adhoc

completed
2026-09-23T22:34:05.927287+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
193 s
total steps
283
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
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. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint 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.
user
Goal: Stand all three bottles upright.
Raw transcript
system
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. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint 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.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe three bottles lie near the center, with their blue caps toward the far side; I am bringing the right gripper above the cap of the rightmost, nearly fore-aft bottle while keeping ample height.
move_to
right_x0.4200right_y0.2800right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0193, 0.7933, 0.6071, -0.3771, -0.0227, -0.0284, 0.9988, -0.0154, 0.7879, 0.6033, -0.387, -0.0235, -0.0353, 0.9986] state[eef_state]: left_x=0.2955 left_y=0.0019 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2933 right_y=0.0032 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9986 state[joint_eff]: [-0.4855, -1.4427, 9.812, 1.79, -0.0317, 0.1197, -0.1392, -0.8274, -0.8137, 10.2632, 1.8632, -0.022, 0.1685, -0.1636] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.28,"right_z":0.15,"right_gripper":1.0},"note":"The three bottles lie near the center, with their blue caps toward the far side; I am bringing the right gripper above the cap of the rightmost, nearly fore-aft bottle while keeping ample height."})
tool
executing move_to over 24 steps (2.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe wrist view is laterally aligned with the rightmost bottle, but the cap is well ahead of the fingertip point near the bottom of the image. I am advancing radially toward the cap while staying high.
move_to
right_x0.4700right_y0.2800right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.387, -0.0231, -0.0292, 0.9985, 0.786, 1.8374, 1.2739, -0.2192, 0.5934, 0.4305, 0.9986] state[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9985 right_x=0.4082 right_y=0.274 right_z=0.134 right_yaw=0.0439 right_pitch=-0.053 right_roll=-0.0468 right_gripper=0.9986 state[joint_eff]: [-0.1162, -1.6342, 6.5709, 1.7949, -0.0415, -0.0464, -0.0464, -0.0752, -9.265, 9.306, 1.6044, 0.4615, 0.2271, -0.1636] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.28,"right_z":0.15},"note":"The wrist view is laterally aligned with the rightmost bottle, but the cap is well ahead of the fingertip point near the bottom of the image. I am advancing radially toward the cap while staying high."})
tool
executing move_to over 5 steps (0.5s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe cap moved down the wrist image as expected but is still ahead of the jaw convergence point. I am advancing farther at clearance height to bring the neck under the gripper before attempting the descent.
move_to
right_x0.5200right_y0.2800right_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.6136, -0.3866, -0.0227, -0.0292, 0.9984, 0.7059, 1.9572, 1.404, -0.2108, 0.5255, 0.3603, 0.9985] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1821 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4513 right_y=0.273 right_z=0.1248 right_yaw=0.0535 right_pitch=-0.0704 right_roll=-0.055 right_gripper=0.9985 state[joint_eff]: [-0.0479, -1.6479, 6.4342, 1.8681, -0.0366, -0.0757, -0.0269, -0.9231, -10.6051, 9.894, 1.8486, 0.3346, 0.0415, -0.0171] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.52,"right_y":0.28,"right_z":0.14},"note":"The cap moved down the wrist image as expected but is still ahead of the jaw convergence point. I am advancing farther at clearance height to bring the neck under the gripper before attempting the descent."})
tool
executing move_to over 6 steps (0.6s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe cap is now close to the jaw column in the wrist view, slightly to the right and still a little ahead. I am making a combined small inward lateral correction and partial descent, stopping above the bottle for a final check.
move_to
right_x0.4900right_y0.2600right_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0227, -0.0288, 0.9983, 0.6998, 1.9659, 1.4246, -0.2089, 0.5152, 0.3462, 0.9985] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=-0.0006 left_pitch=-0.0088 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4564 right_y=0.2752 right_z=0.1284 right_yaw=0.0634 right_pitch=-0.0639 right_roll=-0.0525 right_gripper=0.9985 state[joint_eff]: [-0.0752, -1.7436, 6.4752, 1.8046, -0.0562, 0.0073, -0.0171, -0.7726, -10.5778, 9.9487, 1.9121, 0.2027, 0.105, -0.0073] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.26,"right_z":0.07},"note":"The cap is now close to the jaw column in the wrist view, slightly to the right and still a little ahead. I am making a combined small inward lateral correction and partial descent, stopping above the bottle for a final check."})
tool
executing move_to over 4 steps (0.4s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe arm did not track the combined far-and-low target, indicating a reach configuration limit rather than contact. I am retracting slightly while lowering, then I can approach the neck horizontally from a feasible low pose.
move_to
right_x0.4200right_y0.2600right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.387, -0.0227, -0.0292, 0.9983, 0.6998, 1.9659, 1.4246, -0.2089, 0.5152, 0.3462, 0.9985] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1818 left_yaw=-0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4564 right_y=0.2752 right_z=0.1284 right_yaw=0.0634 right_pitch=-0.0639 right_roll=-0.0525 right_gripper=0.9985 state[joint_eff]: [-0.1026, -1.7846, 6.3385, 1.8437, -0.0415, -0.0464, -0.0122, -0.7453, -10.5094, 9.935, 1.8974, 0.2418, 0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.26,"right_z":0.08},"note":"The arm did not track the combined far-and-low target, indicating a reach configuration limit rather than contact. I am retracting slightly while lowering, then I can approach the neck horizontally from a feasible low pose."})
tool
executing move_to over 4 steps (0.4s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteAt the low pose the right gripper is centered over the bottle axis, but the cap remains several centimetres forward. I am sliding outward at this height to place the jaws around the neck.
move_to
right_x0.4800right_y0.2600right_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3866, -0.0231, -0.0296, 0.9983, 0.7269, 1.9232, 1.0771, 0.046, 0.5198, 0.3588, 0.9986] state[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4102 right_y=0.2522 right_z=0.056 right_yaw=0.0777 right_pitch=-0.1017 right_roll=-0.0751 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.2103, 6.3795, 1.8584, -0.0415, -0.0757, -0.0122, 0.212, -11.6034, 8.4308, 2.3077, 0.3394, 0.1001, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.26,"right_z":0.05},"note":"At the low pose the right gripper is centered over the bottle axis, but the cap remains several centimetres forward. I am sliding outward at this height to place the jaws around the neck."})
tool
executing move_to over 6 steps (0.6s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe cap is beyond the arm's comfortable table-level reach, but the jaws are centered around the bottle body. I am gripping the body so I can reposition the whole bottle closer before taking the neck.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.6445, 2.0842, 1.1759, 0.2035, 0.4515, 0.2951, 0.9985] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1819 left_yaw=-0.0 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4616 right_y=0.255 right_z=0.0375 right_yaw=0.0869 right_pitch=-0.0508 right_roll=-0.0332 right_gripper=0.9985 state[joint_eff]: [-0.1162, -1.6205, 6.3111, 1.8144, -0.0659, -0.0562, -0.0122, -0.9094, -9.5385, 8.212, 1.9658, 0.2906, 0.0122, -0.0171] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The cap is beyond the arm's comfortable table-level reach, but the jaws are centered around the bottle body. I am gripping the body so I can reposition the whole bottle closer before taking the neck."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe settled gripper width is about 4.6 cm, confirming a solid body grasp. I am lifting and retracting the bottle to a reachable area where its cap can be grasped.
move_to
right_x0.3600right_y0.2600right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.643, 2.0918, 1.1339, 0.3328, 0.44, 0.2943, 0.4836] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=-0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4655 right_y=0.2592 right_z=0.0407 right_yaw=0.0957 right_pitch=0.0133 right_roll=0.014 right_gripper=0.4836 state[joint_eff]: [-0.0615, -1.7162, 6.4205, 1.8242, -0.0269, -0.0366, -0.0122, -0.0889, -11.4667, 4.7658, 1.4725, 0.2076, -0.0024, 0.9158] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.26,"right_z":0.12},"note":"The settled gripper width is about 4.6 cm, confirming a solid body grasp. I am lifting and retracting the bottle to a reachable area where its cap can be grasped."})
tool
executing move_to over 9 steps (0.9s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe overhead view confirms the bottle moved with the gripper. I am lowering it onto the table at this closer location before releasing, so the cap will be within reach.
move_to
right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7979, 0.6132, -0.3874, -0.0227, -0.0292, 0.9983, 0.8318, 1.7008, 0.968, 0.0265, 0.5583, 0.4038, 0.4843] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=-0.0004 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3655 right_y=0.2675 right_z=0.1119 right_yaw=0.1322 right_pitch=-0.0115 right_roll=-0.0005 right_gripper=0.4843 state[joint_eff]: [-0.2256, -1.1966, 6.5299, 1.8535, -0.0269, -0.0659, -0.0122, 0.2256, -8.7863, 5.6274, 1.5995, 0.4957, 0.1148, 0.0659] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.035},"note":"The overhead view confirms the bottle moved with the gripper. I am lowering it onto the table at this closer location before releasing, so the cap will be within reach."})
tool
executing move_to over 5 steps (0.5s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe descent stopped about 2 cm above target with the bottle supported on the table, indicating contact. I am opening the jaws to leave it lying in the closer workspace.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.8371, 1.8492, 0.8501, 0.3107, 0.5915, 0.3897, 0.4844] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=-0.0 left_pitch=-0.0069 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3672 right_y=0.2655 right_z=0.0547 right_yaw=0.1198 right_pitch=0.0161 right_roll=-0.0169 right_gripper=0.4844 state[joint_eff]: [-0.1299, -1.6342, 6.4752, 1.8144, -0.0171, -0.0659, -0.0122, -0.5812, -5.559, 3.7538, 1.1404, -0.1343, 0.1001, -0.0024] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The descent stopped about 2 cm above target with the bottle supported on the table, indicating contact. I am opening the jaws to leave it lying in the closer workspace."})
tool
executing move_to over 6 steps (0.6s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe released bottle's cap is centered in the wrist view with clear space below it, so it is slightly ahead of the fingertips. I am advancing a few centimetres and raising just enough to align over the neck cleanly.
move_to
right_x0.4050right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.8356, 1.858, 0.8459, 0.3107, 0.5838, 0.3923, 0.9954] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3659 right_y=0.2648 right_z=0.0491 right_yaw=0.1227 right_pitch=0.0031 right_roll=-0.0195 right_gripper=0.9954 state[joint_eff]: [-0.1846, -1.6889, 6.5162, 1.7998, -0.0415, -0.0464, -0.0122, -0.6359, -10.0171, 6.2427, 1.4969, 0.1832, 0.1148, -0.1294] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_z":0.08},"note":"The released bottle's cap is centered in the wrist view with clear space below it, so it is slightly ahead of the fingertips. I am advancing a few centimetres and raising just enough to align over the neck cleanly."})
tool
executing move_to over 4 steps (0.4s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe cap remains centered and has moved closer to the jaw row but is still just ahead of it. I am making one final small radial advance at neck height.
move_to
right_x0.4300right_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.7609, 1.8584, 0.9524, 0.2028, 0.5171, 0.3508, 0.9971] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3937 right_y=0.2592 right_z=0.0649 right_yaw=0.1218 right_pitch=-0.0254 right_roll=-0.0218 right_gripper=0.9971 state[joint_eff]: [-0.0615, -1.6479, 6.4342, 1.8339, -0.0317, -0.0708, -0.0122, -0.5265, -8.5538, 8.3761, 1.746, 0.1587, 0.0269, 0.1685] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_z":0.065},"note":"The cap remains centered and has moved closer to the jaw row but is still just ahead of it. I am making one final small radial advance at neck height."})
tool
executing move_to over 3 steps (0.3s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe cap is now between the open jaws and centered laterally. I am descending a few centimetres onto the neck while holding the radial alignment.
move_to
right_x0.4250right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0296, 0.9983, 0.7139, 1.9186, 0.9901, 0.2089, 0.4671, 0.3111, 0.9974] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0002 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4097 right_y=0.2544 right_z=0.05 right_yaw=0.1349 right_pitch=-0.0577 right_roll=-0.0369 right_gripper=0.9974 state[joint_eff]: [-0.1162, -1.6068, 6.6393, 1.7949, -0.022, -0.0659, -0.0073, -0.841, -8.9915, 9.3197, 1.9805, 0.3004, 0.1587, 0.022] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_z":0.025},"note":"The cap is now between the open jaws and centered laterally. I am descending a few centimetres onto the neck while holding the radial alignment."})
tool
executing move_to over 2 steps (0.2s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe downward motion stopped with the cap centered at the jaw convergence row, consistent with contact at neck height. I am closing fully around the narrow cap/neck.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6952, 1.9388, 1.0096, 0.2096, 0.4583, 0.3012, 0.9979] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4176 right_y=0.2512 right_z=0.0475 right_yaw=0.1285 right_pitch=-0.061 right_roll=-0.04 right_gripper=0.9979 state[joint_eff]: [-0.1299, -1.6615, 6.4752, 1.7998, -0.0464, -0.0611, -0.0122, -0.4034, -9.347, 8.0342, 1.9609, 0.1343, 0.022, 0.0415] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The downward motion stopped with the cap centered at the jaw convergence row, consistent with contact at neck height. I am closing fully around the narrow cap/neck."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe gripper settled below 0.04, so the first neck close was empty. I am reopening and shifting about 2 cm farther outward for the prescribed single retry.
move_to
right_gripper1.0000right_x0.4400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6952, 1.9385, 0.9798, 0.2966, 0.4477, 0.2905, 0.0188] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4197 right_y=0.2552 right_z=0.0515 right_yaw=0.1439 right_pitch=-0.0158 right_roll=-0.0124 right_gripper=0.0188 state[joint_eff]: [-0.1299, -1.3744, 6.6256, 1.8681, -0.0513, -0.0366, -0.0122, 0.0068, -9.5248, 4.7248, 1.2918, 0.1538, 0.0513, 0.9841] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_x":0.44},"note":"The gripper settled below 0.04, so the first neck close was empty. I am reopening and shifting about 2 cm farther outward for the prescribed single retry."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteAfter the outward shift, the blue cap is visibly centered between the fingertips at the bottom of the wrist image. I am closing for the second neck-grasp attempt.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6701, 1.9709, 0.9962, 0.3031, 0.4141, 0.2596, 0.995] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4272 right_y=0.2524 right_z=0.042 right_yaw=0.1621 right_pitch=-0.0345 right_roll=-0.0249 right_gripper=0.995 state[joint_eff]: [-0.0479, -1.347, 6.4479, 1.7949, -0.0366, -0.0513, -0.0122, -1.0872, -8.3761, 8.8821, 1.8535, 0.1538, 0.0611, -0.2515] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"After the outward shift, the blue cap is visibly centered between the fingertips at the bottom of the wrist image. I am closing for the second neck-grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe full close again slipped off the rounded cap; the last wrist view showed it a little right of jaw center. I am reopening and correcting slightly toward that side before using a cap-width partial close rather than squeezing through it.
move_to
right_gripper1.0000right_y0.2450right_x0.4350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6682, 1.9739, 0.9691, 0.4126, 0.4057, 0.2535, 0.0197] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4323 right_y=0.257 right_z=0.0507 right_yaw=0.1703 right_pitch=0.0327 right_roll=0.0126 right_gripper=0.0197 state[joint_eff]: [-0.1299, -1.6615, 6.4479, 1.7998, -0.0366, -0.0171, -0.0122, -0.253, -9.8803, 4.9162, 1.4042, 0.188, 0.0464, 0.9206] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_y":0.245,"right_x":0.435},"note":"The full close again slipped off the rounded cap; the last wrist view showed it a little right of jaw center. I am reopening and correcting slightly toward that side before using a cap-width partial close rather than squeezing through it."})
tool
executing move_to over 10 steps (1.0s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe cap is now squarely centered between the open jaws. I am closing only to roughly the cap diameter to avoid ejecting this smooth rounded target.
move_to
right_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6483, 1.9739, 0.9771, 0.3592, 0.379, 0.2295, 0.9949] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4321 right_y=0.2498 right_z=0.0424 right_yaw=0.1854 right_pitch=-0.0144 right_roll=-0.0151 right_gripper=0.9949 state[joint_eff]: [-0.2667, -1.4974, 6.6256, 1.7998, -0.022, -0.022, -0.0122, -1.1419, -11.3846, 5.2034, 1.6239, 0.0611, 0.0659, -0.1099] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.3},"note":"The cap is now squarely centered between the open jaws. I am closing only to roughly the cap diameter to avoid ejecting this smooth rounded target."})
tool
executing move_to over 7 steps (0.7s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteAt 0.30 the jaws have reached the cap but the reading matches the command, so contact is not yet firm. I am tightening modestly, without a full close, to secure it.
move_to
right_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6476, 1.9739, 0.9684, 0.3927, 0.3622, 0.2272, 0.3056] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4328 right_y=0.2534 right_z=0.0449 right_yaw=0.1996 right_pitch=0.0035 right_roll=0.0027 right_gripper=0.3056 state[joint_eff]: [-0.0752, -1.6615, 6.5162, 1.8046, -0.0611, -0.0415, -0.0122, -0.3077, -9.7846, 5.0256, 1.6728, 0.2076, 0.1099, 0.1929] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.22},"note":"At 0.30 the jaws have reached the cap but the reading matches the command, so contact is not yet firm. I am tightening modestly, without a full close, to secure it."})
tool
executing move_to over 1 steps (0.1s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe gripper held at 0.30 despite a 0.22 command, confirming firm contact on the roughly 2.9 cm cap. I am lifting straight up high enough for the bottle to swing vertical under gravity.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6476, 1.9739, 0.9684, 0.3969, 0.3618, 0.2268, 0.3021] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4333 right_y=0.2538 right_z=0.0457 right_yaw=0.2001 right_pitch=0.0072 right_roll=0.0044 right_gripper=0.3021 state[joint_eff]: [-0.2803, -1.6615, 6.4889, 1.7998, -0.0513, -0.0415, -0.0122, -0.4308, -9.7846, 5.2034, 1.6142, 0.2222, 0.022, 0.2027] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.22},"note":"The gripper held at 0.30 despite a 0.22 command, confirming firm contact on the roughly 2.9 cm cap. I am lifting straight up high enough for the bottle to swing vertical under gravity."})
tool
executing move_to over 12 steps (1.2s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe bottle has rotated to a hanging vertical orientation and remains secured at the cap. I am lowering gently until its base seats on the tabletop.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6487, 1.7435, 1.3373, -0.2798, 0.3542, 0.2073, 0.3024] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4306 right_y=0.2541 right_z=0.1812 right_yaw=0.217 right_pitch=-0.0648 right_roll=-0.0404 right_gripper=0.3024 state[joint_eff]: [-0.1983, -1.5932, 6.6393, 1.8584, -0.0513, -0.0562, -0.0122, -0.294, -11.8769, 10.0171, 1.746, 0.1587, 0.1294, 0.0317] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15},"note":"The bottle has rotated to a hanging vertical orientation and remains secured at the cap. I am lowering gently until its base seats on the tabletop."})
tool
executing move_to over 3 steps (0.3s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe gripper descended to a cap height of about 14 cm, appropriate for the bottle's base to be supported. I am releasing it while keeping the arm still so it can settle upright.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6483, 1.737, 1.1732, -0.1341, 0.3534, 0.2108, 0.3025] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4202 right_y=0.2461 right_z=0.1408 right_yaw=0.2151 right_pitch=-0.0757 right_roll=-0.0422 right_gripper=0.3025 state[joint_eff]: [-0.0889, -1.4838, 6.5162, 1.8046, -0.0269, -0.0366, -0.0073, -0.4718, -8.8684, 7.9795, 2.254, 0.0269, 0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The gripper descended to a cap height of about 14 cm, appropriate for the bottle's base to be supported. I am releasing it while keeping the arm still so it can settle upright."})
tool
executing move_to over 7 steps (0.7s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe jaws are open and the bottle is unsupported by the gripper. I am parking the right arm to clear the overhead view and verify that it remained standing.
move_to
right_x0.2900right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6483, 1.7401, 1.0775, -0.0097, 0.3367, 0.2054, 0.9949] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4156 right_y=0.2462 right_z=0.1215 right_yaw=0.2323 right_pitch=-0.0568 right_roll=-0.0263 right_gripper=0.9949 state[joint_eff]: [-0.2393, -1.6479, 6.4479, 1.7998, -0.0317, -0.0415, -0.0122, -0.294, -10.8786, 6.7077, 1.9463, 0.2027, 0.0806, -0.232] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.0,"right_z":0.18},"note":"The jaws are open and the bottle is unsupported by the gripper. I am parking the right arm to clear the overhead view and verify that it remained standing."})
tool
executing move_to over 21 steps (2.1s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteWith the right arm parked, one bottle is standing in the center while two remain diagonal on the left. I am bringing the left gripper above the nearer left bottle's cap region at safe height.
move_to
left_x0.4000left_y-0.0500left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0296, 0.9983, -0.2359, 0.8436, 0.6044, -0.3939, -0.3424, -0.2626, 0.9949] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=-0.0002 left_pitch=-0.0069 left_roll=-0.0008 left_gripper=0.9983 right_x=0.2943 right_y=-0.0061 right_z=0.1697 right_yaw=0.1683 right_pitch=-0.0196 right_roll=-0.001 right_gripper=0.9949 state[joint_eff]: [-0.2256, -1.5385, 6.4479, 1.8144, -0.0366, -0.0611, -0.0122, 0.0479, -2.1402, 9.0325, 1.7021, -0.232, 0.022, -0.0171] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.05,"left_z":0.14,"left_gripper":1.0},"note":"With the right arm parked, one bottle is standing in the center while two remain diagonal on the left. I am bringing the left gripper above the nearer left bottle's cap region at safe height."})
tool
executing move_to over 9 steps (0.9s)
step 188
assistant
agent noteThe nearer bottle's blue cap is centered in the left wrist view, slightly ahead of the jaw row. I am advancing a few centimetres and partially descending toward neck height.
move_to
left_x0.4200left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.21, 1.3426, 0.6811, -0.0086, -0.1715, -0.1326, 0.9987, -0.2424, 0.8364, 0.5858, -0.3962, -0.3668, -0.2741, 0.9949] state[eef_state]: left_x=0.3806 left_y=-0.0466 left_z=0.1145 left_yaw=-0.0087 left_pitch=-0.0956 left_roll=0.0119 left_gripper=0.9987 right_x=0.2907 right_y=-0.0029 right_z=0.1639 right_yaw=0.1881 right_pitch=-0.0261 right_roll=0.0084 right_gripper=0.9949 state[joint_eff]: [-0.2256, -5.7641, 9.0462, 1.7802, -0.2222, -0.0269, -0.1392, -0.2667, -1.8667, 6.9402, 1.9267, -0.0269, 0.1245, -0.0171] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_z":0.08},"note":"The nearer bottle's blue cap is centered in the left wrist view, slightly ahead of the jaw row. I am advancing a few centimetres and partially descending toward neck height."})
tool
executing move_to over 4 steps (0.4s)
step 192
assistant
agent noteThe cap is now centered between the open fingertips at the bottom of the wrist image. I am descending straight down to seat the jaws around the neck.
move_to
left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1883, 1.5715, 0.6224, 0.2794, -0.1654, -0.131, 0.9985, -0.2424, 0.8257, 0.5579, -0.3878, -0.3679, -0.2749, 0.9949] state[eef_state]: left_x=0.4023 left_y=-0.0434 left_z=0.0603 left_yaw=0.0071 left_pitch=-0.0959 left_roll=0.0093 left_gripper=0.9985 right_x=0.2874 right_y=-0.0019 right_z=0.156 right_yaw=0.1895 right_pitch=-0.0338 right_roll=0.0121 right_gripper=0.9949 state[joint_eff]: [0.4991, -6.8855, 6.9402, 1.9316, -0.0562, 0.1538, -0.0415, -0.3214, -1.8256, 7.159, 1.8584, -0.2125, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025},"note":"The cap is now centered between the open fingertips at the bottom of the wrist image. I am descending straight down to seat the jaws around the neck."})
tool
executing move_to over 3 steps (0.3s)
step 195
assistant
agent noteThe descent stopped at about 4 cm with the cap still centered between the fingertips. I am using the successful cap-width close directly, rather than a full close that could eject it.
move_to
left_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1905, 1.7054, 0.5159, 0.6403, -0.1619, -0.1593, 0.9983, -0.2424, 0.8112, 0.5259, -0.3691, -0.3679, -0.2749, 0.9949] state[eef_state]: left_x=0.4096 left_y=-0.0463 left_z=0.0411 left_yaw=0.0161 left_pitch=0.0217 left_roll=-0.04 left_gripper=0.9983 right_x=0.2847 right_y=-0.0013 right_z=0.1492 right_yaw=0.1895 right_pitch=-0.0328 right_roll=0.0116 right_gripper=0.9949 state[joint_eff]: [-0.4581, -4.3692, 2.4547, 0.6813, -0.1929, 0.3199, -0.0269, -0.3761, -2.1675, 6.9402, 1.9121, -0.1978, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.22},"note":"The descent stopped at about 4 cm with the cap still centered between the fingertips. I am using the successful cap-width close directly, rather than a full close that could eject it."})
tool
executing move_to over 8 steps (0.8s)
step 203
assistant
agent noteThe left gripper reached the commanded width rather than stopping on the cap, so this was an empty close. I am reopening and retracting to clear the overhead view for a fresh alignment.
move_to
left_gripper1.0000left_x0.3200left_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2031, 1.7016, 0.5323, 0.6464, -0.1921, -0.1574, 0.2252, -0.2424, 0.7971, 0.4927, -0.35, -0.3683, -0.2749, 0.9949] state[eef_state]: left_x=0.4155 left_y=-0.0475 left_z=0.0503 left_yaw=0.0281 left_pitch=0.0508 left_roll=-0.029 left_gripper=0.2252 right_x=0.2818 right_y=-0.0005 right_z=0.1418 right_yaw=0.1898 right_pitch=-0.0327 right_roll=0.0118 right_gripper=0.9949 state[joint_eff]: [-0.0615, -7.241, 5.5316, 1.1453, -0.0513, 0.2466, 0.1392, -0.4171, -1.8256, 7.2, 1.8926, -0.232, -0.022, -0.0122] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.32,"left_z":0.14},"note":"The left gripper reached the commanded width rather than stopping on the cap, so this was an empty close. I am reopening and retracting to clear the overhead view for a fresh alignment."})
tool
executing move_to over 8 steps (0.8s)
step 211
assistant
agent noteThe nearer fallen bottle's cap is visible low in the wrist view, slightly left of jaw center. I am returning to neck height with a small leftward lateral correction to center it more precisely.
move_to
left_x0.4150left_y-0.0350left_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3126, 1.0275, 0.4995, -0.0044, -0.2756, -0.2012, 0.9946, -0.2424, 0.778, 0.4599, -0.3286, -0.3679, -0.2749, 0.9949] state[eef_state]: left_x=0.3322 left_y=-0.0531 left_z=0.1447 left_yaw=0.012 left_pitch=0.0528 left_roll=-0.0242 left_gripper=0.9946 right_x=0.2792 right_y=0.0001 right_z=0.1362 right_yaw=0.1894 right_pitch=-0.0258 right_roll=0.0084 right_gripper=0.9949 state[joint_eff]: [-0.335, -2.4821, 7.8838, 1.8144, -0.3101, 0.1245, -0.1734, -0.2803, -1.0872, 6.9402, 1.9023, -0.1685, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.035,"left_z":0.045},"note":"The nearer fallen bottle's cap is visible low in the wrist view, slightly left of jaw center. I am returning to neck height with a small leftward lateral correction to center it more precisely."})
tool
executing move_to over 7 steps (0.7s)
step 218
assistant
agent noteAt neck height the cap appears about 3 cm left of the jaw center. I am translating the gripper left by that amount without changing depth or height.
move_to
left_y-0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.165, 1.6474, 0.5423, 0.4847, -0.1631, -0.1535, 0.996, -0.2424, 0.7628, 0.4385, -0.3145, -0.3679, -0.2749, 0.9949] state[eef_state]: left_x=0.4026 left_y=-0.0343 left_z=0.0413 left_yaw=0.0398 left_pitch=-0.0479 left_roll=-0.02 left_gripper=0.996 right_x=0.2775 right_y=0.0005 right_z=0.1333 right_yaw=0.1893 right_pitch=-0.0186 right_roll=0.0051 right_gripper=0.9949 state[joint_eff]: [0.294, -6.3932, 5.5043, 1.3797, -0.0806, 0.4762, 0.1392, -0.4034, -1.2103, 6.653, 1.8388, -0.1929, -0.0073, -0.0171] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.005},"note":"At neck height the cap appears about 3 cm left of the jaw center. I am translating the gripper left by that amount without changing depth or height."})
tool
executing move_to over 3 steps (0.3s)
step 221
assistant
agent noteAfter the lateral correction the cap moved directly below the wrist camera and out through the jaw gap, which is the expected grasp-point location. I am closing to cap width.
move_to
left_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0834, 1.6695, 0.5053, 0.6022, -0.1112, -0.1181, 0.9962, -0.2424, 0.7589, 0.4252, -0.3119, -0.3679, -0.2749, 0.9949] state[eef_state]: left_x=0.4065 left_y=-0.0107 left_z=0.0427 left_yaw=0.0585 left_pitch=0.0048 left_roll=-0.029 left_gripper=0.9962 right_x=0.2756 right_y=0.001 right_z=0.1289 right_yaw=0.1894 right_pitch=-0.0248 right_roll=0.0079 right_gripper=0.9949 state[joint_eff]: [0.1983, -7.4051, 3.9316, 1.5849, 0.0513, 0.2271, 0.0073, -0.4034, -1.7436, 6.6667, 1.9121, -0.232, -0.0366, -0.0122] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.22},"note":"After the lateral correction the cap moved directly below the wrist camera and out through the jaw gap, which is the expected grasp-point location. I am closing to cap width."})
tool
executing move_to over 8 steps (0.8s)
step 229
assistant
agent noteThe jaws again reached the commanded width, so they closed just short of the neck. I am reopening and shifting 2 cm farther outward while preserving the corrected lateral alignment.
move_to
left_gripper1.0000left_x0.4300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0624, 1.6695, 0.5034, 0.6209, -0.0933, -0.0998, 0.2249, -0.2424, 0.7506, 0.4026, -0.2977, -0.3679, -0.2745, 0.9949] state[eef_state]: left_x=0.4085 left_y=-0.0054 left_z=0.0457 left_yaw=0.0546 left_pitch=0.0204 left_roll=-0.0249 left_gripper=0.2249 right_x=0.2738 right_y=0.0014 right_z=0.1237 right_yaw=0.1892 right_pitch=-0.0248 right_roll=0.0083 right_gripper=0.9949 state[joint_eff]: [-0.0889, -7.2957, 3.9453, 1.536, -0.0317, 0.2564, 0.1245, -0.5538, -1.388, 6.7624, 1.8095, -0.2173, -0.0122, -0.0171] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.43},"note":"The jaws again reached the commanded width, so they closed just short of the neck. I am reopening and shifting 2 cm farther outward while preserving the corrected lateral alignment."})
tool
executing move_to over 8 steps (0.8s)
step 237
assistant
agent noteThe 2 cm outward shift places the unseen cap directly under the grasp point while the wrist view remains clear. I am making the corrected cap-width close.
move_to
left_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0639, 1.7172, 0.5808, 0.5682, -0.1131, -0.104, 0.9947, -0.2424, 0.738, 0.3798, -0.2901, -0.3679, -0.2749, 0.9949] state[eef_state]: left_x=0.4238 left_y=-0.0035 left_z=0.0442 left_yaw=0.0721 left_pitch=-0.001 left_roll=-0.0152 left_gripper=0.9947 right_x=0.271 right_y=0.0021 right_z=0.1182 right_yaw=0.1894 right_pitch=-0.0272 right_roll=0.0091 right_gripper=0.9949 state[joint_eff]: [-0.335, -5.6821, 7.1179, 1.6532, -0.0269, 0.2418, -0.149, -0.1709, -1.1966, 6.8171, 1.8828, -0.2271, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.22},"note":"The 2 cm outward shift places the unseen cap directly under the grasp point while the wrist view remains clear. I am making the corrected cap-width close."})
tool
executing move_to over 8 steps (0.8s)
step 245
assistant
agent noteThe cleared overhead view shows the left gripper just to the image-left of the cap, revealing that my prior lateral correction used the wrong sign. I am reopening and moving about 5 cm toward image-right to center directly over it.
move_to
left_gripper1.0000left_y-0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0658, 1.7226, 0.5861, 0.5678, -0.1207, -0.1047, 0.2253, -0.2424, 0.7254, 0.3553, -0.2829, -0.3683, -0.2749, 0.9949] state[eef_state]: left_x=0.4251 left_y=-0.0031 left_z=0.044 left_yaw=0.077 left_pitch=-0.0008 left_roll=-0.0117 left_gripper=0.2253 right_x=0.2678 right_y=0.003 right_z=0.1119 right_yaw=0.1898 right_pitch=-0.0313 right_roll=0.0112 right_gripper=0.9949 state[joint_eff]: [-0.3077, -7.5145, 4.7932, 1.8144, -0.1099, 0.0708, -0.0317, -0.5538, -1.4291, 6.7077, 1.8632, -0.2222, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_y":-0.06},"note":"The cleared overhead view shows the left gripper just to the image-left of the cap, revealing that my prior lateral correction used the wrong sign. I am reopening and moving about 5 cm toward image-right to center directly over it."})
tool
executing move_to over 8 steps (0.8s)
step 253
assistant
agent noteThe overhead view now shows the jaws directly over the cap/neck junction. I am closing to cap width at this corrected position.
move_to
left_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2558, 1.7348, 0.6086, 0.543, -0.2794, -0.1917, 0.9946, -0.2424, 0.709, 0.3248, -0.268, -0.3679, -0.2749, 0.9949] state[eef_state]: left_x=0.4225 left_y=-0.0564 left_z=0.0452 left_yaw=0.0665 left_pitch=0.0054 left_roll=0.002 left_gripper=0.9946 right_x=0.2647 right_y=0.0037 right_z=0.1053 right_yaw=0.1895 right_pitch=-0.0307 right_roll=0.0107 right_gripper=0.9949 state[joint_eff]: [-0.5128, -6.1607, 6.8034, 1.5604, -0.2027, -0.0611, -0.0269, -0.5538, -1.3333, 6.8991, 1.8926, -0.1832, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.22},"note":"The overhead view now shows the jaws directly over the cap/neck junction. I am closing to cap width at this corrected position."})
tool
executing move_to over 8 steps (0.8s)
step 261
assistant
agent noteThe cap edge remains just to the right of the gripper in the overhead view and the close was empty. I am reopening and shifting another 3 cm toward it.
move_to
left_gripper1.0000left_y-0.0850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2539, 1.7348, 0.6113, 0.5411, -0.292, -0.1913, 0.2254, -0.2424, 0.6914, 0.2962, -0.2607, -0.3683, -0.2749, 0.9949] state[eef_state]: left_x=0.4232 left_y=-0.0536 left_z=0.0461 left_yaw=0.0786 left_pitch=0.0083 left_roll=0.0087 left_gripper=0.2254 right_x=0.2609 right_y=0.0047 right_z=0.0983 right_yaw=0.1898 right_pitch=-0.034 right_roll=0.0125 right_gripper=0.9949 state[joint_eff]: [-0.1436, -7.5145, 5.2034, 1.6142, 0.0415, -0.0513, 0.0024, -0.4581, -1.0598, 6.8581, 1.917, -0.2222, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_y":-0.085},"note":"The cap edge remains just to the right of the gripper in the overhead view and the close was empty. I am reopening and shifting another 3 cm toward it."})
tool
executing move_to over 8 steps (0.8s)
step 269
assistant
agent noteThe top view is nearly centered, while the wrist view still places the bottle at the extreme right edge. I am making a final 2 cm rightward correction before closing.
move_to
left_y-0.1050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3477, 1.7473, 0.6365, 0.5106, -0.3592, -0.2478, 0.9944, -0.2424, 0.6693, 0.2634, -0.2447, -0.3683, -0.2745, 0.9949] state[eef_state]: left_x=0.4204 left_y=-0.0825 left_z=0.0462 left_yaw=0.0704 left_pitch=0.0059 left_roll=0.0021 left_gripper=0.9944 right_x=0.2576 right_y=0.0055 right_z=0.0921 right_yaw=0.1896 right_pitch=-0.0292 right_roll=0.0105 right_gripper=0.9949 state[joint_eff]: [-0.4308, -6.4479, 7.159, 1.4335, -0.1343, -0.1099, -0.1294, -0.5402, -0.9094, 6.8718, 1.8926, -0.2222, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.105},"note":"The top view is nearly centered, while the wrist view still places the bottle at the extreme right edge. I am making a final 2 cm rightward correction before closing."})
tool
executing move_to over 2 steps (0.2s)
step 271
assistant
agent noteThe cap is still about 2–3 cm to the image-right of the jaw center in the overhead frame. I am translating that remaining distance to put the grasp point directly on it.
move_to
left_y-0.1250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.387, 1.7561, 0.6487, 0.4881, -0.3912, -0.2691, 0.9957, -0.2424, 0.6563, 0.2474, -0.2367, -0.3683, -0.2745, 0.9949] state[eef_state]: left_x=0.4176 left_y=-0.0936 left_z=0.0438 left_yaw=0.0687 left_pitch=-0.0034 left_roll=0.0087 left_gripper=0.9957 right_x=0.2561 right_y=0.0059 right_z=0.0896 right_yaw=0.1895 right_pitch=-0.0247 right_roll=0.0085 right_gripper=0.9949 state[joint_eff]: [-0.6222, -6.3658, 7.4872, 1.4628, -0.2955, -0.0366, 0.105, -0.5538, -0.7179, 6.735, 1.8779, -0.2271, -0.0024, -0.0122] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.125},"note":"The cap is still about 2–3 cm to the image-right of the jaw center in the overhead frame. I am translating that remaining distance to put the grasp point directly on it."})
tool
executing move_to over 3 steps (0.3s)
step 274
assistant
agent noteThe overhead view now shows the grasp point directly over the blue cap. I am closing to the proven cap-width setting.
move_to
left_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4675, 1.7813, 0.6762, 0.469, -0.4397, -0.3157, 0.9961, -0.2424, 0.6407, 0.2287, -0.2382, -0.3683, -0.2749, 0.9949] state[eef_state]: left_x=0.4139 left_y=-0.1207 left_z=0.0418 left_yaw=0.0524 left_pitch=-0.0045 left_roll=0.0025 left_gripper=0.9961 right_x=0.253 right_y=0.0067 right_z=0.0846 right_yaw=0.1898 right_pitch=-0.0289 right_roll=0.0101 right_gripper=0.9949 state[joint_eff]: [-0.2803, -6.8581, 7.0222, 1.5458, -0.3346, -0.0611, 0.0269, -0.4034, -0.6906, 6.5026, 1.8681, -0.2369, -0.0464, -0.0171] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.22},"note":"The overhead view now shows the grasp point directly over the blue cap. I am closing to the proven cap-width setting."})
tool
executing move_to over 8 steps (0.8s)
step 282
assistant
agent noteI stood one bottle upright, but the remaining two are still lying down and the motion/call budget is exhausted after repeated misalignment with the nearer bottle's base rather than its cap.
give_up
hindsightIn this setup, an upright bottle can be made by gripping its blue cap with a partial close: command about 0.22 and a successful grasp stalls near 0.30 (about 2.9 cm), then lift the cap to roughly z=0.18–0.20 so the bottle swings vertical, lower the cap to about z=0.14, and release. A reading near 0.225 means the partial close is empty. The oblique overhead view can make the clear bottle base look like a blue cap; confirm the true cap in the wrist view before committing. For the left arm at the left bottle, decreasing left_y moved the overhead gripper toward image-right, but the wrist view revealed that the actual blue cap was at the far end of the bottle, not under the overhead apparent blue end.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4831, 1.7859, 0.6838, 0.4496, -0.4576, -0.3412, 0.2253, -0.2424, 0.6209, 0.2039, -0.2272, -0.3679, -0.2749, 0.9949] state[eef_state]: left_x=0.4119 left_y=-0.1239 left_z=0.0398 left_yaw=0.0649 left_pitch=-0.013 left_roll=-0.0014 left_gripper=0.2253 right_x=0.2506 right_y=0.0072 right_z=0.0803 right_yaw=0.1894 right_pitch=-0.0234 right_roll=0.0073 right_gripper=0.9949 state[joint_eff]: [0.0342, -7.1316, 6.8444, 1.6728, -0.1978, 0.022, -0.0415, -0.3761, -0.6222, 6.7214, 1.8535, -0.1832, -0.0366, -0.0171] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I stood one bottle upright, but the remaining two are still lying down and the motion/call budget is exhausted after repeated misalignment with the nearer bottle's base rather than its cap.","hindsight":"In this setup, an upright bottle can be made by gripping its blue cap with a partial close: command about 0.22 and a successful grasp stalls near 0.30 (about 2.9 cm), then lift the cap to roughly z=0.18–0.20 so the bottle swings vertical, lower the cap to about z=0.14, and release. A reading near 0.225 means the partial close is empty. The oblique overhead view can make the clear bottle base look like a blue cap; confirm the true cap in the wrist view before committing. For the left arm at the left bottle, decreasing left_y moved the overhead gripper toward image-right, but the wrist view revealed that the actual blue cap was at the far end of the bottle, not under the overhead apparent blue end."})
tool
give_up: I stood one bottle upright, but the remaining two are still lying down and the motion/call budget is exhausted after repeated misalignment with the nearer bottle's base rather than its cap.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 15.69 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6071, -0.3771, -0.0227, -0.0284, 0.9988, -0.0154, 0.7879, 0.6033, -0.387, -0.0235, -0.0353, 0.9986]\nstate[eef_state]: left_x=0.2955 left_y=0.0019 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2933 right_y=0.0032 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -1.4427, 9.812, 1.79, -0.0317, 0.1197, -0.1392, -0.8274, -0.8137, 10.2632, 1.8632, -0.022, 0.1685, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec7a3796e1bcc9e66436724ed9fe2c83fa62ea4dff2949c382fce907e9c83d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5135b0ac04214fbd0ffc170cb958ea3ac853b343a5f6323953eebf42be5748e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82108c019e9f4be80c3f9f11d3c491a014531787008c5101a92f0e08a8ce21e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 7.307 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_0f42a67d383a0a0a016ab453ec976087d0a8329d4cb24f7a05",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFP6gMssg8GQ9pG6MFDxF7gG2Ug_2qd7l2Gm3UHFr4nJsN1v7zgaPbqktOR3Pi0OYSiIZY6Lig3AuLxusaiMB1NXx37rgmlqqaQeTI49Sb2T8GTquZVug8M26a03EomEmbANY4u1SCaP4JsO2UbwVF4XXhYFIYV5v9LgLiMqq2Za6-fxyHOLngfz97IRtF-UKNJ6lpOq1ehmsYZg5kzGnvRyyRj7hl7TodAENto9XitNWUSm7uD09fQNJqVC3iy0OutyU2pQLD38wUd2N1SDnUFmznwqjdIOMZ3EE1BOpV9dpMCnAdgfwQEO86obT-A1ShLgdN8ECzk2vGg_EFyZ6OoHAZwU1WXPGvqjwGBQ8PfyTyTes6466cdUq2kFYskDw6PQxRjRYRqv-McaB59nCCaKj09MPLCb1mX-Me2FoxDeByP58xrCQqKauxcYa49eNPlXEwiSf-nfv8J21TNK3XJmypl2yDr34T7rRs7PuXTHZKQU8lnxiHFkyw6Kc-ckInS_z95Ziab9GJQwSqKTbLJ0Ke6zBFHTWTdCg9KSdfuHCkeogxWFZC-vWHT7Q3Gdb10IZJEbAZ_ndAoreeUaeSNcmRtTu7Na6-w_QHYEJmWLaKnjXpimz1KNw1j2BYIeHVdM8-Sf0rAayXtVAzyuBxdaraTNTD2dfGV2y5FGxqzR49LwQDuL-y9XYLirdN2ukJzDia8UyAoj7Ppa8OvCp1R-w-RcwKmYBDbVIqc4g2MpoTGyxV1ZKfumL-CoajS8w66wsBAB0-7R7rzNtpuIZHY0g-vxCVcNeQwPl4GJlLhc1wv5Jc3rain77yDPDUtnT4AChGfX9sjX-tM1zVFKuK3XAqDo6G7uYrQLao8Afx2iV-KtCvovtKBQmQpl_c263Ot3nQyiAKfKwug6jXD0u_lHTKG9NzbbO_dnR_Mm0gqtOKkQfc-Yk_6tr1xRb0zd71JtGmZCGqi8z9wSatKrw-t2EYKrNcSXr0IkHdnprR4Mgi2vEnUnR1sHBdg9VBAiVMiM8t9Nlo-LIKAant9ashIWg1qZAUaeHTqPNsaVmUGKDoL0v5Wn3pSV2M8VIMyFVM7c3uEZFUlBJsKbzEYzNipth6x0wOwwz9JEYYHGlGAAJ6kZZGqOIiaCtPOzEw5E4y48fZ-g18nhOU5AJaKG1h-xnTpNsKLhl6tdwTQJNls5c74G89o8L97Po2ZrkrJWaILOqYK8_VKEgrFVrumo4DvdNcVeBt6RJkSmk2epyL7GbsxA0IBDsSkqMie6hz4T8NOQ3XIm1opL-GX6HeXKQ9HMM6_mMwnTUFmw3xPFW71gffmtMymjjGWTLvKokRrwjV6GiSlIe60DMElGTPCZEdXnJA-UYJS_lyk5Z2fSyxhhYVRJyVdy3koQqQTxxKn4s46XZs37k6b2cbz3Qsyw9USY8mW852XQzHnuvonpJ9_0RxZRoS5E0gqUMVxlxNkdcW3yk-1_7v8SY-4lMeb9KpC3hMAmBxcRWjAIYEuKG6-52M4uP-UUZPpBeq-VB4kl3XAtlwhE1N1vxBHUteB7LAlZ1RUFZ69Be5aReC-1wm2A_rjCGjHVmhuGls04uZsRr96k5zzSeCHxPUG_J03goP8OrWViRFTJE5i_tg304LFK6whFAU-wKfqLIRkB1eCL72s1UG8I1t3YPklHU5N09KzJS6iVQhCfwTkxIKiAcuKbr-58PPXDZp9douMWsVuZNeWYqNDOyl4sHhiFPoPUzAL6bHqHK71xtZ8-NkRA9qI7N-rBCB9-TDG0qK1--3N5yfT4_Tsc5iVesv2IaQehzT1hUrbDFquqoeKXoz55UVC72YoyiwXn153QKw3Q6YIpWsQboLmmgIzDPyTRwJJoGlzKKieyUr1LKfkX7LLW7CX8dD8KMmHyu07KEA4I8O0sndRcuOdlXLwx3xK6eBPo5uReD6qWdH52ZqSyOJNsAhKJl2IUrXrFVTWxwVH3WMnLZiH5JxaVyDDHOQ7pDgMHGFDnQqP-87YQ0TrbEO0VSb2BqqeC7H1IS70XV3_zpKENjFPXj5gylC0pm2dpOorCFztSkni3NCV6Yc1KhltyTq4MDsno4HaxvIxBqvgBskJQD4QnVODY3bq_P2AHtZuMmwXuHhib3Lb54ynBCJhCpr_lK1WHkBFIKQVyBTBUeDazP--rrSB98WVok6QfqeA3PUjrMC6AUKu_Zr4j9BGpQ7j6Vj7FWwvgsZtHf8dT2tvWCRleKKUxBo3C9BwemTlEHS2c0KPEs1jnVxTyjhG_M9Q4Ot7qsRwq7kX6qtyxznYhx84udooRJT8SaO0S2MZRrYm1Py_9yQsOD5RtKpicElDXw1gsBqjee9oAn-PlwuFwpfedq7m-DFZBPRQanvHNYfJOwm2flp7WmQJHOKlQhmLQzLigxZ4PbwHRx9PMT5MdwkedLW-UE6zjeV3msGzERrK1VVbQN-xJms9tDC72C3B7HBl5RQ5VEKYGa7dq1UfovP4uq36qEanGFOxED3tbbklkFsaKvl0u8c8KIvaT7-JaFlFP2aA7dvWPZ9ltjlsxXk7n35qNb1jzfYBk8ZCtiLG1b0kuDOMhIbJ4rusSfmpyh7s4ZqaSKlhiJsrzTzOEBPj1RgNQV6mkgIDYEtlw96Z87OZmn1rzi4pdY916tXHmd_BVYgACjSWsvXcCzcGBi9xGtkPVudaBwg2itbmw7tS01nih4kpIjq7uUSLFJbpfbmnTjmHk79u7p-oqxXPpZR5Qu-i97Roty4MeS1Ylrx1hs1YaBi8Q_4be3IqoEkLN9flrp0fOCWZFwjDuBQ7gLPMSfzSirv8KFPweJl85OpYMKiiQfSbUQrSbAwGEaVCFUpOPkhPm_X9PCPHUCAlWx5Lu_Z6Lzbcu8L5OJ0D-LAR_JTUekpnbM5taOiNjoRJGeBVi3dLtiNMLCinjm0X5FP7BtIQLchFpLeKq_6DQrA7GMLNyp27tRoQUNNhvirTMyhMM_Fp7uwJjau6qkDbzLoIifChZj5Eurpk5f73up_N-FNS53PtgYMvaVVx_bnRFdnaVIzYXf-Qu80dq2sBocWsAXAYQYLIjeiHwC3dQsCAoCC-dtjuJHF_NTCPzHbM_n25akkYz8l9oDAI6z3qr3FMerxgfNHHzthXRma9gaCgi11E09ZFHYxqWMCo9uhLv3HstrL2Mpn9WA1udicch4nGhXvSuLW6jWBEw1ugx9094oJSE7Lu4r13sD4XfkZt8k_ix9gwHu87_mrNIZzeP1Kg5s8lpYnhJ3w-eMvTRWsCdK4PK0Jr0oh2OtgBTEk2DBndMVbZavBmQ47mLAAN0zd_vViR1i6-P5Gm9dVMOAy6DauikyKTmTBH3UyHcdm5O5ZZnQK-bdMxW4MI-ONOUeUbevjm2_97_5yMhvz4NMdic7gsrqDW9dCxLjAVoNYeX7hyIZar8MIDxd_tz4zGlcSRLdOaUWVZ-7cnChSyUXN8Y46d9gGBp-Q2spxu3l4uSyGuARX5qWebTzcwbuiT4xHPk12HkTHB3c7EGDue4YdT0MxyIUOd0GRp-ZyGEpUmD0QTdzTjpxwxG7lBi8zkysfM3CZ5e_0W5g_WGvDk19x4Ct9T0RKDEw0WXjaYk8oSNVdXam07R2tfaWxoyUpWBaaAF42iOFfZAD_9uvow6I_97RKdie35kmb8d3sKcEiiyQ83kaHE_eh3N0nJ_43qRf-GbIZUkZXs9VzB-hS_aSDXTT1rTpIUdbGjSSG7a7gA9LsxmnBx8ASQixSvxrIRyfuh4cSELfo7tni-WO20StT8-s9PtuC3PMRcPqqf1E3t8u8DSvPeqtSi7Ex99sMD24UM65ku3nGFga6OwIZ87pUCOXqH_5XNuz2zZIkNuZpn_H1R_LiKM-UrRN8x4YaV3s_bPhGNcPoaedAQ8Yx_l8RyIg4XOvmbyFYFtem_TP1QJVAPzV5Xx3ByN8VA-mcdoeY8V4qfiXENkgvvlK4g8zioAGiB8ge5ImN6zT2hpkLKgVyGsyiYpIN7IkVbxY4rkbHHibzR1qk_0PU1E3dhH9164sm1wKANAHUzh0EwrVowKEaApAV3cGJTv4-upoPWwTfjpbK7kNcSEXxHcGVaBl5gqj5sBeI3Z5mObpmfUW3FxRiKLJwap_34iSL_CxkSeTbULMM2Gj27QM6fv1wJB252icGnJBbSiNeeBTH2rxxG3UpBORrScBUageD11XaDORpNUleskjtR7vtWo_W5n-tKRtOzt3ijJVaRk2gL7MeLrZKO_04JF-_s6Sr-hPaa3dBBlrU8qcSMATP0zfKssDsMFxoqBc5QMZG9oKbkqsvNWzi4=",
  "id": "rs_0f42a67d383a0a0a016ab453f1c3a487d0830696487768818d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFP6p0f1VO-scaZZrIqXVgT30EWAk9lo2ZqBmWM1X_4z18Ebe2IYdIw_krq0oP90D1orsbHS-YJwSC7w8mT8TYX2ewaSGkNnTw1YUvqA7pBDb__m7eHhUjsArhEq_tDAjMZTak0YJ_TiYoa7WRenidMhbqHWfsE7vClvCIiYIYsYcF2oUYQSHsdi0VvMYtmVB1QGF2nD50squEljz8PHF_6smEnMKhGOnBE8mfZAWVYpVPD3tez079QPaoBOx3pNLleY_DqzN3sJo-c4SyTcF5DWSfw1fZJGSgJNEzkCRwcbrXwblf2BY-Z3KhiVCoox3iCPh2wdGaq31isbUXl_eWZWWWqy7vyWOVPX2B-MyK4wy8qxo1-IjuQc4MjVgD2uto7QOf0Z0Cqreg74QVldNUccDaxsLCHRd6z0RkCrTXGeXJyvl6h23w4Qq3IR4uO5yLipIAQxAVNMpiIFrBH0rorVi39B3GvC0qE-jcdzZ_ZUJ8YMA-yLszQGflFdTp7UF0Qz-H8nTRAl7RVD9M9m6xf06_DqpGoyM60WAgiZvHWt3a3KyhCk1bwsQSfNCVXmbIXpEHVA4VaYVID3u5bIVzTGq7v4ky3p8BtpFYLYR2JkFK66ga0KFqpkNTJp_nemg1gAjhIRJOCKdOrgiaPOgJ-Hd9cF0w4MvNDy-dfnaMGhb78NGO0Eaq5X3Z2LStSHZnSAZ7OD5kTXoQZqFcUIDUMS24z7OgNNB5jJfECPcg2MtbVC3od4YI8TEYqrkLQPUcYgvT4G1DO0MM7oeUyaVlys3ZPnLr2myZ1JkIBJWSnhDBKhjeKcUcvTU8K_qp5FY1-G0csOu-XdepAFv1YcfNK6ujal1IyAk8pqX3Id7tsNjMl7lPE3DDP3zWhY70zHv3nYbUcfKb8edHgeJph9cWBOi7K3mQatKipH0DHOFb3JBDU59R895B9xww_gYY9iBGAYxmmkB38Xu0oICIbMPgeo1cEc-eKrTV5pUR0Wh7v6gG3RwKMXKuwupzOfrmhnKvwn6Qxfvtjy5K0WOUErhFj-heo4twnO2-C9bCs-rgDngnlzywoogJy404URcOS3wpPQaszTYENei8OyVVnSzsTKRFYaGa6epPGXhRlLiWT_hJO3ROq-agjmmT-L8nYecCNyYgHXmyYCqfdV3Bz6soW3vxlWQhdQydFdag0kWJuHDiKU9XKnZ4blZ0WHx-2UcfmriGtYo8bQs4qqehUxYcVb3ctP0W8DMzwSh9LoNKpoU8UmdsF95Hpd0iesdoeA9uZG3HQwxBSshJlBDljBot1ktabrR1sPn6qiicSRDEGAcWJALd3JxS0Dg1pheyxpDclRM4Mh8ENxdzlL4skZHqgvjkxJsaChDqZ4MZJyF6bItNKnmyZb4a-7s-DdBQdN-CGz18fa8j0NddXJNGVoswEznqsfZLgjtucnqNlJQTOgUeT7CM220auC99B0_lcbC_WhzY9PxrSORRIOyCxyNXSSZe1g9dk8SwK_guye2t8oBAs85v1OVjmr-aYtTwQCN1LHMRHSMDVRHOk9RALVn0xeUOXEiQ1NFG93auhBi8E1d4s8vQY3hOJGxueMOmt0rrwe2FOR8D_P_tPoV6VrTsdoyoBxEiYEtfHAmtjcB4yA-Jti0Y-lir2X8YYW-AerLDymstWh3GvXGz4FMi73xGAlOnmHSpOInx8ZkVZdNLaTrxEkOJmODySCeT9TgKzaGjF744Hag4TWXz87ecf9Sf6q8YA1URYCaHbj_p7hCMPNbGxUuRXSyEhag2xKdRdgsKiAFZYPIDsBWbD4MuzK5bCwJb-zkd9lVAyxZxs8FiIBRb12pkpotL5w4oMMC3Lns81hwaiKmfqMpiP9PNEnzj-S_lPSjNF2uEOE-mjAoLZ8GsRxBfPmDT3Fr7fZuLD3v1sUWDjItysJ6TmHUZcpCusurSqaA5bsBz3MKagM3yNUFPc3Ulb5Sgde4X5h3VFtRTCVFalkHFWAzIMErESsQctuo1SZtqFx6hE_4yZu70fBSShtp8GEWEAH1mMSdda4md8VP1TRN1VmrPwYzPcpxKdCkz0doU4AIKXvFlN11QtuI8m87A6PB2uVxEzkb0vCrUV39RoEDr8H5gxDS1DPnt0AcVDQTGmqJmKwAv783Oa0I2udiUw3H4bZpTx7Tm_KU7YIEjdwF7sV8fkMR5ooVYJ1FwxJ3R2mj0IeSNj_PCy2y_9kNHkAaZP6x0ojfMIZynTT_O_gM7z1bS0YO28SGRqfOA==",
  "id": "rs_0f42a67d383a0a0a016ab453f77b1487d0b5b7a3b9036e9eea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.28,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The three bottles lie near the center, with their blue caps toward the far side; I am bringing the right gripper above the cap of the rightmost, nearly fore-aft bottle while keeping ample height.\"}",
  "call_id": "call_sN5D4RlD9OnBOcVUPrg9tETc",
  "id": "fc_0f42a67d383a0a0a016ab453f9c87887d0a445446dc3db25e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sN5D4RlD9OnBOcVUPrg9tETc",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.387, -0.0231, -0.0292, 0.9985, 0.786, 1.8374, 1.2739, -0.2192, 0.5934, 0.4305, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9985 right_x=0.4082 right_y=0.274 right_z=0.134 right_yaw=0.0439 right_pitch=-0.053 right_roll=-0.0468 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.6342, 6.5709, 1.7949, -0.0415, -0.0464, -0.0464, -0.0752, -9.265, 9.306, 1.6044, 0.4615, 0.2271, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2b876304d6727a15b3150d81a220107c49db092cd5b92d08d3b4ddf62cea37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb829c3b692ff72a55d976c41f8410d12ae99012a7c30a52abc863c3346b2e72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c83d99c32542e4f4c49c1676032fd156e1f27144214d34534bd7c676282b834",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 6.997 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 8 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6071, -0.3771, -0.0227, -0.0284, 0.9988, -0.0154, 0.7879, 0.6033, -0.387, -0.0235, -0.0353, 0.9986]\nstate[eef_state]: left_x=0.2955 left_y=0.0019 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2933 right_y=0.0032 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -1.4427, 9.812, 1.79, -0.0317, 0.1197, -0.1392, -0.8274, -0.8137, 10.2632, 1.8632, -0.022, 0.1685, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.387, -0.0231, -0.0292, 0.9985, 0.786, 1.8374, 1.2739, -0.2192, 0.5934, 0.4305, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9985 right_x=0.4082 right_y=0.274 right_z=0.134 right_yaw=0.0439 right_pitch=-0.053 right_roll=-0.0468 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.6342, 6.5709, 1.7949, -0.0415, -0.0464, -0.0464, -0.0752, -9.265, 9.306, 1.6044, 0.4615, 0.2271, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2b876304d6727a15b3150d81a220107c49db092cd5b92d08d3b4ddf62cea37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb829c3b692ff72a55d976c41f8410d12ae99012a7c30a52abc863c3346b2e72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c83d99c32542e4f4c49c1676032fd156e1f27144214d34534bd7c676282b834",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0f42a67d383a0a0a016ab453fdd1bc87d0a8c8cec151bf152a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.28,\"right_z\":0.15},\"note\":\"The wrist view is laterally aligned with the rightmost bottle, but the cap is well ahead of the fingertip point near the bottom of the image. I am advancing radially toward the cap while staying high.\"}",
  "call_id": "call_YNaVlQ5pwniWL11vSV5MDF5e",
  "id": "fc_0f42a67d383a0a0a016ab454035f0487d0b2effbd63a8341c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YNaVlQ5pwniWL11vSV5MDF5e",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6136, -0.3866, -0.0227, -0.0292, 0.9984, 0.7059, 1.9572, 1.404, -0.2108, 0.5255, 0.3603, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1821 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4513 right_y=0.273 right_z=0.1248 right_yaw=0.0535 right_pitch=-0.0704 right_roll=-0.055 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -1.6479, 6.4342, 1.8681, -0.0366, -0.0757, -0.0269, -0.9231, -10.6051, 9.894, 1.8486, 0.3346, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f391012c8970bd2999d47887ed1eb87f37c4fb69edd964d8c3d16f415ad275c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1154e04a3355a7d94042294a2b8cc04dafc795bb6db80745286e133b6086c106",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20cf9975ee3a53aa3bde6dd269c04c4553e4d8bd708974f8a041249b12bbe2e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 5.366 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 12 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.387, -0.0231, -0.0292, 0.9985, 0.786, 1.8374, 1.2739, -0.2192, 0.5934, 0.4305, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9985 right_x=0.4082 right_y=0.274 right_z=0.134 right_yaw=0.0439 right_pitch=-0.053 right_roll=-0.0468 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.6342, 6.5709, 1.7949, -0.0415, -0.0464, -0.0464, -0.0752, -9.265, 9.306, 1.6044, 0.4615, 0.2271, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6136, -0.3866, -0.0227, -0.0292, 0.9984, 0.7059, 1.9572, 1.404, -0.2108, 0.5255, 0.3603, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1821 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4513 right_y=0.273 right_z=0.1248 right_yaw=0.0535 right_pitch=-0.0704 right_roll=-0.055 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -1.6479, 6.4342, 1.8681, -0.0366, -0.0757, -0.0269, -0.9231, -10.6051, 9.894, 1.8486, 0.3346, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f391012c8970bd2999d47887ed1eb87f37c4fb69edd964d8c3d16f415ad275c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1154e04a3355a7d94042294a2b8cc04dafc795bb6db80745286e133b6086c106",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20cf9975ee3a53aa3bde6dd269c04c4553e4d8bd708974f8a041249b12bbe2e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQLC3SZhCBCtlz0PgWbfoGU4YDSYrKm-S5V1fsxxGQSLh242GQuvMG9CqWXdPYyfzLA0r-RPR1MRfiiFmFiL7q76mb_uYN7nxytIcxDgq5yzBKrb29846dmC7LSnQ4VWZVsMpZGBeCPsUzNzsXa0eO15ZWOcZic-M-6_UW6eKWDLrlMq_2-WPFbX1bWLYo0nwFom5cmY3u9wl4AYWGcYqQI_nEAfDQh26vuutqMfy1PEPtkwgIXArfaVw11gK4LOPlpe7wXL11PJ9AcbrD8gYEnzQ3o_oUr8gUevoMxHwdX3apCbNwYMYdmzgxX1qIvARWEzxVPy7-Ep3VovCbslsWERkny5JAFrIwgG9Ixqc8np1HqHJb_QjvXqRc2P-MDkWf89oK9O1CW-VFL-H67d5idMIqd_SwZ64WWkfY8zVFcVrfAO9vFWzCuRnb8YVzD98WQC95dF22LSfCKWtbPMegPsBPIvff83xwDZCmPp0C06unrZ-zR4V2a8s8vLqpWHR-DZlMrkvhiUE2DSKr_Y7KZyPXz4r9x4_1sB-QL0ZA135l88RkX0JZcoKI3wXjHQqlAuuMBxaIvzyZPyVzPMbOWEtYckVwQFtAnzCY1vINK6IBp8BcAieik0jeFZLE6lJZb8tqbe6hWUSUPbrGgIA5_nyRZo27H25zknLMUNi6uJd7eMfG5UOdpRHgPDsz3qyqChf0x_sCg0ab-dSPKXkRuttyOVdp5zJBxHRq5ssr1Qr8ajDxxzwhahh7S2qaOLiIbHjyxc_Ca3iszOXgDuz3j8ASR-rfN98asKzSuwYj6XaAoj_CHLDR845B3Oz79s3T_9N2o1GaKZSPeYtyQnJXsKFdWz2V1NHqH6Ld2QarjyxDeGveKflrnoLj2Vofk53kPb85sGcjDuXZJFro3Rk013H9755weGKYMHpsjoznppt9uipWGwjR2sL3pIVtghFJXfC5iINvWLV3rNEG9O4sW-mPvEpGwRC8J0VOIWNzM7oa0K3ArFpWKLeoXw410d69Y8CbOv-_0-A6vQh9hZMnPavEPEJJsfcOvH1QBnbkJVweHWZgX1VZhOR3_Km8nASb_cpJhULAkgOomFtYYmjc9HcbCyts8KmnzNsSFrvktRBD0Eq4tf0wNYJfaRL0aXPEF9lY0fQj-76SVbOnrw7WgfAohpwtTCc0xg-YvGRbQEZ5Kg5V6YTbHTgKTVtzv_Q9rSBsgO2NzmURf_2rRSDa7_cCid6MxPThZh_riPaFGAba_TNA_SEvhFGLs7rBXczV16394ZGM-atbdiWZxchVPe22qeuRTha7g0xs-3205oWU-D5EdWkjEQaDoD3MJKi4pG3PcytMAxFYjLw3g79bLMKV-SaGgffP9n2xphIRv4zbdownKikeZz1v9KCVN9nmoxckWTbZrGAg5Dsy5Il87nRKsP1T8oQFF-AxTvr5TtFQ7u0rsPtReaSdHsC5w0OjWZaB3HyaXUHjisf89tiCGMo9ZIGKzTwk8lqwp4R4Nfs6gC8_QbHOksYvTOJ0VIoQQVeLpNIbBvFl1yBTifCCtEcayZgX-zJ-3PqjCS8CmiZ-iaWJIU3bXy3vz1ZwWXmh8BvLCb59S4u-LdcH3TskrP_yr-pjlRCxPV4PCSm1DeeZXZOhhrIZdnAjUMhmqcz9el151T4td9prEW7H0PQ19AQB2SCN5AsfsjfRz2NBJh7LwuP8wq0mJpd4yZGWDdzeXfJnXKG7y76Mi2eGFJmKxp0onnI15A5-LdzYS1u-YaCYDHh-DfWvG6cufhhnVDBO-bVwH8wccyZ_g--zX3Aac_DUsBHHYDmYeFNalxdKjfie52HGihvS-KLS5-bZ674AcCBb_OYeDmCnVPxe-voELHkqMOgRK-x3ISyWJBJhYRVi2V6C5zTquqPxmhithrXIRZY5s43St7luBmkX8x6mn-e82JEzgU290iBLVbFPgy55LnAvM7xT7SlqflxxQZaS7NP5G-ZfGZ_GWtfoODGU3af1GeUZHnbl7JfnJb9rbeth6Eb2G6umZkDr43KG-Moe80u2pB__af8mfGArFYqaNyEv_NTFnCl9DzXHXy-j5-8OaO0c1ibtXVVpz4jD32dKZOY2bzTyKy5w8XehJzVlxilJQkosIYYt7zPb33k8NOk5NgzT5sadpsphGgTscz-gceR9d5fkqFLXkbuWT3YwCFW8V7Gwe5qqnNTeqDAHBj66rgMWT5VMNOY15o54dlKW-5ZWs8qMnjsLEtykVXsLTjbeJ7BG5M0SVXavgUhCq50kxdtDt3Wcx6cRUGKQzLWnHrG5NQDDxqxWjvvS6bW7UdKlpBp6tcHfHR0CKfpeYznEEuufrOK22PXQlmt2EJjeY9KxOYNTZCnyEB5ypJdLMKdwXoGk13jvZTphJKfP-Sj5y_MnrA4mpUh8Z4ntbnkx3gt5XyU3GBE5U92KbckEz1GlZY12ZYtUQ7aZQnolzkmuem5xhmM0G1seY1ta4rupH9NzekFuDUNiorlufLikHWzJzySn9_RCVwnf6q2o4Qo_mxSsxmSr5vm0Yn1uQMUJPcABEUWysqpJTuBjSSLynqBlstQ2KBDoAiBzwj2j9s0fogMwYn-wHdoQCH1vrZXvKdnoEPs5sH11_BGOhlDK1Kn_MaMlKQYduvoz-jKutVKO-22IRIneaX1zXv4vCPO2lOho48zHOm9GMYsJVBpG-ypblg6AXCbqt6gKifYEyYL4w-pOQ1dXYfvBxPZUI1I3QOoaARSaG0Xf5LhS94X1i5vlGqVVAnHJSSr7bqgqyD2g9WToGE8tkwfWdanxZUHyNdLClGXQUtdwUIGdfDrQE-cqF7n0A2ILCwgXNAUpRo7-aDCDo0-2JuW8ER4eF62YrhFG0PLcRe_Bi1z27y5ff8CKHocfw3jM9qpY7AkFBNo-kvflBFUqdL-26HN4tRHLPcdGkmuI6KYO9v1DTDqeI3KL-sfjeH_XHREZeNPIrdPQot6oH4DtNsY0elDmJHzE2_pAS1GMS3Rk6fvGopkWKFMQk_mN0Tt-CrSWJnYntoGmJJhzNZey1irZUPgnpHkiKRrFbECG6OR5cvtvxmn_dnCoc9q8KG8g3LWB_2SGYU-D87BlPXB7v3fNj-o-HXFSRlH8jpTtvmSIrF6ISNPhJmEOzbhUAYm6mNbJljQAIpDtXJzYfC-WpsZfaNqeCWRH0EN7yB9SeCYsiPre9QEYW9a4F3Jm_DO1a9PV7sAkMvpIyx_z-efyIWkatISqzQM0uqv5fDPYKNKOkuVI1LcOZwalpGETS4d3dVoyvBCilhlX6gMm0athfxhP-KJpQxxL7y3Ra1leP1uMVxnZb-dM8jhHetXWtfAYp-eeclD-cibM3w5HiRCiUFhZun2iXCagbeWEmbuZuzq3De0UFayu5NJQbIbhYz2o2pyK0SgybftjJKgRjHEgFjUdS5WlsJoZkqYnvNrbv9QkI6Ri_7hWASU0jveUqhpUi9nTjeqizfyLTA4q06-MidMpzRVrwO9hz86c0s_15bySyB25DsxCTkg==",
  "id": "rs_0f42a67d383a0a0a016ab45405ac1487d0b79269d2e5517e66",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.28,\"right_z\":0.14},\"note\":\"The cap moved down the wrist image as expected but is still ahead of the jaw convergence point. I am advancing farther at clearance height to bring the neck under the gripper before attempting the descent.\"}",
  "call_id": "call_lNTiLTZ9KVr4F7jpwxTeC8M9",
  "id": "fc_0f42a67d383a0a0a016ab4540ac7fc87d0a9b7b168b2e8df46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lNTiLTZ9KVr4F7jpwxTeC8M9",
  "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, 0.7982, 0.6132, -0.387, -0.0227, -0.0288, 0.9983, 0.6998, 1.9659, 1.4246, -0.2089, 0.5152, 0.3462, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=-0.0006 left_pitch=-0.0088 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4564 right_y=0.2752 right_z=0.1284 right_yaw=0.0634 right_pitch=-0.0639 right_roll=-0.0525 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.7436, 6.4752, 1.8046, -0.0562, 0.0073, -0.0171, -0.7726, -10.5778, 9.9487, 1.9121, 0.2027, 0.105, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d6d54d3c2c70d7d37796c701657612c69c16c555bf856f0128b026f70fe50c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4f4c15637be30d9fa01ec02f58858fb040061d0962c9b9f937fef419b53e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2875f692bd193fa1f45a19470ca5c99be6f13b57d468e7cab86969f0e06c32ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.1 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6071, -0.3771, -0.0227, -0.0284, 0.9988, -0.0154, 0.7879, 0.6033, -0.387, -0.0235, -0.0353, 0.9986]\nstate[eef_state]: left_x=0.2955 left_y=0.0019 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2933 right_y=0.0032 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -1.4427, 9.812, 1.79, -0.0317, 0.1197, -0.1392, -0.8274, -0.8137, 10.2632, 1.8632, -0.022, 0.1685, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6136, -0.3866, -0.0227, -0.0292, 0.9984, 0.7059, 1.9572, 1.404, -0.2108, 0.5255, 0.3603, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1821 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4513 right_y=0.273 right_z=0.1248 right_yaw=0.0535 right_pitch=-0.0704 right_roll=-0.055 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -1.6479, 6.4342, 1.8681, -0.0366, -0.0757, -0.0269, -0.9231, -10.6051, 9.894, 1.8486, 0.3346, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0227, -0.0288, 0.9983, 0.6998, 1.9659, 1.4246, -0.2089, 0.5152, 0.3462, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=-0.0006 left_pitch=-0.0088 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4564 right_y=0.2752 right_z=0.1284 right_yaw=0.0634 right_pitch=-0.0639 right_roll=-0.0525 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.7436, 6.4752, 1.8046, -0.0562, 0.0073, -0.0171, -0.7726, -10.5778, 9.9487, 1.9121, 0.2027, 0.105, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d6d54d3c2c70d7d37796c701657612c69c16c555bf856f0128b026f70fe50c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4f4c15637be30d9fa01ec02f58858fb040061d0962c9b9f937fef419b53e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2875f692bd193fa1f45a19470ca5c99be6f13b57d468e7cab86969f0e06c32ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQRFCpayiy0ZgzkczvA1RV8yhq1_yIoneiBF0wWDH9FexWAt7UKUkadWpkP_11n7h-qL-CVVwq12u6TkXA7wQreQrnp3pfN8qHoPFnIBix3oEXPU9LGh_i_0ghYnAhvDhf6I7mwQ-dHenPo4rMhfnG-hYA0v7BTmmjcT9vQgmgs4el8ftPNJIbMYipzA5GYTH5xvoHeUHZtJ7gXDtNbJHceHOiQCpp3fNi7FXmlcqcGi3GreI_yoRGL1CxVWN1nrHMGypTvdYAkCa0Hc4rIFF_YhKKoORq8NsMyEYIJtN6d62iD0g5lBJEWIaY4z8fBCX4zTdzQcqCgRoRD1z6JI2rMsZazCIOjw7or7MXNDiAj1OWvIqBEka-741etaruUNdf3PEcCiuQQ8r84qUGI62tD78bSyjKzSphk697BZGy9z1oKJmlDeKgE4KeDIryOlBGwcm5d_cLehfaOkH_CQrbBPsI8UQ2ORxW9UWpvcHzOiCayrjcIqgY4YCr-RClTDuO5J0imlJW1TkOKKRpmmdSaj3rXeTf3vKMlVfR3PZwyjO2nDzrVPnUpzoaJjCyIPOrN0hxq0yzqf6XKkyqQaxRF-yh3Wk6_MNxtS1sfxtSEmscGtTNBZgdlDu8VzJ6tRrj1GbmHkdt9NlqqxeCxfQttgai_AoT9RG1VIZ-lQgYB2lqMxPYN9ty3INhuU2tBUaShaKIcaYB-fh_AKYF-dxmUCVzmo_FWbVg_dnoauDcD09jLuWm2KIIczEsqpRfYJOl4uiuCQaqftbRxU_GR6dEhlen3AfQxHaRuXstbL8qJeHx2F3rd8GxsWyC8lH6dE4w6LQgo9uOdY-XvffQWXwV_gPVDZSQpndJX9OshUXaLGKcKoRIBaPFR51oY-1gcRvED3l0mVAFaiZYWpErNvm5E3YXkj9_RwGSFb8kms1DNCIRCSDkDR8qpfAdbzUtIcNMElS0jmzLG5YkDTJpNZ62-uEl8ieUqI3eVamXc2WA7t84xrkVjXxeu6OaI5XErIKyZ5RqPFNrye9wgSSQ1Jz7OPsNsDb41v3b_qe2OxeYVdl6NM0c72rewSS6X44HS34j76dkeKRuYe24qKi04iGwO5ZDsTgaxTSLRVwOy0UdliFwHMgDa5fzJfIgcNUVG6gCsmmGl7KVkOSUU3Osk12hb-8VJihPH887zu0m-TtbtHb8aD5Gn9D9ABy19KZ6knNr8sFn-bGOUjouescQi5Pj-bE1YU6ete0swN5EYObD7wMEQrqAqCax8s2DrAoHPPuSWFMVSYs8ko7xxpnOm7vAe06i3Znr7okW2SwJCL3rjVC5QcFlJvyfmuGDcY9VZjPZJExnLoyBRaGjBtSr1awIrfs6XRjBgyP-z4cwP0xGKtNDbT4vHP3g4p9WVa6d23Bbzxfi8G0cRmRMEz9f74YDfsCBfVKHmSQuxjmHDu5646A6caQj2P_2G7kB6iEIi0e3i1t6CZc3xfVjb2vUF_6maCRDZAl5ItxRVqmZD-Bl3-n73JVF8cs5Bk_fc9jtxkjcnuy3eDzMosW42sT34VUvR8MW1qlDXRI2Eas4JOngCJFqQVp6q3_wdVvY3ewT8A4o9LcBsYlLKIYeM6mFLAVHT4t4mox6IejOZLnhK3oPs0N9DfcNWxmIvtVkRRwhswbPCXycBaAEBBPxNIkWzLOO8MnLCdCKwMxtfT7DniU7cPOV3fZp4Nai7AgZjsSTguMceo7MyMSmH-TWcwr54XoSp9vLb2LXwXZYjFCmToT2sdJQGwTh3Zrxzzpvwo4m9AB1y23QfamzV3djhbLnhrPthKZ58RQNhltbrQhgR10DJkWdz51p8NmHjuitCX9RSd2pzFmsePnbiB7tV_EMzZtv15qiHDh1MNVnJpG5J-3qjCzePEEMhh2lzzs5M50Llo1GlS66xsJFTtUY6CUcAx4Wy53v0z3wYMBXzHhmAQjQjbHl3iM1GtVNwhqWhyw1r8tZ6D21C52ZS-UPBW9MfIYKPekE9xcUv5FhxdhgD_73xcg0r-ar4WVQ7HINcZaNAbzPNRL2YMl-ZWA9mxLB_vZWGXxHWoxf3QrPyVLu1oi5NrSdUjDAfCFaBL0oCQcvU4vjowOZandXO8j6BQZrFV-RL8GnJlipR8l-wDBYeCzj23JnhaJGET4sPjvMzMmHRnsjI3u1BxC1DWBU0CZAhp14EFGV9afNHv6QieLr-OxDHW4FLOLw_dR70bcfIQMWTrw6uHcVzAya2E9ezWvCdaVgnDtptEUKw6xhdzpSD-RmdLXnzQ9YkI-ISYeE4nnk9aBQMl7qgKzkGWPmB-dBtS4PFSgC9QiVCQQ9BaLKTlC-G2ik6kw5dqcjpn2S4YeqkgOyFOm7jOCLjjcoSmJ-FT60Qr1xo949qaU-fCzK7SwnIRJFSbBytiIsY43vGQPjr18-yK9L2WFvKuEqpRTpfvpX2vD-jpGXng3zHmLvV3pz9jnRpkVsLFtYO-Van69pAr5QkvAEmVfuelnlKMAXeO63w6qvTgxuy_6DXCJXgw5Snfdq1JeyrgdyszDJkqcUyAs73qXFqSemY7YDcT8X55BxhTD3rHAyxvksgQQaPzleSfCqKColimRO-sEq1CDXuOvReKBurecnNqiL8doI13oQ4iC4zJD6IGB5Rs8UBm2356LBd4_7BoENc17gvG1Br7u9GYAGCV6qG2o9MPzOkpEdlFIlQFSXk8OKqKJjXM9kBFFTbTVlf1KDtppycBcr06lF7QiUQkBxg_N4W91taxS3_L2kkw1fQQIpiTer6uN4afecyt8ZvpdwpCqf3RjghFoei_k2FOLcG3SYchirOhVWlHo3c09st-4dIY7ckPUMtHr0=",
  "id": "rs_0f42a67d383a0a0a016ab4540d5a1c87d09c06c3a494e857f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.26,\"right_z\":0.07},\"note\":\"The cap is now close to the jaw column in the wrist view, slightly to the right and still a little ahead. I am making a combined small inward lateral correction and partial descent, stopping above the bottle for a final check.\"}",
  "call_id": "call_iC39CEaseLjYY5ps1cJDFdNw",
  "id": "fc_0f42a67d383a0a0a016ab45410b4dc87d0b8d82047f78cc4f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iC39CEaseLjYY5ps1cJDFdNw",
  "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, 0.7982, 0.6136, -0.387, -0.0227, -0.0292, 0.9983, 0.6998, 1.9659, 1.4246, -0.2089, 0.5152, 0.3462, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1818 left_yaw=-0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4564 right_y=0.2752 right_z=0.1284 right_yaw=0.0634 right_pitch=-0.0639 right_roll=-0.0525 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -1.7846, 6.3385, 1.8437, -0.0415, -0.0464, -0.0122, -0.7453, -10.5094, 9.935, 1.8974, 0.2418, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28bcee481e4e2343b5cd1f4180e6a3bad671cb80ff60775220ccd63224da8e04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6a381c205fc2aa350b113a3f2520fb67146679dd269dc23c53bcfae3459c15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8894d924a33e5f6903b3d58f79d89d9438d72db4c3cf948a96a38f68aae1fb6e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.707 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

message 8 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.387, -0.0231, -0.0292, 0.9985, 0.786, 1.8374, 1.2739, -0.2192, 0.5934, 0.4305, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9985 right_x=0.4082 right_y=0.274 right_z=0.134 right_yaw=0.0439 right_pitch=-0.053 right_roll=-0.0468 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.6342, 6.5709, 1.7949, -0.0415, -0.0464, -0.0464, -0.0752, -9.265, 9.306, 1.6044, 0.4615, 0.2271, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0227, -0.0288, 0.9983, 0.6998, 1.9659, 1.4246, -0.2089, 0.5152, 0.3462, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=-0.0006 left_pitch=-0.0088 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4564 right_y=0.2752 right_z=0.1284 right_yaw=0.0634 right_pitch=-0.0639 right_roll=-0.0525 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.7436, 6.4752, 1.8046, -0.0562, 0.0073, -0.0171, -0.7726, -10.5778, 9.9487, 1.9121, 0.2027, 0.105, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.387, -0.0227, -0.0292, 0.9983, 0.6998, 1.9659, 1.4246, -0.2089, 0.5152, 0.3462, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1818 left_yaw=-0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4564 right_y=0.2752 right_z=0.1284 right_yaw=0.0634 right_pitch=-0.0639 right_roll=-0.0525 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -1.7846, 6.3385, 1.8437, -0.0415, -0.0464, -0.0122, -0.7453, -10.5094, 9.935, 1.8974, 0.2418, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28bcee481e4e2343b5cd1f4180e6a3bad671cb80ff60775220ccd63224da8e04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6a381c205fc2aa350b113a3f2520fb67146679dd269dc23c53bcfae3459c15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8894d924a33e5f6903b3d58f79d89d9438d72db4c3cf948a96a38f68aae1fb6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQVu7dGIwboGt5Mzsuv49nWvNsNoS_VLa3commSs1uRSK9F4PVVCTg9QNG8yiP4P0GqqOhLpoWhG2XlkTm2-bw29cdzFJXT6OQkM-g8Pg6vyErrCATTGuxDFvl3HrwpfUmSa7n1yY5drqiizM9r3bT2YXA7sPROYv0CAhftpvCdBjR4a0XAGNlzOEBUb0i5ej3KzzA24JWasAbqEtB6LKWWlGWiK9IrutYKgcZf5iXXGox4eyiFnRnSFpSRNKY6u22vDNUVecRMabuIzVAnnSs2MkVDRKgrqLP8eS4fwkcp52rYU4D4Mop3dnSzCO89VNhBA-F8En3m39Ax6kcY18nDYtL8ZzKcCI8agZKUnWMJ50W4a3rxz4GoNYGCPFg5wCTlXkpwlWG5GtQsaQ9ZtC1Tg5Y6xU9Bxps-UC27tsT9gEIewMWft347tGOa_5b6IYygmDiWHGolgg7VSZUbXMSrGB0vWbis_9lTgB_Ob4sbCvV9pZKwXE8YxidNFhFXDUlJkvstldGh0TU-WafETH3UK4Supp-sHlrI1qFdGugc6r_BS7IS0GZNbVOwq08hFpIemqDH8EmSoAjHMfxBEwQNtsloF5N6zH1LDrHFSDYNJ6ivdi-BeUkAi8Lh2wVAuyt206anx-ud8CLl5QAV7t3vW1I0_FZmmtm4qUBi8ozFaHzWMhg_2maeboBTh2LWtcA5vGRSbYhZbh9262tZ_XMmIK66jwmDejP5gq_EQJnkT3gktQgWX4vOJdtDV17bn2HArrZKHGkrNm5KWNVzSkgSdq85lycJLuvHvJbQENnOVnZoGGvVWzvYdpq0wrg23VwGQlLhonzMWvC3jbcE5PonnTDlv-MpmjMsXqLeFINfcqIneDlgVVHMn3MelfNMF6qoiu1if90qRzsXPID6rUXHlAhysL78DtwDtorWoajW1uflk4oO4NQ-Lg8uO3P3dCRU720w50ykE-ZVrcmqz96blTiXviCTad7kxNo-oUToBi5gp8GfrD3m0eqCs6Rd8AzCUnQ5TMbDZnLHyIvJxRZbe4d8SYe6Otgpd38LwodRQUp3vO88g07rNlEMklsiFsFoeaEVhYds0gFnlHp1AlBRuDf29pJj21VwBcoA8W8OqQJOhWRjdGzEzxfYEHdDABEjDAlb0ZevjFCKqcJYCYRa4kvKilZyo3LcmNPyBDa5HEDYshQUnF4ri-JHuFj8xYHXH5bd7N2cbx2ggcEa5Zl2RvReyF-IwTcGwO0EwYsA1Gm5Ubc1cpcqUfmPSaS3v7AMpxxuwXnAa34DhlL5ajiKvntjTko4MZe8WNS8y6HsFI-GSwsfywtfMai9WtogvszzTaJ_wtChS_F3pwTIxAivh2vGOdw6am0wHCI7X8fGspeonJko7T8jKVjRyXMRms9221wWzUYd3I7PmSO6WeKNu8By2OZfSXP1GyT_3z6zFHNqZlhduO3Clfh2zHtPEgPKElZ_fymT9_ppYgCruc7xNtikrTP9iUMtyScr0lXwAVQGWFVI5sd6WxPxAR4oHUv3LVurJEzT7IXEG3pjUGc8Jst7AHFnl1pgKiYxvR_rsCZhIDT_14GIz3X7K6nxcC00FHUBZBJFAZHSUaNdJUMAdAC9K8iZ0rWLxZ_jlDNV3yKe0NiAIrbwJtz0DrYyjZ1YP7MEoYTjT8RteJ6LNgSy8nRoKbDvaq2J59BHdPXyXnA=",
  "id": "rs_0f42a67d383a0a0a016ab45412d51887d0928e7ef44ce9a9cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.26,\"right_z\":0.08},\"note\":\"The arm did not track the combined far-and-low target, indicating a reach configuration limit rather than contact. I am retracting slightly while lowering, then I can approach the neck horizontally from a feasible low pose.\"}",
  "call_id": "call_A39OAXCtlPq60q43sxH4Luoh",
  "id": "fc_0f42a67d383a0a0a016ab45413e88887d0a3508137464fd4e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A39OAXCtlPq60q43sxH4Luoh",
  "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, 0.7986, 0.6132, -0.3866, -0.0231, -0.0296, 0.9983, 0.7269, 1.9232, 1.0771, 0.046, 0.5198, 0.3588, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4102 right_y=0.2522 right_z=0.056 right_yaw=0.0777 right_pitch=-0.1017 right_roll=-0.0751 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2103, 6.3795, 1.8584, -0.0415, -0.0757, -0.0122, 0.212, -11.6034, 8.4308, 2.3077, 0.3394, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72723892c66d8883d917f096b7616b9521e71ce06079cfd6e1d88c6b162a1b66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ada7ce9e7909c729da571c478a99834a458cef0f91efdf14645cfaabf88683a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48e737d86a6046c601187a73be651611730e1e2faa80c20f47bdfcac23817908",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.342 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6136, -0.3866, -0.0227, -0.0292, 0.9984, 0.7059, 1.9572, 1.404, -0.2108, 0.5255, 0.3603, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1821 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4513 right_y=0.273 right_z=0.1248 right_yaw=0.0535 right_pitch=-0.0704 right_roll=-0.055 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -1.6479, 6.4342, 1.8681, -0.0366, -0.0757, -0.0269, -0.9231, -10.6051, 9.894, 1.8486, 0.3346, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.387, -0.0227, -0.0292, 0.9983, 0.6998, 1.9659, 1.4246, -0.2089, 0.5152, 0.3462, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1818 left_yaw=-0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4564 right_y=0.2752 right_z=0.1284 right_yaw=0.0634 right_pitch=-0.0639 right_roll=-0.0525 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -1.7846, 6.3385, 1.8437, -0.0415, -0.0464, -0.0122, -0.7453, -10.5094, 9.935, 1.8974, 0.2418, 0.0757, -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"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3866, -0.0231, -0.0296, 0.9983, 0.7269, 1.9232, 1.0771, 0.046, 0.5198, 0.3588, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4102 right_y=0.2522 right_z=0.056 right_yaw=0.0777 right_pitch=-0.1017 right_roll=-0.0751 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2103, 6.3795, 1.8584, -0.0415, -0.0757, -0.0122, 0.212, -11.6034, 8.4308, 2.3077, 0.3394, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72723892c66d8883d917f096b7616b9521e71ce06079cfd6e1d88c6b162a1b66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ada7ce9e7909c729da571c478a99834a458cef0f91efdf14645cfaabf88683a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48e737d86a6046c601187a73be651611730e1e2faa80c20f47bdfcac23817908",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQYU2tLSwZrk6ChqrnU99fMrjKfLhGCYlAuvO35G9q8KJfrw2eW_qtzqB47VNy4JjHL5Db3suIpGQKPWN56nqO6DWs0LX9E-_r89ULSgUwJ3V7qVMtAYNEsxREvMzVSrtStbQg3IwTsjVHU3A4vUV2Q_T10OWtodplzgcb36GFKcvN2sGW3TaVf7x6cSLN_nCHg_v1rYOgNhk0eq22Gun5NvHPPzTVdyY2D1qETS0jk8lg_p1odu3PIyXlQeCaYwqY08xIo0ldsZ2t2K6UZnUUmTjtufrR6A0pDaGY3KskFrhqsvWRc8-sYq3LgKrJsMiBsb48Brjgpew7Wm96xbo32MR4AWjd82akzaLY-HDlRvZBwwjnpkSUEbOsPR2cEbXKQ5ofrJMYDjX25k16VGx-kdSLzBbpa_fbEckXAdbuYNrnKDf9WbU5MSFG4luxYp5oerX7cdLw7ytLDUHsJWtsZRyWjjYk7YlRS-CMpRUoi4V7OpcNbT9XbN4xNVBWLvDjN6x5b8mhsdc7jJEZKYdwmg81eCui_Yp_hetPmE0IKJbkoKDYgDM1n6YtTlpkxmzqI1gd1LUPcaBqj8MrLzcn5oGuNMYLX2jb5RG51vvxhrAvM6Y2bHRX-a-FHODY6H5fwibUNNOrV1nc6xXJii_CIkPgOTd1XVogGMauD_p-tbVcqLr68rePq9_Pax2SkMbbF6pdxrZaWZqJrRCpvORCJGGlWrAvYOmVUwyzLpimhMXrpJLsfHy60ig7wYNudOuLuZXbAAZ50j8aecy1R2PJxqq4llgPuWTDQJfPMIYvMEYJti61IgKhdh2saeIr6UcZdnhXz_i-lbw2yo-jO7875TKDRf7py2IWpV3RfnQeqW5IqmbbujqKvDdvhggoIynCAVWtAvr5bR8Rzw-4QC5SRJnLKc4gaxuU6iSwVDEvOz2phpC6M0BoNL8MOekbtyPS2CgzcCSUlpRu8U_HKc-DK-s7W1EizJmE9tkUzrvWrgdqbnH1ELrHK-HTZDijb3Vxay7hietzFnn4cio49OxloZ5SCOKQ1nMPb5tmz4mBlacnM0J0RjTbXCoOdkspu5RPBwhrteyGs51mB0ofKqV16LP_gzw8wxtk5NuQNKx8jLypWrP8uv5JNg1swP1OfJCgX5yFCaUwHFKIwfcarIqbCiKiuCqvpWE1Yor7BjxbTG3z4IiIWFXx4RT_7JX1QcnMnzs6Skj2NkoJLLDjmaKmhN_3-7KaR6u-s8O8tRdO4TY1wnjkutj9Esdhhd_Zm1ymt-xhtQ40X_OJZyjEMZCxhgqRnGlRDlNg6dEkaSVCDqm1gscs15tllfSLwx2BaqbfpTaELV-g4lM5ctcuA5Y0c5X8Un4uASm63U8WQP301Um2ySTckTCmaPyrd-RaNE5Bm9-MOA8KezChTRok_uT8PudHBc8ZnRHBbv64fwH5bRTRTj2omR7i_EpVqH-eoZZBfbQd6zJSnry0VxVLc56MTUIGiWc0h3kU7bcb-35LwbGrtF0mlFyBGx2Mn0DUR2X0gjZYYj_awZIkyzOne4Vez4cp5aDfTcY6rfreGrwby_JWEh3PDvjRHF9crKf9eYFAdwHOxMv2Qf_ROOjpoofON5w==",
  "id": "rs_0f42a67d383a0a0a016ab454164e8c87d08dbf16335e587742",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.26,\"right_z\":0.05},\"note\":\"At the low pose the right gripper is centered over the bottle axis, but the cap remains several centimetres forward. I am sliding outward at this height to place the jaws around the neck.\"}",
  "call_id": "call_BE1bcZ8eBlmJCTgSyZmEAjEM",
  "id": "fc_0f42a67d383a0a0a016ab4541736fc87d0935b2e17e9efcb36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BE1bcZ8eBlmJCTgSyZmEAjEM",
  "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, 0.7975, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.6445, 2.0842, 1.1759, 0.2035, 0.4515, 0.2951, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1819 left_yaw=-0.0 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4616 right_y=0.255 right_z=0.0375 right_yaw=0.0869 right_pitch=-0.0508 right_roll=-0.0332 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.6205, 6.3111, 1.8144, -0.0659, -0.0562, -0.0122, -0.9094, -9.5385, 8.212, 1.9658, 0.2906, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfff97d399ae19a3728090921048ecce7d5479cf529d4022c67c8794d78cec7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e63ea6ccfe9740e776a2c832587b27ec19b3d366937870c23cc9496c8dec5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:695e58149c4cf24f7581258bac9a63bbe5705b50077ccaf5cc2dbb46cc9c4f5e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.929 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0227, -0.0288, 0.9983, 0.6998, 1.9659, 1.4246, -0.2089, 0.5152, 0.3462, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=-0.0006 left_pitch=-0.0088 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4564 right_y=0.2752 right_z=0.1284 right_yaw=0.0634 right_pitch=-0.0639 right_roll=-0.0525 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.7436, 6.4752, 1.8046, -0.0562, 0.0073, -0.0171, -0.7726, -10.5778, 9.9487, 1.9121, 0.2027, 0.105, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3866, -0.0231, -0.0296, 0.9983, 0.7269, 1.9232, 1.0771, 0.046, 0.5198, 0.3588, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4102 right_y=0.2522 right_z=0.056 right_yaw=0.0777 right_pitch=-0.1017 right_roll=-0.0751 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2103, 6.3795, 1.8584, -0.0415, -0.0757, -0.0122, 0.212, -11.6034, 8.4308, 2.3077, 0.3394, 0.1001, -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"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.6445, 2.0842, 1.1759, 0.2035, 0.4515, 0.2951, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1819 left_yaw=-0.0 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4616 right_y=0.255 right_z=0.0375 right_yaw=0.0869 right_pitch=-0.0508 right_roll=-0.0332 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.6205, 6.3111, 1.8144, -0.0659, -0.0562, -0.0122, -0.9094, -9.5385, 8.212, 1.9658, 0.2906, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfff97d399ae19a3728090921048ecce7d5479cf529d4022c67c8794d78cec7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e63ea6ccfe9740e776a2c832587b27ec19b3d366937870c23cc9496c8dec5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:695e58149c4cf24f7581258bac9a63bbe5705b50077ccaf5cc2dbb46cc9c4f5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQc28De1ge5yKJvbGabfjCGz4PnZ6ahAABcjCX_801psBpFpnJ9v3IjNTz0H231W93GwQ7QFhBo4YlXXel2v_5R15ZqxsFYD2WFhMdrQjLZqFO_r3KdYcCmvdNWx3C8kEEpPv-ifHEQvB9eAUgGvaanwjTixMVyd0s10R4gJAOyyOlUyj4r4YYt_VoJiR-rQpGyxBbKTlct9yDwzHVGOtuUPidX5EWFnMBTC1L1K6FAOnj8bbilWxXcC9n-XIgyks7GyQevK3yMil_eX1iK-TcDpCYQhfUL3zn1OPa4Zlbg2vzmOz32AEi2i7UTCcBj7EPXb2o7gfT82z0INgbVKyTTLmN2gKjjOFTOVL3Ya3cblgcSvrKnD4XTVokKiJFd_4VXzowtl9quEewdlbpiHQQimNT66frFKxGJ19gP4kS5VCWDsY4PppZOmHB8sxFZdlXLbZGJY6kpJ3gyRRUDLnmyFzJgDQla_fzp2kJjrMYe_9WC51bKZ2CmFYNhBcj4kipz7jtoXeuzGAsNNv2Tp9PjkN82TTspMFVGbaUAogZ2fgPsLBfMQu1-VCrKYZYnmDFf6ixF1WTkqlvLjlTlypIk-tLY-3IjH2gSqwrwaCq7MloyBYOgPa5C_SusYkiaylFv9Ry38dKgvcLuaYVIhyA5GbAYe9ZvSFaT6W5MMuQNG2qKygUVh9jRVw04BVgjErFVba8ZI5dNtwLBTqV-LDVqcmFSKP6gdPV9QCfo4ivSuU1DbJrWJIszXKz1fzV56AP-wSGdsoMNKjsfrLm6ICFdymnKWRuxSb50Bp6wsPkYpkk_Mpjv9HiJ0ZPYzZB21aPNiRZ38cDpbtBkLYQedG6bRIppK7fa_CyrPp6hpf1ec-uibmRFddLlD0FAdOMq71VVLd643S_5jFMVPX6pTFKj-hsPxE2GjfMsR-FJWTvrBIIej5tW66s0etJ-LZzGB5J603dDxbe4iaczozdNd5AdYCKCqMPZSTB2OCRMkCJ-xb9mdAXvdtRLc5yg8Zkah3KnU4usdtp7y-wJ-J889GMu9V1n5nRL4jR0gDPD3hA1PvDs-YXXW6d-9BvSkwG24VGx37qshPJpLQFbseH05VjE8dW73ga907pWPYpUNFNb0UWeIZpENRuo-fgMwYlA18562cR9nns3l4hOT4AtidtO0RkHzByKZy8jTX5E-L0dx22EKWiuTdC16ofi-fxfw3sXYsqirQWzB9qF1LBOK-0X2TZXirVeHjaUTl6VpzFO9yO_JVXhchZXPkE50NucQDMemsOpqQAbg72zOv1_0-jVdt9WLpO-mG-8BhYLJ8Isgny9qu-e3wU2lUOpja8L8ydjkF6MR7oWchtSTFIvehgP26Q1JvPCpDwkK0DnXvzrPLpvuGXhydLLSXu-znuhoZj9XVNf1vzNYGEQIU5JNlq0juozEGVlGFbqctT_2xqfAUuZWFuH9oaTGAYa71ogTOvUecG78tOYGov4sb7CFp2wKnpVxcLCNzUzJwDJBT6KCFpSzwlrgJDuBZvxrNaZMLLE6mzE4WHkyfTCGD1t_gJtX_Hc3gNIuAQGD9JyjNvSjTjCxHZJMGGv18bjBr5w58XSP1kBHUnx91P-vNQJEkPrUZmc5QurpFKuQcut7dhaU7GWq7Nfw_BV74R2R0YcGRcm9iD27rVPXez38mygui8xXAVUBXqCvcPzQgs54Lj5IgrDlVFCm-nJWU89nD8EDc2ulztYdFIw0SHlzBHqnDdjOb0V8VlXM4IrZ9uDmCXQjTgVu6W4qmUG3d5ZNwBIFS41p5Xf1CHjyd5hjfr8BadF6_yT-Wt1phypdEWkM1J8WLYZsZlEr8gb2zHsgRKfX-84VsJJa5TjeMLzXkLmnWA_Xrwr7MRUIIbacGFJM2MhzyvRPKNYpNch0ypHT72RDCB-nzgex87EaKB1xgy7ftRRLCb6AlY2cumtMhwd1UB8DUxRniCs1ygTxeXxX8OUR7RtvblSxQlu5mU02WRoOYEAo21YYMYIP4bwsqlK6Goi0czDNJ2OZPCsm94ZorhYsBE5hakX6qFwhXQZxIEgUtpm9TIxisCnDUlleWM2AcKBg5y8yWweqMH59FnC95bhoBeCrDgOFiFIuyfkT15Kg1T0CRW1FBpwHKbdE-Cqg2lKKeN7DoWMlFBx5Wd7vO0tXA8mJsn-wZLXGGKf10yhT5QRynir_v5tmYn8Zi2UIDYvJ4fxZdXsn6MJ-lt6zIrd8tn8",
  "id": "rs_0f42a67d383a0a0a016ab4541a078c87d08c998b468f00a690",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The cap is beyond the arm's comfortable table-level reach, but the jaws are centered around the bottle body. I am gripping the body so I can reposition the whole bottle closer before taking the neck.\"}",
  "call_id": "call_2iL6JBlpWNbYqb6mTKXgGqbR",
  "id": "fc_0f42a67d383a0a0a016ab4541c3d9087d08919b1b98a759e15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2iL6JBlpWNbYqb6mTKXgGqbR",
  "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, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.643, 2.0918, 1.1339, 0.3328, 0.44, 0.2943, 0.4836]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=-0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4655 right_y=0.2592 right_z=0.0407 right_yaw=0.0957 right_pitch=0.0133 right_roll=0.014 right_gripper=0.4836\nstate[joint_eff]: [-0.0615, -1.7162, 6.4205, 1.8242, -0.0269, -0.0366, -0.0122, -0.0889, -11.4667, 4.7658, 1.4725, 0.2076, -0.0024, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9016d7312966108e8fc4e64329e51bd761d77377555228e5b86c763b3387b880",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53652644c0eb221308ec4e6004dc0cb938e5ce2f16cd54bab5a2a6365fb0037d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a063f20701f63fde5501d4e8fdc05fd78ba38269c12434b73c52f85b5dc90c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 3.076 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.387, -0.0227, -0.0292, 0.9983, 0.6998, 1.9659, 1.4246, -0.2089, 0.5152, 0.3462, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1818 left_yaw=-0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4564 right_y=0.2752 right_z=0.1284 right_yaw=0.0634 right_pitch=-0.0639 right_roll=-0.0525 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -1.7846, 6.3385, 1.8437, -0.0415, -0.0464, -0.0122, -0.7453, -10.5094, 9.935, 1.8974, 0.2418, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.6445, 2.0842, 1.1759, 0.2035, 0.4515, 0.2951, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1819 left_yaw=-0.0 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4616 right_y=0.255 right_z=0.0375 right_yaw=0.0869 right_pitch=-0.0508 right_roll=-0.0332 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.6205, 6.3111, 1.8144, -0.0659, -0.0562, -0.0122, -0.9094, -9.5385, 8.212, 1.9658, 0.2906, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.643, 2.0918, 1.1339, 0.3328, 0.44, 0.2943, 0.4836]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=-0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4655 right_y=0.2592 right_z=0.0407 right_yaw=0.0957 right_pitch=0.0133 right_roll=0.014 right_gripper=0.4836\nstate[joint_eff]: [-0.0615, -1.7162, 6.4205, 1.8242, -0.0269, -0.0366, -0.0122, -0.0889, -11.4667, 4.7658, 1.4725, 0.2076, -0.0024, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9016d7312966108e8fc4e64329e51bd761d77377555228e5b86c763b3387b880",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53652644c0eb221308ec4e6004dc0cb938e5ce2f16cd54bab5a2a6365fb0037d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a063f20701f63fde5501d4e8fdc05fd78ba38269c12434b73c52f85b5dc90c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQgCeoQdBr-UZT3maqhuXj0KTQ0uhnaWv0RDsa2fPcgwUX4VIV14i5KPw26kpfXUzTqX_jBXNGqYkQEiWzgoR6tuo4C8T3RHsiNJmo6uWDV0rXDsVg7bYHkE8e1oA-gECug66kG-M-9JCh6N_Z3KuI1dfsxvXIc0HVIakYkQHloOZzv6DSPJgPLJWMDv2uGp4hjhAIH3C0j8s28hsTPqayYdbbFONplaGywM6mgcV2Mj48eXTXFT_T87AgnN2c8CW-8Kw519YTNrrPZrBbjOUprg_rcngQ7YvnWAeaa11V6aZTEwqurYQgXKt9Dz8Ary1WPaNal_ICauiO7JMsyJL28lV0A4DEh1aondjni6Dh6TLsEoPKJQVlC8Y3HA_aNL2QyhMm92E5xRIEHlQxpRfUPcmbknXhRvyJrW6WOYjbwnWA2p1XJHJOw-l-T0ox9xXmKptHzqKuqTtGJSLOQ9aozw9H5uUOLxIwiln5lxnFBT9Eu049mB2xyKfmIJeu3rWwpSHU5dwiZQJbd_W48HzvCHotywyM-QGKVLTV2NfgxaI1b7WGV3v0nvTkMHd8_TZtcTgLTVnDtYJCw8OPjNDb_Pvo2Dpb4HMWDVlzvs2NQ_hYPQ1TTGTk8DTeLSMu0H6ZfLbD3YkAZXBg65xGrScP-7n5nIQWRWAvpcMNBJ9RmDNPhT4Jq-bzb9Oo_ZxDjGCqWCjGow7nFceBLC0zVpZFFVI_aELFFvigdZVsZBApZvH6LZadwgJCRrxSU04Iv8g1k-99TkaCSV8S0bl6ljK1IM0xY1c-1pyWvOF8Gsqf4FgsU70S3-Tkl3UlhAQ8YCstVb0BOnRVF4TaHttzCzIfT347rl3Sh-Dv5oyom1uqa5uuU402d7FOnxp9IbYWZiFT82kyh0mnebSfdzBMR2pkLkaFecSagrvXEOQW6kjWV8gDqZSpSRbwlysYC-M-wEp3Y6isAzEVZ630Eb5sVysDyhZYrZpYDCc5xieF0T6sZedvAQfzFcMG-kztNne76sY499pGlE_Igcvr3t5m4G8pwRpjwRlnSsEfagZzqPD_WF7UyKb7ZoZXtPk38_IXeMI2LfhQ_OIBL4ISOpJteVmDhE2rQ6PLnXnFVyoCj-r-NE_6l9b5x-Kr1nWzXtt8Kr0oFddinKXKmNmF1LeYKMhGHrOfaIDspLJU8bluDuimk8iomFxE855Daz1qcp781JJeLZyJSef94JbipTUceBSZj7KmLlvNrEf_j1TPKjWWzbz3D-3VHn8YRq874K6LKCrmXpYV6INXSB1lGHFIbl781GqJyfkAbyN4aKkFkZuythG-n3yRwV3562GLV8ftz9I636DkwrYwMsm_hBnS9hIYVuF6AVwMN01yMUMBgzZgQErMEpIdp8MNRLHlJ_6KBMkZxdoZ-iCsDXVfKZear786Wfwj7nlZneqqkjHirhsk1dPvHNORmLJ_zKm3_4NQKIy0yy50H-5it5FKKRsFCFLKWKysuyf1aGtbH9n6eXvAmAUvxYSRNjAukPXg_OhbsCyvo68IlAOwF07IBDqvQgfkhN4T10ge9NkAL4pBkTeGK9ZlhUsbUJPIonYvyhY0Tbd1b",
  "id": "rs_0f42a67d383a0a0a016ab4541ee97c87d0a40c15015bf254fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.26,\"right_z\":0.12},\"note\":\"The settled gripper width is about 4.6 cm, confirming a solid body grasp. I am lifting and retracting the bottle to a reachable area where its cap can be grasped.\"}",
  "call_id": "call_2nVkKYzcUuohBx74STi1dRHB",
  "id": "fc_0f42a67d383a0a0a016ab4541fe3f887d0b3f76490f4fd58ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2nVkKYzcUuohBx74STi1dRHB",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.6132, -0.3874, -0.0227, -0.0292, 0.9983, 0.8318, 1.7008, 0.968, 0.0265, 0.5583, 0.4038, 0.4843]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=-0.0004 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3655 right_y=0.2675 right_z=0.1119 right_yaw=0.1322 right_pitch=-0.0115 right_roll=-0.0005 right_gripper=0.4843\nstate[joint_eff]: [-0.2256, -1.1966, 6.5299, 1.8535, -0.0269, -0.0659, -0.0122, 0.2256, -8.7863, 5.6274, 1.5995, 0.4957, 0.1148, 0.0659]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6e608a198e0021078dd936ca35191630ac32f9a2081fc78b08fc52865341bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3055f406edcecfba23ba3ce1deed3f9a79f0ac579343e8e949f15c45953c24c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5572fe59c99560f68e3dd087cfc37605632c64a2f1c9f26414569f88a22cc3d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.199 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6132, -0.3866, -0.0231, -0.0296, 0.9983, 0.7269, 1.9232, 1.0771, 0.046, 0.5198, 0.3588, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1816 left_yaw=0.0002 left_pitch=-0.0088 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4102 right_y=0.2522 right_z=0.056 right_yaw=0.0777 right_pitch=-0.1017 right_roll=-0.0751 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.2103, 6.3795, 1.8584, -0.0415, -0.0757, -0.0122, 0.212, -11.6034, 8.4308, 2.3077, 0.3394, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.643, 2.0918, 1.1339, 0.3328, 0.44, 0.2943, 0.4836]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=-0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4655 right_y=0.2592 right_z=0.0407 right_yaw=0.0957 right_pitch=0.0133 right_roll=0.014 right_gripper=0.4836\nstate[joint_eff]: [-0.0615, -1.7162, 6.4205, 1.8242, -0.0269, -0.0366, -0.0122, -0.0889, -11.4667, 4.7658, 1.4725, 0.2076, -0.0024, 0.9158]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.6132, -0.3874, -0.0227, -0.0292, 0.9983, 0.8318, 1.7008, 0.968, 0.0265, 0.5583, 0.4038, 0.4843]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=-0.0004 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3655 right_y=0.2675 right_z=0.1119 right_yaw=0.1322 right_pitch=-0.0115 right_roll=-0.0005 right_gripper=0.4843\nstate[joint_eff]: [-0.2256, -1.1966, 6.5299, 1.8535, -0.0269, -0.0659, -0.0122, 0.2256, -8.7863, 5.6274, 1.5995, 0.4957, 0.1148, 0.0659]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6e608a198e0021078dd936ca35191630ac32f9a2081fc78b08fc52865341bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3055f406edcecfba23ba3ce1deed3f9a79f0ac579343e8e949f15c45953c24c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5572fe59c99560f68e3dd087cfc37605632c64a2f1c9f26414569f88a22cc3d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQk_Tg3eGqf6-NufaEFAnbgoZRR_Bd-w6lVFHQ9jGDHVzaY-ByZdRAWqAt1_SNn4Dbltl-nAbseoJ0cznkQUuvZwbjG18tVB7Gvk04zmtS9sL0GZrA4A8oqrGL7wTffgGX_mNYFSPYqiRa2_hVd9QYhKNo-9ZvE6YbAM3eQcsQ6kMolE-qHiaMTyyG6CAWre5-mb4rYJplm_XFOLIfgVSt0vjf9YchrvGNDY4l5J88RvwMkqPpDxTFjr60Ts0Zvvds3OHXwXTwZW4cBot3g4hgZxQlf1B5u0oSpH58gVMMv2wz1c6fzwOpAUq5saXiIQmu1xQ8bJJQfBcX2EG5j56TMZWlbpUyoIF6KYItHnrSa1s3rmK8S8lRMt4pZ2CUiGB-22ukZx_hWiaWtrYvzWBFy7yTKXxQw5YR8PRkvcBJ8t8sYVGBITwKMTyLKCotIeMIg5F0CJnmvIPwnIVorPlV3fG1TI3F8HQ59_ls1U3tayYOB_qSN2aA-7Qqyyv461z-2YgwU5L0qlncCHpzXN2jkOq0eWL-fCMXA-EgRzRhL-mL_VH1RHO0Le4W1dN4IpisOmo70YRlf51CT1iaeR9mF6ly6aB9eDkkvlkwJAqwIZ9uAEQMSLBy4E9VJF6FDAcj0j58wqBfQ2CJKr2FRz3oDElLIKpnm-SA-z76jssi9Qg_LMT6gG9ED93rBJKOoNZfP55jTLUO41ud5z1FaC4v9KGoKWm18n9Rs1Z_8LlbFVER5jAY4gLN-79CMJzr_ejy15pM5f-Cam4EGBRBZNrJHsulXVx3QYjZGexJiXuexX52JmOwJV78wziDaUHMvmdCTcxPZzeFr9EI0a2V2lJTRU6GMVcBPX-ZH2VsC1qopR2ZnKpFBPeNKViDwJkX8Kyi9vowMGDvwy9ZmjO83jX1mC_OgPF25CbzA6oShTlBxy3FaY2a2t4YO-JjRXH_tAv3J_n-kptaB_fn-Rwx8Z5GIZM-sb1THkk6TPyRGBpmkUNH0I7MDxARhAQp5ADz4UQRn8SLMbFADiebUezC2xQF33Zn5QjAjkjE6R-Wy19CrGwNjDQ_4CO6HhjPmYQz1fx4QmdeESXn12e1knwFRoYQLCIvD9Hg9mb75k7RYa_k3pj8VXaeqpNJx6N2xhwluB7gcc9ZKW4AA0xa1mBwJcMSH7gQzRyq7rG31-AB0e9gueftl3QJ2jlnExyQPnnWTNVLdfvNbXuxo8gGZCEi7xDtmkGop8elhiaEBSBMC3672KkPCVehzNFQrNUKtH-z7L3GuHAtIqzDsCV8o_unbm64PP4FYSCCCpK91bu46OnAOfg8WGhrcuwP7V4N2z6tZaJPD_Hfey0UZ9Tjir8Dsnb070_JnyVz5zQClCJpBlaZAZ-xqgrEklTN-giVTZPzhoqnycHwRidH3cH1xS08GJurEpeMhYhg_Tuw3ZmHNUOFCNyj1a6gk5V3RkR4_fhpXvugZ1M18V40Ikc85WY6T2J1UxWoJwKFa9HrvVDOtlQbIsMP45OMUTnZO578SzqIMSihCjO2Nnx3M8td6JLJ_w7ZZk4bYWB72Tj-HoEebbA7kJQ9ymt_vtFEHuTHZZOLHRXPAcQo6FFCKFIxQDHz1xHX_eg==",
  "id": "rs_0f42a67d383a0a0a016ab45422db0487d0843ad079c099561d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The overhead view confirms the bottle moved with the gripper. I am lowering it onto the table at this closer location before releasing, so the cap will be within reach.\"}",
  "call_id": "call_0hpKyeYX1JIwOryQf7Eec7MI",
  "id": "fc_0f42a67d383a0a0a016ab45423f43487d08cba7b351c4a5ab8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0hpKyeYX1JIwOryQf7Eec7MI",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.8371, 1.8492, 0.8501, 0.3107, 0.5915, 0.3897, 0.4844]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=-0.0 left_pitch=-0.0069 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3672 right_y=0.2655 right_z=0.0547 right_yaw=0.1198 right_pitch=0.0161 right_roll=-0.0169 right_gripper=0.4844\nstate[joint_eff]: [-0.1299, -1.6342, 6.4752, 1.8144, -0.0171, -0.0659, -0.0122, -0.5812, -5.559, 3.7538, 1.1404, -0.1343, 0.1001, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6daa2db4bc9bb6d7f2ce3bb44d976c65cfdcd8703b7e9f89dc8cd507e4b04302",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:018a87f0c4feaa86f60c4bbbcff177b89a9171099b4582830d4b6d98f5bd6870",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c059c20fa8d96301d1961f3fc81f844162cb69b01dce8c4173c48e7b2cd129b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 3.179 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.6445, 2.0842, 1.1759, 0.2035, 0.4515, 0.2951, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1819 left_yaw=-0.0 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4616 right_y=0.255 right_z=0.0375 right_yaw=0.0869 right_pitch=-0.0508 right_roll=-0.0332 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.6205, 6.3111, 1.8144, -0.0659, -0.0562, -0.0122, -0.9094, -9.5385, 8.212, 1.9658, 0.2906, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.6132, -0.3874, -0.0227, -0.0292, 0.9983, 0.8318, 1.7008, 0.968, 0.0265, 0.5583, 0.4038, 0.4843]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=-0.0004 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3655 right_y=0.2675 right_z=0.1119 right_yaw=0.1322 right_pitch=-0.0115 right_roll=-0.0005 right_gripper=0.4843\nstate[joint_eff]: [-0.2256, -1.1966, 6.5299, 1.8535, -0.0269, -0.0659, -0.0122, 0.2256, -8.7863, 5.6274, 1.5995, 0.4957, 0.1148, 0.0659]\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"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.8371, 1.8492, 0.8501, 0.3107, 0.5915, 0.3897, 0.4844]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=-0.0 left_pitch=-0.0069 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3672 right_y=0.2655 right_z=0.0547 right_yaw=0.1198 right_pitch=0.0161 right_roll=-0.0169 right_gripper=0.4844\nstate[joint_eff]: [-0.1299, -1.6342, 6.4752, 1.8144, -0.0171, -0.0659, -0.0122, -0.5812, -5.559, 3.7538, 1.1404, -0.1343, 0.1001, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6daa2db4bc9bb6d7f2ce3bb44d976c65cfdcd8703b7e9f89dc8cd507e4b04302",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:018a87f0c4feaa86f60c4bbbcff177b89a9171099b4582830d4b6d98f5bd6870",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c059c20fa8d96301d1961f3fc81f844162cb69b01dce8c4173c48e7b2cd129b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQnX6qRFb3OUftXyjpMMDiFmMMXNInNzfDGxbtkRncUUHjJdyVPZsDzZ9tjct1vbvY6NWzGXCNl7P4w-FX1-0yJ5_U9QbSyLgAXRMoBsTiP-ZNMREJW4GNzSh5qtexqgDahISnN_j3ArhXRwl_5FO7I99JVrOtIL5JyC3N3-bWtqtEnsyrsRJnnoe6idudVnMe5A_rRj1vU5ZH7hORdtXP4hUD5w3EKvxEKnAWMUkWbJHJa1z0C11jCh0RW8lX_v7MdPKDDfbXpmxSmYqI5Tk2Kn1t6MwJ_2l7hrrK8Y38q1fBJLp84fjwjfuC_XR3MiQ6uRPW5_HJV6ml1ZMKnhjLPc3MvacREfcu0J55lfBqlQiRaXcLDU3TOIx-oVHNCq33xAHevqQyVSsopepsgB4WA4jmyBjETCYypuNJOfnH7hsoNOjN4SHDJnbi41iPo4eDSNi49oXxfPA_sG7_dbNdtlWc7GNZmJQB1cF7SZ_D9-qfdtqoKQbgQyLANflBFnYRnqRiOwf6m2RgrH4Wes8znsES1xjW8RtBU8IyHDAAO-Fq1fFLpXEk--ceHKIniyPFYG3WgyKze_kaRNaizOGRCfqrQ1WaHmyezAmifvXkWdCDnXt-Zx2_zs41TxOV1YPHjunmrUgkB5MKXosDBc3A_1B9tciIAmC-IAqjSfXYNz8r0GOm4HlbsIRVKnP7AmFHugALc3_7DO0bwk09PFhA0C3KCZefOWQOUqEbo9dLu8--GY_yF60uRu1e8RXNtpR-KBy7SRyZJpAq4Fx-JcT_kFLHZ4KC3o-gxO3WnEHj7XvE8-PlYaeTHcxJG1LV9HBp48CkU8pzTAB0l_VzLc1RcZuqktnHEry15Zxy9da73wLx2k9ZzbM8xnOBLtGLmO9FN_OI8ZG9FicuIkDzLlRAAaYb4BKJ4fK2EHUK0I7qcdrjsCwn26MI_h6sMKGaeelVPmSh8uXBlfy5LJVS5lne4jPog1SGLMdnNiiRgpqDI9LhkxwO2hzE7VR_25B8VshAHo1eHm-3XuwQWJTm5HOG-chJzs28HGzn3pFnd-wT-o7y5PaYTtNn4EKLzIQwQc_sxSmxRWQlkRHmWXTdok75_nOjIBkO7dxpMi_MCXIIPtAyfaAeKMwztmXmccAd2OB166EK72G-7Yx23ZHNrJ2R1B_N5WMxwsWnbpOGNqSi9d6zTVfQCAr_c-MXA7_GnVGDVtaHONUqzyVrtVnyjpLXsPo_B7pQKvunpv-AhCYO6RF8=",
  "id": "rs_0f42a67d383a0a0a016ab4542630d087d085fe6d1fe557e316",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The descent stopped about 2 cm above target with the bottle supported on the table, indicating contact. I am opening the jaws to leave it lying in the closer workspace.\"}",
  "call_id": "call_pOYY7xz9OBsL9qsOTq7FjMr0",
  "id": "fc_0f42a67d383a0a0a016ab4542665cc87d0bc9cd8d4c76a57fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pOYY7xz9OBsL9qsOTq7FjMr0",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.8356, 1.858, 0.8459, 0.3107, 0.5838, 0.3923, 0.9954]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3659 right_y=0.2648 right_z=0.0491 right_yaw=0.1227 right_pitch=0.0031 right_roll=-0.0195 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.6889, 6.5162, 1.7998, -0.0415, -0.0464, -0.0122, -0.6359, -10.0171, 6.2427, 1.4969, 0.1832, 0.1148, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e01d90750677b98e22a55a2af3e527504d539afd98b93c5ec532fd79e56da13d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1bb7894b32714a3c874165be48ed2995708c2f5959c6fa063b136c71149a2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8ed10aeb2837d0830d811ceafaaa69b45fbe06a516517ce3b1c006fcbe6c63b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 2.389 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.643, 2.0918, 1.1339, 0.3328, 0.44, 0.2943, 0.4836]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=-0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4655 right_y=0.2592 right_z=0.0407 right_yaw=0.0957 right_pitch=0.0133 right_roll=0.014 right_gripper=0.4836\nstate[joint_eff]: [-0.0615, -1.7162, 6.4205, 1.8242, -0.0269, -0.0366, -0.0122, -0.0889, -11.4667, 4.7658, 1.4725, 0.2076, -0.0024, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.8371, 1.8492, 0.8501, 0.3107, 0.5915, 0.3897, 0.4844]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=-0.0 left_pitch=-0.0069 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3672 right_y=0.2655 right_z=0.0547 right_yaw=0.1198 right_pitch=0.0161 right_roll=-0.0169 right_gripper=0.4844\nstate[joint_eff]: [-0.1299, -1.6342, 6.4752, 1.8144, -0.0171, -0.0659, -0.0122, -0.5812, -5.559, 3.7538, 1.1404, -0.1343, 0.1001, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.8356, 1.858, 0.8459, 0.3107, 0.5838, 0.3923, 0.9954]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3659 right_y=0.2648 right_z=0.0491 right_yaw=0.1227 right_pitch=0.0031 right_roll=-0.0195 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.6889, 6.5162, 1.7998, -0.0415, -0.0464, -0.0122, -0.6359, -10.0171, 6.2427, 1.4969, 0.1832, 0.1148, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e01d90750677b98e22a55a2af3e527504d539afd98b93c5ec532fd79e56da13d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1bb7894b32714a3c874165be48ed2995708c2f5959c6fa063b136c71149a2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8ed10aeb2837d0830d811ceafaaa69b45fbe06a516517ce3b1c006fcbe6c63b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQqYsSOdXdNj9cR7o8tAEHWOimxf1Fq3Gr49ekCaP5YoEBtLbEULwkLuE-f3FgLHbIl0oJqytZeXyIG9aiY7V9CqNq6EG0yTi-58ToHbIHPtop0fjEUYieqTekVFDPc2b08Bt9pIjIYHleiHsr70yjp3SRfr8N0SMpVy_tCTcil-c8jwJmBjZikaiTGJScuFhrDTcrxEGzwzoX8suJKIpwD4ygnsWkEAvT3tuQdF-8mcuUSC6-azJ1auCs1O0Wz5l6Vzphdo-BgJBf6TcGT6co559ojj5B02fYPFJZ-rj1CrsaALJpMg80REeVee-RbbxS0dIcb9bloyVJXxV-FfMU-c3gF21OBZb5xe-MPQ-9q2iLZwbIJ_eKYoOyg5tHyduooLJu-uMd0ZAC0joNn134HfVgyIJb0hYCPrC4eoRgH2LsyvDxETMYwnwtYEAariREGvVtbV9f5kt_YayMRvdzGIzvqiqJYNFFwPfVgLpIKgQtamvp8Bt--0CxJuHAiNCNDzRuAtv_WDCvk_WywGXaGQYuI23CbhW0tb_8k_oP9Lwifos1SRQSHkxWhD4-wOIu9aO1kEKQqQyPJFyHozar3swHba_h3CyWyLQYXcOxHD1-3lO7vG3BAfoyGVEeWC6VT4JbFcvD6U6Qg28Hq6iLMir-Y6wInXLlwr35a6KG7nVeESaQtjfwK-OtgijIdO_e3q-vM5ZDH-vBu5Nx4_c71KENl_g8lEqu0HspOyCgecV9FeuoWSWS2KbTqNNjUfO1JZ_gxlJWlmUQ2UCLjg-TUp3NvEUCz8KcnpkRKh44UZBTAndPGiZIB5cn5UvABNdXL88JZtGLYJ8kSFBkdh9dGXmiUho8kYiGpCD8SyS327WYpZl0MPVKsj2_qQ0ZZMnf9jPI2cwVzdaKgQVq-jYsAYRPTpzyYH89q-oNvyzeyMqgUzW9qr8dwN9-wPloqpyZjwZvccLnGUMAYlZ1hrQgZAxXYymC_h41NEJLF2Zpx1QAbsmKT4AKPE0wCx2c0hxPxHbLWuQew7BYx-BufHX6UUvCMapIFGKNceBsSq4BuEVg54olA4VMLfIH9RjV5iJImftas4vdY-PKPs7qia55mBHY5VzDDt0t5OoBwetBFDYYlscfPFkm6i1sqRcBAu6YLVTmMqYT4CX--SwwLYGIK_GaqHmaQyNCXgWVvWcQzglaIXOCrYeVGIGDvfURUJnpox3HDSnJ0abb7ZwdUWPShWhqVYNGNdiiY-dM05tS30o_ZlV6cug4rj9ClD7lazwqRCPqXxCis2zCdk0UwEqESjXkg8fLZ958mjB-c5OCPBwAI0AIGWy1AD-2Zs2TErzmHIzhO9H7Se4KSevKFxy8BrW6uc9-3OnnKSB3cszESMvfw6Rbpw28qnIJpjF2ZmrRpcuu3Zr3c8Alon8fHtnmqwS89LpKrIoyDHEu6mhiDOKddTnU81C53biiLhBYFCJK7s_Ue6CfGf-oLc6JgU6rI6uleAlwviMewEegmnn1gWdJnDJL2c6wxFTeG0DDEQj_B-Kfg0aFCRLgJXO9uPOFgulZvRh-yephSruc8IlwVRuXeV0-FXkf-yJWJhypIXL8iDROdVtj8XlxQ1tMuNwtXsKyvjF53T6mIBs_yjQ6A37I9gL2gHs0i_C_aYgsnhhDRhD84rdf13iah5YzkogJIew==",
  "id": "rs_0f42a67d383a0a0a016ab45428fabc87d0875c285f121a2e47",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_z\":0.08},\"note\":\"The released bottle's cap is centered in the wrist view with clear space below it, so it is slightly ahead of the fingertips. I am advancing a few centimetres and raising just enough to align over the neck cleanly.\"}",
  "call_id": "call_8yNxAOgwGdipsDvZ39YY8Y10",
  "id": "fc_0f42a67d383a0a0a016ab4542a27e087d0a5664bd283e13664",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8yNxAOgwGdipsDvZ39YY8Y10",
  "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, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.7609, 1.8584, 0.9524, 0.2028, 0.5171, 0.3508, 0.9971]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3937 right_y=0.2592 right_z=0.0649 right_yaw=0.1218 right_pitch=-0.0254 right_roll=-0.0218 right_gripper=0.9971\nstate[joint_eff]: [-0.0615, -1.6479, 6.4342, 1.8339, -0.0317, -0.0708, -0.0122, -0.5265, -8.5538, 8.3761, 1.746, 0.1587, 0.0269, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae2308e79c2d989230911ad74aa5845fa1aad3a071218887c90c724f4c61b460",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9dfdd6732aaeabdc31946aa9aa5a85aee042ef99133dc9c1e9aac825933b0f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ec58b2f759923fcb93e30b41739e7caa404b9e0de70512cb354b665e0e9e9c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 2.419 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.6132, -0.3874, -0.0227, -0.0292, 0.9983, 0.8318, 1.7008, 0.968, 0.0265, 0.5583, 0.4038, 0.4843]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=-0.0004 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3655 right_y=0.2675 right_z=0.1119 right_yaw=0.1322 right_pitch=-0.0115 right_roll=-0.0005 right_gripper=0.4843\nstate[joint_eff]: [-0.2256, -1.1966, 6.5299, 1.8535, -0.0269, -0.0659, -0.0122, 0.2256, -8.7863, 5.6274, 1.5995, 0.4957, 0.1148, 0.0659]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.8356, 1.858, 0.8459, 0.3107, 0.5838, 0.3923, 0.9954]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3659 right_y=0.2648 right_z=0.0491 right_yaw=0.1227 right_pitch=0.0031 right_roll=-0.0195 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.6889, 6.5162, 1.7998, -0.0415, -0.0464, -0.0122, -0.6359, -10.0171, 6.2427, 1.4969, 0.1832, 0.1148, -0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.7609, 1.8584, 0.9524, 0.2028, 0.5171, 0.3508, 0.9971]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3937 right_y=0.2592 right_z=0.0649 right_yaw=0.1218 right_pitch=-0.0254 right_roll=-0.0218 right_gripper=0.9971\nstate[joint_eff]: [-0.0615, -1.6479, 6.4342, 1.8339, -0.0317, -0.0708, -0.0122, -0.5265, -8.5538, 8.3761, 1.746, 0.1587, 0.0269, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae2308e79c2d989230911ad74aa5845fa1aad3a071218887c90c724f4c61b460",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9dfdd6732aaeabdc31946aa9aa5a85aee042ef99133dc9c1e9aac825933b0f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ec58b2f759923fcb93e30b41739e7caa404b9e0de70512cb354b665e0e9e9c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQt-P-zYvUiNFDt_MdUf_CgTfEuRXMy5wOXOr3WP-x3Ra_eML8e50txacSpk9iyAy-WzZXJ6ffmUsWomM__ozY_xukQs3x1loAqYaicCs9RIbZ12Z8IIrRzAUCEHy20Zsq5wjZWv-2ozSosSkTB8-Get2ECJzB0Nlf--3fos-UPMKiORprohVSH_Zux2Y9nrqc0XEo45ZyW7TgURgeN4o40excAIWk1fYfb4ZEGhyT90I17NlmeiSU5WTHAxJSuu4aHIsiVmnrny6u5tRZ1_MpDsTJSZFwj3Xz3FgMObE2bPSrXkSFcHaBQ8Q5_Ux8iaqMdr6tNm6f6FqBVacotpLMm3Cg9FCoUhznIAz_kQrVd4gC8RfLlUysC4-XmVycEVz_O03IY06TF013WKVI5wwBciceVnuFZsvrd2gC_CSndjsTOEEHfg4dH61_AlYIYp713upDncwBONSX5-Y1Fw7HlKbWPp8rXXc1dnE2aX89OW4WEWOb60oGv6XADQ7reGp5Bg6wUj9o13JGjuRuffmMVund2TqsGUWSobI6DjuW_AmYqNiZVcPEQxtwgdZW5Dol1pmJL0bM5r1A5sn2xy9J4IiF5zboWXGcs6bhEXEEFde1TSsbLqNIe7G5tcYMe77s-K21Yl_HK34vfbfwLMOCrcoaJdJqMKBkJUwmP_bxgY0046-vdphE9UCLuTtc1Pl9i-GkX740CF1LQv1iPHh-SJBWdZCjzg5Z6xNcplfnwJ98i6qYVCQlJS_MKz-Itpton0NSN-hWRYKXJI4INvDs95ytjKG5ooSO6495dVLrOEtf-KzWbkPPzrrkPS1Y79pSY8idvFlGn8xOp9cVmT2AMQOKMUY6BiN5RE7fjusZIyzQ9V7fjSzVTDelhvHkwThKnVdCz_PFjwmtSkNRRmBOKNysgQHwDYZMcSRnZa8jDCAogA78kxAL4fnbOgersLzs9OpEv70sv9F45ORgaQ9CmttPr9GPLQVqGSU6zl4bB51mZJnv62d2jTHZ1gee9ZxXYx6JIZUZ6_0SpSXhU4AF7FwgG9bMqnlcr2FprKpof7Zz9yDy_bVaxbUWBnFWMjzAvkZ_KBXbFlmfF82qi-F7KvK-ySHxB4gL7s-q9DmUC0GQZA2npoZeFFb1nibGg5pjJ4GJBm8LtcRLkOOCocoAQjXX7w43ZAGr1895_w4-lP7YRY45LZDDXS7tmRt8SL0jpD589LczRw_oFRYKn2pKnVhLT4EctLksW971-CBpllG9b9M-Fe2Ht2Yfx55s7TXP2JrFvQBdil0eJh6RKKwkkDdVzi14C1_zBATjsDcjseP1PCUG1sneUgmhk94sJYaDAW2ufCMUEXtFbUyn3BARqAMTfP7ChV_MwTqDIXwIKaJs3NjXKRU_xW6Dgp9n7F3YAcTYCl2Vu_PUoBRrER1IjiQ==",
  "id": "rs_0f42a67d383a0a0a016ab4542c544087d0b2499bf3fd15d37b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_z\":0.065},\"note\":\"The cap remains centered and has moved closer to the jaw row but is still just ahead of it. I am making one final small radial advance at neck height.\"}",
  "call_id": "call_69oVVvQpnWUsPh9tDkUSi8t9",
  "id": "fc_0f42a67d383a0a0a016ab4542cdcc487d0b99d21060e1e143a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_69oVVvQpnWUsPh9tDkUSi8t9",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0296, 0.9983, 0.7139, 1.9186, 0.9901, 0.2089, 0.4671, 0.3111, 0.9974]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0002 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4097 right_y=0.2544 right_z=0.05 right_yaw=0.1349 right_pitch=-0.0577 right_roll=-0.0369 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -1.6068, 6.6393, 1.7949, -0.022, -0.0659, -0.0073, -0.841, -8.9915, 9.3197, 1.9805, 0.3004, 0.1587, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4629f2316c27c0436c3e19b8ecce87d1df7915ddd90be435609a986674f790ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f4468646242ffbacf1e01a591c26428f24180239a86a75297361f55000df156",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:215379aa93dd777ca9eee2e5cdb48d7a49e460c0a252f110ae32af4ad68f81d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.126 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.8371, 1.8492, 0.8501, 0.3107, 0.5915, 0.3897, 0.4844]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1821 left_yaw=-0.0 left_pitch=-0.0069 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3672 right_y=0.2655 right_z=0.0547 right_yaw=0.1198 right_pitch=0.0161 right_roll=-0.0169 right_gripper=0.4844\nstate[joint_eff]: [-0.1299, -1.6342, 6.4752, 1.8144, -0.0171, -0.0659, -0.0122, -0.5812, -5.559, 3.7538, 1.1404, -0.1343, 0.1001, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.7609, 1.8584, 0.9524, 0.2028, 0.5171, 0.3508, 0.9971]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3937 right_y=0.2592 right_z=0.0649 right_yaw=0.1218 right_pitch=-0.0254 right_roll=-0.0218 right_gripper=0.9971\nstate[joint_eff]: [-0.0615, -1.6479, 6.4342, 1.8339, -0.0317, -0.0708, -0.0122, -0.5265, -8.5538, 8.3761, 1.746, 0.1587, 0.0269, 0.1685]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0296, 0.9983, 0.7139, 1.9186, 0.9901, 0.2089, 0.4671, 0.3111, 0.9974]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0002 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4097 right_y=0.2544 right_z=0.05 right_yaw=0.1349 right_pitch=-0.0577 right_roll=-0.0369 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -1.6068, 6.6393, 1.7949, -0.022, -0.0659, -0.0073, -0.841, -8.9915, 9.3197, 1.9805, 0.3004, 0.1587, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4629f2316c27c0436c3e19b8ecce87d1df7915ddd90be435609a986674f790ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f4468646242ffbacf1e01a591c26428f24180239a86a75297361f55000df156",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:215379aa93dd777ca9eee2e5cdb48d7a49e460c0a252f110ae32af4ad68f81d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQwrF8rBZw2hFLhkQR2aiXPEGBi55aA3dUCWysOr9u-iuVl-_a8chsQwzaCCiRMl6tA4woydie6KFhC1fkjUz_NvMAAioGifh2gHKq1UiIAnJWEU-B8BR_t1vLBPB95MofVrfigeGbp9zq0fsZnyew6_XgprNw5eVtX08EeSs5GPh7-9QehJTMA2l5L1b3vllm_qxZ_oIhjhVhj-MdiZJ6a9YsTAQozMmXHmDNDtV8-9lnEwCB9mYf5pa-LRf7BAytr75tHg0N70VQmCOw02E3lwdQ7ezMmneL7ulC8PzqNbebMCkVk48KbfmBy6T_GWyshjWcBO3333ufz9f3EkzDl86-qb01KFLzhBlSYg6CNsrS_zoC23MLq5nyYnfJl5Xoee2FSzieg6hzeNwpnAHzaU4NWP2Tgp4Oo0Gu5VN_Ghh2t5SzKasC1-gGsAPQqASrfZbfhPwgQ2bSoBG_MqrdKnwiob4GD891xR4RGs81psvMD7djgWfCL67IamvYp4K9cOtVlIkmbyHy9OOKFnxD1DnPW_5dWxiyEhMjy3o8RkRLfHcc0PGs_x9TNObwqnxuJj5WGnaz3ovhTXqTOgYY6DUgd-jWXscc6gDMMo1o1zgC6jlzp-CuQsizrcfebrrz8PrfrQBzDv5Sshv-ZXHm84g9vnBge2umhyyWgAiakdZfvrsKGiyj8-Q42zx0IPqR8hYjaFpcd4q4__6RliBoNpRkzII5VtrtCn5p6h5zXIDVDdWsZnygYQFVgpZXIXo_kJhpxTtLO7O5xyRwoDq5XoJmr3lWEuDp9wOaZo_-cYTmPgwLtXsD9vqQ7to3LilKkdSZ8sT_QXnXjiLMet_3KQve0IIobCuG0g1nQyP2oivkX2aTyvFtbsiO-AHuBEARkKDwoqXo-k7hEEt0ggduxDb66W5R2Nt9fd7rXqWI_zXZS5aDW6TwTQ79iOu93Q5pT2knlnBVSu6Vlo3f_khelS2Iw6Eq5ltNsYHsE_vQA-meynYrKC0sDRkKhIzpgj3CUGiVCUF_0b9_yrjjMMuAr5LekQHNatkwlzzYAtfVsQwRrEasBDPF3nMRj3gJHy-pnu4s0pPQmeJkKXNmU5_-xo-gPYhtyV0kvDBQuW0JetK_DuHx6ONsxAFbjVOcXEBZB49ZbySW0j2iP1xvsFZjhSRyHVm51UJnkCImCPSMSfG31KaEiFN55tB0uOHAaDl_vcepq1-qBN3YJOQRZ7ECtwIuLGitfPoMCO_CGSiipwAGBfK0m67M63r6nxpydsLGkEnK6dlxkUzBCO7L-UlP55CSeiT3z6fs8gGdH_HjmJ_qPgPE2By3HsUzsDenkUko4DNQ07BUiE7-zPf_qoCybXK5tuqAZNG56XmZWHn0dQ71Qcp_QOw6cb-GMqaWIKqc8Rerv3MWySQx0-wNwvGkW071QnS5fjqAse3kQrzZNkZxjT9Yz9DD65WcH1wKIb0VQC0yXP3tJKGAGn3dOlDrWltqSdKcjdb-i5L-hOxfCnSlaV11rirtJ3dNXlMbK4Ipd",
  "id": "rs_0f42a67d383a0a0a016ab4542f03dc87d09482ab294ae6d824",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_z\":0.025},\"note\":\"The cap is now between the open jaws and centered laterally. I am descending a few centimetres onto the neck while holding the radial alignment.\"}",
  "call_id": "call_dPKON49ptujd8wxFcb4WZQQ3",
  "id": "fc_0f42a67d383a0a0a016ab4542fc07887d097d19c9b013f3b87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dPKON49ptujd8wxFcb4WZQQ3",
  "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, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6952, 1.9388, 1.0096, 0.2096, 0.4583, 0.3012, 0.9979]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4176 right_y=0.2512 right_z=0.0475 right_yaw=0.1285 right_pitch=-0.061 right_roll=-0.04 right_gripper=0.9979\nstate[joint_eff]: [-0.1299, -1.6615, 6.4752, 1.7998, -0.0464, -0.0611, -0.0122, -0.4034, -9.347, 8.0342, 1.9609, 0.1343, 0.022, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8644063b6f97a64a057b274ba10c342cf23cd89d3963c0220ad9b7db9ced5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3730793b1f388ceb7358e75d0c089eedf8931771fdbaff563cb77a5c0c8d257b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d89143326c1b082b678238ff2c88c23002296888e25a0e6bdd5cd02bc062e762",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 2.16 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.8356, 1.858, 0.8459, 0.3107, 0.5838, 0.3923, 0.9954]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3659 right_y=0.2648 right_z=0.0491 right_yaw=0.1227 right_pitch=0.0031 right_roll=-0.0195 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.6889, 6.5162, 1.7998, -0.0415, -0.0464, -0.0122, -0.6359, -10.0171, 6.2427, 1.4969, 0.1832, 0.1148, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0296, 0.9983, 0.7139, 1.9186, 0.9901, 0.2089, 0.4671, 0.3111, 0.9974]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0002 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4097 right_y=0.2544 right_z=0.05 right_yaw=0.1349 right_pitch=-0.0577 right_roll=-0.0369 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -1.6068, 6.6393, 1.7949, -0.022, -0.0659, -0.0073, -0.841, -8.9915, 9.3197, 1.9805, 0.3004, 0.1587, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6952, 1.9388, 1.0096, 0.2096, 0.4583, 0.3012, 0.9979]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4176 right_y=0.2512 right_z=0.0475 right_yaw=0.1285 right_pitch=-0.061 right_roll=-0.04 right_gripper=0.9979\nstate[joint_eff]: [-0.1299, -1.6615, 6.4752, 1.7998, -0.0464, -0.0611, -0.0122, -0.4034, -9.347, 8.0342, 1.9609, 0.1343, 0.022, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8644063b6f97a64a057b274ba10c342cf23cd89d3963c0220ad9b7db9ced5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3730793b1f388ceb7358e75d0c089eedf8931771fdbaff563cb77a5c0c8d257b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d89143326c1b082b678238ff2c88c23002296888e25a0e6bdd5cd02bc062e762",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQz1QZJwJSDyPemtrmQtjowMVFJhkuNSM_WDXOu-Bd8-2RppDinjppVB6fUySUmdMUQBdVDnmS-67VMLqRDDBOjSTPrX7TD1HFpyH08CWOUbyc26jLWhF6eaef8Kms-agQfBQFE6Ysict0fZhswI5_5E-O5eYKGRTR8U_JMiIF2qOKzLs9MhhDlFcGRho7G2jBw5m7GMkx2195xEGqcZx5XxAMYW-pANyW6d4yCU9nxrLUSh0JNy4yuhteBOZhV0Eq1lMDnSLNdbYJ5YkBh1umr4HZS89CF5WSCZD2JzZI8f8ppz2Z81azUn_G9kRyEmqzno2xvbiLJobZE9WXgbW3b-EupTYtkVTbsCt0baHI5j7f7BhYgXolOZ3M8aE_ufaNptLCObA9znKO_kE23w_zDfLltgQWNljruUz0T0IFed-XjMPtO4h7hMnLomBkbEvsmn1pmfjyioUcr9r_NU0Muk6296ZJV9XjbZRUOTdqCfF3EwipyKgPK-kvIn_1PUnYCkOkePNMdFBfClX0QkiBeBzEsfqWifxFkHLlDw3gnZgya9FnQ2xdaPU0qMP4UOphAxkSI-PDFxJ2-_OofBkUOuMQXu7UciBHz_06iMlENrs4oHgjOJAMBTVAvjU_7bhN8L_cMvaESB6nC7v7LtDajumdFJelFskzlONMBYGFxGXFugNkCAwepqnPZ2XDrf4Ob8Ujl4rR92FFFl61aS8Anu4Osgb6fhyuWt4tVdo8weOwmQjQjzRR7-RMNUk72XIhXmUjTS3np9whk6IddQxxYbcwrdWTYWKnEDvtvKzlBuXMmzfqwKpx2Gbl7rzUUDvxuD6TH_9WhVYt8r0PUzB607NPh0BJvf_2INLKJ0AqfNjD31B_p-dC0XmW9rN_JdllGdAfQXi92jsEh3ZhAVQDMZWDl3g8KRu9LRhORycSoOJSbpcn7a3Q1-wX9iwEmkdywFOE-h8qvoac1l5sHJWAmbq92LL4N5UArbMC5sCSK9UzxsrJtbpqQYCbSkb1hSGOb2cTVuXS-c_-v4onRErwL97F2QKcogzXTMgUFHUmyxU9dZminWnPkKAfXVy4D23l_RaK3JXHF2zlGto7cu9pPxKDDm5J1Ysu9JeGqNlIkzs7MGAjOeHnuoVs7818I1eCfrC60bqV-k9FF-tXtbjdLgVVS4BehSaWSrfx69y4u7h35cVq4mU4XOkh47ReP2HHrPAMgdctR4Ignp3eDTtjykGWNnvf1rXuOQNz7Apa_i1lp21g7LsTy2vixWQ-RFov7lT4lCa-1b896cAl6Jq6ZSlUS59sSQimGMoIIHdYEKvjyRqIg0tAC0QDs_09lr4_2",
  "id": "rs_0f42a67d383a0a0a016ab454326b1887d08c7d11827e0ed362",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The downward motion stopped with the cap centered at the jaw convergence row, consistent with contact at neck height. I am closing fully around the narrow cap/neck.\"}",
  "call_id": "call_oNYy6AD0dUMOptHUXDlrQBvs",
  "id": "fc_0f42a67d383a0a0a016ab45432cc2c87d09de779890d718657",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oNYy6AD0dUMOptHUXDlrQBvs",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6952, 1.9385, 0.9798, 0.2966, 0.4477, 0.2905, 0.0188]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4197 right_y=0.2552 right_z=0.0515 right_yaw=0.1439 right_pitch=-0.0158 right_roll=-0.0124 right_gripper=0.0188\nstate[joint_eff]: [-0.1299, -1.3744, 6.6256, 1.8681, -0.0513, -0.0366, -0.0122, 0.0068, -9.5248, 4.7248, 1.2918, 0.1538, 0.0513, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ad3ea92accb20cc6642a48826ab1099aa973aa9d80dd1252740c589eeee4f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b1a66fde64fc09ce6335012cfe50415ddaa873df15f4031376e14a2fbb97734",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8daedec246f4fcac58249afba845a05f8415588fb9ca74c91733fd394491720c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 1.955 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.7609, 1.8584, 0.9524, 0.2028, 0.5171, 0.3508, 0.9971]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3937 right_y=0.2592 right_z=0.0649 right_yaw=0.1218 right_pitch=-0.0254 right_roll=-0.0218 right_gripper=0.9971\nstate[joint_eff]: [-0.0615, -1.6479, 6.4342, 1.8339, -0.0317, -0.0708, -0.0122, -0.5265, -8.5538, 8.3761, 1.746, 0.1587, 0.0269, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6952, 1.9388, 1.0096, 0.2096, 0.4583, 0.3012, 0.9979]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4176 right_y=0.2512 right_z=0.0475 right_yaw=0.1285 right_pitch=-0.061 right_roll=-0.04 right_gripper=0.9979\nstate[joint_eff]: [-0.1299, -1.6615, 6.4752, 1.7998, -0.0464, -0.0611, -0.0122, -0.4034, -9.347, 8.0342, 1.9609, 0.1343, 0.022, 0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6952, 1.9385, 0.9798, 0.2966, 0.4477, 0.2905, 0.0188]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4197 right_y=0.2552 right_z=0.0515 right_yaw=0.1439 right_pitch=-0.0158 right_roll=-0.0124 right_gripper=0.0188\nstate[joint_eff]: [-0.1299, -1.3744, 6.6256, 1.8681, -0.0513, -0.0366, -0.0122, 0.0068, -9.5248, 4.7248, 1.2918, 0.1538, 0.0513, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ad3ea92accb20cc6642a48826ab1099aa973aa9d80dd1252740c589eeee4f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b1a66fde64fc09ce6335012cfe50415ddaa873df15f4031376e14a2fbb97734",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8daedec246f4fcac58249afba845a05f8415588fb9ca74c91733fd394491720c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ2F4Vh1KfQJw_6TwFopmYwMMZDtEbZ7CYJQkYa2ldtwd0OXogquQxlhRdP-ReSJMOJHMVCHDrHw4EPgG6GHK8Louz0rL3UZwXSMKgigHIZEh-EhfoxwY583fRCfr505K4er6Ub66SKvYH4r3gIi4ryCzRNYOnonprnU3xfkZr6UouZ0giK0PVA03tLkLDbBn2wFGAnDfJDM7zal_QDA4Pwi7sOW3u4qW25sVOZhCfPwWDG0X-0Vr6gnkqgF_lkWrNO7EWmoSs6z4LKGdvIeWpCLqfv8SHBFyXxn5rOgOJeBDLl7q_Vbn5DMo4SWbNIJrqIjYs4RHRVJz9TUHI6V9U0gNDFPtEjMyj99kEQftYhbTSwA-0p-yBGMSDl5FePPnLe-39YMqJnt-tHie-rLD7GG24JCbXr7iGK0ptbavMhzPfFWrKs7hq15Zy_q8xhELKxIseKbYPGWtRDtdOWQxr3WjH5qaQoagkFL6VZ2Acfojo5uYGqPixK8NxKW-QeGksVxGPrFSJ5EkE-aQZec4n8gKVtHdOM4lP7yOykbpc1glQofhRyY-f6SDZrwT-CMk7jHixcKb9jDIgLHByc0Mr2sr-butJ2rAixDosBNNUnB6DGfGgdIPjAwX_zMCWgKc_54ALGDi-D2k-Ua8pVCapwwZmbcS3VrRyLMxpmmX7UaeBBL94wWlYDencEE3CEqAGLYYrMDYOhBT42iGgJYrJkOOFIx8My-4XlNJSQCFpN9XZRiFJdkjhMRkJvFrlEs99e7ZC4Qp57oAbLHLzwBgPsTwcIsfPsnpTMqK1wx_iStXt-UNMZZ7qD7CgFYUL77ZuKQhErgGTNoJN5VGfqi21kOpVx3qMqjlywYys_Aw5KWLBWzF31u3HEIGAYJYrgIu9BzkVmfNTz5-oLH3HIDcgVJ_f-hVazzx_tt0nb36ECg6Oxb-SCGcfiV7nzXgsHYkdHAPdEHPU7KHpmSmvqfkM1LE4KQU7MnUi6jTPNocjNi8JA_oR_sLz5kQ5YxHTdXHn6ZbZvh2hoprRMayoVkB2P_0WwdiJOPQJHpTQPcGJD60VCHcZ142nXcHOEAuiVQIxW3Up8rDX-Un0ivO2MGE9oghP6VHMMabquev-YNByc8PpvXU_7_GqXwJb3-9zi58AFlj6XEGuuRnIuYO4qjK8S2F2LR0If9-SFbFxgkXD0c2nPOhVYsqz73iYj9o_h5Jxmg6wI98E2SjTbqbbFyEOS7OZiHTWw_htKLIY879no34MKPOveFvvGiM9EB9OY2Ybq8Mm_Z2koJksAZqeplFHrnd8HJS0mVb8YVJE-3cDrtGuxayQzJ2bAGUkSk8Pt0kYx6Y6GDudk41OQn6p_3jb60q_nLhTJa2owgyZYt3pLLwW51x5_FY87EroYsQkI7ZR2",
  "id": "rs_0f42a67d383a0a0a016ab45435851087d088537bc55bf80805",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.44},\"note\":\"The gripper settled below 0.04, so the first neck close was empty. I am reopening and shifting about 2 cm farther outward for the prescribed single retry.\"}",
  "call_id": "call_ZDlFeML9bfp7kSmKRYeEpj1o",
  "id": "fc_0f42a67d383a0a0a016ab45435ecd887d0990a58b91467e508",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZDlFeML9bfp7kSmKRYeEpj1o",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6701, 1.9709, 0.9962, 0.3031, 0.4141, 0.2596, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4272 right_y=0.2524 right_z=0.042 right_yaw=0.1621 right_pitch=-0.0345 right_roll=-0.0249 right_gripper=0.995\nstate[joint_eff]: [-0.0479, -1.347, 6.4479, 1.7949, -0.0366, -0.0513, -0.0122, -1.0872, -8.3761, 8.8821, 1.8535, 0.1538, 0.0611, -0.2515]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb6f69e91d0289e33e632c6aac09e67d1fa0378a793b14cbc584b597d6c2786",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb61fd366f4b21fc682e71054381c3ea2c4d918b917f790019d5b0c050ba1e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f91bab723fea7644f78f5e74844b1a64beb82c44170c3943ab5781ccc9d851d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 5.697 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0296, 0.9983, 0.7139, 1.9186, 0.9901, 0.2089, 0.4671, 0.3111, 0.9974]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0002 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9983 right_x=0.4097 right_y=0.2544 right_z=0.05 right_yaw=0.1349 right_pitch=-0.0577 right_roll=-0.0369 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -1.6068, 6.6393, 1.7949, -0.022, -0.0659, -0.0073, -0.841, -8.9915, 9.3197, 1.9805, 0.3004, 0.1587, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6952, 1.9385, 0.9798, 0.2966, 0.4477, 0.2905, 0.0188]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4197 right_y=0.2552 right_z=0.0515 right_yaw=0.1439 right_pitch=-0.0158 right_roll=-0.0124 right_gripper=0.0188\nstate[joint_eff]: [-0.1299, -1.3744, 6.6256, 1.8681, -0.0513, -0.0366, -0.0122, 0.0068, -9.5248, 4.7248, 1.2918, 0.1538, 0.0513, 0.9841]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6701, 1.9709, 0.9962, 0.3031, 0.4141, 0.2596, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4272 right_y=0.2524 right_z=0.042 right_yaw=0.1621 right_pitch=-0.0345 right_roll=-0.0249 right_gripper=0.995\nstate[joint_eff]: [-0.0479, -1.347, 6.4479, 1.7949, -0.0366, -0.0513, -0.0122, -1.0872, -8.3761, 8.8821, 1.8535, 0.1538, 0.0611, -0.2515]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb6f69e91d0289e33e632c6aac09e67d1fa0378a793b14cbc584b597d6c2786",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb61fd366f4b21fc682e71054381c3ea2c4d918b917f790019d5b0c050ba1e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f91bab723fea7644f78f5e74844b1a64beb82c44170c3943ab5781ccc9d851d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFQ5LjUw6YNG2Wc_zONnanMv5c0yoPMQzS7i69OBE2s8Ja6ySEFy4jyTQpBtWf6bBbj3WtKGaIw0qFn4mjFscQ7XOEkiZ3Eks15HyyhPDbqdQ0Je-Mbzc8f8oXzk-khNYXvrmX34TwRcFe8meubXauvMKTqoAo3TKZEXEZ4JFmRUAal_u0u66uUo0XIPYe7RQCAyPufOjhi2gs-K7Pkyoq1XN2D27E0aehgwXcx0M8wzTT8Ivb3S_RP0WXofcQJSIYYFba4tImvEujH6ufdvEAbgIsFuQwpzfncWeWlnGErqQB_kh-4N0-ZzeCXU3AMqYJb_zhATenrM9T0tvXpmP-gnWW4Y_cBAX_kfqMUSa9P_rBd8IFUPoD8M_jvFu-0KBFYt8lQtbnHNPQQ7aDmXKY-4IScDOs6j_Wm-I1cO185crnr6NL36z08hLv5d1K33wL3_Bc5CxM8Jm0No1t4dK_nkoG4JXVRPnJRU7072jKewUz1QFnElWVxHLUnASv3365hM0mSF7dMBT7RFfQ8nkYow0t9ygccXUxeM549mTytz0Gxe54MpEiX-hXtq-NBXf1e5SbHE2Kw7uRockztWIOQysfvBDbjVS1jqCBVDxRL8jKyByQ_aBQ1IlJkK62-jXUEUtQ8xhFZt3VUl1VVn4Y3r2-IcdK201GCo0km-VbCnKo0X-EyGLjEcdfuIZtUHoJVjawbgixLaeghIbpM_yamcoTS50PZKo-rMcP4t6BbAVbakgIJR6eRUljwlmghvNbGSDeD5VzRYUZMNwkAyO2DWs_mOZusWk-bB_Awtt7OZfJRlOjx_zQzzt3sMHx6gNDJASHm26hbKIZJfU4_y5jPaDByqVIZ4Maa5kTZVoCJLgjaiZ-sZCeFlZ7qPu8c3Z1f7F4hzL7CAbrwrF-JtDj0T8TWj1Wyi71cEFoW5S6-Rwpvg-CTRN34Dgx2AU9-O3lsFkXw0JiMCuh4Xuiv97fW8E2s8erxzcEIz7eo0FgtzuMQJmL5beNP92EMK124ARJrN4mdPV4ebTRdfldll27NBOCPzUj3lfilc_R3LPQwAyo6G8ZSXwuNFi8ommZYUN1w3-L0Au4j7uJ0MP6qfdT1q_seShUxRzVeVM2erJfooRsmFeuBI8nIDnLKDz5qnzW6FNHWh5sbAbavr_fRpSDbXoff0d1c07UoaofWkF5-LI6_fPhbHurUK1JX4Hl2grNYIxBpTtlvAdqAUZDgE6mmeqfmtwT5vTo7YnitJ2WPWpHE=",
  "id": "rs_0f42a67d383a0a0a016ab45438b0c487d0a42e4ad7503aeeb6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the outward shift, the blue cap is visibly centered between the fingertips at the bottom of the wrist image. I am closing for the second neck-grasp attempt.\"}",
  "call_id": "call_oIhJI9qMMWXXmvRKugdJtefG",
  "id": "fc_0f42a67d383a0a0a016ab45438cfc487d09af560a78a36040c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oIhJI9qMMWXXmvRKugdJtefG",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6682, 1.9739, 0.9691, 0.4126, 0.4057, 0.2535, 0.0197]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4323 right_y=0.257 right_z=0.0507 right_yaw=0.1703 right_pitch=0.0327 right_roll=0.0126 right_gripper=0.0197\nstate[joint_eff]: [-0.1299, -1.6615, 6.4479, 1.7998, -0.0366, -0.0171, -0.0122, -0.253, -9.8803, 4.9162, 1.4042, 0.188, 0.0464, 0.9206]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152b826d1b3af0ff56ca819411792729428aa572d96cea032998000976c5d9ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93f397fdfee5405cd70889b884c4942734df763bc4c4ff6d3a4595edeae0ef33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9791888d2183cdc60a7fef303157315079f74ca2bbd6e1f218434f5b6a9d6f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.112 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6952, 1.9388, 1.0096, 0.2096, 0.4583, 0.3012, 0.9979]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4176 right_y=0.2512 right_z=0.0475 right_yaw=0.1285 right_pitch=-0.061 right_roll=-0.04 right_gripper=0.9979\nstate[joint_eff]: [-0.1299, -1.6615, 6.4752, 1.7998, -0.0464, -0.0611, -0.0122, -0.4034, -9.347, 8.0342, 1.9609, 0.1343, 0.022, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6701, 1.9709, 0.9962, 0.3031, 0.4141, 0.2596, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4272 right_y=0.2524 right_z=0.042 right_yaw=0.1621 right_pitch=-0.0345 right_roll=-0.0249 right_gripper=0.995\nstate[joint_eff]: [-0.0479, -1.347, 6.4479, 1.7949, -0.0366, -0.0513, -0.0122, -1.0872, -8.3761, 8.8821, 1.8535, 0.1538, 0.0611, -0.2515]\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"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6682, 1.9739, 0.9691, 0.4126, 0.4057, 0.2535, 0.0197]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4323 right_y=0.257 right_z=0.0507 right_yaw=0.1703 right_pitch=0.0327 right_roll=0.0126 right_gripper=0.0197\nstate[joint_eff]: [-0.1299, -1.6615, 6.4479, 1.7998, -0.0366, -0.0171, -0.0122, -0.253, -9.8803, 4.9162, 1.4042, 0.188, 0.0464, 0.9206]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152b826d1b3af0ff56ca819411792729428aa572d96cea032998000976c5d9ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93f397fdfee5405cd70889b884c4942734df763bc4c4ff6d3a4595edeae0ef33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9791888d2183cdc60a7fef303157315079f74ca2bbd6e1f218434f5b6a9d6f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRAZ6jsdVf89F8ezDZu6kkN-eELdf-4j6Q4DBvsDU5sqIG5dRZDP93WjFdBxKdVbGIXSx7kZ0Qmw7DNffHMuDT1Pm0kQvf2bNBFwdU6x7xb0D-YSN_xBEJiL3wf-kHlwekTkTqKhSrfoNSUiLR7wADpdOblBAZ3O07EO50Rd61YlR--3ep_6438BCrGxEZ9EvdOpAwdr8YOrY-g9nEE9AXVhF2g05Nuq94uJjW52JTZ8bd-I7FVRvHBbT-P2nV6cs7le790FrxwnGOoY3WHpp68OlxlJDrln47vIzVqL7LDi9SHjXVTKRHVx7rmhKbb3pcANyImpdmYazrBYljlR6Xs_faSV3LOBtybBf00ZwD5jBv_dq_ZQWUF9bqG8T-YHyq4vXhtkoHNAlkuGWa-qIs-A-nNvYGl_lDXJodzv-gowVNJlfQqzij2YkCLsYojG4RahqLLwzM2jr6_soyADK7jT2S4KXyh0VEXhgFRdjHRYHKUZjqL_-VpPRL43TaDWDGzjBA-LA_w6NRz5cqB7yEiujn8qV_gTypVLUXwRGuQ2DB4fBPemOAEbJ7wWnKZObN47mccXtZuaLVmL_3edfpJNtJQivRsUSS59u6j_Rku1u8hnnmTQVF5ky6PDuTSRfxEITR7ldwbe8Fml7nEjwau8S9Q1vclNYNTaMhGS8Hi1Ep5e2M_cej5pucrz8RTGXTiSdDZ_BrBdahtGpolg5y-gsx7vLTRZtHOIpGQxfs4TCzvQI9ZEoDp11Dw5XMbQHKIQezUTPwu6RDIs9X_vVIBNH8yt_1OWH4hPQFYfF3xr7AtGo2ulqof1robUJlMZysqfsDXUMSrJnJLu-dMlkicFdgJL3gzy0miFB_5nB7SgvKYlBfd7QBJgTJoCBD1Upm9ndfo2kLYPLZVfP44IVOUSf8NzsZt9ZjOK90S44dVO1ciLd_2WZN0kSlO8voNRaLn2SEAGnghidSe4xeLDMAEVLHaf3HsT-_QITVh3X2F3ElYWto3U0RSPzP07u1VJjoTxkz06o-d3MZnBegFltMhdb3WkncAeX_Taqoz69qhLSIsfnF6yVcq21kv8f_o2T_PS1GaQHI3IK7YM00jg5TK-VQYAcGK7Z0hbZwF04UwLg2IQ-aKRNMIsOQ-S9jFzdaipcDGYNGEwJ_7MHdDuh8FFRjctwetiF95ZFQsQRT3dQ9t0n9IaK3IESKoZ7rnO7E2uHnJh4o7LPnKdkdGuuCZVyxGDbH2ZEcbWQMjPxQWccSdvIGK51KvBaMjtFUUUflEBFtIBffOsOAFrBqeKxLnjNDfRGoVN2mwNXD5iQvQVTKu7fV0Tbo0Z_NeCOTIYZz3JPs9-pVTu_FvJc30vUMCS3pDvUAcU0PhkiMOqpg9O5oUcHwE0Pc2_BaVww2Em30a0gVRrjmrwlYqQISv0Xpvnmsn9zk1nk4QAk5bbuvj-xG7fiPygo-kX2HZc6_ssWjUOougZSEYWEonMGexCFaBUeLFPSYx8v2KMZMaByt8BANNYCE-5Myg8dt-9mx9d6aSpyeTBOGjk53FhG6loKo0CUKx44kpFGBGm85JzFzfgBrUfdWy8CcPgAabEDFJSj_M5jdGNZ7aHZ0K9EF3fbJuSoP3and1F1tmdDRPPiUU6X3V-5FXUzla8YzWhvgn6aYv93sS6nFm7hGNRD92CgBjDGP7vfmKKUaFxR2vcpKNQhFAmmVlxiEi8U5hT9RNRx-fIl8VmV_Z6gvCv7qqUDGFFvtLaPIO9UtbVw-edZpterB5Nx_bvffVm2BSAHelRGI196uXBM5rclOpe5Y-qPlXl-_uNfr9nOq-byRuwqDMfrOSQtTvOi_7jG5Yx90j-6GF1VTMmu0FFpU3M9lPZRBaG4Cu_gZfUmBkeA8L_5GTKscQ1mN3ljRa3BJ3Fbw86eSCFY6XfJMMW3ZoGe8Xf9QkRLNXyguD9UF7Rfli14uHRq1ECKPeVP39MH2Dpaq9TIXeooj4khxVuhnaEXdnx6XNGxfA4QNRbaAV_WCSASPdGNNynFXu9wufLJducZJBaJCyGjwcPZetb5hbAdzX0sBChJW02ki32NBUpa7AcZ2Pde_kvHkwfvtn0_1931L_razxAx5hG9oPN4OtZ493r-jhVVFoGhhHiOEIcMzSF6ozUo9UA0fcb__RmJM8Ltc7qzUvHtxVkKK8gQaRFOAHnKpdwANMSWrcm57mAFHBRoiKus7_nG8_uE0BtpmW_RE2bbNlH_oJIrfLMv01L3PFvW7YgPJ6cAevlZ7t1T_6VMc5eJ2ogJIqG-86P3YqnEdplhkTU2EScECGeZ4zzrSyIW3cVkhXhiLPTDx1qDR8t3Mq9qG8kbluNo4gXaX6DG4cqw8yM50NQm2W9PwI9vlcTKWLqQOEcK6XlA911KOE37en2xsk9XO8rb-SzJT5pWObv21zGxUMMoSDI_zSxmzl6SlhF0NBuiwfbC_F8lx1-KAC5wkP2h_UiqKGzTzhhflfzuAMZ-hcBo9HiXVGvkCywPhHh2gkwKwgK9XYSw25hUyguVhOH2G3t2ySnNzzI_A0mGfHZ4avXXi6e3n-KefH7LPGstt-iy61VGQFXHqMSTaRsnJPYAuYEjWVH7YaTKntzyH1OGt8l0bv9dAmxdQNC2sLAFrMwixxtfKFeEzbE8ZqV_Oen6tHJY_v_XeEg_uTRKEkAStss4twYMy1Vploz7VVbA2oaKKM04SCYOgzPrRCotfLkkN4n9SRsbxcm5mEPhxMlnt8M3EZr0ARX0fyMokgEu2iVadUyd5VpPHx-ynf3es93BFskDP4EztUTQpFWHJX6bFeS5WOLKgekYCFHeh60A-rWFYAPT2Ltf1bEoTUFebCmr_LSb1pAEjiVHcGfSVuiwsh6Y0BoYevYaODPemyfEkzV2C8tpIpBBO8q2LrJlpz2DQ6QZ-GA1bOUPKVRfLDbhmJckP_4Fg-lxNiNNwK1jlVKwE1Fd457QgM2mkWvhvJZQsrJtFitCixEFL-Oyoc2HZX-HPEmMYi6mHfOaZetgdfprRYtHfFXe7r1V_hWLxc5FB6V2OvLvtAac0Eho2jbSlEDlBDh159ny5lkJcLG80QGBTbQLGlbmVvxxMbsl8gxTYgYGVRrTEu8_PN1CfZmhIVUczDmJeBlEBNbMYU4S98aVOENvappVJ-bK90KrIICc9oR6p1dybem3FTyNKzSBzi05EngYCpUe635lDJnDb4Tas833xG56Rtbl7aiEJAbZiCxO7NgfovBM1PSUwnTrSdrh7-Rh9tDDWbwGbItej_1RDupsv7owqG8MzOJx3_wBJmrX5bdmJq04LI6g3bsgn3iHZ16ycxSFxv54msirvZ5CJEapRMmF4CbkLL0zavZ9shfTRAfepHXFwmQXdIc9i6PZSPrecskQ_upBoxAOZc7e1YAk3X8UyPsEY3Q0yaZYAZkZ5B83o1scxBjaQ1G2RX0tzVsX_H2teDvtkso7Fb6ciLNH5fJBRhmvjZGLPywjwKLYHUhBg2r3xnSDYh9eiQnoHS1UluKE67VEKgZywYaPNkTW4T1OFYbqAYNj5mGA1me9OU_28jotltewTE2AjsmeITuvd8HA2sBYzACqqbm9PnGKM8JbiiWkhC9aIEje3XTocYE6c1hZ108UXF2sqpAYxOCA0P1ulU3fKrf2qsuOPoloY2eIhJ2Nwh-lGpRNusaC5OkTvM4u5e3NDa",
  "id": "rs_0f42a67d383a0a0a016ab4543ba8e887d0ad7661b9d8e56d65",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_y\":0.245,\"right_x\":0.435},\"note\":\"The full close again slipped off the rounded cap; the last wrist view showed it a little right of jaw center. I am reopening and correcting slightly toward that side before using a cap-width partial close rather than squeezing through it.\"}",
  "call_id": "call_3hd0tTEqKJC4jTcswj54hXDF",
  "id": "fc_0f42a67d383a0a0a016ab4543f306087d08e017d4427dce52c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3hd0tTEqKJC4jTcswj54hXDF",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6483, 1.9739, 0.9771, 0.3592, 0.379, 0.2295, 0.9949]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4321 right_y=0.2498 right_z=0.0424 right_yaw=0.1854 right_pitch=-0.0144 right_roll=-0.0151 right_gripper=0.9949\nstate[joint_eff]: [-0.2667, -1.4974, 6.6256, 1.7998, -0.022, -0.022, -0.0122, -1.1419, -11.3846, 5.2034, 1.6239, 0.0611, 0.0659, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9281064ba39d2d4c9215d10eeb8ee61c08ed66b19197be5df760a281691cd68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a12f883b17bfc8be6a59750fb19ef250e52162d0b5436d7c40c2f7de761ffcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1014cfa381c70cb3baac5588b07e298a98dd8b93c82dd859397d55cea6a5ced5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 2.414 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6952, 1.9385, 0.9798, 0.2966, 0.4477, 0.2905, 0.0188]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4197 right_y=0.2552 right_z=0.0515 right_yaw=0.1439 right_pitch=-0.0158 right_roll=-0.0124 right_gripper=0.0188\nstate[joint_eff]: [-0.1299, -1.3744, 6.6256, 1.8681, -0.0513, -0.0366, -0.0122, 0.0068, -9.5248, 4.7248, 1.2918, 0.1538, 0.0513, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6682, 1.9739, 0.9691, 0.4126, 0.4057, 0.2535, 0.0197]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4323 right_y=0.257 right_z=0.0507 right_yaw=0.1703 right_pitch=0.0327 right_roll=0.0126 right_gripper=0.0197\nstate[joint_eff]: [-0.1299, -1.6615, 6.4479, 1.7998, -0.0366, -0.0171, -0.0122, -0.253, -9.8803, 4.9162, 1.4042, 0.188, 0.0464, 0.9206]\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"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6483, 1.9739, 0.9771, 0.3592, 0.379, 0.2295, 0.9949]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4321 right_y=0.2498 right_z=0.0424 right_yaw=0.1854 right_pitch=-0.0144 right_roll=-0.0151 right_gripper=0.9949\nstate[joint_eff]: [-0.2667, -1.4974, 6.6256, 1.7998, -0.022, -0.022, -0.0122, -1.1419, -11.3846, 5.2034, 1.6239, 0.0611, 0.0659, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9281064ba39d2d4c9215d10eeb8ee61c08ed66b19197be5df760a281691cd68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a12f883b17bfc8be6a59750fb19ef250e52162d0b5436d7c40c2f7de761ffcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1014cfa381c70cb3baac5588b07e298a98dd8b93c82dd859397d55cea6a5ced5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFRDt9bkT7DSd5XKVBAszQUl7RKwGN1BX5rHpnMEnhR1jiiZ1i62KEjYRT4tvRQuTRScETd3y9NQqgkY2JdrE_1JWgN1dL_HcsExrKZTkiRC4Z9LhGesnb75qNB3Y6Cea0WantTwlZRt8yVDdj33EWuVsfb2l8m7AF7ARhEWOiqp5Zb7ocrUXwsR2pdB1uLl3fPGvklpFz7FCsZwiLi4mvJa4uerCjTyJmRv8_62FCzzASwHRXeVxKZaX89v2_wZaMrY0ycWa_yBoR2hgoFXJFbM7am4I8WP0a4f2LqpJ2yCK89XxbewYk9DE60g_bZKv-8xSwGyUtMUYMHD88DiajXVtMJ3YNuVeDsEXBV--fvLHLcltcQz6nQomTyoNCvEcfxlMhv0nufGNqMNNYLIK9u6PXCCvqg-JDAK5qGS7tArhvpgagFLJxLK9Ja9rooRBNVyw6QxAQm3XQfh4RUQ7mcqVgIlV-lrDh1oXxpGNuGATDu0ZeEgt6eK4sv4aYdAqjACvSxCLxHM5IsneKUjMluUJmA2BnwKeH51JauewhN4Jqs4_Du6vrpdAlTv-_SyQ-H69E1AAgZ8_cF8OMoR9X0mxPVYiDsDqffUq3BuNy7I7X2EQ05rfFNxbT6XrOmevs1NWKiBBfXVArZM_41UXGUqvu-loLq3oXN-dEZZy-4YYSf9FHH57-Gh6MzwM6TpkOE26cphMYj_YtuJQT6BUl5Ssw5z1ZqJIPxigFgkTkC6hRRsvaV2dyFL1ghYAiQSfGquSacPI9yey_l81fcv7mCeWf_hHkcs0jcFO9i7x22jXgNqrJvd6hfY3gtPlIlqaJFPapQQ1DCbjtWl9DlAsp2KzI9GTovwiQBSn3ZezQp8aMdNWZbsNjKI7t7DCV8KdbjNTsfPkX54MSQRMYBOZe85AATMClMrSan33aofGWpE9_745Lz9cZ1sMwjUO55GLjM-bzu0O4ZQnXhle6-EhuTndtdTbOxmIp9d8Z8fLR_4Y3V2JfBEMOtoGJH-ioYF4Ws-pKMRA6AVRpni94XyX1w1WM7lXbS03uX1FQVx_miltMNik9NqpoiPTGCMZvOsUX0ACmPE-nYUw2FTEtbtVY4Dfl5-PnLnLHOpd6Dc8QaOpGiRc2eeplBsVzSNOWPc-0UxkdZNZuRw-utSPAqwbqwMs2cmVrl6uGIm06jKbOOKJXoabxMHHthTh5CbzO9yrAHmfrvsFblGTUIpiUI3HaRSSTgZ94an-B7mp7cWszvKMPM=",
  "id": "rs_0f42a67d383a0a0a016ab454425aa087d0a2a3eab7c4829899",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.3},\"note\":\"The cap is now squarely centered between the open jaws. I am closing only to roughly the cap diameter to avoid ejecting this smooth rounded target.\"}",
  "call_id": "call_xzDRs3NTiqGLCQAr7zmwAZCr",
  "id": "fc_0f42a67d383a0a0a016ab45442909887d09deb9b477dcb7f53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xzDRs3NTiqGLCQAr7zmwAZCr",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6476, 1.9739, 0.9684, 0.3927, 0.3622, 0.2272, 0.3056]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4328 right_y=0.2534 right_z=0.0449 right_yaw=0.1996 right_pitch=0.0035 right_roll=0.0027 right_gripper=0.3056\nstate[joint_eff]: [-0.0752, -1.6615, 6.5162, 1.8046, -0.0611, -0.0415, -0.0122, -0.3077, -9.7846, 5.0256, 1.6728, 0.2076, 0.1099, 0.1929]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9095d635df535841f89c526ca1a281952cde6d3e19750295ee3c64d1950bfb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6994bc31cd5626eb7df09fd53f87749ec42c5c6db399bfe2474b3fb93d1a76e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fbada2c72700038b4d35e451fb2587a4854bb1f7876b5572b9671465ce25a96",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 2.859 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6701, 1.9709, 0.9962, 0.3031, 0.4141, 0.2596, 0.995]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4272 right_y=0.2524 right_z=0.042 right_yaw=0.1621 right_pitch=-0.0345 right_roll=-0.0249 right_gripper=0.995\nstate[joint_eff]: [-0.0479, -1.347, 6.4479, 1.7949, -0.0366, -0.0513, -0.0122, -1.0872, -8.3761, 8.8821, 1.8535, 0.1538, 0.0611, -0.2515]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6483, 1.9739, 0.9771, 0.3592, 0.379, 0.2295, 0.9949]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4321 right_y=0.2498 right_z=0.0424 right_yaw=0.1854 right_pitch=-0.0144 right_roll=-0.0151 right_gripper=0.9949\nstate[joint_eff]: [-0.2667, -1.4974, 6.6256, 1.7998, -0.022, -0.022, -0.0122, -1.1419, -11.3846, 5.2034, 1.6239, 0.0611, 0.0659, -0.1099]\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"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6476, 1.9739, 0.9684, 0.3927, 0.3622, 0.2272, 0.3056]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4328 right_y=0.2534 right_z=0.0449 right_yaw=0.1996 right_pitch=0.0035 right_roll=0.0027 right_gripper=0.3056\nstate[joint_eff]: [-0.0752, -1.6615, 6.5162, 1.8046, -0.0611, -0.0415, -0.0122, -0.3077, -9.7846, 5.0256, 1.6728, 0.2076, 0.1099, 0.1929]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9095d635df535841f89c526ca1a281952cde6d3e19750295ee3c64d1950bfb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6994bc31cd5626eb7df09fd53f87749ec42c5c6db399bfe2474b3fb93d1a76e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fbada2c72700038b4d35e451fb2587a4854bb1f7876b5572b9671465ce25a96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFRGopzGz87Wb4JFXRsqch02BxTLhIFEETQNzoftie2RryL5rX9wJKpW7hNyT7Zftw2kJtFKE4BjdhluCHGM0ccN7Vd-Jjl7LwI4ITJcvLq2EjGIchds5kqSBSqPzlHqz-xcaU80ArAVSuInwDaQ3l06Wfycu-hMeMECA9tybxjD63UASsb8YIyyew6ldnVUqbinKoF2HB2iU-ef7CJ_ocxIeTby8Qbt_fqNWlGEsW8NWkS4OjSjrqSht0eCmfmzbvv4UAMY0rwS5fLg1MVNB1XJa27UGvVF5FyVqncuryy27vmX6j5E5fZnC5qkXT4qkiXnDjswa918MLBhe7yPY-2qXDfzt3_tnDDLjELD1HqLK1qdtR-wg_D_jILXadlwWhTMlUcC0R0qcl8ePh3VEi-n4g6RSlZfKsdlVwgRAsED2vBVoopNgt88CwJELTFhw-ZyTCtnoXcjtpT9RUR7DwYfHqq8eVDsXrHj7_LYkxnDipQShlkPyrvnnP2XN3H4qyqz3-Ylj25cpIYL7QccIGWryJUDn6tbIuBGamu87kOalTYtUv_4SLHc0H1OSNyqIlL61kXP354VgmoZEYeyfHR9c18idaNPskSRGdNqbwzb4NjX1Tib8On6QLVp3SnB7EIPimXsZbHm7FCBQPhs8oZJi7Ni2AGhloxdZb0TnBUEN7hxFbzXdlCnFTr5B8kZkVVIrPjHXp1R-8Ta_uXjESEPKIcYrbVNnRbIWlME8iHuadnp_YsyzgopHGbfvT9tyXbPNzlRZWOQxM6N90AcpefL-7ZCyuVzyaV3KFzy6C-ivKE4yM9QxLCMzV-ampQux1tfldNh2wRCG4btgE0Fvw0KSx5ak0Gu7YzeJm59QoUvbOofVtFEHwLNWyA60z5Fulr5S4w8sJ1ekNuNlJBsO-9uTpBavsouI98D64nnKdIqG1e18y_MA0-PugX93G1z_pTyUHaIe-IdOntX810STvsDsaqoBjjOq35ZCqGAUc6qDDFxrzWWE7PSAkdcxdkTLp-WHoQEdGTp6KwTLiZ0tg1KrkYP6pcrjo2UUISistqDbGUtRASxpoXu8Ouge-nHv9EZBhpvv0ZW3v7awwmoYjkuIR_ybo6nohb0zY63Wleun60vJCMwbH05q1FYuz7HPPCmab6j_dDTk6bsmboydHMsMk8yS-CS72KedU7EqApeI8sDq8lu25r_zQ_BJ2zDSnPqOtTr0KyDjb2tT6q9aPR-9Eu6lUKzON0GmVaqDz8KzjDK7uVOzZz_g9EcEXKQc3_CEKINvxdBVZk_dpZgZ_0UdQHHIEgLVwtq-6UFCxpg-1wApAf7CSVmxzdgwoL9Tz-8XBy9bfRrPjOA6XhyDPld9ckn9qvEfWOKqzD7lL-HyrgtoTSBW5e2gssGccoBK_gR",
  "id": "rs_0f42a67d383a0a0a016ab45444fdc087d09fd1fc4ab26c5662",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.22},\"note\":\"At 0.30 the jaws have reached the cap but the reading matches the command, so contact is not yet firm. I am tightening modestly, without a full close, to secure it.\"}",
  "call_id": "call_LQSx7oOqcs9IT4RFhPC3Ncbc",
  "id": "fc_0f42a67d383a0a0a016ab45445936487d09bcd026bf751a0b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LQSx7oOqcs9IT4RFhPC3Ncbc",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6476, 1.9739, 0.9684, 0.3969, 0.3618, 0.2268, 0.3021]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4333 right_y=0.2538 right_z=0.0457 right_yaw=0.2001 right_pitch=0.0072 right_roll=0.0044 right_gripper=0.3021\nstate[joint_eff]: [-0.2803, -1.6615, 6.4889, 1.7998, -0.0513, -0.0415, -0.0122, -0.4308, -9.7846, 5.2034, 1.6142, 0.2222, 0.022, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc35d9a0e321a15b5df37c5f155a58278df8a0b8c724b99daa18c7518e4f4c74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef24c1581561b070985719f60bc4c7979d190c9a6bef1f995ddaa237b03d090d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0beeb5a69eaef1a33721cc5adc7d0438fcfc819344cfa0c37f48f8cace8a3e61",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 4.481 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6682, 1.9739, 0.9691, 0.4126, 0.4057, 0.2535, 0.0197]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4323 right_y=0.257 right_z=0.0507 right_yaw=0.1703 right_pitch=0.0327 right_roll=0.0126 right_gripper=0.0197\nstate[joint_eff]: [-0.1299, -1.6615, 6.4479, 1.7998, -0.0366, -0.0171, -0.0122, -0.253, -9.8803, 4.9162, 1.4042, 0.188, 0.0464, 0.9206]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6476, 1.9739, 0.9684, 0.3927, 0.3622, 0.2272, 0.3056]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4328 right_y=0.2534 right_z=0.0449 right_yaw=0.1996 right_pitch=0.0035 right_roll=0.0027 right_gripper=0.3056\nstate[joint_eff]: [-0.0752, -1.6615, 6.5162, 1.8046, -0.0611, -0.0415, -0.0122, -0.3077, -9.7846, 5.0256, 1.6728, 0.2076, 0.1099, 0.1929]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6476, 1.9739, 0.9684, 0.3969, 0.3618, 0.2268, 0.3021]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4333 right_y=0.2538 right_z=0.0457 right_yaw=0.2001 right_pitch=0.0072 right_roll=0.0044 right_gripper=0.3021\nstate[joint_eff]: [-0.2803, -1.6615, 6.4889, 1.7998, -0.0513, -0.0415, -0.0122, -0.4308, -9.7846, 5.2034, 1.6142, 0.2222, 0.022, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc35d9a0e321a15b5df37c5f155a58278df8a0b8c724b99daa18c7518e4f4c74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef24c1581561b070985719f60bc4c7979d190c9a6bef1f995ddaa237b03d090d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0beeb5a69eaef1a33721cc5adc7d0438fcfc819344cfa0c37f48f8cace8a3e61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRJ5Zm2xcW7OpxWVTfbl7saGyMbxL3cVzs9-YL59ZA-bbRjjE6L6Ra-exHAOERJ7UVu5hIBcAqxdnXfND9tswWcbdSYGL8h-M5pagJdnIW_CgQBE_pYFcRmUBxLnpVaM-ZH7vHp3UDgQ2LJCYRy11se_jL2sC5Z1UbTqFiBHek3NCFkNhYW0j2MKOF_W5RDJ0Z-z1fd1N_Mw9f78rccpDExcUtnjiakT7gMn0YwJG_AD9gWA1C6B-QYr4_cKDWG_kLb9sbvzDcFC5mUcmzh7Rc8IxByKRk7mzp_cEUNkdmPdLh_3xx5FqmYZu2tVF3wHm54uqokKp9lqcjMtoya9P1wr6ZlfPu0UOhp-Sb4LMHMsg_SpHFtNyzWgNusClUVLjH7r6BLPwASbFpuUWwSk2c5mMTmCML27L7F_1ZJb5UWFmmMYxjmRpLrMrBoxi4W8FQqZ06lYfRjd77G5ut-qJrYQhmTUv1pYI3-7wFNUl5WfnVJ_bXujqR8i-Q73VKVy8UUWTTCg7eSLmgwRG5gqbKkC82mcoRCwaZ2i3x-huBhuxuKcbgELrGihjcYif2xnafT6xqGSOj-csp37GvkjJMeCXsi0CD--EmWkopF7JP6PajkkDCMG0sV6F-a9kvd_ljFmbPgWqjBn6dr8kanm-Ek1FVGBciCiuz5IL2-5eZ2tQe7_-xiGpcoLJyFiWg9ZLij_dQVuZyxQraAC6-Mgb-WxZj0mTQjxVSKtatFy8zFGlyn6Fq7M2fveKl9g4UaZqpgSjBStU6U1ar0R3HZnRHKL0xowKWOa6LfVtOnlzgFJUQvoqcddWC8hCnwHAg9s7TWPIksFhqEApWdKsoYqWqjiZH-gbvoj3kNG20cmR60kVL4krbwAgPIYSTA_2Bm0SwurAbhMd1RLMOgmpKF1fq94ZpKOQ17yDw-h9Q4dblZAd_n0rfSl9i-G_7CpPzWWPT5sRawOsjE2E9vmB49wQ0EIaa0ya9lii2voQHW8Ulc3zDXJPGed9c1xkfE4KX0FOfsFlP3m5RLAfcOFRtU62NsEO1G15wlDtitco1GF-ilRAaQH7mjstH0ogeBuX86zHOCkEy4YUN9dXBaJ49iF5brdbdL-pYphWfJb2iQiVlio-323RXQJnriMIXCChEIJeoOT4b64s5sLzLm_SLLTeSxyy2kIPnSZmpEz-mJNTXGKnwfIWzHPCEcFpZPALbultOKpc-oGe8TrqmtC3n3fN3i0TwxUWy9KIa-mtWSqID3lcpiMveZyKf2g1QtcrLHf4k7pU-tBtU5c1s_5OvjNgGldZ7PCd2KcVJ13tUi60uJsp_4LLavb-AKqYANQ-U4CX_fvlqCnHvrqNM6JDXXs9qdMF3KartiduZx07iU1G7AzwZFhJgbQ2hvjZqoQKnh1EHlafWjTGfi13_3gcza0I89tqY0iGcmivd1nzNGkC7HKNiyKCUOqz9FpWEhf5LcDwlVUmg1j2Q9z1fjr6f5gj862A36epaURQTyqlxGC0peDgo=",
  "id": "rs_0f42a67d383a0a0a016ab4544790d887d0934f70510dbf68cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.22},\"note\":\"The gripper held at 0.30 despite a 0.22 command, confirming firm contact on the roughly 2.9 cm cap. I am lifting straight up high enough for the bottle to swing vertical under gravity.\"}",
  "call_id": "call_1mAjZY8v5JuQTOdrRgnMNq6R",
  "id": "fc_0f42a67d383a0a0a016ab4544843f487d0a4ae9bc69b1b2e06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1mAjZY8v5JuQTOdrRgnMNq6R",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6487, 1.7435, 1.3373, -0.2798, 0.3542, 0.2073, 0.3024]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4306 right_y=0.2541 right_z=0.1812 right_yaw=0.217 right_pitch=-0.0648 right_roll=-0.0404 right_gripper=0.3024\nstate[joint_eff]: [-0.1983, -1.5932, 6.6393, 1.8584, -0.0513, -0.0562, -0.0122, -0.294, -11.8769, 10.0171, 1.746, 0.1587, 0.1294, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81a3b1dfce635549f5601f7998cf89da24ac8e1a257222c013a9f5a29d726fdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f06a48a3b90204fe160d491757db8b36a54212ac4a17348476f16f4c8dcb0657",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a60528c73d2c713d7a33a7ca1bb814d330169a96546a9c44933c46cd8e340e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 2.427 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6483, 1.9739, 0.9771, 0.3592, 0.379, 0.2295, 0.9949]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4321 right_y=0.2498 right_z=0.0424 right_yaw=0.1854 right_pitch=-0.0144 right_roll=-0.0151 right_gripper=0.9949\nstate[joint_eff]: [-0.2667, -1.4974, 6.6256, 1.7998, -0.022, -0.022, -0.0122, -1.1419, -11.3846, 5.2034, 1.6239, 0.0611, 0.0659, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6476, 1.9739, 0.9684, 0.3969, 0.3618, 0.2268, 0.3021]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4333 right_y=0.2538 right_z=0.0457 right_yaw=0.2001 right_pitch=0.0072 right_roll=0.0044 right_gripper=0.3021\nstate[joint_eff]: [-0.2803, -1.6615, 6.4889, 1.7998, -0.0513, -0.0415, -0.0122, -0.4308, -9.7846, 5.2034, 1.6142, 0.2222, 0.022, 0.2027]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6487, 1.7435, 1.3373, -0.2798, 0.3542, 0.2073, 0.3024]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4306 right_y=0.2541 right_z=0.1812 right_yaw=0.217 right_pitch=-0.0648 right_roll=-0.0404 right_gripper=0.3024\nstate[joint_eff]: [-0.1983, -1.5932, 6.6393, 1.8584, -0.0513, -0.0562, -0.0122, -0.294, -11.8769, 10.0171, 1.746, 0.1587, 0.1294, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81a3b1dfce635549f5601f7998cf89da24ac8e1a257222c013a9f5a29d726fdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f06a48a3b90204fe160d491757db8b36a54212ac4a17348476f16f4c8dcb0657",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a60528c73d2c713d7a33a7ca1bb814d330169a96546a9c44933c46cd8e340e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFROkZXlOWttRTY5qIDnziDBMyuNXiJcLpyMJJZg4_rRnaeOnsGfY1hOq3zYGah6oM203GjhvA7YdfYoQydFi6H-UJM6VOCOh-w_eUJ6vehw8In3aoD9a-bEpSn9AESRxVwJvh-Oc69K9ciAXHSdtQRKFVoyzoQasl-OPbuksvluvggLgoSV4bhG2gXmt3W8F248BfSr88KtwU72C0JveqqiVa6UAMKFHDN7ReVk2fUEicKFVhKBM2x-vq0uptXASnulahl_8bLp3bs4NkQyLtyd8KZ2Rg4xrq72C5-fYIQmEEjcnHkU1cIeZ90aOBfHvG4ukubp-yf1PxouyNQRQ-8WvIw9xhqDXrDmzQY3-GGvphRIxLSbKkfEDNpZLhHrMtiHljjwujDMAgPe682hLEtKuVi71o0BN9prIIbm3uXemQSn7vYNZm104pE4tGqHeg0uMoUeRKNenvupQzhQP6th_LHGmOHLbUDlQ-6cHmYcJqWhl-MQLckoOWl2XCL5-zuqZV7Nf_6HFOWrNPogNTkyTCgHqMnJZYbfz-eA2YR7A2KNwkFChql_UD3E3NwHGvcMa_Wd6izW3pWz3iS-cHhG-l0VRSLr8_oc3xiSdLBqwFz-yqPfn5FK3W5uq1E3MjRsmzpxW09_hpGzdyuIOy3JaiSaGN4BwsMdFwia6noaM1jvYtWwD_rX8ZqcYu1lBezaGYHaDDl-XZHW2PfVVc7dqWOqFqVYoJV6Jz-4r913AI7cZdmdF_0pcX2dRxo95znNrq-XcrDWwHOpGazqhJraixT1fdFcjZ4qDQk1bIE2qNEcuDaBb4Uin8WdN-p-odBEBb5df6A9wjwiwMzegZlwnYJSpSyLyG42tf03_m8q4WItNHaOisT_vYZvoN9HGzN2T8NKQ4EiwkcvLFASpQ4PjEAZmHfd7v3hTXya4RVwmSnEic3FQOW-_CpQ4RnKGsKJX7RNCBh5hQ-TYJON9rh1hixtNNmUaS0NKA6-0Msrl7UoxyKwWZlczTTMNBaC4mnAQQfDCY-oWDhbRAElRadl2P57-q9KM63I2RzeV-DmjE_HNB4bbIBrXUqgoLa0D0u4WJ2ovflpANr1evPElvhYRBVGgYswMv5wf4UFaEUC81IPOQHvuGpAPQHjc7cG8QjLMn4y8lHfBAeuA7W-Q_vxPnmnfIycHGJlqr0cKOd-lZz93NIiUzl8rdWSGXaDk9GG7ojAaJz5JAroox02hO_eXhOJwWOE98oO3gK-eIatg4IS1tJ6h9kcy4VVD1wiBEsW2zT6H0jmELWaXosB_8IugVFNVKscon8EIpuEKI5xdXFCTSXTs7IFRw72obk7wVGYJ0-_PmPrxGEBE8ODmfjpq4BE-od4zvGZ2xWkVjW00h1bqbdwbHBwCoEfdPzKSzUCSTS2Dp6syG_O-BwH-2MO7o7W_SVUopxJvIZO5PNhSYwM49xx2aTyikya_VideTh3BxuvlvscmhjKsa-aFdDNF-vCiWB6Aui85VcJ6vcqlnFAfiFSF7cDE6EH5PEytEvwKLoEai6Wrpa_5pYrVyu3ReneJK5xs86xa5bXgxGlfWkrIqWPCMa34SN7Sr3LZKpd4cmZC1nLS3LFCa7-3SOgDUrNYPFh73YnGEG_54xPWmAx6k0VgUxaaz-Cvd66xtUKeuPwN3ujHP0pzZBO9KeVOuf2wTzIzwtywPxeG8xQ6ShATPnBBkWxfaYHmbjSe6hglwGqg5zshRQX4dYfKPamC0zqKxXneMFRuAdPOlXxmTgAZ1BV_gKt6_-OwNByXk0xmYZSNG_VhJ6y8BoHQz1aTabGw7DI_d-U8qcmaG4ptUdP5sXe1dsbp9ZF7UR1GRaYYZzUZQh2WpLErWOnJUNdbsBS0E1nu6P3MdBc1MXhEa7Jpfx_bXZSIEFEBx-LouJV4YqCRgjGCd6JVhQ6aiZHr8MF6pnheGSiyuYKr7rAdnR_n3WpkGT5OFxlMnIzgUh8j0PVLLOc5tXZ70e5_bnvRdhVNaRsc6A19lB_9Opv5mLlzlLAEEz0_L1OZvaXtX4HO7_Za4a_HoyF1ebveL4NtHQUjfg7mNeFbOLz8KtSwXXIFWWqHbQqFqPq9XLF0Lc2SRiVU_JyI1WP-9oRzb9Qhkqm2TsR6d9OyVslu-gz4Kk1arXdoQt32_qTwOQfjHlessq-TpBA2YWMaamq09Ltda6ciTig4XDR-c6dqBPwO8zEhbz624dRKQpFp9E3P1JSocgFHfQxY9_GLXBZchAAVnfoY44wPaWix65hdtBZUxT3iDlhSLW7jyLBvqjofcaFWYZKJgou61iw_QuWXWMetR6c5A17sHbDscNu7reM3Bm7NlNFJo8yE9lenfrAasQ-yJ1w2-0Cozw-yTHPWeHBZHkEuiA6VmSaPAT205fzh_3Gvpu4lLHPc_MRBQ8H8NCpRWNEQ-juMDv2NcjGTK8EUctZl0mBN4UW99frQq2W2znwHzFgoaJOTcsPXhriEHz63yQioBsBy_R7KAFIYbcw7TwgEvJDPEolEcy1zWCAaeQzLfuqVxN8UjwMvO9r2r66FCxjnp6O-X92_1fYOusQsjXwkMfJvlyTkZXxbQNH0p7F840IX4xPqw3aOAJanraojpUYUnPMR7Mz5j-EwQUnBjTDRzBB10D_TiL8IgXhNvJ7o_l_8pvtPeLsHrywskSj5g2Kf2czm64uhsTFBN8ozztgyxOgCXjBt2jhzjOhX8ehxsdxq9ZJAmHUrcb-7tdRGpCJ8tyFWLVg7J1A59cRum186ps4vdkaacWcTfbQqjuqZgmEBk4zxxrXGgr3TYs2MAIFkhmclRegbU7cUoXhy3LRsBZK0SpOylX5FnTlg8mGyc3PvOJwIlx72YwJKO3xiIj5jjJBQgqtCMY4YZXyWBs--anRUhA4QuH-BH2YBt0DndkX2ywfU3sZgC599E9S5mpo8_NloKTJ2sJo6QQk4g==",
  "id": "rs_0f42a67d383a0a0a016ab4544b959087d087d6a55d261a9e7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The bottle has rotated to a hanging vertical orientation and remains secured at the cap. I am lowering gently until its base seats on the tabletop.\"}",
  "call_id": "call_NGLE2QqySJmsHf3X86bZagkd",
  "id": "fc_0f42a67d383a0a0a016ab4544e08e887d084e0fb9a981b3bc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NGLE2QqySJmsHf3X86bZagkd",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6483, 1.737, 1.1732, -0.1341, 0.3534, 0.2108, 0.3025]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4202 right_y=0.2461 right_z=0.1408 right_yaw=0.2151 right_pitch=-0.0757 right_roll=-0.0422 right_gripper=0.3025\nstate[joint_eff]: [-0.0889, -1.4838, 6.5162, 1.8046, -0.0269, -0.0366, -0.0073, -0.4718, -8.8684, 7.9795, 2.254, 0.0269, 0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04588876ae9e3c542e122aca79f8219f38ce5ca491b97657f247e3d9a17cabbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d2eca16f82234d31e79dd014ed71c627b17150cc30791c5fac52d06bf5da57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97771661afadc05cc6e8ec896ea9da69640abd9e99760c5828fbe7d565434fe1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 2.621 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6476, 1.9739, 0.9684, 0.3927, 0.3622, 0.2272, 0.3056]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4328 right_y=0.2534 right_z=0.0449 right_yaw=0.1996 right_pitch=0.0035 right_roll=0.0027 right_gripper=0.3056\nstate[joint_eff]: [-0.0752, -1.6615, 6.5162, 1.8046, -0.0611, -0.0415, -0.0122, -0.3077, -9.7846, 5.0256, 1.6728, 0.2076, 0.1099, 0.1929]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6487, 1.7435, 1.3373, -0.2798, 0.3542, 0.2073, 0.3024]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4306 right_y=0.2541 right_z=0.1812 right_yaw=0.217 right_pitch=-0.0648 right_roll=-0.0404 right_gripper=0.3024\nstate[joint_eff]: [-0.1983, -1.5932, 6.6393, 1.8584, -0.0513, -0.0562, -0.0122, -0.294, -11.8769, 10.0171, 1.746, 0.1587, 0.1294, 0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6483, 1.737, 1.1732, -0.1341, 0.3534, 0.2108, 0.3025]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4202 right_y=0.2461 right_z=0.1408 right_yaw=0.2151 right_pitch=-0.0757 right_roll=-0.0422 right_gripper=0.3025\nstate[joint_eff]: [-0.0889, -1.4838, 6.5162, 1.8046, -0.0269, -0.0366, -0.0073, -0.4718, -8.8684, 7.9795, 2.254, 0.0269, 0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04588876ae9e3c542e122aca79f8219f38ce5ca491b97657f247e3d9a17cabbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d2eca16f82234d31e79dd014ed71c627b17150cc30791c5fac52d06bf5da57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97771661afadc05cc6e8ec896ea9da69640abd9e99760c5828fbe7d565434fe1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFRR6Kt2Um20Ek2owK7cy5di5ct9kSVdCnSML1128MIMWb8xD4JfiBWPJey2z3aahETBP1yVNDRuMdhXHweXNSIvRi0VgOvPO4cQm9yRoT_8TefPmHmBRYJvgyIGOEHgx0UdcNO_NDaRrJztGH7m3HvUYe1PiHaKNBqKyqv25RYJitDW2TsYaeMFlajS3EYHapnsJknFmDH0gzt2Do6qdLGngGqjiVIM1F5ljTo3Im6msxPXO1Cu8QimGDZ9jfNKBxUe-qa6IKG_l4Uj4Xr0o4DlRS6MzqIhU6gL3lgXOLRNlFbTbNdf7_HRi6GBBNPpo5B6eTcw5atz996K7J2eGwj7PzeYhcyY55Lc7sd2-8t-TcmMtBrqMPFeClFw_x-Ss4gVV256gwzJviE1gRWzUTeR6A6vlA5CbNZE37uuNxTFGIBOucRqCOGP07gvngSqv4bQ3IxRtzOeVrXD2wbibmdfJXl5VvNCxcPcbZzAaORq0IoLuSOl9EEGX-eQ6H4gplF1xj4Bk4foQJ0hylDYN3owgzZZkD1l8wHxy0MzgAhv5Nm11SUkhQ-PYQBiIvS56pW0XMzgmUcOzj7nW57-5am-QTJQcmRbHoz1CPrxF_Hm7xKqB-6APoSUZtN-_fX15VOSUqWucQs_S4GAo4FycXWBGNdZHf_hn7QXGRypHYE2y_DLoe0xiD9QNVjXm7LS9Wf316BIDtV000CfhRnRaqf42enTUT4u67rZ9R3IPL38Wh7kkrNsdhC6X-h_kWqq0SxIGOB_qQdjPO04kPMH-evWknxyObhvjMv4G18mweaI6zh2KJTf9D7NZs232sKGWQUV45Mc9AgVbV2O8dtJulbLV6gv3ij4Cmpl_sU6MPTmoMY2C3IecYeUNo7Oc6aWlNCG5gI1XYre9WZjfD035iTaus-KWJmlseuyT3PX9COXLrXIEI05ILJ6LmThiF-lU_KfQ9s0tiXbmWBm-0KT3piXczVKDuWpbPok5i0VryU-540S0OJNr86lU8oQlPz6KyO9V_4j-hjnaw8AFnnv4VwsIZvMW7cRrV4H6dN7jJ8uIEU3H81mwQ6rD_ACosoHNMAASXskx_Uiu_zY2jqSkzFpXTmMKzblWmMqVcumgOgV2hLWwXPTjsGVFYW8_r-rXJuXkc9RSzJXfRGkfDy3ta9DFqWlDWxhHusvpeRBRxooQF-pKmfXqQGNy6B5qcPJHCTLxxJ8Q0xrXU32zgvmBuAfHpR6P01vC8yYv6XAoPygC6yOOGUEsz00wLNdfWO9BfndJSdKplDBRD-76BfRuV4mNnOSBJIyCrEky5ic6DFHcP1hCAwKCIbGDHiPOn3toffxur3XNN59c3XYUGt6P-o5JUezzVDAZnbff-fXU9ksuiT0P1bScxtU8gEfu_4dQpZbn8fi6jJi4Msj8IklCMswijDeQQw2Ogykq1DCOpP_zVo=",
  "id": "rs_0f42a67d383a0a0a016ab4545032c887d0970208f8d976de12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The gripper descended to a cap height of about 14 cm, appropriate for the bottle's base to be supported. I am releasing it while keeping the arm still so it can settle upright.\"}",
  "call_id": "call_JbcUMmalEFPLWVaDd1cAnBUW",
  "id": "fc_0f42a67d383a0a0a016ab45450ad2c87d0af69ad4438971930",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JbcUMmalEFPLWVaDd1cAnBUW",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6483, 1.7401, 1.0775, -0.0097, 0.3367, 0.2054, 0.9949]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4156 right_y=0.2462 right_z=0.1215 right_yaw=0.2323 right_pitch=-0.0568 right_roll=-0.0263 right_gripper=0.9949\nstate[joint_eff]: [-0.2393, -1.6479, 6.4479, 1.7998, -0.0317, -0.0415, -0.0122, -0.294, -10.8786, 6.7077, 1.9463, 0.2027, 0.0806, -0.232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549e7e69467ec22fe6a2cf24f42e02814ff9a49ca7abc812ec9b4f5231ea55e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4edc36fa44bfac7a48e61ed78aca7c56340a3d3b1e14fb8632eb93295b12313",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c4986779973772ac05f482ab2d8cd349316792473900753f394d88806d2d154",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 7.726 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6476, 1.9739, 0.9684, 0.3969, 0.3618, 0.2268, 0.3021]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4333 right_y=0.2538 right_z=0.0457 right_yaw=0.2001 right_pitch=0.0072 right_roll=0.0044 right_gripper=0.3021\nstate[joint_eff]: [-0.2803, -1.6615, 6.4889, 1.7998, -0.0513, -0.0415, -0.0122, -0.4308, -9.7846, 5.2034, 1.6142, 0.2222, 0.022, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6483, 1.737, 1.1732, -0.1341, 0.3534, 0.2108, 0.3025]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4202 right_y=0.2461 right_z=0.1408 right_yaw=0.2151 right_pitch=-0.0757 right_roll=-0.0422 right_gripper=0.3025\nstate[joint_eff]: [-0.0889, -1.4838, 6.5162, 1.8046, -0.0269, -0.0366, -0.0073, -0.4718, -8.8684, 7.9795, 2.254, 0.0269, 0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6483, 1.7401, 1.0775, -0.0097, 0.3367, 0.2054, 0.9949]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4156 right_y=0.2462 right_z=0.1215 right_yaw=0.2323 right_pitch=-0.0568 right_roll=-0.0263 right_gripper=0.9949\nstate[joint_eff]: [-0.2393, -1.6479, 6.4479, 1.7998, -0.0317, -0.0415, -0.0122, -0.294, -10.8786, 6.7077, 1.9463, 0.2027, 0.0806, -0.232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549e7e69467ec22fe6a2cf24f42e02814ff9a49ca7abc812ec9b4f5231ea55e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4edc36fa44bfac7a48e61ed78aca7c56340a3d3b1e14fb8632eb93295b12313",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c4986779973772ac05f482ab2d8cd349316792473900753f394d88806d2d154",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRU9LB-1qmW5rLdgGYrCuO1bGLlh63ROwpU3qjzSWNiUMneXzuURhj7yOEskcY24l7nbM0G5m6kkmwF5dDgBD8Q1eWdO7R0eHgicP-t-Q19iic1jkidS7TPro3kL7hjJIE1NqZdnThYDQ27g6f8wpOp1-Tcde_Blz-gDKyDWcHajekF4DMhO4TU6P2Awquf3rlPdsT64o4h5XzDuoSV_84iKjBzT0Pv4aBR3ClbmVzVi-BPfDiq0moMdFZwkTe54Q8eCedS5lUt3zZhCgdpxOu9HFlBlS4doVw19WWZKq9Bp7-R1e2tkhMgKOk9nD3tZFMlvpQVF8Po1zrxKq9BhdAh2Z0HJD9QTtPEi3IBT_uJAYl4fWkNhe7W9Zz3rj5giFGIQts4_wHbUWZAk85ljHCYsdPRIdP9TTW4uDLXD2jQQrCxll_7dk_lFyL9ZnViALnUX71FAnXB0xeyV45Dpw4EzIU_-lK5bQ10bWdWpB1snO6-nhpw_QGXPRcOC6VDYzU7UeF8qCVaQpd8o8XBrJYN5tKnfAXg4hzfxHeZR22tvEGoe8js5cTw946SAPxnQMnSUYyzW-T4PiPGj33ftCbXw3Y2Wduf6afRJjUF6NBYSGreCXbKynw-kC5Y2a057qhuaexmxto6Ga6D-U5e89rvW7z85m4UvHvqPgpz9J4S6LU8eo2QywqdlFpYaufKvH_gtm8mCFtFnMZUNRclBhtZdFoUjlHgLJv47aS2DM4mt6er1h3Nvl8xlLRFIpG4fNyhZABwgRMAiBLfeeH4UqtD_1klqtaTmkYUxjQADPgv02c0oOxv2HkB38t08iO9rrHy163AZIjTQFXvCzNIJVeWMB8CDBKWQ3CC9hs-x4JyY-JVUWgL1B-6D7LqinGtquj97e-gkSJngYb15cjgXdppI0s-uDVaBdBkvBztEe3Xtcej3KDnfv0VS3_-UFo6tZ6OZBkCjFIJAyDWcdIS5HuC7NuzKC7cPbEbdgBk6DXN3ghL3sYf57zeXFEGC33MWsSRYADIE3hwuOjdi01tcLwVpaanQHpS-CGqtf_QtmBkao372Fe2lWbGLRkzglBD3sIZnUEi6tjfwMCpd3ljTF_DBZtdQ_lTh8JEyrJtlReYOLkY7I2AJMTV0tRzYJPdG-wS8augp749RdjpS1JJc7hi4PmbIHRtjhWIWJ8sbxkTmI-GgrsL7_zRLeRf680ueh3wVH7YTqKwrYNPrNC1oouJBb6GLC8t3ITQTKZSuvChgTJCtmBKePwInLX2mdaLzDA8LHWEfyBtnY61DK97OUUDmIgAzW47SvURJJUiN0F5-KiCUOmLXCCTpLQMz-6P5PyebfoC-qz-QGjRuMouNScHCgyCHnsCc2OjQZqBlDVkhhvI8P4Ho5nCL9Q5VK-kqazke1-vnEBmP_gk3oP7IGH8cPeoHwqymUeHo7R2c73WGEiWUHbOAZXNNVUXILVFvTcwblDAPmB2RcvVWGoFNnu9FyN-ea8v8fDDl6clqYy6RzI=",
  "id": "rs_0f42a67d383a0a0a016ab454533b6c87d09e4a36c3e1bffbbd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.18},\"note\":\"The jaws are open and the bottle is unsupported by the gripper. I am parking the right arm to clear the overhead view and verify that it remained standing.\"}",
  "call_id": "call_lstmtt1LXyAmoem7PmkCdgVR",
  "id": "fc_0f42a67d383a0a0a016ab45453cb9087d0b162755c4a3b3672",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lstmtt1LXyAmoem7PmkCdgVR",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0296, 0.9983, -0.2359, 0.8436, 0.6044, -0.3939, -0.3424, -0.2626, 0.9949]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=-0.0002 left_pitch=-0.0069 left_roll=-0.0008 left_gripper=0.9983 right_x=0.2943 right_y=-0.0061 right_z=0.1697 right_yaw=0.1683 right_pitch=-0.0196 right_roll=-0.001 right_gripper=0.9949\nstate[joint_eff]: [-0.2256, -1.5385, 6.4479, 1.8144, -0.0366, -0.0611, -0.0122, 0.0479, -2.1402, 9.0325, 1.7021, -0.232, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f15721fa389a7cb4bfc1ebc72dc89cad126b99850d02701d6b93705dc2bd41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98eec24e252b74c2069c8ef3be4acee3d67082aaa59a0078b1e9d8a745f61fb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef95f7b837d3f6096b59da398318588547bf8055fb2f8e9f59299b8a5cc2af17",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.78 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6487, 1.7435, 1.3373, -0.2798, 0.3542, 0.2073, 0.3024]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4306 right_y=0.2541 right_z=0.1812 right_yaw=0.217 right_pitch=-0.0648 right_roll=-0.0404 right_gripper=0.3024\nstate[joint_eff]: [-0.1983, -1.5932, 6.6393, 1.8584, -0.0513, -0.0562, -0.0122, -0.294, -11.8769, 10.0171, 1.746, 0.1587, 0.1294, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6483, 1.7401, 1.0775, -0.0097, 0.3367, 0.2054, 0.9949]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4156 right_y=0.2462 right_z=0.1215 right_yaw=0.2323 right_pitch=-0.0568 right_roll=-0.0263 right_gripper=0.9949\nstate[joint_eff]: [-0.2393, -1.6479, 6.4479, 1.7998, -0.0317, -0.0415, -0.0122, -0.294, -10.8786, 6.7077, 1.9463, 0.2027, 0.0806, -0.232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0296, 0.9983, -0.2359, 0.8436, 0.6044, -0.3939, -0.3424, -0.2626, 0.9949]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=-0.0002 left_pitch=-0.0069 left_roll=-0.0008 left_gripper=0.9983 right_x=0.2943 right_y=-0.0061 right_z=0.1697 right_yaw=0.1683 right_pitch=-0.0196 right_roll=-0.001 right_gripper=0.9949\nstate[joint_eff]: [-0.2256, -1.5385, 6.4479, 1.8144, -0.0366, -0.0611, -0.0122, 0.0479, -2.1402, 9.0325, 1.7021, -0.232, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f15721fa389a7cb4bfc1ebc72dc89cad126b99850d02701d6b93705dc2bd41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98eec24e252b74c2069c8ef3be4acee3d67082aaa59a0078b1e9d8a745f61fb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef95f7b837d3f6096b59da398318588547bf8055fb2f8e9f59299b8a5cc2af17",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRew8AOntwA34lCnYmiAox5TOlZtIrM3dw1i78bhf89n6DVkgSmrGjq7CXfnq3Sen3peuUy-cJ84BwlXOAJCgA4O8NVMnOKWmjCkATTliB2HLd8ZKG7brNzLWm3r7tF219zzlXB-Yu1zwuJ4hf8oiQv7BTRxOv9dD_9qOO7cq57YBpClwcPM18D_17MyyFRsJiMbrViSkBWh1qVAXMeQtBfb2Btv7m0ktEuTvJWSNUywpc6LDaRWNWhIVTORTcPdvHRntdrpFr2zWNOTvux1pR9OoIfnQI2dBSltA3HgDD4k5ow82KclCFMrf68b_OXAjxhNPT0NGYBr1hSQkmqYz_ISJw9lj3MlwpsAtiSQXyTlnfdOnfGHR-6syoa8TgfeomMzaHrLFv0RgvNteRlwlv1BXCYNRYOyfbbYyBelUgZcYzYbwvL9jBgVhRY0JHzZaPMGcAOhoR9lUZEZbJw14L1CsdZksOv86qzMzAu816q3Ezg44mTmiSzQGv3I76rYm7gHzijV9EMaCoG2WSNkWlljYR6Em0d4C5uRe7A5UapbTsGouaCFOtch7XuWvV16BZlyOUfJWrbnoRJHj4Lw1swoIbKwNed5K_XmpqCx-aaOVwlEbU6W0D4V84-jpecRMwKaPA9CBiykqc_d6jIUZgOt1ipMLU1HxQ5qd_YPz_Or2m_EpjzT2way5dXYAY8t-5GOHvpb1lejAu-sU9g5Oew-irxUcWUCv70D8iaXjIOUhbMW0M3yZKJOrXkS8cwkrSFdVKOK6k-d5IF1UQgOiEXal4Bx_D10qczDr5WyZe9W9eK3OPMM0jrPhuXebYRehzL1c6vfaONhU36VxwlUEHRcO1Int79dnDVAnF6bUv5hTqY0N4qTIJ7vLXp6ASbO7XhqZUIZLYErnY1hWtJR-BoqFsKjUCFfJaVYPSxQeuDvTFHqdfpLj18Ki3jdiE30qyEVqHIBq0tKu6w25QM_pnAU45ryO13Of0nMc8Pmy2rx6M8pBs7fgNtnW2WIrxFaWktFgWKvjqB1SnROJhGNUAqweFslQjrNvBv3nV4mi2GMP1IGm_cU47VREJQBMh-f471gs1kz_omwt17Pu7NCQUNb9yGnPazle08VofJkF79EMrjzjvwM7n-Cl7nzfOWGWrNoaeHcnSOikGflK79bNPJI6vfduh18nkJgCzDcNt0aFt9r6PNME6FvadASvGDiMbNlPtgB3szO9c_Gec_QbApaiB4iMMe58aHH7abjWkVyU9fjn4dEO_UdBNp9_f2tOQiMbt8n_TE-EnLqRaz-IZdlteG7Lp9cvITfpIJcK5BcUqbCNBfQSpIU2eoXSvBn_J9M8DEFLaLaT02AdJ_5qQXt9G8azlpDqcP4wPziq9vyLMrST_rlJD63nUSAfvu9xufq08UZx7nLdELgf2rMz5n6VwVICLnhUT_U4XvtPd8aEX3cK9HBjrCQwLbti9aWmBj91LPt49Nm1E7J6VERWgCsHy82M4-Qso4T1RXTELSQpmnGKXeCd4LDSzj4ruGoLBlHiqA8USe8XEeg1Ls9dZwkh_YYz2SyFgqs2uOnYFdL7BbZ-cpIg0zKJ3UJ7wzGH-HAd7-khLKf8KtzJuTlL2AasdoVm58rAdwuYZKF-zYXQpgoPKpdRvewXyC0bMzibFJD7z7gWDphOT-NdzhTramG2hxGcVScNB8ObIcK6_0PJY8PQWplTyI1eSbEwjMvqu5nQtN9OpeHI7UVFsUQWotUGsYqoE8Zkp-d4BdhwvBP23K4yvINKTat8nuRLCADCdX3Y1wW4cyBHieyOHQjXy5wpxxMjLsd8x0Q2-pnE-UaH0jNuSj-KHPqcuwyYBbKkyNyj_1Db5azCcavtyzbOKeNaFYdqgttQ9WbQ2WgrUi1ioiZHAiD-yBOQgN1LkGMebCrfipGLxe7EtVfz0pgLQ13b-MrpmVdH7UkbpiFXWZL43u4XaJmmPm7GGPEZoR6QES7vN2J5KyOZicjIKzzlcIm0223kPKVrz0Bnej0xNhiCuLyi4LYLQ84eY7uiPliznbEcTpsDSWhzBohpknbxacRK1vVqD_k9qsd7KgqColPSHGIGwf2L1hZE53aKhSfzSue-FY6XUetBfcBGqYmXINLQRcF7tLz47qx5NeE7pvpEe-d_KByJspVH4Ry5zivqGMd3vh-5sSRWxHf8-fN76JTfSeKAoJubjoDCj8Bl_J8FfTHh08Admv1-_YdSggEHZ_1ZTmc5KE-kQSC3NJStkQQx1N_GllG8iZ5b1Lqx7ZWf-bL_yyurz3bEPaJmvYkyK1lFRXEsDwj-JCb1Z0wJR_P6MuxVf6G2ooVZVoTPkfqBmvXoLwCQcdGjJjKMbSjhMFIBbxqAp_PwEN5ZzvHd1o2_BPBPAmAYR61y0OBy12us6dR0QCdO2p9LkzYtDn6RpkRAU7z7T4W7QnkRPVlF8_MWjYQeSIURuvlcx8sUTvuPpYK-XhUVCmYjMQ5KQMYqvApoIIFNjf4nBjrAJLwV4YyjyW9vbTPTeBxdxnzDb1U80ThaBLij9xykotumYplRpIYGiWTjmta8f-fHRa0dik3lsJZVLLBEcBsFpLvf1r1mpQz2cwCZ6GHTOIVVswoemAcIT-ypDbWSPKD0H-mwmoG7QIRkAKyZi9LFCXwx19NIlFp3ACh5XKoZParB2uVhQeUFwtg7OehldLxfPP7ntHrPENG98pck6t9i6z8zxsWAQfnWS16X3xyMtiIZmoLCsJnTavh6t67B4SjX5SwAT-d-wuxZ4QWAAw8tSKkEEDADhnfHxXw06a1ST2_OqfvEIP7CtJL2vzB_5pCN1QTiqc34CE8eTr_Gq7uqnyByRSVRIZmJPnIC1R2zk1zyKITyBCysC0MgecGZDZMqAqOV_PTtgT2LjbpcMLwMl1mUnikFxulcFIecC4nw5r8Dr6jR6MXqpmXRAcLF--jJiYm9zifwLHr05LWPG1TqmOvv3--4lqzXPscaFmwOTqCDMVc7xaI__R0IEukdNnw1ByaCgBkeQb51-mPM2q_IaHA4FmXbCSmIOftlPNMo8haorVouT2083_RNu0mZWKayl_T5Qh0Ih43xkeEqd9NnqPcduvn8Td2wGPdaluBuWmTsKVVLL3c3fG2SQVILQ5RwKI95ewOOS4GtONHvD4gRKvpDaxJ--6RGS5g72uHIA1yAht4L5rCH_CmpF_rkcKomZDoCkGFfpiSTdn7aGO_829c3IZek53hNoSIeQ3fc-UuZU5cXAR-E73uIwgRikgyKF_SzG_FDEAne7WE02_sGN77EmU4NcKwb2aUUopgfRqaug3xE9pgyzA9ZG2P-iVAZRpkQjMKpIMpvwEk4Qt-mQWLf3374c0PJU2HymfvNpyVBMAl_LuT1ULEwaJ5r1jpAa15oWbMmedsNlTw4djLIhkLn8qhP8yhPme2wBT7vfxhztTrMcqOv_5l0xBne-orGd8oklCS7AAMKHD1r0gjXmSb9YDJ7MKTjEdRzy0SEXgh3jEZtMpLl-rz6OwkpKcIjhOvKYykyMpXN9vZL2Dz2iLju9XHAHvvztTa_V49eeiyr0ncmztWl0nuLMJx59IHufpxzugqmxfDFH9sON-9jBnvQyT_OYcfKtijyEqCKpkYHSVcMoQ4G-102vEfeJRCu458PZvHm-RFfEL7iAVfp0Do3DDsyzLuuFVQy2_T1xEq5gRiTICpri1lSvBZZZEz2Io1piPcPnFcNqMUd5jdHaAmOAqKRF0L4Amc4Lzvl-L05u0M-LBBebxkBxq8U2rrF-iA6opgkXvq5buetCNf6ZLLEHIBJgMtF4In9sPxw_0gxliFFJ7jK7lK_PFZKIoA6PJfgIbYbJvLxMZOtAumLIDciFuiln8YEPegv7fCpC03zrLQjNlHlzMd7CMAdHSWZFwHkUUNv-NAOXwo9VrMXH8ESFlbMwH_MikPsNyp5C0dA8mVPVCC7oORIr9OepDm2HrFJ_2sOx9fSaHTnsp8yfe9TCsG8oJz3a1m3pREbmIcoW4zxWJ1qEigHOk_iaAESC5kv9ySFBmF5S8Ee__rOR2LjERDo010OVGo5Zqr6Eaua7a6fP2xSeTwt8K39XfSIN9hCUEcQ==",
  "id": "rs_0f42a67d383a0a0a016ab45457faf887d09d0b4a6ed7566018",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFRetgqODHWBEiGgq8dHfxozwhu2tp6FsxcHiXNc4v1R0cpT_EzLstX41lJHckEjfTiy7Q63UfYcEdqQz70seub4ayr6LWqYdvrWf6a-ONGQfKr3QGsuUibn7_cHN3ELgUr2dMJB7CswgaaOCBwRYmq_QFySSDzrWwg9EtLgXgKj-lVibtnOa67rgQjQxig1kcxhF-9Rkmo_v8i6-K--kpud7Xq3S7PBOgLxSKCcAgJI3SSLi_yjFqQ4CyvqWlWYxjIt_oySjJu947DOYzzjAC5apX1GljdzsKFJ0RXAxKVfmHd-asOE2_B3torBa7W1Bm1-ca8bZK-RCMD7tHAzkRINWfObbcNgGltcDI3dKDf7fHs_y1t5EfWJ8NFvLSvjq8JE3Ts0zDYHW_i4_or1ev-Au-N-1NOo7dpU4gknTapAukkBcUdcaGhen_nt4lTaQGl0Crgs4igZSALJoHmYCAYeBEj79cA4W1OHoTv39THdm-pJje0S8tNtiMF2LTm0uXAmfW5HHQ4ZGC37Lkd8yzphfrpoN8qCW2ikbwxHfGhLA3KG4JAr0VZEst0SiGjVjrmZ0jhK8uq0CMStVsekCV_vaFPWR4B4qHojLFDFi2hTkQ1FOqxDgGHzwpwv4g0Br9xVojDwHwcRNPoLuxYvkMqsZihnQ_c7if77QQm9b1Mu85taufugkyv7L1dZDzi_6t7_HD1LY0x5EIVSKpoItXK5y272CxSMbIF3y4ml1gH8Ww53eywz1DGR50Cge8cNhqBeTSYuJ9lwECzsdBubwCJZyeqvWCRqVitmNgEW-PgXjR4-aAIP3HLc6kzvUxKnGcNojrs6cXgpEqg87RXSup_HIO7Ace9NyVHw7HrPHI1JOml60iOBYvYpr2Ln9kS8kW2c4q4VQ8Pvf2RqlglOM83zJIEEWQgrfHpt_JS3xUBzuOmpnDO1fKMfsK8EIHPb6-sIrUk18bepG0sckDORUSt-QHxKtEcsDPbJAnP4PGXTvE9_wUB947-02Rhpp_Ca4lVs6DaYOppzyK7XM-OU4Fpa-RSCBu68AHDgID0MflQgrbnSHVbP9OFVTNfqFiCCsLoFgvrmYTdjcrfQsF4_gXIODch_suz0b5UHdu8dtYpCGQLIREQ8NQbtinkA9Ufu925hBa2kXoIMR1ePBOup7rWbq7ecAt0LUnqyz8AmKmgHRjOoC5cZCC_DFgv8yhR3ZSC-Y3G7a-xRUADp3BFlh_YSNe94DgYGqBLHLif5tz0VfS5qOflsxoFyWP1LrMGrzuvn",
  "id": "rs_0f42a67d383a0a0a016ab4545d50d087d0805154963997dd76",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.05,\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"With the right arm parked, one bottle is standing in the center while two remain diagonal on the left. I am bringing the left gripper above the nearer left bottle's cap region at safe height.\"}",
  "call_id": "call_h7DIv4vbufK0po5s8uctnJo3",
  "id": "fc_0f42a67d383a0a0a016ab4545d962887d0b6b2bf287f37a513",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h7DIv4vbufK0po5s8uctnJo3",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.21, 1.3426, 0.6811, -0.0086, -0.1715, -0.1326, 0.9987, -0.2424, 0.8364, 0.5858, -0.3962, -0.3668, -0.2741, 0.9949]\nstate[eef_state]: left_x=0.3806 left_y=-0.0466 left_z=0.1145 left_yaw=-0.0087 left_pitch=-0.0956 left_roll=0.0119 left_gripper=0.9987 right_x=0.2907 right_y=-0.0029 right_z=0.1639 right_yaw=0.1881 right_pitch=-0.0261 right_roll=0.0084 right_gripper=0.9949\nstate[joint_eff]: [-0.2256, -5.7641, 9.0462, 1.7802, -0.2222, -0.0269, -0.1392, -0.2667, -1.8667, 6.9402, 1.9267, -0.0269, 0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9934719be5aaaf6434058cb4f9a64f0223239ceff5477afa63d00470918d818",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb89bc21135d3cf034f5b18c29ba4551788b41adff8dc86d2a9f96650ca05c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ddef2b622b3d7e6d61830c2696258a88f80f4ea7292cfe4d5aab0ad7519ab53",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 2.23 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 101 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0227, -0.0292, 0.9983, 0.6483, 1.737, 1.1732, -0.1341, 0.3534, 0.2108, 0.3025]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.182 left_yaw=-0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4202 right_y=0.2461 right_z=0.1408 right_yaw=0.2151 right_pitch=-0.0757 right_roll=-0.0422 right_gripper=0.3025\nstate[joint_eff]: [-0.0889, -1.4838, 6.5162, 1.8046, -0.0269, -0.0366, -0.0073, -0.4718, -8.8684, 7.9795, 2.254, 0.0269, 0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0296, 0.9983, -0.2359, 0.8436, 0.6044, -0.3939, -0.3424, -0.2626, 0.9949]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=-0.0002 left_pitch=-0.0069 left_roll=-0.0008 left_gripper=0.9983 right_x=0.2943 right_y=-0.0061 right_z=0.1697 right_yaw=0.1683 right_pitch=-0.0196 right_roll=-0.001 right_gripper=0.9949\nstate[joint_eff]: [-0.2256, -1.5385, 6.4479, 1.8144, -0.0366, -0.0611, -0.0122, 0.0479, -2.1402, 9.0325, 1.7021, -0.232, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.21, 1.3426, 0.6811, -0.0086, -0.1715, -0.1326, 0.9987, -0.2424, 0.8364, 0.5858, -0.3962, -0.3668, -0.2741, 0.9949]\nstate[eef_state]: left_x=0.3806 left_y=-0.0466 left_z=0.1145 left_yaw=-0.0087 left_pitch=-0.0956 left_roll=0.0119 left_gripper=0.9987 right_x=0.2907 right_y=-0.0029 right_z=0.1639 right_yaw=0.1881 right_pitch=-0.0261 right_roll=0.0084 right_gripper=0.9949\nstate[joint_eff]: [-0.2256, -5.7641, 9.0462, 1.7802, -0.2222, -0.0269, -0.1392, -0.2667, -1.8667, 6.9402, 1.9267, -0.0269, 0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9934719be5aaaf6434058cb4f9a64f0223239ceff5477afa63d00470918d818",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb89bc21135d3cf034f5b18c29ba4551788b41adff8dc86d2a9f96650ca05c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ddef2b622b3d7e6d61830c2696258a88f80f4ea7292cfe4d5aab0ad7519ab53",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRjTj2izmhNd_WesZWhl1ha2NkFTRhf9-Ip5Y-WwdOt6IXnN4GvRXnxax5DiUsOiKB_MRjsYo0RUwjj3kpbH0L2VVQqXPPuGWtbDY3WuQj1K1BPnGWEc9oY-ioF4zvEJWvOMhZaKorxr7L_RPtvsjfacCSWNn8mo1Mgwa3qdZr7JEraBQZv515RDJicx6z1tj5-Vs-oEbrB9WSMBRAe_s0j5YhQ-oAfh15B4n4OGS6omUxQoZzkHFgCi2fHSTfT9cxEcz_ftSCgpAmnJZHRF8wt6Z0UsSqm6V7oBLGns0uPwLHaysNIOLIZBUjG_cSfRQ0KiLW9huB3DPd1DF8h66jSBEAnx0eFvHTvj7VS8N8EzugDe6UK1XZMW_DUWuG88lIshmMAKf36HEHV4fKcc6kOnnSqIYu0HVITIDV7Tjdxyy4SD_jEsL_ayytzy-TH3Sh0GeNK0GT89AeZ2Oo1FaY7Kp3muo3cj_YwRYDz4h_msU-8JzRT24AXd3fu7-zwub31GDsjS5ZVdKjHDZVKhz_PY16YihZkvv3qm4TsyyJYEam7gc2ToJCruB4qaUQN-ECGptZuM2Yv8jGMzV5jx8bx-oWpFVZc8xs1L8nSWEc9lhBAiNqIULcspN2jLP2LYYVlzRPhfu_59N_V-o2fjqHyD0MIS6dq4KX2UM14R-Sym6t0WB93SC0A0myss2pn-4yJzwAEZL84awu-Luq_QUaZ9W0zn2q1wHg2JEK1HG_UnkNlXNIP_Rrw6GgRj6OifMzbJZOulub-P3KSYi-vM5JDHeiJDKUPKNubXFOh5jrxvc5zwGddOrP0Z1ayIqJROXkBcnvMQCloAjnStx2yfZFk_fQ3nSQzeL_uEhylhSMKvqsjtivP_VqpeQc3HLxpS8kG8SFII4YnuQ459yvEzd0vHSpwd_vlS5Gm-PCeh_HSLld9E9nI7zWB-KQjb8NiWwtsF_woN84RxndnVM1WAgrgq-84AWBulQrfqoBtrajwTfsF32JS6FZV7TW6QeYL27GZPEfb3Ma-wckaBe4Sz2cpNbl1srXQ-5SfzmvSxwzE6pOXoqj5DPQeaSJfZbpRT1772hxEag2bhslEOaJ66ImcKyed-EqA_tOXUKXwF1L47QxLFP2wAD3mlDOXpYpMVEGxSOCAMYlGprDXBv8dDptjOkCLAyyfMyYmxcmZq9SxPPqOArhC1GCsHqzhZxeCVD40ek-507hok_jw91VKMSAaXhrzDq-e7EuVSgGqDcQKxMlPjVG26NfknIdm9xArElqoBqHZhcIu1pH4c3B0L00J3TP9Wa1xjYlTy0Om99GF04Hvtr63Cmgatu2S4Lo6_BA-gQgCnO3V05qZjG-PS7WGY79ZsUzErwR1FZsHrEb7rVapFENut10Y3AxprWKdvzyJxAmHLw_FNvQQqZLTeJKysPCq-zskBjRNHVxa5KC6v4NnptCDt9QtF3CIrq65vrR5OIkjib05YZr1KdGR1yNXyYMGX8ILnXJJ6QKmm49A6OYVjCxsUi5R4IFFhHxmMMnWvU50dOu_vGFsKAOEWXWxOA==",
  "id": "rs_0f42a67d383a0a0a016ab454609e3887d09cba869ce0b46c85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_z\":0.08},\"note\":\"The nearer bottle's blue cap is centered in the left wrist view, slightly ahead of the jaw row. I am advancing a few centimetres and partially descending toward neck height.\"}",
  "call_id": "call_ZBXVxChpkbgw8jXRgkeXX2Xl",
  "id": "fc_0f42a67d383a0a0a016ab45462038c87d0bb59a031386e0ab9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZBXVxChpkbgw8jXRgkeXX2Xl",
  "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]: [-0.1883, 1.5715, 0.6224, 0.2794, -0.1654, -0.131, 0.9985, -0.2424, 0.8257, 0.5579, -0.3878, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4023 left_y=-0.0434 left_z=0.0603 left_yaw=0.0071 left_pitch=-0.0959 left_roll=0.0093 left_gripper=0.9985 right_x=0.2874 right_y=-0.0019 right_z=0.156 right_yaw=0.1895 right_pitch=-0.0338 right_roll=0.0121 right_gripper=0.9949\nstate[joint_eff]: [0.4991, -6.8855, 6.9402, 1.9316, -0.0562, 0.1538, -0.0415, -0.3214, -1.8256, 7.159, 1.8584, -0.2125, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8207547279d9cce89f9788138eb9590bee3dd5c671dc3f603bad454a2a7f0183",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3114268a50957998d848424a7f75865dc31118e8cd572a45864784254376fa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ab728ae907186ec0752c8e666df2f4bfbac4434548ef6bbcdf9822aaa45dc0f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 2.443 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 101 changed as sent

message 105 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0231, -0.0292, 0.9983, 0.6483, 1.7401, 1.0775, -0.0097, 0.3367, 0.2054, 0.9949]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.182 left_yaw=-0.0 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4156 right_y=0.2462 right_z=0.1215 right_yaw=0.2323 right_pitch=-0.0568 right_roll=-0.0263 right_gripper=0.9949\nstate[joint_eff]: [-0.2393, -1.6479, 6.4479, 1.7998, -0.0317, -0.0415, -0.0122, -0.294, -10.8786, 6.7077, 1.9463, 0.2027, 0.0806, -0.232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.21, 1.3426, 0.6811, -0.0086, -0.1715, -0.1326, 0.9987, -0.2424, 0.8364, 0.5858, -0.3962, -0.3668, -0.2741, 0.9949]\nstate[eef_state]: left_x=0.3806 left_y=-0.0466 left_z=0.1145 left_yaw=-0.0087 left_pitch=-0.0956 left_roll=0.0119 left_gripper=0.9987 right_x=0.2907 right_y=-0.0029 right_z=0.1639 right_yaw=0.1881 right_pitch=-0.0261 right_roll=0.0084 right_gripper=0.9949\nstate[joint_eff]: [-0.2256, -5.7641, 9.0462, 1.7802, -0.2222, -0.0269, -0.1392, -0.2667, -1.8667, 6.9402, 1.9267, -0.0269, 0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1883, 1.5715, 0.6224, 0.2794, -0.1654, -0.131, 0.9985, -0.2424, 0.8257, 0.5579, -0.3878, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4023 left_y=-0.0434 left_z=0.0603 left_yaw=0.0071 left_pitch=-0.0959 left_roll=0.0093 left_gripper=0.9985 right_x=0.2874 right_y=-0.0019 right_z=0.156 right_yaw=0.1895 right_pitch=-0.0338 right_roll=0.0121 right_gripper=0.9949\nstate[joint_eff]: [0.4991, -6.8855, 6.9402, 1.9316, -0.0562, 0.1538, -0.0415, -0.3214, -1.8256, 7.159, 1.8584, -0.2125, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8207547279d9cce89f9788138eb9590bee3dd5c671dc3f603bad454a2a7f0183",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3114268a50957998d848424a7f75865dc31118e8cd572a45864784254376fa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ab728ae907186ec0752c8e666df2f4bfbac4434548ef6bbcdf9822aaa45dc0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFRl0wKsWAfW5qhiitHJO2oW-4Bc0njCsteMKa9opnSGBzqqXif0MVBrjWWpVfEW-WOtH1Ax-lxmvi1fXDH0eMvjr4vMqKskY1eL8Z4QbNpS7dmxgCJ8Fe43A6xlLrGG4pJs42Z4l7A7yiKD1foS90ngOBXrvGclb-WI0J1cLkrQuq4TuZlj6xXEBvTRZs40XlMVE-dEejZ3mjd9mQSRbMF2NWl-Bw0mi4DixPXm4NtgU92NHIi9DDcDeK6-CfxfvDXrnMbqOdx-H4gUoOrqrC2d1ygBHOuupHn0VFpzkcMtukgxMMEQcXjhKF6cDav6qArzojS1-B4JnnJSszdlgE2ueY_h0PerMaIZXuTg9yo8skHqKOJQiCVmQ_zqOGvDohEoLXu9cCw-0sX-8WjyjDrRS7IMHPkFqgi7vwqC5VbtgH_ceDgBVwdxgZ1372XpZLUKc8lvEnNtuWcQwj2f_QBv5H0Rhb2vFj8pIBCZ5yjogZHzH0Md0oEPAa8fAX8-olT_YALv5_Lx7hi4jcxg9eHzTSVyQzo-xHGbVgE0uGBqYbaVQi87ntc8X1H-jSQg23MNNjBQKaOF41wxdi6yeSAd8ykRdLKkyw0aX8AsfbSbjNqyWEX-e94Cc0V7XGthMH_bro_vc-bcvdYvMCAYd0JJ1PwHKCGjvYgsKHZkvLoTzItSW0DVhJ2BQLuD6ql-KWXJbB1JUT6AaxDY20pEhd2hYmQhjRnIl6cmIdoKaQEYtMFQchYrAce-FuLl0ypR5W1dMtZlyxn2qbzG-G8b1sms68m7wFd5AdbE7kMZ5BWW0Rw6ebUKlePHA9o-mM214smPu-wfXjUh89vPYKljr796U7Whkp3xzGs-CL0XOTxuVDPhAA8MFxFbBw5kWQSrSZZrJwF06er3WmW4WF0LvwiR9b4082ER7MUcjeoZzbHbnUPlMBb4-7S8YBfqT7CUtXt9MUI0zHYmhck26YEuQyuRa9BcMgiSdQQgT1gzudvveDZf_Ptck-j8vUwR3hQ1bAPQuarUAam4iocV6SAmTE4Z0Nfsiv501i7UqW6bQpOV8BOfJwu7Vn9xmnKD9Vr7C8nlJMn9oBR2eS8Z5qWZOsJQ5hT4EHth8o4Oe9JY1KGbB04QQRccTqvo3D9tZIgNqHZKQZ2bKWd_epbVabJk7XPpG3BGkxAoXkaKIlhtd01LOarHbbkJA4745PyTLYdW8yj647tU1Pkf0PKXm_BLqiNGu1PZZthF4QJIWehcBxxhOw_AGs9B2NpmUNFAfoGivRdw68DteCrgCMrXNej6NERzjBJLj_v8QAg60OWqjJOCuMo=",
  "id": "rs_0f42a67d383a0a0a016ab45464985887d08b3cb0c67b5bbd80",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The cap is now centered between the open fingertips at the bottom of the wrist image. I am descending straight down to seat the jaws around the neck.\"}",
  "call_id": "call_V5Xm7jrc57hU9ZQ21Ju2WYnJ",
  "id": "fc_0f42a67d383a0a0a016ab45464dd7087d09b5dec3339ed3221",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V5Xm7jrc57hU9ZQ21Ju2WYnJ",
  "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]: [-0.1905, 1.7054, 0.5159, 0.6403, -0.1619, -0.1593, 0.9983, -0.2424, 0.8112, 0.5259, -0.3691, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4096 left_y=-0.0463 left_z=0.0411 left_yaw=0.0161 left_pitch=0.0217 left_roll=-0.04 left_gripper=0.9983 right_x=0.2847 right_y=-0.0013 right_z=0.1492 right_yaw=0.1895 right_pitch=-0.0328 right_roll=0.0116 right_gripper=0.9949\nstate[joint_eff]: [-0.4581, -4.3692, 2.4547, 0.6813, -0.1929, 0.3199, -0.0269, -0.3761, -2.1675, 6.9402, 1.9121, -0.1978, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4929a86b49b92dad8962b213de9b7799a7d8227a86488ac603607c80382d2749",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e9dbaa87c55e6d8fc42c6d152a80c6036e0092bd653ab1a2beb45ae53d4d9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f43d2cbd55a83406eebbf6f1fc207bca48df6d00407edb75097af17fc97af77c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 5.498 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 105 changed as sent

message 109 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0227, -0.0296, 0.9983, -0.2359, 0.8436, 0.6044, -0.3939, -0.3424, -0.2626, 0.9949]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1821 left_yaw=-0.0002 left_pitch=-0.0069 left_roll=-0.0008 left_gripper=0.9983 right_x=0.2943 right_y=-0.0061 right_z=0.1697 right_yaw=0.1683 right_pitch=-0.0196 right_roll=-0.001 right_gripper=0.9949\nstate[joint_eff]: [-0.2256, -1.5385, 6.4479, 1.8144, -0.0366, -0.0611, -0.0122, 0.0479, -2.1402, 9.0325, 1.7021, -0.232, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1883, 1.5715, 0.6224, 0.2794, -0.1654, -0.131, 0.9985, -0.2424, 0.8257, 0.5579, -0.3878, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4023 left_y=-0.0434 left_z=0.0603 left_yaw=0.0071 left_pitch=-0.0959 left_roll=0.0093 left_gripper=0.9985 right_x=0.2874 right_y=-0.0019 right_z=0.156 right_yaw=0.1895 right_pitch=-0.0338 right_roll=0.0121 right_gripper=0.9949\nstate[joint_eff]: [0.4991, -6.8855, 6.9402, 1.9316, -0.0562, 0.1538, -0.0415, -0.3214, -1.8256, 7.159, 1.8584, -0.2125, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1905, 1.7054, 0.5159, 0.6403, -0.1619, -0.1593, 0.9983, -0.2424, 0.8112, 0.5259, -0.3691, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4096 left_y=-0.0463 left_z=0.0411 left_yaw=0.0161 left_pitch=0.0217 left_roll=-0.04 left_gripper=0.9983 right_x=0.2847 right_y=-0.0013 right_z=0.1492 right_yaw=0.1895 right_pitch=-0.0328 right_roll=0.0116 right_gripper=0.9949\nstate[joint_eff]: [-0.4581, -4.3692, 2.4547, 0.6813, -0.1929, 0.3199, -0.0269, -0.3761, -2.1675, 6.9402, 1.9121, -0.1978, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4929a86b49b92dad8962b213de9b7799a7d8227a86488ac603607c80382d2749",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e9dbaa87c55e6d8fc42c6d152a80c6036e0092bd653ab1a2beb45ae53d4d9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f43d2cbd55a83406eebbf6f1fc207bca48df6d00407edb75097af17fc97af77c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFRoUUiVycyIrYhGL0X5B1y6fRhFuShn3HS9qGuU25VmMIamlUP1TbXtKtppf1e8KwQdD1uzVh24tHpmi_-OVb8f7Sb8ySibJp2VnmQjORWEvBs4Qnu0-4EFrsgXYoj5s-K4i0rPKOicdaOTbBEoassG0eiiVw3YfHkN-HxnrRYptG4ti0mkUHyuFcL7iG3Ln0vlDHwtEEH6jWS-UeZ0YUr7dz1QHsRO_NsAMLrih8RooUtmNNhn4Z6-xNLoghEi1_cQRlt1lbQAjrKf-YQ4xRcppaMFk0NKe0oztwIdYiioiqFfi0xH85kHmpen44gK6ra9EFojmdh53hc7PLXcsUAkkB_sykYmc4acrJUXz9vvsx2Mc4E1asXUakLMmJ3mzInPFS3NB-MV8rDmQiilWTj_5jnrMBZ0OUdK10tYkDh_wnwsJESKo9IMOTT067mOOSH7IFF0psZAiCb3tnrDNgZgUgH1b6hl506oZWXOvOxjOLT86h3P_lAZxixK900Z5eMvj-ZzSGxpD95PRoOzh7KYr_QGaHZdqXLD_9a9w4kRZKNb-mg_ZUmzdwn1LZmjoIEzRcwhhhPNBJjYrmNhso8GWioH6ZGoFbY-L8nELb1AnrYJ390L7WKNkIM1InVb4U_jErjOdT8uP3v7BmeQB_zj0C3M7qN0v0XzM8wGA2vCoExIxkyw8lLLSos673HwiTjyfRyv0OBuLBnyswrrAzc3Y-t5Oa-3lxUM0weIphUchnUEYPCYJli2Ent6Z8roTtfCKCRqtVpgzRCPBnRxv9-WzyqehiHmql8iITF9v-1xIQ1HFI3uGiGg-ABQc9zKexZC4d5yq4P4QmS3ONwAdXptr8Dr39tSDM815GMNPcDBt3stS7fEth43nhzny-aG77RuvPuGRnRYITHpUwX7PUKF_9wuUyPXriIt7f991fBDWkIa3ZRkD88jhOscMI6AIiU01y6z9AIX9tkdaHh4XtMRtcFoELIWO7ZvItst27x8jJXS8p8eYW-c_KvI4XC1XxhY0hazeuSU3gV25TR1JelHDgf1HURy0tfWQFLRkvAbE_y5w8mUnzaFlDQSXSiVd6gy13fmfcMiqfg8ZhIit03YCo7yUYpsyJuoFlPSHRqVVTPM3I6kVsJqvLr6FzNPQ0CL2eKLTnMhhfMJJ4x5iBWkAa8XKq1BSK7PagOctMZ3znL_o3can09fPRKe9oHLuMTRuIIzjHszsxUz6hGJA6ittw4Spc8phgQ90g9tfwM6nVg=",
  "id": "rs_0f42a67d383a0a0a016ab4546713f087d096805a8df514e1c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.22},\"note\":\"The descent stopped at about 4 cm with the cap still centered between the fingertips. I am using the successful cap-width close directly, rather than a full close that could eject it.\"}",
  "call_id": "call_vTzdr7o6WaOpYBQcFHoYr5f9",
  "id": "fc_0f42a67d383a0a0a016ab4546742c487d0ba75f5b9acb8f1af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vTzdr7o6WaOpYBQcFHoYr5f9",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 1.7016, 0.5323, 0.6464, -0.1921, -0.1574, 0.2252, -0.2424, 0.7971, 0.4927, -0.35, -0.3683, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4155 left_y=-0.0475 left_z=0.0503 left_yaw=0.0281 left_pitch=0.0508 left_roll=-0.029 left_gripper=0.2252 right_x=0.2818 right_y=-0.0005 right_z=0.1418 right_yaw=0.1898 right_pitch=-0.0327 right_roll=0.0118 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -7.241, 5.5316, 1.1453, -0.0513, 0.2466, 0.1392, -0.4171, -1.8256, 7.2, 1.8926, -0.232, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947de6b5458ee9ded68e1f71eb804e9aab8ff866261dc9744835ef6f2ce16806",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63be3b7d1d0baaf562c86dc757ab7c408fc6aea6f3afd0f573db67360dd221b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f596227b74200ec9e2e29fb465b003aa6ed1231b3cdc6ce3ed72e7411286928",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 5.303 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.21, 1.3426, 0.6811, -0.0086, -0.1715, -0.1326, 0.9987, -0.2424, 0.8364, 0.5858, -0.3962, -0.3668, -0.2741, 0.9949]\nstate[eef_state]: left_x=0.3806 left_y=-0.0466 left_z=0.1145 left_yaw=-0.0087 left_pitch=-0.0956 left_roll=0.0119 left_gripper=0.9987 right_x=0.2907 right_y=-0.0029 right_z=0.1639 right_yaw=0.1881 right_pitch=-0.0261 right_roll=0.0084 right_gripper=0.9949\nstate[joint_eff]: [-0.2256, -5.7641, 9.0462, 1.7802, -0.2222, -0.0269, -0.1392, -0.2667, -1.8667, 6.9402, 1.9267, -0.0269, 0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1905, 1.7054, 0.5159, 0.6403, -0.1619, -0.1593, 0.9983, -0.2424, 0.8112, 0.5259, -0.3691, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4096 left_y=-0.0463 left_z=0.0411 left_yaw=0.0161 left_pitch=0.0217 left_roll=-0.04 left_gripper=0.9983 right_x=0.2847 right_y=-0.0013 right_z=0.1492 right_yaw=0.1895 right_pitch=-0.0328 right_roll=0.0116 right_gripper=0.9949\nstate[joint_eff]: [-0.4581, -4.3692, 2.4547, 0.6813, -0.1929, 0.3199, -0.0269, -0.3761, -2.1675, 6.9402, 1.9121, -0.1978, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 1.7016, 0.5323, 0.6464, -0.1921, -0.1574, 0.2252, -0.2424, 0.7971, 0.4927, -0.35, -0.3683, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4155 left_y=-0.0475 left_z=0.0503 left_yaw=0.0281 left_pitch=0.0508 left_roll=-0.029 left_gripper=0.2252 right_x=0.2818 right_y=-0.0005 right_z=0.1418 right_yaw=0.1898 right_pitch=-0.0327 right_roll=0.0118 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -7.241, 5.5316, 1.1453, -0.0513, 0.2466, 0.1392, -0.4171, -1.8256, 7.2, 1.8926, -0.232, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947de6b5458ee9ded68e1f71eb804e9aab8ff866261dc9744835ef6f2ce16806",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63be3b7d1d0baaf562c86dc757ab7c408fc6aea6f3afd0f573db67360dd221b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f596227b74200ec9e2e29fb465b003aa6ed1231b3cdc6ce3ed72e7411286928",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFRudRzlvOuIYbrDLrVo1QHz8p2xgRZpj-LY1cw4e7WFSHgnEt4rJh7x7e7GJV6xgtRcZsikTfN51CSFyo-oHYcR0UBkvVMAhuOSYmTWAmX4yAo3aSlYHm9IGZhURx4aaxk_MiZ2FHAhjPrlS4hLPr0sAf_wt_MnWxDvZAWnWSDjaLMgjjmKvOwR-JfZJq7jQQxKM7zIfFnM6TN9AkEj62k7TmP1Av-31kCJWu3UmcxiFSd77TUMXcb9aDLbcoSCdMYscs9TenLeEuQ3q4XGz9UNetxsZNGQLTjESNfleY0L5tCYC3dCVRsvRCQJi8cr926OyqFYwJi-vp3OB4jCuuSZOePvV6oJvXzTKrhymV8K7UREFQ0geZWdxu6bvlpxTi8WyqjwIjWJUnGZX3c4rQFNw3vBamYy5Sc9mkDQggDAOQl13yzDwel7sco3ocwGyTc2eOGuLc1MtlJDed3nXDq1Gj9OFG8l8SLW7hXt0dZWg1VZFryyCn69GXZKiTwF_dxjhOWi7luy0EwT4Dj-JA5amdJp6V0kQ9-_7OKvuCTMERc3IQZ3FjF_pDV5ajIrFmHp2Dq3LFKgWelvt7YLF9gGSQ1HtSS-Wz1jNBAlZ5XeoiqR19c2wRR-0hMjSZn8hRJ-Yjul090mIX6AbsiIXnx2ootXlFrWxClwVrOx3ECk3w_lxKLR4CbJMTO4TM1JGQhV6PVEeBbmlmVb14PffC0Bku2i_s_EB85t-yRQsprcl9muGqPo7l4x8cVd_p4QlHD59jQFoFCZg_p8--Ee4v3k4CW8iRr_z_Ya4hdbFf1T1-3jXiZyERclx7lff1Q_7rer_4gx_N_rwoydIgYzUlhzprWg6IrM_BH8v5VGENe88Ho90OzMfJCRw6Y5cO_hzFbn8haUowW476CJO8hwThVs9TVX5wf3KzWcNI-wT98yaxR53kdi8OfLUpb26ow8DSG7X_12Syx95dWcj3wdio1818L_qmJaLLqlC5m0x7PAtvN3BCTw2qIYyBH1X43f5hpMFTJBi9mJeRYKSkRqOWLrH2v-2a8SElg6u0BrTlzwrvQznvULQGcTJSTcIcly4mZACdB2_ddBQsdHx_EnmmrNIA0bkrd9Lah5Yumz-cRrYdvG8gCr1p869cnO63ytwnacpxzdw0Voh9lo2mBncgaRxWmAUNEKsoF0Gl9huF6gElwoGg2uc5F40JQKfRcvUn-CCfQPXp38hHox-dsZZ8hFj-bjUKcJQ6jWkI7fZLX6IdDVVGiHZcXAhKp-_JXQZS8hh3aIfRAuJcBgES6DAcquU-_iCUz8h5DeDGE8Qu9o49B19sdIMzVZGBkRwQlPIyaJ0xMkoqwgo3pEo8XZ6ocs45_A9xWTDzz7cFep4SBHQjo3NcT6MCRMFQ5eepe-b1kgaORSOmX16dVP_GIIRZEw7xIKiI7XP_dDWx4XqLM12ogmjw7tucjjkAYeyYs_FrUBOG2RDpZq20ef-tlP8lm7I2XqXWafUwLk2ziT96PCzDc5rlNwRMf1RfezOXbVEtd4emHit7pl_jOmeGHOrQO3E4zWpFTifL8Jc_yovUEvayvP3J9maf4lkHixCKXx6mWt1qjFRoF4VCJVD5pTN8KqVmKWi6rpwH46l1OndyDD-LboeE3dCspK6j0BsYV4NfYc-HaW1SV8H6gfju8db5Z5U5jAY6R4SyTUbyPyZF5n5n37Iuv2UdZ8AL7xM6cciPmwkk3EdzK5VRD3oZmvQGiZuwLvNWdCzEpq3te4HHMKKHJTPVagWE2_oY5wqZx0lpLfayzoTkGREOQ-8Xp1RvFK2me0YvoB4DNQYvU3nWSJBvgZiF0wAS2VlKTMxP6UWfluF52ixdKpOsKd6RQPkq2X489mMVvpga33V8obDR1pC9lNAB7MMMBHBA84aqq9hk_yefb2r2LYkHp0RmgXoTV4Q58pSxi8m-J9R19pf3-iYrWH6esWJ1rtufAjSiOnudn8npPUSIm53aJwngfuI_q-HtRhlmZxS-VDfeK8uR8ZwRkuuTCDnp2NGZHELOCFdQo51UwOgopemugizfPxw4tLAI5ZESgyTJ7jab6V6O5mgpt9HVgYBNhZrdxQY5hv_8k-KxtvZG0wHbGbvqh4ubOB8P8Oj4eHvNb4K1G4wKNpUQuYFifmlvkwminQsIHNWkWlrnAws97dff0Z0nnb1c5xaW6yksJdnue35mJmozj8wX7hp4bDCvtDwToia8OZ0ItBr2S-IbkPZ9h78qfcchzE192evNao9cc3k19UpTb2cr9rmQqG_luz1PypOtJ7h-RpZB8EXo9YIRugo56rjrbxR2zWPqbzDvkGVe43rYANi8K374euEJTWaEC2SVY6B8M-3pq9qjJk9hrtm4tRb7vfm_WYZakBlWiucy10_vP_-P21D2nyreWLS7ChNYqQCev8EMvKWrfoSb6_sOzgRzjvsfLEtpIPQe25SGHI3FmhFALZA6PxgpJY0BJr6nCuYn3VQncnP9IxUzY3u4mvSw_ryj7ZPp59LB9Ui_uUhjawW__4_tjSJa9-v6h_v8fSfLFm0EBaVBw9Hfc-owxRrDeLGUtWi7LGCTtOOPOsU7zJUCHbytRv2gffycctePh8arQddnBHUR-97QVQil_QVLZ6O1nv-o3DURzqopS1lDzR9kwEzztbITLDFgyHEklRrnv1L1pE6f-QK1JLrqJhRKGfhP36-HexWOzpugd1N2TdVVOCCUJX8v2aot12NO-d2CoL6A4fsDrTzaHQwkFN0AVY3MH-jFmTmlN2PeWbs7syQ2awyxD4xTHANm1HNPTvY8IlyvWvyaK0KGdlosaEvphB5mRUZs9Okz8K-1mqnYwKLC_LAAIqt13SV3iHjTtoVcvE_qUai1gQZR9NNcZbAo8l0LnzmLkFgrlFRIwL0OqfRGQE1AI6bc1f1pr5J9dsRkM4Mgj6qjowDeQB25KQaFfBvKQcTdXWQKyEkOI421Bcuao3oCIGPHbqT-8dVj6DfVQBhBbipSt0FZV0XnaY4pPISrD5VRUqi7ys75RLCHktPzgT_QaD77YB8d5jMPUf1NBl2oVlTz1PiDsiiFyeUmJ8S-YDpQpjrEnYwZgrSm_ViA1eLu7TK6XF1q66WFBpJZN6L4vcTcz47BF2eYBKczojKzlXe6pFsd3CBS9mtwlPcX_xYTzZBbPFwvSh0R4zZbKlp8H4BxY1Wmwde-WIqP6VG1bM57fZo5KzWWBQ-Q7WKILmh5oKqhkfvD1xlKMGKvZiFeX5xhZ2jE2Yyb-nx9sclTispjnrGX3ZIULSkE1vymL7H9AteKXb68-FzY9d1pXWJ0URnTqO5B4cSH4xMGcNag==",
  "id": "rs_0f42a67d383a0a0a016ab4546a154c87d0919070bf2737636e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.32,\"left_z\":0.14},\"note\":\"The left gripper reached the commanded width rather than stopping on the cap, so this was an empty close. I am reopening and retracting to clear the overhead view for a fresh alignment.\"}",
  "call_id": "call_NhIS8Pt1XeUBEBG9Xmfl124z",
  "id": "fc_0f42a67d383a0a0a016ab4546db49087d08cab9e9640cfa781",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NhIS8Pt1XeUBEBG9Xmfl124z",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3126, 1.0275, 0.4995, -0.0044, -0.2756, -0.2012, 0.9946, -0.2424, 0.778, 0.4599, -0.3286, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.3322 left_y=-0.0531 left_z=0.1447 left_yaw=0.012 left_pitch=0.0528 left_roll=-0.0242 left_gripper=0.9946 right_x=0.2792 right_y=0.0001 right_z=0.1362 right_yaw=0.1894 right_pitch=-0.0258 right_roll=0.0084 right_gripper=0.9949\nstate[joint_eff]: [-0.335, -2.4821, 7.8838, 1.8144, -0.3101, 0.1245, -0.1734, -0.2803, -1.0872, 6.9402, 1.9023, -0.1685, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb2df9c479df3144ea0fc8e4361bcc213ab274f84def625523972afac78825f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11b72f1d4ee17646e1c37496e95eb2f17de1c087905833d0926fb84e2dee931",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:681a47a98eab93749c043f9e57ef900970b01ecbda7e1149c0dbc9bf38d28be8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 2.587 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1883, 1.5715, 0.6224, 0.2794, -0.1654, -0.131, 0.9985, -0.2424, 0.8257, 0.5579, -0.3878, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4023 left_y=-0.0434 left_z=0.0603 left_yaw=0.0071 left_pitch=-0.0959 left_roll=0.0093 left_gripper=0.9985 right_x=0.2874 right_y=-0.0019 right_z=0.156 right_yaw=0.1895 right_pitch=-0.0338 right_roll=0.0121 right_gripper=0.9949\nstate[joint_eff]: [0.4991, -6.8855, 6.9402, 1.9316, -0.0562, 0.1538, -0.0415, -0.3214, -1.8256, 7.159, 1.8584, -0.2125, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 1.7016, 0.5323, 0.6464, -0.1921, -0.1574, 0.2252, -0.2424, 0.7971, 0.4927, -0.35, -0.3683, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4155 left_y=-0.0475 left_z=0.0503 left_yaw=0.0281 left_pitch=0.0508 left_roll=-0.029 left_gripper=0.2252 right_x=0.2818 right_y=-0.0005 right_z=0.1418 right_yaw=0.1898 right_pitch=-0.0327 right_roll=0.0118 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -7.241, 5.5316, 1.1453, -0.0513, 0.2466, 0.1392, -0.4171, -1.8256, 7.2, 1.8926, -0.232, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3126, 1.0275, 0.4995, -0.0044, -0.2756, -0.2012, 0.9946, -0.2424, 0.778, 0.4599, -0.3286, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.3322 left_y=-0.0531 left_z=0.1447 left_yaw=0.012 left_pitch=0.0528 left_roll=-0.0242 left_gripper=0.9946 right_x=0.2792 right_y=0.0001 right_z=0.1362 right_yaw=0.1894 right_pitch=-0.0258 right_roll=0.0084 right_gripper=0.9949\nstate[joint_eff]: [-0.335, -2.4821, 7.8838, 1.8144, -0.3101, 0.1245, -0.1734, -0.2803, -1.0872, 6.9402, 1.9023, -0.1685, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb2df9c479df3144ea0fc8e4361bcc213ab274f84def625523972afac78825f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11b72f1d4ee17646e1c37496e95eb2f17de1c087905833d0926fb84e2dee931",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:681a47a98eab93749c043f9e57ef900970b01ecbda7e1149c0dbc9bf38d28be8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFR07jr_918tc4sZ1ErzKnhoJ1LYzt0AY0AxMKL8bCRR6vi2C5VbcJ3JP8Wjj16wNsFj3mJXKFABAXPSDDSwt52vEXQywdsi11Udbh8_5OAffA6PbPANKUXzz2fw1db4kWiXpLD996E-qMs1DWVF6ebhaQgT-g-1Fr2Ru5Mfv4lainmYlEkcf89hRB8mfcyOJPWKHf-8xj2repbd5LZx43NtyEpqlk6Ftkbs6KrdwW0sEpEMwBj9HDlh0--B3Ixgtujwp1O7JZiP2WE7dWUqriHhGa8szQ0dl5wqoNWjwA_r22dgzExlfV2DpW56017J0cbfdqoME81tehRsQ5KjjH-Cch1GWsrkUax60WkBzOBM2RgrRKLnYJJ0Uhqb2ZBTSF0xuQTAgqvHXlxOOmgKleHNxYPKZ7XArHR9e83clQwoUI4EAvM-U3BebAFYXKmjbsQARQmXa0Gr6VWx3Phb0Nn2U_BoVFha2IB-sA1CBwvL8HOc2aXzlcnpp0T7p9SpRq-iTeSjlq0HTXHeW3P4Atfexuvo4xjdMlmoU9hjoZmcQkzWkj1p2E0lwoKgExpmA8XwIrv-G7vfQ-1NByuu8xJZiX22mESeM0cBZmEMEgrnq93zfnQbdlDEv9gyWF4KabFM7O3UYRxldl9k3QavJXq2TCk8LYgJeS8w1NBFWkB9afmJTAs6846msi79zW5qAbOaGpjiqYGs1APtqRsLMAYI6SDjmqA6j35NhxnDo63P4P7bh8IZEyrfjV2Hu0-A_SI7uaktboNTUDy17STEDLciFgQuv773n7FxxJCqq3QqIb0Bt4kutYSlXvyrYgaL8SkptWoBbxPrXYCjLR89JTffoy5TY1YijWcbVBxf513B6yOaBRM71eoI_XFlmiJUSreLOm8LcBZsOaE1csGuzMBCylhRshzD3AXIreyqOWkGou6aXJcSdimnaGQO7d1OOO8y2tkirR-wVMRmmVN8-EtHr-Zr9s8wm-T9inwLY1_UtCzuOfzWpE2hcMIJvD14rNKdJ2HQfLi5hEWVphYHtTdXoNK-i4tEeDqNJuHcZETcTueGdbU_uOXfOevc7sIwZEaerEt3vZQIxfTaFxWnLSeGTuvwBS1xWPCXEvjVCdVEKXyHCDbdqt53d7xu-VxMnNSqPjtAFAYKa14su5_lztRkDP2jnr38iBrj4nBzop960hI__4vm34NHyuA6uyE490l-9_Ha138GeYvhjUvPkEOxD3l1-VVS_HfqgXYOgBKB_uGvf3GU_87QmjduRBb4dsEyHacRJ-IJuu05pcVyyRsAycrJcMd8W0fOA2kYMzpMTSsIcnWb_yu3L4JY4R4BPoUlem0wOrZLElyRLIh6AMTdmwGnG4fIofD5A4jYKwxYUCOVxiqjWCDYFhVaDmC8qZTcEQq7QWhG4UbZGEiQNXBYMItWQJ5sScPK7u391tPwhAe2bM3goDxd0a42I1gwgWVuj-xQwFMg9b65D28cW_M7uL8tzViELvIIzwJpYGvddtJo7OWSjElqG9s3o4y_DeVZr-FzFgp9u0CaxSeFj3otQwCuzoI_dw9BfV5SHCdpS8TT8OGKroXXGHg3J4k73GXq4NIT6nVtEwmbxhwAX0TB9aKh-sEL6nluLEItcAQg5briVLqReEP38VkvGFqKzNh7Wri7G-GwUS67rC6EVYbv5N-kymuI25tqZbyerlrJNs2wsZ7T6Zxdw__omzlJxDQT1vBQEkmMdwpkKQB-6lDdA_mZiwReNndVvsDpQ8jE6fw-XB7naUUKWHTwAg1xhs5X2kggFKJ8CUWoOcmo8501_DRW4FrzI2Pqust_TXGb_4AlEgxICUBo-8RljR75mldQt6WulFC1_jodzgBfRjJXi9fN0Pl_YNd1g3qbEumYOCZSyTt5QzBfCXN9ZDHkGmVIy37gysZRq-Os0BqDyGzc715vIfRgHGzSooeLuhx_BHvigtqzGMWqG51Za-5bvZkiXPz6PvuAQ4VoZx4cFNT5l8kA0C9BNBiD9WOhlQnhLehetbjG6OprvIB_JVWM7MtFRG4ee3VaNek17k_DXcD2IDrxi6iMiV3DrjRYv-CqWiRw4zHyABal9hy4gWncpO8BmlgCTcq2ML3qnifwhF3eJZQSAmIiCFO7VtnNiYeiNYlvO3K3QG9LC7Pkn7Q54QXTqlmW5Edtjiz1tvta2yn9z2lH4CxZhem0LsIP6gcN6uV7fk-CtXi9rvMxCVmuFmarCdo7U-iB2ZgdY81-BAMMXZLtjooHv_lRUwtBbqUgrfQIbRfIFAGQ846soUPuSMp1Wo_c-8bxtN251s0y6ALqaulOCI8Tet03x20IkhrqPqZoi384pzU9zJyqMQOn50nwGCcLefhRYUB5zvOYPzd66BMLuZZpZXD4rMDjHCp4ol5JAwnob0e-H6rwhlB9QXAxqqRISnxff72kOzSQGBxdkTgs89boRbn0sJiu1KsESNQyAPmqmGCE8fuwVBtetzu2qlepgP5XVK_mOMdugon359w7ZKaAm_ixGYw3uZDoR0Ks8VYa3pzI3Bj1PYbsyDMRmF9HGgN-zlcQTz_hDO8BWFKbLtnTNDO6IuQg9EgZVkSnb0DD8Gvswp9f-wVPSQl7prJGpEXpx7rlKPTCndf0k7-snGwWtS4rATAiS8er5YOHRrrBxVoV91Lw-K4S3fvRdzQUlzLW_hYTFMH6XUPrPMrVHYJ_pEwhvU-4vSnSKeRPLBiQVVdBGcGsUJ-h4yhZ6IMFfFqHasmbpB-Qh4q9dcCZxuA66EQmicSKAVKM18O5OV6hy9ViGm8p1X3enVd31OdWmia8wmKiAxP5YeupcTzzfD3J5AlTPBqOLi5eklxeoymKPKo-7Dk1L2fLvtH8Ka447YTiHObm_3pXTzSzZh6_dO6RIgWQ2f9Db_rs0Uk0xDg5itUr-IS84UK1XB0A-fra--I5BniJ75glfD5UYw==",
  "id": "rs_0f42a67d383a0a0a016ab45470780487d0855aeb1b343ae609",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.035,\"left_z\":0.045},\"note\":\"The nearer fallen bottle's cap is visible low in the wrist view, slightly left of jaw center. I am returning to neck height with a small leftward lateral correction to center it more precisely.\"}",
  "call_id": "call_sLpQhpBZWe9OGEKCnzEh2I9t",
  "id": "fc_0f42a67d383a0a0a016ab45473ba3087d0a2f813a9a586490f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sLpQhpBZWe9OGEKCnzEh2I9t",
  "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]: [-0.165, 1.6474, 0.5423, 0.4847, -0.1631, -0.1535, 0.996, -0.2424, 0.7628, 0.4385, -0.3145, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4026 left_y=-0.0343 left_z=0.0413 left_yaw=0.0398 left_pitch=-0.0479 left_roll=-0.02 left_gripper=0.996 right_x=0.2775 right_y=0.0005 right_z=0.1333 right_yaw=0.1893 right_pitch=-0.0186 right_roll=0.0051 right_gripper=0.9949\nstate[joint_eff]: [0.294, -6.3932, 5.5043, 1.3797, -0.0806, 0.4762, 0.1392, -0.4034, -1.2103, 6.653, 1.8388, -0.1929, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b7652ef793ffd334c6a58e4644ac0268aec5534d67fbc8d50f40a14a94692f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7057d7213a1b917c0df0c67208e6f83be1f0c07aa988ea32066a24f5e53fc012",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac547d57a09882b155244cf340bc8c8b3a553a7bf554acfda77060fbe23603d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 2.666 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1905, 1.7054, 0.5159, 0.6403, -0.1619, -0.1593, 0.9983, -0.2424, 0.8112, 0.5259, -0.3691, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4096 left_y=-0.0463 left_z=0.0411 left_yaw=0.0161 left_pitch=0.0217 left_roll=-0.04 left_gripper=0.9983 right_x=0.2847 right_y=-0.0013 right_z=0.1492 right_yaw=0.1895 right_pitch=-0.0328 right_roll=0.0116 right_gripper=0.9949\nstate[joint_eff]: [-0.4581, -4.3692, 2.4547, 0.6813, -0.1929, 0.3199, -0.0269, -0.3761, -2.1675, 6.9402, 1.9121, -0.1978, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3126, 1.0275, 0.4995, -0.0044, -0.2756, -0.2012, 0.9946, -0.2424, 0.778, 0.4599, -0.3286, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.3322 left_y=-0.0531 left_z=0.1447 left_yaw=0.012 left_pitch=0.0528 left_roll=-0.0242 left_gripper=0.9946 right_x=0.2792 right_y=0.0001 right_z=0.1362 right_yaw=0.1894 right_pitch=-0.0258 right_roll=0.0084 right_gripper=0.9949\nstate[joint_eff]: [-0.335, -2.4821, 7.8838, 1.8144, -0.3101, 0.1245, -0.1734, -0.2803, -1.0872, 6.9402, 1.9023, -0.1685, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.165, 1.6474, 0.5423, 0.4847, -0.1631, -0.1535, 0.996, -0.2424, 0.7628, 0.4385, -0.3145, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4026 left_y=-0.0343 left_z=0.0413 left_yaw=0.0398 left_pitch=-0.0479 left_roll=-0.02 left_gripper=0.996 right_x=0.2775 right_y=0.0005 right_z=0.1333 right_yaw=0.1893 right_pitch=-0.0186 right_roll=0.0051 right_gripper=0.9949\nstate[joint_eff]: [0.294, -6.3932, 5.5043, 1.3797, -0.0806, 0.4762, 0.1392, -0.4034, -1.2103, 6.653, 1.8388, -0.1929, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b7652ef793ffd334c6a58e4644ac0268aec5534d67fbc8d50f40a14a94692f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7057d7213a1b917c0df0c67208e6f83be1f0c07aa988ea32066a24f5e53fc012",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac547d57a09882b155244cf340bc8c8b3a553a7bf554acfda77060fbe23603d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFR3hZBqqOUxhfL0gYzQbR3XAM0_5OweTUgPi6FfRyLq31-OXMnuT9BqbRkQgVmU-i9q9WGuyjOWNr9Z58soiSwfFQV5y6Pw5k3FN5z8xPqsGn27vNn98NjJ9ZaD32_T9oXPLtMJpBXdGJV06c0EFEzVR8uTsq6OENA0h26NPs3E3lt49oeeaETRqMBxjPRQmp0Hty-SybS7ZQvE2wdwcdr3YCXfjB_v4k9XMpTpSBqUaBonQiyFR2-pz7eH7xraOum2kty7KPR3zpdajE-3Bvvcv7VDq-3kLSSME95yz5fBZ95aAz3PEfnl4gIIz9Ph_0bK7Z2S8yg9XxsxXF32YjSYWWWHqbamNOwO12YZzYeH2rqO5Rg-dnUWUnjmEstg4D05BRVPh5YKqLOWQn80XvpjCh9sDHEMTwbPewnAl_JcRCL34czNiHf-WFUF9F5CcWozLVx37NM_B97iTl9WrkkK6SHGZu519W-CYImFtocE05GVzq8g4wvq_HdeauobQyZzs-NP4Whw5qXObp8XAqBvTJ73p8gzzLvcBpENPBs4moEilKI0mZb-K1EpAlfFLIm4X5hsXMUoD4FCwD8mwNbVnzAytC02Q9bx2IEFQ_99dhqU68WKHr111Sx3yJZa_6PwO2cUq92gFdmntHcL_SR3Wiqdl7laZsSC_4PcV6L6plwiZFk2yOC-vTtDG2xSYYftguYLZ8haSEy58uB7MDCP2zGVoD0cCfRepI8Phi5KSmF2plcnrmAauK5AHmhidSxSABwLyET8e3Nt8EZX2NTD5Sw-dzC5djxYEC4T1jYpsMSvCSdwpW8wVjWy4vwrhLn2P_hja3dDKI98x5s1HD5_tJuj9HjpmTJ-DBFMY1e-9v_2CBNuu7wQDjkU1BqTLBCTbihKHULY6_194NHVhWmO3u4pXq0pn3GhSr0p9RjVWFaMgigvANV5K9f1z1KLQmxqlxcW0yh6oxtDO4mwojMGEDf3-8nth-Cwv-_hBSvSM-uFI8w-EO3REBx9dLrqBOg0KT9Z99_WEl7CEIdERollFE-yU93nhpWvgAt_vYii7_ipCjMry55fPI4VHamWFY9DCw0QY3-Mx62XxBPs39JIOfskHjHwWa_ORlpd8nrwB1k4dnSasYZYWuc29GWrXOMIqQnWIcWv5bFO7w3mfpm42RkRmmjP6x6dB7SKOUAvw5IIipGzUZIdYVzV5SnKdtZJ9NO7dGtoyrwvBbftq_70633_ecoxssQIyC9U2R-lspw6Fh6JVLhgbU1fXaBnvQfK2yKLW3cUuqn1yBCtreqDPh4jlb3NNzalwifQiN1ySF1-uA0cyNudIF9s6RA5CDRWcNZsfOQedIL-Muy-BoD-qexU0B9Aj-Vkr4dUyuJDpkVPu7kmSWVyMx-DuJAaN-zowlcSXk_gR5CgucHnty6E21dyONAodRr24QUYEUdTVxbJ3lzfxDSz6Yw0GJoWiARMX0tzDv6qa24FyQ2nMVccHZ1Xt9EKOgTjXg_6q1196xa4zOQECH5YliBNvdplxGEQ",
  "id": "rs_0f42a67d383a0a0a016ab45476411887d0a08345f013ec6c40",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.005},\"note\":\"At neck height the cap appears about 3 cm left of the jaw center. I am translating the gripper left by that amount without changing depth or height.\"}",
  "call_id": "call_5UOZpikXofMBX3bi0Sgt6ogC",
  "id": "fc_0f42a67d383a0a0a016ab454771d1c87d0b483d7b636491334",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5UOZpikXofMBX3bi0Sgt6ogC",
  "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]: [-0.0834, 1.6695, 0.5053, 0.6022, -0.1112, -0.1181, 0.9962, -0.2424, 0.7589, 0.4252, -0.3119, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4065 left_y=-0.0107 left_z=0.0427 left_yaw=0.0585 left_pitch=0.0048 left_roll=-0.029 left_gripper=0.9962 right_x=0.2756 right_y=0.001 right_z=0.1289 right_yaw=0.1894 right_pitch=-0.0248 right_roll=0.0079 right_gripper=0.9949\nstate[joint_eff]: [0.1983, -7.4051, 3.9316, 1.5849, 0.0513, 0.2271, 0.0073, -0.4034, -1.7436, 6.6667, 1.9121, -0.232, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44fa431ba49fe8b96e57fd638c91920559972639b5c3b97080de7cdec9e0f478",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a32470bd053987a0d3344bb30c548c55a253f153e758003f2fa88c1c114c0653",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:546c2d16f7a3d10040125cf362f6e8e2f71186192341fe8c4c5100947fc2f7db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 3.806 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2031, 1.7016, 0.5323, 0.6464, -0.1921, -0.1574, 0.2252, -0.2424, 0.7971, 0.4927, -0.35, -0.3683, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4155 left_y=-0.0475 left_z=0.0503 left_yaw=0.0281 left_pitch=0.0508 left_roll=-0.029 left_gripper=0.2252 right_x=0.2818 right_y=-0.0005 right_z=0.1418 right_yaw=0.1898 right_pitch=-0.0327 right_roll=0.0118 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -7.241, 5.5316, 1.1453, -0.0513, 0.2466, 0.1392, -0.4171, -1.8256, 7.2, 1.8926, -0.232, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.165, 1.6474, 0.5423, 0.4847, -0.1631, -0.1535, 0.996, -0.2424, 0.7628, 0.4385, -0.3145, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4026 left_y=-0.0343 left_z=0.0413 left_yaw=0.0398 left_pitch=-0.0479 left_roll=-0.02 left_gripper=0.996 right_x=0.2775 right_y=0.0005 right_z=0.1333 right_yaw=0.1893 right_pitch=-0.0186 right_roll=0.0051 right_gripper=0.9949\nstate[joint_eff]: [0.294, -6.3932, 5.5043, 1.3797, -0.0806, 0.4762, 0.1392, -0.4034, -1.2103, 6.653, 1.8388, -0.1929, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0834, 1.6695, 0.5053, 0.6022, -0.1112, -0.1181, 0.9962, -0.2424, 0.7589, 0.4252, -0.3119, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4065 left_y=-0.0107 left_z=0.0427 left_yaw=0.0585 left_pitch=0.0048 left_roll=-0.029 left_gripper=0.9962 right_x=0.2756 right_y=0.001 right_z=0.1289 right_yaw=0.1894 right_pitch=-0.0248 right_roll=0.0079 right_gripper=0.9949\nstate[joint_eff]: [0.1983, -7.4051, 3.9316, 1.5849, 0.0513, 0.2271, 0.0073, -0.4034, -1.7436, 6.6667, 1.9121, -0.232, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44fa431ba49fe8b96e57fd638c91920559972639b5c3b97080de7cdec9e0f478",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a32470bd053987a0d3344bb30c548c55a253f153e758003f2fa88c1c114c0653",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:546c2d16f7a3d10040125cf362f6e8e2f71186192341fe8c4c5100947fc2f7db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFR6fGXD_s6ibBoxvvYLTt-TK4CV6g_bnjmUsAxvmwANhqtXkVyrhIgEWL2R7vwA9tiHfMCLOi8At_KGtV6YcrQnl0d0op8VuKhfRwfzWE-w2vFzhJ_xOuHLk9dKKlrO8fW-TqtmM_4sNkwwSIn9Ec_jM2rUVjxJNnnQQewdQ-tCMTmXPwVjSyjFMYBGV09_PCF0XA3lRNacztTkG6NQ_HHkSyYZxg32wC92zT2Vbd9udm9A9hP_whQ3IqWkSEWfC3j27MtH7TFwSBQV8k6sR_Dm9KGuUUL8egC-0jkaE_dygA09MOzyVZPXAb4xonnuMHiBWvSPmVew-VzmCf40WCqywhrsEobfgFPG9eRc3D9Edl1JrQLaqobH-xKyeHyddUGjUX9t-8ugDCjII9dEYWapd1zlhrUcqQTEp2306mYadchpTvRdz0-xnkokZ0AUgBB43Yp6BuZBQPbOf-S6B1I38OayJOqdQvltlc7zqy1qoeC7kJxpC9HftYMg5kqNl967erVnndOWk_LvH7vUvd2Pe_mzGZ0yrtOLtZUafWKhq-nCXMESnaxghJJ4nuWU4pUEwAv9FX5SgRHqv5c-K2ueswftcj1GXlokWNQtRg3V2YCU_XEaYBogMZ_t2i4g1zAW6LapzXtR0zRXxgoKLwekLgmnxO41vXNaOsu-ZnPfa3LPt8eJ3s8hV5BjRilzD9lDxk5uXyfaiaz0IJAUiX7vRqICpKGmAcEUZxAAjr20BIwkDaHBAfs1OufRI64QtFVggNvaeh860GELuPwd-utpsL2-TF0S2CeHDINMJNJvGg3WaSIYRpdBYIyP7bY72LgsJLOYZkXyGOqGpRMAaB85BnSL7w94NnzB-Ggu9evZLbtCBHfBYCnMlIYc1khvDJMid_tYG_En_l1nCIKhB3RN5YyVTMTt1twbyxTW4gVi_NL1khX_YCvMZ75FInfzSNbawMdvVQCpjmNqGhTun2pvpdlir6wvBLG4oVfAHqro5TataNJbdeHhFx3zGGNdPKpMXitDswTBvSySSzIJ8Umh5yNokwlN24Tdz7wV1tiPGV40zwc9ZFaSOa0X_vZZ-Dd9E6SuuY2STBE9zjP64CI8yEKUYz7aIEestJc8-uOyn8EZiLhtcT6raib24ovSeKRvMZVoR92fhzS8LNNtmHpoE95ODpwczaggATg7qounQ6KyOZ85KrIs4S5owTFrNF0C30F1sl8N1e2Tx8dV9064wuR23AlTe-KXWpPFGiCjnBDH1_RqUgzJSoUBF9x6ipPIT8UVEBtFhA88BG3FGbZTl-Zvuqw4jSJuqa9m9WhbpSU=",
  "id": "rs_0f42a67d383a0a0a016ab454794e9887d0a2e06bd46e465ef7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.22},\"note\":\"After the lateral correction the cap moved directly below the wrist camera and out through the jaw gap, which is the expected grasp-point location. I am closing to cap width.\"}",
  "call_id": "call_dGtCV2wII5N32cunV6nYaABh",
  "id": "fc_0f42a67d383a0a0a016ab45479a52487d0acfc5e378ac9e3bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dGtCV2wII5N32cunV6nYaABh",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 1.6695, 0.5034, 0.6209, -0.0933, -0.0998, 0.2249, -0.2424, 0.7506, 0.4026, -0.2977, -0.3679, -0.2745, 0.9949]\nstate[eef_state]: left_x=0.4085 left_y=-0.0054 left_z=0.0457 left_yaw=0.0546 left_pitch=0.0204 left_roll=-0.0249 left_gripper=0.2249 right_x=0.2738 right_y=0.0014 right_z=0.1237 right_yaw=0.1892 right_pitch=-0.0248 right_roll=0.0083 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -7.2957, 3.9453, 1.536, -0.0317, 0.2564, 0.1245, -0.5538, -1.388, 6.7624, 1.8095, -0.2173, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd305b7323a2917ab14cbadbc272c0a3673dc63937e1ace3582fc17fcfb1076f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dea6f7bd86aa4fbf3ab4fd524b456f9bbbb6c5e29a6ab9e2ca6bc6d7dc48627",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3311cf83b483844dd540ff75c9c5a266e1c41becf9096d4aecee7f7cdabd535a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 1.953 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3126, 1.0275, 0.4995, -0.0044, -0.2756, -0.2012, 0.9946, -0.2424, 0.778, 0.4599, -0.3286, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.3322 left_y=-0.0531 left_z=0.1447 left_yaw=0.012 left_pitch=0.0528 left_roll=-0.0242 left_gripper=0.9946 right_x=0.2792 right_y=0.0001 right_z=0.1362 right_yaw=0.1894 right_pitch=-0.0258 right_roll=0.0084 right_gripper=0.9949\nstate[joint_eff]: [-0.335, -2.4821, 7.8838, 1.8144, -0.3101, 0.1245, -0.1734, -0.2803, -1.0872, 6.9402, 1.9023, -0.1685, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0834, 1.6695, 0.5053, 0.6022, -0.1112, -0.1181, 0.9962, -0.2424, 0.7589, 0.4252, -0.3119, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4065 left_y=-0.0107 left_z=0.0427 left_yaw=0.0585 left_pitch=0.0048 left_roll=-0.029 left_gripper=0.9962 right_x=0.2756 right_y=0.001 right_z=0.1289 right_yaw=0.1894 right_pitch=-0.0248 right_roll=0.0079 right_gripper=0.9949\nstate[joint_eff]: [0.1983, -7.4051, 3.9316, 1.5849, 0.0513, 0.2271, 0.0073, -0.4034, -1.7436, 6.6667, 1.9121, -0.232, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 1.6695, 0.5034, 0.6209, -0.0933, -0.0998, 0.2249, -0.2424, 0.7506, 0.4026, -0.2977, -0.3679, -0.2745, 0.9949]\nstate[eef_state]: left_x=0.4085 left_y=-0.0054 left_z=0.0457 left_yaw=0.0546 left_pitch=0.0204 left_roll=-0.0249 left_gripper=0.2249 right_x=0.2738 right_y=0.0014 right_z=0.1237 right_yaw=0.1892 right_pitch=-0.0248 right_roll=0.0083 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -7.2957, 3.9453, 1.536, -0.0317, 0.2564, 0.1245, -0.5538, -1.388, 6.7624, 1.8095, -0.2173, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd305b7323a2917ab14cbadbc272c0a3673dc63937e1ace3582fc17fcfb1076f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dea6f7bd86aa4fbf3ab4fd524b456f9bbbb6c5e29a6ab9e2ca6bc6d7dc48627",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3311cf83b483844dd540ff75c9c5a266e1c41becf9096d4aecee7f7cdabd535a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFR_pBAFB4mrknxFyvq9SRX1z2vvzu0MSimtSr1QjFVosV1IFg2G0d91slAxXQQx3i07EqTSOFvu0EIoR35qZR1l9GaNBSOa59C9LTbUASiVKfRWc036MdyQx1zpN2yAO5YMtztozRhuFcdTMc0UhDkSY2_Mxd3Hth1EuEiFBbYJh9QisCMhotMHD1rpeCGOz1nR9tXk_kI_6tTRyT721T8aSOTzKe4Iy2GsaU8rGygRDt5fiE519rmlrkpyrt5wZ8oLOXu8sptMIXdxLGpBdmayhit9ydCrY6jefaztSn9IfBirpRnglUtX9N3e3exiu7EeZ7Z7vCDwQMobdtGh-wiJW0accZFaiB68_G6R53kz3fynZo21Gq4IoRT-v_JGbRO0tpqYI8IRJ-JrEmyecNLnkfgk7nuCv3VGb7-uVVLfZB6ug5Dz-DOkMaQ3M3inaQn2ztvK6XrtuQXeOlkJ5dB94XFTIQC7xjqI7dN0wJAZ_1VQ1KW4qMLOwAs7DavzMB5ROgN0m7FxUBggBoC1Nid5ym69Z8cZodTnHt4XNIk5mG2S3wu2sewf56QjBgasAAZARRrnU6Pr5a5y4hnB-UlBVfq1ZeXZr9t3QiPfytOHLeOo4wsw6pYxsnMxGHWLVmw6W2QSDSFXPmHtHa73531rHHdsdUOie1M6h9oIBW7p_5SOdfuGfHWD07fe-sOjx1YnrmMd9jQRjH5nU6vANpPgStpc8c_DiYOLAgQT18ojX5k4QkJMdBUJm5JKGo0fP_a4wPjiwwiBKr6kkfxOaYn0bxDv6YseY-EIolXMrWRrOgybTdVX-VJMvAktIRnomWbO_u24M1iFTWCz_oj3SmrbyoSdWlLa1fveOXSfZn26iWJePPJbpQcrw8VKuELwpM4sjQ5jAm0xT5pHwiPm6GBMpoNK733t9s3sVGdElfhOsr1RxOSs9ZEVQgmS2dynNPbRM6Sm9EL7uUQ_mtOeAW_JpS8Lb6MPGfWeM47plsoxYbp61gnSjH1_enh0owFMtAqsMnln2sok2yVl_uFLqoYM-0XGdIeWiK0f4ql40fmVyY1sjbniM3CYq3kBOgBz-00hdrk_eQ8swqkSB4C8LDBeu3TwUD4P3pzE8i0t1mhHKXG6hw3jmr4tMGi4HuNCU3sczjsAOxDLzXsflnJpwkF-P2NqeXuy9uz1-KdgzqhRVf149aWJe_yoSsUByNTcWvmmwyU5CkDLap6kG8tOTZ_082ZlD97_mHxxUtrhoXsTG3-l8lIV0GoI9fpWCKWzF5Xq6fvJofrYLiooj6I-tMwnIjhjZwZ3GH7kCen8KavktuCovsyUwd7rgrMBjVCP8JzlIPcKNw0Prx2HHSzS1I4Q8zE2DtKwYCUXZgzabgOjcEQq6RvfGwmYV2rMY03-9NUSCkaX0QKfQXWJPNdhZuLrDWkb3aQrZziPdFLy3dvxUyrPSGsTHncspIAypIIy7DoTqQZDYJjBPUV9J5JqQlLOKtkFpbA4xB_h9SDCFfUXJu91M0zutIAUSAAudNzIP5aQhhbwum8oktoAU7Ali-y8rsAl12CZXC8QBtJYM3XyWgqXZFdSFgMEVjAe_Oo4QZs3S7mLxyXZe3HEgaPUkn2CkBC5rK5UuCpkPYGsMT6K4eY7pa7rPkw-GRN4hXK--IOfShDuJEunU4s-es2oCBgrQFbTPdzhbSfWDk4AeQWPLloMv3A3ezP4tvA7Zbt_l8CzqZcZGN1km_h2vTHboJ41jEcIGLJbSyobNN_d1xyXrF8l8vm3pWgBEwxL_uNZ-no30UoODd9cpCx4oQBINimL8csjbEURhOsaBG0Xk8kIyzQA0v_x5yEvZCsVsUnltY8q3cLwT-DJWaoI20u9uDaaA86jQaK4Hvm7EdL3RsyK51VeEpp3cdQh52N1iGY1l36l-tl3L0wZqeHAsGNuwdjYsBi4kKQ3kTFgYi0RoKje5J1xzbjOTWe8f23Dh4XNxY-x6Ig4aIP95nxz46_OZ0NvfJCeF7_dMQV2gu2zKs987MafQOHwFSTC5016tjPQWDZdnlbkqNfBnIVQiycV6n2rl5cmQTQRCQvqy0rBLcilV5UDXES_a21sZSZX54w1O3MI",
  "id": "rs_0f42a67d383a0a0a016ab4547c9d9887d08b5095586f5417a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.43},\"note\":\"The jaws again reached the commanded width, so they closed just short of the neck. I am reopening and shifting 2 cm farther outward while preserving the corrected lateral alignment.\"}",
  "call_id": "call_rZVGkRZJ3bai4zX5mkEaZM8L",
  "id": "fc_0f42a67d383a0a0a016ab4547e323087d0afe976e1e70804dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rZVGkRZJ3bai4zX5mkEaZM8L",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0639, 1.7172, 0.5808, 0.5682, -0.1131, -0.104, 0.9947, -0.2424, 0.738, 0.3798, -0.2901, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4238 left_y=-0.0035 left_z=0.0442 left_yaw=0.0721 left_pitch=-0.001 left_roll=-0.0152 left_gripper=0.9947 right_x=0.271 right_y=0.0021 right_z=0.1182 right_yaw=0.1894 right_pitch=-0.0272 right_roll=0.0091 right_gripper=0.9949\nstate[joint_eff]: [-0.335, -5.6821, 7.1179, 1.6532, -0.0269, 0.2418, -0.149, -0.1709, -1.1966, 6.8171, 1.8828, -0.2271, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db9a0a43d75ea5bb76497d590bd937ed5f54e4d97964159cb863da8f74c86581",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83b6fd705cd6b8dad9343e97a07dc88a1ab35fda2134ba2634071204ca896f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbcdb54b2e0a25c5a286e7725b6f605de5a84a854c4e2c217b8235e194422f83",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 5.412 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.165, 1.6474, 0.5423, 0.4847, -0.1631, -0.1535, 0.996, -0.2424, 0.7628, 0.4385, -0.3145, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4026 left_y=-0.0343 left_z=0.0413 left_yaw=0.0398 left_pitch=-0.0479 left_roll=-0.02 left_gripper=0.996 right_x=0.2775 right_y=0.0005 right_z=0.1333 right_yaw=0.1893 right_pitch=-0.0186 right_roll=0.0051 right_gripper=0.9949\nstate[joint_eff]: [0.294, -6.3932, 5.5043, 1.3797, -0.0806, 0.4762, 0.1392, -0.4034, -1.2103, 6.653, 1.8388, -0.1929, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 1.6695, 0.5034, 0.6209, -0.0933, -0.0998, 0.2249, -0.2424, 0.7506, 0.4026, -0.2977, -0.3679, -0.2745, 0.9949]\nstate[eef_state]: left_x=0.4085 left_y=-0.0054 left_z=0.0457 left_yaw=0.0546 left_pitch=0.0204 left_roll=-0.0249 left_gripper=0.2249 right_x=0.2738 right_y=0.0014 right_z=0.1237 right_yaw=0.1892 right_pitch=-0.0248 right_roll=0.0083 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -7.2957, 3.9453, 1.536, -0.0317, 0.2564, 0.1245, -0.5538, -1.388, 6.7624, 1.8095, -0.2173, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0639, 1.7172, 0.5808, 0.5682, -0.1131, -0.104, 0.9947, -0.2424, 0.738, 0.3798, -0.2901, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4238 left_y=-0.0035 left_z=0.0442 left_yaw=0.0721 left_pitch=-0.001 left_roll=-0.0152 left_gripper=0.9947 right_x=0.271 right_y=0.0021 right_z=0.1182 right_yaw=0.1894 right_pitch=-0.0272 right_roll=0.0091 right_gripper=0.9949\nstate[joint_eff]: [-0.335, -5.6821, 7.1179, 1.6532, -0.0269, 0.2418, -0.149, -0.1709, -1.1966, 6.8171, 1.8828, -0.2271, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db9a0a43d75ea5bb76497d590bd937ed5f54e4d97964159cb863da8f74c86581",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83b6fd705cd6b8dad9343e97a07dc88a1ab35fda2134ba2634071204ca896f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbcdb54b2e0a25c5a286e7725b6f605de5a84a854c4e2c217b8235e194422f83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFSBSgoc79BIJW2aNzxZD3tJJhbwVpqYopiuJ5MJeGckyN_TuyS3YnsfXhd2X4d6WhQgD-mrpPgDmBkT6z6hid1UGJYYc9JANmO3F4Ai4qO_8XIMpJnTJzMkJvwVREWoZwjNl3wgi29hd2Kk5BYFPiv5Z0xyJMoq7FpqmeknNOuRK3x0XMXPHhUCYcMtdMPQ5NYMQdPIqG42lKtJgX_qnSPCZAR8sXL8OsBBsmSp1ypi8AcuifM7jwtTjmUDz0-cwCA_f88JyCJyQRnjA7ioSdIanDYNvBaLLxQstLAUPteMedOwd-ykXD6AnixQ5o30g4k-eeomkDo2yvvfuk0jzHVPTw5qauodS1FB_PKMBYPNqkQUjf-l_6BBZTTW05swYw6pEkQN7xiPZ9bn0dlvKa30fQ5jXBxYrO0-kQ1RKla9D_ANJBbGUy7o1cSrC-o3vcl0v4dmOu9J96gIbfKD4cpG4WTXSoNpsou7JPbmd5m4LiTJGTTOLM3_RsyOgCmqDDqvCyjiuKZ51RQXwq_t8kflWTSMm8AS6_I7ttwUmcXwLIhduyrVyDe3Xxn-Jpa9wa3m8k3YG3UJEXAVj166hxMACvfSs79xPDdbCRhGKH_wbr23sGC5g-8tedndKpoKbvF1n37HA3f0cFw2fTwyFVAHpVVtUXuI0zKy88eEVbR0-6z0CD6-SbSiG5ytmna07Eh0qtH-69D0ha34xX_ChAQGHhT5cNoy93FX3D3-R1oRtDmy0vJtBSL9OOpA-4DBEE5pfQqIApUQaanlUViKyp92liruavoA48F1InNRiN0CvgTIOH55klyqu-uxBT1dCPbRbaLo3q6I5XiLq6PEyNV2MIVYSdw0llMjhvVBMPHAFiGYd8KBRbrGVleGD21_5qfCzLZPlrUMH3FjFE8XyZJa8IjHqZutqfk3tJ2Ax47817-5O3SqCRYP0fQHWu6QNxBplL0P_dvROLHYMeMFR4RwRBQpUW3l8v4qyDWmg4KhIugAofKLp4Byf87fdxIBzyppuu7nU3eAHbMB-cRnpgeV3zb9kchH-AVsqNJllAytsvSL9BVN1jZMtPQWZ-YkFGNiTyRcXj2hcWX5NxmVy3GdmtXQbDOG6NHfD6aDKXixNoSZalL_R1JSugXPa247XCv504AJRZxxQyUoRlpxe5oTLsVE-61S5-wdH2DCWAlomGKYAM_3T_8KcIqWemuR9g55f7OJooDqDDi95-98MxLh4SBLnFe2v_VczegYgm2oIR4=",
  "id": "rs_0f42a67d383a0a0a016ab45481163087d08e64b304dd6338cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.22},\"note\":\"The 2 cm outward shift places the unseen cap directly under the grasp point while the wrist view remains clear. I am making the corrected cap-width close.\"}",
  "call_id": "call_hScwB7o8nvACvS4mUmgEWDcZ",
  "id": "fc_0f42a67d383a0a0a016ab45481409c87d08e0f1bc1611679da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hScwB7o8nvACvS4mUmgEWDcZ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0658, 1.7226, 0.5861, 0.5678, -0.1207, -0.1047, 0.2253, -0.2424, 0.7254, 0.3553, -0.2829, -0.3683, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4251 left_y=-0.0031 left_z=0.044 left_yaw=0.077 left_pitch=-0.0008 left_roll=-0.0117 left_gripper=0.2253 right_x=0.2678 right_y=0.003 right_z=0.1119 right_yaw=0.1898 right_pitch=-0.0313 right_roll=0.0112 right_gripper=0.9949\nstate[joint_eff]: [-0.3077, -7.5145, 4.7932, 1.8144, -0.1099, 0.0708, -0.0317, -0.5538, -1.4291, 6.7077, 1.8632, -0.2222, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eadcf3718b92cb64beafb458190a685dd36f2958ce447ff78a540ee5900a846",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84225522b9dc03117232d78c87e08e0319774ef6c55e1d059fd7be405dd39c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7fab894f551976b9bc2b19553caef953bc423d70d114fcd808e96e23792d1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 2.62 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0834, 1.6695, 0.5053, 0.6022, -0.1112, -0.1181, 0.9962, -0.2424, 0.7589, 0.4252, -0.3119, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4065 left_y=-0.0107 left_z=0.0427 left_yaw=0.0585 left_pitch=0.0048 left_roll=-0.029 left_gripper=0.9962 right_x=0.2756 right_y=0.001 right_z=0.1289 right_yaw=0.1894 right_pitch=-0.0248 right_roll=0.0079 right_gripper=0.9949\nstate[joint_eff]: [0.1983, -7.4051, 3.9316, 1.5849, 0.0513, 0.2271, 0.0073, -0.4034, -1.7436, 6.6667, 1.9121, -0.232, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0639, 1.7172, 0.5808, 0.5682, -0.1131, -0.104, 0.9947, -0.2424, 0.738, 0.3798, -0.2901, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4238 left_y=-0.0035 left_z=0.0442 left_yaw=0.0721 left_pitch=-0.001 left_roll=-0.0152 left_gripper=0.9947 right_x=0.271 right_y=0.0021 right_z=0.1182 right_yaw=0.1894 right_pitch=-0.0272 right_roll=0.0091 right_gripper=0.9949\nstate[joint_eff]: [-0.335, -5.6821, 7.1179, 1.6532, -0.0269, 0.2418, -0.149, -0.1709, -1.1966, 6.8171, 1.8828, -0.2271, -0.0269, -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"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0658, 1.7226, 0.5861, 0.5678, -0.1207, -0.1047, 0.2253, -0.2424, 0.7254, 0.3553, -0.2829, -0.3683, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4251 left_y=-0.0031 left_z=0.044 left_yaw=0.077 left_pitch=-0.0008 left_roll=-0.0117 left_gripper=0.2253 right_x=0.2678 right_y=0.003 right_z=0.1119 right_yaw=0.1898 right_pitch=-0.0313 right_roll=0.0112 right_gripper=0.9949\nstate[joint_eff]: [-0.3077, -7.5145, 4.7932, 1.8144, -0.1099, 0.0708, -0.0317, -0.5538, -1.4291, 6.7077, 1.8632, -0.2222, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eadcf3718b92cb64beafb458190a685dd36f2958ce447ff78a540ee5900a846",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84225522b9dc03117232d78c87e08e0319774ef6c55e1d059fd7be405dd39c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7fab894f551976b9bc2b19553caef953bc423d70d114fcd808e96e23792d1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSH8dPgxcQPYAq6KO73MIbpPWzHuP0KaIwDf7AT0iCwwi54A1H3y7vEEvNglVWm1Hq0MZxCIiNf_arD-Vs-CdTScCY43ikuxL6yxlgxE3jBPcT-GQSoY8122msynSRI6FPb2T7aGHz60eiL1YSMS7Kfp0_cTrDAwprTwWJRvOEi3CYRjClHzIYOZSiWlePzX5VRxDXcmgDkMw-ZQr0lAYTIDtRgJABe_LB0Mqsgekx7Uj9ZIedEy7sCFt0LmnGf_GjCE12qfWJfOkSnmAMCO7WvDyJgdT5OeMFueRcGe1UaqTzMopeDTpoON1WXnhzgWY3jOpGnSYDxz-3CX5M_QxM5dSR-COEZbAFKHvQYM48Iufp7tun1u90zwO7Z7DaLfqhcsjwiKic4SS1lu5Frr-3HSkPDaUzaeq_LFX8BVL6PXbuyCKnX9ul2mxs5B-KmjDGhE9SjDCtPY88UvttqMwRM3j-OL8nPl401O67qF17i97yjdHis5QmCfQGgqsBilfUUz-ECTaMV4Y6PEm28lZkpN4kIbgS7yjKIzWQroiAcMHRWJf6NuILP2qzvzNLauEr-WlWs0xJLbmwjm8Ax1bGbYcn-_M3EIty9J_45eTndeCsN4WGIF7mDf9x5Tv23_hCD8qACDtZxd6d0V49uyIHm1u5hUp5TNG5q-EoPBZUndUuVbDoapRGdj94bEn4gPLjD48zw24-hW1chiRap0MI6wOyeqkbiUfeO6J20IhYWBQnCDKAJddlLZOuKD_jOktcgseoFKFYQVRoWnR-RScCQvWCCScM0uYHcC8L2Dt2VcYsDKmF_sO0D2vytCfhTHK8rGHUJAj3JsyZ-p2W54m1eJhry-Sc-45b2uM-GW3nvxnoNY_JhSJZn8MJYJYDWEC7dRXyeE4Rv663Zetqw1oRe25WFjmpAHfTH9oygukESem2PmYRE_LR6E6KNlpNJCknfqgBvkT6nOMMuuxKRF_TM1e_-PXUYy1rkFqikwm5GCV85_W0a-yIGX7U5W3aMPrp-JciDgBDIIAP6PDeL5hHOWB97UwsgNsvO1nrRyc8loV7VSuqeCaExrY5UmQe0RjLgmeRAeXhaC6Qr9b8llp6qtiYXpWzc2kj5LWY09IDn1NoTkvQmVA5IU3vQJjwA8wTx0Nw8Cd-dxr_xRKtaKn5bSKJsrli_n_KtycyrJ5rUiyHdVZYKe_0Bti_h5MxVOFnoNEpNM2MQtaDVBJ3_F80HxKFxTOLlWE3POu2q0hPIGI4AcKvEXAYuP1bZTTwjdKcwW-r_Q-0D1RUmpx-4pOHT4o3C6yveMOSjCFjybrxJfEBMbOixj2n38wz9sAiB7at-Cg2qs-p0-d05vr_0yFwZi_9K7iRQL0WiSDEKe47oVUQgKDTcBgEsDkQ5GKlljYJMe3-SQ4mEI3Fcf09YPE-BNiYdep3eNqyZnXo5zR_dUYLNk2Xj9kxcpCz4l7O4fTI64-r76-keJy5xXu784yds1kLS3FpNo8NXfKri7erTB-GmxWKMYk8Hme1RhDibOHHLfWZOGRN6tqIylklMAYMfI-b1MkQhS1vNptHv_u-qoG0JCkp297x0OCYNCsN7A7X_wOLPmXybcxHW4qYBnXVeaTh7KaByUD2TXdzXOktNNZKNKYVngY4T2CH0Xs1IZj-HiwWhzEAXwVB7jewlxme8i5JsYkBtQCJCSX1ZTNcoOtCrhbALWKeLRPt-nBRhdrG6E10DQDNczRWGC77ybKVsRFCspJ03DoTj0U4nDhs_Ruudo5CWqUnwG2QoIEzrI5WZfpF7PZ9JhFiuBWg49qr2GOsJjJCt5DGBw7gx33y2MFH52_GUP_oC3JtF_e1J1hei_oglg-vLuBoqMfPCuoJDjdqIQgnvRaOxeF6Nc4kdWXcF9M4UqbQOpDP5J6pYtQdXPXlZJwTHIw0chqaUNeunXuisIIeRiyF7LigV472ggo3Ylh5XoNxJUQ4sronsBEO5EA9hDYGw1rUedcyGzavl4scWSO9rpxKL3c0CW7xMmpgev30vt5wNjLSunglmjjI5KZo6SsIZip_SpjkKOX9Mo6EHG4FlSzY-RN41Bs1ngLR-lo0NRYJxO4cfKeXF2ea8TouHtf0u4qFhus8VpItvddLX5xeqew9P2nW6wEcu8-mGwDWd6s3NseWEQ5gmR0BuVhNzd0goxGpAmRzCcsYgbWf9OvpF-5NMcH9vBqsAaCEuk-unx2LcVGVP0rJ0ZwWUJAdECurGxoXYpxhEqLfQK-JyHwmp9X2wONPJ4ua3_1akjA41336PaUOnkkFy41w_V_a29oG6BMxxQzL6hj91lqC93zVVtMnnuHJvIgaslpfOTePa_VW_m7ELYghyMlXDekM3-EgWc7XKraetHUsaaSG7bIFUuLYnqHO_99F3AaXXm_8V7azQXbTQMqvi_bfzgrSi_TUL1rJorGPEQIJycGyA-fFqE7mHVwaBwOqecfnw1n-4MYPNesNm0unc6pis2qDAri71W1H9FWkR4uM8li0EB56omKWZZQyD4j5NNdvPu4JZrnn3haAPjFAotML4CVToURusexaIG9ILFKPEgFuvcfxhdWazV4vBlF4jxDKsA3YsZbEDr-enE58ykUIrXj_2TqhwX_cBaLO_ERIJo0U_e9ZPuK_SUD_Tco8M_q8=",
  "id": "rs_0f42a67d383a0a0a016ab45483e76487d083c47f09c284acee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_y\":-0.06},\"note\":\"The cleared overhead view shows the left gripper just to the image-left of the cap, revealing that my prior lateral correction used the wrong sign. I am reopening and moving about 5 cm toward image-right to center directly over it.\"}",
  "call_id": "call_lpH9zbwHgoNElWoZ8ZiLj1OZ",
  "id": "fc_0f42a67d383a0a0a016ab45486e17c87d0bda692314742a93a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lpH9zbwHgoNElWoZ8ZiLj1OZ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2558, 1.7348, 0.6086, 0.543, -0.2794, -0.1917, 0.9946, -0.2424, 0.709, 0.3248, -0.268, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4225 left_y=-0.0564 left_z=0.0452 left_yaw=0.0665 left_pitch=0.0054 left_roll=0.002 left_gripper=0.9946 right_x=0.2647 right_y=0.0037 right_z=0.1053 right_yaw=0.1895 right_pitch=-0.0307 right_roll=0.0107 right_gripper=0.9949\nstate[joint_eff]: [-0.5128, -6.1607, 6.8034, 1.5604, -0.2027, -0.0611, -0.0269, -0.5538, -1.3333, 6.8991, 1.8926, -0.1832, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8d80dfcbcb44d8bdfab5ec70a13d7947850ce181e9b78f3de243693a44fb175",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aefda4bb0f5c2b1ab347ef0d2fd0553bc629de9c6a39b4a594af331c4f5e8592",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c6e6e8975929ab114845fc9507cb07436e944744f3fe6499177a2d077554805",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 3.787 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 1.6695, 0.5034, 0.6209, -0.0933, -0.0998, 0.2249, -0.2424, 0.7506, 0.4026, -0.2977, -0.3679, -0.2745, 0.9949]\nstate[eef_state]: left_x=0.4085 left_y=-0.0054 left_z=0.0457 left_yaw=0.0546 left_pitch=0.0204 left_roll=-0.0249 left_gripper=0.2249 right_x=0.2738 right_y=0.0014 right_z=0.1237 right_yaw=0.1892 right_pitch=-0.0248 right_roll=0.0083 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -7.2957, 3.9453, 1.536, -0.0317, 0.2564, 0.1245, -0.5538, -1.388, 6.7624, 1.8095, -0.2173, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0658, 1.7226, 0.5861, 0.5678, -0.1207, -0.1047, 0.2253, -0.2424, 0.7254, 0.3553, -0.2829, -0.3683, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4251 left_y=-0.0031 left_z=0.044 left_yaw=0.077 left_pitch=-0.0008 left_roll=-0.0117 left_gripper=0.2253 right_x=0.2678 right_y=0.003 right_z=0.1119 right_yaw=0.1898 right_pitch=-0.0313 right_roll=0.0112 right_gripper=0.9949\nstate[joint_eff]: [-0.3077, -7.5145, 4.7932, 1.8144, -0.1099, 0.0708, -0.0317, -0.5538, -1.4291, 6.7077, 1.8632, -0.2222, -0.0562, -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"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2558, 1.7348, 0.6086, 0.543, -0.2794, -0.1917, 0.9946, -0.2424, 0.709, 0.3248, -0.268, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4225 left_y=-0.0564 left_z=0.0452 left_yaw=0.0665 left_pitch=0.0054 left_roll=0.002 left_gripper=0.9946 right_x=0.2647 right_y=0.0037 right_z=0.1053 right_yaw=0.1895 right_pitch=-0.0307 right_roll=0.0107 right_gripper=0.9949\nstate[joint_eff]: [-0.5128, -6.1607, 6.8034, 1.5604, -0.2027, -0.0611, -0.0269, -0.5538, -1.3333, 6.8991, 1.8926, -0.1832, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8d80dfcbcb44d8bdfab5ec70a13d7947850ce181e9b78f3de243693a44fb175",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aefda4bb0f5c2b1ab347ef0d2fd0553bc629de9c6a39b4a594af331c4f5e8592",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c6e6e8975929ab114845fc9507cb07436e944744f3fe6499177a2d077554805",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFSLHQzVbZvtNppbEc8DhSQJanHKoaqJuBW5Lb44MQaBhxLhFeyu-QIoISqK-9XxSIleb0zQfLc1v_G5prDq4PpYtQLREJfTTGWZnkbtx-1RpcdY9NeqLbZeBUrfs0dUAtqCZkQSUN7soiWJRirUCeQAn7kYfUVHZuQfuy277vUdtzoxdrx_vpf-Hxc3RtdxqFWDmoaKNPt9T6alnjO5dLJTPPHUsH9SVP4sj7vy5i2NQLPDzJpFOq5nHBBgrh99V6IKWb35ndmIyE6isOw3r0Zl8r_CiW4mvVCk5lby12ZIngVzVrm76cADngWb47RjJM2AAduK3BGln5h6yfSCuV8kHxFid0NsEZ8q66Iuqexoz-9WbgqXAQ93I3Cw1jwJZbeL1ff9hFXr3_DFCp9XoVkAlBMH6_vd3EDG-zNkQcg_qo0Rk21m1wYSRnbRPr0Q2u6axPBEyObfTydQyEAdLbATzkLSrpm02x21o3g8bEmhvH5tiNbUxfSvyBuGwqkEKiBE_mi7pf3nOgVLparcmQ4WTxeh57RHmolJgtxKwbjo8HtkiS9ZFoulOnJa-rp94OuSbpTFwxJhFHjvrwlZSQlMZMH9PdwXUl65CFQTKByW9S5FgNnqLvhzZfeABymr50Rri2XDvL6PDOwFKRYxkkk-QOVxvQ7m15Gv-eYwIGR__ZJ86_gaydYhf_v8mcp4uPYSIsCOu76oyxB84_TpNRCKYGz4K-ntCwJ-Ogi1HrJlSARyXAZK-93BDVIcnyJyP5aTTNcIbQML3EATDjgbxlw7uwEIfOGD688gY7HDzH_Z0hQXTUefQs6WfAB-0MVAkFKIQR35al_TMhCnu8BqL5TTvgfeL8P7tlf2hXw2lgmlw3Y9fzdJ8HeLAxhuwj615rx6dlujGjYtpdenQw-gL3VIWVJkWZFaOWrNMsnK47oI-aIbAM_W9jW5cq0iB03z7VuHaGuIRcTpcsgL8HoEODVc-U8KcYpdd97I75huSLuEFk4HRiPTm19KP1jW4xVZf2dM408DBsaMk07u8Sq8xuY_w_uFBa1ocggz9IIe5KB-4WEjnlHPJ1trj1zKpJ6fRCgwY-DWICkcMqHxJP8yJF2R5fmqVoy3QEEnGec8D5QAAp-GBVphRKRPeOCToLvmZHQLa5F0r-RMRL2CWrpuhgY5Lv5W4EO_u5z2-u4n4lt6qV5HKFZIFn2ONj0f7aujHul8RlLYgV-qHA2sxwOtzoBtE5vK5E3K-lZBra3ledr46SE=",
  "id": "rs_0f42a67d383a0a0a016ab4548a421487d08ef492f4f656eed2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.22},\"note\":\"The overhead view now shows the jaws directly over the cap/neck junction. I am closing to cap width at this corrected position.\"}",
  "call_id": "call_CdUw29aC30Wobu4MyZZAXp0h",
  "id": "fc_0f42a67d383a0a0a016ab4548a963487d0a007535dc445c6d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CdUw29aC30Wobu4MyZZAXp0h",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2539, 1.7348, 0.6113, 0.5411, -0.292, -0.1913, 0.2254, -0.2424, 0.6914, 0.2962, -0.2607, -0.3683, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4232 left_y=-0.0536 left_z=0.0461 left_yaw=0.0786 left_pitch=0.0083 left_roll=0.0087 left_gripper=0.2254 right_x=0.2609 right_y=0.0047 right_z=0.0983 right_yaw=0.1898 right_pitch=-0.034 right_roll=0.0125 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -7.5145, 5.2034, 1.6142, 0.0415, -0.0513, 0.0024, -0.4581, -1.0598, 6.8581, 1.917, -0.2222, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc98f13f8914316a990c9bf92239f942eb4a7c43a7abc4f8f54ce5ff4ccea0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fdc7eefcd2c4a7c3c59f761f6800367f06c5f483a5aa08130ec89090d3cf45d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759aacf3f7a20974d5cfb0ea67f33c66a3c1f05054194ddc381ee96684e36159",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 3.783 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0639, 1.7172, 0.5808, 0.5682, -0.1131, -0.104, 0.9947, -0.2424, 0.738, 0.3798, -0.2901, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4238 left_y=-0.0035 left_z=0.0442 left_yaw=0.0721 left_pitch=-0.001 left_roll=-0.0152 left_gripper=0.9947 right_x=0.271 right_y=0.0021 right_z=0.1182 right_yaw=0.1894 right_pitch=-0.0272 right_roll=0.0091 right_gripper=0.9949\nstate[joint_eff]: [-0.335, -5.6821, 7.1179, 1.6532, -0.0269, 0.2418, -0.149, -0.1709, -1.1966, 6.8171, 1.8828, -0.2271, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2558, 1.7348, 0.6086, 0.543, -0.2794, -0.1917, 0.9946, -0.2424, 0.709, 0.3248, -0.268, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4225 left_y=-0.0564 left_z=0.0452 left_yaw=0.0665 left_pitch=0.0054 left_roll=0.002 left_gripper=0.9946 right_x=0.2647 right_y=0.0037 right_z=0.1053 right_yaw=0.1895 right_pitch=-0.0307 right_roll=0.0107 right_gripper=0.9949\nstate[joint_eff]: [-0.5128, -6.1607, 6.8034, 1.5604, -0.2027, -0.0611, -0.0269, -0.5538, -1.3333, 6.8991, 1.8926, -0.1832, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2539, 1.7348, 0.6113, 0.5411, -0.292, -0.1913, 0.2254, -0.2424, 0.6914, 0.2962, -0.2607, -0.3683, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4232 left_y=-0.0536 left_z=0.0461 left_yaw=0.0786 left_pitch=0.0083 left_roll=0.0087 left_gripper=0.2254 right_x=0.2609 right_y=0.0047 right_z=0.0983 right_yaw=0.1898 right_pitch=-0.034 right_roll=0.0125 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -7.5145, 5.2034, 1.6142, 0.0415, -0.0513, 0.0024, -0.4581, -1.0598, 6.8581, 1.917, -0.2222, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc98f13f8914316a990c9bf92239f942eb4a7c43a7abc4f8f54ce5ff4ccea0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fdc7eefcd2c4a7c3c59f761f6800367f06c5f483a5aa08130ec89090d3cf45d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759aacf3f7a20974d5cfb0ea67f33c66a3c1f05054194ddc381ee96684e36159",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSP15OXw0okuPd8DAhCfVUIjEqLWJmTYOYreW9lNk0hBK1uoNqDSVplQMLGExMGZUJnc4CbRo3P_LkZVgzB_r9I9cCfE77V38I4u1ZkpmxNHd5cs006C_AvA-u7se0IBSgQI1oAkO0amAG1EZfreO6EEE1pq7qTsWfrodiI3Nx6Lc_tqJ_FmD6vkOaHZcskaQz_gWKZXpJFDROyytwOPDRzscVimouXXVSMZ5Se8Rcm7kCprEK_6RBG2GPwWT8G5r6GXUlBoCa_Ejht1ZB0te-3i1tPWYi9CRcEJMY20UfdnLToNCmOn8DNgNXth_Akh6O3U-n44Cg06bxD6Uu2q5W5Qsh7EcHfZAzkrsazZMEWsv51u09d2EQDzuu-aBbboE1wMCbEgUE0zXuattXpO7hsHEsjggu8bzlpUuekppLtzr83m8WalsgVuraKQrdnFdfnwVlyI5200nYfI2jNMJ_joYP1zKTJeAEHChBMs67D-Mx6VssW6wq23_SCHDlqcUAhXURqyNLirv12Du0VCXfevnaCtWq3xc8clOYHVhFRO44T5aFdn5IaZGl7dF87ElyziMONSiUbr6tEkKbvBfR9m7JHtxLep792rMcfRy-BvFBTpaesN8ktTXna9iky3RaYpA45W2LSAY9iptJVD3O-xhTwPCmcjv3uv81nocK4zSEswVrz5km2Am-xXeza3y00HdRKdFr26QQMbgR3fwIpDL6U1H75nvR15nYL5Seldb2maSS-enC6V9g7I9zNFsirGSLx3tiiMlxd_z8BXu5U2o4d19ygR-9SUSA8UDlyWCP72GT6ADyaP9VZ52BwZDsiFwZ78vy95mFlMFaqISpr9p0LRN72EEpgZlk6WTSOyMQSqAuNc5th8HSJBM394U7GCy6n2GuY50YsdeBWv0JnO1GZ57SvvigCfXIMzMImjaTGHVQVh5yxw1uPLl4CGUXn6EUpHK-SwUxF_1WFPtwCVduE9VVBJ8CPyt8SPemZ3cA7hU_FkiYqAib2ffWSTvsc-xOGtrdjnGiUvy9dEJZDSSEcNkrw88ZtAT7QceEf4T_IYgWaPgO5eGf5yKwprjVOwh4MGQ3i7o74QQZIYzY-fFTvI5RlTxyNqLIM69z0bbSo_2SmTHFyfBy3M9fRl2k-T2pOV1eym88C5malZ24knWKNhuT0tqiIpVmS-BMAb_R2IRdzCd-TcrODK_a-rKW2yIInuIy41_hKc-eeY-h8Rgq2uwrbwPM0ejQ-gm4gPBKS8KisLpQDyqd3Jf7NmDo-ObBzq5nQr_-OR103FnLLYBTIGi3SwkweOKiofbySWWw22_p_-T9p63K7eJqan5fM14sUfzq56K2y7wxGJ_Idydk8dB9JV29tRjzQ8fdBKcQ9fsMorVuIXTKlxoAMU9RLkSnPWA4Af_LTvP7if8Bxr_nxpGiVYKhN_qT2_2q5S9E8qv1FeuiVaIK10QYTPkT7e4vNzJedyZIZyuwYVU0XpqLh-oRlFRkCD53fnksKxr4_jtJnjdwLqNZY65XR2uhk3IIN3YM-d6UY2FIU8OPcQUdP4mi4f-oa3t7MhUivmA3f6--hvBYT44n2Kjfr3IZH6Raa5A2P39uJ7t9qEDbYGSalOVAv1gIdIAkP6ExpdumRBTv0FXqUtykBlMP1mKeAsZ4mhHGZhDKIQLyAkXlxuy4V6ST_CgCe46-E7wa_aTOHy9srGYQzfQjVvr5drWKsNRuwsKz6PQs2_ftyI6XhRbV-rhuz2nhcRdykAqwL8cNRMX7HBRDgrG8Eabn8wsLvOkb9Rk9ICkVjo8Izs7LRmI8L5xyXsaCmr6hB9ZcNhRphQeEPYOculvB3Cxvx3n7B35RK59Zp6D8VrisL-4zZyhudjNuulyDoiou_weNG-1DQXWInucAb0GfVQNbZF0c2VQRt6uxwe43L_DVOhSyRymJ3_tDrS9b3RiIVeYL-5N1Tc7rcQRd9SIIbNyg6b7sJBEacNs0Er2cv9CIV8V6BJ2hOi1nnQq1QjRIRzsVvyIwb6QjuHsZDchqf__VQiGnvzjH8Ra0Au52XHfrGsyPwL-w9sy_zElEiG55DUmF-3cdLz9MqPPKkN0p-vXfV2yPp-v6O8ejqQc6gwXaV-CoLs210_bSi7rWIdq_czwy1ntDq0IZdHwQgW5OcHXc5NAk15cJz1vW-PB5ovqyVmrFuQ5j32yqukD7BbUDuf1pvPxc=",
  "id": "rs_0f42a67d383a0a0a016ab4548db5d487d0b0e50e5d05b9d31c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_y\":-0.085},\"note\":\"The cap edge remains just to the right of the gripper in the overhead view and the close was empty. I am reopening and shifting another 3 cm toward it.\"}",
  "call_id": "call_QaETvWnJwMj9GayroBj855aE",
  "id": "fc_0f42a67d383a0a0a016ab4548f2bc087d0984c941d6a826b66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QaETvWnJwMj9GayroBj855aE",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3477, 1.7473, 0.6365, 0.5106, -0.3592, -0.2478, 0.9944, -0.2424, 0.6693, 0.2634, -0.2447, -0.3683, -0.2745, 0.9949]\nstate[eef_state]: left_x=0.4204 left_y=-0.0825 left_z=0.0462 left_yaw=0.0704 left_pitch=0.0059 left_roll=0.0021 left_gripper=0.9944 right_x=0.2576 right_y=0.0055 right_z=0.0921 right_yaw=0.1896 right_pitch=-0.0292 right_roll=0.0105 right_gripper=0.9949\nstate[joint_eff]: [-0.4308, -6.4479, 7.159, 1.4335, -0.1343, -0.1099, -0.1294, -0.5402, -0.9094, 6.8718, 1.8926, -0.2222, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4877a43224fe5e60236eadf2834681a48ccdfef6ce6090ea398153fa404b5f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be82d6381f68ed947af2df1695e8f3cab73109b769505716b66d2cfe6c6e0593",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4735f54a143dc6aede21d62625dc5144afe4e65a1239777587bfd8c556c29c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.883 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0658, 1.7226, 0.5861, 0.5678, -0.1207, -0.1047, 0.2253, -0.2424, 0.7254, 0.3553, -0.2829, -0.3683, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4251 left_y=-0.0031 left_z=0.044 left_yaw=0.077 left_pitch=-0.0008 left_roll=-0.0117 left_gripper=0.2253 right_x=0.2678 right_y=0.003 right_z=0.1119 right_yaw=0.1898 right_pitch=-0.0313 right_roll=0.0112 right_gripper=0.9949\nstate[joint_eff]: [-0.3077, -7.5145, 4.7932, 1.8144, -0.1099, 0.0708, -0.0317, -0.5538, -1.4291, 6.7077, 1.8632, -0.2222, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2539, 1.7348, 0.6113, 0.5411, -0.292, -0.1913, 0.2254, -0.2424, 0.6914, 0.2962, -0.2607, -0.3683, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4232 left_y=-0.0536 left_z=0.0461 left_yaw=0.0786 left_pitch=0.0083 left_roll=0.0087 left_gripper=0.2254 right_x=0.2609 right_y=0.0047 right_z=0.0983 right_yaw=0.1898 right_pitch=-0.034 right_roll=0.0125 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -7.5145, 5.2034, 1.6142, 0.0415, -0.0513, 0.0024, -0.4581, -1.0598, 6.8581, 1.917, -0.2222, -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"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3477, 1.7473, 0.6365, 0.5106, -0.3592, -0.2478, 0.9944, -0.2424, 0.6693, 0.2634, -0.2447, -0.3683, -0.2745, 0.9949]\nstate[eef_state]: left_x=0.4204 left_y=-0.0825 left_z=0.0462 left_yaw=0.0704 left_pitch=0.0059 left_roll=0.0021 left_gripper=0.9944 right_x=0.2576 right_y=0.0055 right_z=0.0921 right_yaw=0.1896 right_pitch=-0.0292 right_roll=0.0105 right_gripper=0.9949\nstate[joint_eff]: [-0.4308, -6.4479, 7.159, 1.4335, -0.1343, -0.1099, -0.1294, -0.5402, -0.9094, 6.8718, 1.8926, -0.2222, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4877a43224fe5e60236eadf2834681a48ccdfef6ce6090ea398153fa404b5f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be82d6381f68ed947af2df1695e8f3cab73109b769505716b66d2cfe6c6e0593",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4735f54a143dc6aede21d62625dc5144afe4e65a1239777587bfd8c556c29c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFSUM46nogvgbzv5RUkwd5csQr-EUpTsMPyZywcMCAg10inEJBB1tQjIVSoGezZqLJ81QALS3bYoIyKsNkSJTPDWQroRPF47u84zJ5zTBePQMc392haByT3TLE9Vl-wLmS1sVNEOFW7FU1oYq6rzFdk5KPt3TY541R2-kf61e2RT9VBxJmcxhABlasWivHCvG-gzuIb3hAXkFqrPiGr3oLSjpGdnsOpmXgQkwZ7nUmiRNtCLdjW6nM0SxRx5kSSHnxchF6hXVgWfqwXUP6eGQLwQAtu3YPDgICOJIRUhwq17e61DU4daSIvpyc3ksI8ghecw0a93Lo-TAq02d9glSh1yFh02dT5MyfEdjnnQzfRgaZ1kwt2hM9uvHpM-QAdytfLmov8uh8ovJNQK3iNCGMh_cjDZVzJM7tdfEg8TIuSu9frla64hcoOgkyRsPD1623i1YufWUCF3qqNdrbIfG_MjX643YYguqeWMSGPJyf-uBkrjWV0PLcKYfcz7OipwE-9A8GCBmtmR3e9MpeZoraPlfCOm6hcIf4XrsISPXpkzwTsG0Q0hFQaQ8eJHfjx3Obq2CtHThNUhKjdtEsJCbWP2ks8iaQccmCOykIjG9J3BKwLGLfhOZur7WkBGDFDu2DiqNN7h6UUnlG81Oos9AKrgVkSa5RW9cynYPORDuEZkXnLQW4d8Y_e2TCkJVuGc94hezYKZ2KUFE7Vp20kCDCsie4Rfj-4I97MKiyD0hpyLN9Ouf5ZLtA8EsLj4abbxbC_PRxcHUwqMgEWN_wqKppxdzairRXph5oMGVUV8Uq-iuURAacPg8I5Rk18hbjemxwmfhPcxmDF0N1hkHbROkJOZYo2cMJdg_dj6L4-1PLHYeOREijtnKkbD0N4JhnI8IK4-gw57NGdY3871DK8rhI5boxOhEGUZlW00WRyYrehcucqbFR2285hGsetfNIYPolKjhZqshJR3eappgfks3SVBqnOBg183PnlCs_SisDFnig15rS0vPJlFaIVWiqjlsNM4FoZLDgSNL83JrXzd_6KQVPPRruDksNH0f3EmhwSBrYy66je9ZLkk1Lk0sihQTB2vaxf3hrwQQ45TpwW5qu5Wuq2R2x2JEyhEAJjjJvBCZKuRcnoj5NnDkH-yFjxAq62lsZVZHsqYvAalEd9bwARdM-6UqDTT1Wz7voJ5ZVsJ3l4_Bmx3U0s2sqfjmePXxR5WZGspRdZbbL_BcQTqEW85xGPlm9ikd7DCt0lil8zyhJCYF83xOut8j21H7oXaOsWveLfdUgdh8WfKtpDM-r9Ab62xGxI7aXgBOEL9e_fWg2sifug91A6fe23kGZaQR1ra3axNKzGLLM1-jCh8d0HPAbwNKL5XtOQwDI_3rf7KB4F7BtXkYDdWHuFVtplyDaOnrFB5UPrP6u-grMzf0c9JQRGXTUwbg2edARr1BqwlhqM0F4Jxyjf6aRCIiTMWcdqEFwZFvEQsn9-T7aVtaWqjBLdHVvhMecWJsXX3ft2MrY_2lk8CYF9QN5MqDCytj0eGxMN3xocAAe2RWAQyHKWP1XmrRZsReJ6QpuQrrSkJjlG1JAnLLc5R0XtEIeoAVfD7xSuIJu095zAKSOfaaxzaJH68gqLERagHC3_Nis_GcUZauAhwa_FJ6vEfAN4HjDxLgrTlowX20n6pD701XP0Fl2bmnmi4lWdLoPe1pdDU32g=",
  "id": "rs_0f42a67d383a0a0a016ab45492887c87d09803468dd013dc21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.105},\"note\":\"The top view is nearly centered, while the wrist view still places the bottle at the extreme right edge. I am making a final 2 cm rightward correction before closing.\"}",
  "call_id": "call_6fhjraYKVUiJF3qZlmbyXujg",
  "id": "fc_0f42a67d383a0a0a016ab454938ff887d0b4ba47bbcae4949c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6fhjraYKVUiJF3qZlmbyXujg",
  "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]: [-0.387, 1.7561, 0.6487, 0.4881, -0.3912, -0.2691, 0.9957, -0.2424, 0.6563, 0.2474, -0.2367, -0.3683, -0.2745, 0.9949]\nstate[eef_state]: left_x=0.4176 left_y=-0.0936 left_z=0.0438 left_yaw=0.0687 left_pitch=-0.0034 left_roll=0.0087 left_gripper=0.9957 right_x=0.2561 right_y=0.0059 right_z=0.0896 right_yaw=0.1895 right_pitch=-0.0247 right_roll=0.0085 right_gripper=0.9949\nstate[joint_eff]: [-0.6222, -6.3658, 7.4872, 1.4628, -0.2955, -0.0366, 0.105, -0.5538, -0.7179, 6.735, 1.8779, -0.2271, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd53652c2095e40655894ff809de036baf65f826d8a5d2642a7d86e9ea169673",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af727a8c1eb9ac4a30f3bcb72feba2a182c3092e7d74de4293653c550cca9fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69aa7db43b60d4f13aec5103fa88701da3917d7f568f91ceac7b955b8402e004",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 2.287 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2558, 1.7348, 0.6086, 0.543, -0.2794, -0.1917, 0.9946, -0.2424, 0.709, 0.3248, -0.268, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4225 left_y=-0.0564 left_z=0.0452 left_yaw=0.0665 left_pitch=0.0054 left_roll=0.002 left_gripper=0.9946 right_x=0.2647 right_y=0.0037 right_z=0.1053 right_yaw=0.1895 right_pitch=-0.0307 right_roll=0.0107 right_gripper=0.9949\nstate[joint_eff]: [-0.5128, -6.1607, 6.8034, 1.5604, -0.2027, -0.0611, -0.0269, -0.5538, -1.3333, 6.8991, 1.8926, -0.1832, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3477, 1.7473, 0.6365, 0.5106, -0.3592, -0.2478, 0.9944, -0.2424, 0.6693, 0.2634, -0.2447, -0.3683, -0.2745, 0.9949]\nstate[eef_state]: left_x=0.4204 left_y=-0.0825 left_z=0.0462 left_yaw=0.0704 left_pitch=0.0059 left_roll=0.0021 left_gripper=0.9944 right_x=0.2576 right_y=0.0055 right_z=0.0921 right_yaw=0.1896 right_pitch=-0.0292 right_roll=0.0105 right_gripper=0.9949\nstate[joint_eff]: [-0.4308, -6.4479, 7.159, 1.4335, -0.1343, -0.1099, -0.1294, -0.5402, -0.9094, 6.8718, 1.8926, -0.2222, -0.0122, -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"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.387, 1.7561, 0.6487, 0.4881, -0.3912, -0.2691, 0.9957, -0.2424, 0.6563, 0.2474, -0.2367, -0.3683, -0.2745, 0.9949]\nstate[eef_state]: left_x=0.4176 left_y=-0.0936 left_z=0.0438 left_yaw=0.0687 left_pitch=-0.0034 left_roll=0.0087 left_gripper=0.9957 right_x=0.2561 right_y=0.0059 right_z=0.0896 right_yaw=0.1895 right_pitch=-0.0247 right_roll=0.0085 right_gripper=0.9949\nstate[joint_eff]: [-0.6222, -6.3658, 7.4872, 1.4628, -0.2955, -0.0366, 0.105, -0.5538, -0.7179, 6.735, 1.8779, -0.2271, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd53652c2095e40655894ff809de036baf65f826d8a5d2642a7d86e9ea169673",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af727a8c1eb9ac4a30f3bcb72feba2a182c3092e7d74de4293653c550cca9fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69aa7db43b60d4f13aec5103fa88701da3917d7f568f91ceac7b955b8402e004",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSY5lHCiBmAgKgNMSBl6k2dDK8Sin6mAnazOMEF-ccFYJlYqa_Fq1PHMWkTRPSL-UyWTmGl4nfhayIKfSQeDCbSWWE-hoJx2mxAgXE3SNL02vBul-Np1dxWA2ryrJq0HlziPgCrP7VaMhoRJqBjZk3lRaC5vqZrcpTpcMMjtcNikS2NX4LlsE_BmVtm-rN0LHhWItJ4orU8_9BEVLxccYuX_eR89KhDrxQ6b13qec22a9gOhKopaK2TnIkwFuyO9vU0zGES-JzJffRJ1NhsKwgJAzkCt2l6NNXuagBFKXrfWtPYuvlA-6bM9AwMbZ0OeMlynNJNP4qZGrYKNFtIEdAjyyr_UCEcuoH_zOI3jKMlznKWoQJt02T8bbJ1Fj8GsdA_pLaflG0ZbJdYDenmbvpeUYwr6KXoOm_jSIEEsGEuCVBzfhYRNXtmTo-UksfqabrwRRd8EFVRWraasag3TYzz4iog-xcVynWfj9c9Ek2ZWmUm-aeaFSi6XSYiz8X87PcRM9MlLww9ThXfYvHg3cAxBEJ_EemcXLQ45McwpknPFlmcCyFBjZRaAzbNi1kxUvjhC7WnAz8DpBkqyTY7zfaBzvuhxa2dnuzEjskrGTDtjvD0OnHt2tZni5s5dzsOqLZARqXuQe4HTJZx5utsheafL8zMvD1ADt854H0AXwuwfgPKjijuce5lgkOJ1bgUoM_TBi276bluIwJbygF-5PLdV7dw117XZEDi0YbMLlUtq6omsXKqaR_PIBdOvbdzZ9cdwjHWTm7CrWWYg0PpbVp11jGjYX9_Bsv8wV6pu6tqwTZBuqXnlqeLRpMyqGMGJSTXBiD8x0a7uS0EgYR1TSm7_kIBJcrGVnDS6uK68iFFhufzCaOSmfBRbECjlS0gdN1a5366uyc7bQcNXYQpQj1-bPI54l0AWsRBeKLy5O_A-2k9ytjOq3CvZoaiHZqo2vUfmfBYqrnRCTawGnt93iA8COS7sX5Ef34JGDFXaOmrBVkn6LC6312j1gdTP3bPev18JcO4KYGRzMqnOgm_96AYc3P_V9YBczo9-3lkhz0U6MtmnrPXnjxVUY-pXZEb8p1EQn-9_fmzEq2FqJxpclnDlFw2MNOD89xLtyAaJWV09J5iox5mcAOnU3emSHRmtRn1Tzy5KuhQNVr2dVREnqlHYwwXVyhNSEMs0rjOrTUdJN9xf4ow6-X01koM8Vu0OzVNX4Iwr95Qi7QLWa2SPknXrIQLsl5y4jyPxrVLRHidVtMSEA9LLqxUR97LdjjwUBD6ltk-n7xT2hCj3GnhKkFmnSPPHv1Uszt-4wgeJeItTtVkq4RXXJePNsuw6Wh-g_NFfrtt6toLUl8Si3-kTqzY5hZ1Ze7QTWttxB8x3WgYGh9wQYjvYTddwioIZTvLpfndp49Tb6OYOuytUKQGy-bysqL8oLmCOHqwIaJq2qjq6N6K-BgUjQ4rcE9lgpz9uS56aVLJujCzl5VHPqFLLHjBNgvrMFhDpKU3sz1exHMJ_gPDDeDQrZLHTdou0V4aNYZKeTUz_jsHhSi7t17pxwiqKiCp_wz7J8wkK9JTm7LTorkFU7uj6fEz0BSs2bpLiji-L6BMHlPE7luRvyiRYZMFwUyNE4-PRua85qZSQJsJTKgbP0WemsT8cFUxqHRvnf0jZ5aSqO7n2l8nZXfooNPGcTsn7E-e_-8YUVqUJkEhvZ1027F3RpiQIMHNKdQbfvkSVul2ihY6T06w3oh9yXpf9Ks89306_o1jZhhoNqSp1Wk=",
  "id": "rs_0f42a67d383a0a0a016ab45496319c87d090eccc33896ad728",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.125},\"note\":\"The cap is still about 2–3 cm to the image-right of the jaw center in the overhead frame. I am translating that remaining distance to put the grasp point directly on it.\"}",
  "call_id": "call_btT8weDOLnpqsx8iGg0qvjSU",
  "id": "fc_0f42a67d383a0a0a016ab4549792ac87d09ec7b373216672bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_btT8weDOLnpqsx8iGg0qvjSU",
  "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]: [-0.4675, 1.7813, 0.6762, 0.469, -0.4397, -0.3157, 0.9961, -0.2424, 0.6407, 0.2287, -0.2382, -0.3683, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4139 left_y=-0.1207 left_z=0.0418 left_yaw=0.0524 left_pitch=-0.0045 left_roll=0.0025 left_gripper=0.9961 right_x=0.253 right_y=0.0067 right_z=0.0846 right_yaw=0.1898 right_pitch=-0.0289 right_roll=0.0101 right_gripper=0.9949\nstate[joint_eff]: [-0.2803, -6.8581, 7.0222, 1.5458, -0.3346, -0.0611, 0.0269, -0.4034, -0.6906, 6.5026, 1.8681, -0.2369, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f32ccc91f5d2f1b274b5b5e1d91615b4914d4dd472b60d2e1a399d25450b0b60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e4121ad787a3490c31f2b79f6207b6f9f479e4090380742f20d88a858d318d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d6a3fbcc1e87853b81de7fca14dc28fcd72566d2cdf3a9024ad4adb8d6e362",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 8.289 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2539, 1.7348, 0.6113, 0.5411, -0.292, -0.1913, 0.2254, -0.2424, 0.6914, 0.2962, -0.2607, -0.3683, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4232 left_y=-0.0536 left_z=0.0461 left_yaw=0.0786 left_pitch=0.0083 left_roll=0.0087 left_gripper=0.2254 right_x=0.2609 right_y=0.0047 right_z=0.0983 right_yaw=0.1898 right_pitch=-0.034 right_roll=0.0125 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -7.5145, 5.2034, 1.6142, 0.0415, -0.0513, 0.0024, -0.4581, -1.0598, 6.8581, 1.917, -0.2222, -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"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.387, 1.7561, 0.6487, 0.4881, -0.3912, -0.2691, 0.9957, -0.2424, 0.6563, 0.2474, -0.2367, -0.3683, -0.2745, 0.9949]\nstate[eef_state]: left_x=0.4176 left_y=-0.0936 left_z=0.0438 left_yaw=0.0687 left_pitch=-0.0034 left_roll=0.0087 left_gripper=0.9957 right_x=0.2561 right_y=0.0059 right_z=0.0896 right_yaw=0.1895 right_pitch=-0.0247 right_roll=0.0085 right_gripper=0.9949\nstate[joint_eff]: [-0.6222, -6.3658, 7.4872, 1.4628, -0.2955, -0.0366, 0.105, -0.5538, -0.7179, 6.735, 1.8779, -0.2271, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4675, 1.7813, 0.6762, 0.469, -0.4397, -0.3157, 0.9961, -0.2424, 0.6407, 0.2287, -0.2382, -0.3683, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4139 left_y=-0.1207 left_z=0.0418 left_yaw=0.0524 left_pitch=-0.0045 left_roll=0.0025 left_gripper=0.9961 right_x=0.253 right_y=0.0067 right_z=0.0846 right_yaw=0.1898 right_pitch=-0.0289 right_roll=0.0101 right_gripper=0.9949\nstate[joint_eff]: [-0.2803, -6.8581, 7.0222, 1.5458, -0.3346, -0.0611, 0.0269, -0.4034, -0.6906, 6.5026, 1.8681, -0.2369, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f32ccc91f5d2f1b274b5b5e1d91615b4914d4dd472b60d2e1a399d25450b0b60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e4121ad787a3490c31f2b79f6207b6f9f479e4090380742f20d88a858d318d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d6a3fbcc1e87853b81de7fca14dc28fcd72566d2cdf3a9024ad4adb8d6e362",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFSaz4Y1ByHBa8ETixY2kzzcd7Pdi53xiPN2CAeP7-Ph7GQZbZUJIjuqODpXxj5aVbDX_6U9VZHcdyy_bj84LkPubWoJDCLGBgu1HBX6wvjXoTJLBLjIR-nNDrjVSynGVK_U1epz-y3LA4qaz3t4eWz3EDfw4UuGc-DEzLHVKVrkdQXioYqQ-udt8i4CJHZF-pHvmCRVJeeF-hQ0MSUBbOznytkmrbYvLF0kFQPKi21I_gIWIcAlf9-zewnsKE84ZoVFbpXY3CbtpQv3KI1eo829qcgTH5r6RK88bAWPkSZhEuCExJAJGNHx9FmesPIQ9kvK1Nu-3hxHxU8OeKHt5CxyC9ocZ-OqMxAlK5WWt9A03Nutn2EmoT2tUvu_3VZKEvkFIFiSHe2uwSsPP17D8OdIi1RokUz0JjLkNc99p3zjU_KvsIG1ChqQND8nyc3kJ6AAbzB1ULmphI-D046XDAmd6ABAPOF6D6OrCo-3EQB9OHEMknNCmyOdNfh7u0qH9ArdhBrnG9qPy7evk1S4m1ikTqgdohFZTqZJ-TFHrrI-rSZCFMduZ0fxFW0MIrWTK81fvRhzteOfpw2nYDsAxJ_M9jNSu9lohFjiQaZ3xcVN1Yl33rAqqB0otyHXU509db0CL99HZcjGhsoeCAvkcMIzYfeST9nDTwuChsQotywvKXyvv_XwTmSer9wRAW-Zk4pZqKKhbVJkpfFaGxfYIo2t4FdM5NJBSef4u-KIbO4kufLtKTlokJy1HM-5F-9Z7F_3C4H4FXrVCuOjujFmcZVP_sU2nT9-NpoxADn1n4JvU6Oikvmxjlyvle6Il0IiLhbwwsLbVLqsr2RpoHcxY4224yG3ApQNwMzUT0tBb6lrzWik_N9GaAg-ExNRiTAKe_Sqk6_QuSzPa7eNhL4grVrCUrPwLdGLdFOYGhMbZqgxs9sB71IgIC7JqSnx_SZmMrUt9qVKLrPZvp0I8WsX2S5P-kwt_PDGULbAOpl92sJ3-se85B_783JWgSsNfI2Z2SV5YHMg7iMyd6DYeOWskYL-VOjRrxag8_tO5KLqwAJ2-o4Dz04ilFP1JncmIGE0B99QIsBytCVFWiQ7sy3hdhM7qYHDyMVaMkG7wHpdp6ZZ3S0ioxtStEEmYv6dFDAbcsTBMcWM2WtD0iJx4wLc_AlwZ3NTdeZKgxo-hKdFRlabaB9v1pTo1QasUWn0xDoQ1eHUmlJ7jKgO8N-hQvF8F9WE1hOow1r_eKVA-ie78AF6mCqeEf1Eq3J0OFLBdzhvuh5_JnkjK51ukLoSmQ5laVDaLH93-gaNkhEu2YigdmxHf4X3ARBpOltiVE9yeWkps925hJCBxgepHc7J3OaGy3Tq78-al02vIYIZTFOrzsGdFvyFiUwuwIQd2Hj7qTgjprDFIvPqFm13c3-PVlVDKZdAZobxfITtJFtx3_OLCIIL6gLIUzLi40wg--fPFbvZSo06",
  "id": "rs_0f42a67d383a0a0a016ab45499c30887d0bff7880dc10fbc80",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.22},\"note\":\"The overhead view now shows the grasp point directly over the blue cap. I am closing to the proven cap-width setting.\"}",
  "call_id": "call_zNtCzj4SRtJGYlbxgHp2v5EL",
  "id": "fc_0f42a67d383a0a0a016ab4549a550087d090ba7026fcae82d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zNtCzj4SRtJGYlbxgHp2v5EL",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4831, 1.7859, 0.6838, 0.4496, -0.4576, -0.3412, 0.2253, -0.2424, 0.6209, 0.2039, -0.2272, -0.3679, -0.2749, 0.9949]\nstate[eef_state]: left_x=0.4119 left_y=-0.1239 left_z=0.0398 left_yaw=0.0649 left_pitch=-0.013 left_roll=-0.0014 left_gripper=0.2253 right_x=0.2506 right_y=0.0072 right_z=0.0803 right_yaw=0.1894 right_pitch=-0.0234 right_roll=0.0073 right_gripper=0.9949\nstate[joint_eff]: [0.0342, -7.1316, 6.8444, 1.6728, -0.1978, 0.022, -0.0415, -0.3761, -0.6222, 6.7214, 1.8535, -0.1832, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2023447c22754d8f4f3111c6e02739e17063ee4fa6e0f36a0a357fd48cb9409b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b491b0b41a6d1115d10583c623fdae117e55570fd3bb389bfbdc3a3bfdedab9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a4378443cfed2a10418af161d17cd7a27beb9b4a6a99d554f41baa8b6b7da0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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