e8935b03871bd9bef531738b734",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9060e08fa305d8527e654745e4e18c269237bb98fdd450d7e2f5203e92456591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d28c5d4a2a61f6ba0aa19e45c0ace86e1e5e2ae5e6fb78cdf040d563687b3f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7349, 0.4976, -0.3294, -0.0265, -0.0288, 0.9978, 0.3141, 2.019, 1.029, 0.1734, -0.0063, -0.0162, 0.9988]\nstate[eef_state]: left_x=0.2847 left_y=0.0024 left_z=0.1575 left_yaw=0.0012 left_pitch=-0.003 left_roll=0.0002 left_gripper=0.9978 right_x=0.4627 right_y=0.1553 right_z=-0.0016 right_yaw=0.3198 right_pitch=-0.2488 right_roll=0.0056 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -2.0034, 6.8308, 1.4725, -0.0269, -0.0024, -0.0122, -0.2803, -4.3829, 2.1402, -0.823, -0.2369, -0.4078, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4969, -0.3321, -0.0265, -0.0292, 0.9978, 0.4866, 1.6135, 0.4095, 0.6533, 0.1253, 0.0563, 0.7157]\nstate[eef_state]: left_x=0.2843 left_y=0.0026 left_z=0.1567 left_yaw=0.0022 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3484 right_y=0.1634 right_z=0.0404 right_yaw=0.3422 right_pitch=0.0219 right_roll=-0.0027 right_gripper=0.7157\nstate[joint_eff]: [-0.1299, -0.8274, 6.7761, 1.8193, -0.0171, -0.0611, -0.0122, 0.294, -5.6821, 4.7932, 1.5702, -0.0513, 0.1294, 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]: [-0.02, 0.7341, 0.4969, -0.3313, -0.0257, -0.0292, 0.9978, 0.6544, 0.9867, 0.6945, -0.2958, 0.2375, 0.1307, 0.9987]\nstate[eef_state]: left_x=0.2844 left_y=0.0024 left_z=0.1569 left_yaw=0.0016 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9978 right_x=0.283 right_y=0.1693 right_z=0.1852 right_yaw=0.3762 right_pitch=-0.0017 right_roll=-0.0065 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.1009, 6.7077, 1.8242, -0.0317, -0.0464, -0.0122, 0.1162, -3.3573, 9.7162, 1.8095, 0.3248, 0.1929, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3555afcd75a3b66198cd4b01754a954fec826e8935b03871bd9bef531738b734",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9060e08fa305d8527e654745e4e18c269237bb98fdd450d7e2f5203e92456591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d28c5d4a2a61f6ba0aa19e45c0ace86e1e5e2ae5e6fb78cdf040d563687b3f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkpBdZl4YE1O-B_4nAy5xByQ_9J4l4cVP9nPLv8G2Hp4srzmal94BJuYNvEk1dTV4i-YvhgfJNTYoA3-dWy_wmLaYCqZOK0CxXuI1CDF1CJxMdRnX2108aUKMH98J9SPxpRQ6AK0o_h_FXw40FBFLXUu3pbUYKfR-qhbsUdxpCon75DxhjcQ5AXV4lQYgOccuzlB73jEcGHXxAiRxKY_b5ZdRKH41X4e2VvR9Zb9GdxkIDkqY9mGweCohuvdtqzhYmSooZZHaEbPI5oXZZry7uWUdiEwtDIMRrszS1KfTTtHy2c1Rrg4o2KBczydXSI0TV6RNJimbd2QDgjeyD2wBFZP0jD2JT0zDabhTUeKDd4XbkC4t8M332qoud7l9oXHg1B76nFmocVzf3hlmlXxhT780PJSgfpMfL0l7mdqJ9_Jq6srmsM5HU97rUyqjF1Z8-bKziH_EWfZ-WrluXboJHkqLuuJ9g9TPZR7KHJyfIyvFvU_qpGprBs-T-RFkvLFBSi7v_G96MhFwXStl6WBERmb-O_xrqdKpT1WE20mfqGCHGqDd1t_k0QkU9Z3GGlKpg9J6RPP0POxMrIDAwyFeo0-Z9VLNHnhRQpmJNireQcisgpVsBC6zoYj_hXNQX_nbDFrJt6efoH0RkEFOztJMhmlwiJDUH5vuarqq345plMLVXo7wdJ70g7ELyUoow4WHxfjScuCZtThxzAgLFSb94lJvvmBiLbLvy4mymg6tzhqOdHkSs0qxTCuHX2MRoxmchW5lN_U9SWiOQQcm9-paAq9v70xK6aBhPBmN1oyOk146a6vjGIOW6mUfB68C4qUf4pe8e5yH1WX1LeQ72Xg13DwoM1kkH4eLYp3GDtzphCl6I063SNXeEMTyBFSSJyGTAQWdErH5A5kVImqCXVe9zk4bKqFbjoWiydqcaSuoj8p9zdyDxxIO6_-ZUVxUs8OnEFY82f3Y7qiuDrxDISjzburRP3_US98j5tCWf2mVbbk-4coOj4UET7GiNyvoH0pfuXO0bqr8rDjU6Y26CfXzckwpWdaSqYy09IzGpCjCrw1-ZTn2y-MPaePilq-AMqIYQC6Ej3UswHegnEj_TIoe32TqbtRa3ZITfm_nuxhlpt5l9kjx4mZAtrRtoo16SCUudjnrG_Fcl12ZR1RLdI0C8FqwcmV19OuYvmyZW2YTwDB586pCbGki-SS0QRFkuauKOMAJYN3LgGU0GuX4n6euurG_ezLSSgEn3HR3tiOVkEIG52GaEWulprZeddcUPKeHEziTpxnoWs6T3Qsa-kxfiM6EM9IXrJreG2sKhfq3mypW5ZvBAORF9wHIq22FMn3emY7qs6RTcaAbCXK5JDgW1IIEzFr2aCnX5WZuJZw8nxwwyijuFBlZUm2r8_ZGb_ix39xgWkiGd906n4wYv78Bat54qEDlfW4scgDmIax0sAi7v2NMx0nysRhxOuH_xAuPxCvGHyUmGLGHNKAWZA72Tvx1VF0Xrv1VlAY-cXAVL41Yc=",
  "id": "rs_0347101e88931267016ab44927c11c87d0ad56c7e1bc5d7a71",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.16,\"right_z\":0.2},\"note\":\"All three bottles are visible, and the relocated right bottle's cap is near the center-right of the wrist view. I will move above that cap, correcting about 1 cm to the right.\"}",
  "call_id": "call_j1gq3tKMKzyklrLRo0sRfl32",
  "id": "fc_0347101e88931267016ab44928954087d0a5fac9240b455d7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j1gq3tKMKzyklrLRo0sRfl32",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7341, 0.4969, -0.3328, -0.0261, -0.0292, 0.9978, 0.4103, 1.3075, 0.8951, -0.2379, 0.0402, -0.0032, 0.9994]\nstate[eef_state]: left_x=0.2842 left_y=0.0025 left_z=0.1566 left_yaw=0.0019 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3647 right_y=0.1548 right_z=0.1746 right_yaw=0.3694 right_pitch=-0.0819 right_roll=-0.0132 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.1692, 6.6803, 1.8095, -0.0366, -0.0611, -0.0122, -0.6222, -5.3265, 9.853, 2.0293, -0.105, 0.0122, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a4f3f61ed685cceee5d98bf3944dca3bcd64bd622a512cbade965659ba99f1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7501a904a1127ed0376ee2989ed9937e9d0e55b296b9a8677a17fcdd50108d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7c54a4d2e38a993cada406b86260a5af62071ce018c1aa65425e491142e038b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7353, 0.4969, -0.3328, -0.0257, -0.0292, 0.9978, 0.3138, 2.0102, 0.8471, 0.6842, -0.0277, 0.0021, 0.7156]\nstate[eef_state]: left_x=0.2842 left_y=0.0024 left_z=0.1563 left_yaw=0.0016 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4764 right_y=0.1635 right_z=0.0363 right_yaw=0.3274 right_pitch=0.0888 right_roll=0.0299 right_gripper=0.7156\nstate[joint_eff]: [-0.1162, -0.841, 6.8855, 1.7802, -0.0366, -0.0464, -0.0122, -0.2256, -4.9983, 2.8923, 1.2283, 0.1783, -0.2662, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7341, 0.4969, -0.3313, -0.0257, -0.0292, 0.9978, 0.6544, 0.9867, 0.6945, -0.2958, 0.2375, 0.1307, 0.9987]\nstate[eef_state]: left_x=0.2844 left_y=0.0024 left_z=0.1569 left_yaw=0.0016 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9978 right_x=0.283 right_y=0.1693 right_z=0.1852 right_yaw=0.3762 right_pitch=-0.0017 right_roll=-0.0065 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.1009, 6.7077, 1.8242, -0.0317, -0.0464, -0.0122, 0.1162, -3.3573, 9.7162, 1.8095, 0.3248, 0.1929, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7341, 0.4969, -0.3328, -0.0261, -0.0292, 0.9978, 0.4103, 1.3075, 0.8951, -0.2379, 0.0402, -0.0032, 0.9994]\nstate[eef_state]: left_x=0.2842 left_y=0.0025 left_z=0.1566 left_yaw=0.0019 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3647 right_y=0.1548 right_z=0.1746 right_yaw=0.3694 right_pitch=-0.0819 right_roll=-0.0132 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.1692, 6.6803, 1.8095, -0.0366, -0.0611, -0.0122, -0.6222, -5.3265, 9.853, 2.0293, -0.105, 0.0122, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a4f3f61ed685cceee5d98bf3944dca3bcd64bd622a512cbade965659ba99f1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7501a904a1127ed0376ee2989ed9937e9d0e55b296b9a8677a17fcdd50108d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7c54a4d2e38a993cada406b86260a5af62071ce018c1aa65425e491142e038b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkt39bJ-L47PbNmXpc4KPxPuW-BnFbeUSNK19uaA9PwDY95uVWr_Qi2qEElY7vDn9ff2dfIhr4GgcTqfN9QwhL0jM45fkRlq31ILe6YhfFvDJwsF0bz_hPQOaY4tOvA3xwQw0DKCBxLWSDUkGuIyKY4ZZDm7l_8OdAUSFr0aNp1TYE05sLaAPosp0nKA83_udmfQfxgK2U6_3Vqpmoq6gyhXGL9dJXUWF0QbyboYwUSsWOxdWDyhbu7sjJ9LF58dAAJqfzeYa6IBZSLB7R8N9zwpJYnnISR6jsJu9I20yIT5a3cgpwa6BiOVjRaZpuffIs72aoXR0QziRLRtEoqZygsy-YzxlSktMMI2QWqGdnyKWL80qvk69ytyBeHJv_g6o_bmhvhJhqqtecWRyRNPGQu24aQJCA8R9SuVsYtfpzxClysK__mDpFs5hpk-2hn8f-qcBLT8dv-oR6u9VpuGk9EKQQn9H2fdkB0tBXa_LZfli3NW6Sdp5EGQY-DN_UKw-DACaVksWaD3Vm8MTATXg7gWwzb6LVtsVE7M2RxDh4VqjVcVSu4Wmd7pEHOGP6D6_-iwyP9qQJLbdW_w2jzvdPW1v9xI8tu1G6lK_OnXKLXZGRCVsEDWA2dJFbVjLdxbjg62PEUhwVykgmfY4Vw15yqTEJnm2IeoMSRbSWFWHT9laPOmwnXgkHl1Y_UWnCXVqaHb5wU5BYBo3ALEqWm7Ztlpt4-PKAdOftsudtiaVJGBH4uHlOpH40vRaLkBEl3lvkOQ0hL84hRFslersJ-QKL315PnpkNL3WYwhwaZoDoUa8RVuY3TSjtNq7TzHNY-EUTv56s3wC7sEhxm7fi4uhWiTDCDhH7hrUx2H9Juf-xJ1mLraXzTMjTP_6oQAS7xfQe7x6A-LcpyfEEncK16A8Sb9ukQSOyrjUN0qPVnMZgGUXE0m0LsNGo4fjTsyD457-bkmFMlHrkYXRmC5yiffUaSFYqCAP09wJQeBp1DE5gzgaIdu3NZGMdCrTlIripYwIc_TvF4weqn9UacLWsFuYxbHiNW7zaau5aB3p8-CEKRYmbYg7mehSNuENFC2FS1TuZ1aglvVvCwxmnmxvzcHlDYyxKd-2fPY9fQm2s1ys9KnMGHzogL6-7nVQXJNvgg29Fh7-qJMLT6FZR6Rd5tBIRr-uLB3tPR6jtlhw_YJF89QrksV-aDVMHnLohtg1xR02rvTWq4aYvdFhxoN1YQRhR0Fj_WCn4-DfNnRVNH4rHVO_jv2VHfzSfJHYSv5zqkl0v8tLWCyvAG-j9KDqi4qKTau8hjYm1U03TMZask9_8ZGTPxwT17WYjQiZxW7NpjP-H8pwk3KgP4aqRgpH9S1xXpQe08-OB3z_0ls3ekWX3NVa4ZOIplHqslBraYADrSY72UbkiWBTRRuePNHJTWm9QD7-tzNAAFf1LSuuEZcFTZxKj8N5ykneiVLSQ6Z7brEW7C",
  "id": "rs_0347101e88931267016ab4492bf01487d0b50b35396461a849",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.155,\"right_z\":0.2},\"note\":\"The relocated bottle cap is centered on the jaw column, with its body extending toward the fingertips. I will advance about 5 cm at the same height to place the narrower cap at the grasp point.\"}",
  "call_id": "call_RNKhRcdz7oHDI1Ph8LnKoxC3",
  "id": "fc_0347101e88931267016ab4492ca06087d09ca787b76eabda84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RNKhRcdz7oHDI1Ph8LnKoxC3",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7341, 0.4969, -0.3332, -0.0257, -0.0292, 0.9978, 0.3466, 1.4525, 0.9905, -0.2008, -0.0204, -0.041, 0.9996]\nstate[eef_state]: left_x=0.2841 left_y=0.0024 left_z=0.1566 left_yaw=0.0016 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4015 right_y=0.1526 right_z=0.167 right_yaw=0.3774 right_pitch=-0.0949 right_roll=-0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.0462, 6.653, 1.8584, -0.0464, -0.0415, -0.0122, -1.0462, -6.5573, 10.4684, 2.1123, 0.0855, 0.0171, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88815e7fadb5116707254f35ac4677e98ae960ff0f9f46b0f40bb8f012d3ed35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:379e5f9a78d87700e8bdd512eebaa734e85b7c25193b51ea8985f63fe334ed84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6dcb6f635027ba16b94315e68d8792d45bfed2f3d71932fba4a4ef03392d14d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4969, -0.3321, -0.0265, -0.0292, 0.9978, 0.4866, 1.6135, 0.4095, 0.6533, 0.1253, 0.0563, 0.7157]\nstate[eef_state]: left_x=0.2843 left_y=0.0026 left_z=0.1567 left_yaw=0.0022 left_pitch=-0.0061 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3484 right_y=0.1634 right_z=0.0404 right_yaw=0.3422 right_pitch=0.0219 right_roll=-0.0027 right_gripper=0.7157\nstate[joint_eff]: [-0.1299, -0.8274, 6.7761, 1.8193, -0.0171, -0.0611, -0.0122, 0.294, -5.6821, 4.7932, 1.5702, -0.0513, 0.1294, 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]: [-0.02, 0.7341, 0.4969, -0.3328, -0.0261, -0.0292, 0.9978, 0.4103, 1.3075, 0.8951, -0.2379, 0.0402, -0.0032, 0.9994]\nstate[eef_state]: left_x=0.2842 left_y=0.0025 left_z=0.1566 left_yaw=0.0019 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3647 right_y=0.1548 right_z=0.1746 right_yaw=0.3694 right_pitch=-0.0819 right_roll=-0.0132 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.1692, 6.6803, 1.8095, -0.0366, -0.0611, -0.0122, -0.6222, -5.3265, 9.853, 2.0293, -0.105, 0.0122, 0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7341, 0.4969, -0.3332, -0.0257, -0.0292, 0.9978, 0.3466, 1.4525, 0.9905, -0.2008, -0.0204, -0.041, 0.9996]\nstate[eef_state]: left_x=0.2841 left_y=0.0024 left_z=0.1566 left_yaw=0.0016 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4015 right_y=0.1526 right_z=0.167 right_yaw=0.3774 right_pitch=-0.0949 right_roll=-0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.0462, 6.653, 1.8584, -0.0464, -0.0415, -0.0122, -1.0462, -6.5573, 10.4684, 2.1123, 0.0855, 0.0171, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88815e7fadb5116707254f35ac4677e98ae960ff0f9f46b0f40bb8f012d3ed35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:379e5f9a78d87700e8bdd512eebaa734e85b7c25193b51ea8985f63fe334ed84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6dcb6f635027ba16b94315e68d8792d45bfed2f3d71932fba4a4ef03392d14d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkwu9jOBoXEx0yNDYjfoYgp_Baw59lySSx3RBUV3bivqewlSAXlL-JhOYzUG_QlgirGiO-Lp3E5A_TLgOt5ULLPtvDZ87vVOgUkVWAb1imVTdeUQy9-odoMh0gZl5icOf9n8DpCBFE7SxAsewd3_-TfzzkAvD7V_f35YoWUH44rgq0WGgJa4TVBkULoPtxu0OFDImLcfCpTAEC2TY5r49ksen_9XJnrG17bU6JCU0vOsLGWyvi2RzZC3r1JiasX4aornBnRysiCmHpcfTgMHV4get8Ob8KfRVQNG40zMlCRQSjpxDQo777VEiB_k0B4zcrJHeS8BcvxvrZB24uEGsIx0ANbtKyANBRGmXT-aGfurk4ucnFtz0JUm9hV2JEmaZvEEZsTivvyQPAom1yFNT2qD0fodm5_H2mF1sO4hPfi6KjgWJps6Nh6Z5VEL2JyfJyfiB77sCPhe_vsa7qrXx1_ovxYXhL3XTAPPpEOllYQzNxWl1z2uZjI4XTUTjV_ISUZlgNVjrsmSlgOooqjUzvQ3S6tPn8-xAh-7NOMTSXljKJ5v3mrBY4lcUF2vIoAmb7m6Xh2BsSVyUGc3sZGC7xbN8DH7ANSUtXZ_PhCsdC0r6YV3gss0jPGVm2PDwkNTGrDOfHQqm2yp7NkIuwFL_QVfSlX9RSlsOCQqlPJcez4knlUQ1CBPVCCC4ufsvUk8Zr0XS93t7vuhxdr93cTRdjEfvbe6tnkwzq3K_o_KsYyMLHfBYVu51Mf5ZPQJTeCL7JPx7sMuAygX4L-YvftbmMZ5vbCnzwNXiGlI3M_r_fUffsolIq1NR4YiSjEcABxsqjL_Li8u9KlYZd3Za3NUCa7QH-lsXn9fUCHVlJsDtLHoERDW25BZasxbuSrfYjV-IsLv2qEUQ8-d7o7sRb_pJ8ZRUl_QWXr7oLBV6t8UEaL6JAxrOqqHP-8RTNO5lVIYJHQYa1cMXPW8bb_xF082Q35aPIhUOW5FvLpDxyOdUNlm0UDVYIpoeN7PSPMHd2ZgH54TJv3rhupqXdzitre8mC0cFUeuaTNrqeg1sWLYbR99PwvxFtOXxng0G-wIbjeC-T7z_RIw_n3ieBpUyfJcdvMK5ZaI3ty5Szn5DDKw_vdSSs1Cb1VUbvy9qKqYCsoEn0UXJYP3pBeNN-wcYSGck-gHPxrYsiqNNHqovkIjSZujrtb_SQHaZfNkgov3VLZ0vdvySYs3T8A3LGXgA-22_oel-3zx3rkNOK31pz5sw5cc_HcLqRB8km_WopaUzxuOFrPpbxM8hy0Kvd20betE2A8Aw==",
  "id": "rs_0347101e88931267016ab4492f297887d0986cce10e7516509",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.155,\"right_z\":0.2},\"note\":\"The cap is now centered at row 142 and close to the fingertip region. I will advance a final 2–3 cm before descending for the cap pinch.\"}",
  "call_id": "call_gbpdtfdoEzWkiIFJm77uWGUI",
  "id": "fc_0347101e88931267016ab4492f603087d08c8f3f7e7a18890f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gbpdtfdoEzWkiIFJm77uWGUI",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7338, 0.4965, -0.3309, -0.0261, -0.0292, 0.9978, 0.3401, 1.4597, 1.0241, -0.1936, -0.0307, -0.0513, 0.9996]\nstate[eef_state]: left_x=0.2843 left_y=0.0025 left_z=0.157 left_yaw=0.0019 left_pitch=-0.0046 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4096 right_y=0.1545 right_z=0.1804 right_yaw=0.3851 right_pitch=-0.0612 right_roll=-0.0095 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.0598, 6.5573, 1.7802, -0.0171, -0.0317, -0.0122, -0.8137, -6.612, 9.4154, 2.0049, -0.0269, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f201e9333657bd4247e3a96183e3de4d48ffec6246a6c98ceb4b61f5adf22aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdd31d2e52d555965c3625e51edda82359860770cbbde4a8d28289a8441b97dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a5869463ff43ae56911dfdc616c9b8d406023e945d212ab338bafc06bd68331",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7341, 0.4969, -0.3313, -0.0257, -0.0292, 0.9978, 0.6544, 0.9867, 0.6945, -0.2958, 0.2375, 0.1307, 0.9987]\nstate[eef_state]: left_x=0.2844 left_y=0.0024 left_z=0.1569 left_yaw=0.0016 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9978 right_x=0.283 right_y=0.1693 right_z=0.1852 right_yaw=0.3762 right_pitch=-0.0017 right_roll=-0.0065 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.1009, 6.7077, 1.8242, -0.0317, -0.0464, -0.0122, 0.1162, -3.3573, 9.7162, 1.8095, 0.3248, 0.1929, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7341, 0.4969, -0.3332, -0.0257, -0.0292, 0.9978, 0.3466, 1.4525, 0.9905, -0.2008, -0.0204, -0.041, 0.9996]\nstate[eef_state]: left_x=0.2841 left_y=0.0024 left_z=0.1566 left_yaw=0.0016 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4015 right_y=0.1526 right_z=0.167 right_yaw=0.3774 right_pitch=-0.0949 right_roll=-0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.0462, 6.653, 1.8584, -0.0464, -0.0415, -0.0122, -1.0462, -6.5573, 10.4684, 2.1123, 0.0855, 0.0171, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7338, 0.4965, -0.3309, -0.0261, -0.0292, 0.9978, 0.3401, 1.4597, 1.0241, -0.1936, -0.0307, -0.0513, 0.9996]\nstate[eef_state]: left_x=0.2843 left_y=0.0025 left_z=0.157 left_yaw=0.0019 left_pitch=-0.0046 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4096 right_y=0.1545 right_z=0.1804 right_yaw=0.3851 right_pitch=-0.0612 right_roll=-0.0095 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.0598, 6.5573, 1.7802, -0.0171, -0.0317, -0.0122, -0.8137, -6.612, 9.4154, 2.0049, -0.0269, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f201e9333657bd4247e3a96183e3de4d48ffec6246a6c98ceb4b61f5adf22aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdd31d2e52d555965c3625e51edda82359860770cbbde4a8d28289a8441b97dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a5869463ff43ae56911dfdc616c9b8d406023e945d212ab338bafc06bd68331",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEkyI3HNTnL4pll_cw7QREN41PxN6fPeZ_XI3I7_uO1Zwr-KHeZQx1xy3JG2tGBGdsagEhwFpfUoSbNGv_o16niE-ZZ2pFbzdYQynJlGnJ77VLXhFR2Qbv7B3g6hf86K80sgp02xfoeX2T9UBB1Wd9QfIhkd8KEDS2WPoIy-mKxSIWj5IxcHzhXs9wMqFceVMPLh7sQcNTLk4i20rcGQMgTSnDOVr_IHg_wnUT5MKLlK9JZOHQonyhAeHSnkDMRN38WCRfgtyYR6Wg4QRQpSVC_BNRRbtnA18kGfF81A0pz-Xu9CJsmJE92Tc8qWJnLBj4dKEwbreTBuzYjc5QS2iJPKiLOU8leztYpb55B0bI38EEt_LTKkAm0_yVmIiaCEvb6nyDOvGYQOl1HCNoxtXuDGE9zcYigeDsjvSCVg7-NV9iC7AJbAG-XkJJy9buMWgk-7TyF7PSmmBebybPUeLlzONHGimh5HskOk6dZaGJRj-I0LPc0f-EgAX08M5Hqf8Tb96ZAjtp1vDCZyCNeRUcJUVCgeTAJAg2UduaD34op7F6bN8Q1pZwN5dv5wjDeoBj5wvIw6X89d1FFyNCkll6AMITdEm5WTk3kRA4YYdQTWGbyPq7o5vclfF7t35wsFpDIDu-gqhAalHpFVhmCEAvA4M45V15WxymE61WbScYWe6DU3rjSZYahF7cVEqV6iar-JJZxtTVJZEij-uq0e-ggOSKIZZ730R8zbKsM3-wRF25JjlvX4U6clscZN84PivbZ4T8phUb1ek_xw86fIETNQGZeq8DHN8T791jRluI16C52ZMG5W1yVmWoxe590GCX1LWt7zY2ZopmeIe9R745m6CdRDB2xDXZmaH04FctSYhE-RO23bJL33sHq6tR4wSZXypy5MhoBG8xG3tF0GNypspJQPTcyAF8AzjgToIi2KtPqqgE0QpypPLhO8aBzKVWtigqyXM1y_uo670TItX1gTCzeJ7Q-0aBi2QzDeVvNLz6BWH_lXn34sKzHyPBkivhqe_v49y5Tluj2daIm3osbxMBEbRZFoWcxQWW3E2N0rv0XkNaTAQy_kCM6NBceYLS7Zr9cOHr770Riqjk9vgCSyNFi4FSnqQz4DvuyUp_e0ZzdiSg4X3rLqFfbkMuODc7bbjj9v1SbB8LDz3NqJYIMmhlPDtThj1smbLzuZyzlUnYHNp7mMPmJhEkKV20VARwNBHx1sAevO63SPlv3iErl1amYOZmi03mW33QRFAFokdI8IiuB9QHPkUzzPYxpw2hLdk0HzJ4ffoCEgFZ8_LU8t2CfXNtZd1CKmW9Bxz6xR0ZDJE94arsM7J2aWz0ALb2HbyXGAYippNazd4b5gnii69F5d_GcynJ5nZPvE4uX0mPk=",
  "id": "rs_0347101e88931267016ab449318bc087d0940145e232c0d61b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.155,\"right_z\":0.035},\"note\":\"The cap is centered at row 169, close enough to the true grasp point now that the bottle has been relocated inward. I will descend vertically to cap height without advancing onto the wider body.\"}",
  "call_id": "call_SfNcEjAjWBZqJNplXzOA0svY",
  "id": "fc_0347101e88931267016ab4493218b887d093684902512a44dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SfNcEjAjWBZqJNplXzOA0svY",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4965, -0.3309, -0.0261, -0.0292, 0.9978, 0.3309, 1.721, 0.7929, 0.152, -0.0429, -0.054, 0.9996]\nstate[eef_state]: left_x=0.2844 left_y=0.0025 left_z=0.1568 left_yaw=0.0019 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4034 right_y=0.1504 right_z=0.0403 right_yaw=0.3888 right_pitch=-0.2074 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -0.7726, 6.7077, 1.79, -0.0366, -0.0464, -0.0122, -0.4444, -9.1829, 3.3983, 1.0427, -0.0904, -0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c8d62b80fa9cad1245a34984b45a95c16e392803118e2fe69a86158268fb6a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e0ad25b7b23a390b0384bd1a6062e40715a29b13025d9b57198c191bca97170",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73fe4bdff7c9ad23c5a6b0a708293efd3ad65f8ae86364fe4c20f8ec5932577",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7341, 0.4969, -0.3328, -0.0261, -0.0292, 0.9978, 0.4103, 1.3075, 0.8951, -0.2379, 0.0402, -0.0032, 0.9994]\nstate[eef_state]: left_x=0.2842 left_y=0.0025 left_z=0.1566 left_yaw=0.0019 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9978 right_x=0.3647 right_y=0.1548 right_z=0.1746 right_yaw=0.3694 right_pitch=-0.0819 right_roll=-0.0132 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.1692, 6.6803, 1.8095, -0.0366, -0.0611, -0.0122, -0.6222, -5.3265, 9.853, 2.0293, -0.105, 0.0122, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7338, 0.4965, -0.3309, -0.0261, -0.0292, 0.9978, 0.3401, 1.4597, 1.0241, -0.1936, -0.0307, -0.0513, 0.9996]\nstate[eef_state]: left_x=0.2843 left_y=0.0025 left_z=0.157 left_yaw=0.0019 left_pitch=-0.0046 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4096 right_y=0.1545 right_z=0.1804 right_yaw=0.3851 right_pitch=-0.0612 right_roll=-0.0095 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.0598, 6.5573, 1.7802, -0.0171, -0.0317, -0.0122, -0.8137, -6.612, 9.4154, 2.0049, -0.0269, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4965, -0.3309, -0.0261, -0.0292, 0.9978, 0.3309, 1.721, 0.7929, 0.152, -0.0429, -0.054, 0.9996]\nstate[eef_state]: left_x=0.2844 left_y=0.0025 left_z=0.1568 left_yaw=0.0019 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4034 right_y=0.1504 right_z=0.0403 right_yaw=0.3888 right_pitch=-0.2074 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -0.7726, 6.7077, 1.79, -0.0366, -0.0464, -0.0122, -0.4444, -9.1829, 3.3983, 1.0427, -0.0904, -0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c8d62b80fa9cad1245a34984b45a95c16e392803118e2fe69a86158268fb6a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e0ad25b7b23a390b0384bd1a6062e40715a29b13025d9b57198c191bca97170",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73fe4bdff7c9ad23c5a6b0a708293efd3ad65f8ae86364fe4c20f8ec5932577",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEk2C7Y1kLj3hvu7Iol7jK03V0o7-hSsadRBioPKHkqNsheR9C7otSn2G8aXXgrV5lS_sDmaijq6oelqVzklsLUTnKFLGy-61w506_oLJV5oNxiZ3UXD_dKz5FGCMIF5t4iO_xfhMl6zLF1aoE87hFkKISjt7nj7Ty6cMOLVxN0LP1tiQmWf0iyy2pmMAc032_iv8-LfRfPfG1oCt10EmXuOOb1hZSUOuCSmuKLxgQx51jq8XKfxWZGJmekG7TF407NomLteBKexCieQyeZLSJCbGORhorF8h3DZIO1CmxaJJ81Y5nmLcjd-D-XKADFWZGRz8lAHXaVMkuPuiuFccJRlX8A6vK8sdROBvNC39wXCEeenxLQdaeMMVA8KBDr-DzQOrLlf8rMq7lu_8Mlf8kLXfZUw7voI0h3u_zWy6GkiCHpMAXF2wmYk6SiBYgGFYTTJ9ZSpSMP3fVLKQDUD9jpkH5aXD4CvAC-HWluPqyBCjCxvyrSuvOmUYbSPQo_WskCTJPC2PuCwpsxiSM9-hoEnf317W0tvwG37xju3u1RBvwSeccClJxtBIxhb_mEOHC0SsxUb0cWswHXjpEZeAV8LLFWmOQS75pgTwzgKlVqXGGN-Gsc9ox3DQjtz_VELtTxyKq1eghiLbSispZOMPDq_gII4yKSBNy-ibDcaFvK0S3sNSbG9Eq3sIfXSZhJgrw-hZiQpXUx9hebFi_x3ydIKGa9j6a8LIarNJhXBtbdVwfzPrjpU0SX_TBh0S3am5-BYgDO5CLW2e1P8yRyyS4iKeWpMOe3bLTvrmPLFsYhOqi2XoqXKeFUtY83FKv7ZtJ9q4YnQjjtJCQU-r0xvCmy-Sg8C3xQB0YFCEA6WFur6IFjSFgAs4Ur0kmolonsqFY384qltwwO3k4uIjaQfUNNqce0f0v3Zw5cEu-2JQbpF2ybMOvFFOZc4iId_0rpdPu82zNJC-j2qagGArkJoKo7wAPwL6PATI9mE4Ung-sr1bV-JQNYdPw8F2v20GxfQKRfpH5UW0Q9E08SVXoSC_hh8NevJ8P6xE28sikSMWX9XV3_MIQ6EwjLXxAo567smiLn1Xx5gsPd3oimmsFCNqKO9LmroM27rWVvyjrh3JlMgfgxz3xYOh6EYEpd07RmJEA91jw9-vehSup-Odnk9IDoMa0o42qNy8Ohp2fDJvzfNAvkBQry5Tw4Q5XvMbkRqCwYkG1Q8WYc0Lj4ByrLU4_hQ0_tqmW4GmVen91-zoBh85Xe53oxuWZIn1THzW4mgT7YkXJeIuLFpwnA9CwzG15uTGc8fEr3Bqh0zqn7e8gEAyTk9ahS847aU_8s0tN2_2jwuXT5fWSKnw7CnLcpd-29_K_zQDY782YczJj0DQWiI-aM=",
  "id": "rs_0347101e88931267016ab4493514c087d09c65dcab0dae50f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the low pose the cap/neck is directly at the bottom-center fingertip zone. I will close fully around the narrow cap and verify the resulting opening.\"}",
  "call_id": "call_KakwYuMiTtXzrYgmpYjrd66p",
  "id": "fc_0347101e88931267016ab449356cfc87d0b5109f1705396247",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KakwYuMiTtXzrYgmpYjrd66p",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4961, -0.3302, -0.0265, -0.0292, 0.9978, 0.3298, 1.7512, 0.6048, 0.522, -0.0727, -0.0429, 0.6951]\nstate[eef_state]: left_x=0.2844 left_y=0.0026 left_z=0.1567 left_yaw=0.0022 left_pitch=-0.0049 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3948 right_y=0.1525 right_z=0.0294 right_yaw=0.4056 right_pitch=-0.0548 right_roll=0.0216 right_gripper=0.6951\nstate[joint_eff]: [-0.1026, -0.9504, 6.8581, 1.7949, -0.0464, -0.0562, -0.0122, -0.4034, -7.3778, 4.8479, 2.2686, 0.1392, -0.1099, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b79a4dee73e6c090f24de92f610e50254177a812fb2db62d3d5b1e6070338e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b248f17545c863bdff046ae405b75da776955360fcda96abee8ef3e1fa2da93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8357be2fe13260cd60f34464d54fd9d6442d0384887d57665296cae04ff772e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7341, 0.4969, -0.3332, -0.0257, -0.0292, 0.9978, 0.3466, 1.4525, 0.9905, -0.2008, -0.0204, -0.041, 0.9996]\nstate[eef_state]: left_x=0.2841 left_y=0.0024 left_z=0.1566 left_yaw=0.0016 left_pitch=-0.0069 left_roll=-0.0005 left_gripper=0.9978 right_x=0.4015 right_y=0.1526 right_z=0.167 right_yaw=0.3774 right_pitch=-0.0949 right_roll=-0.0062 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.0462, 6.653, 1.8584, -0.0464, -0.0415, -0.0122, -1.0462, -6.5573, 10.4684, 2.1123, 0.0855, 0.0171, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4965, -0.3309, -0.0261, -0.0292, 0.9978, 0.3309, 1.721, 0.7929, 0.152, -0.0429, -0.054, 0.9996]\nstate[eef_state]: left_x=0.2844 left_y=0.0025 left_z=0.1568 left_yaw=0.0019 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4034 right_y=0.1504 right_z=0.0403 right_yaw=0.3888 right_pitch=-0.2074 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -0.7726, 6.7077, 1.79, -0.0366, -0.0464, -0.0122, -0.4444, -9.1829, 3.3983, 1.0427, -0.0904, -0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4961, -0.3302, -0.0265, -0.0292, 0.9978, 0.3298, 1.7512, 0.6048, 0.522, -0.0727, -0.0429, 0.6951]\nstate[eef_state]: left_x=0.2844 left_y=0.0026 left_z=0.1567 left_yaw=0.0022 left_pitch=-0.0049 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3948 right_y=0.1525 right_z=0.0294 right_yaw=0.4056 right_pitch=-0.0548 right_roll=0.0216 right_gripper=0.6951\nstate[joint_eff]: [-0.1026, -0.9504, 6.8581, 1.7949, -0.0464, -0.0562, -0.0122, -0.4034, -7.3778, 4.8479, 2.2686, 0.1392, -0.1099, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b79a4dee73e6c090f24de92f610e50254177a812fb2db62d3d5b1e6070338e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b248f17545c863bdff046ae405b75da776955360fcda96abee8ef3e1fa2da93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8357be2fe13260cd60f34464d54fd9d6442d0384887d57665296cae04ff772e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEk8VQ8T2DyzNgC7939uMjI0pRHqPuIPR2fBlKMA8wd4kGSr3FldRyisr3HAD6_kGUzk1XXoI2GK-y7rc1G6Z5zD8uvYrlfhKdS1ijAXFSUqELRrP0f-JlW7Ed7QdcziOc-ILymAdOPDDVskG6cdkfpAtbKGq0ejAVZqwWJzA0FXtb_cNfQwwJdimbPNr_m9POpr5zEoXGyAVj9aHXMxFihSmePAhliVxWm5fabdtL6GNzRNza5TJThYxKKJEy576Bq0zUefbyNTvX95PuLsF8MXAJs4TwzYGxxibLqbEVBrVlJzcylKTonQTYSZwmANW_Q63AQ-3Vt7IZpClZyBiO95QVYG3X6Ls1hNlYFfT0xwCYS8lqkGWeDIi248PsENS0VONLP2kb41lazC92_1_qcv8yTCXn3G1KNTwMYd-0ta1w_bPJiqh5ZwYyHW040yAPYd3BAQLX37khZpAg6tSsrQsA2cJ_jnnxRGzT6Jz8gNUlpTLq3VI3egEGHywAA_6fHDIC3BzsS9s4F92l56Ms85Dq61OHFCr2hXonfHl-7fa-mDQ9G4nTkFK77jsg1vuzgUUDbodqIOvDKjNDi_hLdiLPoTEXO-UckzR9eB60rYfdYzE9lUtKOWlahojx2VJjT5b7R6XwwZ85ghUqH9Qtd9AeQABvZp5QT1yXIsh6-X2oJCjuRWuswtqqKPyJy1s-CMBYyuSYZV7qP74kWoAqOfe3KiHhakQbb68oSH3YS2z56OULTSIJM7c7GbtWRa3o6nulQjtwXixi3gno8c9NkpyxBTaWy9J5Pt8C7IpiCPGFsEQp1tRdNgYWtsc52Dzw0_2XoDPqR_BCy2kSxOexq-Y9j12vFpAk17kGh0Wy80fd4oRHf3izCsaJ3qL8_jEQQz7f1ly6v51pgvIeP_6sBKI9UQSopaOwuW5VJhST4BE0JwwO3z6FsuXREzLLSpICK9_eV166o_YvZw69C2v3yZwsAYbCgs-u9rxmQPIPl6ZHbEFlBvYI8uqQCxnEpLt08agxyftfDjC4oBHejE7bMaxZuPERjwhcl8afO6YB4FphyFJXvBiaAJTFqajHUSDDGgetAVuDhmC1wKcdjHMzFHVVuiK6EGpe0qKg1PoXMdnncV2-UxSlPZPx0BIYJio5Y324sdgPzYXaaK3S7vM91Q7YC0IsyjQy8YNzydJTnG6hrlSGwerDP4jlLor--g9klaDeJutzKxi6cnIKGUBgcrL9Zr0u2bdvRSwTtXKZ5wdW2tZdi6uyyXk0vElldDb2K5xRZKleVaUT4z0XpWBKsfywgR-vnLiRVKj_whkSSchL4wCKpmhJdEJJGyOGdI2sTDPpZV6oUoHkPLztwQyoXG8Xd1dML4RDkcBSe6xGA-mdYRZJ4rZmJ1aIEwxpu4XNKUvYK0lb5K2FAHkR25krrE8jB6bxkCMRBm-NMOruGNXgWZjeqcBfAF-taXBXDOpzJwuTXq3IUSXKVJKTqNmwAv86yuP9in78kDGUkcys1C6QUmuMBqf77oR9GqdPY_vbCuu0I08gRd0s8mC33nJB5-d4WCpo8aEMm1f3IzMhrAGBQL3ByDDmUpDf2tOshqKY1K0KyAqBF3TsF0uhivYuXvEUc2yiWA2tiB4W8CiWbq-YPp66ugBdARg7R5z1QLdhqSbtSZhr-Zq_dCHIGYIh0nXMurVguTaRuIWQN4QO5V485InCUS4tskCNEqarlhAPYQk8-kf1BncI7hQctuBytxX_z9bnqztC08pKH8cIf8016c4mwSs7Bco9lJCD_0tX6_wn8C-Ki_o9ArTzCi7OhcjEZiYQQWAWIsFGEexXcPyxQV7NTmU393MujD_Z-40kQt4cQMieU_EUVdmEwXd6LnQ03UPym9e13mrBehwKFhG3RrIPS0-5aNMHWdQjD7fbKQuLFM6f_ibiFSQBj3km9c3QuHm5YY9Pd3IYBii0o4mYypvC_9AV6-Qg8wtwz--FMYFQ5SHiz6z5mhtVJHXqz0mXuZ811hLGwRsrzJetqy-toNbG3eVTRruI2KJv18OsVGo2ZfVfQu-v41OODi7yC41qnwechix7tArc3qXgSSBCsuPi2j3M50dOaFNNEg9J71yC7NFFdsedhY2ymmexBqbxabccRhBQ54PyrfjBV2nvsf84mFo7MDHuhON0kCuiwVYqMsevKh5eW1pBgmYU2qfPSQf1_yrXDvF3rKwyaMBbpXI1MrkMCYJa_pcCZrQSaYZXTwHl00-C0sw2OJ1PnPOISJffqzkyQwflV5faSZPiK6LSR7DsjBmmU3L_O1ijj0MLlG9chVkyk8b3qtINE8jI2w__g3KlWbiHU1y_mUTZDB3u90vVzwRcmz8LfHvP7ksKvbGcS9Jgtk_N3h8LdugTURBhrG0SRt0c95dCItbK27HX7MT0kRNUyoYAG8360zfj4Aw98VyGxMyTc6Uk20GiyWHOXNU1Xew83x3cgmCQ3p5XseTG4t6zfAfm9mI7BBzskl-f9Yo5BlqWLmlRWLYMpMwYo8DZwHtzoh25T7h5wiv0Hi3nlVGr9iJ6dTN8FRvqgnu7zeXs_3xRyP18Cs74PeibbdYg1aOCGLYgs44cA=",
  "id": "rs_0347101e88931267016ab44938d0c087d0bc7d2c8dbfb17480",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.155,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The close landed on the wider shoulder/body (0.70 opening), with the cap still about 2–3 cm ahead in the wrist view. I will reopen and advance at table height, where the arm can track farther, to put the narrow cap between the fingertips.\"}",
  "call_id": "call_SVdlML8mEkClIXe6KXpprWl3",
  "id": "fc_0347101e88931267016ab4493b859487d09922c803c3c2ce9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SVdlML8mEkClIXe6KXpprWl3",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4961, -0.3302, -0.0261, -0.0292, 0.9978, 0.3111, 1.8603, 0.7162, 0.5621, -0.1173, -0.0437, 0.691]\nstate[eef_state]: left_x=0.2844 left_y=0.0025 left_z=0.1567 left_yaw=0.0019 left_pitch=-0.0049 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4273 right_y=0.1629 right_z=0.032 right_yaw=0.4248 right_pitch=-0.0102 right_roll=0.0422 right_gripper=0.691\nstate[joint_eff]: [-0.0752, -1.1282, 6.6803, 1.7656, -0.0659, -0.0757, -0.0122, -1.0872, -6.1333, 6.0376, 1.8926, 0.2222, -0.3443, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bfde7b30f1e1642eb46e19eb0192ffe7594e0a59258dfced102737ca31cb29d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460e93e9076e98abb74bee76d832d4e0c096bf93f08c0a55915321a9ccf40a02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d94eb7e9b9a004e8386dd390514bcf3ff9f604a051a0f97d1f48520d9797414",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7338, 0.4965, -0.3309, -0.0261, -0.0292, 0.9978, 0.3401, 1.4597, 1.0241, -0.1936, -0.0307, -0.0513, 0.9996]\nstate[eef_state]: left_x=0.2843 left_y=0.0025 left_z=0.157 left_yaw=0.0019 left_pitch=-0.0046 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4096 right_y=0.1545 right_z=0.1804 right_yaw=0.3851 right_pitch=-0.0612 right_roll=-0.0095 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.0598, 6.5573, 1.7802, -0.0171, -0.0317, -0.0122, -0.8137, -6.612, 9.4154, 2.0049, -0.0269, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4961, -0.3302, -0.0265, -0.0292, 0.9978, 0.3298, 1.7512, 0.6048, 0.522, -0.0727, -0.0429, 0.6951]\nstate[eef_state]: left_x=0.2844 left_y=0.0026 left_z=0.1567 left_yaw=0.0022 left_pitch=-0.0049 left_roll=-0.0001 left_gripper=0.9978 right_x=0.3948 right_y=0.1525 right_z=0.0294 right_yaw=0.4056 right_pitch=-0.0548 right_roll=0.0216 right_gripper=0.6951\nstate[joint_eff]: [-0.1026, -0.9504, 6.8581, 1.7949, -0.0464, -0.0562, -0.0122, -0.4034, -7.3778, 4.8479, 2.2686, 0.1392, -0.1099, 1.0037]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4961, -0.3302, -0.0261, -0.0292, 0.9978, 0.3111, 1.8603, 0.7162, 0.5621, -0.1173, -0.0437, 0.691]\nstate[eef_state]: left_x=0.2844 left_y=0.0025 left_z=0.1567 left_yaw=0.0019 left_pitch=-0.0049 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4273 right_y=0.1629 right_z=0.032 right_yaw=0.4248 right_pitch=-0.0102 right_roll=0.0422 right_gripper=0.691\nstate[joint_eff]: [-0.0752, -1.1282, 6.6803, 1.7656, -0.0659, -0.0757, -0.0122, -1.0872, -6.1333, 6.0376, 1.8926, 0.2222, -0.3443, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bfde7b30f1e1642eb46e19eb0192ffe7594e0a59258dfced102737ca31cb29d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460e93e9076e98abb74bee76d832d4e0c096bf93f08c0a55915321a9ccf40a02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d94eb7e9b9a004e8386dd390514bcf3ff9f604a051a0f97d1f48520d9797414",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtElADJBROhqbDdA77g24-AS5SqoIOZteFXziwky4BZcYANyVKBSdyjFq5V5td1xhIeUHoWk7OZg8yqJQCPGzE2JroyajuUzBUZehR3bc_DwAobOqd-iEeq2JTeNi6QrDhaKoBk6Bqb_3-kF8AHEI17ZCzH_Yhu9dgg44GLivzrfstx1azmrRtj3Xrak8glLy8YEIIEDR_b0RQok6YWAPbNUh5Fo6eXnI0wAHwhKQDNLufoOO9bI6zBbwfhuiUrBberH4ryKGpnlqsr3RqKCCbOgPcr7-CASMckmRsHuz0IGfFLzu_hNerimJlCocjHXWBbRrisuSJIAplCuGdcnjfL1H7ueebvWNg-1eWVq5kupDpbqJSURDEUmD4-rXenMHjL3iauEsOndLcH4-EiYJcXZaBOYdXCwdreFyo-MrchqKPs6UuWGyXhkRYnMTziTAUGN93LMdUI23QWu8mKe2RivFKMXgZekksmzlxijNJS5-__KYFrURsPgXOmTVdRI_uIkNHAkZsyRWeJJjEY2tr4C2K4Qbdg1eMlIYrkfuWwIYs5rbd911M5VXrtCfa1ncFHvHMFt7hKow1vJrg6b6-TBVgiWqxgUEhSmuKK2EvQAUsP3yaI9d-gcXSWnAN9JmD_4f_TL5ptUtAU1YFpAHAtBv2m4VssGA2IaftSdK4SnVuHkvsgdHzxF1pyJNL-RDdiDcHXo9TES48_ZC7ASZrqdd0Vn6-bHvtJJgUgrH4vGx2E7IONJ1MFRUlTwCpq0AfB_ppYCoubsm206wp6BJRsuDs9LJ9-_nIjXT5MuWi-jsTriHC3BBQgrAqdvmseSNEJBcL0mYCD0FnaaqMqx-LD0Zq5pK1QTOFp107_8ozguFo4VtZVdPPs5eFSWMeUfe8BgPUkULH6G7EPoTzgd2kIEkEcFGpiovamqmMtBChtclJ3r6Xi-Zq5TUmYd8ovwQuQVrz7lAjte8bEM013ymcQ52Fd0cRiLo1-mRedmNkaXrtBLU9PYVu1Hej676S7KP-5GJchwYZ_utcE1UroPOKubxqMxHwbdL3aP6WWG86BoZDoUTcvTc-RnvcnMYuuQ8FWqk52veata5eRxJPx6bhFZfAjlF7U51TcbZvvlsIvL_hg9O8OodoWPJ5I0Dy-DuYtjYoFVAdVQK3yr9lMdofo525zg5fi72PSVjwMo_LQfpLorUO8TU980qUIw43BOuGs-XHtPqhC-sUcNKiNd2I8H1f_Psgwb5Uj_jnlftlifC0AtrT59pUGWxNnfBX3W8Rl4pUqVyh2FMG3AJk4QjbHGwC2yYps8L8hEt3BheTYYLJA3QH2PeW2GEMOXuQpHB9LGHSwzxK1Vyv2HJ4BuUxZcXAOhaFI3KyZVo005HmEkqx2dArstfEP7OLX1h1xWbFTp0t4s2hA5XlANhLERVDS-3Mlk-aNx75irW5ufamKs03NaW6o-bt6ZXcELlcg9qF5PW-Yk14HSoZf7Evh9oPSOBfLgREoYdlHLcZIgRLDvv8vfNtU0zoeLlnb5eR3o3opRS8hc_tx884udZtrY-qlYbrA==",
  "id": "rs_0347101e88931267016ab4493e6a3887d0924feaf0e1515e4e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The low advance succeeded to x=0.427 m and brought the cap closer, but the jaws remained blocked around the body during the combined move. I will explicitly open them before the final cap advance.\"}",
  "call_id": "call_QyNo3AgNZU95K7z6HfCWyZwM",
  "id": "fc_0347101e88931267016ab4493f13c887d0a33b679e2a274583",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QyNo3AgNZU95K7z6HfCWyZwM",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4961, -0.3302, -0.0261, -0.0292, 0.9978, 0.3149, 1.8694, 0.7219, 0.5865, -0.1055, -0.0582, 0.7963]\nstate[eef_state]: left_x=0.2844 left_y=0.0025 left_z=0.1567 left_yaw=0.0019 left_pitch=-0.0049 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4317 right_y=0.164 right_z=0.035 right_yaw=0.4265 right_pitch=0.0102 right_roll=0.0213 right_gripper=0.7963\nstate[joint_eff]: [-0.212, -1.1419, 6.7487, 1.7802, -0.0513, -0.0366, -0.0122, 0.5812, -8.9641, 4.2051, 1.6239, 0.149, 0.0122, 0.0757]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7911fd7e16d582d2c390fa359fb7f7832eebd9a51a1d2173d077e438a9c0114",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f02c9e09e5942d47ccb72801f5e2f9b9d05f9b95b44f3a8203739f62f7e38c87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52bb41dc334caea80af0f14c974b2773654e6c698e510439e4a7f8f283516b72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 146 changed as sent

message 154 changed as sent

message 158 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4965, -0.3309, -0.0261, -0.0292, 0.9978, 0.3309, 1.721, 0.7929, 0.152, -0.0429, -0.054, 0.9996]\nstate[eef_state]: left_x=0.2844 left_y=0.0025 left_z=0.1568 left_yaw=0.0019 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4034 right_y=0.1504 right_z=0.0403 right_yaw=0.3888 right_pitch=-0.2074 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -0.7726, 6.7077, 1.79, -0.0366, -0.0464, -0.0122, -0.4444, -9.1829, 3.3983, 1.0427, -0.0904, -0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4961, -0.3302, -0.0261, -0.0292, 0.9978, 0.3111, 1.8603, 0.7162, 0.5621, -0.1173, -0.0437, 0.691]\nstate[eef_state]: left_x=0.2844 left_y=0.0025 left_z=0.1567 left_yaw=0.0019 left_pitch=-0.0049 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4273 right_y=0.1629 right_z=0.032 right_yaw=0.4248 right_pitch=-0.0102 right_roll=0.0422 right_gripper=0.691\nstate[joint_eff]: [-0.0752, -1.1282, 6.6803, 1.7656, -0.0659, -0.0757, -0.0122, -1.0872, -6.1333, 6.0376, 1.8926, 0.2222, -0.3443, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4961, -0.3302, -0.0261, -0.0292, 0.9978, 0.3149, 1.8694, 0.7219, 0.5865, -0.1055, -0.0582, 0.7963]\nstate[eef_state]: left_x=0.2844 left_y=0.0025 left_z=0.1567 left_yaw=0.0019 left_pitch=-0.0049 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4317 right_y=0.164 right_z=0.035 right_yaw=0.4265 right_pitch=0.0102 right_roll=0.0213 right_gripper=0.7963\nstate[joint_eff]: [-0.212, -1.1419, 6.7487, 1.7802, -0.0513, -0.0366, -0.0122, 0.5812, -8.9641, 4.2051, 1.6239, 0.149, 0.0122, 0.0757]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7911fd7e16d582d2c390fa359fb7f7832eebd9a51a1d2173d077e438a9c0114",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f02c9e09e5942d47ccb72801f5e2f9b9d05f9b95b44f3a8203739f62f7e38c87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52bb41dc334caea80af0f14c974b2773654e6c698e510439e4a7f8f283516b72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtElCC80J6kGZrXGku3EN-Ej6CNgZCKZwG4iEHZoPL4Fb_IAtarX5BUWmusmxRxNpwbdQcx67ReNeyt1VFXdQEmssJUb0sFc_wPn6Gf23wutloQQvCK7gndPkbWHL8bR8rwU4SkI7k2Mq6zh3RAdBwBBFwJM1f6bgrgVPelq5OW0vLLYkAFt7ycy3xzFOPbr5POKDeApz5V3sQ_pUVrog7aqqDG3uf5IfMs1Hk2T8XVOIkqU21b1ZoHE1LD15eldHQ0T3USJ2G1nhdbAqzMu8nQl_NSchiKnm3yI_oGyAWTk84FpGnWoNr-KB8PtD7SDKwjxO4bKiMqX-AX6CHWmEGqwtdn4e8SE_jY9fIssi74NUIt0NcAzlA9gQZCH9tOuMHq6qGvxHKZR_P-mo9zsJwoo6Jse0f7EGgfYtEraRWCLToeRIOMq2d8lcYZQziufeyc9uXM1GPuKNtTXfKaaUR05Lklaub6RBhA5jpag50zGrb_X9x9nRajgNlIO_R1gjYwX5MfHPkelZgoC7nB0E2FVhtxcYt-0tnN5_KgOVGbLKhortw2ECskUTZW8esiFHhYd6TyV3TIrmq_3kAVqvWM0nmMgnzGzuQ8NogzMx0WRhI6yO1hWuh_qJ_tfmYn173qJJkoV-VBZT4KQrGAd2oIsV37CPYSdo3pOAXead1yiSCclp-M6QglvDWbCM-c3Lh2_BSTvdZg4ObjYzuIAyYtBuJ3byILxRb3K2iuGGHUeOzC6NoeNIU-5TmZhNT9jeY00OH3d1L8f7gaPuVrtG3w4r7Rhf-wgFSQGbzICc0mg7fV_aEqXCOuMw9jzwTay0VCoDIa-dCvla-4PKNynT2jtTsLbasD7-qkbidAK9v403c0g-PXTEH2StIqlX6Y-9gchtNNFI6-_19EXNZNNTUvEIDd_Luwto0BMmoqXEcc7ejjoGnN4RdlKHZjajKs8zIbC6VT5lidIjNUU8tH16SiDP5Q25CyyZIEPYGUiSJTpGg-avbuDS5QSBC9Yl3Z7GE9_B1kcijIIwfiwoRMB0T5cf8QiVJOavPSRY0wqlDrUwhYwLzGAKTq2_C6dDMmky4QbCFCiFrbKOC6w_kwVYfkEI9F3MNE0JLtsm30NzRwhf_-oSAvFf-F01UuLOACAM3Me7sm3T9dLRJqERTX1v8wUKmyeiWm5RAihrEXCPkKPP0DiXJGVUIMS7xMHMO4bYMsw_6maO-KeKTQhWQFURaqN-EUmwoWbapOeWwJZvCzEtkMSbaCXMzX16UUxQJbQhNkkAIEATQaQ2PsqmXZciNCXrMBeMWI4T4wksxI3notyhdCPkX3AlLyTxxYK23yQjkJ8aaGOMPapo59zhLicpz0OR4RbqatEGcdiyP_tOfroyBxynRChHihVAFcn2lB0Iv5EqfBWxATvMEPjrAwisXxyH0Q==",
  "id": "rs_0347101e88931267016ab44941b87887d0999f3b7fcf9c0820",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.155,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The jaws have opened enough and the cap is centered at row 153. I will advance another 2–3 cm at table height so the cap itself reaches the fingertips.\"}",
  "call_id": "call_vjxjhayfiBxuzwiUmY1Sb5w4",
  "id": "fc_0347101e88931267016ab44942434487d0a1fc887d5d303347",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vjxjhayfiBxuzwiUmY1Sb5w4",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.4961, -0.3305, -0.0261, -0.0292, 0.9978, 0.2882, 1.9259, 0.791, 0.5518, -0.136, -0.0937, 0.9964]\nstate[eef_state]: left_x=0.2844 left_y=0.0025 left_z=0.1567 left_yaw=0.0019 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.447 right_y=0.1612 right_z=0.028 right_yaw=0.4445 right_pitch=-0.0093 right_roll=0.0107 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.0872, 6.6667, 1.7705, -0.0171, -0.0464, -0.0122, -1.1692, -7.5829, 7.1863, 1.8339, 0.0855, -0.0708, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1e186b88982126f0c923ca131ad9f456ee3ba948beb39f4611703c378eba080",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948cf78f633b301941801b6d4a4aaebdea83b2cd16c2a20d57cd372be4b8bbc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7451590b5d3e9eb5d2a9b4fd56b741997d383baeb6b413371b71ea6897e0ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}