adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3775, -0.0223, -0.0288, 0.9986, -0.0151, 0.7883, 0.6029, -0.3862, -0.0132, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0016 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0015 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.4564, 9.8256, 1.7998, -0.0024, 0.1587, -0.1538, -0.9368, -0.8684, 10.2769, 1.8437, -0.1197, 0.1685, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab4556dbd34454de8116623aa20a62eb507bb4304bf1aac87885aa79d0bfa425",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8445786312fc12b36d9b18fdb1cf88b31da8881e95becb502765b9956210691c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3dc7b05b0e94fc3434cb8f948493fc8083313ade68f9d9791c3dfb9efa8ff2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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  "summary": [],
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDkBDn_jnP9XvOT8p-3hXWd_7m01WK9aFV4zJYcJGv2A6l5-vb_uk10x3MqiGzCEwxeoi4Vmpdv1mjZRwiB6p9O8bZuGr7jkmF0zQNcK32b8NXfeM7XqI8RoI0RO6p781Sf8e91Z4-hvI1d6YFr8PgiajsK2vU2-_183xvyL8ROyhrMDcun0HUKFJJoGb6ApYN4mGUlBYuK-g1y8Ip7kJvVTNhRwojYq0Ho4POLqReeaQr6In9UGsTzbpA-UJsLuCnM3XdQNMJHucuopQWDDV_uEJ4DOIpMcXr5BUcO0vkQl9lmikxwIEinapoyE6FzpcJo4BYijb8gonYZz_T_vuM_t2HEa_vHxpSzy_KhzbyI5SWgiLDsupMQD_scWn-oZdKETcYjfWIgjucrqRg1rm2ZOmyXKWhxkvfT33-FJ6xfN9iTDxgwGoSMlW5_MUjR64tbTh9PBalswNIH9qSL3eM_jK5mTUkV9Q8J6S2Vvq2evHoAK97-pC5L4YncXAL-Dl1cZ8aDiOQqWsWHNMSotXUbgP4u--MGzvXqwi42wXX3-YTj3UAUpdLCI6EG0lBw7k2Kxd14L3af-8z9hfBPQ0lRtVDvBIBuUY3KJSJBXtGW2yLEy1-AXdCsCeUY4rfAE5XE4gtfSljNSbCopsPc6sf8bwJclTxRrKdiU3DxvWX9fOvXD9wrg7bkt1RYE4rstkmUuBbe-T45PzfumDH2-Tw4DyDLEo692S_7G2wntNwRJDtX2EwkfGabk_6xWLcWHCU1Cc9QqFSAX-lQVi8wYBhggQgCFrknxGzeH379OtH23j-ywjB8PsmG7eFGjbACIHOngPePWirFMib_yb791HlJPmHkxcDCNY5nxuxOGW7xESKXBqMApF3xqqEKoo_7pT4TeH9aNevDdNoAuI1Rbm8e2MXhAbzRNwz7mPqfqKtd5Z_anzZl_-8FMWxB26gqhr6ddx2pHVL33NTViBVYDhTuaK3CwX-uKPQzE7JDgGA489CgDQ_oJ5XzFL03KWnkhwwG4cLwQt_jPL_ulrttuKfvCWH-F15tkJLEByQ1NFMCvx7_T5lVoL8PQN2S-CA_NJWVpSPVfwkwkaVuRVCiHQwEA1KsKMAsrR89aF9XJwoYoBx-rozVsST56at724rt0WtiFxJsZj9s6Dx-k91nbUVK3eCC9nI-qkRhQdP-56cRsuSpvyTVJFfR426qORq5DiNSUz4UoAqHgsjglEL_SjypycofIF5vzP5fZ-4ljxlIZP7LEh9pJU92kE0G01uAYWAqCUMbh2gODuAor3QtlJSUxdo-q2lVu9c8TUPluNAwNSxEGwwaKB0nXzy42bhcKdMyW-xwomAgO5yfgDuyTtBVLb0EHH2oslR4scQnD6zYekBTy0NBWOlvC9wBomp1LP2p39cCgZ0u3CZgUDk1QKbf_y9eyUmSfAA1BsPgeldscrFYCAjztbXxW3QVzWhVF_oKmWBS0KD82I2PY60aubfeI0ud8rYcsfobJU-iWX0YGhdMjFQ3l7yKoGYKDljVn-WhEn68qbLLoLDX2YTdIg1oyLbZfnVJo95tg1FjKtSK0Xel5AYzJZRu2MrGMplj2q2dC0PWJOXOLk5uPCbBxX_EOp0iGNRJUeB4BrSn5bxlLa2EV3pNFcUt6__Ym_ooSEzQ4Cnw3nY8W8t_OEBNHdmSygAEpVarWgX2TorxCiR-YU-PvirNy4w3IvkvVSUTpd2n7KuM0Zlpo3kW_FEWTNbW7UbgYPLDmEzRo4QfOtj8og_rtVc8xDdElr6q_yR3i-oBSIhONz-MWjKDza6lkh0O8wcJzpf7se5s5ReKg1LlrNFjTX0IoVT6Ln12JC_VirsLOEgqj_2w7DHKaaYJ8MvLutrV85R6krOjX-vSM2qOfpuegFFt0ELYiU9iZJHsNtbtWZxoKvktKU1FgY0Klv2nPo2A14jBh4BM0jGWjIVKVqVtOzebhueRa1RFVOLbEBehsz82Q7hUYPUm-ndPDShaHWARwgQkV3Y6oCruKxU5vDdOXdXa9J98v_nQrRLEOraUZ9Kxp6gcxvhNaEo2likCtaYzPDJCNoGFMgop3sdNFppvR-KFcoHfsS5e6biZKIOsXTbEZd5aGhR297ielEhRvgIKn66680Sp0z1NGlPCt2VoN6i1NzzOfcJkqa2unzjesV_FAmLqqBb5_vLK1OQMhjBQFrvs5mi16ikLJN2NJjMMCoQSaYJxmpQuAAwn4KtQrzN2vNzMBRsOdfflAjdomcsUb0lyHhsgyUxvGKRjnGFef15LtupXu09JzDAp283Ld6BChD8jaNNCQ713XiLCUkcV-imCRGUbVeV8D5hCIT_YyGEPm1cHbo3pqBWWW6_z3WDdz5hwMk-j4yjBK5ImpSCNOQXJLGL3y1aZBoCtanywgG2HP4h-NcUnkKm1CtKokYzVyFSqlSVgGkM_G4R7IAFgV6mzMjWhCuwS9_gkZP5sAklVDOweX43SUNhfDMHA7GZ3Orn_MRgadYX1aI7_JErKf0g4UzajvWkzF_Halp-SSPo0o23Y8BU4N313z2z5SqIbqdqBTuJY3h2wBl0LHs07kRetdjWdGjarwCWtlZnRtsNPRvK1ay2IiYu-9oMNnT_iK6jV7JLuTE-MFXSINnNyrv6jFLpsxXPCaTA6VHNasL3Fmy_VhBspc-zfkpbOfXr0ss5ehQntjmd4L_W_C2JN64Nee3c7mNrDtDywCOC7GPUIvMkK4fqcxKYEOtJsbbBg0FtFsLq1cArieiHng6PsslX2OnRSwTG10cbdvlzdnZ-KMw_hCaLx3-YGLtXbDrBwdbQtNW4QNatjbiT2-FAyUVHhZ_yPk-XLz04CJSqdrMDD5xVdo-QUVWSk2Z7YQJtQUqO41c3y6VTlNmk9TIzcaIHEOsSh6OHeG-VK3HNIc-aspsU_DaRCsJZH9rdqyg3a6vG8PB6iq62M48EukXEOAy5Fc4Uh-K2AL22OeU-7HVqpuYJ7WtW4z6FstGgFEd_Tg7NdwAvVlAq4lY9XaqIHtGZsfnh6mJGc6hsPfWpNvTWtpB8XoPaboLCuySVZ_XMoLiVIHVWNjkCnVALfSR6aBFSHE-sA3pgNK-qc9Ml0Qxo_WuSFL9yFnQJFR0f3P",
  "id": "rs_0cc17a75151f9137016ab438fd0da087d0afd30e7b5c36972d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.19,\"right_z\":0.12},\"note\":\"All three bottles are lying on their sides; the rightmost bottle’s neck points away from the arms. I’m moving the right gripper above its neck to prepare to lift it upright.\"}",
  "call_id": "call_Y8N3FZb5HqSpUU22qhJK5UDV",
  "id": "fc_0cc17a75151f9137016ab4390060f487d0b1eaa069122f680a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y8N3FZb5HqSpUU22qhJK5UDV",
  "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]: [-0.02, 0.7982, 0.6136, -0.3885, -0.0227, -0.0292, 0.9984, 0.6483, 1.5803, 0.8379, -0.0124, 0.498, 0.3298, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1815 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9984 right_x=0.3738 right_y=0.1818 right_z=0.1004 right_yaw=0.0421 right_pitch=-0.0752 right_roll=-0.0526 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.6479, 6.7761, 1.8584, -0.0415, -0.0415, -0.0366, 0.1026, -6.8308, 9.0325, 1.6777, 0.4567, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f739aea1304f1b3ad1e176dd0b374a6b4fd6239242fdeb4d6b8d3b1be79d28db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24e1b28a642ae03c3cb27d04916fd81e67b48d2632e5f20bfc64af3a90675e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e42867de80db188822b4ee4f64841e5f3af96f1412c0ce353fc1aafca3f4eb4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3775, -0.0223, -0.0288, 0.9986, -0.0151, 0.7883, 0.6029, -0.3862, -0.0132, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0016 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0015 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.4564, 9.8256, 1.7998, -0.0024, 0.1587, -0.1538, -0.9368, -0.8684, 10.2769, 1.8437, -0.1197, 0.1685, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3885, -0.0227, -0.0292, 0.9984, 0.6483, 1.5803, 0.8379, -0.0124, 0.498, 0.3298, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1815 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9984 right_x=0.3738 right_y=0.1818 right_z=0.1004 right_yaw=0.0421 right_pitch=-0.0752 right_roll=-0.0526 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.6479, 6.7761, 1.8584, -0.0415, -0.0415, -0.0366, 0.1026, -6.8308, 9.0325, 1.6777, 0.4567, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f739aea1304f1b3ad1e176dd0b374a6b4fd6239242fdeb4d6b8d3b1be79d28db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24e1b28a642ae03c3cb27d04916fd81e67b48d2632e5f20bfc64af3a90675e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e42867de80db188822b4ee4f64841e5f3af96f1412c0ce353fc1aafca3f4eb4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkIofR_Oqi4oSRijw1Fr_lKmfOoXI8axFEI5dLgGFyWPx_TTlJSGWbhkCLs_tmdjb-vkLQMlaWL4fFkjCDaLmWOotg690c2Dl9QhQQzfb1BqlDYz0ykmnq0AOkLcSORbAxOBwWinaojt1allcxbt8z7iTj7qeBQKdrT5pynJzvY7abayrtuA26hHflNLpaucGp56BeZxc2qun83sQ27dwgXqhs4mMJNZXIXdVtlura5NqGj9lYEGsaZyPt_JPie25htfSVDfHgr92L6TfsmFZdJR3SQYt-CiTVjsz6coWeY3SbJmSZocOQbKTZUZ8QJccZWMfqBL6MSFj9zeDqgE8nwoohdXqKZIMErUweP-qwgtr2nSzTlt2xw9YlOTd_RNG8uT4TWE8m-grJbRONzouaLSnIaqPzTnFjeZHtKqJdO3fAKSyBSE_KzXJwvGWCMCfXBRZAOYcSdVqJnfSEheb6IpN8nzc0dN79HrS8i7pFoOjKCaiE6wpS4-1PrNJiq84N-ixGZNEKawx4ioV1Xw4-wSleTNSv9j7j_vFOKZTanWbZ2oloKUBw2qhaXrx5QA1_sz71Fq0K_U4-8b_OLjQgHIeqSiYXYC3bzw5OXHuicgTo2eAv_IGolklXUf0oqYbLQPuRJJVc9JrgjbZEj7_gFFCEwkvv9uWTCkhl0j84WKxq-UKsJ4HQ38BGxh2KD1aEl6RxUsp1n6I_VdphnV1SiwAbW3QzfVAsnNHTvRSpdRFS5CFsrinvlv5Hc2EMyYMgYptSj1dnZ1KYmsZ-ph6OP-FrSw12coFiU-psBFsYs48n6M14GG7xoK4iGKlqoKxRg0HQyfRPUwkk5MuSXPF-HSqwP4o64tSyh_chsyGXSelAstOu_8LLjU7hgxhB0mwAQ2BRBmNTC7D-Ap0ewSl-ylBdtAPA5hRjsL-E2WxhjriwPKVlU9OHX-KLy0_kibRzhkt7qpm0RMwPcFk5b0eiy-MgCJj9qGJZENJgJWa2rl203bXeEjAuDWYIRF8qP3b0p-v8s-Cj5X2-d9TRPjxPNufkYaoyVCndZEhCO4XG2xkANZCdhmrCxHwQ1lCnVhBv7z50_ickylHNO4utKUqRGjzhey5X1VglHRJ26NCZ-3cwTxCc7xN5khrR0cLXEdQMzbGbv8g0joWZWtLfq720arq03biRVP-CafBvI2jAqVtnDmtK-yqFMhRqQOU4wedwAjskPMadVJOqf8_MzJUkRMNTcEaT9GI7URenieuSGDVxVVPMItEZEpD3oRq3vTYr7SXEBNZQkZDyPaeMvKMRwOAVxkP-MKDTqhZvrEAilhCJ3c4dZDba4wGLHqTq7Wy5sEmZbgCyrMZwZBUo2h6aciPiSQMbCEio5TvbhASHdDQ7jfETZ6GrDUTNEwSRYcX5I-cN9Jglz2VqG5XjoVGcA3WJdsA17j_pHXKgumFogdx1er8ITzpNQhINSAjM9CudIeEhPy6gRgfDt7O5sMTG7l7Ucy8w-tpAOUYtHCryHINlk23LXERrj36EhjM8aLV_Mk-jIlQaWU13EMq2dcAh03BNJtYcsHhnB9nGze6eq__AvaJXJ2EDfrDViTh2P17Ze1IgN92m0RGi2vvN8ufy7PbiBm8BmPrglR_TfCh8a9kJ1mwj1yy0db7lO3d8u04S9UgfwixrCP5mGiNSPZGJMcHebRJ0aZQbovE12SHokfmPM6if5PK9pXlYihytMZe6m5__ixND9zXAGlwyIElG2uboFopghnaPt0fpEopOfauyB_xLCqP_oGYEQxczDnOac8ZKcCoa0qesR6I9Th_z_NVxOH0x1apWlAoyUnJhJF_GcCqg5IUDtSG9sh_eXj0jIl6mieq2g2tUCY1JK_wsoymGv-_wfje5DpcCp1LSGDwdvzJLnZp5959Jo9qYW0XebBcoxS5gqm8_UGSy0vZqgq9WETeYA5w4JDm7kPECtsYerFQubXxM3i159teJCg07m6fr1M72agTyL1wGFCRWbkDEUOlcqovmTQ0IDlU6_JsZLoJiOzb-AhoR5Ta397BfVL55edgXEC1I3LK5US6ytBCYbpgcLUO6kOLjHDaQsiAXaH2oF398fSj7X9sO_YT21ACflEmDiQdgHpdK_8CZTIZZ2PEvnmpi_epOLV8JeoXk0ej61zyS4VVMUwrmPYHZT7-34QqpSpjvi_oiIJQuoLt-PnnYzHQflwwZtpvIzk5z7IMNzT5LSxFMvkKbyiURWnzRZ_o_gh9X50u2O6uWYmEMlXf0lsYswxw1KmMLOWw5cuOjbgDvdKNnFUkiPlq_iWqimEHj-rIRSWPEA0SZEHB6sGpa4mJkQtaqGkx2zaR8r53oeAm3pcaZZcL_HyaxQUPkldZ5ByhYFssMIIersBsI3m05jyA0FGdG5XHD2DiQCh8myv8sf5j2FzxAZjfbigdwEhsv8W1U2rO3JGt4w2XnPWe0gfzw0x1bdUkuoMetNW6PTP1wmlTqibJ4aeWkJl5J7qABNTAZbOLgbHyxkD0sXMWP9ggbSHi2X7xv-Cgf63-1GPfBR5bWNAABN30E6RiFLgEaupcw6fNjrsUYX0jMv89etwSE7gNAALW7Jc_Jotv9XasGRSdmnS4TnUWYLQ8eVQR7y5x264GRzGsjoXPANtu6Sr2cQJ4ddnMQ3b41JQ9_1xgbQpq55B6TUYxmJVFSOcCgvISWiaXcKYD06n_OfsWJ4NZa6M8oq-cCzzoKSeIJQp0Zg4PzEYM0GHl1DswDyM7ve36hZhKsVqDSFTp_qOhZC6Av6AfmXVgtpRxPCUQ-IVn_D5IdL9HQWslP3AOKobcyGDmQd9uwdNdPv10mtbTZ2U7v1yj70amCa4UiSTvf6hMk0EonrEzLhwKex_hbme7yzKSC1LmHQv1EKy0WNtMnki491but8Opj0QJ3Ow0sdUCyzjJv7G5mfUUSR1XiNGrnxUblPWbH7AgoULgphHatJcrAuCvYN3Dvw5A0sSk5bA7UR8FZpvx69ejGJ1kJURvOauWtn05obF_D9-jhxaIJUJOHua6KlK0b1-IfY6JDkISRbhvNekOujPcSBa-3M8Tkud9_bvU14Pzc3jBeqaTOs_Yd99HxjOaPQZ3kldwPTG7zMhNBJMYodW8g2NPSSOLgIXDFMeozm_PAe_lgJckOp5AZBAo6lQPGSN5fe71QBOBUl3Otn3lv3V74ydwHkXvjTduwQBWT5-EKSmmsWTjJd_Jod9cSm9mTh_EUfuVOkDmWQabmquFVuiOIzYxzdqxGZ_bQzM3NO3u0O-RbuEwY5hXfEPAAuxoyBB7UdRsihBkolz6BzDFZx6tN-CaxiYnrSZxQ0Ci1nS2T0glOxIRFfb2oHmBt4lmqsDf8kLiQQGrBJjeFIn6ON8d3V3wrPQ1f8LwIssF_t5A8PZOtaOunM1OnC4DbM9edcGp3j8kbJJyuHf8KJAsPnLClKBno_y8vwHT1xOtEITd577ee85bnfmQ9tUNGAdHtgntPEl3QsuL7OeP5xkaGy4T1LbJZJ55zH6jmJ1KjiTAxYMg==",
  "id": "rs_0cc17a75151f9137016ab43903d50087d0a7a59768d0a1f99d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.408,\"right_y\":0.13,\"right_z\":0.09},\"note\":\"The right gripper is near the bottle’s cap in the overhead view, but its wrist view shows the neck off to one side. I’m shifting slightly toward the neck and forward before lowering to grasp.\"}",
  "call_id": "call_cdxj7UCPM1kWRHXcwKurW1zj",
  "id": "fc_0cc17a75151f9137016ab4390814cc87d0b37aa5ce8b25b284",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cdxj7UCPM1kWRHXcwKurW1zj",
  "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, 0.7982, 0.6132, -0.3874, -0.0227, -0.0292, 0.9983, 0.4538, 1.5883, 0.7151, 0.1925, 0.3603, 0.215, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1815 left_yaw=0.0005 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.3951 right_y=0.1274 right_z=0.0787 right_yaw=0.0215 right_pitch=-0.0585 right_roll=-0.0295 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.8393, 6.2701, 1.8535, -0.0464, -0.0611, -0.0171, -0.6085, -5.6137, 6.4615, 2.0049, 0.1978, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1f38a042d713f264afa930d6ea03f9c950c2b2fe2a71e33ad11f78dd7d8d96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335c2917e7133dc2ec5f86ef75c9dd923c901ab76c11c89d674c766c9e869094",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3586b3736736d25a205c77de0ce4b7cadbd2f89b40241b64913caea49dc0d685",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 11 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3885, -0.0227, -0.0292, 0.9984, 0.6483, 1.5803, 0.8379, -0.0124, 0.498, 0.3298, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1815 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9984 right_x=0.3738 right_y=0.1818 right_z=0.1004 right_yaw=0.0421 right_pitch=-0.0752 right_roll=-0.0526 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.6479, 6.7761, 1.8584, -0.0415, -0.0415, -0.0366, 0.1026, -6.8308, 9.0325, 1.6777, 0.4567, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3874, -0.0227, -0.0292, 0.9983, 0.4538, 1.5883, 0.7151, 0.1925, 0.3603, 0.215, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1815 left_yaw=0.0005 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.3951 right_y=0.1274 right_z=0.0787 right_yaw=0.0215 right_pitch=-0.0585 right_roll=-0.0295 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.8393, 6.2701, 1.8535, -0.0464, -0.0611, -0.0171, -0.6085, -5.6137, 6.4615, 2.0049, 0.1978, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1f38a042d713f264afa930d6ea03f9c950c2b2fe2a71e33ad11f78dd7d8d96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335c2917e7133dc2ec5f86ef75c9dd923c901ab76c11c89d674c766c9e869094",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3586b3736736d25a205c77de0ce4b7cadbd2f89b40241b64913caea49dc0d685",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkSMmDbkR7cQk-Djsjn-uBs2sqOMhdsJ8Z4M5mP95wxeEOcLajWV-3y_mh1MbYEo56UDygGMaUFnivKeAa0mUnEJbfeTUcZTggZUnctwijrg_qxLERWSRi7s8zI_yfzXuwOO8Dllw32cIMEoLRd4r7HvH0AkT-S3UOTh5qlYxybY0RP4HE-pBbWcjLUWqK7DQ_93P1CjjPLCv7r0684DdF2aNcxWMSNTdsa67O6q6R3ckixODcxBhEJAKPHGEPuKvvb98ZHGdsy57HEM8SWRZywOQ7SlSnmPtj0dJL0WSpCEq8SJGgBk56lZ2nYeyhZcQ66ZZkvO1VLO4fP_yMucxs0Y997IE9hGg54wQwy71Jii2uVL58n8R69SFY-S-tiFcwchYGj2SYSH3OEoHCn-l9Py1PpG5FMd8kkYepM5s0kzHQZpCiRKsKDywLSUPRMIHvylttoUVRSGQyIYATbt5AzkbheUgY9mrA-YtCMCK24bzDRSSF0NF-GWoBArjQXbe8Bw4pdMPnwSoZLO-AXsYMcu1mj1S_oKSApbStnyoL9FyLAcuEmUZCWmYTMNqqqvebKjtI4AddOoOhvFMre7Zz_NWZo45IRpsKse1qx4LXdRcGS4_DLUMueK0NyEh3huaNf-KkSCznyV4RZ9-4y4Sz5QbkrxHpQ6WtEbpStpDm6erx-WwPk7Bbo_Zb6IYwU_ebhgtvyrLlB41SwwNVmWqEg1egqhrm7Iww3aXBcJ6ZYpPdQz9Ayu6zXx6aw4EXSaVuPxQrr5ifFrtXAjYqEW0RK3QWH4eR0lYv53O_zjc-bDOKOKf12qUv9sibKbn1-DXJJCojbPK1max_RHZ3VEKACdY4patYH8xzLsq8FR3xiOECS6rTj6vCB4p42Zwkk8Ro3sMSDVS8ZBQNWpBOstD0MgXBsRDHIu8hNIpfF-lXAhm6LA--H36uUj-ltlZ8WmXGUxHN5xyHmJijFZsFY55SVxV6j7HT6qi7X5VpdZwKWYVEy97Z76CPlxasejlk_pFZpFpeJ65Zh_O_awrkzzCQKLCrm2qMhu2kaFYNKLgqTsfCIy3UA1o-Q_crU-IZ7wc3tDN7sw9C3-Y_ND-9b3zJ9Qgt-2R26YG4XLkqor8UYouuuQRyFZNM8B0Nq0KvFDFqhde-7M1bIXa3J_sQgqAlYXZIF37kedoidLMnxkA6pdFuDVyJMkfOEawIIIASoJk6rKmcDuaxRnuiMophrC10s-X5LoD_GhMq8VQ-3O_0ozHa8ayMCmKld4UnzDLfZzCOotuwEIZVmYDqeEChjg_3A0lIcCfHRt7wfDVM8LAv_L6vA89l1nyNsGJ8PXbQHVCoNNB5f56oaU4BxmQlvTRIdYNePhd2YuoIKkyzE-CC_zG31yWgCPzV0ZHXR7ECxc2UQqOrGGF19Po12-8AsI0_I77EM9LDQCe6SCRnToaYlQp4WnskOaceh9GH8uaPttXF7yKkabphLAUIKu9WN84DVIvjdPgt3eltLzF8sTArcAQb3nDQRfprWE0S4wxhsGBa8ya3laUFZxbEpi1IN7JFU6xxab1qVR2ptLGqmWrE6uH-a4x7Hmqk87S5n-Vqtlr2K1pMXC2Hj9j8n8xSFIOWh9ZpJO78t7RkRt9y-wVMn-RnHXBUoQTg0KYyOLeKMrbSoOy2oqQi-8SHGaVwPicWgm6aRyIcGH7fpfjH_CREOaDl-ecevXqJUvxdr_okSw5IrI18-PIm3jtUXBHu3nuQPAVySsLd3Fi3bdKwiPCiPhTjX0QpkIaoIBb40U64asKis4Uab05d03sOQv8Dw3iQSvuIt9T29pMlb8K8ntlyaomC4ghYihJypvB1-iy_cZq5Qdef8AVIWuXl0fqa7dfEU_zV5nw1-KmqA6REmj56ojNmAHrx29-JTDjVxJKhvrInw14Amb9NoZQRMFggtqkgxQX2sKXxZrEXuzdpJFoDSikni_UqnSFiICxBfgyGStUrtiKEXG31m-JtbqBs-_4JhpfYKf2SdjGzLRCdhkBkmBeuLHogAAU0A0XFQXA4qwPxykHwabgjfHiIKZ8DVB8zOKsl_MLewsxX1e2YS_OFgeQ3IbDqZuhIMu4oTFOlIr4kXzVpt3o9cwETD8sF97SPRTHz4eniVi_EkprkFJ4fT3oeUmB5LCZ7aQKGiIiMDDzroRXcDWEhGt2GSwPzt_qDv3xfMSpm1OjBqQyqCxJlv5MRfhyFuzj-O-Ql8mjIATIbLBo--nQ1zsW95Q39_lT0petGGIB3TtdEQFt7dhJkAxeidFIVVsoR1c2IqZ0eGUrlioCPM2gJIxfcQ0B8Wj0jTsTGk8GnlUaGfXj-A7Sx7w322KaEpOfEzkZ3L7U2yXy9W53vxzUBY2t_Vh4r8SpssECzQph0hkYXuJZ0841hrbbtTN5JzEnfr2mkzluOoPpKsCb6ssg4E9-LsSHiwxUihCcBbIJ9fSC600P9ERSr2bsW_Y5Sxlj7O6vMR1yaQbP4Q1USpsInrygJKU-Mx5zGL9GX_hbj-7lcoHH8_GWG_K0vjRPbp2GJjqbKc8flNHnzhJBVOkJxiCmQ_Ze-LlQ9JGNLz6AzrRog0bg1qdSvachzpCE4aJ7W1w0DX6TOpkQOJ8tTWLHyGOwS68vDuxG8TimI0TbCpD5tEz3RnNJKCXKugF44eIPflBRm-mbTD6Ykd0mY5gnZRy_D5C5yL55hFQ9hgxlqS_Bf87Ao9U_-kW1gVqj7TUDYsg0gklH4yfmx-qWTg5jQTCmp6HID5NTZQDiKDRoKxVF7YUoyyhsBt9iGxDRE10puQ1zpu--xTgmbQMc9y8O4126mKXY_OFfkKK7u1otq1DeVIySPpEUPJk7ldQm1Du1q7oFKsJyL-3r4fj3QIULhyifI04m4FSdyzSfBCzWKI5J0-eEjCWMZX0fYjx_O9xipVzvMk4EL69Qvcjx9Og-BtWCUVpUtHgPO3CW3TwqEtukBl3z-HlDMjQvNfbajk5wI0fkmOSzwJxoT1AtYr5GZNPJuWeT3bDX3QnNKQu7SQCidpSMbjumPj3t0YcVo343nkSvAAawqGPwtA8rmc9fdJApn2-nBNzZm8YUainEZT7zCzPPxAijstAQmGVsJzo74j7AZRAc8TBM0UYxEBkiL3DAq0EYcfU-2rFWMeg5AI-qjNp-j1yro1YTeAUHOjCFedk8_52M4Y1W_ycsSb6KqjOfEN5h8KLmNJTMzd8AoArRC1MlEmvCzVHw5jhM4BwwrG_Dtodb3oVRQBf4COlititFpWotHMWExByt9jeUFAngLovG_sbDQn5imDKmGP516mAWKEDMjQV6VfYSHnSfsjAeINHh_btPos9XABmAFP8y8ngcKMOCwZ3bqlBXFibwxAWeSZQGFO8rsLscp8sl7xpkV5nXxgiDIWTKoTv1s2gsa6g1_xs9yxj2HZYDfI39DukvYddsKJmk-GPpQOCDPD3WJkmgiewGM3CrmDofl5pt2mR4rtZC_FRnNe4qidei1nYn-gL_bGTuFAKReD2zDGh4bqNdAPllgLtbAZkNcCVQx3AX_bqT3Kf9Tv-H6Mp7aS_G_cX4WbVA0FaP0dkeqHB1VbW1RYI_WLx7BYNt8kqD2SMu8qdBS15uICNx4wlsuWXmXkO7ZgjdqHCD3kdAObhg7OS92upNe_CB1WqqNsqPI0ILVhYI1bn4sq47a7bvy75DtFd-KYY70rCmkeUplb3llGGQ3A7yfHXs_nP5x1BCNBotSshWSdAZjdGDujJXkt7__vr3Z1SgsjnIoov_nHlQRFkxVBbtnrPg==",
  "id": "rs_0cc17a75151f9137016ab4390ae7bc87d0bdb2af0fcdc69d69",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkSLoseIJmFyy_17A0SER1TUDAiQwAMum55boVpS6PS8x7dhwQm_0XOGzkP8sLgEQJiL-Rvde4xNLk2l6fLMO4Cbispi8VF-_nTvqE4x_8Pg5J99QzCGt2QbiNgxmdt3lmYCcSofG_jnDewJbHHrLeuT87Q5aqGN4oIoozrQZ6Y_hta8RnrpZMYKFIFaUnX82ELp5DzYdt-fNqHaTIberdGDn0Gry3CGxhUzyqU1StySEmDack0vpxPavfu3wllmVJGMIsprnyMUrNucBQozy9UHi-PE5fzV2DVht2K3b8LQ7cfM2E6jnjMCdTP5JrsEs2w8pUCC1E3rxwAtu5CqQ-72MKQbm5GZVixFPYRdpMClYuTMGwQxkI6wmlQnoPeAiSIB-yXhIg7p1Htq0xUytmfDMEEb0amFqe_T7mBkxpPFjY9Qa7wgR8jGT6jPPsUnsu6RPpF7VmrDp5yS4mDXt2RrKaniykXJFh-gtJ9sACzis1hyLTZbUF2iYavIt4QZmrttP4_xStKgY2N057mtkQtXHVQyUA8jt6jSq7B_RhKGAnmxytjiQ9vnwuyduHPUYDzg4p4SqClq2tsdWN2Et54wL6D_WJ_j93Xn4DaEIMRwxsKE-KsGfvHSGL3bCNRMk9T59TBQHuTA4AO2hmncZEvD8HVuxcCVxa1ruS08PFdA_0C6du6Ieml2jePXaYM_zrR5tpMn9L976XEdKBc88r-uMaxQVUgutF5dWgq7MjT03peXbObx4O3kjhPv7MUHvPGQ6g2TQ3ClnMx_k4VRf2kyfPtthSMG7KlmEU3lj0cfmZi8-33QMyjdwBh0O6fwhKTKHkDL09Z2Udw7fA1HNHnC4uvs5gUunQAffMGmjHTa9B2liiXlUYqlChVYH1O1MdVguS3sPUj7MbERMunTi5FxxIUnO8pHme1shCWYBCbkWHSeVLuI4eqo5NmZe73ZMb3J-3Bn73Lt0jGRDQz2qWxsAdKdYbRAjzjFG4YuJdZDYmcjTpwuu9S5mu983aSs5h53fX2z1557g00Kgg7-VxRVMZMVFeBSw0qvYNSgkgKu_zvn8QvK97ljG5DgXFjWguq_JGL8SW-YhMtcNDfTAen8T-AkstOX7HKhqtNzKc5LRnIkubf4PLBtvpVyF3NQsviIdBE9Pe5uA0D3bs4eTDoIQl9wwKrXXOJoeGyQFxFJqykRM67Rw0s082V1XKLWoaly321g1aL29AR-2Kiyj59nFhiSDWtFs8O2w5ApcNREfpF8_yKQT6OAsMD8kaTM-rAcGuwOo1ZNtWOWNqACrVxTEsPfvipF3_95s6-GcDwNYEQcg1Jr6wtelf2pNU-EIcHKT7VB8FgTnv5X_1x90u3V2MOJwPJuiJhC8T36cCfEm8HfkPgU-cPKU3lInBxhDFfmP6BPphNpIiY4bvJ6icOQ2YxNdAUORiPhBQ1PZD2mwvyJmujY6HM37Tmr0x7n6yub53UdSrDJ27DJ1f2zeDO9em1Ppo7XBPfTYqukP-pMV7aeE0dOIWfIJVAAg58Hp8sylTa97TwIXWYVK8owcm94UopdDO9HPvOSbR9Tx9qWEP_zxhF9Z7VDOh_Ey5UVQ4fBoM90vlUMYsYepHMZuwQ6TsfN3sw8lyAr9Fc6yKvOGpvKOhpXvUGLyZZeRw5-io7p4qtjZGP2U0CMnN19HEjZH-6s8BZ_8tLKQ0a6zJqY7Uj3bXnBRORzJlJoG2aKqcjrMvIT0Lk349VmlAOga7qozS40kozjA5gvGGQmsjAqiS3VUlJuGl3-HBTId8cPdzvJGDbQVPCChhEAf0iqpyPKmhDuPvZxo5TybBt_maiXAqSE148IDu5tfQdfmpAnz1hNOFRn8_q0CN3rygNPoPt7Ieo55dWfbzoyG2gNvjoz3Y=",
  "id": "rs_0cc17a75151f9137016ab43910672087d0965fdd522866565d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.115,\"right_z\":0.045},\"note\":\"The bottle’s neck is now nearly centered between the right jaws, though still ahead of the fingertip contact point in the wrist view. I’m advancing and lowering carefully to reach the neck without catching the wider body.\"}",
  "call_id": "call_eJ6sFPlGN32RzI4MKxc2W2vJ",
  "id": "fc_0cc17a75151f9137016ab43911af6887d0a6402eb66599848f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eJ6sFPlGN32RzI4MKxc2W2vJ",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0227, -0.0292, 0.9983, 0.3508, 1.8309, 0.7658, 0.4057, 0.2806, 0.1482, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.437 right_y=0.1116 right_z=0.0351 right_yaw=0.0203 right_pitch=-0.0581 right_roll=-0.0295 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.5658, 6.5983, 1.8388, -0.0562, -0.0269, -0.0122, -0.8274, -7.1043, 6.694, 1.6874, -0.0073, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe5e0603b41ef143a4ce4568c7e0ca00280ae7647dbdf7772b4e876379d7667",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6c4d9ef6ae458511ea80b3cf921e9d462f58e13f723ee00a42a2248b4f1885f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:394c5c07c3b57691f6069b0628b52b035da19c257cd0e55a65dc669cd1cf2b39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3775, -0.0223, -0.0288, 0.9986, -0.0151, 0.7883, 0.6029, -0.3862, -0.0132, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0016 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0015 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.4564, 9.8256, 1.7998, -0.0024, 0.1587, -0.1538, -0.9368, -0.8684, 10.2769, 1.8437, -0.1197, 0.1685, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3874, -0.0227, -0.0292, 0.9983, 0.4538, 1.5883, 0.7151, 0.1925, 0.3603, 0.215, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1815 left_yaw=0.0005 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.3951 right_y=0.1274 right_z=0.0787 right_yaw=0.0215 right_pitch=-0.0585 right_roll=-0.0295 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.8393, 6.2701, 1.8535, -0.0464, -0.0611, -0.0171, -0.6085, -5.6137, 6.4615, 2.0049, 0.1978, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0227, -0.0292, 0.9983, 0.3508, 1.8309, 0.7658, 0.4057, 0.2806, 0.1482, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.437 right_y=0.1116 right_z=0.0351 right_yaw=0.0203 right_pitch=-0.0581 right_roll=-0.0295 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.5658, 6.5983, 1.8388, -0.0562, -0.0269, -0.0122, -0.8274, -7.1043, 6.694, 1.6874, -0.0073, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe5e0603b41ef143a4ce4568c7e0ca00280ae7647dbdf7772b4e876379d7667",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6c4d9ef6ae458511ea80b3cf921e9d462f58e13f723ee00a42a2248b4f1885f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:394c5c07c3b57691f6069b0628b52b035da19c257cd0e55a65dc669cd1cf2b39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkWmR6pknbHKB5TRWUQuQUxzKmKPag1xp-YkeQsrDYti4ve6ieRrk2zKAGtz98sfxFYpoK5Lx24pYeudr8zaXWi4E-9HMp9as-QoEV59XljMstFHFI9kB_zwnQXeNoZy3JEE8ZjVkpQdTS6q4ktw7LT1wVjTIbqJIqx-5_3YDJSaw8dQL1U6Yy-zM1lNMYmCm2gv9P5jotTlAKiO98aIckd7xn4raZzpJx3wdqXUI-LxszC_uqguemSLZ9D7FvlXppiaGtLYhOCVrJ7WCvE_t4wqdqDO4fzNiBdzmuedSVY2mCmoy8vGXwlmSCbHKKYc91FsBahrmoimqYv6OwO8zSvCQExroHSersRsytbkSQdGdo0IhqFvHhODxhHP7nc3CxCS4CVW4EsphZuLZ5sSeRYV_zMJspmladx3iu-lyBAfq6eO-t8bP2mkuFBRRZq6g--2uKzNCg_drXkeJnOyY4NwFtpFgwi2mXQ80Fr7OX8_BtG5m8gpPCVF0ExaUa84Qiolytu2MxtOTT-wPcyh6OPz6HCG-SbTStK1FuE6dI_b8D_DDwSlkX7yrOMX_VDeqQt8yiKhSHqvjkQLSVCWPxVvElqgbhYERP_jdBgSzaCNsxLiErD_LFcgiTFi7-0QfY9mPoH3cMND_z5yFrEcBxkijOJCo8Ygr1nnCBPbBqhe3mV-5rVZSZoDiaVoJS_NvgcGbd47NG1oimfqDGTA5ioBGcxmjVgzh8kGzeNRWMm2GQPZl4DwHS4dbPNv4LlIXs2UmiyHfQoyjtcKSrIKLTeMY5ssHk-HNefZQOx6ZtzETQsUkGoMdGvXW7uNUAXTDtRKdVjanmf9mKsQojcVQlRVaJvULw1tlfIoq9pwx8l2sGP16Pv3J1rOmZB6ww4jSfp5Tfg3sJc6JjDJ7z4Vo6rKMtW6EMDVKMJp75zfMmHWeFPVru3HyBuQYlbOFbddKAil5CvH2d-kzKTAPRarfkyeNRElqJYddErP9vPXQNg9mogcgZ-iSCNX1tmz22eTSYTyTLZjrOI5ARJl7pkivIc63WB-sYVESm9fNStCSpyTfc3XKJu0XWJt6KCIt0nj0gH3k4gFWK3P9OaZv8Q27U91ufvy9e9xhdnV6hmdk8j1CxXaKC93mW6bKMTgjhcTt69PgTO4le_FJuNkTZ4ulgNtfwFvEOKWZb-oGOK4DXbcgbMvjQRyw3iHkG7qCoHg0GcpxmtGB_b6jYVOBf5rRsm7bJWHTBsc27tuN1FmJdEXhoanHHCqO26eZJSWB9gTTHagucMSSSVjuP2DYStmwV3qPjit5AtoMrNnXSW8nmIwNz49Y50Xlkbsswxy1SXB03BSoAYVzg3YC1z1KxLfOJWjzy9mbc5GrfcuoIi9OsPTX9NWMSntL3-Q5tK07m20LHs6CdYRbRPNfprcJfYXMghZbDe5fM6EzfXrlF2meLgV2E5Lw6-oQ1CoOoylU_Nwlqer7N1bbcpAFL-w7XwMcqyhv7i4bcs1NAJMpBw55WULj4kklOq8m5WkRM1vR6RUFTo3dpWNdZHmalHV5zQ-ZPnVyRoKoKz7iUbW0umT0TXAfyPWOJXgLBlcljARrrStHFZCJJ-P6j36dWnTIX_X51tPrJ9gt5EZuch_sxsry-4q0lAtRl9bbCgRr81Vd3cGp_885xFWjAJMfEPeoNv_BcjHSRSCfpt6DrYksU6c58spwSgVfuGQFU4Qk859wZ7mzkzU3Y4ExoavrUn2w6voaOg0ejPMlhfnRGGipG3kzkvn7NSC9QQjehw4cc2yPk3XK5-wUeA56_ORVpfxRL751pshPYgMEt255zOs2CpwDDTPGYWkgFRsXjVK7RIP8xj2WF1PCz3AadbCFN1_RkybTTOI8-M-Sniy-q7UKPWCEk0AdKqb6jluQr27ElRygDPJ1QOvRuan-QoSgkRsrY57TpxBerPsJPk5gEcN7_Er5r33q0=",
  "id": "rs_0cc17a75151f9137016ab43913f39887d0b6f46e43fd771de1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right jaws now straddle the upper part of the bottle at table height. I’m closing them around it, then I’ll check whether the bottle is actually held before lifting.\"}",
  "call_id": "call_4BTVI7UnaIN6fteQVh1wS6tt",
  "id": "fc_0cc17a75151f9137016ab43915894887d091290ba2ec93fed9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4BTVI7UnaIN6fteQVh1wS6tt",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6121, -0.387, -0.0227, -0.0292, 0.9983, 0.3454, 1.8538, 0.7811, 0.437, 0.2569, 0.1368, 0.4905]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1815 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4444 right_y=0.116 right_z=0.036 right_yaw=0.041 right_pitch=-0.0402 right_roll=-0.0179 right_gripper=0.4905\nstate[joint_eff]: [-0.3761, -1.7299, 6.7214, 1.7998, -0.0366, -0.0415, -0.0122, -0.8821, -7.5145, 6.8991, 1.9951, 0.1245, 0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83b797e9233fbe4bc6e26d92536f5e3d10ac3f1c58ef71e224af0f5984f83d18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b7b0e67fa676d860314be4bc99c0cf8a07bfe57579f793e6c0d208dd1b1d47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3384cc7cc18accec086836f34f55a67351e01f467214c19e1c1b836148d7e07a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 16 changed as sent

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3885, -0.0227, -0.0292, 0.9984, 0.6483, 1.5803, 0.8379, -0.0124, 0.498, 0.3298, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1815 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9984 right_x=0.3738 right_y=0.1818 right_z=0.1004 right_yaw=0.0421 right_pitch=-0.0752 right_roll=-0.0526 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.6479, 6.7761, 1.8584, -0.0415, -0.0415, -0.0366, 0.1026, -6.8308, 9.0325, 1.6777, 0.4567, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0227, -0.0292, 0.9983, 0.3508, 1.8309, 0.7658, 0.4057, 0.2806, 0.1482, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.437 right_y=0.1116 right_z=0.0351 right_yaw=0.0203 right_pitch=-0.0581 right_roll=-0.0295 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.5658, 6.5983, 1.8388, -0.0562, -0.0269, -0.0122, -0.8274, -7.1043, 6.694, 1.6874, -0.0073, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6121, -0.387, -0.0227, -0.0292, 0.9983, 0.3454, 1.8538, 0.7811, 0.437, 0.2569, 0.1368, 0.4905]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1815 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4444 right_y=0.116 right_z=0.036 right_yaw=0.041 right_pitch=-0.0402 right_roll=-0.0179 right_gripper=0.4905\nstate[joint_eff]: [-0.3761, -1.7299, 6.7214, 1.7998, -0.0366, -0.0415, -0.0122, -0.8821, -7.5145, 6.8991, 1.9951, 0.1245, 0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83b797e9233fbe4bc6e26d92536f5e3d10ac3f1c58ef71e224af0f5984f83d18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b7b0e67fa676d860314be4bc99c0cf8a07bfe57579f793e6c0d208dd1b1d47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3384cc7cc18accec086836f34f55a67351e01f467214c19e1c1b836148d7e07a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkaMWPL5wPibBxdV2ZHvXguRMy0baY90G1vT0U8tcjXWVOiXTYaAul0oFiZqZ6HYqm9E86xnv5fqGD1VrvUfaZwH0Qyf2XFn4CxwRNhZbY_IJkOiCdKE_VurBEp7OMKAPISHotWHL1cI80QqUDzkP6QXjcpX2BYVF--F03ZzL1Iqmcy4ONQb3qBN-rCuUmhLKIopWzBXMRe4j66FZxN_5AwZSw5F3BSMq_zod_E9aKy5k_4iIZ7WUYd8G1u0-db-8qUn1PheDJXQAcXfa8h46M6xdBHVyi1gYMt7kv1UTd0exLIzySyb0dmhRtNQAfEv4WTC0eTogGSuEehgezUGdhuu5O1lidZf7pdf1DXCdYg4L9f5wROaQ9gbPfsQRTDSHAJpdNx04LK8CFEZ29vsgv_lkOOBUMARw45v2HMfMdSLU8FQiNAqBU0bbQypxLDsGkmhvHhpSjwFMva6qfI76IuakNVbLx7x4baAMeWragMJ95AKW9upF_7XjEwHqaI8vCUGsmfnvdIKW6T2yJhAg-FasqscG3NjxuARuMXfvKdEQmXt9vCdrDqRhk1aliCcV5kyJO3EbNGHsdgHmDAxifLv-BmtrCjDl__OkBC8GURwWSt0TkW6GiFqxzumABX_cuoy9uS2bFSiUlY8mqDnPlQcQv9Oc4TUZZABOGlr4p4jgcmytzqd25sLv8OgBIbW3-SE-ny0Uk7_v7yAscmOsMJoUiGsXlGbet-r1YmqtFzboTz1NcusjBuyV5i04qVk-TsYAJmsZtQCqicD47xxvNkgT_d5nFox5LXz9HGipXUXNsRlmSNv_mhUOqQf0SwP1TBfYehn1YSONhu26aRrxIvoHLbQ7Z0pspknEUsckqK-L3fRuuMg8lRjrJrYOVriFA8qZqibeAX8PrYP_dDfOmtavcOxcYUT-531p8Jt3jxu5NdKI7t5PhNir4F2r177K4ja-24DfV84PIJwcMVY8ZrVdUNyJg6FEHOteI9X_lQcnRbhVyT41BgJM06oqe7TsG2TDje2tmWZJ0O_gpL0nZFdzunkTqUrlwIbRHLOhcDXdihTIR0EMxW8aE0C7Ytr4vsbnAmS5TG5v9hJtLn4hpbOD_D9d2HupBVLyp4x2YrlQiRo2mrIFN22HPUZf3UdxgRVb0CbC8G3TBKkC55IR-o4d6imrXYe4BIN8zNJnwy_j2lf9zkf2_6X51UE88dPG-M5jJe5uXpCYYc8kA6rBfREVV-KziR7drbZvBMS8_bRsOs4gfXVHc4n4Qz4IVQR-4cl24gOM_oplbaD_8Yc793WZYCrWCdG8SCwgOwXQYz-VsyO0ypKDvWM5LM5pVsW6N36spq0rghd_VgZVTlQf6MbYVm6Fc-Z0j0pY7daj_zjDcoQnU6x30l7gPWomQ3ezpc5C8X9Pjiej6n_Yq5UG3FIkTdQAmRHWQDW9HJPmjISlPsPUXyMHqLnnznc-jEhT67bB8eJF02PuIOom1rRThzjgrXif5HZT80YZb4BWHiWU64YuWKcCe5AURotI7BaEAW6rcSDrqdSzfUU_hEssDGwKOCwW61ViNfJqCeNxRrdVrIw8y6PS-Hp41OGTwks1-wn9YEB5vZsELiYGBtZIw5rE6DxDedqpyEljGsNGZXSx8oItbPbrX5htT7k3cvsG0dk-K_HzIsInwlh43Vff7KkoVHqMAumDtFY7vFTXY82elJWtba8ps-rKRxQZiVH89VNm1Z3rD8i91KCVDfKzHJAUIN5BiulGVufDMb0dMQkwtLnN_alaVCOjutZpbAyNLusUkSDOZzOX_YBMB7ig7vtg==",
  "id": "rs_0cc17a75151f9137016ab43918090c87d084a69327a7ae4194",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.411,\"right_z\":0.09},\"note\":\"The right gripper stopped closing at about the width of the bottle, suggesting a solid hold. I’m lifting the gripped upper section a few centimeters and drawing it toward the bottle’s base so it starts to rotate upright.\"}",
  "call_id": "call_BWf2H8WbJ6UwUziLFNP0JcAG",
  "id": "fc_0cc17a75151f9137016ab4391948b087d0bef69d50f702b7f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BWf2H8WbJ6UwUziLFNP0JcAG",
  "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, 0.7967, 0.6102, -0.3866, -0.0227, -0.0292, 0.9983, 0.3786, 1.663, 0.6918, 0.2729, 0.2604, 0.1482, 0.4713]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1807 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9983 right_x=0.4026 right_y=0.1151 right_z=0.0518 right_yaw=0.0638 right_pitch=-0.099 right_roll=-0.0298 right_gripper=0.4713\nstate[joint_eff]: [-0.0889, -1.2239, 6.4752, 1.8974, -0.0269, -0.0708, -0.0122, 0.0889, -10.3726, 6.7897, 2.63, 0.3443, 0.0904, 0.7057]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83b23a07d964646640eddd1e6c205e454152834234ab44c6a2f68468f6f14284",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e110ae7b99523189243a3f3fd3bfd79033e0587f8d0ea31baddcdb91fce723",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655e96b932001dd3a37b4c7e931577bc72115976c03bb487932e322db3026f4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 20 changed as sent

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3874, -0.0227, -0.0292, 0.9983, 0.4538, 1.5883, 0.7151, 0.1925, 0.3603, 0.215, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1815 left_yaw=0.0005 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.3951 right_y=0.1274 right_z=0.0787 right_yaw=0.0215 right_pitch=-0.0585 right_roll=-0.0295 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.8393, 6.2701, 1.8535, -0.0464, -0.0611, -0.0171, -0.6085, -5.6137, 6.4615, 2.0049, 0.1978, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6121, -0.387, -0.0227, -0.0292, 0.9983, 0.3454, 1.8538, 0.7811, 0.437, 0.2569, 0.1368, 0.4905]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1815 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4444 right_y=0.116 right_z=0.036 right_yaw=0.041 right_pitch=-0.0402 right_roll=-0.0179 right_gripper=0.4905\nstate[joint_eff]: [-0.3761, -1.7299, 6.7214, 1.7998, -0.0366, -0.0415, -0.0122, -0.8821, -7.5145, 6.8991, 1.9951, 0.1245, 0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6102, -0.3866, -0.0227, -0.0292, 0.9983, 0.3786, 1.663, 0.6918, 0.2729, 0.2604, 0.1482, 0.4713]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1807 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9983 right_x=0.4026 right_y=0.1151 right_z=0.0518 right_yaw=0.0638 right_pitch=-0.099 right_roll=-0.0298 right_gripper=0.4713\nstate[joint_eff]: [-0.0889, -1.2239, 6.4752, 1.8974, -0.0269, -0.0708, -0.0122, 0.0889, -10.3726, 6.7897, 2.63, 0.3443, 0.0904, 0.7057]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83b23a07d964646640eddd1e6c205e454152834234ab44c6a2f68468f6f14284",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e110ae7b99523189243a3f3fd3bfd79033e0587f8d0ea31baddcdb91fce723",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655e96b932001dd3a37b4c7e931577bc72115976c03bb487932e322db3026f4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkesCUUYGIYFkKA-kaHLngMxIyrw-OCZTidaC47iMh80Uuoo3wXzvx23nQgxsdvJpdZZRIfOrdFd9oZTi3wx-d3xqQEDlW3Q0HJRuuFKy3D33vRACOoa_Q2_biWXiv-9wIyi6_-OGs3-FOTBItauayQWvZCC25zzRHbCSJK3QTJ8nVItU23GfdFTarn3sW2Wz9yDYte5BF9U1vs3XLa_owf3bCdooLVUAoTFF70ePrLode-ynNgUcsTQ8T-bnTZcjDhjK6rxIt0s6afOrxgAgmY4L9o0jDxIrCX0GECeQRjhYXd90rooZK9k2seO2HMv8ifFgBJBtXFNuu0sXzjVVdZni2nlDTrNfSQyytLfq6W2Lmyn18LVeiQXGwsEfZGCtIiheHPmbXhqrBkPIisBEwtzXuH1osBOsmVUnHnLn1ZGxBgfmtctoG5DQ_xdquQk6MPBkILOFjMQPOwWYc1GGtHembdxV688inK0eIOgabA7j-T2gcb6Wx69rzKPaJzrV-WXtNBGk3OM5An7o245oegvdQqpL8piL5VK6IpK5-YcYhtQEldLHFuzynf-Up19O1elWx6xp5_DX55PThR-EUMwojhrZG7Z4pJ7ImMx_GNW-b85w62GmASlN7ye_ve8l3jOGgk_d7wdZR64IxMwNQNl5S9hYH0vQhpG-1LTzvjZ-n7Ao4DaQ22qavaycmhxa1J5Mpc_An4NcFJpkUKFZ11CTj2xEUV5ohccfCYBW5Gj-TeLIhO90MpDyoH3rh1qsb-hlMLAKCtMPjpoAK-FF7u5GfUuuwZbUjrSy357EWlzIXC-kTgePIr-St_44YddjKYmEoyZYUc4R_2kxlqmBHm0etRS8JdN2ojSQ49GU84At4M12uMd0tlLnLk56l5-KJWqlkjIxZaefGYsf0BVbEepZBKs2QxyDPZFrNrXDUUthtvzU36vVVhBsoljvtqUDxAc_OE3G2S8diQGIK9b-Kf7qnMlnvQmPJErK2PLeJ4S4_k0DGuYSZJwXxzmzCDrkUSe2n9PAXfyElZedSt4J9Sgu5TZZMEbTFuC7sb2j95-XRfpuCkf0pyHWkncQ7y2yqIKmUHgleihPFcPHnJlF9GuBTKLamiD_AXk6HMaqchUaq8qKk4HNnQKe0DELVw7nf6-6spKojKP4QIssAqAwc86x8QlWvRCBPfMmdqWWMQnHBCUFXuGFcJ7XrdwNb8I6Icq5yPE1Fih6JHtv03QlmMUf2apOYjNu4dPPREtQ6AnNHhSmbSEIbfQZnzcfxA-PIxeXLOpU0F_ZCncmSGQYO5z9yvHgUBsoJbjyrk0SovR9xMh4choVnOEzAay25Q0uCy_TxNqPtE1tOqvps1z53YzBk8kxOEwGXMKw5NbFE9itUrKqueJKMdy-B-e62NHONT5R59dNMkugVoP6SCFI9eXabgOxUJuqXd_aiQR2eH6GRVL0GQYCHsHrV_b4SdElhOBoZXdGExZciwygtmOseZ3mLA65BsWDjz_7-5nBzYuBclpB1FSWCYamvXkBw21bsLVagEasNU64ytnm8_c_HUxZx15qYbZZmNNYLNzyJWxM7wR60t7ocDjijtAu5WXFlR",
  "id": "rs_0cc17a75151f9137016ab4391d027887d0a993e8abcb7271b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_z\":0.16},\"note\":\"The grasp is still secure, but the first lift was constrained and only raised the contact point slightly. I’m continuing the upright rotation with a higher, more baseward target rather than repeating the same blocked motion.\"}",
  "call_id": "call_maSbmns8NiCzHfM0jn2txUXn",
  "id": "fc_0cc17a75151f9137016ab4391dd70487d0b3b1ad44a80c6532",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_maSbmns8NiCzHfM0jn2txUXn",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6029, -0.3862, -0.0227, -0.0292, 0.9983, 0.4511, 1.2785, 0.6586, -0.0948, 0.2882, 0.1719, 0.473]\nstate[eef_state]: left_x=0.2939 left_y=0.0017 left_z=0.1777 left_yaw=0.0005 left_pitch=-0.0164 left_roll=0.0002 left_gripper=0.9983 right_x=0.3436 right_y=0.1146 right_z=0.1145 right_yaw=0.0999 right_pitch=-0.1082 right_roll=-0.0338 right_gripper=0.473\nstate[joint_eff]: [0.0342, -1.2376, 6.8718, 1.8974, -0.0415, -0.0562, -0.0122, 0.1436, -6.8581, 11.494, 2.3516, 0.4371, 0.2027, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c41bcfafd10e1f85b92c6fbef8dd8ae6dddcec2d6aa368a3f8c78eaad262aad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a65f405a7fdadfc049e8c88c81bc1ade44d2830ae0c5df39f387ff815b44ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430b2cc7991ac3022d2801069c2c431fa3cb4b29898ae9938e92aad0cd973359",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0227, -0.0292, 0.9983, 0.3508, 1.8309, 0.7658, 0.4057, 0.2806, 0.1482, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.437 right_y=0.1116 right_z=0.0351 right_yaw=0.0203 right_pitch=-0.0581 right_roll=-0.0295 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.5658, 6.5983, 1.8388, -0.0562, -0.0269, -0.0122, -0.8274, -7.1043, 6.694, 1.6874, -0.0073, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6102, -0.3866, -0.0227, -0.0292, 0.9983, 0.3786, 1.663, 0.6918, 0.2729, 0.2604, 0.1482, 0.4713]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1807 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9983 right_x=0.4026 right_y=0.1151 right_z=0.0518 right_yaw=0.0638 right_pitch=-0.099 right_roll=-0.0298 right_gripper=0.4713\nstate[joint_eff]: [-0.0889, -1.2239, 6.4752, 1.8974, -0.0269, -0.0708, -0.0122, 0.0889, -10.3726, 6.7897, 2.63, 0.3443, 0.0904, 0.7057]\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, 0.7959, 0.6029, -0.3862, -0.0227, -0.0292, 0.9983, 0.4511, 1.2785, 0.6586, -0.0948, 0.2882, 0.1719, 0.473]\nstate[eef_state]: left_x=0.2939 left_y=0.0017 left_z=0.1777 left_yaw=0.0005 left_pitch=-0.0164 left_roll=0.0002 left_gripper=0.9983 right_x=0.3436 right_y=0.1146 right_z=0.1145 right_yaw=0.0999 right_pitch=-0.1082 right_roll=-0.0338 right_gripper=0.473\nstate[joint_eff]: [0.0342, -1.2376, 6.8718, 1.8974, -0.0415, -0.0562, -0.0122, 0.1436, -6.8581, 11.494, 2.3516, 0.4371, 0.2027, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c41bcfafd10e1f85b92c6fbef8dd8ae6dddcec2d6aa368a3f8c78eaad262aad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a65f405a7fdadfc049e8c88c81bc1ade44d2830ae0c5df39f387ff815b44ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430b2cc7991ac3022d2801069c2c431fa3cb4b29898ae9938e92aad0cd973359",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkl3L4kWr2LyDnRXzoFY3AlKZAMNG_64qjdHQ0eChPwSf4yft3LnBrlkBkgoy7U52InobqevpbgYkOM7MlvQJTGxBI0MqQRWgSahPsivwNp3GEfeUr7InG10M-54BoPCnK1qK5QlXHRsxGD5m-h_6xERiTyLvPm2SsQupJS8oXYKUZEh2JCR5bzhp9Feh1gvlSdwW6rDPjHJDkw-VxFTxGIRh-6M6FiOMYZiSRXAOi4dWwXtaUlyUmsLTSUijdj414f-a93mr3dKT7r8vstnh3R-ETbUKffhNAKDoXXk00kzqokEZmyHI2kk5yiSI9sFkcsebV4HHRTd4H0Nc9MdoWQHBD0Or7BJZGFPlsYWp2S9YXsMvbMq9y5NH0N916Xc7NIbHqpzi3FHpXXNKhzJKnmVn8_i8-92706LBsBT_3ou2sDDUjPj1W_2ATh-NRcttC2kbGu5Ufye2VxFiWLbLS8i8FBP0hHN1u4dXvwSXWLDPGUTmvsWh5WL4GzNwZ8xCBwT76qIlHXQfaXCM8qdR7fmjsD1_ac_zX_XfEjfPpvkZ6uNpNhqjE4e0M_8SsnMKJVZnu8ykMQdmXKrUVFiXL53Tx7RJPJlDbG-XJWBK6ubynlibahIUIdnx4TpKORY1iPZfu6uugkQjjkkIb6-UXBzZdbEGeP3s9ZxcN5rCosHCAgELv49TNEpX6idyFoIEoxlRGEzNIRprwHwMIsLiO2IgVLu8Py8eV_3WD0mWqTelxMARGx9f4usUOpzGfa_xlIoGKrm60zum1G7POp4JKjIGEEel0nkqYsWqJhG5AcKwgee151uk0tnZkvzQeCuTlcTaEVdbcKf6Xo0QTxZNPDUO3F_faI_0CMwuQsWpoQfm6pYUaHXmllasFDlQQOIbecvgaS5LWh8gq1CaE9xKNYDf64biu3jqIYenVAnfjowh4BJuAFvaQK3MJkdHH311lbOVvjnGiWGO2e8JnT1Tv1Ej61AASUsWX9TlDt6L8Yxn95nyR0xUntg1Cpm9gRWwus0CUSpADh_zfVFgXZPIV-FFuT6u_lFMaG-ro44VK4ARKXrDd1Kt-PsboWvXXnjem1PrBaq2dxF9i2mcZz-YprEuc6wmdwruagL2_-vhnwXrSAUQqQvtQCdHjoFCkfHtg4cGMzkc1uMq6AD0lpfzXMkxvVgTQH8KcicL5TwYRxDXuYabtrwWVBQxhJrtWHLbidXH0ZuT9kaNwQH40wZvWui5Q0xHNdZuElSmn-7IOg4zFhd9qpjnlSlAdosRav30_N_ShKDBoYyrSygQb_RgqUc-84F1eBpF4T3wKRaVsfhEw4EW9Oeuy3XqFxF6lu1Vx5nCiDyLg2jlAnD9a1rLYnKMlMdBS63X0Tl_FbAQfcZ-uxoawM0rKjnwiCAviLrB5G7P1YB0ByCgLswTx4tyH67rQuuMLMUgD67nBDDsBglT6anC8VM4vzT_UmRv6D1-ESwKACT5wjGjzVgS8nBvg8URxoNE3uxSJM_iS9M0ZDFqrAhsASJtq28qGHn6mAuKR0dlG_XVHLSTbwePES7ZkRskkLkaa93j3A0RoJLickoyBxUUdvBvoQu8GW08cP44Ye96MwYDMkTYrlhxZEHg-n95lC6wfXH--s9RFzFgP1KuC71Cg0UAJ1bSUv1tn4NE_MJvSWgJAoCiKUATp4Iz5hP9K36B0nFJ66Bv83xRgAKLXPG9-CBPToVDxhdgFLeT5SfBejAClU3YT1yXLMfs0Pcm-Wp7JvxD5_fkc2d-wFHGCuEVOrMPkSol4p4GlbNfLtUeH6zQlPUsYB31TzQzcURepu3VZn0JIgOxWJxGCi7SeJhrojWfoyBY1vh9ow0g_Aar7R_0DQ96goqHjfYjpQ84ohyfMLOLR3j2CKJBIXmJ_URiSCIDXoIXzpm01ezDfA_I3PsMmiOeluc7iK2IqJQJLyBpQgsOU4HjBxETR8tovaffboti4fsWqEx89CASKRM42uOV01lCdK2PRfHs4h9_DfYjUHlyES2O0k4TBmPlZR972EwjUzAcg_ZXAXt63sFgDf1oCnAUkba7B-oXBdj2L4qMrU9ptopF__fsAYciijaFUS1RVBhHwd3Yq_JHxZ6ggg64lVoCcmxCLL1GjOELo463417RpugrBIp-tNkFiPdor6rdnjTwSs4bZCta2Au9nLPasH22UFPyHdH4YlYvJEMsSrnrSqa--HDQ5FQg8xjTFHK9nRucEiryYUc1di4epjgUA3CPTQni6I4E7OIshxZrtMAXthYo66MHn2xnkxdUvpDrDVjeaIFukB0BOW1STH9ISysDWrkhVf0S3JUinkbOWKTauJqqESoDZFVh_k39SekFNLMaipUq2-z1YU_Fw5bx75lPBA7C464IXlN9pa_l39l7S3BFZjenTyOKslAxdIuCxTTFg2aXetJIdUcHqyg7lgXiD6Mfpbm16M7P-ctXY5lZqxPfvEOJdvOYf635YI-5M61LvjQ0mqQxkg2Nzcg-D8G8dXdN0yFOkSlPmJp27KshkGz3_1XbQ5k9PCmk2r1H2c6g-s4jCkBRt-kDaezL91Gcaw5wQc2X5HrB7jAg-W6hQ8MGywE66Rhr9jeWqRO3IHR7vXhV9OGyc9FKwcPZmNZAD8t7SZMdFhIKC-m7dLVAZudktcn4eUJufzNSdISGuWuALszAYCFK6voIrgx37Vk7x7FPRLA6mBhYbRaPquWRVoO4_VjmFLtNZDcT2ulkR11MjD8x0ePnFf8gs7QYDUEE3MmTB_z4moP_FUBxgsPbckV0mTSWloC4sjVt5j0y8SF0ygUenVXHsL",
  "id": "rs_0cc17a75151f9137016ab439210c3087d091a8caff097eb010",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_z\":0.125},\"note\":\"The bottle now appears nearly vertical beneath the right gripper, with its base near the tabletop. I’m bringing its upper section a little farther over the base before releasing it.\"}",
  "call_id": "call_RVkSpMjso0AyARalYm64nr6s",
  "id": "fc_0cc17a75151f9137016ab439247e9887d0b7519315f87a4be3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RVkSpMjso0AyARalYm64nr6s",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.794, 0.5961, -0.3824, -0.0227, -0.0292, 0.9983, 0.485, 1.1687, 0.5827, -0.0582, 0.3202, 0.1848, 0.4723]\nstate[eef_state]: left_x=0.2935 left_y=0.0017 left_z=0.1758 left_yaw=0.0005 left_pitch=-0.0175 left_roll=0.0002 left_gripper=0.9983 right_x=0.3288 right_y=0.1145 right_z=0.1268 right_yaw=0.1024 right_pitch=-0.035 right_roll=-0.0169 right_gripper=0.4723\nstate[joint_eff]: [-0.0479, -1.6479, 6.4205, 1.9512, -0.0757, -0.0464, -0.0122, 0.253, -3.4667, 7.3641, 2.1123, 0.2564, 0.1343, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5ff47ea6e6ec965a2bc6f6a13f46ee71a928037cb1c9e08ef15b3edb242a5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9477ffe29270a10bb2d635c3c0ace8bd94a834cc79ed1bc3719c00fdaa0ab8d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1390f233a3c1199ab8f325835fecce553ee372589e53923156ff51b68cee4706",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.02, 0.7967, 0.6121, -0.387, -0.0227, -0.0292, 0.9983, 0.3454, 1.8538, 0.7811, 0.437, 0.2569, 0.1368, 0.4905]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1815 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4444 right_y=0.116 right_z=0.036 right_yaw=0.041 right_pitch=-0.0402 right_roll=-0.0179 right_gripper=0.4905\nstate[joint_eff]: [-0.3761, -1.7299, 6.7214, 1.7998, -0.0366, -0.0415, -0.0122, -0.8821, -7.5145, 6.8991, 1.9951, 0.1245, 0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.6029, -0.3862, -0.0227, -0.0292, 0.9983, 0.4511, 1.2785, 0.6586, -0.0948, 0.2882, 0.1719, 0.473]\nstate[eef_state]: left_x=0.2939 left_y=0.0017 left_z=0.1777 left_yaw=0.0005 left_pitch=-0.0164 left_roll=0.0002 left_gripper=0.9983 right_x=0.3436 right_y=0.1146 right_z=0.1145 right_yaw=0.0999 right_pitch=-0.1082 right_roll=-0.0338 right_gripper=0.473\nstate[joint_eff]: [0.0342, -1.2376, 6.8718, 1.8974, -0.0415, -0.0562, -0.0122, 0.1436, -6.8581, 11.494, 2.3516, 0.4371, 0.2027, 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]: [-0.02, 0.794, 0.5961, -0.3824, -0.0227, -0.0292, 0.9983, 0.485, 1.1687, 0.5827, -0.0582, 0.3202, 0.1848, 0.4723]\nstate[eef_state]: left_x=0.2935 left_y=0.0017 left_z=0.1758 left_yaw=0.0005 left_pitch=-0.0175 left_roll=0.0002 left_gripper=0.9983 right_x=0.3288 right_y=0.1145 right_z=0.1268 right_yaw=0.1024 right_pitch=-0.035 right_roll=-0.0169 right_gripper=0.4723\nstate[joint_eff]: [-0.0479, -1.6479, 6.4205, 1.9512, -0.0757, -0.0464, -0.0122, 0.253, -3.4667, 7.3641, 2.1123, 0.2564, 0.1343, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5ff47ea6e6ec965a2bc6f6a13f46ee71a928037cb1c9e08ef15b3edb242a5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9477ffe29270a10bb2d635c3c0ace8bd94a834cc79ed1bc3719c00fdaa0ab8d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1390f233a3c1199ab8f325835fecce553ee372589e53923156ff51b68cee4706",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkoAkr4n2v3GFymPJRJJInAjOBbzeavXxVZM8THFj4luMZgyrF9_ZOcqO82tOucwJMhZMg003HXpSwo0GdJ-r5-kcPaUh3TIAKnUQCgBA2KITnynZJDuj5oTs0qL9YlrTYsHkra2MizgIbwK69RzOi2NB2YxUKMBvh893YSmqoaS0Ia2ddi8UFYv8bXToK6f0JB55MjU-NtTIiwPU2KPc84T6JNFVGEjKizcrY54hJaddi_ckGe9mAQPu46EQwqPRiIyuiI9mhlVKYxUq_5CDihzo8S6cIxBHZJ5Yf_EUCp4c8yEFYJ98iYVpX_Y-INwTkqJQHjESbOc2Sntoxlun5tq2OIYwhFQJlM1_4FdrQMRMkXRPsm_HkTXvyfy9KYnffjJ1Y8NGxZmyvaJaCT_SQHAOBsHc3w-oz3AvslxwlyhTVinxKj38b6BN0yPMsG_la_KMtTDrhJuFtwgkrLnR5F7Fc4NCPUPX1lnajAiV5g3Ch1rpfEpaH1NTxHwJdVgZp3QLNZLspmp-MsgFYxEQ521_navzqRnp46tnMjnwm2nih34CcXFOYqWlBJX5nQQWIR7nfEmzKAkiyaB-aFDVRHkY9uKqSXvJof74gxCdRJobXhUxLzWPeinTDIoj2qwIaTCZzZAZdMwUBNLmd3E_4sISx3aUUPfg8u6Bt7E7xkxNyYeBSmIQplfEc9N7Z11DCOuXVtAyKze5zAb_DgXKDQj1917XiOUkuKxGj8ZoOVBdtk6K7KcgY7JDXiQQqjxhzisJ7zBdPdsvFDB0xnZVi2iSd8EQNuhr_vR5gnQn2Ijp4wRS2EUXjnNkC1JMyluoA-UIwU7K7Gpi4v5Sbe2W5VnUE8O2n4GmFqlTIdGw-lDrnKGMmEsfSYO2dHwYqB1rX4kgqUDDKNyKaBw408ri8iMEv6-dwyL-NQr1rBzCKJVFH4rTO2fUhi7xwXmrNaD_JrpguNccOldsPKJ69Bo_eAjVGzq8yugm7IoB7fG9aA91kTTv4ZXbhxPkC-WwVBm6UmMGUXmnnUW3VGlDytqNNAbfctBB-yZ0YBghrzX0XP33sS8RVuEhxWG-usV7x9WAe6VmQ7PO0i77vAwWvPXSBKrWJ5i81U8Fv7bWXam3MbeSoZISue_O62GK74dK2WVX17FgRksZjTN3LZv_iznWO6CHKPS0mrTRmsPiB3fCFAHJskmptC0iP_BPw3yY9r9RSp_gOcozfiF8mgLiUiP2oc93_mgj-YsmSn9P24LE5_UB8MWorcGsw2R_EXiTh3NPtiOCPYYyY9tWL-kK53RWPcbauZ8OH4VreTEoyHkcu7ucx0DKA4tG15Fq2KUg7LGoJQk1H3aevUoSJumHyCetdXijpnayubwzNkmJjQSCCQLG0PjCTkUu05PxrSZPaM9LqMmckkJeCHaboqUu437cqrvOgOoflek60Cj16tp7J9mOyWPniYjznr9MwbWsDY7M86Hub4mxskKfVyX4-ULBUaQA==",
  "id": "rs_0cc17a75151f9137016ab439268edc87d0b6b32afff2573cff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The right bottle is balanced vertically with its upper section over its base. I’m opening the right jaws to set it down, then I’ll move away to verify it stands on its own.\"}",
  "call_id": "call_sYfHBBOXIbqJVTfBSs9y1DQc",
  "id": "fc_0cc17a75151f9137016ab439273dac87d080c7112240c146b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sYfHBBOXIbqJVTfBSs9y1DQc",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7898, 0.5823, -0.374, -0.0227, -0.0292, 0.9983, 0.5095, 1.1313, 0.5129, -0.0433, 0.3206, 0.1898, 0.9959]\nstate[eef_state]: left_x=0.2926 left_y=0.0017 left_z=0.1724 left_yaw=0.0005 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9983 right_x=0.3133 right_y=0.1154 right_z=0.1119 right_yaw=0.1235 right_pitch=-0.0511 right_roll=-0.0196 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -1.6752, 6.7897, 1.8926, -0.0366, -0.0611, -0.0122, -0.4034, -4.1231, 7.4462, 1.9658, 0.2564, 0.0904, -0.2466]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a71487b3d27169fafb992da2cc6ccd845784dcb34b262f0a5c1cc5841016369c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80f99817f04f8b4b4311553f4a6fd83662ba68a33bc21b09318dc2a2282570c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:592543601279bb5900aef77840d47fb4a0d859185793c5167a50cf9d332c57cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.02, 0.7967, 0.6102, -0.3866, -0.0227, -0.0292, 0.9983, 0.3786, 1.663, 0.6918, 0.2729, 0.2604, 0.1482, 0.4713]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1807 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9983 right_x=0.4026 right_y=0.1151 right_z=0.0518 right_yaw=0.0638 right_pitch=-0.099 right_roll=-0.0298 right_gripper=0.4713\nstate[joint_eff]: [-0.0889, -1.2239, 6.4752, 1.8974, -0.0269, -0.0708, -0.0122, 0.0889, -10.3726, 6.7897, 2.63, 0.3443, 0.0904, 0.7057]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.794, 0.5961, -0.3824, -0.0227, -0.0292, 0.9983, 0.485, 1.1687, 0.5827, -0.0582, 0.3202, 0.1848, 0.4723]\nstate[eef_state]: left_x=0.2935 left_y=0.0017 left_z=0.1758 left_yaw=0.0005 left_pitch=-0.0175 left_roll=0.0002 left_gripper=0.9983 right_x=0.3288 right_y=0.1145 right_z=0.1268 right_yaw=0.1024 right_pitch=-0.035 right_roll=-0.0169 right_gripper=0.4723\nstate[joint_eff]: [-0.0479, -1.6479, 6.4205, 1.9512, -0.0757, -0.0464, -0.0122, 0.253, -3.4667, 7.3641, 2.1123, 0.2564, 0.1343, -0.0757]\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, 0.7898, 0.5823, -0.374, -0.0227, -0.0292, 0.9983, 0.5095, 1.1313, 0.5129, -0.0433, 0.3206, 0.1898, 0.9959]\nstate[eef_state]: left_x=0.2926 left_y=0.0017 left_z=0.1724 left_yaw=0.0005 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9983 right_x=0.3133 right_y=0.1154 right_z=0.1119 right_yaw=0.1235 right_pitch=-0.0511 right_roll=-0.0196 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -1.6752, 6.7897, 1.8926, -0.0366, -0.0611, -0.0122, -0.4034, -4.1231, 7.4462, 1.9658, 0.2564, 0.0904, -0.2466]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a71487b3d27169fafb992da2cc6ccd845784dcb34b262f0a5c1cc5841016369c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80f99817f04f8b4b4311553f4a6fd83662ba68a33bc21b09318dc2a2282570c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:592543601279bb5900aef77840d47fb4a0d859185793c5167a50cf9d332c57cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDkskZv8m6RVkkk-8zuNCDvaFQ1-ylQggRVrtOoD0WTS7321qpIYH3UOqQdXHtij7RLmxpxTe8tvmy219MHt7DcuPwps2MfeGwn93Kntz7LuIwRtocjc1vHxq5lZmY_wQdAQYUmsl6fuvksRS_Hk4QpvmNOkO90rpCg0nGkZTcfJCz5xNeDTwjmNfcPbKXIbo1Fgi0HMo1bMQnjNBzo89FHoWYYlLpTe4jMmEN658kE469f2-1fzn_Ls6efYKCA45N6lrYqTSBUdhJXMHJ28B2d6CPS89t56fpYTm3QjjJF1oEVpMtarAQ8FGEVcxwL6nSALxLId2qVG6vWZkrVG_JNobjrWKOL2hHYSAtJtAz-nf-cSkZOC-Llc82h-auzaYp01NUqfsOhLxC6AHF6p3Pst9Qba_B1qcDBRlggQV2tcKmtOgAVyjpaaQFD40c82IU5d1bwkXgM1s5EQqJOn7AwUu8HS9A0tFXc3qpKsu1t1Rv_mU6KZPd9ut20ZfZkfqat3hohU9sgyTrEQ-Q48IrF5_FJyWsOxaihbmtD-97edalQwdKeyPIbuUFv2_Zy1X26kSpGlpWNzNjORA0jVeZmbotKvuwq84AhXTf6K5_j7kWOeAJdG5CEkEwAQCDQgUKKiT60lIEnjFpO5FjBw73MftgobfST8HkG9qLKbtDyS1loSIoBQ7rmJVcW1Be_d2CrAs4iaH6KJAG0TfKVJSAA_90uILHYLroQx0KPviq0FSys2yt7sSz67UDTz5a5g7V5v1ca6x0x6hErwrdBzmlhBvK0awH1KntSn1obi3Csprm3Dg3TJ9gP9zR03g-3gYsL-hjcIDl6QQlchukpMdFkQfnMLhbhfaZ_2vKpsko5vT55-D0NNV4NnO06aX8vb9LFEYrWg1soEJ8uZn6JK6ZcJ0bxyd9RmxvflYKsqK8E6xW_P4hMHzDR5Jqn1rkpE6YN0c5Dpsk8dcEJd2BFfzBFWD-5TanKkfb1NfjB3x8-_fhB9VlVQ-0mZLqvwysC14S3MKV8RKjEYRhrkq1EAkWnMdIZW_6_CMdHM_TZSP2uLO5YahAT30PiznEhq8kQkMaQ3b6zDJ7PFtTg9aiq2RVUxg8oTitmSybVJXkN70JK96CZhzy_j3ZGNBMtS89ZIQg5-4FeWHusJSnCJmwglgLDBpcCUwUDaAcGhIzZXiZuf3ne3AgQ9INvkK2tllSU3EeK2kS_-S2Zh_G7h6o8D4fxokM38zoWEVgJsrsAaQtG3QBo8v6Sfc1JmQ9iBwN9UlfxL_mYJdpyrade71mt_1CL2XuLt1SDf6B0UNYedjrtnVDQzkqYDJeTwwixX17Z3UwlXuIUfbxP1UqL_oeEPXVZ3MBbb0re8vYTC8RjHO0Px-j2RLGf7JXftIvUhUBNQq66K0tP2y0DE0arare91C5IuMsqDZkrqe_0ZDrCc347JToHBXwaItFu6ZGPs-OPOMCOBPWSO5cctW0zaRLlLvqgr2vsE-FE7EHaqDeIeA8aWCMBreIIKON3ZkjUcTl_Qn51DTfYFbwyQPPynr_dm1psGyWe6FTIj9IF-G824w0NoTcOYRNhhseqDKySaC-L9cJjg4laK1yOienRT9qGPYxIXJFDcM7eZbxPxwTrM5TxHMGYCpIUXC7NHolj7tPFoJOgi-otmJ8hBF79wCRP1elAYQBfuISjqyK0WIEjVGpoAVpwfLu_0CuQRl_fuOn9CTmRCJnZ8XroQUd4vQ_1W-ZJuM0b7nDFV8bcXGrqB__4Dx1VfGiwohlPsjoTz8SzOSgfNrHa3p6GWZ35yTeUFXmWPv-3QAsaNCWEQOrBTNrw6M9GbZ-tJN6c6e7iMv2GjwJqdBfGZSg5153idn599TKSj3r7TjetlxTSjVjr91WPfEfUFoyxSQUuxHnJVe1fu2jYg_7ChEQicbVN-v3eQvjLTgXix4TtaCLSLFURTB8p_BotrtOGwiy73HNNzZnn2XYqDyZYXmEHSIvqZ0qcl7L3vFFQjXU8zUI-dxetWYMh2L37t_qYoSOdpKm2u2-MUU3RFMfb-QO2NGZ6AVWhAyCb1bw==",
  "id": "rs_0cc17a75151f9137016ab439297fc487d08ff07742ffbbc3cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.19},\"note\":\"The right jaws are open and the bottle looks upright in the wrist view, but the arm obscures the overhead check. I’m retracting the right arm to confirm it stands and clear space for the remaining bottles.\"}",
  "call_id": "call_X8tCeToL3WoPYtBYLyLOlMhx",
  "id": "fc_0cc17a75151f9137016ab4392b3e9c87d09b8cd47e3c9a5a6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X8tCeToL3WoPYtBYLyLOlMhx",
  "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, 0.7822, 0.569, -0.3717, -0.0227, -0.0292, 0.9983, -0.123, 0.7918, 0.601, -0.3992, -0.1383, -0.1307, 0.9955]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1688 left_yaw=0.0005 left_pitch=-0.0221 left_roll=0.0003 left_gripper=0.9983 right_x=0.2914 right_y=-0.0079 right_z=0.1762 right_yaw=0.0487 right_pitch=-0.012 right_roll=-0.0099 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.6479, 6.5983, 1.9512, 0.0024, -0.0659, -0.0122, 0.0479, -1.0462, 10.7009, 1.7802, -0.2515, 0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4e452c5f2a5df94867169325485ca5ff41136fd71d9a94550899edee07f04f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5f82dd5ac92cb543941895e64b3627055aac4c67684fe434c3b07df47132ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebcc239c624471e16bf2c85fea43df9416ed412daec289b52d464e71314e2c91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 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]: [-0.02, 0.7959, 0.6029, -0.3862, -0.0227, -0.0292, 0.9983, 0.4511, 1.2785, 0.6586, -0.0948, 0.2882, 0.1719, 0.473]\nstate[eef_state]: left_x=0.2939 left_y=0.0017 left_z=0.1777 left_yaw=0.0005 left_pitch=-0.0164 left_roll=0.0002 left_gripper=0.9983 right_x=0.3436 right_y=0.1146 right_z=0.1145 right_yaw=0.0999 right_pitch=-0.1082 right_roll=-0.0338 right_gripper=0.473\nstate[joint_eff]: [0.0342, -1.2376, 6.8718, 1.8974, -0.0415, -0.0562, -0.0122, 0.1436, -6.8581, 11.494, 2.3516, 0.4371, 0.2027, 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]: [-0.02, 0.7898, 0.5823, -0.374, -0.0227, -0.0292, 0.9983, 0.5095, 1.1313, 0.5129, -0.0433, 0.3206, 0.1898, 0.9959]\nstate[eef_state]: left_x=0.2926 left_y=0.0017 left_z=0.1724 left_yaw=0.0005 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9983 right_x=0.3133 right_y=0.1154 right_z=0.1119 right_yaw=0.1235 right_pitch=-0.0511 right_roll=-0.0196 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -1.6752, 6.7897, 1.8926, -0.0366, -0.0611, -0.0122, -0.4034, -4.1231, 7.4462, 1.9658, 0.2564, 0.0904, -0.2466]",
      "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, 0.7822, 0.569, -0.3717, -0.0227, -0.0292, 0.9983, -0.123, 0.7918, 0.601, -0.3992, -0.1383, -0.1307, 0.9955]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1688 left_yaw=0.0005 left_pitch=-0.0221 left_roll=0.0003 left_gripper=0.9983 right_x=0.2914 right_y=-0.0079 right_z=0.1762 right_yaw=0.0487 right_pitch=-0.012 right_roll=-0.0099 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.6479, 6.5983, 1.9512, 0.0024, -0.0659, -0.0122, 0.0479, -1.0462, 10.7009, 1.7802, -0.2515, 0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4e452c5f2a5df94867169325485ca5ff41136fd71d9a94550899edee07f04f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5f82dd5ac92cb543941895e64b3627055aac4c67684fe434c3b07df47132ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebcc239c624471e16bf2c85fea43df9416ed412daec289b52d464e71314e2c91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0cc17a75151f9137016ab4392e466487d098ba36a24df1765c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDk6xZfLsx0iO-hM0umcr-MUwQl7_FGZE-_EJlhxTrF_dRZZbFMTzQ44oieOB82UJD7sYPBJfLjiQcfPsMDJx6KutJ4XcylAw3YN6oO6Tb6V1iQHddu5VwAbR1vcGYr617aF8JjHQkNmBE5Sk_FGDmT1dpwBDbuP61sWS9dKzIzGL0agE5KvEg6z3parQw62trTMtrt_O-yzlffMvB_gwL6-rjZ4ZJMy6OwTyXUxZiylb9a7Ers0vKAed1sEbubtrEeS6JDmN5npMr1HhNQFKL7rdM4KOvOAAJ_vrwsrX7i3YrjaTBqIST6gyfHYyOl47jyPlHMDzzX8QWE45uLj2XVpEMWBVV-d7M-GsypfBNZ81xiHdp_RzUHe5Vj6Vz3zJkuIT9NhufigOTmBRT4Jm6TNAK8QCIQC0hoA6KJp9n2Kgv6NRP6iz1nrn4026mvNlxWjdLXx77r9umwc8eq8LHnK0t64RnTEUU18xw1HQS_ZFZxiM8-rdruPq2XK5raovhmmJQ5MNRVBT9sFl6_J0m-k9SvG1vqhMBIKcCBfKT5g5ETlY6gQ4ik1Q3V5qbW8D0QuvhuWhHQ0qBVcBO4ub59YtlXAqba8jTM7Kdoyy-uekr9mqmW-3KktfXX-2jG8nNEJl46pBdc5KVIT7hgKU4QwqBCdUH0yFNWsXlnDuxi45_j6tvyfeeZKIzu76FajWTm2JYmkhe4S3ZSiqxRZRVYm7OlBFCISQXsX6moqCw1Vs5fZm1-qguWl-ujdOO9VEo84dzkSl3LaWbuUsaEEirEkRxBXYFmMZ5K7zA9rqd-RHaL-hKHc0tXDMkwwGn2x4TrwxMTSL8bYcNJS24Eyn4v5bVfl_gspEGoA0m-vxC80A5YTNzN5xKYeEaRsSFIwgP1PsbAMx-P5P2pYtHBsqMOWTLgQrBozxOnV8QTR2ROMQbkJxSJwqIKr0yVPsU-ijbxOuvGHUkBiuVk63VQoRW18IiMGM-Zr0jyeDUK5O0vwbr-1OWwpV9Ojvlf_jISoBx6e24qdG0NRp5QZxnsorcdw_zRhB5JYsfvADLjhzvr170jRVLK79aQDkWEw27tXh4HDSO6ZzytPt-f0nTkTAhGgOF5I7wbbGrzipucjqbIrcLpqzdGO8S4vLzB5tFfXBurPJ5LLKiW21T9MnpDi2QBVW48pt6qgvFSSE2fMpxtXoBlhuKqAPFdeZqenkpktg5ZmS0wzVf1h6is8NQM27qUJ7ZExZNLaRTfWbGhueRBqj-ra-BFi8Fo3ZoKOqn0KBQVO6pvjA3IFHH8NXHOGayaT9Ez_u6p4wXpjGe7Tgs99me2pRIqggo-pA02GHOU559fwBCDCD-Nsv3Bb69y6nYOFDCS4rROvg679w_n73MBWSqaZRCn1CQ39kYxODaRKtk8I6Aa_QpcfzXx98pLueGrVzy0Uf8f6QYbUJjiB0qaQSGP7e1BY-u9ucNENWfWQ6ilkVgn_wdJ7fUM4Z6vLZc6P52vq2URaVzSZ4FQGBkVkmjo1RLRyPfTX2QQFSQA7TGm9dNdv6AG7sHKfapjTSJ2B5TgoPbYG4G5LawQDp6D0CVBTnDpP0VetOC6KFob8ZWKv8boeKZ6VlrC04lXOkN6phYCH18HV3w2AeJiXk5aV2kovbgU0ETMFX1MhpuhPThWO2rPQ3DaW_GbsegQTFnQ3JNxf33i0sEEbtoukBDvMjzdnoDoJDviIAhDyGrkM7-pyQcdD_edhs3aHYh9q-paFlmVa4slV0Vp6axl7Bdx-Kazl3XUVwckTtpDcxSmwbwmrWoaV5Ql0qB9hUMWQNO-tN6s4gGeT9bHlSGQ27tjzyswdtnz_gaKtptAADc1kFv8A_J6Mw9nfik3Svu4MjV6hvxMSYq3YMUdjDYL9w921KT_9XvlxFlAsmm_VJwb64T_qGt2iCyaSq4agRl8204nDK4-CSubYztjqH7faFqhuu4EgzdiGEEBNX8hl7pn26pWh-BQ3wa_8e4czq6U4xXaSUU32l-eHhGVEzC2Fv02v-RC72FAJxdkBcz8yjqeqOViucEgENovOlVWEvxY7WV7Gwc_rjpF8mopOEAkTKk_L1iWQ8EnWHPyzVLclS_JORT9v5crHo6gFXAc02d6wOJTOByTCq4caWp5CsR_BZF-M0TAaxqXx3fyDD5R-06Q2vaP8o9DCGGxoTS0ZS2Ya_E7AXaz3J9cY3EhSDUJL668y3Wxc_ofadeGk_k_edMBfjCe6iJi89tFexTlNfguSQgWiTyJVpLBrQ-kKnYcNQAONSBzGoaRNWGrmpghGyHJsM0H-D9VNGWcJBV2DrhVsGNvxWgMS7R5RAOCrm02qKlEDUsO9LjxdFpjQbsm8Hj9xhZjZyd2RnGWp47H_eOxSs0woY7UZPqnhov3e95sukcZESMgTjoUCRDgWSVDFqlX4yNpHILS2QDHjCiopwOHKB4wvWA9sCIM_6rjLkedd5CHEk0hdOgeB_wEmcnLRJG2CUFWTVh2MCqFH0denNA0H0m5eHDuZDTVq64xYkP0cCsNfXzrfNYAcLA-LRQGPM5VYieYQb_61B8ZLcapad076WSQ9QkzqXedeD0uN_LDr8SapMgOirSEZ376ogN-QId1eInqo5fN3fwi2-Ei0mpcL19TcEu4I0_SGly1RU65G-5RpW14_a33AXJZRFP-n1NaPiP9XWCg2KaJkG2zWRxlcmqBonIpfdrxQWsHQ_lpLyXmn_q6I_Mykxav6813W-kokc1LROcKVU89DcN1g0OVu3VgVQ7hSY6xB9-Z02FQl6IExmy_rS3Kgl0zD-d-r-7DdGqslGgr6f9GMyvDtS0H556Xeti5glmZ4cnvQS8IcFEYiBFNQxtv2RFxJQp4SY2c5HCGQVrDNyLJiGjynHEtEedj0MYR1rLAFSfHcRgvCoN4HQRM57iG9VtLmauYqNT0Oe0zqvOHkht8R-3Lxp6-Idu9SZZQAVxGs0BwtcYovN3RiGcTd-HMlcA7cErkmLNX27Wk4Nm9oZFPpwBZWfgMDtu2jd2AbPj5MrkIpZx3dKxJAYkgYnAF-c9sshFVpf6UG7D-xf3MDaLyvKfes3l3ZhkTVu2DZzNcDjlCAVE8rwx3mCbTdDgTAbl3kWWGOMHGH8sod9TkJlBBIt2gfuPApSHaHXLEhvPGjV3RPgoXTz4m_AsHRSODdj86fByifmWraqT5uV1pjvIMgCBMHEitb_YcvQgwGPXg33GckdvG4-7PjMcUt0x2mslP8mdvZQmwjjebK-N0-NE8PVITQ-Li86ZVv0klEgdVg6mXNA4ejT30I-LQNOBOF29q8xrV3n-ZccmcfxHrH-o-nA13AWuFhfiOKZYnCTV4bI38rluF38u9CAW-3ao0-0wCgERWeh-d_oHJg8ZLDaLghSFtTgwWnd9KnYartRx-JjipU0leXF_4S_0WDutI56nOTwc0GtnTmsKXtNBYvE-JQ2Agwc22hjq85gwECbASzw0vlnYkquS8p5vbupSncQqe0dHY5KjtDsOfdi38OnP9d6vrQARFb3wSFvcr56JDbTpwqS6CdYmI_g8XOcLvdq4Ptdnm1kfNKg7YOZkgkyz0_yig3k-2mYRMbKUdJcFjBFvEn2fpzSfvs_iOIHR95jp0zDpBxCs5BCSxFYom1j1E2FRaDFBoTNQuNcCc0pJjhjKJQ7MvJo9yDRt5_H3547uQ7zPbzD5VUsjfL2Jndg7fN7f479Kl-uVqUjIXig4kIsqPrQJHTgynkQQrKxLiKLZpM6bCUlROL5wPCHOkiTSbPUQlKcDl8q4rml7SIBe8Hi8x8LlvjutEnB3g=",
  "id": "rs_0cc17a75151f9137016ab4393320a887d08a620df23cab0dfb",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDk66ue3P0EDZpYka87zDZykxswrozSsUbUWccAxK0-nfsG3pSROb89JJoh2RPSU69pXxuC6Onwn7bo57ah77wEbi8zc1e1TpafIvuVnX8z_9zlojDEuOBMqXY-Pp4NVV-awm8nv-Vt5l3cFRFa_cF9ks7GBryTvUnyLoXL7d7tmlfPt6yGL-atcJoetlgu4fpbBDXqewuPxeydhYzN_d6Ct6UWIMMrbKc3G57unJo3ICIOeNgbvJVWn7tbqb7tRNuG7yyNS5omV2-HpxXnmolw7hwSKxFwJD4YCXxdeEyDZaftokSKmglbgBAUxSuXMk9mMFAbJ5Er_Y8hS5FSJvPSuUOtvqG4swM_MabYK5v_obi4P4UAQg7GpAHuIptLaUR24xCS2B1RnQzGKicQkV8k1D_qeB_fllmwb4O30dm9BJuHA9GitU-OuZJpbVsaL4o0c25itXI8Vg1GTgs-Zz0asqUZsJxdaTnbkCb6ZW1UsVdd5U-trE-atd3fFbZt-9mKmfS5G_0l3m6NeG0j_e6_vI5cmNhsUFUG1PgODwJpIFYhPsSbGMLicNai4uHK1jpjMzGniVRfmROGMrHKFgBJ5_BuNeeAVxkjE5NEbv1aco_wKbJo-y0OZw7PX4is07Bx3FPyFZUMAANXR3KUVPnIAbPLH1-NWv7STQQOLt92yO259-HmzQtfK5xKKnjwVDr7rEPgxCr8uCtPXBSjR1i9Np4QlyGTTf9KEdHoDNVTZIk7cj0ECNr4AJmiNa2aIvJNDcCwgeoFZOZYEP6RMlqou5FyJzH4qaB_vEY66JKQWr7RnNK96zPdD1_q5zQL1q1-av5vxNmeKTpGgMByQUOKqH2-Tpx_zhlXeTEKqueh6Y-ci44eCA_mSZ0OzfEXYXDI0SaJ4J8G-Zr839VRXUNppTmDm362REgzHfZn4vjiFkE1nqYdjX0ExUzHhPzSlBdj72lyHSo9vdp1iwzwD-5XpCnLw_Cyb5TH57HEf3hztWs3fNL4xEXXxGuJOX8L25BMbOiQbSrnPGjgRoCjKRQs3OQZ86ZS9pNKErL-kiSTl_feUf1OBgcHn-23ghZB7gu-EEhisKeFm-Z7iLvaFIWWDBAuFXBTg2yHavuQN4MB8eNL7YS27MLWGbB6m1lBwWZ5f0xzw6_PA3CNMGee6CqlmIIqp_vpOgVTPYOh4sKPScVPC5KJUw2EnPH07Xgu9uhk754STyb-EiyJBWTiA8GufmYEJUSJFfPE280Z1Vcte8uQZMsqkX2E3vn98O2Xy6Y54mhDTWxaewdv99493_GxFZrpOVG7hixAEdb3Nj49oG1ulY0NQ4MYaxNYo7lBQyYj8KiERzfRRnoAueSkf2rc96LGfjN6Y95XQfQFMoh6VZR1y0bmboB-yR1H2BnMpVr2Fxg1B1-jCZJP_EhG7IieoXxTDNpKFzl01dEDwBf-ACF-yL2iQNf32B-MvuxVZ86OXZTPZ10R2r8LQU37Oi4TBZCidhaoM0CtYwWDcWJQXD8iDyuPFudemJYH18-Ya3l6IFr9hB073xiQLiKwBUj8lsrr14_mTgr89QVLswhFqIbdeECNOc_opXBHLrhhui4i4OXF3_d2zBSRLZtj5KETKxDJi7G6Gh682Yg5W134XQyBmzS_-0I6Hz3mviaB7YFRaRqN25_3LnhH5COtRl_lUPBkh60CN-DNHYjWy9yLGlgnzVq-891lXz8Sh4rOv0ie9k5xN8fGvkzB_Nm31JUeLktw-wW9NGAL_Ir9i3mRLhrTKDNvyovUuFKfKFZJ8PX2-GVVbLqohDGS14Y-xl--nLsKn7TYjN4_DWM1F7hZjGoCLl_HoCOnE88n0NXWr1cR8Hu0GfQgoelQhWr6ttHh43g==",
  "id": "rs_0cc17a75151f9137016ab43937d9bc87d09d57c97d2f411cc0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.045,\"left_z\":0.09},\"note\":\"The right bottle is still lying down: the first grasp dragged it rather than tipping it, so I’ll return to it later with a grip closer to its cap. I’m moving the left arm toward the left bottle’s narrow neck to try a better pivoting lift.\"}",
  "call_id": "call_D33ODUeCa68YSywL65I8Xi4I",
  "id": "fc_0cc17a75151f9137016ab4393931f087d0bd5be518b46eec3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D33ODUeCa68YSywL65I8Xi4I",
  "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]: [-0.1757, 1.5284, 0.6197, 0.2394, -0.1501, -0.1127, 0.9983, -0.1322, 0.7898, 0.59, -0.4213, -0.16, -0.1398, 0.9955]\nstate[eef_state]: left_x=0.3979 left_y=-0.0402 left_z=0.0677 left_yaw=-0.0021 left_pitch=-0.0979 left_roll=0.0151 left_gripper=0.9983 right_x=0.2868 right_y=-0.0061 right_z=0.1675 right_yaw=0.0629 right_pitch=-0.0405 right_roll=0.0004 right_gripper=0.9955\nstate[joint_eff]: [-0.4718, -6.5846, 7.8291, 1.8339, -0.105, -0.0708, -0.0122, -0.2256, -1.5795, 6.9812, 2.0293, 0.0171, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3d533079c1070cb52ed13b7c8c5e26dd084b1508009e93240d33f06e4c8c197",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5008ecbed21adc0627109e76ce9c8a1ce78d709287c4c50e73ba8a78a1e3f97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d49e105dafe6c297110603aeb1912352f8ee350888762be6b92e7ad41096fe9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 40 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.794, 0.5961, -0.3824, -0.0227, -0.0292, 0.9983, 0.485, 1.1687, 0.5827, -0.0582, 0.3202, 0.1848, 0.4723]\nstate[eef_state]: left_x=0.2935 left_y=0.0017 left_z=0.1758 left_yaw=0.0005 left_pitch=-0.0175 left_roll=0.0002 left_gripper=0.9983 right_x=0.3288 right_y=0.1145 right_z=0.1268 right_yaw=0.1024 right_pitch=-0.035 right_roll=-0.0169 right_gripper=0.4723\nstate[joint_eff]: [-0.0479, -1.6479, 6.4205, 1.9512, -0.0757, -0.0464, -0.0122, 0.253, -3.4667, 7.3641, 2.1123, 0.2564, 0.1343, -0.0757]\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, 0.7822, 0.569, -0.3717, -0.0227, -0.0292, 0.9983, -0.123, 0.7918, 0.601, -0.3992, -0.1383, -0.1307, 0.9955]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1688 left_yaw=0.0005 left_pitch=-0.0221 left_roll=0.0003 left_gripper=0.9983 right_x=0.2914 right_y=-0.0079 right_z=0.1762 right_yaw=0.0487 right_pitch=-0.012 right_roll=-0.0099 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.6479, 6.5983, 1.9512, 0.0024, -0.0659, -0.0122, 0.0479, -1.0462, 10.7009, 1.7802, -0.2515, 0.0269, -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]: [-0.1757, 1.5284, 0.6197, 0.2394, -0.1501, -0.1127, 0.9983, -0.1322, 0.7898, 0.59, -0.4213, -0.16, -0.1398, 0.9955]\nstate[eef_state]: left_x=0.3979 left_y=-0.0402 left_z=0.0677 left_yaw=-0.0021 left_pitch=-0.0979 left_roll=0.0151 left_gripper=0.9983 right_x=0.2868 right_y=-0.0061 right_z=0.1675 right_yaw=0.0629 right_pitch=-0.0405 right_roll=0.0004 right_gripper=0.9955\nstate[joint_eff]: [-0.4718, -6.5846, 7.8291, 1.8339, -0.105, -0.0708, -0.0122, -0.2256, -1.5795, 6.9812, 2.0293, 0.0171, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3d533079c1070cb52ed13b7c8c5e26dd084b1508009e93240d33f06e4c8c197",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5008ecbed21adc0627109e76ce9c8a1ce78d709287c4c50e73ba8a78a1e3f97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d49e105dafe6c297110603aeb1912352f8ee350888762be6b92e7ad41096fe9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlDFdIqG7wc3UxSdLqb1g7RMzpRwPJiio9_guCvRvPthyBiGadQZj3pft5oEzIm59d5YqdKGrIO61sAGGvM7KpIZvA96lO-I6ByI7o5C9TpkxkAS0rGswegIWMNTE0jUsYiOvo_oE_rcNTfPdG6vOgIRYuH2GLnZ2auSJ5_5BbJAAdkip5EiohuciukbN3x_6gSu94Aq_KPZxqIn3sfa9Kf1iLBgldgsz2oxnfksGKGRhkZmn02GYRWYacLuC4NdEpWZB-0tNewiFozlAVx66CSmj3ZQpuwVr1iZP8zQSDJZCpwo3dhH9vYl1hIng8bBvMKRD-lt43cOBa1nJLaHfxWVdneVm9wDXNfsR0ocGiaoMKOF0UM6_zqXBKQSYL8yNjkfd3XBu6brRJNi7sckVToTFlzphDNLhQj_Fu26Fxv0AjF37_43J1jknrLtKqPxQ5rVRb1C66kTzv_slUgzaUIK79UW2kufHhSf8oxKe37Hot48OPEQ-CeFuo2w5dXVRTxjs2RyJgQGveiuUEv0Grw0biB79D-A_lefGqp9mrsTQrLLP4YqJEdHiX9FpMT87wV6-P3XXMJh7XXCmAV1SpGo3A1q5_qibxnz7JwxVLJZ9X9_n_v8ZXqaMBbrfDlK1ZnKMAAwKTm22Ekx0kEPnSLuea9E-wpJcAaK625KQHI8pQTsQsBTdy3nsBpCT0TGRpeTIzz1Lr_tP9fp7us_tSg31UgyE84Uc_BvTZmrvn-R8DqNLzcWxUhIIEmmk_uTR1fbH9_5E8Mh7aEONKYhJmIVSA5twE4Gkwi_9Gvmb9eKe2y2XwN2AphGtkJnt66i95_R4K9AjJqkhOetRs1hkuT64XDQzc61wqISYwt40oo3D9l6YtbMspzxi7GIJhtKPDq4rJ5qQGNiDzu10DWLEyiYKMlary4oMH9Yks1Ty4UUtqEcLKS-yWRSUS95fMDK4l28kGf-836GRCSlR5ZlJpQ_yioC7R-6eLhYZcfYZi-1uo2Uxk6fnjLC3Nwjfib3Bo9mSf-k5-b7JBXlHGPankLTrt5XUAknGeIqfmcHvI3NOgSHDiZfUSqKy9L-qofVS53X8hT5M0c0IELysdZODEeaWELYcRnKh6bSds5ZGMD9RYuruykGNlku82qOcf2to7Q6zt16yVBMuWju5NJJph8mS-7187_-useQEf8nO7rWzPr4av4QG5gqrgP9g4PhgYiCAxeuFLgPcq4-HzBEOmXIrwpT2dmJQGAStxbB3KyHucVOrvllG38AJRWOF5u9obETSXHByRjX2gry0ILf2z7tncVGgeH6zHx96wEFpbDqballJqT6pVljxboovha67WTiesZpCHYFXXqc6t4dHy9ndS7v-QVxALcIAgnZ9us3HQ4GQ49pG5NMemv0mrB1D2BoYNFmuHiGaDJS7E6tLp_HZO1aaYYFcI_6SsY_Mr3nZcVcvk11yOXwTakzcxILcBg-1iIoPnLY1EyuHfKM03hXQJPZIZN-WniZEHkohThlDVeRmt5ScgIhCnS2VHHIg9Lw3twHo-4fmryYbW9QuQwhE2ewrJBAx2uCX0E0kflW4iutd41UfxNFqb5HW4CtFac0QXK0SnAzcrA94GT93fleVHwA0XTbG4lySIz7y1J24fkfBxl2BirHsUq0TYaQ6OMwHhpfGkfFwOwiZadJel-4Yb1PuOZDENNPNjBhJHOAwkOtJdJVranlVeDEsyKS2FkzHIn0ArSDlOegZshaYEnei5rgR_mAl50Lz-EVpQNIHSVlI-whU5sKo6bsjUWJHZWQy2qtzrYFYSznx-YlrbwQmi89H5f9n3mXAQGz4kJbG5MXZ2fF3LO9-_2_SxugP1XBBKaWL1FQzVwR4b0UFo2K_Igb643APYO68T9BE-iELFdh-FP9b5zguZwg1PLVhmMXWDPMM_9mnbHlaefjPyHEXS9MY4-jUgWs3jhPWzBXugBrTd6Q-APlKX3N9X7GWSlkJcNVzr-QfVcGJKoF9mDoM3lv1-M8ZneHGD48-nRQrF8FgUR-bIeqr5bjFZhi8rbhiYta5qvP1jKRnvT6fYN8gwGaL-BW-qP10Hkb6XjKkVIY_3-wmoeQUArr0ExmuG4SfKxOHVMNrFtWcQA9I6B_RM-4erP6hqYpwHVmvPNEGbNgLKMK8WAs7AQxTo6K6FohbccwqO445S2RB0eKoS5xPj6fSEKuqPOYZcU2xCdFMBbCAOyLdSDKXgSJ5KfZvTG-cVu-IGqF6pqXc4ZNq0aRBif1vZ_cbYKUuwa3e4TPUNzfK6vH5of7497YPB-HzFEkT9ji96uabTRAkERHthS6gohom3gOs9NirqbdNtMGvAMGGVsdMUYWU55VXSEUD5mYZGWKoE0bCKB23tNvN91YIyemsG79GBOPHLYt_jnoUQkACP51PQRHThTHMuEYN9b9EKWpZ3W-QPj221CEVgqIr7DDVgXZ6w3ZCCNvhFwgY6GKwPo6W6MLBwplWaU3HvlK7Ok3QMdA-2QxeO0xaG3Cli64KsOLUTvJFY8Uw7mhKRjDaOED3O4VPwp0pO3YJZCQU_a8Tr_1juQ32VCLvaz6cZAT4dGyEABuyMN_duHWuaWVX3bxBkg1hnazpiEeQryv-iuWzcCLNIzlnm2QHJzO75shbAW-Z8FYuf4_pTMdfuyOa09Z4Fknr5czuerD9_R3tSE4drnEzDNfphpxncFxqWKEcsHwrjUYzRNlJhxY8XDUhGVmA2x6scDP3AAakYOQMiPh0zSUvm2MycK6zdhYbq4yHnH2uzR2thT6usoM37pQldIItkfgmEg0C5FgsFFoN7F7rsSEyuedPY32J8x5vbo8NdtXYIprgTqxykTnetOaUKG9rxxWHsLXpmfzCT9iDtxclGiw9xfXSwkhuhBccb0ZpiWAHb0Mxa_0XWzpp8wvMyGhyFjDF1iYN6pbMDQQd749Nf0vd2FHckmWyjTuA__t_Y-64VzaMX9fgPqnJIq1eq2WZGOc_FiE4xAdWJzjj39NC-HqkFTcNFUkIKEGwKgGMrRLqSKH7_Wm5UeSIfAF9ZdOYMiFrhiFjhmw3c5_UZbsB747LG0dH66bNIOzYNVQPWQ405pUihvUNUa_RJYzxdKEIB12pZFzPQjnHJ1Vboo46j7uM9YgUNYjCUss-QTBGblqgjIqevd2h0CEjNAVSD4sFZFWZD4w9cjas2JZKMQeUSR7ECitrihqd7PmAdau_nicTM4vNyHalJEhchaj8QNzeiAOrST47g1ae8glxQ7kcQMDZcP9y9DFnzDnghjt2TFH-UnKhLhttRzLnJ7OEXVAzuIzezYXBwgQR94nju13bBHiTm8vUzjWBdPHQzIE58wqanFVtZd76KmUE4yKM5w7Au7Lv0uSnXaRbEl0OtBgE3NJBoejzGj6XfuMVVP57hb_ms6ZCfd_L-mOlXxqLAswhIuJEb1R4Ppruqi9biSaPfFo9cPAE4ze4jZESZ3CJyEhIoWpIEsTro8eEbOWRL5aoIK11IF3fqzQcvQVQqwUGveJvOzkketb7xmzaWCtd10fone8eB09Xhvm8s=",
  "id": "rs_0cc17a75151f9137016ab4393c78cc87d0970e6cdccc015a72",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlDkPMsW2AsaKHsFrkEh52wh0qUhhIBR39LEHOoFb1ukTqYwExI8dJ6nK4rnugm5a_Uv6Udg1NVs0fRagVEAg_-T5C-hbhK2HpmzLYjPtRwshkUdAXfDXYhYHRSI7c_uEvY2aaD_C2cDM9D4LDLwdjMwzO58pzzvg50u43UwEq2YDfrXgpaHKdNMkxWtHbmF84l2apQ8RnxGKPgkeU3SG6aWGAor7BDwrAbc1s8hBZaiAIs_-P8rTAT0yLLDxBpTykRxkA875yWwFX6bnXXrdVlfbAmv4YFIKs5pEOohObBpHjOhhlBdad8uU5AwzFBcTDw7bLKJgFSSfWtiSTZVhrKdn9xW3pA4MO8lKB02vclKMQk7HFwEBXO22iZmJvLTEPtk05Ok4HpUvMLo71OP-jDtzmP0sWJaF1j4ZFqrWRRI3aWtUi9ylm2YfRnJszE1AEH5raDL90X5WM970v4bt5D7zD-PeHvaps5R6v7IkkUm28FbFvYiQaxAJNU8GpvDgmlS0pOCU5oAAEQQpfw3aYaKxM_82yUtp40Fx8-PoG-D0O7Vxspu1iPdOCZT6hiYRpsmNuWQTjx8ubUzVFuAPYKrNKXqlKFAXFP9lWKOPH3V8z-EFThd1KwSRnNzZncORYBPPcc0pCVqo4uRJW4y1Taa6WNAiepAJ_co8Gj_C8n5qHCoESy11l2p9EZc4LKzbjZQPsV6KtaYh3wg9YaTCcGY0l2gxjsTvSUqZ-F3e0pOOhLA229Z9COwuYiBLukhibGiIh1jdv-_JLjdqDxJUPFi1pxOuBMzbUz6R3jFnCif4HNEFOlkuFb1OPSmBgEEMhy7A9-gzRepNuGlpLki9YB07yXNG0AZRq5Cvu_0Gq1B0KyDZEfApvQQKbmPH1BwjES-o95yWKIBDeeINUmPPvX_DLnczyQDnq3Um-uPmTAMfLBih_b4lApglvIkMCl53a7R0rC9fA4ivGvwVFGImpOdiOD4eLkxxamL90cuT7XapIftvZlcIpCwt3j1Kmi2hw7FRiC08C5NiGKWW6WsYGuwoDdUArqvrtsKFoP6Gk5KbMuU4zKD7teFMjVtT5xf6dcBMB9nfJKAhBgJWrQqj4zAcsqwOwYfIcUSEmRD7Z4aLu6kWqJ16iYmwr7kBHviPF1PAwrlMGPqI-E-oDIgQ8T47rnIDHUnp10enTjsU2i8aFr1SwllWrD0Tc2MmP9Qd4d5d3rImR7715fSjR-Bb0J_eUXIm949-ut4SOHlqbdI21iPb-bxeldq9-BEeQCo9BbXBBjrqgVldecR3ldDMR-_wU_QrzbluhWGHNPLkS2MLQ9e9TJ_tHgLudedaT5xoIuvpZWpM5vDv0MCO7SzxZoWH5pBjWUbqvwRZ5fFm7LQaxTCTiJhjGS-sUchmIUCmCADmaYR4LxVb5IGnFe7Tb_IAq2MJ1tFZndgoc5OPjbgAEOGGpxpyl6C5HquDATEwRXLFRR9-IX6W53mN1zDatg729sQdu5koKGZyNLlsg9OeKHW0KEz01XwpjVtMHBpOEljvnH4stjdQL_Lbu-D79v3427LuarGkZpWXBgSmBPoPRWeRx99ZgeYMHtUtR-xQD48uV6D_SRQHPiL2AXXglGbWtcOCrVV8yMbgtC4tEqBxPrqnMoqZ2IPvHIYdGXf4UJsngq15V4ZsQebVKcIt5ROKZ_k1CSVArx1IlUw3kR2tKuhJAqqZJIeWHSyONjn54G75vk04VdDvmACIiGhjB8i5rGpHQ3LdVd7EykdTn8EdoFV1YT9ES4khpl0KORRClP-fjXt-B97zI_hEXFDGIKcCQ9n-blxfblKUGN8MYNSVbkyravv6_OCfz6aC5AeTTDhgQNf4Hwx7u9vhBvCxNAtVNaEnf0r-vR6Qbvon15lmQ1rJdDVc1HwnM-pEAfEYzhmyqpIxgcvOghjtreUCoJgYk5oDDYXDD1ijIBXraM_Ns=",
  "id": "rs_0cc17a75151f9137016ab43941024887d0991526f21039602e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.01,\"left_z\":0.035,\"left_yaw\":0.4},\"note\":\"The left bottle’s cap is still ahead of the fingers and its axis runs diagonally. I’m reaching farther toward the narrow upper section and turning the jaws across the bottle rather than clamping the wide middle again.\"}",
  "call_id": "call_qYtjPQL5Ywh14HHDpkvz2dDg",
  "id": "fc_0cc17a75151f9137016ab439426a9087d0a39dbcba0a28ee05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qYtjPQL5Ywh14HHDpkvz2dDg",
  "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]: [-0.2165, 1.9026, 0.8253, 0.4583, -0.4347, -0.3401, 0.9983, -0.1326, 0.7639, 0.5507, -0.4019, -0.1612, -0.1406, 0.9955]\nstate[eef_state]: left_x=0.4686 left_y=-0.0232 left_z=0.0408 left_yaw=0.3134 left_pitch=0.0085 left_roll=-0.0288 left_gripper=0.9983 right_x=0.283 right_y=-0.0055 right_z=0.1605 right_yaw=0.0638 right_pitch=-0.0344 right_roll=-0.0007 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -8.2803, 6.2154, 1.4139, -0.3248, 0.1783, -0.0122, -0.5675, -1.1282, 7.1316, 1.9512, -0.1587, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64281fed9fcef8c5ec01fe613cd8d2607dc5dc2ea9ea01b46e131af49fcb51fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fcfcf3faf85d6e00e1bbe6668c4edf74d53dc2e1580554c2ba13b34ba067b37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0768a8e016c65f0174cdf9e832d38524e98cc38fea155d787dcb04315cb48a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 46 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7898, 0.5823, -0.374, -0.0227, -0.0292, 0.9983, 0.5095, 1.1313, 0.5129, -0.0433, 0.3206, 0.1898, 0.9959]\nstate[eef_state]: left_x=0.2926 left_y=0.0017 left_z=0.1724 left_yaw=0.0005 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9983 right_x=0.3133 right_y=0.1154 right_z=0.1119 right_yaw=0.1235 right_pitch=-0.0511 right_roll=-0.0196 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -1.6752, 6.7897, 1.8926, -0.0366, -0.0611, -0.0122, -0.4034, -4.1231, 7.4462, 1.9658, 0.2564, 0.0904, -0.2466]",
      "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]: [-0.1757, 1.5284, 0.6197, 0.2394, -0.1501, -0.1127, 0.9983, -0.1322, 0.7898, 0.59, -0.4213, -0.16, -0.1398, 0.9955]\nstate[eef_state]: left_x=0.3979 left_y=-0.0402 left_z=0.0677 left_yaw=-0.0021 left_pitch=-0.0979 left_roll=0.0151 left_gripper=0.9983 right_x=0.2868 right_y=-0.0061 right_z=0.1675 right_yaw=0.0629 right_pitch=-0.0405 right_roll=0.0004 right_gripper=0.9955\nstate[joint_eff]: [-0.4718, -6.5846, 7.8291, 1.8339, -0.105, -0.0708, -0.0122, -0.2256, -1.5795, 6.9812, 2.0293, 0.0171, 0.105, -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]: [-0.2165, 1.9026, 0.8253, 0.4583, -0.4347, -0.3401, 0.9983, -0.1326, 0.7639, 0.5507, -0.4019, -0.1612, -0.1406, 0.9955]\nstate[eef_state]: left_x=0.4686 left_y=-0.0232 left_z=0.0408 left_yaw=0.3134 left_pitch=0.0085 left_roll=-0.0288 left_gripper=0.9983 right_x=0.283 right_y=-0.0055 right_z=0.1605 right_yaw=0.0638 right_pitch=-0.0344 right_roll=-0.0007 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -8.2803, 6.2154, 1.4139, -0.3248, 0.1783, -0.0122, -0.5675, -1.1282, 7.1316, 1.9512, -0.1587, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64281fed9fcef8c5ec01fe613cd8d2607dc5dc2ea9ea01b46e131af49fcb51fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fcfcf3faf85d6e00e1bbe6668c4edf74d53dc2e1580554c2ba13b34ba067b37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0768a8e016c65f0174cdf9e832d38524e98cc38fea155d787dcb04315cb48a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlIPKMUtW9aFIN1OcQY6ibv7U3KCAUzghC75kXzVF8cPIAQ2CGh_Przav8wQAq607TBy_3sAlQzTuvK-YkFEieiUjSC-m7kdomkhRHXngGptix7BT3WkVhNYrFo-HL2t9iVcY-fdld4VQeF4mIPrJ8slELJxjWB2G6k7LX6iOa_FkzkAApwReyW6I3xf_hqUI8jp3msAQ2A10baPvisRRcdJ7MviKRnl7XhtKdh5ntnmRJtAtTdAtyDUj-kBlAuzVZPGSe2XZpMjajD-tNtQRKLimiE5FskujPAYZzg9o-i_3fqzKbYUk2orPYrqEVQsnkEMayggjSDvjy4Mi3TiLhxOti2XsJ3kjEEcyQx_Vt5PjY4l64akFfOJ7D9OjYqN00hiO_nWvvFqvqRlr55c7Z65XSspDk-U7uHvlyPWb4VZodeC-oOz2zMbYyzrG39_nXMEW47glXphfy93Dx_0j0vehYkDFq7DkwLtmX04-Y5Z2_LSUj3iUCpp7bB3r4XdJYoQNzpC49kzHKFwovC6xx59TrDLxbD-67yGZch8_ncGssQQshM6Ax0ey4PAlxw2DzFe5s4Prvim_-ExQQZf3WOHTup5pAbIb8PoKe45TMfv0juORuQRC_WAiV3fwcLJkogAb2HZqMEwmcckDEuYrCDdOKKQ_AyAGP3WqAZQOsI1QYQBIXKjRKuME__a4FKNsx8lR2MGdxi9nIQi9dFsjDzqe6cHugFyHwfiJS9l05JEbB2kQFtb1jflMuasO1zBQwd_gaP1t8zsakjmqxSAPedaH5HJCrtkWmQz0VTtiyusrAxiYmO6JGBpQ8B3X_EVrZ9kA8Ds-z3EC5e7qnf4DF-NIxsQXFhCl_Xo6mMSOnLuS3ELvO-ksV8ka-EUmG7u5BefSWNkuFLxcIRyJYiH5kNzmmI0e2wB8Gw-h3_y3AMhaQ1nmTNEGmarnm8wGabs04Nu6nHjP703OYMpW4-zs-9nHiYP1GiN7ZePEayDgKfK049t6OXar8KEhaWECJ-rwi3TZHqNPNwECj_OF63-S6DPRE0wL4GLqNN0VaNfp9S8isCuM2LC1MhcvECoIKhW0_dCejTCc4NZXH3rSPyQD0pwdoX680qxBCqw0j4wdNMH8w1LWE3sM02FQoX7jStjEzjwS5b60WRx9RU76YItFS85aQ0cMmwI8ipfroRljEXfYBiafoUmFGDAStFFWFEQ8MI2MgDhLrkiOnoPne1ZA2RR0fApHcGoEg7vYpxwagd1-wSE4vg6ZcX69VIKCJ26qnrbYVUYvUJIG6Fz89ML3_RUwz27AOhkxN_ZXC6JHoLXNKYSZaUo1Y-iKTrlhR3nJpZto0wK7pQIOiviNkRZr4k1sgw1Y7Xtt1v7asCHmcFDia1mC1UIQm5xYAjVKCprnoG5DGSdy1GDgRIpYu7UnfXS3R5cEW8b2WO-lf7OTKBoDxzKfM52lrwqnMfIFGmVcl3RWnQzEqGrYXUcqKj8SJrKOUMqeP2p7d5MiIvIkO5i2R5umx3HdRjgw6YWDUJE_B6sWw_xH8vmfjhsHgzlDv8U8oJSuyh168xa_QRlQARLROJ6awyy7cQUlkbmPS-DilGkVS69HccXuUanHl8Rc5AToLaaI87p8YZ4Dru3yYDNgmMJ4jBN1VqTs_T-WZMe8Id2gVauFPuSKg_u4zBwimtpYUak5JxWWQNoFN1a4y7eC0nJWLpV3Z35-6s2d24CHuJo_HflEIfjLfecv4iAmDEnsZDiHxmUhBg1wZ9ABR0BWXTtogp7t3TBLgJ-siglllKonQ3CmxRZJWqYawB05Pvab6sTmO-AFDX2FOSxsyiSNPKO1BYSZxUGw_SQJq0oyNjdj-Ya-S64Y1tNGV42tPGZKWNBiHzpKUd8rjwo5YFvkYKMeHUVUhM4bceIAKY6B5gh0IVTGMeoSuQZZucWXbKaemkhCl5NLYWZlUc-qPYu-7joDoo-SmWhKU9THorw5oCnbLBKMcWR8VXc20rmsI__VF6IogVvIQPDQwqunbPE4EAQGj_4vDYC5fKz-gl6cFOQq_CfYqHPksj2NQWQiDO7HzkAm8YkNqJhUypps9796vtoO0gVaMxTC2hRXaSymrHT8qucR30ojL6qwhSXlT4Nz33apS1cFkwl4B6f6PCqwqU1-xo69OqkTLvxfymL0RJecxpzBfaWT_Gwa4orRq1Lkn1_plhptIHDcJ4mAoPgRf5xFCvVKSobfQAKmUA4cbiERVt98TLP1II3p7g2tt6uZ1ldHueveDPXDx8QnmtBSsK7OyiXTmjUdTJ51XxVNPe_wWwXfP4n1geQKEMjLPfWnlbUs7N8rQtA77tB3tClkv9dmxx1Mk4BR8EpdaQ6FngRTQeL-r8tnb-6d6yMrJTqZtfV7t5KksWMFT-9UWPUOpVofb_gGscHCEOR65IoZV0D70haQqXwx76LefRY9VIpdtvQF0rsBXfKHt1bc5DtXVBSKQ6mfOSWmU747l3KmZkTjg9xq5ewEl2uhTdPKRab4sRiHk297uci95dx3fHtYs=",
  "id": "rs_0cc17a75151f9137016ab43945974487d0aeaf82dcf7e4db72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.02,\"left_z\":0.015,\"left_yaw\":0.3},\"note\":\"The left fingers are over the bottle’s upper section, but the cap still appears just beyond their closing point. I’m making one small forward, lower adjustment to catch the narrow neck rather than the bottle’s body.\"}",
  "call_id": "call_cu4GUgefxCnLRPZKCski6myv",
  "id": "fc_0cc17a75151f9137016ab43947d9b887d0b63a5dcbcfbd0499",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cu4GUgefxCnLRPZKCski6myv",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2089, 1.9736, 0.8795, 0.4923, -0.4694, -0.3664, 0.9983, -0.1329, 0.7509, 0.5304, -0.3882, -0.1612, -0.1402, 0.9955]\nstate[eef_state]: left_x=0.4839 left_y=-0.0172 left_z=0.036 left_yaw=0.3633 left_pitch=0.0332 left_roll=-0.0434 left_gripper=0.9983 right_x=0.2816 right_y=-0.0054 right_z=0.1575 right_yaw=0.0632 right_pitch=-0.0281 right_roll=-0.0017 right_gripper=0.9955\nstate[joint_eff]: [1.0325, -6.5026, 5.3949, 0.862, -0.1734, 0.5348, -0.0171, -0.7316, -1.1556, 6.9538, 1.9463, -0.1441, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6629f44b7afae4cf528c1f4e8d7f752a3146bb9f552b1dda46472eb117f07d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bddeb85fefdb4e82827b44483ff8f8a635585f2fdd3c092caf3d2b28edde9e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36028753ef2c2d4527e189e7d3d519298398a36a7024a5c24b3d0d62f4014ad3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 40 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7822, 0.569, -0.3717, -0.0227, -0.0292, 0.9983, -0.123, 0.7918, 0.601, -0.3992, -0.1383, -0.1307, 0.9955]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1688 left_yaw=0.0005 left_pitch=-0.0221 left_roll=0.0003 left_gripper=0.9983 right_x=0.2914 right_y=-0.0079 right_z=0.1762 right_yaw=0.0487 right_pitch=-0.012 right_roll=-0.0099 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.6479, 6.5983, 1.9512, 0.0024, -0.0659, -0.0122, 0.0479, -1.0462, 10.7009, 1.7802, -0.2515, 0.0269, -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]: [-0.2165, 1.9026, 0.8253, 0.4583, -0.4347, -0.3401, 0.9983, -0.1326, 0.7639, 0.5507, -0.4019, -0.1612, -0.1406, 0.9955]\nstate[eef_state]: left_x=0.4686 left_y=-0.0232 left_z=0.0408 left_yaw=0.3134 left_pitch=0.0085 left_roll=-0.0288 left_gripper=0.9983 right_x=0.283 right_y=-0.0055 right_z=0.1605 right_yaw=0.0638 right_pitch=-0.0344 right_roll=-0.0007 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -8.2803, 6.2154, 1.4139, -0.3248, 0.1783, -0.0122, -0.5675, -1.1282, 7.1316, 1.9512, -0.1587, -0.0366, -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]: [-0.2089, 1.9736, 0.8795, 0.4923, -0.4694, -0.3664, 0.9983, -0.1329, 0.7509, 0.5304, -0.3882, -0.1612, -0.1402, 0.9955]\nstate[eef_state]: left_x=0.4839 left_y=-0.0172 left_z=0.036 left_yaw=0.3633 left_pitch=0.0332 left_roll=-0.0434 left_gripper=0.9983 right_x=0.2816 right_y=-0.0054 right_z=0.1575 right_yaw=0.0632 right_pitch=-0.0281 right_roll=-0.0017 right_gripper=0.9955\nstate[joint_eff]: [1.0325, -6.5026, 5.3949, 0.862, -0.1734, 0.5348, -0.0171, -0.7316, -1.1556, 6.9538, 1.9463, -0.1441, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6629f44b7afae4cf528c1f4e8d7f752a3146bb9f552b1dda46472eb117f07d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bddeb85fefdb4e82827b44483ff8f8a635585f2fdd3c092caf3d2b28edde9e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36028753ef2c2d4527e189e7d3d519298398a36a7024a5c24b3d0d62f4014ad3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlL6W6I6wwg0Do0UyEekshNv3CMTEncjkBSiw3-92d-8utAABm8Xyq7XxcyAsQL9QWKR7Hjetbf2SMjWoRylMY_xzSD1y7yVrijeQKgm2k4i4bydsZYNNI6DSylLC4Whvntz3rk1s5lkoaf8X4JZ1Jqt78guA3kIUOK93f4A_mWqONR1HHyBIiTmJMLTX9EqfKR97e1pqqP0gwX5ac6BDurMGKbgZNIQg6EVkkoxudJS6vqurr7xHEQxbCsuSF0R_3OAMwbFFRZEpABPU1LP3h0rRnaO-x67O-q38RHCFS_ohXUyn6R0PE927IM7LRMS750Too1-5Ctlq0XIKS9JyknZz-gzpfpUqpxOJp73qEqS0gwbZJGKomK5YfqUXkoKZM1uyVI8rVbFde-lnQqm8v5Yh8Kxjv_L9LYhapQJA7hOC7i6I85qYpF4692S1YaVbq1SjfasyXqgnLKAKBJIf8kOCwbTbmQHOx3YMQ4N43GB6Bfnv_aacUxFm3Fetxi3rCJcxE-vYB5qOCQra0jxgA4unJI-jNox7VRCwhxMqgWEC39nGtG5NV2YX4YnG6squZfehsD7mkNMV_z-4-TVRfx86krAwozQ8jmTpZWZZh3Psm5LW-JlwIwEHmOBF6hQnHgItnSeLm2BcVgiz4dm0LwV9VDs5-euhbAFCJdpVgCmbiZ8JUsvEyqqByKx8YO1YCt2WVTQPt8ZjJ81HEVb1vTDupqDFr1TWznUlMvwC52cLT7lcaHtWE65vT_9o_3vdbm8gtaIOyt2ky615iyl0My5Dl3zaGY-uaVX4wHA1t3psh69HpJ3_nWz2KqvB4qRby7GWiFQcwQDd3O02R_NkfZR4gn-tHzDZBA44gxtnnKByCpsaoHdnwG6aum5ZdRyvtZnapAcd6a9gxPUsK9rB8gBC9OreeMt_1hrYY-7RTSXXJWhilL_9Feu-Amk9eM4kEkptvGufxuGZL5AqzIVjOG1dgecyl0HV5gv6m7ABb3gQr5lr0gSToJNypA-q-vv95yhFH6dVSXu3D342MBwOLlhK1ifi4v5nnH6Qb_9bH9UYISTQBGUS9yi1fKqIxcenvvxajZfVxoRS0lhw5yP5DmSohUU46cPWOyNZFdDg4-zCyob1xfs3w6fL_gyPbdebIiceIUUdr24AsnVFtaWm8TRNQ485zbv0Tah846tcR_NuDM2R4NVk7cAxqmaDSAPTkElsFaJo49BsnSkEPngJFalPwUEPGFtjE_RgMo2cjfX6pmmYKa4wvqc91nnp0-EC69A7jIY5ImWrOmQVkTabbv05wGwZ6_jh6EUybWw79dbXOUS9ScakK0swHQbdeQ-AOZC7AbFPRJOrhuM4FfqJuSFA==",
  "id": "rs_0cc17a75151f9137016ab4394a5fa087d0a7354d3f8a3200de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bottle’s neck and shoulder now sit between the fingertips at their working height. I’m closing the left gripper and will use its settled opening to tell whether the narrow section was caught.\"}",
  "call_id": "call_lu9tk7dXGZAy4dMl8EGl9G9B",
  "id": "fc_0cc17a75151f9137016ab4394ad80087d088ed130288f12ac3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lu9tk7dXGZAy4dMl8EGl9G9B",
  "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]: [-0.2146, 1.956, 0.9211, 0.5003, -0.5152, -0.3664, 0.0192, -0.1329, 0.7429, 0.5049, -0.3775, -0.1616, -0.1402, 0.9955]\nstate[eef_state]: left_x=0.4967 left_y=-0.0155 left_z=0.0628 left_yaw=0.3974 left_pitch=0.1026 left_roll=-0.0604 left_gripper=0.0192 right_x=0.2793 right_y=-0.0051 right_z=0.1502 right_yaw=0.0636 right_pitch=-0.0347 right_roll=-0.0001 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -8.6496, 5.0803, 0.7106, 0.1538, 0.1197, 0.8425, -0.5265, -1.9214, 7.0496, 1.8974, -0.2027, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24138c856646f05153cd5de127355012841af27336e31b35cf02936f0d85a1d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5d2905de74f7063589c5d48cc02abf5f50c6e38e83498c06b4376e819450f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7337470c666c6c51803a0388c10e79520c5baa5d21dfecb0dc2fbd618300087f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1757, 1.5284, 0.6197, 0.2394, -0.1501, -0.1127, 0.9983, -0.1322, 0.7898, 0.59, -0.4213, -0.16, -0.1398, 0.9955]\nstate[eef_state]: left_x=0.3979 left_y=-0.0402 left_z=0.0677 left_yaw=-0.0021 left_pitch=-0.0979 left_roll=0.0151 left_gripper=0.9983 right_x=0.2868 right_y=-0.0061 right_z=0.1675 right_yaw=0.0629 right_pitch=-0.0405 right_roll=0.0004 right_gripper=0.9955\nstate[joint_eff]: [-0.4718, -6.5846, 7.8291, 1.8339, -0.105, -0.0708, -0.0122, -0.2256, -1.5795, 6.9812, 2.0293, 0.0171, 0.105, -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]: [-0.2089, 1.9736, 0.8795, 0.4923, -0.4694, -0.3664, 0.9983, -0.1329, 0.7509, 0.5304, -0.3882, -0.1612, -0.1402, 0.9955]\nstate[eef_state]: left_x=0.4839 left_y=-0.0172 left_z=0.036 left_yaw=0.3633 left_pitch=0.0332 left_roll=-0.0434 left_gripper=0.9983 right_x=0.2816 right_y=-0.0054 right_z=0.1575 right_yaw=0.0632 right_pitch=-0.0281 right_roll=-0.0017 right_gripper=0.9955\nstate[joint_eff]: [1.0325, -6.5026, 5.3949, 0.862, -0.1734, 0.5348, -0.0171, -0.7316, -1.1556, 6.9538, 1.9463, -0.1441, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2146, 1.956, 0.9211, 0.5003, -0.5152, -0.3664, 0.0192, -0.1329, 0.7429, 0.5049, -0.3775, -0.1616, -0.1402, 0.9955]\nstate[eef_state]: left_x=0.4967 left_y=-0.0155 left_z=0.0628 left_yaw=0.3974 left_pitch=0.1026 left_roll=-0.0604 left_gripper=0.0192 right_x=0.2793 right_y=-0.0051 right_z=0.1502 right_yaw=0.0636 right_pitch=-0.0347 right_roll=-0.0001 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -8.6496, 5.0803, 0.7106, 0.1538, 0.1197, 0.8425, -0.5265, -1.9214, 7.0496, 1.8974, -0.2027, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24138c856646f05153cd5de127355012841af27336e31b35cf02936f0d85a1d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5d2905de74f7063589c5d48cc02abf5f50c6e38e83498c06b4376e819450f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7337470c666c6c51803a0388c10e79520c5baa5d21dfecb0dc2fbd618300087f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlX8IVYIRrd9kaX63kkyOeQx0N7StLiw6SJnQOkvShnAyc7QSZMaaorUI8pY4d3XAMqRrOW01r458XRNr0yWHmYFCflIMgXAZhYWnNMPEqCArMSBEYyXbBeW35RSMjJZbQB_9SSGFxz5wNauC5C46PJp-UznhSeejRTvm0lErrg8a44ZFrzZGW4SDijPDZ-tdprXduOHQJbgTyu0NsNXI23Lpk6XOhuxEw_OzXDk5XKJfjyWbelsOqpYAVhobuGLYz8x7iuGrYhZvthVwpgYOWc6kp03_fBvyiORyFKaib7HSyyB0sNDBdNYNFa92Ip9q29hcf5H61VtdD_Bb8CuMqTJ7BrksiKj2iugYSJSkdq5pIMW2KJweZ6wFiwlnFZ36Po_saFTfm9HkMdfQ9kFhcIqC3sUczjCjFccNnVqWTODtQTLu1KolBVs1nxKZfuGkdGy3gbRy8T_ZfhrjKiyCiKJdfa2ZqYn92gTISx9t7JrD0FmVNdObyJTJVxh_nBITQvqp6U1WTZyEHERpxDgSIgXLg-bmqbICnTs0lavzEKxnEsQ5YgbeNAwNV8DQIxf21njkOSIDJYU48Qq8r-cKcw_XzbEnYSNh_yrv8Zl4TKAbUAtgM7gEIR53UyZz_tO7k6RsLDVwqPp8zL_qSwqN7LzaE7PhiCfTvaiJRoopkkF6Ed6qftYUmi2e9lIbvqyuZHRFTt7XDQCSwfn9qJA5eP8zauEygWDsYEhbqVIrx_RQ5l0yrTiqeuKped90mLjGT6h2y-b0CUw1eZfSn9W1hb8i2UDXSp94ReQpdUErOUqp2IyWJ-dciLI4pdRqAsTpinpzbR2MNJECKGFaC-9UXJVNd378uHeRIuDvbJVtYmb5Nt0hkjtqjgXpNQ1iaKjeJpOnQqxXCNtllIYhYSh3xEfHbtKIBkjuGa1DkT_P7xSa7ZiZHvWU9ioyGUrE7Cr_1tWoBZ8rBf2n_VweYrrjL4iY88Xw3xkmnozsNeF6f9kSAe3ffaM2JmBEgYd88shJ-m4nBcUS8CJZqnWzlcRl2Jw-IFxrDO1_KYNoZwj9GCicRCdKPJVCWuBUyLBwxzxNn4KZAwTItp8kWngs7W6jKn4YmTPqlgAzK97vNLFxehtXMm_J5RvabpenyLPjMmBoVEa0hSO5FA6nKSEwT1DlpgNy4yTnmhd5lubW-GBMPD1Gi9QhvsCilnGtZN-h412qJMEWYLgVD_1J3MkzA8KMPY6wow7PnzndYWOWWAVysaC1DHL9jZbqbK3QoHiC_IpK1mXv0VEyCXhPl9B0Tek4ecEvzIExy66slq36Y06ab6hlAOMHy4eZHTJS5AtWSgziovxUuE1I0skydWW_9vv6FqNX1oiYNdD_4jgBWj4AC6DG9dlA2d_dlpWX6b5EcJujz3ZztphnTtfVh45gBFkvaVyBzZSrgVONIveKygLw60ChicBajqdQJGkB-TGE17VBUhV01nwcEJ5ld-JtTt8ipxJm9b6M1XKUy7x3FKxjyISumv04A3sWjAIuWZ27mzSYJ4KaV-CyHqDF3HY-_UNt8fhPXsU2Aa77pcwkJMJKkKETbWsB1nkdjVfUSdhD8LyNiG3xJL-Cp1qmfvUObdKnPu0Kf74J9edxY1x91rehbHTEv5dDUKCB30jo-vHA17XYdYoVleUHJwOnaeFW-xD0qKFSxN9um-ox2VC5gj1PazqQlX3GRIiawFAtfTY5FGVHBrGEU_y7F5obZriBo9AAgbYUHS7JzJ4aNyNjA5zFebacOAzhAA4Cc3XxyJLmDaWWOl-pSSoKDWpT5DDJ7KSMw7Yz7FiYU29w91tHGKC1hFTo5IB46Nz6T4nbKNlwGFFBhlQpqqUFGnSAIKvPOyrHVWYYl-ETA1Jjx2Glflaq_kmRYPWCws8Hzc6bPYBKxUOK0Lsnp--U9712IxMOjoGDx2Mqi3NJyZHlsGpo4Do-lsKVXYqmneXrpX-xJFYJGk9O0W244WrXIhJs07vAutydeRgWHnfcu8ovX2pdtC3_rh6WyIosystXrOtvadLJVQoSKSfNs-mlkd44-t2lZVOVCveUMY3DEd59Wyi140QpWOil3PuhQlSmd270cxqJXQ7s9PeK8jhsXJczO3CgFXGTFeXhugAOCfZYrG5JyGjFBIxaVSgi4aSVJM1hhCl_IAZ7dNXSk6rHkImupD-qKMr3K732yf5nkEJNC12pzkHfD7VNrfVnEPzgoOrvligjSiJbJUPUcG2z8Ja9zC-gZjICq0ie4mdYxpAM7ya_AWi3X1VOw-8XiAxM2HxjYVLS1xDvGtx-m3jkX-Dqk_MN4ZWXwXj9MNvHQz4_ke_kN9FXLqHWEm256KHK8SetrhF0X8vuatdFMPqdEOGIMNt5YB-Fnl0cNjCciuGz0dL-OLWHVEfos4TwYyHkQ8lN2ghZpDBe24QGdfDaR9qXR3UZtbmI5Oy0IvePgVwCoiyzSi1iYhwXsMl1-57fSMGQSlRkRrB8Qq8h61ckepvh545m3tc1JAnbQu1c6hDF20ljBE7dXf43LJbJKw_SGakIlpCVKMCg9L6k05b3Nm_P_18PcYgSPLJL4Nj9ca7k8ZsHc1N2bXzw3vW2jBG-z3WtV1jxYYn4X3kc2wnO20BgNBWZmKFE8nl6WXjtf_9hV4s7p-RkC4loXJQJYpMXjDTH9gHzpAKHj3EfmD0i-a_0zwoXp1Az4VnoY9oqepmgdu9oSCZVdGR27DRaaS1dquMNHe34qH0zeU5AjZDv5FPeNSQMvoLLaaaoHp-8CInDXhCw_llqEGmQ0l1y2Hsv7KUVlIeub5HiLsBxDwds3hqixBuRCecovrAsur-JjyaKVIr-SnBVfwRBfeVA6zQxs1FRcbMc8uFJ_05Zfa-v3FLrMs86SjIwF8wcYvphJ5SC8hsCWp1TrVbZdfcvGxfLGhb5n_tjFbiFRBKSw7JfhxSSuFt0HmxJB_28eiEr9uhCNSnHCNiH7uYd8zZNrTB30ZHIZCDJ3WGTb2uFl9_8xscsVbQ_YDaqlFjXRdu8uQi_l0kIxOsOkMcnEPiD62K2z1DOv8ObxjqJFc690ofqG_L4mVmecc_nLsljt2L8gcnPUJTS9olc1RvLvg1StNJCOLp0bChPNIucsqEFeQeYE0oSrGj8I6j-PhymLofst4y5pW96WkR1kGrjbKgdJNmGoP7fnFKq1NuBPxgG75iHapWzwcTaEkpLNV6ZvUGLOenNC8YFB-3hW5YXTsoOVXH_zKIKNCAVT1XXhIoREKpdZ7a4Ap_yX5lx_BSd5_JItPS0vxg1YHGpslS_5897vqYeHTku5IBgfPktF6KgqkwEl7Uly1kEVEPaXwNDRuLmpyFH86xrp9z_0xY3jlg3Ccxcrnl1uT8maU9DFqtXZGek7PRIXQNPm5WDXGeCtsHsSNmH_WVFOyREpXl72M6U9rO9jPK6rc-RqeZ36OguilREpE-o5ttCW_yHs1287izTKyNaJCNvhefiyDSRZdqd8zjPXMvJOr7daymC0v31bl3jZypa_W4MIVSnZ0KvZThp9PyaewF1E_7-ao4gvZKvYaolHEaHWxw4buZRh1rq3EuCh9nzovotj2lpb-yKUAeJr66_8woswjKAndBYzrfcrmwwhxTZ63INATkpC4A3TmS1BHwXElNPklf1Olix8JTQoXdeGfhabS7Ny4Ed7Up8hCixHWwsELd5QN8sZTmZrbezL3IdLvMEdRi310RB82PQUiIuNFi1wfiCVsk6_jb89xIieBOf1HXdgRtLablXlFB9jqxptU4FK7rS7f2TxSabuFt0_acQ2Fg2GEcmwjR4YNDQkiFaUUGBIfkmzHyL_0bE8XRRfFYomUynOxFh7-8HQTDPQ_FwvPbFLdSf6ameX0YwQ3JuWbGMknRnqgoqzEt_9Jq00CAm21Zy2XoDD9OHtKGA-nOWeNRl-qA5IQ3uIfI8y39sklbp-MuBPVQwJ0r6LWD-EsBWuzLMpzQw-Sfdczb11NNcB8VSjdVh2RuTHfOlO18v-6QaZcXNuOctqSp1ytNkM3-5ZCK4kHXbMDRp-cTwn6WujkKAo5odo=",
  "id": "rs_0cc17a75151f9137016ab4394d6f6c87d08a5627e0a3e30009",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlX_Zg9zZFXwr_YyXU0AB4HYHSIA4pU8qlfXZlljbwHxThwhmCVL_y_le0xWZWzvKnc4zvvxwv3zdyE0HqnMzyRWRcF63_xIMgCpkZsdw46vELXq0zj0jEefNnRatiup7WKxhoPjrcrgZrDE9GeTq8RrOmKKVjFCFNnFEeWTmCb2li3G5gg8Zqzpc-E_Y-24VnhurdA14-SnIiMU248CUB0c80RKeYVCikqVwZ3C5wdcXEE1x32HwM_Bsl0TsWeZyRRJB_VBNIRK0H1N-NHWnlwZAKPbueWVm_xST1F5V3VYDoohOYznVLmjNR0lNIuaOSoQ4TBhs37jOSs3uisnKzP4hpRtvwLkVH48tdi7_7dj3kFljyuD39V0CA9_dgwxlxFNEWuVNxKfZR1fYEl2I_OSM6u9lXDnKwoxidvfr6oY0faeSMqBevr4Nnc5I9Vkj2wKrr-7p--XUzdHiIW8Q6EpkHbAozXQ-PEg8Y8waTJqQjY0HKijq52Jl8cKBiBEvP_ks-wCDt6Sq0f_ZyXt9YCQf6vtb0Vg1ORQMX6SDTKz6jdikmVmScO_7AoyhbFSVkPp7AEijO3I78ZhlRqq5bnFAVatckna8e8CjlOEkZbDg8GBFCtcfLdfzc16EYlEn69hTCqJ1neUU8IYC_zN5azkvNlfQIm8mjyMgGAKXnWhY1gSB5E1oHU5_VX8_pg9F34gnw1Kjuk5TOQIGJWnI-tYSh2vDmDuiuaOUGt5LYZIi67JVlClEP6uO4BIcVDc56oUins9yfqio9UlKgrTYfEbt_PfVTmnGr0yX7pKaMpky_mfcPYWqGLRhnmLzTEO8eZGm6r9lUfkGuu-aeLe6CaSeYGElGsVjdl08U3KD115MuiMXD85d9PBQBtFrcCBAQLmPXswVHViYdTl0HnCiFCjxepL479R_YwN_hMWUGI-K5EQ8vOFb7nvQZlkdkXheUxcHP7f2AuAjD4OJlhh_Df8_oK-7bpD_ppkfFdtUlPPTWPK1H8sIefFZiz5bEw3gwkjFaKapV30j1p1Wt3wNTkZnsFAb6VFtf6Hoef8rVBCimZ6PXvjCjMfqcGN-VMX-9UXFyrMc8e8wj-alZMCeBMfJCqGrKjmiL1yDwjyNGD6RGorTp-LljOU9vAZpoduLRynoCEph-6NuZsbZlWFtDWS629Yf284xgyUBz01_kRUWabkvBEFhMvAKZKn1lQwa2-ZITPMqE5yLzydYyHtVGxq6Gu-mX54W57LLa35bCy2_m6JJJ2_MeonLkBRUsdOBaXo6A769bkhrhIaUwukM5QuI-BbVMIZ-VTkhKfXx1TadD6Z-dTKvE5AhGTHrZ-hlUjvrLZzCuUoDUwqQBBKRg0Toydwsr2-ZHv0CXeSwRsnmTqrN374L2Kjj8waaq7LTkdvynohCX_-Dh_tiSi-GkSUsGb1fapFb4wR03M25ft29bHWNl95eI-BV58fUMyGRkQviWWUVfmOqwMW1KsGQjiJAob-NsreAbmu-OaQvOccOw8Oc-90odsLUQ0IawkdKbLtMndkCPWGUprDS3EVpuNAJ2X-EYnwZ-6Anonq0nrKEJwsNRgG60QbOkEZOxqIysttsCG3IMdld3Bk6osV20e9tjvBCwRQZErzimJOAJuMLkMdzGc7BQ8hZyjSx3AJRs6-hmenMMsfJlkMt8iV2-kgOf1pzjyr7ULnrDLrX_f5_Ii0vctieCJQm0r09h2VSJ0dR-9HOotxfadVX_tjy9aaQOmMoGr9jirFMXaOCVbzbVX8mRbZvsiZOFM_-8mL6lGePwAKOVWB4bqlqfCyGclxnGAWqKYtWqU9VzgrZpjTllHX88s6xPvaizxtq3FwWMuHQZRWHZhku9S2h31F-4Un88T8RLgV3r5mfER2Ca6bMNzBlt9KrOQSXgtK5Bh_-0QdRDNpcDPfQktl9LvXdfsMZWgItZxQ-0m8bQyR92Axs1fv0duZpo8S99Bp4Q29GaOcSZqWoXQNoTfomkhsSwzL_cBXN4c8xp1m8IQzblpgqi7SyYr3wQBFBImPnqc_i4rBIaV5gdLzq6Nb_9n3r-x6UBM359S711VPqZayFd6x6ry9B1zztQG_NlS4u2EhdkACRlwLzYgBd0B8yzSNykQSGj09GGvgOGpbg3ocYE0UfDHtXP7o4KV-TYdOkH8fxEUCH4Xa-JSjQYRDQReJ7W4RlSkRY7YlSwzffmil7nRwlPOFyT518lAGqh5hcudPNLc8ancgTFxXfNH1RccIz9MTwwu3p5wdIJsPY-ZSdpSE5EUb5Vdkk5j1F1Cbw9cPlS3pUaBYWIQt5o4t8OtglZVWS6cw2l6EtKpENu3wHonsv975iBaTNSujT_EqlTkH3E3Lv4XV3srfy6rol_IjfKb-XLBpNdzCaa5dj0W99KueGVjiMhote1O0Jh6hoHPkFTVvesia_vResRtkLsHy1qhbvQLVq8mckN8zBEBFtQ8qqa2qOq508l_xzIMUO4M2JIPscAM9cMH99OBhS3ENVEt6po26W2riUMk3mHO-yacQpG8p7ls8nPMCeeCks-mk1k6o4Lq8zWNbNGTmm6CejFuuugjNbkVVFOPXBWF9HMNg92IZlida5l2T9-onXgGMYw89QsaOy1btiZYbO-E2ffjgZKDgiGwMdA5P2n0-5ZiGBeWRzYRkSrKKNSDr1QK7lG_gPl3Zjx5NKeEtUJPnQDP-4HCOECDDJVzHL1I9TZ5NHZb3q6HRtdb2I4m0emjSy6iV5IsWVJ6n3HxUAb3DM6m7_VgrxPrrMkR6tde7V7wgcgDAt8RUrtDi0g_fkqTKVHBp0QdnWfS9No2hEEFS4nLaGbxX7zRKuV0MbnXAEpNEZOEHnVmMqby5iQNHW7Z7d0s3c6FqljWR9DpYCMSSm5-7jSa_6Zd5vpIx21A_xb5SDT7Gujk9bqBTTm4d-5w0F1--JjSuQDYB8-HLnaYJq2VfFbpySGVfkhPddOncN3ZLZbJV1Acs0Bf9oF1thj5wLJfKZxncRiu5qawaN9XLTob6w==",
  "id": "rs_0cc17a75151f9137016ab43953122087d0aab0f47fde155129",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.2,\"right_x\":0.455,\"right_y\":0.11,\"right_z\":0.065},\"note\":\"The left close was empty: its cap is still beyond the jaws, so I’m opening and parking that arm. The right bottle has shifted closer during the earlier attempt, making its cap more reachable; I’m bringing the right gripper over that narrower end.\"}",
  "call_id": "call_QStpukFawBJ2wwKEvHIN9nyb",
  "id": "fc_0cc17a75151f9137016ab43956468c87d0b42fb9e64ba0fb49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QStpukFawBJ2wwKEvHIN9nyb",
  "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]: [-0.3809, 0.9489, 0.7288, -0.4698, -0.6167, -0.4927, 0.9968, 0.3019, 1.7649, 0.7635, 0.3347, 0.1699, 0.0753, 0.9955]\nstate[eef_state]: left_x=0.3027 left_y=-0.0073 left_z=0.1955 left_yaw=0.3734 left_pitch=0.0167 left_roll=-0.0279 left_gripper=0.9968 right_x=0.4332 right_y=0.1074 right_z=0.0462 right_yaw=0.1027 right_pitch=-0.0839 right_roll=-0.024 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -2.1128, 8.9094, 1.6874, -0.4567, 0.0757, 0.0073, 0.1846, -7.7607, 8.1573, 1.9853, 0.2369, 0.2515, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fda516852ba148075bcaa8e101660ed1c486b22708c793aeac9b43321f163f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eefb49b72332c50f513bc0b0754b1175568f0f31d9d0f35799daedd0bc68540",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81eb7ffdcc93bd2499a4ea19c9438f7ab862f276f50a8c63aa10e1d294bed729",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 51 changed as sent

message 59 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2165, 1.9026, 0.8253, 0.4583, -0.4347, -0.3401, 0.9983, -0.1326, 0.7639, 0.5507, -0.4019, -0.1612, -0.1406, 0.9955]\nstate[eef_state]: left_x=0.4686 left_y=-0.0232 left_z=0.0408 left_yaw=0.3134 left_pitch=0.0085 left_roll=-0.0288 left_gripper=0.9983 right_x=0.283 right_y=-0.0055 right_z=0.1605 right_yaw=0.0638 right_pitch=-0.0344 right_roll=-0.0007 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -8.2803, 6.2154, 1.4139, -0.3248, 0.1783, -0.0122, -0.5675, -1.1282, 7.1316, 1.9512, -0.1587, -0.0366, -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]: [-0.2146, 1.956, 0.9211, 0.5003, -0.5152, -0.3664, 0.0192, -0.1329, 0.7429, 0.5049, -0.3775, -0.1616, -0.1402, 0.9955]\nstate[eef_state]: left_x=0.4967 left_y=-0.0155 left_z=0.0628 left_yaw=0.3974 left_pitch=0.1026 left_roll=-0.0604 left_gripper=0.0192 right_x=0.2793 right_y=-0.0051 right_z=0.1502 right_yaw=0.0636 right_pitch=-0.0347 right_roll=-0.0001 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -8.6496, 5.0803, 0.7106, 0.1538, 0.1197, 0.8425, -0.5265, -1.9214, 7.0496, 1.8974, -0.2027, -0.0415, -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]: [-0.3809, 0.9489, 0.7288, -0.4698, -0.6167, -0.4927, 0.9968, 0.3019, 1.7649, 0.7635, 0.3347, 0.1699, 0.0753, 0.9955]\nstate[eef_state]: left_x=0.3027 left_y=-0.0073 left_z=0.1955 left_yaw=0.3734 left_pitch=0.0167 left_roll=-0.0279 left_gripper=0.9968 right_x=0.4332 right_y=0.1074 right_z=0.0462 right_yaw=0.1027 right_pitch=-0.0839 right_roll=-0.024 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -2.1128, 8.9094, 1.6874, -0.4567, 0.0757, 0.0073, 0.1846, -7.7607, 8.1573, 1.9853, 0.2369, 0.2515, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fda516852ba148075bcaa8e101660ed1c486b22708c793aeac9b43321f163f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eefb49b72332c50f513bc0b0754b1175568f0f31d9d0f35799daedd0bc68540",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81eb7ffdcc93bd2499a4ea19c9438f7ab862f276f50a8c63aa10e1d294bed729",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlbXwXBI4Y6ir_U8yaSqABtVghwZFIcbUkUzGpAwLOPlQzBdphqWm8lTVsS1j7XG_gLCI9szEVqzrb3DD-T7MUDJfH3ZzUVxrIc0LmkEOpx2hRlFyBFeHZGlEhy_PTVzWDocnVPhm8r2yhtI37o9OvCGz_DWSMAf_KhYAmDOOSvmTEdKLUHhc8DvZVNQLnidYI6QuhBJWKKrXEWvo1MF3P2be9jYpH2B3qcjLGAsJHpDC67Cc1JxchamDZKrFc4GUJ1dOTfLV263KYtSYK2BAvCziBfymVnIxQwE6o9OMqfC9l1r5z35yCZBtBs-UqNPq7QTm3tBms8QvkhJQKT6jvhcfJk2NP_n99aBz4ymKh_n4F97QWEP2L9aI7HwGumpb818hOSzSS1U3USc20Kz0PIMiYZDIiMJIy4LIcTa6s-QfnNqoKA4Kb9WbMijWKWTE2HfQEvFX58m_IxA8kqspoH_fWpYqbdSsOXF_Kn5alaw6hv1SMdZSFDcXk-wjDB6V9v3U9w6rARPWQYhZ3o0miMQv8PrSU98dXUw5oUL2cMGVcZxInTLBZhQuLcPilWpFAe9A6wPqHDaP10vfoqQ81RH7RCg0lmQo4GH81iX8ueRABkFLT9OXE7IN5a5e9w0t_r0fHykSRr9OFUTIaZzKrcuFNLMq2qhIRXaUwF8aqFsnSsWwmSmoyg8Olo1pt0GVHDLCl7ALGW6evLGlNTRiT6BxTLKREmjPqjAUsXgTAX46-JpxeL9yivkkx00tMb4SVpU8-CeL6poqUdA4CYtLs_ubDznLk6Be9t79rxD_UWuHaqPFD_fBGXrtopGgr9DY9w0fbD76eJ_Sa3K-XXtlKMhhRIJP6VORD7MWa3iXox3GkJdJWw3CwhgXVsoJElVwy1_8covNK2y7VnJiLe4py-BprsVQ7UNsr597_ISzXqzs_9HRip5QWXbDwQN4Xfm_Pj-UJ6xWcvZCCxyYM1JzDIgrZ8YctUTCg99KRGFBv9iRAqP9pr20RZxQ_yAUMJZ3bfV9XOeUyVws56rGkPbhBII58y0CXZ4JbkflbynitKc97QsI5q2BXo0017Ks0LezzjTSinJGQU2xiKxg3x-nckFQAL0CMnGykh22LNc_N0u0S76eIo5_AvDGHjRRwMIPfo6SoRddhYXWhU2CbTi03-jBUGoAChCYvONdF7DJhZiXc48xeFOm01IRgc-TfCRjQ7s7TOtT5Eso_qXVUImO6qhcGNmYvlAjF0y8AM35rW_y9KtdoyvskBdL__gb7g_ze2XPntTZXvPROz2iCjT__eF9GSCvNNcsVo30Z1hg8YDUZdyLQ-SHtXWMKaA9nLKPUqiIYcX7lC3K9aJYs7hAzIMHpXksBvxYvZJy1JzRIVEZAedxi0RipyPsGrdP10lnLVvNfnedOoVlWgB7CgnHDobAhaKfOKCv9Uzz9EPqqJe2_SWX4Ea_vKrhkDvOgeLwljDo2Q3N9YuJDOO5cZAoN663kFbFzR2BI-gUszlW709Nps-TusXr_MgifGhngFR0Cbtu8Q3av7Vu1T3lfDKn0hx_PXXNS2GGd3GiymEP_AdXvDG0OYujAbfCEAIaT67Ls50u2p8gXv7sJHbtERK0teRJTz6iEqW0T1S0c50v_m5ENEPjZ6rVlo01TvaAhZTyoKvEuZsFEGJgEjr6QIeovRmxtQTmc0eEl0JXj1U12QqHnoGsiyJiqm5kibtce6snZO_ayxynkIDXqNgFg-OZHuw20N-PyDypLwCDs77Hk9aSRrieO2P0lFrK_ABFP9xmMoAx5VQ0bDBXqIPh9zv-PmZ0J4nur8EjmkF3k60n1N5ku6F9K58_S3MK-tdF4bwtR7CpmTDSp1oOo8ZQyYEft4N1sG3W4IPZ6j9w2lyAVBsDitT19sniqz5gHazqM4EttcoCkkjqlgcbO2WHR-4i1xj-M7mqklbhCSWa8L72__1-I=",
  "id": "rs_0cc17a75151f9137016ab43959abc487d0969813ca4ebd1376",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.449,\"right_y\":0.105,\"right_z\":0.016},\"note\":\"The shifted right bottle’s cap is now directly in front of and between the open right jaws. I’m lowering a little and advancing just over the cap so the grasp catches the neck instead of the label.\"}",
  "call_id": "call_eoc56QnUc5q5EeV5Ie9Ocr1N",
  "id": "fc_0cc17a75151f9137016ab4395b09fc87d084faaf6022bb9cea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eoc56QnUc5q5EeV5Ie9Ocr1N",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3874, 0.9482, 0.7292, -0.535, -0.6285, -0.5003, 0.9975, 0.2955, 1.8633, 0.7513, 0.4976, 0.1608, 0.0696, 0.9955]\nstate[eef_state]: left_x=0.2939 left_y=-0.0039 left_z=0.1862 left_yaw=0.3801 left_pitch=-0.0243 left_roll=0.0156 left_gripper=0.9975 right_x=0.4456 right_y=0.1098 right_z=0.0309 right_yaw=0.1076 right_pitch=-0.0338 right_roll=-0.0132 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.2513, 9.2923, 1.5018, -0.2222, 0.0855, 0.0513, -1.0051, -6.5573, 3.6171, 1.3797, -0.0073, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e65203e055c3e66559386b75832a15b5dfcc0eb165fcfb97ea3f88dc0486a56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0c4a5054d6cf61ad52a5a0fc632d778d183776c8db7d241f90a08289cb679d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c61e0406db06df29b47142b628866f3615526bf9503bd0b749cecad67262b74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

message 64 changed as sent

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2089, 1.9736, 0.8795, 0.4923, -0.4694, -0.3664, 0.9983, -0.1329, 0.7509, 0.5304, -0.3882, -0.1612, -0.1402, 0.9955]\nstate[eef_state]: left_x=0.4839 left_y=-0.0172 left_z=0.036 left_yaw=0.3633 left_pitch=0.0332 left_roll=-0.0434 left_gripper=0.9983 right_x=0.2816 right_y=-0.0054 right_z=0.1575 right_yaw=0.0632 right_pitch=-0.0281 right_roll=-0.0017 right_gripper=0.9955\nstate[joint_eff]: [1.0325, -6.5026, 5.3949, 0.862, -0.1734, 0.5348, -0.0171, -0.7316, -1.1556, 6.9538, 1.9463, -0.1441, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3809, 0.9489, 0.7288, -0.4698, -0.6167, -0.4927, 0.9968, 0.3019, 1.7649, 0.7635, 0.3347, 0.1699, 0.0753, 0.9955]\nstate[eef_state]: left_x=0.3027 left_y=-0.0073 left_z=0.1955 left_yaw=0.3734 left_pitch=0.0167 left_roll=-0.0279 left_gripper=0.9968 right_x=0.4332 right_y=0.1074 right_z=0.0462 right_yaw=0.1027 right_pitch=-0.0839 right_roll=-0.024 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -2.1128, 8.9094, 1.6874, -0.4567, 0.0757, 0.0073, 0.1846, -7.7607, 8.1573, 1.9853, 0.2369, 0.2515, -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]: [-0.3874, 0.9482, 0.7292, -0.535, -0.6285, -0.5003, 0.9975, 0.2955, 1.8633, 0.7513, 0.4976, 0.1608, 0.0696, 0.9955]\nstate[eef_state]: left_x=0.2939 left_y=-0.0039 left_z=0.1862 left_yaw=0.3801 left_pitch=-0.0243 left_roll=0.0156 left_gripper=0.9975 right_x=0.4456 right_y=0.1098 right_z=0.0309 right_yaw=0.1076 right_pitch=-0.0338 right_roll=-0.0132 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.2513, 9.2923, 1.5018, -0.2222, 0.0855, 0.0513, -1.0051, -6.5573, 3.6171, 1.3797, -0.0073, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e65203e055c3e66559386b75832a15b5dfcc0eb165fcfb97ea3f88dc0486a56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0c4a5054d6cf61ad52a5a0fc632d778d183776c8db7d241f90a08289cb679d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c61e0406db06df29b47142b628866f3615526bf9503bd0b749cecad67262b74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlest5oNWzkG-P9nQ-vj3X2Xib_8vJ1ULfjIhJwd6SGzi6tU6uOkZ-TUXnAWSlqDTQQI_6oJvv8NoPmJE4YHhu4VXFhtn0xINKAuAzP9GPDe5eNmby3E2fvodZmgMUy-a6xJ7m2-Ugv2WgbwReB77E99EYsrNJkiOHUxwpb5UjkQHhUeAx_MwanhYLgJJPYsUn-1fzSzjvjbfQ7QVU0tCCKOtBoQlMN9pYFz0TPa_dEV7pVTKm6_ZHl28D0UVczqRLKs01N0xim-E7g49fwuEiBW2j45etypQbxL_67gtWYbyIK7b1Dw23ZQxmNzxXtmCV_co8ofEBhcoKvMicbZEHml3aKyHZGjrobq9x0R41auBy0bF6wM-5KQaHhpANeix8Obpsfp5ooxC1HgkUC-lBh372kmUSksxNhYUjUoNsYNy7wr3v_fHaFaceZOTtOio4ps9m-FFEvL8N0K_JGRdKQ0wxT4eZZlYyMqm0b-OXvhiRa94zKKXOfMEcKSXCljgEL_XdSWuTveCCs_l-1GnouEvuksqiSP84Em3oeWaMckl78xbUyO7g9wXxmoz3eosSd8JHcsUHOWUBc7_4dudffs6i_fDhLKDR9XwdCSiwvITCqNlPsv5_A_ynjKN6FemF3ODc4lCxkNt4OnLeIj6JopjLgZCzzM56qv9xJbljYcV9nBXBsr7ydSpyq96F7kaJGBHgeRmtZnwAl0kffVaAmWo6X8SKgUtd8Upe1jQ65WePGN3xeRX5_FbwxR0DOQF_7W9Fyp3z4cS9s-0I3maTKQMG7th8Fkperme6uMF3OUhPTWpiCbEdwAII4FrctcY86qhQ7V2DqiV1XS5_2YH4eAHiqTuvvUebgl0AEGDBuqdYcRziABiGJbXlQrMngjf2th1BtATKLG4mvubYbLd1EwbM2vH-ijP7-_kkeGk9uB0-JEC_LMGhF2gs7e8cKIVIginyIB1ZdmCAtvb7tJfXRI-4cpLc6HCAQXAxxesa-nlWOpAFWSV3jW8VTcCM75nr92F3JwLowWl4J10iYKR0dJ9LLgqg1UXvXdmCeyfosPb9A6g7OtiqhM98WvG2be_kgbWOQXVrmSgiun8mXQ3ddtgEzB02VHdbbmetH79i1ff3VHvKBMt6Ut13zCGLS1bYhN_fpmvzW7by-XqY1n_hEnodwasZemyz9bSQf3_U8ZwG0rz7RDQcdldguzDuttRn7C9uWkFN--tOPyoUUx-MuNH1Oo-1TvRAOqiycvdivSB8=",
  "id": "rs_0cc17a75151f9137016ab4395cf90c87d0b5615381b8f98ccc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle’s cap has reached the fingertip closing line in the wrist camera. I’m closing there to try to secure the narrow end for a true tipping lift.\"}",
  "call_id": "call_Psjn9Hu1qpFhW5WVJkLlgh7d",
  "id": "fc_0cc17a75151f9137016ab4395d51a087d0b59635922094f71e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Psjn9Hu1qpFhW5WVJkLlgh7d",
  "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]: [-0.3878, 0.9356, 0.7113, -0.5053, -0.627, -0.5018, 0.9973, 0.2951, 1.8706, 0.7288, 0.6384, 0.1459, 0.0708, 0.0128]\nstate[eef_state]: left_x=0.2947 left_y=-0.0045 left_z=0.1866 left_yaw=0.3791 left_pitch=-0.0075 left_roll=-0.0034 left_gripper=0.9973 right_x=0.4552 right_y=0.1153 right_z=0.0485 right_yaw=0.1187 right_pitch=0.074 right_roll=0.0156 right_gripper=0.0128\nstate[joint_eff]: [-0.4444, -2.5915, 6.188, 1.619, -0.359, 0.0269, -0.0317, -0.3214, -8.253, 4.8068, 1.1893, 0.1783, 0.0171, 1.1355]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f26367b61ea7214e4508a107165cf506f9f29f7bc551bf9c63ddfecd352b2654",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40459befd9f85d908e7f5c0c7835bda7de7520741fbe482003330447d15cd5d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7acd60fcbc01ff81ff04bb6c55344eeaa5071164b44d63d488f8f7f40240126b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 59 changed as sent

message 68 changed as sent

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2146, 1.956, 0.9211, 0.5003, -0.5152, -0.3664, 0.0192, -0.1329, 0.7429, 0.5049, -0.3775, -0.1616, -0.1402, 0.9955]\nstate[eef_state]: left_x=0.4967 left_y=-0.0155 left_z=0.0628 left_yaw=0.3974 left_pitch=0.1026 left_roll=-0.0604 left_gripper=0.0192 right_x=0.2793 right_y=-0.0051 right_z=0.1502 right_yaw=0.0636 right_pitch=-0.0347 right_roll=-0.0001 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -8.6496, 5.0803, 0.7106, 0.1538, 0.1197, 0.8425, -0.5265, -1.9214, 7.0496, 1.8974, -0.2027, -0.0415, -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]: [-0.3874, 0.9482, 0.7292, -0.535, -0.6285, -0.5003, 0.9975, 0.2955, 1.8633, 0.7513, 0.4976, 0.1608, 0.0696, 0.9955]\nstate[eef_state]: left_x=0.2939 left_y=-0.0039 left_z=0.1862 left_yaw=0.3801 left_pitch=-0.0243 left_roll=0.0156 left_gripper=0.9975 right_x=0.4456 right_y=0.1098 right_z=0.0309 right_yaw=0.1076 right_pitch=-0.0338 right_roll=-0.0132 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.2513, 9.2923, 1.5018, -0.2222, 0.0855, 0.0513, -1.0051, -6.5573, 3.6171, 1.3797, -0.0073, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9356, 0.7113, -0.5053, -0.627, -0.5018, 0.9973, 0.2951, 1.8706, 0.7288, 0.6384, 0.1459, 0.0708, 0.0128]\nstate[eef_state]: left_x=0.2947 left_y=-0.0045 left_z=0.1866 left_yaw=0.3791 left_pitch=-0.0075 left_roll=-0.0034 left_gripper=0.9973 right_x=0.4552 right_y=0.1153 right_z=0.0485 right_yaw=0.1187 right_pitch=0.074 right_roll=0.0156 right_gripper=0.0128\nstate[joint_eff]: [-0.4444, -2.5915, 6.188, 1.619, -0.359, 0.0269, -0.0317, -0.3214, -8.253, 4.8068, 1.1893, 0.1783, 0.0171, 1.1355]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f26367b61ea7214e4508a107165cf506f9f29f7bc551bf9c63ddfecd352b2654",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40459befd9f85d908e7f5c0c7835bda7de7520741fbe482003330447d15cd5d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7acd60fcbc01ff81ff04bb6c55344eeaa5071164b44d63d488f8f7f40240126b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDliQ-if6-k3bgHPitCkzSL5SvXQ30lBzEVhpzG-ZqznA3XdpRhirHhZALFcrmH3GKOOnGE6Pd00Lvbd-WDh5gOc3BDtwbg_2jR5ZbcOgmAEn1hQuF7cNvFUKNIeGUgWQwANwIviApEQZoY1HPpJIBWa9kJb3bYsxX-7qWKDDIiJi8P_PCmkAJhkp_7-bzp0OMLYMxPgBefe-h-BWpGAzE408N11dFD9nqdSDlCwR_6SRZUh1BDY7qahUjivFRPpl7uThlNHrkim9L2Yi4sfyHkkMO6euamJOt1j5RgkrawoNj7zhvZuIyA-9oGJHAoTnBqNj8eLtVQ82mssU_zIRw-eDp679YW-peZkXXfrTR8Qtgyplt1nuBo6HKLLGi7ATmYJo5bOJ-H0Ju5Ns9QXH6QucTkt6nX4Jj4YwFGC0KEcbTc2Bh9AOtYlGgT22VwMVmryi7SPN-Abt5Qfsge4wl_6xo-9npMWWnLkGq4a8bkoTSHoIcRqs2in6K-b7LDPKbcQOGLlIWqkH0ESn6zbS6Q42GCRuHXRqmjJbia1nvWfm9Sbajb2OYh_guKp3xrPhxJrv5iCgknaTaPvS_Gqrolte5EzIYLkIfvOu4Ae8bGvAwdoVo2rH13InBfw8a77r6bnu3dconUllwmfxi4C-bk_wWtR8YmAMGAWjFu8oT05brmmydpzcvZnzNNfeY-bVD8ByuIxXOBPSVpwS5I3rwRQq1bJOPvo9CBwxtQencNK0et3-seN9eiKF1xl_lOnGFAHKlVH0ulCObwxLrPQC9mpuWu0oFd2OV_aaLHBVlYI68DxddiiNmr7lKXymdw4d53hpNv0w7OX3HEA3mqtSCxIYMmPkTXvuNmnU3lxq0E_k-kHmD5MG2l0IKk3bt9lxYf4Pf9oCcNi-UcXFQ51TcJSyvgSyWtBjJmRYZjK1mYGhXJbjKx0nzYBC2V_eoaDtfhBGvZTuxrUT4qNi5Wu5DUAp18xxcR9RADFqBErWrOtfrqPqojPI2HJVql4xqeOELb2IWdbRyg8M5ZRcFSYrgA4awTojx7NC4lIv0hzhDuKxEpjXV2a_XGLZ0iETEpY8eCZGTwfFWfwOdSxMJwSkdHLuSRinHBHl1L4qKVPRrz7kWZvkKcGqqMH66BM9o1rKGaMaZlphD5BhpJ1YbYQoWJmAu5QZ5tN5DfV_OFI_Iw3Wb-lkN6hvEKRyOWZBQY-lF33t4id4bH5TQj7w82GKrkMK3nMqEDbLwY9g4MDuDklZHHqXNRwUVWiZi97xcI5wZAJ0Q3IwBWgxzQRKythXHURhRQHHmf0u8XzPX0DO1WCujL5QQNm2438ngIHaDMX-YuvB6x_Mshyz79jtPI-A12EPFNgTCh2uC0fUluDM71iqSAzUA0gu5uokENlueHxKsLDCbJlZgcWOgBt3JJgWF_1kN_IzfqcZ1JS1HtpN_q-UeY-5Psifbk0Q6Ne_1jPh0cytBN5f4ihVxBXkkqn-W531_bRNQDcQ2Jv6r5mfBGvyC1fBZWNdIXrCQfOf4z9AspDC1PZt39nvwMwO81z78sr9hh48Q-1XxZWp2EI5nigZwGTgWcuNskF9JKadJpnFI0os4Dh0rjzwGNL2FTRh5hWWVoBnwWrYuy2DtfgR-e99cf2i1mnVJE-nDiHkLPhwitcnhwyPDRM15ENLP59eDmGn9OPwJns5gD9JJbyda3DdC5giPN4x8PPPBmY_41kQEvfpDUg24x9o9j217zghHvJ30UfVRoR2JWJ3baOjfbKd3bfARnUIF-wj8QmyNRJSLNxaOdNPgMBQuv8OkrnnPg3106gZRuZmpOlpE4U7erqaDqSv0z0Qm292rYq1ZNXoUHuBE8RipbEUQznz7NxfSFhVxp1IKgR6km_X0IwYCcCfrun78G6440rjfaWvBoTTOl3_6_4D2rTwb5TxBv3CzXUjK8ylr6W7YTzkdCB3NWLHCmZqGqLO48pEy0jpxsf1rwaElRth4xJLizOSnZ-pbf2-Bsj2HU3jbGj_K1yHQfXK6QmJID_txdvzyEONqYor4SnISV7-HGB6EhmL6ak3puJeB3A9ZOJffF0L-lAytdGzkm_T3wIEF2OHiKKcUJe_wfG9rNA3kGqjxUSiTa7lBeQjOeroh3LY2YVWMeiMOP56kKOG9ZqSOkc_AeEGBRhCXf1",
  "id": "rs_0cc17a75151f9137016ab4396043dc87d08389ab63067a36d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.462,\"right_y\":0.145,\"right_z\":0.016},\"note\":\"That close was empty, and the overhead image shows the bottle just to the left of the fingers. I’m reopening and shifting the right gripper left by a few centimeters to center it over the cap before one more close.\"}",
  "call_id": "call_9LMoIQDqlquBf4AY3OKcpTvS",
  "id": "fc_0cc17a75151f9137016ab43961ce3087d08b8a7c6a968616df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9LMoIQDqlquBf4AY3OKcpTvS",
  "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]: [-0.3878, 0.9356, 0.7113, -0.5053, -0.6266, -0.5022, 0.9973, 0.3763, 1.9522, 0.82, 0.6067, 0.2008, 0.0814, 0.9956]\nstate[eef_state]: left_x=0.2947 left_y=-0.0046 left_z=0.1866 left_yaw=0.379 left_pitch=-0.0076 left_roll=-0.0039 left_gripper=0.9973 right_x=0.4647 right_y=0.1496 right_z=0.0389 right_yaw=0.1483 right_pitch=0.0577 right_roll=-0.006 right_gripper=0.9956\nstate[joint_eff]: [-0.6906, -2.1265, 6.3521, 1.5556, -0.3346, -0.0415, -0.0122, -0.2256, -5.4632, 6.1607, 1.4823, 0.0122, 0.2662, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1860198c64d9b1a102f5c6141dd608f49b7b9636fbf354cbcbfc6984ed56c06a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0cbbd9f9ac1dfad88b7d893aca69aa9f9f64cce63a3773f8ad4d30f44081f53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04b6f0a24be33da63d2368269a8343756a8b73ef2fc11a638d56cdcfbf2f0c59",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3809, 0.9489, 0.7288, -0.4698, -0.6167, -0.4927, 0.9968, 0.3019, 1.7649, 0.7635, 0.3347, 0.1699, 0.0753, 0.9955]\nstate[eef_state]: left_x=0.3027 left_y=-0.0073 left_z=0.1955 left_yaw=0.3734 left_pitch=0.0167 left_roll=-0.0279 left_gripper=0.9968 right_x=0.4332 right_y=0.1074 right_z=0.0462 right_yaw=0.1027 right_pitch=-0.0839 right_roll=-0.024 right_gripper=0.9955\nstate[joint_eff]: [-0.253, -2.1128, 8.9094, 1.6874, -0.4567, 0.0757, 0.0073, 0.1846, -7.7607, 8.1573, 1.9853, 0.2369, 0.2515, -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]: [-0.3878, 0.9356, 0.7113, -0.5053, -0.627, -0.5018, 0.9973, 0.2951, 1.8706, 0.7288, 0.6384, 0.1459, 0.0708, 0.0128]\nstate[eef_state]: left_x=0.2947 left_y=-0.0045 left_z=0.1866 left_yaw=0.3791 left_pitch=-0.0075 left_roll=-0.0034 left_gripper=0.9973 right_x=0.4552 right_y=0.1153 right_z=0.0485 right_yaw=0.1187 right_pitch=0.074 right_roll=0.0156 right_gripper=0.0128\nstate[joint_eff]: [-0.4444, -2.5915, 6.188, 1.619, -0.359, 0.0269, -0.0317, -0.3214, -8.253, 4.8068, 1.1893, 0.1783, 0.0171, 1.1355]",
      "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]: [-0.3878, 0.9356, 0.7113, -0.5053, -0.6266, -0.5022, 0.9973, 0.3763, 1.9522, 0.82, 0.6067, 0.2008, 0.0814, 0.9956]\nstate[eef_state]: left_x=0.2947 left_y=-0.0046 left_z=0.1866 left_yaw=0.379 left_pitch=-0.0076 left_roll=-0.0039 left_gripper=0.9973 right_x=0.4647 right_y=0.1496 right_z=0.0389 right_yaw=0.1483 right_pitch=0.0577 right_roll=-0.006 right_gripper=0.9956\nstate[joint_eff]: [-0.6906, -2.1265, 6.3521, 1.5556, -0.3346, -0.0415, -0.0122, -0.2256, -5.4632, 6.1607, 1.4823, 0.0122, 0.2662, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1860198c64d9b1a102f5c6141dd608f49b7b9636fbf354cbcbfc6984ed56c06a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0cbbd9f9ac1dfad88b7d893aca69aa9f9f64cce63a3773f8ad4d30f44081f53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04b6f0a24be33da63d2368269a8343756a8b73ef2fc11a638d56cdcfbf2f0c59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlmP2_vRnLY17FsmV2sbTRbwrm_xVjPMDFtwK1SwP1HAUCxo5eXR8Urs92U2cGdI3LaUcXK1mDCeedpf2-t86hfYOotPIdspzfOvl7Q0kj87UvJ5ZjxIUTLOenP204b3CwUV_mHtp3NWCN6cKnd4OCwsMT_QD84ZmpATmQ2Y2vQzmrMqtTeySmPPi68c06wF4Z2TyLxB3hp4qlr774PXuAuNs2shmTLBx98NUvs0hT52nn-LLvlZaC8z_h1_FN9WLoKgbhMUJghKxhrk3GdcQ4MmUUwvAa993KjHZATOBiYyf9hkZUBbD70t6HL_z2BrtndQv2FfPaLjs3_yrEaiW3u7oZhvbX6BJEtgvwsN84FJdXinvMarkQHXsrPuIz7A0cAYLzTFmV0ff3EMrHTxxS7wo22-tZBFdeyCw_JZNuGuHIaZ_z_pQwsdt1SRUNzdekzKYA0PIv8S2y4GhbWq402tUw5KsNakhYDlewbeZ2rddCj5YaYrqzWUq6xn4TIeHpM2rTveifnZ72IL4g8ATSvn-TAFqjCwncQZJMuksB3Km_J-s1DdNesC2tyl1dyFgiY97QSGDelyMJLn64K9dihnVuBqgL5eKJW0--41OEbql9WfgDweUmPnVdP7nInPoavTVdUToLgynjOaobiPbIYjH80t1Mq4EZfxMBBleQ3xSx_TVi1H6wBYRTKhmkH6BMLntUmd3S5MUjwOudV9rNaD-OAWhsH3CLWl8Z8LHYqnBwUsnbgwEMDuQXqdc75r0FtWtojvK3ClqwkbIZHmk6KkGQu1vO0OUWhVXXHLzqrPSOns7suwq3AucXUyp0_IjHhuxmZufSRDmLawb6_K0D4-AEPpIg4D8obQbePKXLOtB861CMIb4qI_dSqgyVoUeYiCUiQeXfN4jWHKQVYXdpNMQAqG8PZwycUBtjFiseNBmV3q1SsXc0YiQ-hS-Rt3ObfDarchMm60Y7gzZ4iAKpyLWfGMmZFuXdY5J0C-5X4MXsfIFCKZDxsNsQSUd7yO_oyOY63SWuipkmFZS7jfsLL0ZZSotiK7vmNjhWit2kRIQUVGkxkYTb5JJE9DToELba7sKAQ13s5XmpweaZba3RvxWjza4YfjtkCwN9WwDTyUThJHjS1SuyLkSzBT4Mxqp7OrTQ4dl_f8WtfFoMeRWtlIeIyPzM1M_iO1wijXSzofgtxb5QZYEEzJ06KsEt-2s2cN5upCn81XXQrqia-4UzTf15AoUumLb2twzYwV4_ylRJyThtWvyuQxTqeaqNszuxN6sgBFmuGQI7bvvweq_PTcGmJKewf6U-gcATdg9PI0xhV87FmQllys_ByTaQwMj1TJGt93hpCXmw9jr8lkLqoYEAMvGv1xdCy5lL7dGlSscYEDA5nib-JTvhuVLWu7sLYK5sOzMP2rvanjvDKzVVo9lzFiWC-o3C3F1ahnszjZ92Lk2-wgwvjy66na8IKA5YDZ2CyCuNLmQHDjpjG-AOodA==",
  "id": "rs_0cc17a75151f9137016ab43964ca2887d0aa3bf0f3e0c88fd8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingers now straddle the cap’s overhead position; the bottle is out of the wrist camera because it is directly beneath the jaws. I’m closing and checking whether the settled opening indicates an actual neck grasp.\"}",
  "call_id": "call_7AnU6Spie870qJORok4S3rHG",
  "id": "fc_0cc17a75151f9137016ab43965442487d09fb629dda0af7ee5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7AnU6Spie870qJORok4S3rHG",
  "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]: [-0.3878, 0.9363, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.3775, 1.9377, 0.8597, 0.5388, 0.1806, 0.0769, 0.0121]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1866 left_yaw=0.3805 left_pitch=-0.0068 left_roll=-0.0022 left_gripper=0.9973 right_x=0.4686 right_y=0.1555 right_z=0.0459 right_yaw=0.169 right_pitch=0.0421 right_roll=-0.0029 right_gripper=0.0121\nstate[joint_eff]: [-0.5538, -2.3043, 6.3111, 1.5897, -0.3346, -0.0122, -0.0122, -0.8547, -9.7983, 5.9829, 1.2918, 0.149, 0.1148, 1.1209]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3215458e861449870c7967ac1c74a0f5ce2c4caa9f57058f43cf557573a635fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9976e265ac362ce56461e2a6701277802a91ba4fc7a39bd24d7a126c7b8e57ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8a804ac0ac280dee74fb6a5583cd9c4108b5964d87fda6e7fec67b295d823d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3874, 0.9482, 0.7292, -0.535, -0.6285, -0.5003, 0.9975, 0.2955, 1.8633, 0.7513, 0.4976, 0.1608, 0.0696, 0.9955]\nstate[eef_state]: left_x=0.2939 left_y=-0.0039 left_z=0.1862 left_yaw=0.3801 left_pitch=-0.0243 left_roll=0.0156 left_gripper=0.9975 right_x=0.4456 right_y=0.1098 right_z=0.0309 right_yaw=0.1076 right_pitch=-0.0338 right_roll=-0.0132 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.2513, 9.2923, 1.5018, -0.2222, 0.0855, 0.0513, -1.0051, -6.5573, 3.6171, 1.3797, -0.0073, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9356, 0.7113, -0.5053, -0.6266, -0.5022, 0.9973, 0.3763, 1.9522, 0.82, 0.6067, 0.2008, 0.0814, 0.9956]\nstate[eef_state]: left_x=0.2947 left_y=-0.0046 left_z=0.1866 left_yaw=0.379 left_pitch=-0.0076 left_roll=-0.0039 left_gripper=0.9973 right_x=0.4647 right_y=0.1496 right_z=0.0389 right_yaw=0.1483 right_pitch=0.0577 right_roll=-0.006 right_gripper=0.9956\nstate[joint_eff]: [-0.6906, -2.1265, 6.3521, 1.5556, -0.3346, -0.0415, -0.0122, -0.2256, -5.4632, 6.1607, 1.4823, 0.0122, 0.2662, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9363, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.3775, 1.9377, 0.8597, 0.5388, 0.1806, 0.0769, 0.0121]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1866 left_yaw=0.3805 left_pitch=-0.0068 left_roll=-0.0022 left_gripper=0.9973 right_x=0.4686 right_y=0.1555 right_z=0.0459 right_yaw=0.169 right_pitch=0.0421 right_roll=-0.0029 right_gripper=0.0121\nstate[joint_eff]: [-0.5538, -2.3043, 6.3111, 1.5897, -0.3346, -0.0122, -0.0122, -0.8547, -9.7983, 5.9829, 1.2918, 0.149, 0.1148, 1.1209]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3215458e861449870c7967ac1c74a0f5ce2c4caa9f57058f43cf557573a635fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9976e265ac362ce56461e2a6701277802a91ba4fc7a39bd24d7a126c7b8e57ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8a804ac0ac280dee74fb6a5583cd9c4108b5964d87fda6e7fec67b295d823d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDlyj2W0e1tmqtLzMqxLb2V4zfVzo_UqJQsKXkTjucqQWFl5SuKxG7VQDN0gG2tIbG3H3rhpgCOR9plEh2wgblAbRc5JNGwgXbfdyKZIX6iQO2YRLFSqO1oURxTYtuwLkaOv2ZVW65LDIyD857TocmYEGWx-Rx7kTWazffCSSW-FgajCPZWPNFY388AC3a2Aj_X4-9eGjtZqEr5KkZZzPldqcz70_lbYKHbqZoA1AhsNL-IqcgeWTOFprK0x7EkAveHWThcISG-8LoBrCgkmEExvswRt3WeMsjBItwpIbdhZIlmoTFVKYkbGymkMKMLle9sUX3NHH0zn4KtqaCw1Tn0o2yPidoDnjf37PV1L2XiPybWhMT3USmYu9QuTZMnfkRqlaV3kqyGQv9aT8ujHT2DnJ1lC0wzx0AN-7rkkPMTi7gX7yI9a7cQKWYw5A0dFDgs8Og5aglNdkQIUf14PzDbtzXnDO36ikWGUm37FadFTJBTgQv6-5SMmuNB6z0B6b0d_apdu7_Batvk1sPZdPbvuXCadXldLlAcThXmM2QnlOVDOzCf6wS2B_ZtahwU8XrtCLkC_hrFdeDflgHGKq_G5ekbpbUqgaySPTOM8bpi8JGIdk7ZXbQxsRNf8nNfyU1EsMbnyK4ynci3LPHwZT_i3xRKmEiG-QkGyx1-TwgHk1MWkCewy-np80PGHDsVikqVV9WpW3Js4aGw4-LYuT0SOIOzc3nKvHeB1o6ggq_TDnWi0iHpSTCa3QF98Nx9Ht46a8wgYayo8Kh_AEm85SZOt0DxmW8JBKnaX8cS4q570rteK1IEjHT4amnqpRAQA0W9tXLkl010fWxSh3W5gITl5wpJXGYZwacmgFJ5yCiejP5r_dYdiWRkzr_KlWCByVlnXvI1vxACZETNbmCUcSpIWZ4ftHFx-Ghz9aSOfRLpaQsKdmnyNXNH6mer9QtP6aEftA2w4GE2sZvnl3ISHOD0jzLaMDRCIlLJ-_oLsTpcBNRlcWCRi3x0w9iolZ_iKmfAxDl6DtFuHwHTKeXiRITU8sE76vxW1ZcQYFPqSZqiIeeT8QZU5PnPd-SDKctnK2_JAJMZLSELmc8qmpg37xiRq5c4I9TvWa6YpPdJbcNqG7kILcT_ALMBjiQrHe3unVqqL-kVBdlhibARdz_PFBn0oiwL2p6qSjmk1Lf76XSnbsHNbWBrFlp1s9VGqowddU_b3PRAci9NkJTDBAyziTT0SD3kDslAd8sINAxWxQXAKT92-vpouaFrDiasgJ7QGdKuEwSdI3Ppz6GIbRKkdrfoQ5Qq7IMikEZ2gsauFvSJm9Hc3LWavq6oY9lkHLmTpw6BCTxR26rGPNN7eLgmE48XbQJyCD6_p19756LCPZmMACz_OCrXRgbTeHus4yu2-4KSptT_7nPvr7Pizco417_1Aq9bjEAEAwKRaDpqtyFFvn59ijxSwZ0sdTIxK7suusSGNTZurgOYSpT55DA8laj63tynMpPIPnHeiHKtbRamzVg69bG0lLxOBokhmpANLa_dAOb1GArqci0nI0Typf51N6oKnTHDfJ2k2uYTdDUJAf6ju21VSw4EhsXmTGoHG6qdRCrETRp6uSehyNJ1gH_8zi3BAzr0z2kxSBKw_cacZ89lzgIXoRhtBF-ftnkdQ-lJ0_5afrNTHQb5neTBAyewc2VMBWoHIo3RxpjWxgSnBVHd7-axLBZB6BG8hSYB_mUll8qJJqhBjXbEZVYvIMS7TCexBfkZadhjX-F2Jg2jajgK_tPTs7Pa-7tDqxMYGcuRaHQH8FBUVMpzmOLaLyjjzppKCGCc9jHiiuj9UkoqFwadvDY2ieYulYDS8Q4Ii7S_PmRn6v9sJfhk15yEB-YEfg53yEcEj6k4LfFRPjDRGom3LtSR3I5n8M_Mh7eItEHs8mL5N6mpbneuPZDI__dHgmOK0DpoO75hJyJ2FpYIg2g-Xr5e0nPIzS2deCigRXIh5mNWC7QLGS1If3uKatHLJxn9hIKnj_YTd5almn-H2ye1Q5OQxRUMVX0C25cLlDcZHwLUXaqwQprE-dY_0hrjpPYnLLacMN3bc2ZRsdb2Fj9I4c-Yp6lO5SA5fB3NbtOjEsF3z2rJcIDbfsaCd_USd9q5fZbEwala5mpRYl1Tlybm2G8INEJ5N2HOJWUbZY5aVh7YZMwa7sEwn9kg0CtSXrAHA-hOTN4kFqQa_SqzuhJwVkyOqqLPKcKNiPrwgEHi2TbOcA6dW1MRPtEgP3ViOiS_k1ZgoVD9bMTVeSN38lS77pVKyU3rNHnuCOFLGA8Fyuk7z7lAVvfyNcoogxWys4uJ5wfOsX9Jydnwbloh8nYVGmqaGd1CDevTp6UPIneYsrzZkkuc1sZhcFYgm-HSAL0nc7K7-JtrK8gh1KYe9196B0TqKfUy_n6xlEaiXa55EXnsN8vqNyr-2yYKPPD_9I-Om_EOmq3OWPNT9DVgyg9zGP6pZyH9t-NpAkN5GfQ-VCrCvsPOscuVVLDPs-Cdzoyk6pcXJyx2owxXn6w2Fj52ytO3VOr6o-ZTdl3zuONwU6uc62J1XKb8im9SJs1KwaC9p1tbGMx0TR0vP_A8AI4l76Sm8gR1-Y4ICKULWdfkT7Uw_bJ-OOrU_u-NS5i3ZjTfkWqVcINXiu-XBkeRNLGbSMgcOLAVG0Jz1RhwvGOM1gqWIr_jttzBdb_N1otM5lC6OKbCHF54Mcj_ibHN-JX_6y0mHQ2Q8j4MskRUL1S01D4nQ_JJEMwT5yYSF6boA9TrHsXN0_oJ9uSE9yL-H4GQnD9acDERFiIJ-zfTuVNC0QyiQQWR8wBNgrj8mubkWD2jLmoilQGP0NWMhMxxAuuy1f38EnnPquD0wiPezGcKyCLAlUrI13K4k3t25q-w4Pyl6q-smzNlcXCpOS7ICzmMFPEkN9z7yf5fc4mSAbmi9R_KwidvSTD-s-7Kej93uZ-xxFzBfXFi6x9xKD6K3TML4WpqB3v9wPzEKF0PLpc53iYSVnCYn3P_Qm8njzXSdcXBUzxqP_h0dWFlDkNKCmU5toH2yL5INzhgxq36H5vqw8q4ORCCBvGEC3ILRh0rx8993LLUfuowzdYf0_L7-tysHstd8nz8o0KL-41dhhAJ1_H66f72WL12gGNEmdA95C1Kbmsg0pknoTGSKuP8szD3w7_ghR06MAodS_r0eTHVeBlM3SDTWhCNvcwgfiBsXHOIkj2J1HnnDVSdnLhJtJeczo3hWYxjj0htoUKe3V-usxR-glzoLJpzVw25pdt9AGn4Vdng09iwTT_wLLGCCdaBmS1mxscVkr5fF4FwhpvFuvgU9sdMMGMlf24AtO0XnSPP-43OKJtljEKdW49I0l47vZkuEGGGeCf6GPmuzJGRFZ8QeMM1fQ5Sb6Pw4gVIPYf33tIhbkEDkr4hKjljZ-5_C9FT7avWZCq4VNiKOk1ktv0aBZ11FxE8fspuA6joksW6HRwTa3bjsrZZDFLxNTzob_upd6xYcvVgG9igXR0fd_vd_zN_nvtT4CmJnn8ICc_FJEhMbXkruno4VlqifSVyoPkM6l0kmybZTO9T8QQoa4G4ehbIQ4ukf44nz9LU6tTqcNSPZIhNsTVpN1M3TPJt4NfTlR8yowop0KRXg44q6FCbSJp6rrY4LHNz2X7PsRcREENkPp6smSgMD1Lq9dcmDsmGHydMtC2kYJ2aLTuhpT6z6BfbQFLggAb220Yj5g7JWwE9ijLOeOOvR7X4bc_avMr_Uv4sQXylTA2Q9qNAe",
  "id": "rs_0cc17a75151f9137016ab43967ecec87d09a237f684fd0c54c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDly8YLtCXfjKTE8TPRfPC5NPXE2XsCF-PW8lpMjir6DyxVsqhCy4I3IkmIJifbdBD96Evt0YC0mnntsMW47fV4_ceFxm3j_FhNi03Pj08s-Vh9wBsA4JjqFKvdmvD7Ib4qN6JGuPLLyw3HI85poEglb-KUxl0NEioss3PvADrTsGqlhcRNZrWg1qvzLTKRg5tEeUq7FRkWJtwcJT1-B6kVrYjAdb4OQ_HD59pZnBXXP7mF9vl0kkPGmaNLzm174DgkLJegWd5xzJUU8WriFQVWOrPNTFluVMDNUuk_HTlCrteDc_Ghp8L2foalSJF6Ub8lVBX7cMk2Z53r5gZ-ZgVKeNzcHLTE2E4xB36a9vBqHZ4BpbRPg8dFuo3qN3Ngm9Nva5FZO5wMZJQn0wlcfz-bIgGHq8-6exNqCRcq_tToHNksTBLS1XhoQ_LX_uPsVwCVaxMmm5ajWTwYK9PwaNTEgVjwNI3VTMTpoQJ17Oi6EqsaNqpYjQKXrJgBTze3S_hRrlwWwZ-zuXKWfFzeGXM31Tn5us2Q5cnvO9TIngoJQch8LVHwS9es-SwRfvPkJb-g_cEXZHtdv8FxdeowOp1wsXA-V42bUpOmaQeLB0abAvyG6d-6VxJl8OrYHbFtpkZXPXqT46XSXAgVbM1nVay0ClTTPaeACCaygEsd44sq8rUGuyu26up-D52Fp2Ow39qUUKFz2xK8jIYZagxbvDdo7tOu2TNgSrU9MkZNx9Ha9znHygidwEIyioViv79ilpiJbAA4CXCnrDeZRtV65HBJJ1gC_YXhTgdAeBMgBv47smb4spWMeWrp1QidH9i4Gf4RXtrG1lRGK7aAxFaQ1QCyfGZ11QCEpmgdNfCGPixBjlOVie2OqcBpujVAIuLlXXkLvFqCKF6nrQ9a7faUeRScgMHxBMmUE6RPIYUu7hjXlQNWUK9i7YIG0qL6J9uppKfMYS7kj46cJZv3ofBXg1_xMQu6jmaDmmp4-5OJnbzw9e9YJATRYdF6bspknCYEXyv2CJmHKlLVthfgMQT66TytLSOXDoNZmbZZE_d7cyN0uv6IKht8Wh6w_Qe6yL3ZeRJ2GZp9PKQ_8Ll9RWWBNPVDONCBZX0K7E9F2ZcILdb2NuTGnr68CkGcX_ydtPAWA7EeNSb_K7xUFzzAL27oTJvx-xSX1fI_LLOagxd9Rj4dhXy5krQmQA1xPwdW6yPtWBLS462IXiEYfILsHnoulEaG66U6OZ_Dv2YkiRXVS06JKl7-sIBEhGqCR08X9rlTZ0tkdAd6DbXyqO5zHJGkRDYfbMYW-vAvXws69PaGuRpfJC9v5ZVP9j9OBvuIkISzfP01iUtqeAGKVB6Dsf7stvEc7bc0IAi3yrx1q16_uYSr-FciQP8ysWcZidWHy4_vu5f447dGtovUMnZk_nEcbItFmSIVjA2zG7_prIXmcUXgC7RMdtx4YrL5YP7aDjGgxHv8oEQYaVyPiMrl1b2SbmiOhmFa5o78RBSzLUte15Lb2WJQrtocmJf0wIpgpRqCRCJRLAUbznJEOh2nk9C16aAJYQoDC8jaWD2ehZobAkzS0nkLRFBm0ahqTSbnas897JDUxTrapiQI2pOo7ZvoLsm9ZBqSsjbubzX75mPZe8Utr5kRq7SclX9wpaLNMGOX_Eey6tb_ayJa3AEBnnMUK55vokkU_F3JchgxLRVBq1B_AEJkoQVOriy1ab1eHfblRFvblbGR0B_wPE1qMCKg7uUEXtldXUvE9Q-AgTXlqVgUAFBbISDTrdU2wyM5NCK9bd0dUx9S7SmHRythRlacK_lE2uUGlEtJrwjWLBrqwZZ5y7HcnKvpxqP-880gwXRD2z322FZL_Glh3HvJ8GPKg-J2c22EBgHE_4lKGSp9stnOsN8bQheeDZWgTq-KSX3rUuHogiyM1Y-czbTVxChHI8xkIbltVrIwIy6FS44P5QGWOHGm2Ka_TEX61jLowz1Ehd_Pag37-gou-ne5YaNQM0QQI4n6ci9qePBpwr6UXvXPbywMPb0IDjN4BpJK1G0svEptCBiM8uDW7pqzR7l9OzcW27JsENse7fAvgdr8YmBsGWzJGuPkqnZiXJPwjwhjr_JKwoazB-00RE19E9eNL6BKJx_gvKqjYwppAxReh6wrDRYvBpVITufjZ4VOC5IPkQ1dM0IHnQn8A1Ew22JhuCjtWVc69V5MOTWVaAd8qhB-aDdEweb1E9H64aBuQp93pjGkSe6ExHXr1VvK6ccp6IdCqHiKNgZ3lLWNyGmcZ-4QDAaWQNeIXLO0qfE1lAGSHlC5zc_QaOFUSe91GyXsCSE9fiasgk0UWRoOXkbS0UPd6IMIXLytVKaXoOkSogA31hIG6JGWW_QyPIxqdxT00_VytD3sB_l5gOVQkjST3BU-mRI8LtF2Gc59bIa0R_ni_iCnba3eqXYvmx8r8wRTyWBZgP2SSh1sN0hu7iXHKxSQrXHSZ6V-1E3tmzSNr_oaU8Bs3v-fXO27cRw85eW7h0gg4wAl4bvaiV9fTywisBehTlLyq1p_6ENA_OZzoUx-AA8ba1r_wADaBrj6FD7GagyQyYvOsAFNh8yqxNh1FYJyGZvPJGXzKKiibvWhwZbtF-agikI-STAm9SZpAPM01LlHh3XiFR_nBgCoM__-TcW9PMX_QMXEXf_3_V2cfiLIwkhRvnC4lZWHrhVtu8hUS7a9aHt06FdD9-dPJRmVgsjjkHdA17LzQ338jzXbcc702hifI0ZXbb-1VddyPi8ClP8R89JfSNqTeD5pEpSwCwJj-bB6-3EId1pWXgKwzH9R3w1Bw9MOUsIJ8RrzckFSBJ5_oa215aTPO96qrbge4xT7-6y8Q7b2ap7bha9CMqeqOEsC8com-sR-8whRHT0K1dNydE9UagpcIXu6Y89pCyOc_rp1JLMD8SbHenaBgA1KCqBnOk82ElH8aCVoRooaKEONNCfX2dit-4dn2tzS9tSeKT4fMYOjtbTEskLtySU2E0w1U1PIxD9FWxIFybTcsBYRC2EDMK6SwkuqkotgkAkjeHqDcWdfKQqAFl1GfeIzXk9-6YEQWd91WyVSCJTtQp3WYN_swlCRsNTphB6kFLWH_iRIH9MwJ6z4Zy7tom4sbTgJt5fy2x0SOcabP1LZSuhzsPggqEe7Hv_oX6KRiPYs7-hgbgWxxgf1C-6R0f1JmXI-F0irbDLCZ7ddDHtIupa8a2J6anIYPUuLDK_5A9YTtZjBfPM6YRfVtk2ZgvUKgIapAKh7gTHD4cjFJQ3ZyxkFfGEC4_jndgiHejRriWiYjE1X6PxThb3MnqulhscJ0T3eReq6VOO04O8V5l_GuXOZ6YYJuwMOjjh8yDewcmeloP0k6Y9e7jMD28z9uvcvkoNEIfCWEH0dbXUGI5pvYWncAUIbKHgjHwuc6qwdZDsE0hXSAFCS-wpo7D_HE2HCbA1N3j4rTs65acRu4ZXlsUmQcbBZOu_l05W3s3PhZX3idgJ_xDGqwCqImzoqXFTTxnpW0phdmRXaU45fDnJpCqpkefCYFTdeeqTE9oAtzY2LouC6EQZoQ5TfEbCXKhLjZzRr8caV0Jk7BWG1CVVwzvX5r0qWzvzMcW0PvLuWRjE4Jc5oN1ygE3jM0H65NOt0XyUx34jkwtuUexoUZ2FJ2XbjbP_c-c28v4SW9Bg0gI-Cy2WJMjiiNqDfKR2KU40y8Rivd3ZUEel-onOIiVqinA53bv4OgWQvzrgcf3SYy3s-lMT3BTUw0NMtnqmvQSqpkj8ufhhsQnDD9VLI-dpzA95M1iz3eVdqtxcj9hqJJqJchvnM_GVpdftAcd0l0j4b1zFlR",
  "id": "rs_0cc17a75151f9137016ab4396cc53487d0a08bcaaabbad26a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.39,\"right_y\":0.115,\"right_z\":0.005},\"note\":\"The narrow cap is too low for the jaws at this long reach; both cap closes were empty. I’m moving back to the thicker upper body, where the fingers can make contact, to try lifting it clear and letting it pivot under a lighter hold.\"}",
  "call_id": "call_JPW7JDsq84ryzuwtxn9CAwPC",
  "id": "fc_0cc17a75151f9137016ab43971546487d08162ebf9f4dbc124",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JPW7JDsq84ryzuwtxn9CAwPC",
  "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]: [-0.3878, 0.9363, 0.7113, -0.5045, -0.6292, -0.5018, 0.9973, 0.3511, 1.8259, 0.527, 0.8551, 0.1528, 0.0517, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1867 left_yaw=0.3808 left_pitch=-0.0064 left_roll=-0.0023 left_gripper=0.9973 right_x=0.4131 right_y=0.1265 right_z=0.0427 right_yaw=0.1783 right_pitch=0.1333 right_roll=0.0058 right_gripper=0.9957\nstate[joint_eff]: [-0.4991, -2.2769, 6.3385, 1.5604, -0.3736, -0.0269, -0.0073, -1.2513, -5.6547, 2.3179, 0.6374, -0.1294, 0.1245, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314dfbab5802480c63cc6f1aedbabb7bb498adcc8865a4725604ab4f8f268c77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ce16c436722909a18bd3c6d3b4c1cbea83e71305d67a47bb8736909be00441",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba16fe0f753df6230104498e05c570b45458e426c340ff83f23fe7490c6171d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 72 changed as sent

message 80 changed as sent

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9356, 0.7113, -0.5053, -0.627, -0.5018, 0.9973, 0.2951, 1.8706, 0.7288, 0.6384, 0.1459, 0.0708, 0.0128]\nstate[eef_state]: left_x=0.2947 left_y=-0.0045 left_z=0.1866 left_yaw=0.3791 left_pitch=-0.0075 left_roll=-0.0034 left_gripper=0.9973 right_x=0.4552 right_y=0.1153 right_z=0.0485 right_yaw=0.1187 right_pitch=0.074 right_roll=0.0156 right_gripper=0.0128\nstate[joint_eff]: [-0.4444, -2.5915, 6.188, 1.619, -0.359, 0.0269, -0.0317, -0.3214, -8.253, 4.8068, 1.1893, 0.1783, 0.0171, 1.1355]",
      "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]: [-0.3878, 0.9363, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.3775, 1.9377, 0.8597, 0.5388, 0.1806, 0.0769, 0.0121]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1866 left_yaw=0.3805 left_pitch=-0.0068 left_roll=-0.0022 left_gripper=0.9973 right_x=0.4686 right_y=0.1555 right_z=0.0459 right_yaw=0.169 right_pitch=0.0421 right_roll=-0.0029 right_gripper=0.0121\nstate[joint_eff]: [-0.5538, -2.3043, 6.3111, 1.5897, -0.3346, -0.0122, -0.0122, -0.8547, -9.7983, 5.9829, 1.2918, 0.149, 0.1148, 1.1209]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9363, 0.7113, -0.5045, -0.6292, -0.5018, 0.9973, 0.3511, 1.8259, 0.527, 0.8551, 0.1528, 0.0517, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1867 left_yaw=0.3808 left_pitch=-0.0064 left_roll=-0.0023 left_gripper=0.9973 right_x=0.4131 right_y=0.1265 right_z=0.0427 right_yaw=0.1783 right_pitch=0.1333 right_roll=0.0058 right_gripper=0.9957\nstate[joint_eff]: [-0.4991, -2.2769, 6.3385, 1.5604, -0.3736, -0.0269, -0.0073, -1.2513, -5.6547, 2.3179, 0.6374, -0.1294, 0.1245, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314dfbab5802480c63cc6f1aedbabb7bb498adcc8865a4725604ab4f8f268c77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ce16c436722909a18bd3c6d3b4c1cbea83e71305d67a47bb8736909be00441",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba16fe0f753df6230104498e05c570b45458e426c340ff83f23fe7490c6171d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDl2G7gYuhbIqkDg5ErM0XEs8RCTuOaOoU0i7t0gcVfU5XK5k91LzDcPm6QWmhqr7LZCvW33_Jb00Zqq4PGr4CQiNrbhwboD2NstPsPXNQHFINViRHyRcNVvgMCwl5qwQNxVmwzPR8WMN1Z4eg0z37zj_2-ORor6Z4iDj0LpfXUoelP8vYv-EdKyx7F1NmElMm6H5-tfDSTHbV_68z1Lcp2s_NxdQoa_c7lC7SPC9u4isMK8TUeWIeTktlDR7QGxKiPPQswcpXsLUHo77ze9NL4b42p3oXbF-M9d09ueV8hGdvTMrcLdKJ5e9_Ndi46yXLIG_shnhj9CBdO54iR_2WIacaqzRjzSTmw3lkKIZEzrF40DpU-fii-V5HK-6Q5jT1SPNG6pVF-nsxHnrfniO9W00GzdIhZ0Gvh1vG1I0L61i28rsG92HY011HWoJCNCA8xXOa52TKgILx_FihUVUROWA_EKQqTB8V-Har6g-y7AznTmJfH3zco_WVw6d84jChJjylhKXy_5EgVr-52jiMA6s4SUMcU11ngFHR4jOi4om4hY-JDdVUgjf7FkfhAhyM2-ZZEaTfkkKkv4_mCwLU8WLdW1yCvX2DOeQJo9N8H0BlWJKgjcTGplGPPVl60yGRfqoI951mrhR5egk3F5PCu6lF2kwkviUYnMpfvQ-psiiOOYPlsmyzTwByBD8oxUN1ZA4mGSp6J4VTMwJBmEbw6H_Xcxg1z7X6o09rhMLbRfrN1ehjf_TlooEebQn94CscOgwDhe07138VJPm6dQu9PGWKmK2VNJqdnzQxBNCM6MTumbj-L9CVQr9acAdgChe-ht8NV8adQKuJ7JgR9TieCt8PYKwYqBVnkZk5LxuU7Z0Bp9myEumblQZwvgaEttrdrUyZW24CD7HY9lr1TdkpKgmBmsrBiiG7tI8QjA_atiX4t4g4wZm1l_pSqz1T23F17iEeJMz-KnzoetFyuapGa3JSwemKkRWjyLKSdwIR8lUJ2VwRK0RwcVWFDy0Flf9kZkYHJSD1A13Gdufhl-N7M67nwU7Q60MeDF4LmGURNnbcAJmHZ88GCQSyXQVX2ZfIWP1eyufjDebGRApGyGqpr7S6TwH6W5qdTqN1GrDTEYmmbU04peiYDQJYiUsEd9CWY4c8QMBr88PDvm8S-2kO_fQL0w2PcC-zXVecQmMumX1NnSWRjwVrqVn9fQDEqCBBy0l3hJEl8Gq4jUzB3kj3MIsEa25RM9y1Ah8ltJAevWZbsAuzHFeYup_any3jFBAnGrdgYKApFV39Ylx1JClVWw5BBVhBJnUYMzcJeTFG3eOgt9fijzRjv94af5tjFlmm18qtNHWDQujLEgB9aVlB4TSO2P7QTmC-O74dPGnAyFVvoXgwoPici5ajSptGENV5pRRJ86zSkjDJCAM5ocIgTUGvrMcSRgfkSYTrRKV4aDNmuq3P7IH4EbSv6_GDKhkfCUlSp-Em8pXA7V_0ER8peJSvYAYF0da7J0A0BosPxbQePGHkagfUtFCz9_RuGl1Oxi4MwrMtbSCTy8PXBnS8dLXzwnahWXEdF2E7Ia6i-smpwsSzFhU9OTqxdjYp_keitigV1mSyDGBd362bEe9qN7L4zPrYTOFQrK1o3iRL6hS2tnLw8TrPT8Yxka5P9YJqpfV4U06yg85haA0f1G9GK28d1-HF2zd538supmq72znAy1NyrFNIte2QvYOS-C2o4abX-noNBoc60zHTtoh4cxtI9zYn9UlkpUYAgMrm6AijHc4nI_WbzkLuR_3UhkFQL1tTfs_LkXEDPPEaiFOi3_VCaTDPPsLNHfnLJZg-n8AoxtdAiwcohXghPOSnYhI0UAqCSzl82qo0OlJDfFty5QW4zL5eCGBlubPdHZeLRieNVTDnzqQ1fNHHyTtF_bmcY09cEUeOtr17Rnoam0oy2Cecarcq69F1o7J5HnW-d1HRR6lHLxlEe6Wdn8-Ht3eTP15i4BTYaMhrBksvi0BqHaDw==",
  "id": "rs_0cc17a75151f9137016ab439742ec487d0bf115495570b16d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.12,\"right_z\":0.015},\"note\":\"From the overhead view the right jaws are still over the bottle’s cap rather than its thicker shoulder. I’m drawing them toward the body and keeping them low so the next grip has enough material to hold.\"}",
  "call_id": "call_7o8KaRBhrus90TgOb6D07TKP",
  "id": "fc_0cc17a75151f9137016ab43975a3d887d0abb52c830c77a5d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7o8KaRBhrus90TgOb6D07TKP",
  "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]: [-0.3878, 0.9363, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.3958, 1.6981, 0.4114, 0.8017, 0.1799, 0.07, 0.9955]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1866 left_yaw=0.3805 left_pitch=-0.0068 left_roll=-0.0022 left_gripper=0.9973 right_x=0.3759 right_y=0.1267 right_z=0.042 right_yaw=0.191 right_pitch=0.095 right_roll=0.0026 right_gripper=0.9955\nstate[joint_eff]: [-0.5675, -2.2496, 6.4068, 1.5897, -0.3492, -0.0464, -0.0122, 0.4718, -5.3128, 2.6872, 0.906, 0.022, 0.1783, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c07eca8885b191095b2222043fe3427cbd4d2e4defbf8e0a6346331f1da1114",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d54cdb3ef13a5bc71b9488f267641ff2b9567a1a2ef0129253a019bba34d5f71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91de6d81285b7ccd958952f7d58c7e90cd36535a821b2434fb2b17f449d8b5de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 76 changed as sent

message 85 changed as sent

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9356, 0.7113, -0.5053, -0.6266, -0.5022, 0.9973, 0.3763, 1.9522, 0.82, 0.6067, 0.2008, 0.0814, 0.9956]\nstate[eef_state]: left_x=0.2947 left_y=-0.0046 left_z=0.1866 left_yaw=0.379 left_pitch=-0.0076 left_roll=-0.0039 left_gripper=0.9973 right_x=0.4647 right_y=0.1496 right_z=0.0389 right_yaw=0.1483 right_pitch=0.0577 right_roll=-0.006 right_gripper=0.9956\nstate[joint_eff]: [-0.6906, -2.1265, 6.3521, 1.5556, -0.3346, -0.0415, -0.0122, -0.2256, -5.4632, 6.1607, 1.4823, 0.0122, 0.2662, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9363, 0.7113, -0.5045, -0.6292, -0.5018, 0.9973, 0.3511, 1.8259, 0.527, 0.8551, 0.1528, 0.0517, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1867 left_yaw=0.3808 left_pitch=-0.0064 left_roll=-0.0023 left_gripper=0.9973 right_x=0.4131 right_y=0.1265 right_z=0.0427 right_yaw=0.1783 right_pitch=0.1333 right_roll=0.0058 right_gripper=0.9957\nstate[joint_eff]: [-0.4991, -2.2769, 6.3385, 1.5604, -0.3736, -0.0269, -0.0073, -1.2513, -5.6547, 2.3179, 0.6374, -0.1294, 0.1245, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9363, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.3958, 1.6981, 0.4114, 0.8017, 0.1799, 0.07, 0.9955]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1866 left_yaw=0.3805 left_pitch=-0.0068 left_roll=-0.0022 left_gripper=0.9973 right_x=0.3759 right_y=0.1267 right_z=0.042 right_yaw=0.191 right_pitch=0.095 right_roll=0.0026 right_gripper=0.9955\nstate[joint_eff]: [-0.5675, -2.2496, 6.4068, 1.5897, -0.3492, -0.0464, -0.0122, 0.4718, -5.3128, 2.6872, 0.906, 0.022, 0.1783, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c07eca8885b191095b2222043fe3427cbd4d2e4defbf8e0a6346331f1da1114",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d54cdb3ef13a5bc71b9488f267641ff2b9567a1a2ef0129253a019bba34d5f71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91de6d81285b7ccd958952f7d58c7e90cd36535a821b2434fb2b17f449d8b5de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDl6hjwhuCuLISJHa-wAcJvdvzTIYRXBQeS-hi7WhzBvaINkEqkeoaUFZPWP1VKCOAHti6H6yiLH8UuK_ij5udwt_cOXokt81QSCAL8LPTsXZQJZGeN9NdY8aVQnK695o1GIyVrmKDd0nrkjDP5UZb_gd3SxgX-HOrkEtNIssShwocvMels8Z6GcGgEKJsfm8YosbNCVeUStY4LAssRATI0WlUpaOH_pbfwOFzgMnhbi2HEYoh-b0SNqDc3KLOrYjNIKhW2-jJIEgonm7wzHO_vKxlHGMzICOCOurNGOWHYdngPIwSipfM0jPcw0c3rmsGLMclteZx2MrNh4Gg_H57rlXmga1rdNOLIxMwGfjV2YnwwBgxoSKpR7Eg33F0xtWtU-tiqUFK3G0cWWmN_DaLAPn9aG7zRLJoXpSIXBm4GEco8c3A4Hji5FmOO7CRnsBmqjjzXDXZVVLSkENgWqrePlf5k2gqZqtJVfz_1gcZYxES2PRgugb2_7uVR1eIBHcReuofgFZaqphGpb3VwAUKmvBga9mOCxJvWReKNu1mKRU9Cgs3-2SrcGa1rnL_ElgXB87FYSaJJzuAf-QunjiRsqNXImTor5deMLukuhgp7sEfRyJ7E7tl-lHMh-06NhFkNFzEtg2lJfIP3ROIbTtPBO3S1movt27tEm-xDStCLWgNijKWrMirDNr4YJgslkRtG54lKmYDO1VtWuxASAAjzKm0l5VVzxVGsJ1KPe5Jn_gN4K9wNxBfLsdUYGAd81wy9YFLB5Djs6fmMTEr2q5KgjGtulz-NdDu0lk9wNug2m0LkMfLRbAbdC-UU_SzQRzUXT1gh6ChaVz8U5Z1DGCU8GaNnhs4b_POoqp4ucTUMlBZDp2qY7rAJgiUxaofPOKkbj7BGc6Z8L8gPu_YSSYGwnI-4oczzaOSNYlvow-WQNwmWCy-gDYAl9WW09let_NTyuw553Pvoiu9-72Ec0qDO5AmNnsDbmssflfqYmRLRkrhrzIOlNIRZndhNMzQGvYvJxNJcHIHuOAkRPyXwgZr2uBhjmHsuL5_-LbnORm8ldH9pOcSLQL-rPJJqcD-S86U8NFPi2iz0mG4RpMrOIfxuJMF7PtLtiaQiTvouJTdSepJy_v0Spn3WBP-LYWSFTdC6lfhTWiJvqLBRvsD7PmhJWgXLYPkLsM3jgS3PAQGAoF9_HFA7fePI3PwKDFTlF5xUe51VRHa9D9BkYcJIE7embevCEgoW58rrEK_SZUoQfr54utHeviy8hlxuDf2iZn5iBgJK2h2yrcoi8afv9O0ZgwG9Zcqz-7OomoQBUAu5uRZfzJJiIMDW0TWdg-2OzaK7YfLKmwapIqzM8al6XLk0rxi3ZNkCbklipK8aLV7SEbQUnuQaEWcIdymMvJh3FniIv3T1lK0uYjwrSRlWdrEutbES8WtSJxO8GBtC58irOo7ZJqJ3uqRi9_GXSjJkEZr4zh2mnr0Aq5mnJFkdvJ1S-OrdlFM356MtmF8KZd8mw1ebtdHHC6-RqXsSdkS07nTQsaFhXmQ_sfTk1HZWVTe-qqMa9CeadjMSJEvjjxg2r5O_WiAMoDGsZCTbTn6utz2orOWBisjlZkFOuM739pZgmFgR68fQszBDJgbVriQcZl6qINUqujGFtEDOBZ_5rh4_Hk_MR7s7B_fBn-hsmuM9EvZIf70meBmqVFOBwFemzHnB11IZxcVh4lk3ka-kFnDiKPxt69yPkLlXK6Faf2egDky0pMiYFQTbEH44dinLQesLKdysnn2Hx7qEDNhthJxsFY0a1zCHn_s9CL_3tUpZt6D9ID8uF9aAOCjfKsMJ-H1M7m6i_WtZwmKZ4APZJvQ9dJ7Wl1iI2A7ZaC3Ed0esm20JRsTv_0QcKQjCefsPQOO7pwRRL_0l-hoZHCbQ4q4_DV0Kth18aU8jLCOT8TVhjH46Vk4IjPSuVg0IhbC_vPIW6uiEHYRLwjyrcpsEAlW8LALBy50J1J7uvh-_qZCoUv1LO23d4Y4w9CsITbmPHoPwa1VMlyNjC-sHpl8Dt2JUmrwAUjdp_0u6DKBZrIj3InvZmbU7I453CkFDRygl7agKPttr41WSYhVIx57ijjebJ2yVxM085pWtGAvgxD-YGpKXfi5X9i_RQrGutnCL_KdIE6nHl1jYBW-ZV2lWra00JhwOG26wtzXibaQExNLx6qILUQp2Z7D0X0tpLc9bVBLKeAGvQq5aA04DYbiEXHiNd8fYs5F_TlvswqmHYDOX_OI9J1mHJGZi7RWhZyNhq-T7RyvP8JsZ28wL_dmyJ5b4HmxR5_HE5XijAL4TI5VmANzOIe3IRURKi25fblZkwxmOvJyfJorCQfvHEM8oHe5g_XS2my1ntWwUy3Yve9JVxBQ==",
  "id": "rs_0cc17a75151f9137016ab43977ce8087d0882d41ec00924591",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.099,\"right_z\":0.006},\"note\":\"The bottle’s neck has appeared near the closing line in the right wrist camera, but it is offset to one side. I’m making a small lateral alignment and lowering before closing on the upper body.\"}",
  "call_id": "call_zYs1B6s3NEwJ4kCVylmfX7SI",
  "id": "fc_0cc17a75151f9137016ab43979d5f087d08939d7d7b77f1d01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zYs1B6s3NEwJ4kCVylmfX7SI",
  "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]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6292, -0.5018, 0.9973, 0.4, 1.6943, 0.3901, 0.8318, 0.1829, 0.0715, 0.9955]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0069 left_roll=-0.0018 left_gripper=0.9973 right_x=0.3724 right_y=0.1264 right_z=0.0427 right_yaw=0.1915 right_pitch=0.1076 right_roll=0.0051 right_gripper=0.9955\nstate[joint_eff]: [-0.4444, -2.2769, 6.3385, 1.5556, -0.3541, 0.0024, -0.0122, 0.3761, -5.2991, 2.6462, 1.0134, 0.0464, 0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a121193b5574219a58294adf5de94f3365d18fe2e40514c4313c7ff31f9ab71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f0fd2cf31cb9de5634f4b6d1e920673dad12c065b92fc29e13e747f95fae3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb23e5ec946c760fccb73a6dc1ae4ce365091f45e88fd9bf836319360f42946",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 80 changed as sent

message 89 changed as sent

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9363, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.3775, 1.9377, 0.8597, 0.5388, 0.1806, 0.0769, 0.0121]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1866 left_yaw=0.3805 left_pitch=-0.0068 left_roll=-0.0022 left_gripper=0.9973 right_x=0.4686 right_y=0.1555 right_z=0.0459 right_yaw=0.169 right_pitch=0.0421 right_roll=-0.0029 right_gripper=0.0121\nstate[joint_eff]: [-0.5538, -2.3043, 6.3111, 1.5897, -0.3346, -0.0122, -0.0122, -0.8547, -9.7983, 5.9829, 1.2918, 0.149, 0.1148, 1.1209]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9363, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.3958, 1.6981, 0.4114, 0.8017, 0.1799, 0.07, 0.9955]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1866 left_yaw=0.3805 left_pitch=-0.0068 left_roll=-0.0022 left_gripper=0.9973 right_x=0.3759 right_y=0.1267 right_z=0.042 right_yaw=0.191 right_pitch=0.095 right_roll=0.0026 right_gripper=0.9955\nstate[joint_eff]: [-0.5675, -2.2496, 6.4068, 1.5897, -0.3492, -0.0464, -0.0122, 0.4718, -5.3128, 2.6872, 0.906, 0.022, 0.1783, -0.0366]\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]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6292, -0.5018, 0.9973, 0.4, 1.6943, 0.3901, 0.8318, 0.1829, 0.0715, 0.9955]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0069 left_roll=-0.0018 left_gripper=0.9973 right_x=0.3724 right_y=0.1264 right_z=0.0427 right_yaw=0.1915 right_pitch=0.1076 right_roll=0.0051 right_gripper=0.9955\nstate[joint_eff]: [-0.4444, -2.2769, 6.3385, 1.5556, -0.3541, 0.0024, -0.0122, 0.3761, -5.2991, 2.6462, 1.0134, 0.0464, 0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a121193b5574219a58294adf5de94f3365d18fe2e40514c4313c7ff31f9ab71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f0fd2cf31cb9de5634f4b6d1e920673dad12c065b92fc29e13e747f95fae3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb23e5ec946c760fccb73a6dc1ae4ce365091f45e88fd9bf836319360f42946",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDl9nhEBKKTXgqz-NWxyjuyv4DkR2aOutoNtgV_8gNMehd1VUOhSVAZyj6PtUIbg0OmBErYs4z_yRPJJgXL5FJZlZJICTjdyRmuR4ZSUgim6ITtOdmsHCws_CU6CU1_HGSCTfixD9D7_ouxDDKbceatmS89zCFiNnsffpzdWn5SRtwnCdtdihsDqzyycgLr-5ily9PyT1RTVaKJl5JVrZSqv8wobEgZ6hc-IXk3IdCHbNCT7rMwBV70A_-xjJx-h3ry09slBDd7FjZ_6z5P7-2X3jTQm5TFyMaoUeHlaZbj_8V0FjpbQiHGNpTtiPgnj3DZE-NTW0a3tdp6bHX1GPoUTwZ7vWnWGSe_bfqfwjbX4VyTZ_oMLyb0oLX7YV8ZZU5V7Ge7f4-PJsJFoNU-uXf37htiKeuRd77Ahb0syZfo-_v-Gqc7aA74g1rS_w6Wz7YjpL2AzLUmM3B-yx4SQKW8lrnpn3UNu4SkLhFQ1SSFqlbQgbT3uN_6a8g0C2pbVP8LsfmTwIuUG6yCn0vlL40kLC3BmnTbmLbQV3a-tqxM1NSPO-uM0IJHkFbgr-ok7waFB693fhHM4VULGQ_B0xYomsjY5COCL3IM4RBjy73FuHoafOgH3c-vLQT8KqsxlLkwFSBGOhzMKBecCudGkflx7lbaHlWpnyb6-Uxv3p8Aea3H45QP3rVfaXrc5pJaYFEOx28a71XNh4pY4uRHpLi_Cl-ffSM8Z-EM18xIx05IrSmUZJ4-WDHiaEHGKjY5eHhuCr55KMJlj5WYvXH3CYr90hgnghBQw_n6CvezEAwTxMj0WyU-ahDsX2qVrJyqF2zlQ4Te454u5in36yBrpxnMThzEgTe5Gaz1fh82rcae6MibWDnAgieBA3dWSzBzDBKw7QoDtDuGfp_snuW2Fspkt-bIzxwIBN8ySpIDzyc6UKEftW5WhXtpb8EdOcXg8h83uEPaTXAqmKQrq1fBesZC3noaJJok8io5OFW5K82HSyBLmnIXaImqJ49cYm1agFLjQ8erhZTbgwx8IStoRRT6Q1hW-oSmQ7jf8xHFGU02NSjSgXMFytrtRre50vcnMOZHUz15C3AW5VOV2_OrQU1u9FPmc-bmVghuAHnedNzWEB3DRoU-a1RIo8QRZz2Uiv32bowJms2f4nduMuKY1MwMrPVrgpA_NM1XqhoWzIL_CSf1gjuH10OcPxW-VGq9Yi4yDJGmMw5ZXvb1TsmusCBMhMZPoFH9Axo_ot0bvgYO3FgfRhww73IgLNPDL9KRhfExXDJgTq7dlcVaf_CErWHDCvd57-LbP9fTBJwd_sr4KccbZ1Z1Wxl0m1v5bi2mlunU0dvV1nxw9NkcWJB7p4q7N-jQjB1u0KXmf3OK3pr__rhV5eVjlVXPHBR5-x2NeTSUF0FK-F39PhMuIvXW7101ndrAeGsXs6Egm5gycnN49rUigTOSsDvTXjFWFTz4K3tlOx6R9t2AxZh0ppAnzFtOdyjlMEeXGMjl51-jCulp9MazCv4OfjlBbhcUa8xiEw6a0FV3yOIjmmLBAAw6a9XVWDw==",
  "id": "rs_0cc17a75151f9137016ab4397bc4d887d08c51eb04502f0cb4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The attempted sideways correction did not track, apparently because the fingers are already contacting the bottle or table. The bottle’s upper body is nonetheless between the open jaws, so I’m trying a close from this position and checking for a nonempty grip.\"}",
  "call_id": "call_G1eymieLFj98iWW5egW8hmaP",
  "id": "fc_0cc17a75151f9137016ab4397c851887d0a47c999454c18111",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G1eymieLFj98iWW5egW8hmaP",
  "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]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.3985, 1.6287, 0.4622, 0.6849, 0.1768, 0.0776, 0.0125]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1865 left_yaw=0.3805 left_pitch=-0.0071 left_roll=-0.002 left_gripper=0.9973 right_x=0.3823 right_y=0.1311 right_z=0.0611 right_yaw=0.192 right_pitch=0.0981 right_roll=0.0115 right_gripper=0.0125\nstate[joint_eff]: [-0.4855, -2.0581, 6.3521, 1.5897, -0.2808, -0.0415, -0.0122, -0.2667, -6.6803, 5.9419, 1.4774, 0.0757, 0.0269, 1.1111]\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,$blob:3ace979bc8a1ccef7c46c691c5e2dd299f7ed7f04b7948a8660faaa3803490e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5a6f6ea416331b2e0aa5744619ece7a6b34a8ccb2fbc1803984dc9684f50bac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faab4d2636d3c2c22673a645a867762c475d23bce8abf966acd4464c0289a187",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9363, 0.7113, -0.5045, -0.6292, -0.5018, 0.9973, 0.3511, 1.8259, 0.527, 0.8551, 0.1528, 0.0517, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1867 left_yaw=0.3808 left_pitch=-0.0064 left_roll=-0.0023 left_gripper=0.9973 right_x=0.4131 right_y=0.1265 right_z=0.0427 right_yaw=0.1783 right_pitch=0.1333 right_roll=0.0058 right_gripper=0.9957\nstate[joint_eff]: [-0.4991, -2.2769, 6.3385, 1.5604, -0.3736, -0.0269, -0.0073, -1.2513, -5.6547, 2.3179, 0.6374, -0.1294, 0.1245, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6292, -0.5018, 0.9973, 0.4, 1.6943, 0.3901, 0.8318, 0.1829, 0.0715, 0.9955]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0069 left_roll=-0.0018 left_gripper=0.9973 right_x=0.3724 right_y=0.1264 right_z=0.0427 right_yaw=0.1915 right_pitch=0.1076 right_roll=0.0051 right_gripper=0.9955\nstate[joint_eff]: [-0.4444, -2.2769, 6.3385, 1.5556, -0.3541, 0.0024, -0.0122, 0.3761, -5.2991, 2.6462, 1.0134, 0.0464, 0.1783, -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]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.3985, 1.6287, 0.4622, 0.6849, 0.1768, 0.0776, 0.0125]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1865 left_yaw=0.3805 left_pitch=-0.0071 left_roll=-0.002 left_gripper=0.9973 right_x=0.3823 right_y=0.1311 right_z=0.0611 right_yaw=0.192 right_pitch=0.0981 right_roll=0.0115 right_gripper=0.0125\nstate[joint_eff]: [-0.4855, -2.0581, 6.3521, 1.5897, -0.2808, -0.0415, -0.0122, -0.2667, -6.6803, 5.9419, 1.4774, 0.0757, 0.0269, 1.1111]\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,$blob:3ace979bc8a1ccef7c46c691c5e2dd299f7ed7f04b7948a8660faaa3803490e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5a6f6ea416331b2e0aa5744619ece7a6b34a8ccb2fbc1803984dc9684f50bac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faab4d2636d3c2c22673a645a867762c475d23bce8abf966acd4464c0289a187",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0cc17a75151f9137016ab4397fb47887d092465d078ce0088a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.345,\"right_y\":0.14,\"right_z\":0.13},\"note\":\"The close was empty again; the fingers appear to be riding above the low bottle. I’m reopening and raising them to reset above the bottle’s wider section, then I’ll descend straight down instead of scraping across it.\"}",
  "call_id": "call_T45eW6utsVAuDBV7It7z3J6G",
  "id": "fc_0cc17a75151f9137016ab43983475887d0bca339798ccd5d48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T45eW6utsVAuDBV7It7z3J6G",
  "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]: [-0.3878, 0.9363, 0.7113, -0.5049, -0.6292, -0.5022, 0.9973, 0.4904, 1.2804, 0.5793, 0.0807, 0.2295, 0.1207, 0.9956]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1866 left_yaw=0.381 left_pitch=-0.0067 left_roll=-0.0024 left_gripper=0.9973 right_x=0.3414 right_y=0.1408 right_z=0.1121 right_yaw=0.2176 right_pitch=-0.0303 right_roll=-0.0112 right_gripper=0.9956\nstate[joint_eff]: [-0.5538, -2.0581, 6.3111, 1.5653, -0.3736, -0.0269, -0.0122, 0.0615, -5.5863, 9.4701, 1.7314, 0.1636, 0.0611, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00544cab634e281483e5c6aa7d62feab030e88b94ce2099d2f58c3eb44e5757",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5bd8b4289997158bbed7c73d0ad11527511bca7f72410f8f7c5f610224fe63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1794c87f184b694c6ab230468838c548486b3a7fd63e3fbde5d765ea5c0c8ef1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9363, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.3958, 1.6981, 0.4114, 0.8017, 0.1799, 0.07, 0.9955]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1866 left_yaw=0.3805 left_pitch=-0.0068 left_roll=-0.0022 left_gripper=0.9973 right_x=0.3759 right_y=0.1267 right_z=0.042 right_yaw=0.191 right_pitch=0.095 right_roll=0.0026 right_gripper=0.9955\nstate[joint_eff]: [-0.5675, -2.2496, 6.4068, 1.5897, -0.3492, -0.0464, -0.0122, 0.4718, -5.3128, 2.6872, 0.906, 0.022, 0.1783, -0.0366]\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]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.3985, 1.6287, 0.4622, 0.6849, 0.1768, 0.0776, 0.0125]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1865 left_yaw=0.3805 left_pitch=-0.0071 left_roll=-0.002 left_gripper=0.9973 right_x=0.3823 right_y=0.1311 right_z=0.0611 right_yaw=0.192 right_pitch=0.0981 right_roll=0.0115 right_gripper=0.0125\nstate[joint_eff]: [-0.4855, -2.0581, 6.3521, 1.5897, -0.2808, -0.0415, -0.0122, -0.2667, -6.6803, 5.9419, 1.4774, 0.0757, 0.0269, 1.1111]\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]: [-0.3878, 0.9363, 0.7113, -0.5049, -0.6292, -0.5022, 0.9973, 0.4904, 1.2804, 0.5793, 0.0807, 0.2295, 0.1207, 0.9956]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1866 left_yaw=0.381 left_pitch=-0.0067 left_roll=-0.0024 left_gripper=0.9973 right_x=0.3414 right_y=0.1408 right_z=0.1121 right_yaw=0.2176 right_pitch=-0.0303 right_roll=-0.0112 right_gripper=0.9956\nstate[joint_eff]: [-0.5538, -2.0581, 6.3111, 1.5653, -0.3736, -0.0269, -0.0122, 0.0615, -5.5863, 9.4701, 1.7314, 0.1636, 0.0611, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00544cab634e281483e5c6aa7d62feab030e88b94ce2099d2f58c3eb44e5757",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5bd8b4289997158bbed7c73d0ad11527511bca7f72410f8f7c5f610224fe63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1794c87f184b694c6ab230468838c548486b3a7fd63e3fbde5d765ea5c0c8ef1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmI03JSSKgFskn08FoPgr5cF-hlF0H-BoRcKd_SMi6D2ZqRyCMv46_24dYV36gsK4ncrgUSteNcLWlUJSLEKWLWxnb14VTJwUHDudpQM-RRxLuhDc77q-d1pVUisxFZhM2u8R262f4IV4pOucMe0P2ADMLc3JoMjnHYZUuBDxAKQdlsyrhW8yRiW252WpCiwTNOsWQiCngnsFWoCplVP8NEsNa28jmh7aIHVhyHzHiXVxT0YKN0tyY2EMy1DtPuIePIA36ONVXrM30QduYzXghWnxiaBv1ip9t1xWLWR2dNRLuiKJrxyr8bnUcNR1wDsQ29dYt-nNTgQs6UDWrrlHciLpLcVfAWeDlX0aUdpG7d2jycz5kqpkFgt2r6YfmBCSDhl0K8poetSpUtTX8d2AEVEpYefGioVx3rP-nBKx775gRYSsTDU303Rkn2SyULaBz4frtrW1m2Gzrj9834treuntCct0CeuVV95AN6DVLV52Az8TXUe6z1GbVxKbUbhKAXTDwQN5yHyHvV297AzoskybBLXpz6115QeFcQHKfe6TtaFh3Srxo1Qh1CwoOPnF0ws9EWC8CDcgJ1vS4gV1GQTbgz642dRCFfpEf501LnEo8r1d_1muyJOBb_KaXFoI4Gg7wINwRVd6p-mG5Sv382yIY4lH0R-up5747TB5DOPPF7rHdz5v_Zkc669z1JGdmUtxMnshInzowZ-H94H2cxHByhiRpzJkTQ1oDiYRnj20oAwvjnO34gHBoeaOC5YNMa-kuDxOIaK6bc5IBJLE64jSZ7Ckfn4qXxdZ5WbjEQYgf0h8_-J1G8oiGrx3noQVgcAcEJ4nrfv3Br3QgtNsAt4pj7sTw7uEHq7y-8Bbf2rItDQSH4kAD8bv_HTyCrcm9uOOY2-V7TJOAz3tT6aeplbQyZx_ychZkaNBLHgoo1C674UsFzsclJ3T3RB0MOG3B0Po_9AV2A1NYSdgQ8eHyYgYBRj1Y3ieiHylpa0kHiL0TAIdxZ5zviDCCGAfWerCh3Hb88hdZimPgkZYexlAjKXQ8CMMoCfDqP3s7zryGu7xV0j4rNQAIxGxzzA8pnogCq-92oX1LF7YF26eiIuoTpaIjWcrPSUtxv-urDg0J4M8zRSjvuDwWUpPcr0N3iful4x4GBE9a4ylbWs3sREH06svZi3C5yZ4nqJrxVI21EeqJVjWt-jdbSuZ9RnVAsIxhRax_UsEONYOdYzPCeZ9rRT29TbSTy6IfbQo_JKlCD7J0p5JpPM7w29jtsTKGHp4Yk6pQ0ECINlHNpkEhsZLgWPJCjObFbf1R5pM7ccC39B0fLz3uxAYEgoKpklx-HR5Mc6IfhdqVR3LwBVoimqs3cXMVzOnAGpHrXx910MVPnH5s4CHcjE4Bun4r68cCAsgUG-wrRkoVvjI7LyElbbxj_XVBHtD7wshxJ_2wm6jBcXV-xrD5dO5Peg1nSF0QMOWHyXMu27uEF6JumkiyTfdTeuM0mAGVRXSKvkTEzkXYHvGjNL5NTy047Erl1mLj6vOZz9J8fqhSas_NiCTEHHN7MmuuEOpWUBwcIXo38efA0uNnB5NfVPulpJEqODqCf196UPIBqBgTMVdClHzrcGtg58dQvYv_21Q0Sf11bMooKcfopsedLZ7-kuIC3L4q7LTfCM_D5zQPq3K9paeLyiE-v1qXpTDnyUoPbEu6hhu_YH6jFqQBr-bX80BhIICLORdto",
  "id": "rs_0cc17a75151f9137016ab4398617a087d080ae47b7f681222a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.11,\"right_z\":0.09},\"note\":\"At a safe height the right wrist camera shows the bottle under the gripper but about one neck-width to the side. I’m aligning the jaws laterally while clear of the table before making a straight descent.\"}",
  "call_id": "call_VZav25oD16r8GWcbkJP7l3n3",
  "id": "fc_0cc17a75151f9137016ab439873f8087d0be79549831585915",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VZav25oD16r8GWcbkJP7l3n3",
  "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]: [-0.3878, 0.9363, 0.7113, -0.5037, -0.6292, -0.5018, 0.9973, 0.3752, 1.2697, 0.4568, 0.1677, 0.168, 0.078, 0.9955]\nstate[eef_state]: left_x=0.2949 left_y=-0.0043 left_z=0.1868 left_yaw=0.3808 left_pitch=-0.0058 left_roll=-0.0028 left_gripper=0.9973 right_x=0.3342 right_y=0.1037 right_z=0.0807 right_yaw=0.1764 right_pitch=-0.0632 right_roll=-0.0165 right_gripper=0.9955\nstate[joint_eff]: [-0.4855, -2.2359, 6.8171, 1.5067, -0.3541, -0.0171, -0.0073, 0.7179, -3.5761, 7.1453, 2.4249, -0.2418, -0.0073, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a375ac3fa741efaa951c9c2c174790f6c2397b6366f5133a6af25328e8dfcc4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20e2036653ba195a88119023ca1f04b66e4a288e83c81b208e98a79474142036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dafe32b4d011be84a8ed35afe900f146718800dd159f6cce4b10a7a23220a1de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6292, -0.5018, 0.9973, 0.4, 1.6943, 0.3901, 0.8318, 0.1829, 0.0715, 0.9955]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0069 left_roll=-0.0018 left_gripper=0.9973 right_x=0.3724 right_y=0.1264 right_z=0.0427 right_yaw=0.1915 right_pitch=0.1076 right_roll=0.0051 right_gripper=0.9955\nstate[joint_eff]: [-0.4444, -2.2769, 6.3385, 1.5556, -0.3541, 0.0024, -0.0122, 0.3761, -5.2991, 2.6462, 1.0134, 0.0464, 0.1783, -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]: [-0.3878, 0.9363, 0.7113, -0.5049, -0.6292, -0.5022, 0.9973, 0.4904, 1.2804, 0.5793, 0.0807, 0.2295, 0.1207, 0.9956]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1866 left_yaw=0.381 left_pitch=-0.0067 left_roll=-0.0024 left_gripper=0.9973 right_x=0.3414 right_y=0.1408 right_z=0.1121 right_yaw=0.2176 right_pitch=-0.0303 right_roll=-0.0112 right_gripper=0.9956\nstate[joint_eff]: [-0.5538, -2.0581, 6.3111, 1.5653, -0.3736, -0.0269, -0.0122, 0.0615, -5.5863, 9.4701, 1.7314, 0.1636, 0.0611, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9363, 0.7113, -0.5037, -0.6292, -0.5018, 0.9973, 0.3752, 1.2697, 0.4568, 0.1677, 0.168, 0.078, 0.9955]\nstate[eef_state]: left_x=0.2949 left_y=-0.0043 left_z=0.1868 left_yaw=0.3808 left_pitch=-0.0058 left_roll=-0.0028 left_gripper=0.9973 right_x=0.3342 right_y=0.1037 right_z=0.0807 right_yaw=0.1764 right_pitch=-0.0632 right_roll=-0.0165 right_gripper=0.9955\nstate[joint_eff]: [-0.4855, -2.2359, 6.8171, 1.5067, -0.3541, -0.0171, -0.0073, 0.7179, -3.5761, 7.1453, 2.4249, -0.2418, -0.0073, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a375ac3fa741efaa951c9c2c174790f6c2397b6366f5133a6af25328e8dfcc4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20e2036653ba195a88119023ca1f04b66e4a288e83c81b208e98a79474142036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dafe32b4d011be84a8ed35afe900f146718800dd159f6cce4b10a7a23220a1de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmL5h4XrQ2QU-MSstQGL_6MZvUjj6FOUSRIeWsAKbgJqUJyFQWvslhilG7LqmWoBUge-_oAtrjNAtWN3_JqgA0dDWwVAykOsM2ksmeCm6GvRlTxua0pVaGiZeDtd7y0O5xmfdSn2i1JMsdZvyrH4IA7wvWmtjOkq2miUwDye3Xdx82N1unimVdnv2sIT_PyfNk-Dag4jeiaO090p2WGKdCyqvKQHjsSHovoUq1I-7IdJR0z20BY6I2FB6aAQoIDElxcGUzB0-B3w4tGNqW8j7Ll_5gr3Btl-hQBWdUZLHo6sklWUd-xMcVspQP3zDhcKMyMxdHCOIGYWGFJ-6E5mof99Pu4nYtIkaVMP3q6n0burJ-7CDxM4tV38mzJdi6oy-0dyf9nCfx1FA8bCmHe4_XFQXbIcOu4qhEJ32WWk528o49X7EDH1iJLLGRJbLJg1itGbCBSua9rffkEzqoXkP8ndD4aROVG5AF46kKc6kXMHvlv-xr9sP3CYdSufqCfHknh2e8GXw8ORwR4IU2qmTjK8wgcCM29-pBX3e65hDU1OkZrgY8Wy0KvE470wnsKSNeGdRjxAEIOahFSg8CunWTqPBVAQiNNZqdwaJo6QAoPAh8n1g4cyrKlqf7NQrNgx823ZrcOt5H95bgmpMnnNgLDC9DascPMSX33UC5JBjF7XGTX2VIknwMtUoPpWz1JXppXZyuiO1meBvjnWdN6eJBBpo2jjsH85LVh9iY_Iw-z94Sm_c-QMuO602eYhh92hhdtdg_xfAvdLd8Fs5pEUCnzSLUiBfgMagx2ryNaii9fcz8q7GFuBs-d-Bb_j0GNWJgY0a94yqHSTmge7SoLaBPiyCzpBrTQnBZPuly4hkdCTAoGRhDA4K7mNxeDjcazNRmdKsf9b8TV2CrGjAFxpj4T_iaZbxSaNpqVnLELmbkhcoGmBDOYw3M_GJKfsYoS9CvbQ-bnUFznr5gA5k597yGuaSbxzTbrgYm5KNC6f1rt7uR0j1Iga8Df0Eh0W-WNpOTjcuS5PAvwwpflrypZdOtRoGI1nW9gbRQK896sGg_fL-OIUDtVF1qD7S-h6qKt25AM5YIYRMBJh8TMbRwZm4Q-rWFkxSkDx79ijyPfMMWPhFejNKlKg3O5wRbwYkmn3QeWndPOj9t0Zj6PRBnlk3PDadk0cAsjaSCRcSRjKxj558gm74gT7NhFdF3ytgGukKfrlnr7UZZwh6CXts9Xs7l1n36iGPhkb3l-2_yhKslMNU4Xfe90PD6GCVhOYuDDpHpci5qvhWngM4G-TY-EU8IneCA3XsaCxxR4xu2AHIGN4K-spqOyXrywAPOXq8mFezhKXeEpTc9CJsUChHWy1gedMVyG7J1I__chnjJzQEzVtJY23kv_IAmlyKY95FCrn62p4rJ_m1wwCQWHjzdIentgMfpEtAbArz34EAmUHgHnlh4YNs2IDzwBB-xdSMadD05yUz3GhrO0YpFwZb287dV5YLLBTCVZW7-Qcn4M7fSt5dVTQuEH1qS4T33AhKFm3d0xFOn6d3GwCWumf5ikcuHwB3Zrf1wfGCbQW1QOXVGSDUuMzBfZqBjmqSGZyGbsldPQ4X_vDVIZi4GEURNR0yRKTwKk1KTuJ31E1AdKFWxvp76xd7siMO5D6s5vjcrTQbtC",
  "id": "rs_0cc17a75151f9137016ab43989cb2487d0a87588ad1bc6b762",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.01},\"note\":\"The bottle is now centered on the right jaw column in the wrist view. I’m descending vertically to tabletop level over its body, which should avoid the sideways slip that defeated the earlier closes.\"}",
  "call_id": "call_K4fJOzVUz7eKY7em68ttLcnJ",
  "id": "fc_0cc17a75151f9137016ab4398ae54087d0af70c1306f3910e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K4fJOzVUz7eKY7em68ttLcnJ",
  "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]: [-0.3878, 0.9367, 0.7113, -0.5053, -0.6289, -0.5022, 0.9973, 0.3717, 1.7172, 0.2852, 0.9714, 0.1802, 0.0551, 0.9955]\nstate[eef_state]: left_x=0.2947 left_y=-0.0043 left_z=0.1864 left_yaw=0.3808 left_pitch=-0.0074 left_roll=-0.002 left_gripper=0.9973 right_x=0.3554 right_y=0.1084 right_z=0.0306 right_yaw=0.1742 right_pitch=0.119 right_roll=-0.0061 right_gripper=0.9955\nstate[joint_eff]: [-0.4034, -2.0171, 6.612, 1.5702, -0.2955, -0.0415, -0.0073, -0.1846, -1.6479, 0.7453, -0.359, -0.2027, 0.3248, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d460d849d9390227423501f40f9a5f3d80fa2ab255a00236ff1a631f0dd04e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c197b849228711f624fc68fcba2b20385df3604f1d404d7d9f1d6401daa4b8a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf24a7eb9bd14c2278f970d2f94951dbd4f6608b0c71950f8f0e51aade389bdc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.3985, 1.6287, 0.4622, 0.6849, 0.1768, 0.0776, 0.0125]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1865 left_yaw=0.3805 left_pitch=-0.0071 left_roll=-0.002 left_gripper=0.9973 right_x=0.3823 right_y=0.1311 right_z=0.0611 right_yaw=0.192 right_pitch=0.0981 right_roll=0.0115 right_gripper=0.0125\nstate[joint_eff]: [-0.4855, -2.0581, 6.3521, 1.5897, -0.2808, -0.0415, -0.0122, -0.2667, -6.6803, 5.9419, 1.4774, 0.0757, 0.0269, 1.1111]\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]: [-0.3878, 0.9363, 0.7113, -0.5037, -0.6292, -0.5018, 0.9973, 0.3752, 1.2697, 0.4568, 0.1677, 0.168, 0.078, 0.9955]\nstate[eef_state]: left_x=0.2949 left_y=-0.0043 left_z=0.1868 left_yaw=0.3808 left_pitch=-0.0058 left_roll=-0.0028 left_gripper=0.9973 right_x=0.3342 right_y=0.1037 right_z=0.0807 right_yaw=0.1764 right_pitch=-0.0632 right_roll=-0.0165 right_gripper=0.9955\nstate[joint_eff]: [-0.4855, -2.2359, 6.8171, 1.5067, -0.3541, -0.0171, -0.0073, 0.7179, -3.5761, 7.1453, 2.4249, -0.2418, -0.0073, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9367, 0.7113, -0.5053, -0.6289, -0.5022, 0.9973, 0.3717, 1.7172, 0.2852, 0.9714, 0.1802, 0.0551, 0.9955]\nstate[eef_state]: left_x=0.2947 left_y=-0.0043 left_z=0.1864 left_yaw=0.3808 left_pitch=-0.0074 left_roll=-0.002 left_gripper=0.9973 right_x=0.3554 right_y=0.1084 right_z=0.0306 right_yaw=0.1742 right_pitch=0.119 right_roll=-0.0061 right_gripper=0.9955\nstate[joint_eff]: [-0.4034, -2.0171, 6.612, 1.5702, -0.2955, -0.0415, -0.0073, -0.1846, -1.6479, 0.7453, -0.359, -0.2027, 0.3248, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d460d849d9390227423501f40f9a5f3d80fa2ab255a00236ff1a631f0dd04e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c197b849228711f624fc68fcba2b20385df3604f1d404d7d9f1d6401daa4b8a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf24a7eb9bd14c2278f970d2f94951dbd4f6608b0c71950f8f0e51aade389bdc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmOvPETviB-3C4CxnkPwwOwv_CiKRDpFcC_I6Mre5ak94yJva4p2G795vrTdosA_bTboqlkwgK3M56prVE0FY7ztsXgv_BuRyC9Pm6Fn4xM-vysRvdzlf1fuEQHgW-W1W57hlz15lzFNL-BiBMhldNJbb1VpmdK99zGjiX-LmEn1UXoEPC1Hlw8D7pcFHHTqTMhE-z9CgLFwBTViCdGrkWpsyRqgpFeU_lra7oek997XHHMi6yt7pd-j4KrNQn8jEbSh7YGnQY7Y9etpG5bbDGAsi5RGKIhLofBzYAEcprFWFFaok_9ZWUt2vkfWyzA5dCnN8WHaRM6oQxcmDY1JDByCftwjvD2Vpdk4CxicEe2RhUW8y6wRrfm_ccJGnnZldhbSrldrGwBenMS9BI_fUCB6SJsHmYCEvcbcj84gqVrgXw3EYkA71oXtF8X6ZAJRWMXr78XBaTqd8_YkhqLwwP8EIZwqPvrxjkxor6-R7bRRUrWOODxoDuv350wrgHYAk37iQh_ccELb7aDpN1gwO2cC89FBUjCAkrm_ztAthHQqAsHLWr9KE7M-fsKGuuUX6Qr80dVOBu-fl7q4QiBWCe4d97uCUEFM3I8QHh-x55McP8wuX5o0m9cx7nkyayDAjeUybskyr1D148jiSXV6vOlwPPxfozGXtD_DC-pUiQqUWf_kIfuDIi-DE1y_oaZlPE7ecETgg6XrhfeEnrqVkQvxog0RJBRHk_KesO9FRxIo-x4VYamG66Ns3PuuLFBo3ItPDmiDjDtEBokE4Tz9fJBfbZAKXPj7J2JVzpPjNO7vGuaaSF6kXRGe9T6F96HgcOF1LKxSJDYYUDuhOJJvddTMVE9MZvjt9ExOk-WMy-_WLSOj2HAGiKLCYDtIyvXQjKuPoqoFK-Jpio-mtTyI3sh0XWPImk2dJbX7QH99KZECkQ2xXgFAVCbCKLEXp_7Hu6RydbI8c_kXR6D1E1j4i_VhALia1kY_3yf7EWVlUlCLWOIpwLpsHoHV6pJI0C7GwfRE48O1a0U0SWjetoAQMOBjoTVFH3DZ4Qbc4TlPCNIBABHNJuGXmhzSr8zhcGGge9_6jLZ1VuOWA62KTxw8HF8KNljTeX76jsIXIl9ZRKDxWnUQO-8-6PH9uNV2dIGXSONESTbEyTQ5iBdyH1zkJCpm7nFBHE38RLc4r997bu92GgEcQT6UouQ4PPfvtHyFEkZpzPOoJQiP4MfvXMrE28nXnPiV19n7IWK4F0BQ5me7OQLsOtoQh2yxVNT4j13lgyt-aqXo8-pgCgupELSBfyMcUhQpK9CX3CZam_WLC99fX3HGFXjoGQEaltlsbCpdD7FHBWM0DAcZtR3HLy0TrgKfOfIiDIrdc1wXQWB_l6UpCoYjYF7_N5tQiyrvAnoK064KMd_NIv-eeThRFQc4U92yg==",
  "id": "rs_0cc17a75151f9137016ab4398d3a2887d099decafd6d8f353a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper has descended onto the bottle without a sideways approach, and the wide labeled section fills the space between the jaws. I’m closing now to check for a stable body grasp.\"}",
  "call_id": "call_2cUTTl8QCDQUVtiCyEi6Y7zK",
  "id": "fc_0cc17a75151f9137016ab4398dc88887d0a154a856d7d669ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2cUTTl8QCDQUVtiCyEi6Y7zK",
  "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]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6292, -0.5018, 0.9973, 0.3649, 1.5902, 0.3698, 0.7483, 0.1535, 0.0669, 0.0128]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0069 left_roll=-0.0018 left_gripper=0.9973 right_x=0.3668 right_y=0.115 right_z=0.0554 right_yaw=0.1836 right_pitch=0.1054 right_roll=0.0143 right_gripper=0.0128\nstate[joint_eff]: [-0.6496, -2.2906, 6.3111, 1.5653, -0.3736, -0.0122, -0.0073, -0.4581, -4.547, 4.7795, 0.8864, 0.0415, 0.0659, 1.0427]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38533b82079ace14d81bac3cb5a88faca795e2c2b44def6453726b5fe5e36c2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0165015e9688a352727a7209344f80927c89ae149ad165211f05eee21324e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b2305c57ea3070ee65dada1fa349a94d0fdfa30aa1c36bb545b317c8e0b034",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9363, 0.7113, -0.5049, -0.6292, -0.5022, 0.9973, 0.4904, 1.2804, 0.5793, 0.0807, 0.2295, 0.1207, 0.9956]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1866 left_yaw=0.381 left_pitch=-0.0067 left_roll=-0.0024 left_gripper=0.9973 right_x=0.3414 right_y=0.1408 right_z=0.1121 right_yaw=0.2176 right_pitch=-0.0303 right_roll=-0.0112 right_gripper=0.9956\nstate[joint_eff]: [-0.5538, -2.0581, 6.3111, 1.5653, -0.3736, -0.0269, -0.0122, 0.0615, -5.5863, 9.4701, 1.7314, 0.1636, 0.0611, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9367, 0.7113, -0.5053, -0.6289, -0.5022, 0.9973, 0.3717, 1.7172, 0.2852, 0.9714, 0.1802, 0.0551, 0.9955]\nstate[eef_state]: left_x=0.2947 left_y=-0.0043 left_z=0.1864 left_yaw=0.3808 left_pitch=-0.0074 left_roll=-0.002 left_gripper=0.9973 right_x=0.3554 right_y=0.1084 right_z=0.0306 right_yaw=0.1742 right_pitch=0.119 right_roll=-0.0061 right_gripper=0.9955\nstate[joint_eff]: [-0.4034, -2.0171, 6.612, 1.5702, -0.2955, -0.0415, -0.0073, -0.1846, -1.6479, 0.7453, -0.359, -0.2027, 0.3248, -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]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6292, -0.5018, 0.9973, 0.3649, 1.5902, 0.3698, 0.7483, 0.1535, 0.0669, 0.0128]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0069 left_roll=-0.0018 left_gripper=0.9973 right_x=0.3668 right_y=0.115 right_z=0.0554 right_yaw=0.1836 right_pitch=0.1054 right_roll=0.0143 right_gripper=0.0128\nstate[joint_eff]: [-0.6496, -2.2906, 6.3111, 1.5653, -0.3736, -0.0122, -0.0073, -0.4581, -4.547, 4.7795, 0.8864, 0.0415, 0.0659, 1.0427]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38533b82079ace14d81bac3cb5a88faca795e2c2b44def6453726b5fe5e36c2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0165015e9688a352727a7209344f80927c89ae149ad165211f05eee21324e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b2305c57ea3070ee65dada1fa349a94d0fdfa30aa1c36bb545b317c8e0b034",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmbIRHJGJfKT5q0C0nhRVDwXoS0UsXU9AMJKcL2wST33uCcwEzpm1Cib9-f6fPlT8taZnix83qp3mK78SMB-rotnXCtKkG4g76GjcUrHs8mPMqRqgkMciBNVC0wcav_XwKyuCsCEv-_1Ef5egWtPdHfHy43fkL7QrBcLBlMbdMfOnepfz4YC0IxqFE9l67L1XBMeUJZY0zQdMv8jcCZjgX2q7zLjcE1XtuuxzKxTibglDk70BhTQyPGNBCefWm1jEGEymTBkUrTVlpfMjwkpFiML-fVeFPZd4BmryRBq4LjrCuAgB1Cy3ApXd8CTz7nVI9pOxPDZxld5Y_Iwm8zzeZ4AhS8iW8GmJzswhEdzzQAYuGI-hj8ad0NsxlMOMzRH_QRwub1Y9QzO8O0Rz9wu4rAwCA7kjoF4D2zdp92e5bc7fNf-6N_1GapE6r5-U2hn5Mch46RGhxKkWRnpJxQvfRmzFbeWBSiN5fPlHpZ_N9yFhIzSKjtMqx9slM9pQ7XV7XooT8cjPVoywRXPaRhRKNcXKL0Io3OdN9XBOp0u8e9XPA3Z7bBDNFbw91hSi_0UT2EATTJKJiQ9z2cwOr_pZDDnJ1A4mBWfa2Eat0_wIksMcNzYrfbvs3BwvMupITN78-PlB38d3sIZjSUKOzPuRQfk3uiwJTC9bzbRuhI-NGdhQBHRHyvnIPfW_Mpe6JKVYCmncUWinvRNZcT__DLa5zWOeEa_vS0NuuGHQVG1nSsJAkEYKQNOB6YwBai-WCOcY9fghij-6f6syW9YpdMFsChrqXeXR-h7bJ9yDI0mEWINM6G1KYFIPwUK8ZRqG3545QhjmAqkxqY9CB0d1HEwXbQ1916QFN3FOIPQYFx98B5OoSpO39IBXhzOV5pja6TZnb4vvLJiBk975C2hufB4ZQjxN12Bh1rxmLgmWYKy429dEvPmDLO1a6YtZYjzqHpAYNZapItaaZ9REMEJA82CvK7PEEYivz_xaMCvLvuMAXltTMxOdwBvPMDc2IcAQRCLikJdDsr4UMPqcPybDQCSlKUNILb8XbRIg-nWN57U0iGtRcehpVf2sM8NzvjYUL-MKEFbiQRcBjbyWjo8DXw5Jw8jWMJtb-4k3zjk9OIe_da4P70ygeHye6mrkIGXJ-GgtD-V-BRe8P89fkvYeBRWhgftVCHP_BOOYIX4RPNlKKKmGy9LG4zIXx2oayyMKwqmWBmtqxIJUWhYqcgxJ6V4ZWsZStg4z217uHYsZl8YbO4_oMTj8ktZuTw4zXrUIO8Q8-5I5bnuVIcgwLAD6cDiWQ_CL15E6V5LATeReeADf7IaIndB2BXSaNgLc8TcqxSQWwQ-Q_LR1Ylep4QKgl2cZa0aAPZbk_krZ24sOVPlM58uGuMUdjqO3DJ-xVJiTYIQfhaw7gHCiZuq5Y7Ho3G3L7Rr8-OI_NQ3UBtBA58Tngt_-wtVt4QBo2wsurXIAm8poAVviPdHo4GbzOE4PqGF1ZbcueFzSMsCrLx0wN5fIKAGypeN799q7mZuLpOitG_KYbHt-G8iqzlnlO22BjG5BpasSV3O96hp5TVKZBc4KUY4PbGE1NA-cv3i4UiQlvODI1qlFyPI5IOz3Z5YEwxq_okWdMBhAyTPpNrVi1syuF7C_dPpGDF32QncXrg6xO13iCqFiNr4P7rr0uGMKxqvkQa4N1nf334bLhYLYSg-F2MFu5oGV_VA4vdyKO-3PygYJMqlRpLYjLKY4E0k9ytKW56iQS-AjUxHrp68W4MVUU5xwVTnNJAnaKF4Moi2aKMz1PdmOCX0aOpUAYULm_zSw6CNEi3LAw1QkjUegCwdRaJSMjFNQc9NLKCYZRfxpf2XENOMmglBYQz_DHmCRAwDEKmgdl5A0VaOcXb-hJriusQndGODHhLXTS5l5XJubkiMsWaATbhB9Q5_7WfaOTu8Z6UbhqvERh6DwPwvk4IOqbARNhOa7ddTWWvRX1tI05kiJ_BkYN4dg7ZvHKBAaXFcknOmN9zVT92c-3M8U0esyH3sjhHm73ySlXsTTkIMhJf6Y-BtIvPkveT2JLvb5EBgELb1INqLTu8w3QW7X7xN0rX4JXgArQi6rBniXRbadftyECSJCv9GZd6NPETmkjJpCiF1FLQG4Ca50GySD5WND0Ludm2aV4rFeDPkoa0USZ3PKceq2-0Lw9TcwwZ4e62RgRutj2rrPJywggfOEkrz6f9AfwzIZq5OXIhYiB9YEqubXyYbRRHVvq5nRrVwwXjVS34l_OhpglE4jAlXUmtzWUs3Sb1hPcQ-3tEt5i4vkpWRV7iazHTWGANfOLvPexVOZxa2yCqHPiQvozrIxaylVR2cyLMD16nttkllua1LX4SHanmRT9-yX0bTD_R8LfvwW2_C3Tdi9RDo5ogk5OPuCPvgAyikoy0E4rC_AbOOkIsxzfX0WCo5U09b90-YzroHNLcuoghohke4bhvxohUWZD4hUOI8KFiPq90hekrGm5OASV_xa3WCDzRz4kGkx64LfsSD5Lw3MC0IdOcNW7hoBhWezmwkW9sWlH14b8qURfGzbL6uJ1ptnM2Zu_raP380I4ISZeaVbyKyelrWjETlM74kMTl1x9DRXlmxonDMQ-e7-Q0CAPZTXlMlwtm0kW1_p4RGWW20CMvQVdLsvKXOI3AAHepjIVomlFzTyVF4ExMBQfi1a97PsXAS3LT52TU7RsEOhSIZXKdnr-xQrWfWIgwlUDZ15Zwkfahf9vhXxlXb39M2kxxSYgLVqACOWFSnBqoYufiYT-Die9dLMXeTxQzEFjm4IcfFcf2Ilrc54S5UucwRxndorVkyKR0MVSp70VFaT9OqT0l6gl97hyijhWWbCpP6MrqWo6uGh6sqTNvNRbmaRW7Vzp2P8ymeSZ2pioCWg2sMwjmFUt2alQXBiGQ9eVAnsW9wxZOHhCExE5WJRRzO_0Dt0XkeZDDpH95YZJDX705TCXhmnmHLz1KzWasLnrbG5INs2FeiupWZmn6bLPQFcohcjVZ5LkO64ezqwnlKozeRyO4TldeBmT13qUstCAkMo1fQwQNK8KZLRUEm_pPrSjOvEMR4EUZ44Wbr6JTxsPH2OcbYZuBd6vYpDVzs99nqp0cm-Us661uA3hK__JZ66fKPiLZEY5-FfDOnsypRNIJUC9JzEWD-saectMVuXrFbwmgTT_GapC6hxtosnck5TKpH5XRiUck5sJgvYcvpPnMMh81bhJcYOnWiqfDlrU2MPhd_eUwgUu1dBtMhqnrftxXm38b2Xokc2Ho3WObJS0OShGYNyFfeielfNoRQ9IhUfKvJxfeM2wm1L-90ZVZ3uZnceB4Ec4D-U8urFlQuQsbY0bx1H2bUBrt55SmoXGfY0zqqNUiQ2RaXZN1ApTFNXZBqqIIWPX4yk3A3nsYT195rt-kgucORKGXknp44rkEPI5G7T7CQ9SLmkIAZaRfpfa2PQwGup_dbYd-BtYsmFISuqdXDlvSNjpkwN3qod1wwyiScLOR_41nTk_XmUq-Wzr_xsHkd1UMOepV0Z5Maw8Z8T4hHpemjzrwQFJ4Dm6wVeHx1rD8zvR00KossaA21SljVzi5lBCNS7jJaivdmcTbMSu-upmu-oljsi3REYfgGruGTcVVoiX1pKjQEo0_OQU1IvA3egz9wbTvaXZNP6kKi8OQTac_UqAPtNkjBnxEXN_WNUUfefAflX5WkxWqKRnF8YHo5Z573Dfk8WV48D8zMpO2OLYlsdzXnc5JdU1WMEGZympxcVb6xzktYVUOXuy3NArvgWqqy5lZT101NVZKNOF5lzHZzXBmbMv9TkOvzMkYhGlFOJs7XqREXWEwwnHYqkqt2iJC8TpMBNq9o-doSEMtmW4BearDXSqoS4tDLV3tVKayBeGbozmnvIYjp2SITsjYmYAh5VAGfbUBKT1XDltvZoWTGJmP47MszVYZe0Vo80drK9Co1w2FtSiK2aB5D_1ac9LyuCNthWO49Q==",
  "id": "rs_0cc17a75151f9137016ab439906aa887d0995aadcea0b2590f",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_0cc17a75151f9137016ab43994a37887d0a4412b61cfe584f5",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmb0WXAXkGvtEnIZhn_zHzT7SHnKNLkYCDvRQ1mDjDM1iCPT_42Y8EkTCkKROFKvHkcps8m43Bl8KRFDILKARHZhPQlr3H8seFbBtKQZmqSzwNePm8NFAMf92cJjSvXM0o_NgncUXL4BEGxUiNDqnqtfM_VgVLQ_hx2C2M34lQ-D1xdBhJpStzPQ96WTLX9nL6bsQMACtWwChnIglW_umEAbWQO0Q03d2TPB5DD-GsJWT76dtwv4wx-IvRnYiGusn11etXcbJFzxifaDcXDchZiWAHgKeaEgFsaj00Z4Jp-uQq7Jb5ikm-KkO9wYcnLPeNgKEv-BsB4AKScv4ydcLhhZYdFo-ZEg-MLYPEN-y52LVCcSlrVBv5me4aJ-9KRY48Ac1CpMwa--1HtS9LJdOx7G6fAquP3tR2n_FmJRr1Nw_IkhrcUGt06byQUbYHuBALyxPxKbnm6IGT5AfDGEphJN_ojMacKPCf4XAmnXD2RcGMIy6TIOW2LaudApaYJMhBasmuex78QtjYe8wksaqSZzGi6jzpWHIFW3xdUtPajHzlX1zkYdTXevaXUSKt1xC7tG8QdIV4465JtKiem4SCD5aLhb-yVrfwvKIdrZLBej8dc9z5Jc48EJ9u-SAjLWiKof59lptASwuTlSGGI_d_2YAZA-AS97_JDYplqnjMoLF4P2X99wJxViiWa1HJrF0XinKPydNd5zpwQkkGA_OY0P0Sk8s5-M8Xcw3uh6Peg0cXy1w7Pz9N5oJ1wh5cp_sa2cfD2U865ER7x4sqsvNx94B0BIJ374tzc1kqzT74e2S3hE2VDMlXo5dwdqYhJNy72K9FdL-XSy-VJxbEXwJwZXs0OXaiNHtN1al6CZG_ZD4KGt31WekiANVhi_SKGFdbzseU05B2s601abJGLYN6g7Vo4Y5mse2KgxD-NEFXFKhwka_KedTaLlhQaWZOP5ZnaMR5HoBjavDAJA7mSasXJ5rDCS79vEGuEyldZNlFDny3a1SXXy8JRxLgpLsJjBWO1TqR6qCkPseE4vsATxV5kRTMjTcR5gLFHZ4Rr7Y5bF9BCKjEJ0Ksuzxts-OfsBkVNSD02LoaLSqGuZABemZ-tn69ra7ei7_-vD_KqCP_ufzCxQP6e3KiMxs5w31St5kidU4dJe-NWf5LFQ6mlxu8jUF5ghP7CYuNBEaAiqztj0HVyoBo7vaGT5OX6kGFqM-QOfRCAhZbjVs7PIkK_CbelvELodWKyOo-vPQcICURbwT_eTLv3NKBtNTGa2AMOrjxtqabf6DWBzaOQk2Q_rQ9fhDJJQBvHxHZppQsu1hn19lZdIecrmKdV68gvLNRDI-q88BRoO2u_O3zUfmmjJXImOknckGATqowtqgNuPv_mj2Ga7knDQnAL9dF16iSU9CG33c7GX_kJ3YBGwKQxxSIH7HuoU1LVUiskTCcXoUzYngNZ0ogwiE2djzuOui6sClD2pIoB-3sRCaqfji9GLIZ_8AB8AfzYiGEmJFZS1lO0Ur4lKlNYeAW-0hc9Zga02VKwUOx2HrDoY9WHj1Mg_CiRRdyBR2qkugNaEbLb59KaQQGQGv04CHtpIgW3sxyCyk0ZbQAu68MPjNiPtqmQ9OiXhkzBq_DCLH_sVM0l3Ax6cq-43TElrYa1lPTJiPWWSKM9GuW8qeRC68PdorGQa1NYGYtKQJjRCV1KpJrn7Hj5F7fie4WTFwt4LbXT24tvS7zr81dAWTzZMjCSlPo6KXishQm0t-D2E_OZh9-_t32Wvm24lXIy3e-g9C5BxjSrpPkNmqAU9ayKywnyKcszBY0IYZq25j8hw3jNIBqt6j8cyqmjd6mmGGx-yJf8Lm6sglL6Z4tZGBrvcHOaeX0SM6hpaTDD3EqqemjU5G9fC71ExHVdt5HWHUVqmMdSQVkANP_idp-nyIZvblo_T9rAdNH5KpPT0sonNbwZSqCtH-vfl-c3tuWRkA0lp5gZnEeGtaqUq3qC8-TtxtPlb-MEbu1NO6qdMWG0V60FYWeVT3XdSFtujqFonpZbnY5o9srOQf2Tt0mYK8kCOb_r3lCrKmyXqsxd8SgsdhqttENwgqm21a8T0YKuzIkuIknGyK-mn2MDLfT9jzic3HjgK5iAJRm-xD6j2ftGRYjRTl-iEbYCfJ4P7Fd0Z_TRM6Ms9olsF3gkyWHRJoZ-irS_oZtvqpHLMOUvV_z9dNoJIFHPcwknF1UjIivy6RS2twXpvhp9TySrlRQptlLeuLBwsXfAI9wugU2cyJOFraNxe3Qm694IzbBwvsTpozDhVLs9nMQ7KmPXlIy83cZyAEbLyhv--USxYGCbR5z6kVf9V-PxfDRlJ_mfz7seup43RqAnukAHmSupI49XjaU6n-uUHPL3QKk89H2cIGRPpZFt2mseC3dpb2UFltdqdJfj4GcWHisVAggLyCNwB8iN3YQwsC2_SyqMdQd2uqh6h6eY5Vx3RdcIils7pUSWgANpA8zSWIvkiBay-V0art7-FYTxKVaWpJMLeQ==",
  "id": "rs_0cc17a75151f9137016ab43998e3c487d08eb664f80b0f7890",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.435,\"right_y\":0.11,\"right_z\":0.07,\"right_yaw\":0},\"note\":\"The low straight-down grip also closed empty: contact pushed the jaws up and displaced the bottle. I’m resetting to the upper-body position that did produce a real grasp earlier, with the jaws returned to their original angle.\"}",
  "call_id": "call_Pz6pPBAW4pD80wCW60akoGmM",
  "id": "fc_0cc17a75151f9137016ab4399af1b087d0b3220ce0c8a2da9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Pz6pPBAW4pD80wCW60akoGmM",
  "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]: [-0.3878, 0.9367, 0.7113, -0.5053, -0.6292, -0.5018, 0.9973, 0.3641, 1.7081, 0.7139, 0.3576, 0.2611, 0.1383, 0.9954]\nstate[eef_state]: left_x=0.2947 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0072 left_roll=-0.0015 left_gripper=0.9973 right_x=0.4203 right_y=0.1152 right_z=0.0579 right_yaw=0.0554 right_pitch=-0.0402 right_roll=-0.0192 right_gripper=0.9954\nstate[joint_eff]: [-0.6085, -2.2359, 6.3385, 1.5507, -0.3736, -0.0269, -0.0073, -1.1009, -6.5983, 8.0342, 1.9121, 0.2418, 0.1734, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ad002b5d3ed02f826af430467a4d0c4a0860c5b41bdeab5bb2e73a37aec9f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee096fac85abdda4ad7747976d0d75d0275cda41d041ec7f4d2f8adc820c3ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:016ca5b051145dd463095a0334b9deeea5c69e1af546f23ce537831f35196f4c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 105 changed as sent

message 113 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9363, 0.7113, -0.5037, -0.6292, -0.5018, 0.9973, 0.3752, 1.2697, 0.4568, 0.1677, 0.168, 0.078, 0.9955]\nstate[eef_state]: left_x=0.2949 left_y=-0.0043 left_z=0.1868 left_yaw=0.3808 left_pitch=-0.0058 left_roll=-0.0028 left_gripper=0.9973 right_x=0.3342 right_y=0.1037 right_z=0.0807 right_yaw=0.1764 right_pitch=-0.0632 right_roll=-0.0165 right_gripper=0.9955\nstate[joint_eff]: [-0.4855, -2.2359, 6.8171, 1.5067, -0.3541, -0.0171, -0.0073, 0.7179, -3.5761, 7.1453, 2.4249, -0.2418, -0.0073, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6292, -0.5018, 0.9973, 0.3649, 1.5902, 0.3698, 0.7483, 0.1535, 0.0669, 0.0128]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0069 left_roll=-0.0018 left_gripper=0.9973 right_x=0.3668 right_y=0.115 right_z=0.0554 right_yaw=0.1836 right_pitch=0.1054 right_roll=0.0143 right_gripper=0.0128\nstate[joint_eff]: [-0.6496, -2.2906, 6.3111, 1.5653, -0.3736, -0.0122, -0.0073, -0.4581, -4.547, 4.7795, 0.8864, 0.0415, 0.0659, 1.0427]\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]: [-0.3878, 0.9367, 0.7113, -0.5053, -0.6292, -0.5018, 0.9973, 0.3641, 1.7081, 0.7139, 0.3576, 0.2611, 0.1383, 0.9954]\nstate[eef_state]: left_x=0.2947 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0072 left_roll=-0.0015 left_gripper=0.9973 right_x=0.4203 right_y=0.1152 right_z=0.0579 right_yaw=0.0554 right_pitch=-0.0402 right_roll=-0.0192 right_gripper=0.9954\nstate[joint_eff]: [-0.6085, -2.2359, 6.3385, 1.5507, -0.3736, -0.0269, -0.0073, -1.1009, -6.5983, 8.0342, 1.9121, 0.2418, 0.1734, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ad002b5d3ed02f826af430467a4d0c4a0860c5b41bdeab5bb2e73a37aec9f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee096fac85abdda4ad7747976d0d75d0275cda41d041ec7f4d2f8adc820c3ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:016ca5b051145dd463095a0334b9deeea5c69e1af546f23ce537831f35196f4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmfqroYaAD61PgX84ISWNP6ZQz9867tQKt9lGFjt9aFUL4fEIsKMgY5zbCwjQUhibUU8rTXUtP10IQtQ8Al8SjQ8WGeMNO-ycCf3U9zFsWUcO3yXoOG_2p_l1D9Pkfz9lqsajxe4mKjPBgP8_qxD3H8RpPhQ1XfVIfe1pQ2RYYtvx72m7sjhnyiiWN5s8uOuxOboxxQGCaYCWPjcu1nmWNirsMfodhYp2dOdRpwP5P25rO-GyraLGGB0Zctn1dEJ7O-YVupLwjemhQUXzMTiiCwI5-pgcFpYG7Ro7VTxKo__SyAMqNXC7N8qBrEyaVHii_HzFjGkVbsAEovn78VSJ2sicldFdZZhia3_VpkHmHybFkNYYcMByeJJAaoDJdfHQiDJDjqG3O5TQ50_xxS2c4mO7J-hnBz2MEFROIDfI99W281zxkvbbRYlSchXJDS_LTXNfeZvZowDqdaZWrr9wnSNMKqH-X7x0WhAt8-s4ncqWzsIzb7_zTC0W78tKrYpYawPXG1F6g0ia3BMNFJh2Z234C28zfaHhlpRKYJ8BlXkYyAGdXogA-Xm3n5T2Xksy9uUv5c31ctU35gfVUdhAAqUiIhpc5mpyK8FG_l-ol6fEvYBle9o7i-VAYaPZz-TIHv_7d4aJFlYlO0iHdFUJb2IFYy3u5J0PPgkz64N_wF0Smul6OBWHLqMAQ3RrLwU4Vl4svGSeGMyzq5XQyNEjtjcaAP3tmuje8u3QkZNZZWTM7fwcFygcOL4am-bmFwzhV7Ee0ieCCA_vNE7mbM34yX96gLLEeq8FfuoLPsq1FyVZigHqMxN-qYF6evBi8kYij-MF9AXkz3zidZMjyst1eeecZttih-8AI4FmceiOexgOmmPugW1qlXgbZ-XHcuF5eER3rvS1TohuzLaiaImh1il4FX9eMvjVa4c6sQEbaf9TloR_v-QZiOlTQ27A_TqGapxyRl2goxHttJ19u5sDlrTdt7QymaNmyVBI9aBPI-ALi_BTfm1V892pn7sY7-77K7bzG6nn5w2Bp0TNXfv6U31ogUcnJhoN0VWJrBQYVJ7fQ5yimKbhkJ0RkClEsGdtR6vbv-39BHZl05E3vWvEyPfsw211iAZG4komitcoalaeQCQD7V601b8HUGOqFAzWlDsdjkruLdowTW5q3MQVPBwMRBou9-AKrPzs95YtNeCaCuWh9qyvL8kz7vi_WrvcuJAbbP21g7wmxVGCQ9c_Ed1UcWwRnA6Kbi-IgtCmpOLHbxNhclEM74aMn6_358i0swLWagy0PB6fIMkMkZ2u62-oVc2VY9BpfZInFUtvPHh1TdZa9hedmMq4bZPAlHG8xGgJ3-97mejok1nrZcHirOkGXnGNdR7hLDDxlg2xEK2nmplWUiTPft2yAdWYOcIOS0EwD43aF1g1J2BkK0wDjE7hBk0W4xOGsrUu52Vb2salobtRdMECzLLS1qfDyg1c5Rzve2aT3dFecTSCSf_xrnP01hNbltSoR5lb1a8aoWMKfVntKrFqz7Q9Y7TDqXoO9GhP8uHUBbLQ4r-tDLtcvXQeQOsyiDBfQD1pAOcVBtanaavnNDljDefjMwRZfYTbEKJC9lC9bUBAMIMkgIPFJ3zr8jRBDGcBHAioZRAPlJsleJqFSwCjpqDGTe5FL9rgMDF5HkLUtf-F2ozp5CYK3LVeq2obA3fNnembMm24Uwcp-eYN4ydtJDM_aM3YZ122L7",
  "id": "rs_0cc17a75151f9137016ab4399dc1c887d082eadcd37ec7c273",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.403,\"right_y\":0.13,\"right_z\":0.025},\"note\":\"The right bottle’s upper section is directly below the open fingers, but its cap is slightly to one side. I’m lowering over the upper body and making a small centering adjustment before closing.\"}",
  "call_id": "call_QY3VUAwbgnUCYdpRo1Jp10Cz",
  "id": "fc_0cc17a75151f9137016ab4399ece3c87d0aecab9fd359990df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QY3VUAwbgnUCYdpRo1Jp10Cz",
  "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]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6292, -0.5018, 0.9973, 0.4225, 1.7782, 0.6186, 0.532, 0.2996, 0.1562, 0.9955]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0069 left_roll=-0.0018 left_gripper=0.9973 right_x=0.4037 right_y=0.1282 right_z=0.0296 right_yaw=0.0724 right_pitch=-0.0243 right_roll=-0.0232 right_gripper=0.9955\nstate[joint_eff]: [-0.335, -2.0991, 6.3248, 1.5556, -0.3639, -0.022, -0.0122, -0.0205, -5.5863, 4.0274, 1.3553, -0.0904, 0.2857, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01fee1db3daca511839eae5d809d7f7dc1f58cc9496dd714ee3b975bcd933830",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c83a273e02372af44b124c00ef8ca1e0e4f23828b8477ce3f744807700cd90cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4c980000ad4d70aada80e593ca0ef141bdf6de052ca5bd8e635b1dc294f340a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 109 changed as sent

message 119 changed as sent

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9367, 0.7113, -0.5053, -0.6289, -0.5022, 0.9973, 0.3717, 1.7172, 0.2852, 0.9714, 0.1802, 0.0551, 0.9955]\nstate[eef_state]: left_x=0.2947 left_y=-0.0043 left_z=0.1864 left_yaw=0.3808 left_pitch=-0.0074 left_roll=-0.002 left_gripper=0.9973 right_x=0.3554 right_y=0.1084 right_z=0.0306 right_yaw=0.1742 right_pitch=0.119 right_roll=-0.0061 right_gripper=0.9955\nstate[joint_eff]: [-0.4034, -2.0171, 6.612, 1.5702, -0.2955, -0.0415, -0.0073, -0.1846, -1.6479, 0.7453, -0.359, -0.2027, 0.3248, -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]: [-0.3878, 0.9367, 0.7113, -0.5053, -0.6292, -0.5018, 0.9973, 0.3641, 1.7081, 0.7139, 0.3576, 0.2611, 0.1383, 0.9954]\nstate[eef_state]: left_x=0.2947 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0072 left_roll=-0.0015 left_gripper=0.9973 right_x=0.4203 right_y=0.1152 right_z=0.0579 right_yaw=0.0554 right_pitch=-0.0402 right_roll=-0.0192 right_gripper=0.9954\nstate[joint_eff]: [-0.6085, -2.2359, 6.3385, 1.5507, -0.3736, -0.0269, -0.0073, -1.1009, -6.5983, 8.0342, 1.9121, 0.2418, 0.1734, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6292, -0.5018, 0.9973, 0.4225, 1.7782, 0.6186, 0.532, 0.2996, 0.1562, 0.9955]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0069 left_roll=-0.0018 left_gripper=0.9973 right_x=0.4037 right_y=0.1282 right_z=0.0296 right_yaw=0.0724 right_pitch=-0.0243 right_roll=-0.0232 right_gripper=0.9955\nstate[joint_eff]: [-0.335, -2.0991, 6.3248, 1.5556, -0.3639, -0.022, -0.0122, -0.0205, -5.5863, 4.0274, 1.3553, -0.0904, 0.2857, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01fee1db3daca511839eae5d809d7f7dc1f58cc9496dd714ee3b975bcd933830",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c83a273e02372af44b124c00ef8ca1e0e4f23828b8477ce3f744807700cd90cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4c980000ad4d70aada80e593ca0ef141bdf6de052ca5bd8e635b1dc294f340a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmhfYNJ25T3tZ59JO9fSIU9D-sQWPbBKP9DTxWvQ3Jy-ufeuwCK_w3nRgeAf3ZqqpXvGSOidWGsDtFuEN4Rxa3n4gKPTxOaKLtCYPbqmzA91DrNELyCK6YfJZ0mo4b7RITA-JM_jObddhP_5icqcXLskkwwCcGhRjNtrxmFmAHL-Wd0cFuK6rlEoNw7b84Q55H_Ln0tGAsEU4OYeLNMTgLJYIV2awh7XA4tIGU9n-Aw2HlSiWU3rDuiPtCbJ5Y5P8kFbc9bvjvQ17VBFaDsZesf9vNBetAUleUwCTSbxvEid7qob31SRy4hERQaSEksu3nod75_h8sKHyrvRmKUA1ijW9Meob2bAb7nj3EDllJc3DZIMS2h7wzTFFiWtNNTmGos5aJSLhWO5M5egrZzgQ7QC-oiYkDTKWkI53Do5wBCrpOZ44LS_M0_kSv-jeIb2FxABhPklBZhsi1KoSZuC70YZ_5cN4TE3tLgRpjpzqZifUr4tIre9BDLuzz2TnhXQPuP3D3ZzH8SW1A6uqu9X37zfTThLJCj0mTpqkplENP6fOz7UJLTwPl8hh7BkhE3qPYsaZOUDE8Nejr-zLgOEc2vNXRVnbcKS77TKtzFapbrqH-izxjjvfpPRah-yexzRoHYA8ba7ZwdCTGcrLeAY1-TldChCzcW1EmKvt2SO2ANrkIhyejG85Pm9_OV6HeJjtlAXqa7u4sHK7PSHbL0Qu-23Fe56oJTyRBN-74tE1K1G3nx8txUqqjqdckski1pB0zxvmKM-Qa6Bjpg7FVOmaVf2akl3GDs2Cnbf7arD0Xehg6S9v2CTPlsTBFczMAw4UpJulZ5NC9vLM8BvXIaR9sLGewdgzb_jgETsFavWGwxc3pxLKrw8zSBAAJwVfUD-05JyszXV7yrhEert2AY1o5uUqMImv3mR-n1ohKTbAEKpYkrCYnYThHkjyP50SPdjnjJv_UV0cx97kgOZG1kntf_8Ng2kdS_b1urTUVm-Jua0RcfB3g5zecvnX_HHpBP0Dz3rljXOAdUZyZxgPejSMz-mo-IzxfA2NeBMnGXMoV0p0S-0d4MqoWzthhpalMJQNJ4BrNeQxePvkz9Ewzx918qZTLc9YrnGxlCdAK1-UhAO9HameCPn1zp2iNON-VjsTUkKagMygnR_EZJid6TJAt_o_3zlYFUVN9yYkjZqrEy8oA5hTgFk_e07jxhKBHw7DN6vexFQFfvWilfLEjSrj0l9Yrf_yLDhgE-GcF6aHuaLMjRxh3bKYBC_I-Cb-5Kw94RQ5rvCMPRnz0OEjxgJaq5cG35gZ5Tm6IkKgwlZ5tQbpI=",
  "id": "rs_0cc17a75151f9137016ab439a0d85087d08b419728751ec2f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle’s cap and shoulder are now centered between the fingertips at table height. I’m closing once more; a settled opening around the bottle’s width will confirm whether this is a usable hold.\"}",
  "call_id": "call_P9abflJ1Y8VB9zbQefVq9w7K",
  "id": "fc_0cc17a75151f9137016ab439a131cc87d0b591daabd2806678",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P9abflJ1Y8VB9zbQefVq9w7K",
  "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]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.4374, 1.7824, 0.6075, 0.6743, 0.3103, 0.1711, 0.0126]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1865 left_yaw=0.3805 left_pitch=-0.0071 left_roll=-0.002 left_gripper=0.9973 right_x=0.4149 right_y=0.1384 right_z=0.053 right_yaw=0.0687 right_pitch=0.0966 right_roll=0.029 right_gripper=0.0126\nstate[joint_eff]: [-0.3214, -2.2496, 6.3385, 1.5995, -0.3004, -0.0122, -0.0073, -0.4718, -5.4769, 4.0821, 1.116, 0.1783, 0.1148, 1.1404]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785e221120d04ab708d7dc3cf28693102cb392a2783067a10464810237560ee7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d955196756f929352dce620db32d387ef9f143c55dca4d1c0e2ab57fe8ea0b4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3200b30bb40cee374e088ff16ecd251a08231d593b0ec298873b9fabc11ec0f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 113 changed as sent

message 123 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6292, -0.5018, 0.9973, 0.3649, 1.5902, 0.3698, 0.7483, 0.1535, 0.0669, 0.0128]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0069 left_roll=-0.0018 left_gripper=0.9973 right_x=0.3668 right_y=0.115 right_z=0.0554 right_yaw=0.1836 right_pitch=0.1054 right_roll=0.0143 right_gripper=0.0128\nstate[joint_eff]: [-0.6496, -2.2906, 6.3111, 1.5653, -0.3736, -0.0122, -0.0073, -0.4581, -4.547, 4.7795, 0.8864, 0.0415, 0.0659, 1.0427]\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]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6292, -0.5018, 0.9973, 0.4225, 1.7782, 0.6186, 0.532, 0.2996, 0.1562, 0.9955]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0069 left_roll=-0.0018 left_gripper=0.9973 right_x=0.4037 right_y=0.1282 right_z=0.0296 right_yaw=0.0724 right_pitch=-0.0243 right_roll=-0.0232 right_gripper=0.9955\nstate[joint_eff]: [-0.335, -2.0991, 6.3248, 1.5556, -0.3639, -0.022, -0.0122, -0.0205, -5.5863, 4.0274, 1.3553, -0.0904, 0.2857, -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]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.4374, 1.7824, 0.6075, 0.6743, 0.3103, 0.1711, 0.0126]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1865 left_yaw=0.3805 left_pitch=-0.0071 left_roll=-0.002 left_gripper=0.9973 right_x=0.4149 right_y=0.1384 right_z=0.053 right_yaw=0.0687 right_pitch=0.0966 right_roll=0.029 right_gripper=0.0126\nstate[joint_eff]: [-0.3214, -2.2496, 6.3385, 1.5995, -0.3004, -0.0122, -0.0073, -0.4718, -5.4769, 4.0821, 1.116, 0.1783, 0.1148, 1.1404]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785e221120d04ab708d7dc3cf28693102cb392a2783067a10464810237560ee7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d955196756f929352dce620db32d387ef9f143c55dca4d1c0e2ab57fe8ea0b4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3200b30bb40cee374e088ff16ecd251a08231d593b0ec298873b9fabc11ec0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0cc17a75151f9137016ab439a3eb4c87d08bc2394edb319aa2",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmpceefUistSqw_8vX5gH4uwRLwM25pmOK24yV_vf13r9I9Uaejl5zLQTv6lezHwLUdI3BhKJRB8wkseAqBnAREwOMEQHlBLUObVJUlA-cX56ukly8goWy8uu1likDDKU86SWcwxzqCcCfkogfrBJvqj-FHY3iGqIdLBAoH1RhluAfQX7NcM0ED4SFgZBOJPmw2kH5O2in7BVwD4ikgc8eu03BEmIMDgZ-SxgwnWjJm1RPFFdxVyEWeBUr98Vt8cgyyPtKnCTHNV9qMz4VqplAycqnXtOlt7rUkZ6BcYq7F8gcQYYj5tbEbtTcFLBfh6-Ws-lRMceAhRR9S7yAwv80IwgNn1k5g-2wS65I4LofIIx_pjrU7Ivfik_6N3bmmVARYVBe2ezfu07721YxuUnXLnIlYbwZSp3a3oDUdW79z3fSLHSiIlFjRbdD_RXrRp3bsKQR7OpUi3VOMVSciQCX7on6Vqg29_xiMPF-Ka9TReXlIK0fNr7DgG304eXREpVjsYB5bIXfWmwf3j-6wfJAT5Bw9Cdhkp2c0nSNnDfcyXHxkdA7Q7dsxlLqYGCEuj39Fqe8r1PbPEKtFNhlEIvG4ceIKcAXmzfhtk8bks8Hvj7SK5z2toT08eLdtMqvgKYgQdlok1auZx_HCZlgawLgx6Okvxg9ovgH6A2qZYO2I4zVvYBjGzKxMeBWCNYdItVKFrWjYSI0D-fpQGwQEkdRPoXE9RMYXhUZzGFks8zwQE-WrLauv__9Kj_lu4B3uLVuPa9lssRRvUwpwGU9BmbR1XyLF8iMACBbULErjDI1KH3umM88-tIsM7sxiCy2xeipQ-Muh4ciJBIpLN47c8ERp9ooVjRI9t02Vo6JmzifRilcg_RnKrUhgc_2RlQ_LiJZDacNQFS-P4ODzBGdKrI2Cv_FwaKuY2JnHexUxZxW00djtLg2Cdv1KFK-EoN_2BG95yhZvtDVRQJ6nXUkE8d53MkdE4TKVpR9OrQ6OLJ0-mm9cBS59Zy2zu5M-YddtGi5K8AWP_DoNYsUpg2OtQtC2a7JVoUGq3QcUCn3cPCdNvB1bMMLENrYKVPLfg06sgLvSh8cJe1g9Sn6PZDNVI8Z5on_0IFJ2-DrqL9cHv3vAPZaQ1eAptfeDyhdsuj0-0fH9YIRrYK4a3vxFagItXmLP0_N905zfsbfD2JcIS88HlogPIdP-D9zflnVqdMfhkKRC56p8GajjVNuuw1jIhbbFjq7gV1CXMVfPIqsNZcY2STSux2lRLh9lYwrCHOCQ37upqMfTwbmzoMKz094UU2eC93PoTO48yQ80wvllfsMxV_912Y0CAcziHId711oisq2S2cIK_ITGAfxdVzMOQ1iAGnnCjPnh3iXzBTZq2wFbPmj7jtgCnfVu79TchkMWARE2CiyuC3LqbZtGx_DMSiB6GxxIbUNkj7AxpoOfd1rrjQqmxsDBdyVbbW73B9jAQ525XWLODXwkShNjSrQxqhVOwg7JL2VxgeJNAz1EaugTLyprHSYzZA7g3-y0Jgf1hn5e",
  "id": "rs_0cc17a75151f9137016ab439a7e72887d09c1dc663da1b5167",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"left_yaw\":0},\"note\":\"The close was empty and the arm is hiding the right bottle, so further blind retries would only push it around. I’m clearing both arms to inspect exactly where all three bottles have ended up before deciding whether another safe attempt is viable.\"}",
  "call_id": "call_O6BrROBb5ZetWId6zQroKtVA",
  "id": "fc_0cc17a75151f9137016ab439a880f487d0a967cd684809839c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O6BrROBb5ZetWId6zQroKtVA",
  "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]: [-0.0715, 0.8024, 0.6296, -0.4225, -0.1253, -0.1093, 0.9973, -0.0673, 0.8112, 0.6334, -0.3946, -0.0662, -0.0811, 0.9956]\nstate[eef_state]: left_x=0.2926 left_y=0.0048 left_z=0.1814 left_yaw=0.0785 left_pitch=-0.0273 left_roll=-0.0086 left_gripper=0.9973 right_x=0.2975 right_y=-0.0048 right_z=0.1859 right_yaw=0.0171 right_pitch=0.0006 right_roll=-0.0098 right_gripper=0.9956\nstate[joint_eff]: [0.1983, -1.9077, 6.5299, 2.0391, 0.0513, 0.0708, -0.0122, 0.0068, -1.5111, 10.2632, 1.9267, -0.1685, 0.1441, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fae88de28584cb95a3bd38e754baa3d79d4390583e14401b8f65b637523f2f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:406ec700066e8e75cc40439cc3624d17dce2a557619ffbe67bfb5d0816026cd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5a7216002a429d01982ed0dd778ee854c576a2646380fa314787712a7dd92b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 119 changed as sent

message 127 changed as sent

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9367, 0.7113, -0.5053, -0.6292, -0.5018, 0.9973, 0.3641, 1.7081, 0.7139, 0.3576, 0.2611, 0.1383, 0.9954]\nstate[eef_state]: left_x=0.2947 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0072 left_roll=-0.0015 left_gripper=0.9973 right_x=0.4203 right_y=0.1152 right_z=0.0579 right_yaw=0.0554 right_pitch=-0.0402 right_roll=-0.0192 right_gripper=0.9954\nstate[joint_eff]: [-0.6085, -2.2359, 6.3385, 1.5507, -0.3736, -0.0269, -0.0073, -1.1009, -6.5983, 8.0342, 1.9121, 0.2418, 0.1734, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.4374, 1.7824, 0.6075, 0.6743, 0.3103, 0.1711, 0.0126]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1865 left_yaw=0.3805 left_pitch=-0.0071 left_roll=-0.002 left_gripper=0.9973 right_x=0.4149 right_y=0.1384 right_z=0.053 right_yaw=0.0687 right_pitch=0.0966 right_roll=0.029 right_gripper=0.0126\nstate[joint_eff]: [-0.3214, -2.2496, 6.3385, 1.5995, -0.3004, -0.0122, -0.0073, -0.4718, -5.4769, 4.0821, 1.116, 0.1783, 0.1148, 1.1404]",
      "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]: [-0.0715, 0.8024, 0.6296, -0.4225, -0.1253, -0.1093, 0.9973, -0.0673, 0.8112, 0.6334, -0.3946, -0.0662, -0.0811, 0.9956]\nstate[eef_state]: left_x=0.2926 left_y=0.0048 left_z=0.1814 left_yaw=0.0785 left_pitch=-0.0273 left_roll=-0.0086 left_gripper=0.9973 right_x=0.2975 right_y=-0.0048 right_z=0.1859 right_yaw=0.0171 right_pitch=0.0006 right_roll=-0.0098 right_gripper=0.9956\nstate[joint_eff]: [0.1983, -1.9077, 6.5299, 2.0391, 0.0513, 0.0708, -0.0122, 0.0068, -1.5111, 10.2632, 1.9267, -0.1685, 0.1441, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fae88de28584cb95a3bd38e754baa3d79d4390583e14401b8f65b637523f2f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:406ec700066e8e75cc40439cc3624d17dce2a557619ffbe67bfb5d0816026cd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5a7216002a429d01982ed0dd778ee854c576a2646380fa314787712a7dd92b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmuowahdaj85pp4uLsM5CxF10hXmROc15YQaoOEpEdbLnNf8UiEECFIBlgPJpFmRBZYryC4MsJpSF2CuudbBpHqZn7tOUaZd_oM7LbMJutKyyCG_A-JRnqgiHRlGVtV2OU_wLkis2iG37xB1oT8AidtD-m_ryHMSJOH01wetmanXNAh63RAUb9fmXC7O9SZO-T-GaY2VRnlOcc2goprPDnd5Qyb4mfrmgAzndZMGgBlPEwINhSy5j3ezR9okRSh2HXMqZsRDvskkPzperDWPp1eM3J1OAJKPzd4CkcKUDXzYFBxNbjOt9dRLC3OmG-hgj6MwUYL03p-68KUvcCuKQHmQj9DeFu4VkFoAsKHnKSBj3c7T7Ioz7DExD4Z_n2Lb_378kK7pnDHnB4WDtXJCWMQ_S2xUZYpEnDbmkDfPFWMhHw6KXSA6E8NYYzLGjIGmmVVCZgXxVk2x77zeeGUjDqW6KV_cQQOkIrH0nukEavTqeL3HDJ-NhqumdB4T30aocmrt1jYBkS22Z4gZsNQ-iuxHTCx_XTiPnQZ824r6zOybStzw3Q0oTeKrWK859QTl8Gtm3rdXEt7hKbSVSBqzbSCJQj1t83ghmDq4jpSuGS6gKxK9lHmxPMIAFOlWvdXaOkgKAv0F4IkzhxS23gwNIPeJDJA4TLBEtLR6G4-U2z7J6RlXmAUCHbb1Hc6NbMkgE0GizcmCIPbF8cYOFtzQZxsZBq1u4y3Ze8VlxiirCb0LIJ3MChcbJgO67kAMbAvMJFUE5iylNouDpDBM-MFTkUK_1vbGmuSLlbwAMHmu0EZePeM8lL6NQZJ85wBiofairQ1l9t4FBvjE6yX7AlwLtfDg741UTpSJuUF8b2zMJ0jtgSwCJnG0RAGM7vuJV3OO9L6iMDHslfCauYkQb3yl0nBbVF0QX5itA8BE6h0KtVycD89BH_rl4oP4aGxRjRahF4GPlAQPsCFE597BQoW_dXQl-hJkqrSh0PtZRYG9nIQfhznTd4QzS930SHIzjr4yfaLHPVTkKj7xfLf2ahTfu_KOtcOlxn6XFAhSJ7N7sBiVP3zZKZYQ8yIlWVO-HgixYi6qXAAAVKlqh7PT04XQBnlLf3c6mvyGTgXmjrNTZOk87xWVcVnAGok7go2yDxLjiDZhuxXwFOzRhnZ-cicBCLJfHrcxf_CieRgvDE00HWuXQ756jrwkS3_AAdkAFD6KHlEMzd9SdUcNeU40yUPDj6oZ0iUHz7_uGVoMJn1gU_e9WJ1cuMsJrd79pdugRXp5JvrkGWmVUskSqqUtZ9vt_onyPSZcHKXHpTXbmPANlogggOSEC-Xmnp6ve30DoTBJ7CUTqzrnw1H8UUjdgKFTVJhIbpLhaxG8Gkrnhmj54qHEjPDWGPl4NzS9vOUEstwei4o4iUaXINOTJ7a4yNNLBam4aRnz3kH6YnkUYf2YI3ocu8YfjKGg349l25wPZUfbMgZDOdQG-2hRncEINHDfBVXsJzWX09qFyJvm4gGQbbvpvDV3T2LYQQcNVwW0lm2jh7OmmxnFa2cM7Bp0jQYWcvXc0qFV8pt5ODumWPrhhN2XrUliHRwSAEyAexRIT3eDRGPDHYSOVFPW4Oo7FeDziUF-CMf3b-MWvFWOSabTBgtm9uEFx-dU9bostmAGoBLL9Tay-ZJymtEFITliArAUNEVhjgYTjMyeHY2Em-mp52ihkZI7vOH-E2APgZP0XoKKlhU_lIHKtwt5hJ60M4aXdCcPvUlD1H5xlouxzyMqHeG72SBo_Vgx2eUZcCimsSvADvPLMQ0mB5x9uKDIgv9qboOQp0GDnvAcX4MkKDclfTcbrGjd5N2BrV-v6ConZhv3as0Zh72H9T-fFfmr1F_v--X5eZuiIIdwtNaqb0b24YvgdYy7Si4vWQ_PIpnZ-BwFuMk9lSq1P-UOsXZEgqlXQ4Rnk3EYY6fyikDEF8XMH2ogN2ar0smJoXHE9PMEU4KBy8Evov-Y1UV5X8BXu2JQlTPKub6dWm1S2KophsKWxRHcyeM5hx1mcP_3HDZYtGivKrE7hJHkTuat3nY0YlHSHLJckPLCyp2vhXEPGMM8EamIExWfOxtGh-nAY8KR_JpaxuJBpSaHXDGAFp7CPhzREpkpelhx7tLj8MLcu1IBPm0qHlD6tjqo9kQ5vX_xGoCr0B8qLwSAZddWLmPTk22l8J0ldLyd82YlfQ4DFjQym1qyS130fn7mVyQPb9ikbI99YJ3HhBoUj42-lmBctlVJGYKLI_tW_3mSefaXpo4Vp_7LkSxTa0vu3yXEdYmrVDkmFkFBZpU-aBmQlFhS2LndnpnHclT9jKD3ywmmI0Ubd0nKOOEm45AFZGm4ZZ6iI9S191z",
  "id": "rs_0cc17a75151f9137016ab439ab735c87d08ca4bbaeea954214",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.404,\"right_y\":0.14,\"right_z\":0.085},\"note\":\"With the arm clear, all three bottles are confirmed still on their sides. The right bottle’s cap is now farther back and visible at the left edge of its original lane, so I’m making one more careful approach directly above that cap.\"}",
  "call_id": "call_rkvlWoR0JbHYKlsxm1nrA0pj",
  "id": "fc_0cc17a75151f9137016ab439adbc2887d0bfa8ddacab06a862",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rkvlWoR0JbHYKlsxm1nrA0pj",
  "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]: [-0.0788, 0.7906, 0.6037, -0.4, -0.139, -0.1047, 0.9973, 0.4732, 1.594, 0.6815, 0.1944, 0.3424, 0.2008, 0.9955]\nstate[eef_state]: left_x=0.2917 left_y=0.0051 left_z=0.1775 left_yaw=0.0804 left_pitch=-0.0178 left_roll=0.0015 left_gripper=0.9973 right_x=0.3829 right_y=0.1335 right_z=0.0634 right_yaw=0.0619 right_pitch=-0.0976 right_roll=-0.0455 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.7436, 6.9265, 1.8095, -0.0855, -0.022, -0.0122, 0.2667, -6.735, 8.2803, 1.9023, 0.4518, 0.1734, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e183fbc265adc70a5d1de20c54c79de531ee17d21ad4868ffd083d482253bdc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63816dd74844d35d194c0ccf44fa3658c7673e8805f0f1563d40b3a8f1568d2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bad6688b5b38ebaa12f607726cbe43719169002a46222321feda5ebba118b14",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 123 changed as sent

message 132 changed as sent

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6292, -0.5018, 0.9973, 0.4225, 1.7782, 0.6186, 0.532, 0.2996, 0.1562, 0.9955]\nstate[eef_state]: left_x=0.2948 left_y=-0.0042 left_z=0.1865 left_yaw=0.3808 left_pitch=-0.0069 left_roll=-0.0018 left_gripper=0.9973 right_x=0.4037 right_y=0.1282 right_z=0.0296 right_yaw=0.0724 right_pitch=-0.0243 right_roll=-0.0232 right_gripper=0.9955\nstate[joint_eff]: [-0.335, -2.0991, 6.3248, 1.5556, -0.3639, -0.022, -0.0122, -0.0205, -5.5863, 4.0274, 1.3553, -0.0904, 0.2857, -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]: [-0.0715, 0.8024, 0.6296, -0.4225, -0.1253, -0.1093, 0.9973, -0.0673, 0.8112, 0.6334, -0.3946, -0.0662, -0.0811, 0.9956]\nstate[eef_state]: left_x=0.2926 left_y=0.0048 left_z=0.1814 left_yaw=0.0785 left_pitch=-0.0273 left_roll=-0.0086 left_gripper=0.9973 right_x=0.2975 right_y=-0.0048 right_z=0.1859 right_yaw=0.0171 right_pitch=0.0006 right_roll=-0.0098 right_gripper=0.9956\nstate[joint_eff]: [0.1983, -1.9077, 6.5299, 2.0391, 0.0513, 0.0708, -0.0122, 0.0068, -1.5111, 10.2632, 1.9267, -0.1685, 0.1441, -0.1245]\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]: [-0.0788, 0.7906, 0.6037, -0.4, -0.139, -0.1047, 0.9973, 0.4732, 1.594, 0.6815, 0.1944, 0.3424, 0.2008, 0.9955]\nstate[eef_state]: left_x=0.2917 left_y=0.0051 left_z=0.1775 left_yaw=0.0804 left_pitch=-0.0178 left_roll=0.0015 left_gripper=0.9973 right_x=0.3829 right_y=0.1335 right_z=0.0634 right_yaw=0.0619 right_pitch=-0.0976 right_roll=-0.0455 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.7436, 6.9265, 1.8095, -0.0855, -0.022, -0.0122, 0.2667, -6.735, 8.2803, 1.9023, 0.4518, 0.1734, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e183fbc265adc70a5d1de20c54c79de531ee17d21ad4868ffd083d482253bdc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63816dd74844d35d194c0ccf44fa3658c7673e8805f0f1563d40b3a8f1568d2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bad6688b5b38ebaa12f607726cbe43719169002a46222321feda5ebba118b14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDmzQ0v4-UicP_tO7QNTGTrbIZTmYDQO48AHRgNkuln4oRpw0DyBx5WdMVq7K4wYjkTYKNJb1_uesyh9ZOa41FyZSztWa2t6UXFnZudDouynD8Ab6F37gRwknkAUQ3Ahx3kPtJ3pKodx3FwNrKC2eY0H5zD1MMHt1pCY3dznJHZmNDUBv0rKBvMAE7GaiIpi3MIgldv7ZEMwnsjEUyIPRcTqna2jUXV3mlq-mS8thy1tHGWQ-jOv1RFc0DAAbgtU5Eh4tk-SVRWs28iJbQs_X91TbZRUPTHT4KVqF9qw5WZ-VTVtfiFgHXHNUg80LJ3NdzX7O9xZmnMplfvb__B5SBJOFwLbFqUcbZu1UJn_QjBzEAFI40gt9kvLt2YNj2-R-2CYLyHmTmfv-7UQNClNdDjsv9sCDr2Mar4HRTNLo30T9rEKcosDuI57RmQXFDDmcTC-Nm87eKdngddJ9va30IYZxZWUpt9L0zTE2njAmLTcJhhzugVHJZtLd_HP5j1i514ErO2yjuobqTD40yMxg238_ZU5WGruj48SjVC9fmWDh1lyQ0wXL4Nb_L6xHfUwlgMYaH2FRfHbEGjnHvNh0lzyjvR1-rVaKteUC-boLKWRPraOY7VAC7zXkMwoV433o5RVtaOL2sdP6b9N8KJyhAc-kxijMfjVNwB16Vf9ANI6HUylaJoZzY8Kp3kuTC6iF0Vq1WHGh9RkXUBiDKmMHjISZCMwgS4pFSL4Mhh0mAJr0hlXC9f0FHkae0jvXeOR6eUjsq4wly4JjvWf2C9zAoRUA77bGt9aR0hwW1hVS-Xr8aNIfx9fB7RUyrLU-qH1JXBXkinJq6YaK-bSQlmR6c17y_Ui3I6bsfoUvdboav1D7VPAMHWFH1Jd49JKt6FLDJqbdVOC_Ajdu4qlzlP5-3BlVxNLr2MPsiW4bejqPPYgtqtd8wsRt8oMg9UfwtHigijcvVFKXD915sQ3dYmhRSzNTROVIZ56P9zJa-09Ys3bBEvvPJv13Uf8JqL73cZPcRHU2IjIAsT53ArJekjX-NwP529xOvK7H4jiL9ryw9v4iw25qGLRmxS9G2h63IGPPz2nkHZEL4ye8VFDuvNX3hkDMn2xNPV4LVD3_H5G5CQOERWd425_cbZ4hHEj3fdZ5RRGCQIcHknOAtUSLIjuTSC8xvuhhdoInmmzU5MhvXfceo9cUfb61_X9umuI65RRgSBEMdomFjx_MeLYSmpnyveX7EASN46tVYTJTGzwe4fhD09mX0zqpxeSRLfz_-wefYUEoYMV49ZqWaivk8zLP_Ule7T4MHxZ-33iER-cLSd_i0vgQjg0yZEK1J06ByxWGMYkka5Yv0FCtPL5N6E5dq8tpVeYqFAb4zZZzguityCp3SJNKG9jRAMQ0o-GCnBbWDXjw02k0TU9gs4V7esSfZxrKHGGzgd-pMQmaihd5zV8rDC2BOxlxPhZS0j4rrJggUHNulVj9xR7ejM-rJske9A2QN0Yu3Lyn04162XvAxGIPJvyxJPmWifWuCxHCU_Sq45VNdt58ZA-vQuxVJmAXENwZ6r3eKzP8KIkL6ztN4AvjspQVWcIAGvCRwtot90jJkq4XMNogQLoJ3f_Fakge0XXGPWl0tkPCkQ4HlNA2Vw34a-lalPmrI5RuHwy9TSNOa0GmLwA1G1ZLnuHTAE6igGz6r-THWfgMVQA0QI8lrqjn_Cz0tdDWzhoytiaGOY4053PBzCj-bHPPQWyKMnoWkC_I_zmeRCeZ2YveH6pQvUrK3Xp4z7rB6kc_A_HMQmPAg1gM4qHor2aI-daKssJ6KhvMYwjxzlPehtT0mF83YuQfCT4-h2M00hlBXxLq99GIF0cHI5YjV_iBPdYi-nUF2AFiyZJ7qQNMXO11D9VTHtaKeO4PZYylJ7oo7haRKXa5g4EorSR3MCnKB1vIce36IX-SyqE5SytlWUbp0qm1DtjDxLasGGjtw5KFiyQ9h8w45OUrsXrWsPr1urOK52Dba67F-iGVPggtXP6cOUB-EUPzZbCZluBXUav1vZ4YiFPT5YXUwB06bwPVZIQ04HnXxkA6W_hsQ79QFiEVxkHPea1oae2jfZ3KwE3ahx6yA0qz8HWh16Vft80_pwiIsUsAkDrXQ==",
  "id": "rs_0cc17a75151f9137016ab439b0e8ac87d09960f5976c818092",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.14,\"right_z\":0.07},\"note\":\"The right cap is centered in the wrist camera but still ahead of the fingertip closing line. I’m advancing radially at the same safe height first, so I can lower onto it without dragging the bottle forward.\"}",
  "call_id": "call_OxQAaiR0heo4bhqCX5JKwgfv",
  "id": "fc_0cc17a75151f9137016ab439b2cbe487d0acc835df1e51c393",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OxQAaiR0heo4bhqCX5JKwgfv",
  "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]: [-0.0792, 0.7887, 0.5869, -0.3931, -0.139, -0.1047, 0.9973, 0.4255, 1.7416, 0.7387, 0.3107, 0.3012, 0.1684, 0.9955]\nstate[eef_state]: left_x=0.2904 left_y=0.0051 left_z=0.1718 left_yaw=0.08 left_pitch=-0.0257 left_roll=0.0028 left_gripper=0.9973 right_x=0.4129 right_y=0.1335 right_z=0.0456 right_yaw=0.0664 right_pitch=-0.0843 right_roll=-0.0366 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -2.0718, 6.9265, 1.8681, -0.1001, -0.0317, -0.0122, -0.759, -7.2957, 8.1299, 2.0293, 0.0952, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:774478f5ec09e705d7fac65ee1d552d3cc056c834d3f756c19c240f4374a90c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc680af53dc651430c525dcf4c0fee47c27ecd91919e27e5e6979fced5b82b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e854b5ab25023ceb33e70b23982b1ba868fe0c7e76cc9596b9e7a4388f20cdd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 127 changed as sent

message 136 changed as sent

message 140 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3878, 0.9367, 0.7113, -0.5049, -0.6289, -0.5018, 0.9973, 0.4374, 1.7824, 0.6075, 0.6743, 0.3103, 0.1711, 0.0126]\nstate[eef_state]: left_x=0.2948 left_y=-0.0043 left_z=0.1865 left_yaw=0.3805 left_pitch=-0.0071 left_roll=-0.002 left_gripper=0.9973 right_x=0.4149 right_y=0.1384 right_z=0.053 right_yaw=0.0687 right_pitch=0.0966 right_roll=0.029 right_gripper=0.0126\nstate[joint_eff]: [-0.3214, -2.2496, 6.3385, 1.5995, -0.3004, -0.0122, -0.0073, -0.4718, -5.4769, 4.0821, 1.116, 0.1783, 0.1148, 1.1404]",
      "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]: [-0.0788, 0.7906, 0.6037, -0.4, -0.139, -0.1047, 0.9973, 0.4732, 1.594, 0.6815, 0.1944, 0.3424, 0.2008, 0.9955]\nstate[eef_state]: left_x=0.2917 left_y=0.0051 left_z=0.1775 left_yaw=0.0804 left_pitch=-0.0178 left_roll=0.0015 left_gripper=0.9973 right_x=0.3829 right_y=0.1335 right_z=0.0634 right_yaw=0.0619 right_pitch=-0.0976 right_roll=-0.0455 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.7436, 6.9265, 1.8095, -0.0855, -0.022, -0.0122, 0.2667, -6.735, 8.2803, 1.9023, 0.4518, 0.1734, -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]: [-0.0792, 0.7887, 0.5869, -0.3931, -0.139, -0.1047, 0.9973, 0.4255, 1.7416, 0.7387, 0.3107, 0.3012, 0.1684, 0.9955]\nstate[eef_state]: left_x=0.2904 left_y=0.0051 left_z=0.1718 left_yaw=0.08 left_pitch=-0.0257 left_roll=0.0028 left_gripper=0.9973 right_x=0.4129 right_y=0.1335 right_z=0.0456 right_yaw=0.0664 right_pitch=-0.0843 right_roll=-0.0366 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -2.0718, 6.9265, 1.8681, -0.1001, -0.0317, -0.0122, -0.759, -7.2957, 8.1299, 2.0293, 0.0952, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:774478f5ec09e705d7fac65ee1d552d3cc056c834d3f756c19c240f4374a90c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc680af53dc651430c525dcf4c0fee47c27ecd91919e27e5e6979fced5b82b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e854b5ab25023ceb33e70b23982b1ba868fe0c7e76cc9596b9e7a4388f20cdd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDm2_GtOjWdai6O1JGg1qfwG4VR0JBcUYHHji-PHDKWbYqGcdcJ0K-CXb2fzbOHays921cVrbLfzyr-ZPdA9XYP_lrFMsc8UU9v3tOEhCIsSESotaS-pr9q4nXVqIftHlJHQKUpRZhU4W148qI2Ai8bjPZsc8yapYvIxo4qnR6sRhvG1sMEdo2Djuxjp-ochiJOrbOuGPfnRlgGvwUuI3DylNAfiB9--_A0M1QEPmTdBrbwLe6DIvCgZRt6TnKVyRi_h8DMp7e0QXFvLXFa81pfVxlXdGHuM0fJFVKCSJXQGPUz0Rmhzu2GO6mHqh6R1SOKvcTAHvjJcVfm9MXFGredkDXYasu1hEl-f1k2WuVDCdUZ_JtuQGLPmh7rOiKsius_NUl1CIjm_jdPKnBNm-SbcT6zL1lKxwrJXpII1nhCUzHU0iMYpRhGNDRjHfRfKGCr1JXailOlvn3unMdQuxNc_DIsOdvR2VTCzojiDMnLu2Od2_jTwFhywT24BeeBrhulzNiRD9rsESGPht2bGE8hRq4E5zYfhuu58mv9zHnYuiUIlOCotAjIvs5TF31pnZd4dSTg5BG0AhbKYHGq8tmymHnMKaVxoSBAUZKez4b46CHWtzQi2UU5f6cqABmpLW9sYZX7s-CeuKEcUNz-YfoyRj3gIbESjRsCaBoGnIyL8z8ogpY6EsxUOP7A5wz_wn5Qp6o-vVw6Gug-eMOeFtssKpJ5YcgCMMPf_M1o-mfNNaw6Yv8YcHs-n9CM0Pk2-9jmjff8qNnGYLpWEbkS4g54XamkSS6oyZNiWT99186mPm77mNieoQJAYBDdd-ptTYWw4zibH1wRfKMkSsq5JW9YTtZaUJTNz5wicQFzPdy8hax_zZkKwxuS6uFOrIMgqRlc8gDNYa8V9eZ8UNGWi9T4X-0luxx82SwkhOfW5tc8G1mGQjQhxczvZXowuhy1I7dbteYdwRAzeB-Vl-LDCVS0-xI0br6NeJ8o0kGJkof7bEU21RAwvcx0I67dxfx5kWaY4h2seEISHJsJ6kHDe_aXiWsPHCzBPLiIgH7ww8SQ55vL1ydhXtTFR28nlYpkDIfZYa1NwfHaPOFMiiVvYva-y5BZtELpokbIJCYttCw_fMZ8MTWKa0WV45ydoxeKtA66Tpmpxd3wsETjYtaHm8cQ2BWBPKBWqFojnkNwc7Dsqm2W55Qcpnkksv5kpRAt-P6l4sYjtIDrSa2_fiGQVGmiyZjgvapx0hPvg3C0nb-9Wki3pV5ifUp56gQewp0RFY78cnnNC3reOcifezeIogbJlnhW_qNqqF6Bs3x9NCEIecrPJavIDQkUZ3rn8G0byxXffw2QIYQpmThnH2a78eYUfAP8nJa5CZ6BazdvZYHmcKkJySgtgUsRyAZJGLd5CP9sc5caDKZ7XGH6EieMCKroxTeoXYiecwjKn8C0Lp1O5kc9vYaSqBUAg80lwDWKTDp9_",
  "id": "rs_0cc17a75151f9137016ab439b529fc87d0b032e13ab1702f33",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_z\":0.065},\"note\":\"A short radial advance brought the centered cap noticeably closer to the jaws without disturbing the bottle. I’m advancing another few centimeters at the same height until the cap reaches the fingertip line.\"}",
  "call_id": "call_egfxtAG01wDeWvOODXknkS8E",
  "id": "fc_0cc17a75151f9137016ab439b5bcc087d089ec8fe0634bda17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_egfxtAG01wDeWvOODXknkS8E",
  "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]: [-0.0792, 0.7784, 0.5655, -0.3752, -0.139, -0.1051, 0.9973, 0.424, 1.7477, 0.7639, 0.3229, 0.284, 0.16, 0.9955]\nstate[eef_state]: left_x=0.2895 left_y=0.0052 left_z=0.1685 left_yaw=0.0802 left_pitch=-0.0189 left_roll=0.0014 left_gripper=0.9973 right_x=0.4212 right_y=0.1398 right_z=0.0542 right_yaw=0.0843 right_pitch=-0.0587 right_roll=-0.0224 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -1.8393, 6.6667, 1.8632, -0.1099, -0.0757, -0.0122, -0.9504, -7.4462, 7.7744, 1.9805, 0.1441, 0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea427abc702b6f067d30cc0cc7cc9758199947e3cf1514ac65d625535b9e366b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29060fb5e8493a814c26e3fe0189e618b383e6c4be4c05f3d87fc71ae62440ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b774e6b44e1c073d79ae50486e2f55d363402e385b7172b53813b29ffb0b43",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0715, 0.8024, 0.6296, -0.4225, -0.1253, -0.1093, 0.9973, -0.0673, 0.8112, 0.6334, -0.3946, -0.0662, -0.0811, 0.9956]\nstate[eef_state]: left_x=0.2926 left_y=0.0048 left_z=0.1814 left_yaw=0.0785 left_pitch=-0.0273 left_roll=-0.0086 left_gripper=0.9973 right_x=0.2975 right_y=-0.0048 right_z=0.1859 right_yaw=0.0171 right_pitch=0.0006 right_roll=-0.0098 right_gripper=0.9956\nstate[joint_eff]: [0.1983, -1.9077, 6.5299, 2.0391, 0.0513, 0.0708, -0.0122, 0.0068, -1.5111, 10.2632, 1.9267, -0.1685, 0.1441, -0.1245]\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]: [-0.0792, 0.7887, 0.5869, -0.3931, -0.139, -0.1047, 0.9973, 0.4255, 1.7416, 0.7387, 0.3107, 0.3012, 0.1684, 0.9955]\nstate[eef_state]: left_x=0.2904 left_y=0.0051 left_z=0.1718 left_yaw=0.08 left_pitch=-0.0257 left_roll=0.0028 left_gripper=0.9973 right_x=0.4129 right_y=0.1335 right_z=0.0456 right_yaw=0.0664 right_pitch=-0.0843 right_roll=-0.0366 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -2.0718, 6.9265, 1.8681, -0.1001, -0.0317, -0.0122, -0.759, -7.2957, 8.1299, 2.0293, 0.0952, 0.0415, -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]: [-0.0792, 0.7784, 0.5655, -0.3752, -0.139, -0.1051, 0.9973, 0.424, 1.7477, 0.7639, 0.3229, 0.284, 0.16, 0.9955]\nstate[eef_state]: left_x=0.2895 left_y=0.0052 left_z=0.1685 left_yaw=0.0802 left_pitch=-0.0189 left_roll=0.0014 left_gripper=0.9973 right_x=0.4212 right_y=0.1398 right_z=0.0542 right_yaw=0.0843 right_pitch=-0.0587 right_roll=-0.0224 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -1.8393, 6.6667, 1.8632, -0.1099, -0.0757, -0.0122, -0.9504, -7.4462, 7.7744, 1.9805, 0.1441, 0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea427abc702b6f067d30cc0cc7cc9758199947e3cf1514ac65d625535b9e366b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29060fb5e8493a814c26e3fe0189e618b383e6c4be4c05f3d87fc71ae62440ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b774e6b44e1c073d79ae50486e2f55d363402e385b7172b53813b29ffb0b43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDm5UKSHxgnZiB0VqeWMMIWP6n4Ru_zhobghrG7I5pRT-8zB72t6knWgotOScKEfIj-qw-yXCObGmaoGBe3PDIgFA9zAg6bxNItXIefwQNGKaBWbZk2GCJIYCjrqNEQSjebXtcmtp__uY9BAwrV1zPw1PQkecWUZ01mjLW4rq05ry9jCsBWblEXIY6XZAry5yNQUT8BqtZv8BQR-jGCTYoUTc7gs16IJ0jzZOIvMXaJJLu-ryC6emwOWNhoWscnwBfaqwT-dCmR1CuZJMFBAT4iFst2HRCZmLs07GnZnIcuLwOShHXhXpLEVM7KB9wsVCVD-SzHMLYxME54fh-Xdn-T0z5p0uPgI4OhQgN2hrvNOdXOgKI_t_zsZCT9itKZVm8BTNygm_vjnamtYRzVvEbnCJmLZucLiOK7XPqnI_ILv5BJLnlkv11KrFkUVO6ukBbrOiah1gZcyl9RazHR4zWU841aznUyajBYuVCWN9c9qnEbl6Nm3vpcp_xf9k_N2XT2iKDJkkVwz-ebG6gnwiWMvHBZaVAb6AzAj67bRjN6G0zf9o6YKz-gs3kzYxo8RGBIL_eOXygjxZCZQV19N3N9StPuTydKIxFmNLbu4PYf2kNScEE49_laBJ-h57MbDQX-cXQaxWsPFktl9MwmiK7wkgqCCPPtyuXWYJkFyKnbW8Ku7EuUnf4Mz8_v5QLaac6wBsYQdWuxnUr--2cKz1PDifmzgY5Pk-O3EPamF1eiQdmVzL_iCkxdZF_mTe5aHnU1IbeKEPb-P14lBDENEpbS6MVOcgrqUC3ZALI6xdDU-Zn6F2IKxRNTbu4ZSUBcE4wzMytwbvm0OnEAk8IDmKvi0MBqXoOIKTcJ8Uzt6kU28vfekK7LHKwzsK-NLkeM7tF2TEO37INedj4JGfxy6xMi7UNKFGLfYV0Yb0hbm7g9Yo5Wjphq3yXtz97y0y1MfbkCSnnZi_Ey0t5WfL_Y6H7sUnjdKA7VnjI-PnPU6eY85H4Ycqr8oCQQNn0gENRiIBKYp_T8ST5lMDPtT7vg0BQqS9-siWLhKTdZjt5J7cyeCmJGan3GvXG-UhSNjekreDMDeN3N9JL-rtQisJHHLwtjX7nPxfOi0RQ8zPFdOt5OJHbNWZFUfCvVGOnpt0qBIs_IbQDkyLSZYSNHFoMOb6rdflVxA1u-7Yem2UUeUaBE3vIkBMPj6GHzsBftybr8eAkM_o6Yj8csDDVQ6ix2fjJhnc5o-OfO12FTTLS-Tw8l5QgCBGqGCxFSx-ZwGtfQb-Ju-kxlS3xg32cJlWEb-sn73JKFXamXtEEfkONVV-yyFLqMdMvWdWPqBCrRV_Y6QKCoXVWKoCiZsG25sfx9_DewUDVqlWsSJn37NtPx-W4knph1AzhLbzr8apNMtE8o30fDBoTFI8Qi11tD-JXlObHw50-vC4fx4oUdYvAi45_Rd-TI5lOYTJUq82Xcs3gJko-hIxjs1qjoREbF3Qt3y7wq2T0CwK43KVZO7y9Zm5MZ_lagTgrbr-HYFfiocgAYL41SLTAlKv1hTWhSyqwWGcGcL3Ca3TMbeX_L3g0c4EaICimfle4IU1gMuBhQX3t7AXszRadI8Mz51b3yxr5Gv710cScZORtbCFbML-j9256v0E78aTBlK2NUcfN2_bXFUCxxn",
  "id": "rs_0cc17a75151f9137016ab439b7d1e887d0a35098f8e50a9f5b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":-0.02},\"note\":\"The cap is now at the right jaw-closing line, but the gripper is still several centimeters above tabletop height. I’m lowering straight down over this position before attempting to pinch the cap.\"}",
  "call_id": "call_Rdkv8qBHkzrCxiAGi5xeM6Tp",
  "id": "fc_0cc17a75151f9137016ab439b8b08c87d0b32338462988e5c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rdkv8qBHkzrCxiAGi5xeM6Tp",
  "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]: [-0.0788, 0.7776, 0.551, -0.3702, -0.1394, -0.1047, 0.9973, 0.424, 1.7477, 0.7639, 0.3229, 0.284, 0.16, 0.9955]\nstate[eef_state]: left_x=0.2882 left_y=0.0055 left_z=0.1631 left_yaw=0.0807 left_pitch=-0.0276 left_roll=0.0033 left_gripper=0.9973 right_x=0.4212 right_y=0.1398 right_z=0.0542 right_yaw=0.0843 right_pitch=-0.0587 right_roll=-0.0224 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -2.0034, 6.6667, 1.9219, -0.1001, -0.0171, -0.0122, -0.8821, -7.5419, 7.788, 1.9902, 0.1783, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c36d21244a105939877cf33fac5589899206ffa596a6a4e20eac512e347f621f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46792015642b3ef0a568dcc47c5df73aa7b75366ec72079776f1a0c296fa8e1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f464824972835c45cd4df898a37f9c9f57acf280be560baa1b6e769968b69496",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}