adhoc

completed
2026-09-23T22:27:52.017242+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
187.7 s
total steps
280
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 leftmost bottle lies diagonally with its blue-capped neck pointing away from the bases; it is the natural first target for the left arm. I’m moving the open left gripper above the estimated neck while keeping a safe approach height.
move_to
left_x0.4000left_y-0.1200left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7925, 0.6067, -0.3767, -0.0231, -0.0288, 0.9987, -0.0158, 0.7887, 0.6037, -0.3866, -0.0132, -0.0353, 0.9981] state[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0013 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9981 state[joint_eff]: [-0.3761, -1.4838, 9.7846, 1.7753, -0.022, 0.1148, -0.1441, -1.0325, -0.9368, 10.2769, 1.8681, -0.0952, 0.1832, -0.2076] 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":{"left_x":0.4,"left_y":-0.12,"left_z":0.15,"left_gripper":1.0},"note":"The leftmost bottle lies diagonally with its blue-capped neck pointing away from the bases; it is the natural first target for the left arm. I’m moving the open left gripper above the estimated neck while keeping a safe approach height."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe left wrist view now clearly shows the target bottle’s cap left of the jaw column and still several centimetres short of the fingertips. I’m shifting the gripper slightly left in the arm frame and outward so the blue cap/neck centers between the jaws before descending.
move_to
left_x0.4150left_y-0.0650left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4541, 1.4212, 0.7925, -0.0608, -0.3626, -0.2676, 0.9987, -0.0193, 0.7959, 0.6033, -0.4042, -0.0231, -0.036, 0.9981] state[eef_state]: left_x=0.3847 left_y=-0.1141 left_z=0.128 left_yaw=-0.0211 left_pitch=-0.0751 left_roll=0.0246 left_gripper=0.9987 right_x=0.2915 right_y=0.002 right_z=0.1741 right_yaw=0.0054 right_pitch=-0.0254 right_roll=0.0059 right_gripper=0.9981 state[joint_eff]: [-0.4308, -6.2291, 9.3607, 1.7216, -0.3492, -0.105, -0.1392, 0.1299, -1.7983, 7.0222, 1.8437, 0.022, 0.0122, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.065,"left_z":0.15,"left_gripper":1.0},"note":"The left wrist view now clearly shows the target bottle’s cap left of the jaw column and still several centimetres short of the fingertips. I’m shifting the gripper slightly left in the arm frame and outward so the blue cap/neck centers between the jaws before descending."})
tool
executing move_to over 5 steps (0.5s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe cap is now centered on the jaw column, but it remains above the fingertip convergence row in the wrist view. I’m advancing a few centimetres radially while staying high so the neck sits directly beneath the grasp point.
move_to
left_x0.4350left_y-0.0650left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2596, 1.4246, 0.762, 0.0185, -0.2428, -0.1841, 0.9987, -0.0193, 0.7879, 0.5804, -0.3969, -0.0231, -0.0364, 0.9981] state[eef_state]: left_x=0.4031 left_y=-0.0594 left_z=0.1249 left_yaw=0.0288 left_pitch=-0.06 left_roll=0.0067 left_gripper=0.9987 right_x=0.2891 right_y=0.0021 right_z=0.1674 right_yaw=0.0057 right_pitch=-0.0331 right_roll=0.0058 right_gripper=0.9981 state[joint_eff]: [0.2256, -6.8718, 10.3726, 1.8193, 0.0269, 0.1148, -0.1392, -0.0752, -2.0444, 6.8034, 1.9219, 0.0415, -0.0708, -0.0073] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.065,"left_z":0.15},"note":"The cap is now centered on the jaw column, but it remains above the fingertip convergence row in the wrist view. I’m advancing a few centimetres radially while staying high so the neck sits directly beneath the grasp point."})
tool
executing move_to over 3 steps (0.3s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe neck remains centered, and the attempted extra reach was limited at this high pose; lowering should improve reach while placing the jaws around the cap. I’m descending to cap height with the gripper fully open.
move_to
left_x0.4300left_y-0.0650left_z0.0350left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2424, 1.4246, 0.7734, 0.0189, -0.2131, -0.157, 0.9986, -0.0193, 0.7738, 0.5495, -0.3843, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.4066 left_y=-0.0584 left_z=0.1291 left_yaw=0.0065 left_pitch=-0.0536 left_roll=0.0086 left_gripper=0.9986 right_x=0.286 right_y=0.0022 right_z=0.1596 right_yaw=0.006 right_pitch=-0.0373 right_roll=0.0061 right_gripper=0.9981 state[joint_eff]: [-0.4308, -6.9128, 9.2103, 1.8437, 0.0611, 0.105, -0.0269, -0.1026, -1.8393, 7.0496, 2.0147, 0.0073, -0.0562, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.065,"left_z":0.035,"left_gripper":1.0},"note":"The neck remains centered, and the attempted extra reach was limited at this high pose; lowering should improve reach while placing the jaws around the cap. I’m descending to cap height with the gripper fully open."})
tool
executing move_to over 7 steps (0.7s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe prior diagonal descent did not track at all, indicating this extended pose is kinematically awkward rather than in contact. I’m retrying as a smaller nearly vertical descent at the current reachable x/y before continuing lower.
move_to
left_x0.4050left_y-0.0600left_z0.0800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2424, 1.4246, 0.7734, 0.0185, -0.2131, -0.157, 0.9987, -0.0193, 0.7567, 0.5148, -0.366, -0.0235, -0.0368, 0.9981] state[eef_state]: left_x=0.4065 left_y=-0.0584 left_z=0.129 left_yaw=0.0065 left_pitch=-0.054 left_roll=0.0087 left_gripper=0.9987 right_x=0.283 right_y=0.0023 right_z=0.1521 right_yaw=0.0062 right_pitch=-0.0365 right_roll=0.0057 right_gripper=0.9981 state[joint_eff]: [-0.3761, -6.7077, 9.2786, 1.7851, 0.0806, 0.1197, -0.1441, -0.0752, -1.7026, 6.8308, 2.0049, -0.0171, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.06,"left_z":0.08,"left_gripper":1.0},"note":"The prior diagonal descent did not track at all, indicating this extended pose is kinematically awkward rather than in contact. I’m retrying as a smaller nearly vertical descent at the current reachable x/y before continuing lower."})
tool
executing move_to over 4 steps (0.4s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe smaller descent succeeded, and the cap remains well centered but still sits slightly forward of the hidden fingertip point. I’m making a modest 2 cm outward correction at this low height to put the cap between the fingers.
move_to
left_x0.4150left_y-0.0600left_z0.0650left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2436, 1.5333, 0.5999, 0.2592, -0.2165, -0.1612, 0.9987, -0.0193, 0.7376, 0.4778, -0.3508, -0.0235, -0.0368, 0.9981] state[eef_state]: left_x=0.3921 left_y=-0.0547 left_z=0.0633 left_yaw=0.0112 left_pitch=-0.0937 left_roll=0.0177 left_gripper=0.9987 right_x=0.2792 right_y=0.0024 right_z=0.1433 right_yaw=0.0062 right_pitch=-0.0392 right_roll=0.0058 right_gripper=0.9981 state[joint_eff]: [-0.6632, -5.641, 5.9009, 1.7363, -0.1636, -0.022, -0.1392, -0.0205, -1.4974, 7.1043, 1.9853, 0.0073, -0.1001, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.06,"left_z":0.065,"left_gripper":1.0},"note":"The smaller descent succeeded, and the cap remains well centered but still sits slightly forward of the hidden fingertip point. I’m making a modest 2 cm outward correction at this low height to put the cap between the fingers."})
tool
executing move_to over 2 steps (0.2s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe outward correction moved the centered cap noticeably toward the fingertip row, confirming the radial direction and scale. I’m advancing another small increment and lowering slightly so the jaws straddle the cap rather than the wider shoulder.
move_to
left_x0.4300left_y-0.0600left_z0.0600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2485, 1.5879, 0.5995, 0.3965, -0.2241, -0.1604, 0.9987, -0.0193, 0.7212, 0.4538, -0.3351, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.4085 left_y=-0.0595 left_z=0.0693 left_yaw=0.0111 left_pitch=-0.0128 left_roll=0.0017 left_gripper=0.9987 right_x=0.2773 right_y=0.0024 right_z=0.1398 right_yaw=0.006 right_pitch=-0.0312 right_roll=0.0059 right_gripper=0.9981 state[joint_eff]: [0.212, -5.7778, 6.694, 1.7118, -0.0757, 0.0269, -0.1392, -0.0752, -0.8547, 7.0632, 2.0488, -0.0122, -0.0513, -0.0171] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.06,"left_z":0.06,"left_gripper":1.0},"note":"The outward correction moved the centered cap noticeably toward the fingertip row, confirming the radial direction and scale. I’m advancing another small increment and lowering slightly so the jaws straddle the cap rather than the wider shoulder."})
tool
executing move_to over 2 steps (0.2s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe cap is centered between the open jaw silhouettes at low height, with the bottle shoulder directly beyond it. I’m closing fully on the cap/neck now; the settled gripper opening will tell whether the grasp engaged.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2401, 1.6688, 0.6231, 0.445, -0.2218, -0.1635, 0.9987, -0.0193, 0.7094, 0.4339, -0.3267, -0.0235, -0.0368, 0.9981] state[eef_state]: left_x=0.4187 left_y=-0.0588 left_z=0.056 left_yaw=0.0193 left_pitch=-0.0216 left_roll=0.0002 left_gripper=0.9987 right_x=0.2753 right_y=0.0024 right_z=0.1355 right_yaw=0.0062 right_pitch=-0.0308 right_roll=0.0056 right_gripper=0.9981 state[joint_eff]: [0.7453, -6.3521, 7.0359, 1.7607, -0.0708, 0.1148, -0.1392, -0.0752, -1.2923, 6.5709, 1.9365, 0.0317, -0.0757, -0.0171] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The cap is centered between the open jaw silhouettes at low height, with the bottle shoulder directly beyond it. I’m closing fully on the cap/neck now; the settled gripper opening will tell whether the grasp engaged."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe gripper settled essentially fully closed, so the first attempt was empty; the overhead view shows the bottle still lying down. I’m opening and shifting about 2 cm farther outward, the standard correction when a centered wrist-view target is still short of the hidden fingertip point.
move_to
left_x0.4450left_y-0.0600left_z0.0450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2413, 1.6882, 0.6159, 0.4969, -0.2253, -0.1596, 0.0094, -0.0193, 0.6933, 0.4061, -0.3164, -0.0235, -0.0368, 0.9981] state[eef_state]: left_x=0.4221 left_y=-0.0596 left_z=0.056 left_yaw=0.0189 left_pitch=0.0032 left_roll=-0.0012 left_gripper=0.0094 right_x=0.2722 right_y=0.0025 right_z=0.129 right_yaw=0.0062 right_pitch=-0.0323 right_roll=0.0056 right_gripper=0.9981 state[joint_eff]: [0.1573, -8.0342, 4.4376, 1.6484, -0.1001, 0.0024, 0.7937, -0.0615, -1.2103, 6.8718, 1.9365, 0.0073, -0.1001, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.06,"left_z":0.045,"left_gripper":1.0},"note":"The gripper settled essentially fully closed, so the first attempt was empty; the overhead view shows the bottle still lying down. I’m opening and shifting about 2 cm farther outward, the standard correction when a centered wrist-view target is still short of the hidden fingertip point."})
tool
executing move_to over 10 steps (1.0s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteAfter the 2 cm outward correction the target has disappeared beneath the wrist camera, which is expected when it is directly under the fingertips. I’m closing on the cap for the second attempt.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.234, 1.7821, 0.6731, 0.5205, -0.2226, -0.1581, 0.9943, -0.0193, 0.6777, 0.3763, -0.3054, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.4379 left_y=-0.0606 left_z=0.0432 left_yaw=0.0231 left_pitch=-0.0098 left_roll=0.0019 left_gripper=0.9943 right_x=0.269 right_y=0.0026 right_z=0.1216 right_yaw=0.006 right_pitch=-0.0353 right_roll=0.006 right_gripper=0.9981 state[joint_eff]: [0.5265, -6.3385, 7.1179, 1.7998, 0.0317, 0.0806, -0.0171, 0.0615, -1.3333, 6.9538, 1.9805, 0.0073, -0.0708, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the 2 cm outward correction the target has disappeared beneath the wrist camera, which is expected when it is directly under the fingertips. I’m closing on the cap for the second attempt."})
tool
executing move_to over 10 steps (1.0s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe second close was also empty despite correct horizontal alignment, so the likely error is height: at nearly 5 cm the jaws passed above the narrow cap lying around 2–3 cm high. I’m reopening and descending at the same x/y to just above table level so the fingers surround the cap.
move_to
left_x0.4420left_y-0.0600left_z0.0150left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.234, 1.7859, 0.6731, 0.5552, -0.2321, -0.1574, 0.0099, -0.0193, 0.6559, 0.3428, -0.2897, -0.0235, -0.036, 0.9981] state[eef_state]: left_x=0.4421 left_y=-0.0599 left_z=0.0488 left_yaw=0.0307 left_pitch=0.0214 left_roll=-0.0004 left_gripper=0.0099 right_x=0.2658 right_y=0.0026 right_z=0.1149 right_yaw=0.0058 right_pitch=-0.0315 right_roll=0.0062 right_gripper=0.9981 state[joint_eff]: [0.1026, -7.8017, 4.506, 1.6093, -0.0024, -0.0366, 0.8327, 0.0752, -0.841, 7.0769, 1.9853, -0.0171, -0.0366, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.442,"left_y":-0.06,"left_z":0.015,"left_gripper":1.0},"note":"The second close was also empty despite correct horizontal alignment, so the likely error is height: at nearly 5 cm the jaws passed above the narrow cap lying around 2–3 cm high. I’m reopening and descending at the same x/y to just above table level so the fingers surround the cap."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe descent stopped around z=4 cm rather than reaching the 1.5 cm target, consistent with the open fingers contacting the bottle while straddling it. I’m closing at this contacted pose to secure the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.234, 1.8797, 0.6731, 0.7059, -0.2359, -0.1627, 0.995, -0.0193, 0.6365, 0.313, -0.2794, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.4539 left_y=-0.0621 left_z=0.04 left_yaw=0.0375 left_pitch=0.0768 left_roll=-0.0183 left_gripper=0.995 right_x=0.2625 right_y=0.0027 right_z=0.1082 right_yaw=0.006 right_pitch=-0.0315 right_roll=0.0059 right_gripper=0.9981 state[joint_eff]: [-0.2393, -6.2838, 3.6444, 1.2723, -0.0122, 0.0562, -0.0904, -0.0068, -0.8547, 7.0496, 1.9658, 0.0171, -0.0904, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped around z=4 cm rather than reaching the 1.5 cm target, consistent with the open fingers contacting the bottle while straddling it. I’m closing at this contacted pose to secure the neck."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe repeated empty closes and overhead silhouette show I had selected the bottle’s broad bottom end; its narrow neck is actually the lower-right end, closer to the bases. I’m reopening and relocating above that opposite end with ample height.
move_to
left_x0.3400left_y-0.1600left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.234, 1.8679, 0.7155, 0.5407, -0.2363, -0.1608, 0.0097, -0.0193, 0.6147, 0.2867, -0.2684, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.4479 left_y=-0.0606 left_z=0.0262 left_yaw=0.0361 left_pitch=-0.0302 left_roll=0.0133 left_gripper=0.0097 right_x=0.2599 right_y=0.0027 right_z=0.1037 right_yaw=0.006 right_pitch=-0.0251 right_roll=0.0058 right_gripper=0.9981 state[joint_eff]: [-0.0205, -10.0581, 6.3658, 1.5995, -0.0611, -0.0611, 0.7937, 0.1573, -0.6359, 6.7761, 1.9463, 0.0073, -0.0415, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.16,"left_z":0.16,"left_gripper":1.0},"note":"The repeated empty closes and overhead silhouette show I had selected the bottle’s broad bottom end; its narrow neck is actually the lower-right end, closer to the bases. I’m reopening and relocating above that opposite end with ample height."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe wrist view now clearly identifies the blue cap at the opposite end: it is forward and to the gripper’s right. I’m moving outward and right in the left-arm frame to center that cap under the jaw column.
move_to
left_x0.4100left_y-0.2300left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.712, 1.3602, 0.775, -0.102, -0.5735, -0.4515, 0.9947, -0.0193, 0.601, 0.2626, -0.2646, -0.0235, -0.0368, 0.9981] state[eef_state]: left_x=0.346 left_y=-0.1672 left_z=0.1464 left_yaw=-0.0134 left_pitch=0.0004 left_roll=-0.0155 left_gripper=0.9947 right_x=0.2567 right_y=0.0028 right_z=0.0968 right_yaw=0.0062 right_pitch=-0.0315 right_roll=0.0056 right_gripper=0.9981 state[joint_eff]: [-0.0479, -6.5983, 8.9504, 1.4676, -0.3834, -0.105, -0.1538, 0.1162, -0.7726, 7.2547, 1.9023, 0.0024, -0.0708, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.23,"left_z":0.15,"left_gripper":1.0},"note":"The wrist view now clearly identifies the blue cap at the opposite end: it is forward and to the gripper’s right. I’m moving outward and right in the left-arm frame to center that cap under the jaw column."})
tool
executing move_to over 6 steps (0.6s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe cap moved toward the center as expected but remains about 2 cm to the right and several centimetres forward of the hidden grasp point. I’m applying a smaller continuation outward and right while remaining above the bottle.
move_to
left_x0.4400left_y-0.2650left_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7269, 1.6852, 1.0737, -0.1356, -0.5999, -0.4725, 0.9981, -0.0193, 0.5797, 0.2356, -0.2611, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.4002 left_y=-0.2176 left_z=0.1362 left_yaw=0.0036 left_pitch=-0.0334 left_roll=0.0193 left_gripper=0.9981 right_x=0.2531 right_y=0.0029 right_z=0.0903 right_yaw=0.006 right_pitch=-0.0338 right_roll=0.006 right_gripper=0.9981 state[joint_eff]: [-0.4718, -8.1026, 8.335, 1.5556, -0.2076, 0.1783, -0.2076, -0.0068, -0.4581, 6.8308, 1.9902, -0.0122, -0.0513, -0.0073] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.265,"left_z":0.14},"note":"The cap moved toward the center as expected but remains about 2 cm to the right and several centimetres forward of the hidden grasp point. I’m applying a smaller continuation outward and right while remaining above the bottle."})
tool
executing move_to over 5 steps (0.5s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe blue cap is now exactly on the jaw column, though it is still forward in the wrist image. I’m advancing and descending together to bring the open fingers around the cap at a low, reachable pose.
move_to
left_x0.4700left_y-0.2550left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7467, 1.8793, 1.2648, -0.1467, -0.6182, -0.4934, 0.9976, -0.0193, 0.5541, 0.2092, -0.2501, -0.0235, -0.0368, 0.9981] state[eef_state]: left_x=0.4316 left_y=-0.2551 left_z=0.1238 left_yaw=0.0089 left_pitch=-0.035 left_roll=0.0207 left_gripper=0.9976 right_x=0.2509 right_y=0.0029 right_z=0.0865 right_yaw=0.0062 right_pitch=-0.0235 right_roll=0.0054 right_gripper=0.9981 state[joint_eff]: [-0.7316, -9.9214, 8.9094, 1.5165, -0.3394, 0.0806, -0.0611, 0.1299, -0.4581, 6.7214, 1.9365, 0.0464, -0.0659, -0.0073] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.255,"left_z":0.07,"left_gripper":1.0},"note":"The blue cap is now exactly on the jaw column, though it is still forward in the wrist image. I’m advancing and descending together to bring the open fingers around the cap at a low, reachable pose."})
tool
executing move_to over 4 steps (0.4s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe combined move stalled at this extended high pose, so I’m separating the motion and descending nearly vertically at the current reachable x/y. This previously allowed the arm to change configuration without losing lateral alignment.
move_to
left_x0.4350left_y-0.2600left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7467, 1.8908, 1.2896, -0.1478, -0.6186, -0.4992, 0.9981, -0.0193, 0.5362, 0.1902, -0.2451, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.4359 left_y=-0.259 left_z=0.1279 left_yaw=0.012 left_pitch=-0.0258 left_roll=0.0078 left_gripper=0.9981 right_x=0.2489 right_y=0.0029 right_z=0.0829 right_yaw=0.006 right_pitch=-0.0197 right_roll=0.0056 right_gripper=0.9981 state[joint_eff]: [-0.4034, -10.1402, 8.7453, 1.5311, -0.359, 0.0708, -0.2076, -0.0068, -0.1709, 6.8308, 1.8877, 0.0122, -0.0562, -0.0171] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.26,"left_z":0.07,"left_gripper":1.0},"note":"The combined move stalled at this extended high pose, so I’m separating the motion and descending nearly vertically at the current reachable x/y. This previously allowed the arm to change configuration without losing lateral alignment."})
tool
executing move_to over 4 steps (0.4s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe pure descent also stalled, confirming a joint-limit configuration rather than contact. I’m retracting several centimetres while lowering modestly to let the elbow reconfigure, then I can re-approach the same cap at low height.
move_to
left_x0.3800left_y-0.2600left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7467, 1.8908, 1.2896, -0.1478, -0.6186, -0.4988, 0.9982, -0.0193, 0.5224, 0.1764, -0.2455, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.4359 left_y=-0.259 left_z=0.1279 left_yaw=0.0118 left_pitch=-0.0258 left_roll=0.0081 left_gripper=0.9982 right_x=0.2471 right_y=0.003 right_z=0.0797 right_yaw=0.006 right_pitch=-0.0201 right_roll=0.0056 right_gripper=0.9981 state[joint_eff]: [-0.4991, -10.0171, 8.7453, 1.4823, -0.2662, 0.1197, -0.2027, 0.0205, -0.1436, 6.7077, 1.917, 0.0171, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.26,"left_z":0.1,"left_gripper":1.0},"note":"The pure descent also stalled, confirming a joint-limit configuration rather than contact. I’m retracting several centimetres while lowering modestly to let the elbow reconfigure, then I can re-approach the same cap at low height."})
tool
executing move_to over 5 steps (0.5s)
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 retraction successfully changed the elbow configuration; the cap remains near the jaw column in the wrist view. I’m now re-approaching it at low height, with a slight lateral correction to keep the cap centered.
move_to
left_x0.4500left_y-0.2500left_z0.0550left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8471, 1.8324, 1.0756, -0.0566, -0.6743, -0.5556, 0.9982, -0.0193, 0.5064, 0.1596, -0.2443, -0.0231, -0.0364, 0.9981] state[eef_state]: left_x=0.3837 left_y=-0.2622 left_z=0.0913 left_yaw=-0.0161 left_pitch=-0.042 left_roll=0.0346 left_gripper=0.9982 right_x=0.245 right_y=0.0029 right_z=0.0759 right_yaw=0.0056 right_pitch=-0.0197 right_roll=0.0054 right_gripper=0.9981 state[joint_eff]: [1.4564, -11.494, 7.1453, 1.8095, -0.6227, -0.1441, -0.2027, 0.0479, 0.0342, 6.9675, 1.9756, 0.0513, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.45,"left_y":-0.25,"left_z":0.055,"left_gripper":1.0},"note":"The retraction successfully changed the elbow configuration; the cap remains near the jaw column in the wrist view. I’m now re-approaching it at low height, with a slight lateral correction to keep the cap centered."})
tool
executing move_to over 6 steps (0.6s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteAt low height the bottle is large in view; its cap is still forward and slightly left of the jaw column, so the grasp point is presently over the shoulder/body. I’m moving farther outward and slightly left to bring the narrow cap itself under the fingertips.
move_to
left_x0.4800left_y-0.2250left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7132, 2.0087, 1.0931, 0.1787, -0.5976, -0.4713, 0.9982, -0.0193, 0.4896, 0.1448, -0.2447, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.4372 left_y=-0.242 left_z=0.0483 left_yaw=0.0148 left_pitch=-0.0268 left_roll=0.0122 left_gripper=0.9982 right_x=0.2432 right_y=0.003 right_z=0.0728 right_yaw=0.006 right_pitch=-0.0182 right_roll=0.0056 right_gripper=0.9981 state[joint_eff]: [0.294, -9.5248, 8.2667, 1.6484, -0.0757, 0.1001, -0.2027, 0.0205, 0.0615, 6.8171, 1.8779, 0.0366, -0.0562, -0.0073] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.225,"left_z":0.04,"left_gripper":1.0},"note":"At low height the bottle is large in view; its cap is still forward and slightly left of the jaw column, so the grasp point is presently over the shoulder/body. I’m moving farther outward and slightly left to bring the narrow cap itself under the fingertips."})
tool
executing move_to over 4 steps (0.4s)
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 centered and has moved downward toward the fingertip row, confirming the alignment. I’m advancing the final 2 cm and lowering slightly so the cap passes out of the wrist view directly beneath the jaws.
move_to
left_x0.4920left_y-0.2200left_z0.0350left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6239, 2.0777, 1.1339, 0.2626, -0.5571, -0.4362, 0.9982, -0.0193, 0.4767, 0.1314, -0.2455, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.4718 left_y=-0.2201 left_z=0.0412 left_yaw=0.0538 left_pitch=-0.0015 left_roll=-0.0144 left_gripper=0.9982 right_x=0.2414 right_y=0.0031 right_z=0.0694 right_yaw=0.006 right_pitch=-0.0193 right_roll=0.0056 right_gripper=0.9981 state[joint_eff]: [0.1299, -9.2923, 7.5282, 1.6093, -0.0366, 0.4078, -0.1978, 0.0479, -0.0342, 6.8171, 1.8632, 0.0024, -0.0415, -0.0073] 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":{"left_x":0.492,"left_y":-0.22,"left_z":0.035,"left_gripper":1.0},"note":"The cap is now centered and has moved downward toward the fingertip row, confirming the alignment. I’m advancing the final 2 cm and lowering slightly so the cap passes out of the wrist view directly beneath the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe cap remains beyond the low-contact reach limit, but the bottle body is centered between the jaws at the reachable edge. I’m grasping the body so I can pull the whole bottle several centimetres toward the bases, making the cap reachable for the upright-lift maneuver.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.609, 2.0872, 1.14, 0.2806, -0.5457, -0.4183, 0.9982, -0.0193, 0.4648, 0.1242, -0.2451, -0.0235, -0.036, 0.9981] state[eef_state]: left_x=0.4777 left_y=-0.217 left_z=0.0412 left_yaw=0.0503 left_pitch=0.0055 left_roll=-0.0138 left_gripper=0.9982 right_x=0.2408 right_y=0.0031 right_z=0.0688 right_yaw=0.0058 right_pitch=-0.0144 right_roll=0.0058 right_gripper=0.9981 state[joint_eff]: [-0.5265, -9.8667, 7.5419, 1.5409, -0.0415, 0.232, -0.2027, 0.0479, 0.3214, 6.612, 1.8877, 0.0415, -0.0366, -0.0073] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The cap remains beyond the low-contact reach limit, but the bottle body is centered between the jaws at the reachable edge. I’m grasping the body so I can pull the whole bottle several centimetres toward the bases, making the cap reachable for the upright-lift maneuver."})
tool
executing move_to over 10 steps (1.0s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe gripper settled around 0.48, confirming a solid grasp on the bottle’s roughly 4.6 cm body. I’m lifting slightly and retracting it about 12 cm toward the base so its cap will fall inside the low-height workspace.
move_to
left_x0.3600left_y-0.2200left_z0.1100left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6136, 2.0872, 1.1454, 0.2882, -0.5396, -0.4217, 0.4813, -0.0193, 0.4557, 0.1131, -0.2451, -0.0235, -0.036, 0.9981] state[eef_state]: left_x=0.4787 left_y=-0.2218 left_z=0.0441 left_yaw=0.0428 left_pitch=0.0134 left_roll=-0.0277 left_gripper=0.4813 right_x=0.2394 right_y=0.0031 right_z=0.0658 right_yaw=0.0058 right_pitch=-0.0163 right_roll=0.0059 right_gripper=0.9981 state[joint_eff]: [0.253, -10.7145, 5.9966, 1.3651, -0.359, 0.0513, 0.8034, 0.0889, -0.1026, 6.9538, 1.8632, 0.0415, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.22,"left_z":0.11,"left_gripper":0.0},"note":"The gripper settled around 0.48, confirming a solid grasp on the bottle’s roughly 4.6 cm body. I’m lifting slightly and retracting it about 12 cm toward the base so its cap will fall inside the low-height workspace."})
tool
executing move_to over 10 steps (1.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
assistant
agent noteThe body grasp slipped during transport, but it successfully dragged the bottle inward; the cap is now centered low in the wrist view and clearly reachable. I’m reopening, advancing 2 cm, and descending to cap height for the actual neck grasp.
move_to
left_x0.3900left_y-0.2300left_z0.0350left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8257, 1.6791, 0.9173, 0.017, -0.6796, -0.5629, 0.0086, -0.0193, 0.4427, 0.0998, -0.2455, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.3689 left_y=-0.2309 left_z=0.1083 left_yaw=0.0121 left_pitch=0.007 left_roll=-0.0199 left_gripper=0.0086 right_x=0.2378 right_y=0.0032 right_z=0.0625 right_yaw=0.006 right_pitch=-0.017 right_roll=0.0056 right_gripper=0.9981 state[joint_eff]: [-0.212, -8.9778, 5.5316, 1.3455, -0.4713, -0.1538, 0.779, 0.1026, 0.1436, 6.9812, 1.8437, 0.0366, -0.0366, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.23,"left_z":0.035,"left_gripper":1.0},"note":"The body grasp slipped during transport, but it successfully dragged the bottle inward; the cap is now centered low in the wrist view and clearly reachable. I’m reopening, advancing 2 cm, and descending to cap height for the actual neck grasp."})
tool
executing move_to over 10 steps (1.0s)
step 160
assistant
agent noteAt table height the blue cap is perfectly centered laterally but still forward of the fingertip point. I’m advancing about 4 cm while staying low so the narrow cap, not the broad shoulder, enters the jaws.
move_to
left_x0.4300left_y-0.2300left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7868, 1.9049, 0.8738, 0.2756, -0.6613, -0.5308, 0.9951, -0.0193, 0.429, 0.0914, -0.2447, -0.0231, -0.0364, 0.9981] state[eef_state]: left_x=0.3876 left_y=-0.23 left_z=0.0386 left_yaw=0.0205 left_pitch=-0.0095 left_roll=0.0066 left_gripper=0.9951 right_x=0.2372 right_y=0.0031 right_z=0.0618 right_yaw=0.0056 right_pitch=-0.0109 right_roll=0.0052 right_gripper=0.9981 state[joint_eff]: [0.3214, -8.3897, 4.3282, 1.5409, -0.1587, 0.1343, -0.1392, 0.0752, -0.0205, 6.5026, 1.8242, 0.0513, -0.0611, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.23,"left_z":0.03,"left_gripper":1.0},"note":"At table height the blue cap is perfectly centered laterally but still forward of the fingertip point. I’m advancing about 4 cm while staying low so the narrow cap, not the broad shoulder, enters the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 164
assistant
agent noteThe cap remains centered but the visible jaw tips are still alongside the bottle’s labeled body, so the grasp point has not yet reached the neck. I’m continuing outward another 4 cm at the same low height.
move_to
left_x0.4700left_y-0.2250left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.717, 1.9953, 0.9592, 0.3294, -0.6281, -0.4999, 0.9979, -0.0193, 0.4225, 0.0853, -0.2451, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.4228 left_y=-0.2261 left_z=0.0342 left_yaw=0.0491 left_pitch=0.0092 left_roll=-0.0175 left_gripper=0.9979 right_x=0.2365 right_y=0.0032 right_z=0.0603 right_yaw=0.006 right_pitch=-0.0109 right_roll=0.0054 right_gripper=0.9981 state[joint_eff]: [0.4444, -8.2803, 6.9675, 1.4432, -0.0659, 0.149, -0.2222, 0.1026, 0.0752, 6.7761, 1.7949, 0.022, -0.0464, -0.0073] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.225,"left_z":0.03,"left_gripper":1.0},"note":"The cap remains centered but the visible jaw tips are still alongside the bottle’s labeled body, so the grasp point has not yet reached the neck. I’m continuing outward another 4 cm at the same low height."})
tool
executing move_to over 4 steps (0.4s)
step 168
assistant
agent noteThe bottle’s full length still leaves its cap beyond the low-height reach; the first pull did not move it far enough. The jaws are again centered on the body, so I’m re-grasping it in preparation for a deliberate table-level drag farther inward.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6506, 2.0872, 1.0985, 0.3042, -0.6014, -0.4694, 0.9981, -0.0193, 0.416, 0.0795, -0.2451, -0.0235, -0.036, 0.9981] state[eef_state]: left_x=0.4625 left_y=-0.2219 left_z=0.0336 left_yaw=0.079 left_pitch=0.0139 left_roll=-0.0191 left_gripper=0.9981 right_x=0.236 right_y=0.0032 right_z=0.0591 right_yaw=0.0058 right_pitch=-0.0102 right_roll=0.0057 right_gripper=0.9981 state[joint_eff]: [0.4308, -9.2513, 7.2, 1.453, -0.0513, 0.3248, -0.2125, 0.0889, 0.0752, 6.8718, 1.8095, 0.0366, -0.0562, -0.0122] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The bottle’s full length still leaves its cap beyond the low-height reach; the first pull did not move it far enough. The jaws are again centered on the body, so I’m re-grasping it in preparation for a deliberate table-level drag farther inward."})
tool
executing move_to over 10 steps (1.0s)
step 178
assistant
agent noteThis close was empty because contact lifted the arm as the bottle slipped under the jaws. I’m reopening, retracting slightly onto the broad body, and descending to table level to obtain a firmer drag grasp.
move_to
left_x0.4400left_y-0.2250left_z0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.635, 2.0941, 1.1439, 0.3855, -0.6205, -0.4454, 0.0102, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.4849 left_y=-0.2252 left_z=0.062 left_yaw=0.1018 left_pitch=0.1108 left_roll=-0.07 left_gripper=0.0102 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981 state[joint_eff]: [-0.1983, -9.6479, 4.8342, 0.7546, 0.2906, 0.0855, 0.7741, 0.294, 0.0752, 6.3658, 1.8486, 0.0073, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.225,"left_z":0.0,"left_gripper":1.0},"note":"This close was empty because contact lifted the arm as the bottle slipped under the jaws. I’m reopening, retracting slightly onto the broad body, and descending to table level to obtain a firmer drag grasp."})
tool
executing move_to over 10 steps (1.0s)
step 188
assistant
agent noteThe low re-approach now shows the bottle body filling the gap between both open fingers, a much better body grasp geometry. I’m closing to secure it before dragging straight inward along the table.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6945, 2.1044, 1.0714, 0.3939, -0.6701, -0.5087, 0.9948, -0.0193, 0.4103, 0.0792, -0.2459, -0.0231, -0.0364, 0.9981] state[eef_state]: left_x=0.4558 left_y=-0.2322 left_z=0.0354 left_yaw=0.1104 left_pitch=0.0753 left_roll=-0.0544 left_gripper=0.9948 right_x=0.2361 right_y=0.0031 right_z=0.06 right_yaw=0.0056 right_pitch=-0.0056 right_roll=0.0051 right_gripper=0.9981 state[joint_eff]: [-0.7453, -7.1863, 3.2068, 1.0134, -0.0757, -0.1197, -0.0073, 0.1573, 0.3214, 6.9812, 1.8046, 0.0122, -0.0855, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). 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_gripper":0.0},"note":"The low re-approach now shows the bottle body filling the gap between both open fingers, a much better body grasp geometry. I’m closing to secure it before dragging straight inward along the table."})
tool
executing move_to over 10 steps (1.0s)
step 198
assistant
agent noteA full close squeezed the rounded bottle out and left an empty gripper; the bottle must be pinched only to its body diameter. I’m reopening and resetting low over the body, then I’ll use a partial close rather than forcing the jaws together.
move_to
left_x0.4400left_y-0.2250left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6926, 2.085, 1.1561, 0.2985, -0.7052, -0.5282, 0.01, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.036, 0.9981] state[eef_state]: left_x=0.4679 left_y=-0.2348 left_z=0.0611 left_yaw=0.1503 left_pitch=0.096 left_roll=-0.064 left_gripper=0.01 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.0058 right_pitch=-0.0052 right_roll=0.0056 right_gripper=0.9981 state[joint_eff]: [0.1846, -10.0171, 5.3128, 0.6862, 0.2125, 0.022, 0.8278, 0.3077, 0.1709, 6.6803, 1.8242, 0.0171, -0.0464, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.225,"left_z":0.02,"left_gripper":1.0},"note":"A full close squeezed the rounded bottle out and left an empty gripper; the bottle must be pinched only to its body diameter. I’m reopening and resetting low over the body, then I’ll use a partial close rather than forcing the jaws together."})
tool
executing move_to over 10 steps (1.0s)
step 208
assistant
agent noteThe body is now symmetrically centered between the jaws at low height. I’m closing only to about 5.2 cm, matching the bottle diameter, to hold it without ejecting the rounded plastic.
move_to
left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7074, 2.0853, 1.113, 0.2684, -0.72, -0.5804, 0.9954, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.4522 left_y=-0.2287 left_z=0.042 left_yaw=0.1704 left_pitch=0.0537 left_roll=-0.0483 left_gripper=0.9954 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981 state[joint_eff]: [-0.7726, -9.347, 3.7265, 0.9597, -0.1538, -0.022, -0.1148, 0.1573, 0.4308, 6.6667, 1.7705, -0.0024, -0.0513, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.55},"note":"The body is now symmetrically centered between the jaws at low height. I’m closing only to about 5.2 cm, matching the bottle diameter, to hold it without ejecting the rounded plastic."})
tool
executing move_to over 5 steps (0.5s)
step 213
assistant
agent noteAt 0.55 the fingers are just touching the bottle sides without shifting it; the centered geometry remains stable. I’m tightening slightly to 0.48, the opening that previously matched this body, while avoiding a full squeeze.
move_to
left_gripper0.4800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7055, 2.0853, 1.1606, 0.1608, -0.7216, -0.5854, 0.5572, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.4524 left_y=-0.2273 left_z=0.0422 left_yaw=0.1744 left_pitch=0.0163 left_roll=-0.0058 left_gripper=0.5572 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981 state[joint_eff]: [0.0479, -10.7419, 7.2137, 1.0867, -0.1636, -0.0904, 0.398, 0.0889, 0.2393, 6.6667, 1.7705, 0.0415, -0.0611, -0.0073] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.48},"note":"At 0.55 the fingers are just touching the bottle sides without shifting it; the centered geometry remains stable. I’m tightening slightly to 0.48, the opening that previously matched this body, while avoiding a full squeeze."})
tool
executing move_to over 1 steps (0.1s)
step 214
assistant
agent noteThe gripper stopped at 0.552 despite a 0.48 command, confirming the bottle is firmly pinched without being expelled. I’m dragging it straight inward about 17 cm at table level to bring its cap well within reach.
move_to
left_x0.2800left_y-0.2250left_z0.0400left_gripper0.4800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7055, 2.0853, 1.1625, 0.1589, -0.7235, -0.585, 0.5521, -0.0193, 0.4103, 0.0792, -0.2462, -0.0231, -0.0364, 0.9981] state[eef_state]: left_x=0.4527 left_y=-0.2272 left_z=0.0428 left_yaw=0.1756 left_pitch=0.0173 left_roll=-0.0047 left_gripper=0.5521 right_x=0.2361 right_y=0.0031 right_z=0.0599 right_yaw=0.0056 right_pitch=-0.006 right_roll=0.0051 right_gripper=0.9981 state[joint_eff]: [-0.1573, -10.906, 6.7897, 1.1306, -0.232, -0.0757, 0.2076, 0.1162, 0.1983, 6.8581, 1.7558, 0.0513, -0.0757, -0.0073] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.225,"left_z":0.04,"left_gripper":0.48},"note":"The gripper stopped at 0.552 despite a 0.48 command, confirming the bottle is firmly pinched without being expelled. I’m dragging it straight inward about 17 cm at table level to bring its cap well within reach."})
tool
executing move_to over 14 steps (1.4s)
step 228
assistant
agent noteThe controlled drag worked: the bottle is now much closer to the bases, and its cap is centered ahead in the wrist view. I’m releasing the body and moving about 6 cm outward at low height to position the open jaws around the cap.
move_to
left_x0.3500left_y-0.2250left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0798, 1.7981, 0.7921, -0.0738, -0.9234, -1.0069, 0.4851, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.2899 left_y=-0.2357 left_z=0.0388 left_yaw=0.1479 left_pitch=0.0015 left_roll=-0.0105 left_gripper=0.4851 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981 state[joint_eff]: [-0.3897, -9.6479, 3.959, 0.8425, -0.5299, -0.1832, 0.7985, 0.2256, 0.2667, 6.6393, 1.7656, 0.0366, -0.0611, -0.0073] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.225,"left_z":0.03,"left_gripper":1.0},"note":"The controlled drag worked: the bottle is now much closer to the bases, and its cap is centered ahead in the wrist view. I’m releasing the body and moving about 6 cm outward at low height to position the open jaws around the cap."})
tool
executing move_to over 6 steps (0.6s)
step 234
assistant
agent noteThe cap remains centered between the open jaws but is still just forward of the hidden grasp point. I’m advancing another 4–5 cm at table height so the fingertips straddle the cap itself.
move_to
left_x0.3900left_y-0.2250left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9154, 1.8648, 0.8253, 0.1192, -0.8532, -0.8288, 0.9958, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.036, 0.9981] state[eef_state]: left_x=0.3431 left_y=-0.2221 left_z=0.0358 left_yaw=0.1801 left_pitch=0.0115 left_roll=-0.029 left_gripper=0.9958 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.0058 right_pitch=-0.0052 right_roll=0.0056 right_gripper=0.9981 state[joint_eff]: [0.5128, -6.4479, 6.2427, 1.072, -0.3346, 0.3101, -0.0317, 0.0752, 0.1162, 6.6393, 1.7753, 0.0464, -0.0073, -0.0073] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.225,"left_z":0.025,"left_gripper":1.0},"note":"The cap remains centered between the open jaws but is still just forward of the hidden grasp point. I’m advancing another 4–5 cm at table height so the fingertips straddle the cap itself."})
tool
executing move_to over 4 steps (0.4s)
step 238
assistant
agent noteThe first advance mostly compensated for the simultaneous descent, leaving the cap still ahead of the jaw tips. I’m continuing outward another 4 cm at constant low height; there is now ample workspace because the bottle was dragged inward.
move_to
left_x0.4300left_y-0.2200left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.828, 1.9659, 0.9344, 0.1581, -0.8234, -0.7517, 0.9979, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.3829 left_y=-0.2201 left_z=0.0306 left_yaw=0.2085 left_pitch=0.0143 left_roll=-0.0156 left_gripper=0.9979 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981 state[joint_eff]: [0.3761, -7.3778, 6.4615, 1.2186, -0.0855, 0.1978, -0.2222, 0.1299, 0.1983, 6.6667, 1.7705, 0.0464, -0.0806, -0.0171] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.22,"left_z":0.025,"left_gripper":1.0},"note":"The first advance mostly compensated for the simultaneous descent, leaving the cap still ahead of the jaw tips. I’m continuing outward another 4 cm at constant low height; there is now ample workspace because the bottle was dragged inward."})
tool
executing move_to over 4 steps (0.4s)
step 242
assistant
agent noteThe low forward motion stalled against an awkward arm configuration before reaching the cap. I’m retracting and raising to reconfigure the elbow, while preserving the bottle’s known lateral alignment.
move_to
left_x0.3200left_y-0.2200left_z0.1100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8127, 1.9766, 0.9455, 0.1787, -0.8196, -0.7322, 0.9981, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.39 left_y=-0.2189 left_z=0.0318 left_yaw=0.2113 left_pitch=0.0227 left_roll=-0.0184 left_gripper=0.9981 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981 state[joint_eff]: [-0.1983, -7.9658, 6.2291, 1.2723, -0.1441, 0.1441, -0.2076, 0.0752, 0.335, 6.8444, 1.7656, 0.0024, -0.0513, -0.0122] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.22,"left_z":0.11,"left_gripper":1.0},"note":"The low forward motion stalled against an awkward arm configuration before reaching the cap. I’m retracting and raising to reconfigure the elbow, while preserving the bottle’s known lateral alignment."})
tool
executing move_to over 6 steps (0.6s)
step 248
assistant
agent noteThe arm cannot retract while the open fingers are trapped around the bottle body at table height. I’m using the proven partial-close technique to secure the body first, so the bottle moves with the arm instead of blocking it.
move_to
left_gripper0.4800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8127, 1.9766, 0.9455, 0.1791, -0.8192, -0.7322, 0.9982, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.39 left_y=-0.219 left_z=0.0318 left_yaw=0.211 left_pitch=0.0226 left_roll=-0.0189 left_gripper=0.9982 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981 state[joint_eff]: [-0.5402, -7.8291, 6.3932, 1.2137, -0.1001, 0.1636, -0.2076, 0.0752, 0.1573, 6.8444, 1.79, 0.0415, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.48},"note":"The arm cannot retract while the open fingers are trapped around the bottle body at table height. I’m using the proven partial-close technique to secure the body first, so the bottle moves with the arm instead of blocking it."})
tool
executing move_to over 6 steps (0.6s)
step 254
assistant
agent noteThe partial close now holds the bottle body between the jaws without ejecting it. I’m dragging it much farther inward at table height, which should free the arm and place the cap close enough for a direct neck grasp.
move_to
left_x0.2000left_y-0.2200left_z0.0450left_gripper0.4800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8108, 1.9541, 0.9649, 0.1497, -0.8455, -0.7506, 0.4867, -0.0193, 0.4103, 0.0792, -0.2466, -0.0235, -0.0364, 0.9981] state[eef_state]: left_x=0.3937 left_y=-0.2171 left_z=0.0459 left_yaw=0.2402 left_pitch=0.0459 left_roll=-0.0355 left_gripper=0.4867 right_x=0.236 right_y=0.0032 right_z=0.0598 right_yaw=0.006 right_pitch=-0.0064 right_roll=0.0053 right_gripper=0.9981 state[joint_eff]: [-0.0752, -7.7744, 5.9282, 0.9304, 0.0952, 0.105, 0.3443, 0.0889, 0.1436, 6.6393, 1.7705, 0.022, -0.0757, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.2,"left_y":-0.22,"left_z":0.045,"left_gripper":0.48},"note":"The partial close now holds the bottle body between the jaws without ejecting it. I’m dragging it much farther inward at table height, which should free the arm and place the cap close enough for a direct neck grasp."})
tool
executing move_to over 15 steps (1.5s)
step 269
assistant
agent noteThe second drag succeeded: the bottle is now near the base, with its blue cap centered directly ahead in the wrist view. I’m releasing the body and moving outward along its axis to place the open jaws around the cap.
move_to
left_x0.3300left_y-0.2300left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.3499, 1.7771, 0.8356, -0.598, -1.034, -1.5677, 0.4812, -0.0193, 0.4103, 0.0792, -0.2459, -0.0235, -0.036, 0.9981] state[eef_state]: left_x=0.2111 left_y=-0.231 left_z=0.0475 left_yaw=0.2052 left_pitch=0.0258 left_roll=-0.0162 left_gripper=0.4812 right_x=0.2361 right_y=0.0032 right_z=0.06 right_yaw=0.0058 right_pitch=-0.0056 right_roll=0.0056 right_gripper=0.9981 state[joint_eff]: [-0.2667, -6.8718, 5.7094, 0.1978, -0.2906, -0.0708, 0.105, 0.0752, 0.2393, 6.612, 1.7998, 0.0024, -0.0708, -0.0122] 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_x":0.33,"left_y":-0.23,"left_z":0.025,"left_gripper":1.0},"note":"The second drag succeeded: the bottle is now near the base, with its blue cap centered directly ahead in the wrist view. I’m releasing the body and moving outward along its axis to place the open jaws around the cap."})
tool
executing move_to over 10 steps (1.0s)
step 279
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9833, 1.882, 0.8558, -0.038, -0.9394, -0.9966, 0.9973, -0.0193, 0.4103, 0.0792, -0.2455, -0.0231, -0.0364, 0.9981] state[eef_state]: left_x=0.3233 left_y=-0.2217 left_z=0.0325 left_yaw=0.2467 left_pitch=0.02 left_roll=-0.0117 left_gripper=0.9973 right_x=0.2362 right_y=0.0031 right_z=0.0601 right_yaw=0.0056 right_pitch=-0.0052 right_roll=0.0051 right_gripper=0.9981 state[joint_eff]: [0.3077, -6.3111, 5.9692, 0.8913, -0.0904, 0.0464, 0.0171, 0.212, 0.1436, 6.6667, 1.7607, 0.0415, -0.0757, -0.0171] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
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 · 19.64 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
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      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
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{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6067, -0.3767, -0.0231, -0.0288, 0.9987, -0.0158, 0.7887, 0.6037, -0.3866, -0.0132, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0013 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.3761, -1.4838, 9.7846, 1.7753, -0.022, 0.1148, -0.1441, -1.0325, -0.9368, 10.2769, 1.8681, -0.0952, 0.1832, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6c065c57e9e0c85e2568fe723c2eb5da78cb6acd378c9a1b27b30522f9357a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95a675be6c4f74e211a093a8f1c6645fc8159a4664ab81452a853458f847d9b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337ef3976ffc80ca9532f68a5f05dcf7405758c1e5b7db73853c0d71d6021196",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 5.033 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_0a7e5ccba4cf383a016ab45275f4d087d0b5763bd7181f4271",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0a7e5ccba4cf383a016ab4527c2c1087d09feeb41f43818140",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKIu1NOkbhjUeut10tGTAge-DeyjiOZ-Xi5ib9DAG_f3m8j6_Zzp_P53fiJ8NvewhAejjgEt4iPpLjO2L5UBXpHnXjTAnmBfH8lpALWdlfmo8aPN1TbXh1BXog8htfar4npbo1P6K_cfCa48csjiv04WcfOD4u6dd9O3PbAkfLntpGTNPCWsDIOhTeI0Ty9Ju4e4dG6fgtyDA1yVfI5jIrfSNQHBGyq2Z8-DFS54a8VnhGReWfTtvNB41CM6sbZBv3d8nr4CcEcRZV7rifsdwqkSL6b-4AvL8i3Mk3TMir-KMpYjx3i_ong2TpklLZnqphwL-WJlQiWl6dY7y6QboE79DsdjbKXXE9HJeqaPeFpUVFg-lNN0zbV-HtGMIR5o_jQxXCXdAKOQkUaMGnWgXdA_vE6yufZDt2FItZGjRRHJBFN9V5-YE1JnSG7d6JgGVgfxAIR9RbsqVSplofnbcYzbKEFIw01hhZvo31AAoB_wLrox9HqjAAeAk337ypHbwgbYfocbiSk6xa_8O5SGA4DVwpIHTpbBKwS3Nj4NbsfALkwZeow1K6SxjThoSI58CytYuDnqnAQPHW47ryp0hnEL5jzB1-rHi4G9rIauZSQXHaEEE06xqYlaUHGJ6cZq13hH-D5Wh0DjGFahnFWZTKR3bxtJxMXCig2vHdkICRWKU_PD3hKVcD5W0WLYxjHq5DFMZybBOSZtFicGKqZY0kzbjf7bIJM9xu5HVD6oeMo3qcCmXg8kaXPdFnjhFZ1YqGN-uusA_GnJ8Ot6oVderVUBY5QbwsTFVj3owhNSJDizh-a34bbQ-rkAMObbH4aUsp-TQEv7bO2Cf2tJIsT-BEsEASK12xDDMIc3BxkHLox2g8vxgstBCnMt8tUKHNq_qKX69Szjh5xxD-osZLDOaThlr9SwWOzIMQHEv-AuABl2bl1pO08tKleX4cKkiTddgEX8qJs85JLXljOH8X8kGewrg0F_Zjju0aHcpWsy4KrmWKKZ8o1_S_DiTnDAL-Sn3S4_5FKDb7mvKdFK_rhYbRdLtoB1FGwKK6_NLnVHvtasUIG9J96JdMiOoVP9hl74YbaqcnNizjmNV1LrUZsivqybFaK3yfKIY3vDgjl40MyhMkBqJszUV0GdDIBnCcYuvuQXUbU_uB89k406y-FKd-oDav0On7yvwfoOMfXLCg48o4ZZBN1hwY420APhAXQR2ivl8Wf1F44rhsDB6VsdETwl3-A1IbwZElp1EnSiw1vp0YVo0yuaUAl4zWBGI9CTjWV6Gu6R3n9XGBLAMPZk00wfQwrKWRCKowLlCurT0hLaBQHajugqMcpWrsBz-FxephcTupGb-xD0_p8-JIGPkFqsHZNBH8ScQYFxFdfj_EWc09H8hX2H_OH8PfgdyxMxEijARluBvyWa6Nf-FWMC7yHkjp3ZOBeIMpDyNjI6eHiY0CvkLRAzh1XZel_8G4xuqjQ5nJPBpatPkAt3r6RV3kqSuOXel9wZdH6ifYKuSlrHC35yNpqV43ULfYZe8kSg1v-xYXN-65_4UquJmydb_xtSiL2A8iMg_aFLUbNOoVdYW8OgWPMlQQDaL9wVBuLYjGonsmt4MDCTLx4x7QekTkkxgpAWyQ7BrVh62Lu8fO3EFJGhe5AyoCe5SQ-PqlYKAqhmfOTYailHCR3Fo7laOQhj1eku_TbmGga8Lqv2WgbMoh9e0EYoUn79QWnnC0FfurO3x689HmheifipBgaDy6At8sOVn9yqBC2S7LRA1oLknNc5LG5FfVx0FAl8SivlL91-1QAse25Fy6kLdw7NNzio2vdAaVDGbYbeENzoPeSoCvDXYNqA1EK13NBl0uP48fKYpU0lEdquu0KYDg0CZEB27xqXRgtvDHZi5tZOvb5jbN1KeZFHwhywmi2msa0xmhHP9nY1cWM8d215XuZz5ixJenopNbT-i7jAPcPt7m6KuN9wepGPKHeb5mz1jBwpWQEN52lSrrWfPx_W8s7zKGqBl1NRjv1dDpGnfye2vN5b9cVmAdxF1kVWPYZmF6z__imHC0OlG8BnUE0i4ihKMQTvezElvVBOJHxiJQ4L39Xoae34y7NJGX2VMSN4xfb9xplgmXyYmd4f_Ej1KAFVKpMqWwC3FX9zFaXWkwn-6cZfRkoOR7K6bp6eQaMhmglFV5LSxYJ09CDD4zMH91u6Mluo9oY3IbDX0gCAOrC31g7vM5Z5NjeJe5kzLMsmGwEGE286rclbS9W5ReqmQKejIpkg9bM1Y9pNHS9F5jOaWmptCsm2XY1X2opbCu7USZzxiBOedOogyUF52wTEmU5A5ccIHkPwSPk1ozAtF51Jpxq-YeJDWjdU-Gr6LBpTBpPqYWt-Ks3PdqFCYItd8okdGlpV73eLdkNA4Xn1yTPydwA9FbAtswIaQ70--B2j5Y9qTiOTGNgZcjDWOnsGGQ5AE8ssyjBJbGPe67ZDMt0M3JhceBrGwtC7zMBth-S59_9F7p4TGZL6_jcdUE5cBDhYg_mUGf7YK8aerePtMpq5MHDkTeydvIpMnG8dkfD1z8awuObUecn3L5ZJ9jXTlBoLhUCSGXmb_NCrHi1A9qlgLx_inje_6ZkBxdxNREWOUwkRrLo_tkd59ZNGbEIDyKq03ksCpHiKJb308Z8bmEWWFwq6i96qySVfGjMRRNS1h3RWdo4NVeO6gX5cpyUL71nePnVGQU7bwhdffegVus_rhy2rbKtozLOizzW-fCgo1iwtCUdiWMyiLzSz8sijc81tCPwCHm3uVdAmCSoxAvELniJwyGoWzs3XkkhIqcRmSPW9taHA9zksZ17xtK79DoFM0_K6gMBvXXusmAx8Q2SLQc9LRQBxL-emjv_uMt7PAVwmojWPP1s0P_0hmu5Dyh49e1nGaKgSEjLe2LQAUqG3sgMv_iCWvjVcU37TcnvG-cIgcM7T4e1_Nmo77wrjEVhpbXkTeyAc9UGlSk0ZwY4X9tDzqK4f92MY7KzvTPQIyjo1_XFu8NOsMVJVxXK9v54hs6zekOe7ugYxrNGMMK5YRMU_xaxloLzhdXKQnnh8WnRxza6xH4fpojIt4Hfswr-LgxIp9egy997IXlqj1C-rOlyTkxDGy3YW_uZOp0qoy0XqOOXEcmt1cEccIUY_nr1RmPkEBmF3AESISdg4h21_XAzX4KVb1l5rm5cOaQjHpYdnmIbFwlNdO51ffPUw9XBuFC3gE7aDjpxXBW9wkjIoKDcliE_Ffv7Np9isaqdQQfaEc35fIFrx8R8mszPdTVE6PgBqsGo3SeKlx6NwkLXyHvK0QO0dPI-JyPVNSwzExdrTkM30iD3blTboF0d3PC1sM_qXBblC5PvMDEaO2hvAYgEiUYJYhac5idMGOENPnNNPvvOjzfFvdaBM9uxkHehRmoQqyZYMbbkud0owybqj8TXRk_-IEw0YCevtnRmx5sZYkaGwwzWJLdroAGbZEHhRQbNQZ1qh3TAYN2WpKdx--Q1J01V5bnrPRNspBn_nHNwjSVwpK-GKMwi4ESDKQwLTimu3vCUqqXM897IRXc2SkyyUyWAifdi_jnUBo40oGJ2bsdvBLrUZn4UMW8z3j_l9Cj8WA==",
  "id": "rs_0a7e5ccba4cf383a016ab45281d8bc87d0b170b7d0d29cf316",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.12,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The leftmost bottle lies diagonally with its blue-capped neck pointing away from the bases; it is the natural first target for the left arm. I’m moving the open left gripper above the estimated neck while keeping a safe approach height.\"}",
  "call_id": "call_v93ioIUQSD1mGkXREnUDeND1",
  "id": "fc_0a7e5ccba4cf383a016ab452878f8c87d0b848506490d72efd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v93ioIUQSD1mGkXREnUDeND1",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4541, 1.4212, 0.7925, -0.0608, -0.3626, -0.2676, 0.9987, -0.0193, 0.7959, 0.6033, -0.4042, -0.0231, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3847 left_y=-0.1141 left_z=0.128 left_yaw=-0.0211 left_pitch=-0.0751 left_roll=0.0246 left_gripper=0.9987 right_x=0.2915 right_y=0.002 right_z=0.1741 right_yaw=0.0054 right_pitch=-0.0254 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [-0.4308, -6.2291, 9.3607, 1.7216, -0.3492, -0.105, -0.1392, 0.1299, -1.7983, 7.0222, 1.8437, 0.022, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4cd24e65750a0514bba343d45a44d3fe405d9c690c2e0074b04d3c27b95671b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af4dcd596f090f65be69e013ed6a8164b1fb7dbb5310ea0185ae8682f8ae88e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92abf657df69fa1eadd139675a9ebcb5e68539563f86795cca63bbee3ca934a2",
      "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 · 3.137 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]: [-0.02, 0.7925, 0.6067, -0.3767, -0.0231, -0.0288, 0.9987, -0.0158, 0.7887, 0.6037, -0.3866, -0.0132, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0013 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.3761, -1.4838, 9.7846, 1.7753, -0.022, 0.1148, -0.1441, -1.0325, -0.9368, 10.2769, 1.8681, -0.0952, 0.1832, -0.2076]",
      "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]: [-0.4541, 1.4212, 0.7925, -0.0608, -0.3626, -0.2676, 0.9987, -0.0193, 0.7959, 0.6033, -0.4042, -0.0231, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3847 left_y=-0.1141 left_z=0.128 left_yaw=-0.0211 left_pitch=-0.0751 left_roll=0.0246 left_gripper=0.9987 right_x=0.2915 right_y=0.002 right_z=0.1741 right_yaw=0.0054 right_pitch=-0.0254 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [-0.4308, -6.2291, 9.3607, 1.7216, -0.3492, -0.105, -0.1392, 0.1299, -1.7983, 7.0222, 1.8437, 0.022, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4cd24e65750a0514bba343d45a44d3fe405d9c690c2e0074b04d3c27b95671b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af4dcd596f090f65be69e013ed6a8164b1fb7dbb5310ea0185ae8682f8ae88e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92abf657df69fa1eadd139675a9ebcb5e68539563f86795cca63bbee3ca934a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFKOBUtsitL6AvamDUIE60gT7-HKMgFwVkwDOAIgKMvfKkRohhCNLL9nnMY0i5LfyB4p3-YF74liP9gbATO8lcFJvtYTt8ppvJBfQOyenYh9kgiVXYs-rGwgkF7WIfgVyLIYMdKJSIoFdGrWGhX8FNtAmPFQRvhr-04JFatpyj_OtCLoiVii81kjOgAVQBvnnBI8bLpjgG0fEgXpSILbkFHz2-Y9LsGwqEiEsVR42W6WpRGmugCv2EORLMiCmsa76G7BDKswVMW2xOK2DKZ3Mj4iQ2uPPTRNwYi1gcDStY-luUi4iOt3Pi4xm-nhHNiguCFE7i6xbV_lvlA8swBxV5S0xOcacgLDm5-Q8WiKnmoESsuLgcMs9s2aYMLlr_LzAqi6FT82m57E8eSxoo4hStig11Zd_Jg4lUHW2W0MWSUvxfS_rD-xgJgiCzeFGQ6Tih7H2qoWXCnWu6o3jknKzg0WPofwC3OBla513PXFMzfrhmAVpeByCOcLFtGRE2KxmNgXo4JJqJ8dUK6-nab6RkjYkYn8PdfRLC2T1OTNgBvKpOhi4QIfAilWmZ9mWSu1paJ_SfTkpOEQ_bIXVGbUwJjnT5IKDlAVwwLUeScKNqnKZJyY7FmP1CO1xjIxQ49pTuEV0lh94RIKQxy2dj38gpDWuNYVBp5-gYR51etABZdgJZPXY7dnnIU0VM5MrgYH4ONK7EE8drcF4CcZepDcW8O0pZGIlsZmg4dlPTg3eKy0lDZsbUSrTxNI2_iPh69ORIgAvHksPCBj1Nt6Rp_hQjVmrcIJL_E30JWRdY3c-rl00kx02dF099fwhc4W_ZMhM7M3rpgN9m8XbSQ9vh1lUtAoM71nxd4h1wFHmTSvCXmdB2f3jJ5yflr5FWDfJylWHJ9el9TO6A5Hij6ydAiB4Myi7CW4I1QNkE7I56P33bVSQKweuZTGvxOvoAel9i0arb4IMiePSKGhOmxQF5Gq-Srf1iJDn1eBl64-eaVE0kT6TpfQTBtzzRPOmOU7Mh13PqrPuFs780wdvalIapv1u2NSGiFqtyg0HrJCU6WK6P1ez1_CO-kvPEIyW_ST9WyDofXjlnamVBpnkHu57OX9WzP3sJNsV3SKaNvIHFh1Rnat6AFSvhPoc1kXk2BHs6tgEDaBxe3wu22D_cM_QnbfuPwy1FZ1xnvkEybcGu0eU6pmH3PXvllB0zXbzfCdETNHtCbfhd2Mb07l8wafjv5fICu1NZeMP_Q-TSReypDYtElQPW-I0TF1DHfpxcCzunsihyYTDhv4T4NnLB4B9IV9jmZ5oa4WDds8jXxea5hF5Tlc3Ak880ru7XfBgR-qRZsvWMD1QbGW0uZNjHygosjzCdbD9mZGE4lL3z2o5uOU3PPhXs2m_uiUKuu-ZYm9rS9b71R6w-tHGAsbM_pzE2riJ3ofN2qA3uauxq5t5hErGQ-jZTEQEujI2FE75riihI8ZjcX28AFnMzvk20Fqm94cCpzV9Z-8ma2SP6enrj_jcKddQ9KblD5W2ZjiZrP8rm9FeK6bLb9q59IyGvKyfz1yLGWqYC9tIXP4fbowcbauPTQvgZ7XUgKkjXzk7gdiGfxwzuW6QUuikd051-C_py2I934VySDzO87Ly2zjjZNXIm-RwO0-MB-w9CAIyw-IrXMLcrKSDsXtqOr-zl9kfCFjZWUPIhf_uZf0MRyBkeFeb8tyGYeJHRB2ycIK1tpjYmPbvKooXJAB677-FakKF3YTLlVt6R3zHcw4x1Nlt_i4MtGr-fOFvweHtP7Puawy_bMwWPCzqT_yPcaVZn8jvXTTAMIgUn2HM8DIXWiEG7yXhivKkIneCxAljLU68X6NM1bfh9kKc7GQSu4IkzhcxcGQi7L8c9BUanoa93II2_4XeZ36CklMBZxrlIKKKTuX42TCAGt_f0eIqb-i6baRNDcIIWsTu4ABf-LXzpN5yWBGe6pT55VQHXlghdObfG2JBgqFsuLFL0xAa8YZbplt_fnwssxrb_REJvk_DDyeDGmgSBexLJpNRJqDDRmdULagtXenc9tKE7pOKmQDUf6AS2sWubrxXAnA_xyC78c4VF-aUicShtPWNp7v58Bytnx6Fzw4nBdoSsKVGN3uc_DMlPd6U440VSz52QheE83RieiWqMbtTeBuu2hobQrfm3ILlnGwLLoH98VZSszatdtB5ulsloEp4U6Z98826G0OMn5Sd4HrbYtIqHuLPzvsljRKbIoSEQcgSPcxjMx3pFvF93_gW6nzi7UXR98t-CT00oya4AOurfGX1Btt0kX40qsH_WZtj8CtIKnLt5wJ5X5AUVb1fo3gekAnxks9McYKiZe_hRm7KSSWav3F9DDw2kHWGHW7Yr5IXmp9hpGNGWMuoef8k4JCPIAWoi8Zwpgb0Hsd948FbAhzEfijwvugTF7ufx_HPp5p7J7hVlPMrODTZeBphUwX_B14bMsFJF7J02H9m0c4gtnuZje_2juVIT96vaE129IHx7XG1ECon2d--DPSnejOCbwLoqtnCMOIz3BY2nhrksTg_J3hjHkOHKy5V2qW4XJn7_Clu8YnpjhvJqW8ytjLSq0_iM8ZbIsBr7-KJ_-McmAV5rcRulv23E1FPEjINOzQkn0i9_x3pildTlN-Yenm1lRbWsA-IqOXTH2-n5Jk0dM=",
  "id": "rs_0a7e5ccba4cf383a016ab4528a8cb887d083ed16bff1a3abd8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.065,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The left wrist view now clearly shows the target bottle’s cap left of the jaw column and still several centimetres short of the fingertips. I’m shifting the gripper slightly left in the arm frame and outward so the blue cap/neck centers between the jaws before descending.\"}",
  "call_id": "call_KR2dG4dVr375KDjNKWouozvD",
  "id": "fc_0a7e5ccba4cf383a016ab4528d9aec87d0996a5fc0e0491b06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KR2dG4dVr375KDjNKWouozvD",
  "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]: [-0.2596, 1.4246, 0.762, 0.0185, -0.2428, -0.1841, 0.9987, -0.0193, 0.7879, 0.5804, -0.3969, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4031 left_y=-0.0594 left_z=0.1249 left_yaw=0.0288 left_pitch=-0.06 left_roll=0.0067 left_gripper=0.9987 right_x=0.2891 right_y=0.0021 right_z=0.1674 right_yaw=0.0057 right_pitch=-0.0331 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [0.2256, -6.8718, 10.3726, 1.8193, 0.0269, 0.1148, -0.1392, -0.0752, -2.0444, 6.8034, 1.9219, 0.0415, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:485853a938928c468285029dacb6ade57aa681711152a2be362a909937bd59ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a6492e2eb021cfb90edda56972b0ec13b987266974f00732b673b584bc0c11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91505da2d799daa4750b7fc9d17aafbc0f209cdd037c2bc472ae1849dfa16b0d",
      "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 · 3.061 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]: [-0.4541, 1.4212, 0.7925, -0.0608, -0.3626, -0.2676, 0.9987, -0.0193, 0.7959, 0.6033, -0.4042, -0.0231, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3847 left_y=-0.1141 left_z=0.128 left_yaw=-0.0211 left_pitch=-0.0751 left_roll=0.0246 left_gripper=0.9987 right_x=0.2915 right_y=0.002 right_z=0.1741 right_yaw=0.0054 right_pitch=-0.0254 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [-0.4308, -6.2291, 9.3607, 1.7216, -0.3492, -0.105, -0.1392, 0.1299, -1.7983, 7.0222, 1.8437, 0.022, 0.0122, -0.0171]",
      "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]: [-0.2596, 1.4246, 0.762, 0.0185, -0.2428, -0.1841, 0.9987, -0.0193, 0.7879, 0.5804, -0.3969, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4031 left_y=-0.0594 left_z=0.1249 left_yaw=0.0288 left_pitch=-0.06 left_roll=0.0067 left_gripper=0.9987 right_x=0.2891 right_y=0.0021 right_z=0.1674 right_yaw=0.0057 right_pitch=-0.0331 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [0.2256, -6.8718, 10.3726, 1.8193, 0.0269, 0.1148, -0.1392, -0.0752, -2.0444, 6.8034, 1.9219, 0.0415, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:485853a938928c468285029dacb6ade57aa681711152a2be362a909937bd59ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a6492e2eb021cfb90edda56972b0ec13b987266974f00732b673b584bc0c11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91505da2d799daa4750b7fc9d17aafbc0f209cdd037c2bc472ae1849dfa16b0d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKSGdJ3Sk0A_eAyDxs3WR_yoIrHqK4v2BNeOMGbOVei6521yEZMO66YtGEyZK9y8xp7gzaOHPAJbx_eyMbgy42Nx3j17-zkPi1DD_3AtvLiHRMa3h9JhaHd0zOMQmRHoYSios0FsAGaLhJdX94a_3EhMxSpg_xrn_Jogkbm4_qPiEvPFu8gaH0SQjhe3dR3UA7TN9Pv4ZJrknuEL894ozhLzSOGpWdQ0hrWu9n31s5oAip61gv51s5d1N6bjVGoJ7K53DqRC4hU2KuxEpoT3UknGNSfMvdTftrwXLamK7gGC3h-HxJ3bz51rVtGdGF2cIsbbdbslRSNY3u2_kzOr7AAIKQIwsZmZi3PxJwHTNFQmI9WV5O72wj4PA6ASHFoMZLoe4T1BrQ2bvRheppSPp6atT-Zb9M1_a0q5Cym5_F68tP5FkJKRMqr9cObtJGKu1HlVfMw5Ootg-MDKKVD6ym80NFjeyHXrdb7hiZ8HoF8rX349Hwu5l-zy-rUVKyYEJZslYpnr6ovJC7xHQVpnLdHneXU96N9AuBb4kbpeJ90nGJHIEbd5y4dz4VHVN6E9d8a_tSOnu6_yALguPxMSpbcSXme7xRMFdGFknEmUnA2ayPzWR2ikqbsDXtMaCinfnk-4Ir-SQoUB7jRZ__HJhrkgGbmw375-KuvasHOTv_qFjcpkTJEmoGChqAnmVOrwSCmcv0JDGNdZrZBeCO_HF5Ax5w-NQnnc1nuR3F343zpTxyhlM__2HIPTxnoh0OjoAFd28k1MXgqwPIayBZNPwnR13zoeTEFg8plbqUWYkPzGBQdnHXY5LMQ5autC3F6S9-wfyyhSmhwET1_JVElkPY7Fur75xLMxm9Iw5e4p47C8-Ug80dfyHHCziLBftRWmZ8NKfb72dcMu2pdZutnLtLQUDwy2NRcnKo9vQXqey9FmBOeqGImKVnu8ZzUzbt3lF2sOWjAcVlhAgaGOlL0Hel1AMIExhkFFQ0iU8TSTnjftnKvfSbNaV0_M-v8GcsegYKrb539wRk9CzP-iI2WmXKtPrnNpRVs5SAfWs3kAXsNs1WbIZSHT7eDJhGwNz-fU3dvxP27uPlVFHiBMZEv4RkgFq8-38q_dRTSb4uike_DjYGohmLrHyluNc4rV1vaOUt_QXj6YstZJTahUpG7gzke_mNh0Y4bqiVmvvcmurhI4g6wdqxuIof2ZH8YlCmxT0AdQPRvdTlN8CxuzR0mhB3bjkfiOEpNmAx2lrIkE157GS63rYttlfbB1cHalH0Nle_9zQBinD8t9OTyJNMq0MX-9ElvEAMTTa5hEsXWwDwV_WXsEwnkQFZY8Tn3lgy76lkFkwDf1lGib1F__nF-ZftcbzzvsTI66h5b3tdFHd0adJ78BpJaKp0YR0GJ0kbiEAg9BIDZni7wEWEUpwA7vi7J4zxVxZy969LKdos29eUHqqgWYplUbAQVYnYKHgZoOAdfuJ1cCAPRwpmW4fNHzbS8kZcf8QFe9eJSl7rXycdI2FK4uiasvQfEsIsXop3EP7LKBUr1dFJ-iTA8jIQz4iQEl-9XX9WvVXL4zctgbcar5ul7xvcgqEZZvIR0l1HREApQYQ0UHOi-TRFSnNu2SkDPZtkAf-rber7i8pw77vn3biE=",
  "id": "rs_0a7e5ccba4cf383a016ab45290764087d08e57553f14e80cf3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.065,\"left_z\":0.15},\"note\":\"The cap is now centered on the jaw column, but it remains above the fingertip convergence row in the wrist view. I’m advancing a few centimetres radially while staying high so the neck sits directly beneath the grasp point.\"}",
  "call_id": "call_7assvufRaAY1IYwZE56g8GXO",
  "id": "fc_0a7e5ccba4cf383a016ab45291655c87d086069e075cccb6e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7assvufRaAY1IYwZE56g8GXO",
  "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]: [-0.2424, 1.4246, 0.7734, 0.0189, -0.2131, -0.157, 0.9986, -0.0193, 0.7738, 0.5495, -0.3843, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4066 left_y=-0.0584 left_z=0.1291 left_yaw=0.0065 left_pitch=-0.0536 left_roll=0.0086 left_gripper=0.9986 right_x=0.286 right_y=0.0022 right_z=0.1596 right_yaw=0.006 right_pitch=-0.0373 right_roll=0.0061 right_gripper=0.9981\nstate[joint_eff]: [-0.4308, -6.9128, 9.2103, 1.8437, 0.0611, 0.105, -0.0269, -0.1026, -1.8393, 7.0496, 2.0147, 0.0073, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c4f6e6b6a8321741eda5f85d3a2752bb7a608a746d17605f13ad0b5176bb82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cafa472fc13d0f229659228e32d140ebf484d9f2e511497dd39ee5fb27b0e90c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d98580d2442fd1f2acc2b874b78955f2ab4eea1c3fea90dae9f7add15519dd52",
      "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 4 attempt 0 · /responses · status 200 · 3.133 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]: [-0.02, 0.7925, 0.6067, -0.3767, -0.0231, -0.0288, 0.9987, -0.0158, 0.7887, 0.6037, -0.3866, -0.0132, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0013 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.3761, -1.4838, 9.7846, 1.7753, -0.022, 0.1148, -0.1441, -1.0325, -0.9368, 10.2769, 1.8681, -0.0952, 0.1832, -0.2076]",
      "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]: [-0.2596, 1.4246, 0.762, 0.0185, -0.2428, -0.1841, 0.9987, -0.0193, 0.7879, 0.5804, -0.3969, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4031 left_y=-0.0594 left_z=0.1249 left_yaw=0.0288 left_pitch=-0.06 left_roll=0.0067 left_gripper=0.9987 right_x=0.2891 right_y=0.0021 right_z=0.1674 right_yaw=0.0057 right_pitch=-0.0331 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [0.2256, -6.8718, 10.3726, 1.8193, 0.0269, 0.1148, -0.1392, -0.0752, -2.0444, 6.8034, 1.9219, 0.0415, -0.0708, -0.0073]",
      "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]: [-0.2424, 1.4246, 0.7734, 0.0189, -0.2131, -0.157, 0.9986, -0.0193, 0.7738, 0.5495, -0.3843, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4066 left_y=-0.0584 left_z=0.1291 left_yaw=0.0065 left_pitch=-0.0536 left_roll=0.0086 left_gripper=0.9986 right_x=0.286 right_y=0.0022 right_z=0.1596 right_yaw=0.006 right_pitch=-0.0373 right_roll=0.0061 right_gripper=0.9981\nstate[joint_eff]: [-0.4308, -6.9128, 9.2103, 1.8437, 0.0611, 0.105, -0.0269, -0.1026, -1.8393, 7.0496, 2.0147, 0.0073, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c4f6e6b6a8321741eda5f85d3a2752bb7a608a746d17605f13ad0b5176bb82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cafa472fc13d0f229659228e32d140ebf484d9f2e511497dd39ee5fb27b0e90c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d98580d2442fd1f2acc2b874b78955f2ab4eea1c3fea90dae9f7add15519dd52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKVJKG1T5yzksehglkBXlIAwuIfnLQHtegR0DMzaMvgCuBcDpAc_taItssU-WIBNPT3aX2d72OcrGQqGnwna2UIPdtnq6wRH6vXnqf3B0YkB2yp2-TV0McO5MfQl9hjHHJDqtnt4PZXgfemLhrJyEwwd9Kb9HCv3CVuJaCMmpvtCWOfyzfy9Dpr5Lgm9lkS2wh9RrGz2vH3UmotVaRaVlYi9BxrS8eLm7qxZ2W7pvlfWD2BcE4mKP5zE0xT2BKQ0oK8uIoL2-yWNyGz2-0qtYDP8Sx4lTvu4GlDOb6hvwzRDJHBbwbNJU0vT-wld_eJwqlcvNeji5C4uIPWcdep75aLnaVEPzBJlflBl6Qh7flX04MaQx3TL4juA7uqfCDIKnBDfbeB1B_VmhCL-j2g9TMZ7lf97mLvbe7FnA-KyhSvxlBYbZWl3GnLYaFlqk3aeb5NrtVcKKSwGErJtkGxxe_2fiKZywoFF46GxJIIASXonJ2Jk8ARcKrznFUhSUnE0gm3IU8AmypumrN6PBjI_aCBBPNHMK8G00YZjOkjsgn-GezG6ukFTGgXNhXwW4BmmwIVX6tK2zKOy8ZEZBlXbhE__ol51dl1DxWvjJjMcJVkGxKnGSoyMCcvM2rgY5eu5mjGow_g71Q69w7drM-yQEByLOfAivL50oIZQkkRhJI2ddfUH1H9plNzwXKtXk1a6oLGpcYu8_Yp-i3ftXqLVX-21zy5TYRxutIzBnfn5ozTiS2g6ANOUtigkr1vnpdl_BjXwXKhZBGpmwrfPxSOTPv1GZUDMJ7W98mhR6TSZ2HuWQdVlgmJEEH7eNjtumrByPRoZoaKD4WiPKfT2sbtgzZDGwoZCFGTpYTHBoDGKopS7l4kblZckL72Auigan4tOWiVIN_xjkEv7ERFAzhe9LXhK9wmK6sACPsqlr3Il4iMPaAfnRTKRsMdq6__E5oJID8svsOYatMjDpGHMT_9ODIK4_Yv4Pyyway_e57RQ7ZVd6fFYgDlEhBEcRkxVjRtFSrnc7m8Wh4XwasTsa26HSd9INHv_JPq30-fP9ekjZNK1Gg-7f9eUUtOi84TFsNPA0SI2p46xgsX7Qu8xiNCEckt5pnx6Hwm6AK2q4yDRC9xCtj_Frq5ECuntdTwURW5HTmp7SByWVz0aI2Vsy-9EBA_DVrL8Tu3qpdYF4tHyeUzzEX9wdKHoVweIzUyDeneDLLkbuzhnmTn_A6Y4HaTuVvgtfbN3ZDMkoL-cxbIV_3VRfMYkH0Tt7hFlDvzT9HJZuQ6NyQXPLAspnhCao4hR1G1LPMmYDuoKFxbHP98Q8Y9vbaFkMD3Kbvr20_5BcUrOAkkIAcGZiYzndBz7-sy54DJ-iIxR3IRIV3WV0ZelLtTbARnzxQWlDGmRb4CqzJxuYGE1s0Bm4L9NUmOjG6fAnS01CmtLL4DZZGz7FAPqD1E0AzaDaGMd_V0Yf02X_lG_70xD-uXgJfVXBnb6tm0Pp4LDsZXqjZN5xp101rKLuF6e-_pJg1gTPe4mlXt7eE328ZMsT4f1B_wXKeh3KbUNMfD3H0x5BrVnANtGm4FIVyJcuVyrcWZssFzfSnzxXtY06g6EjTKsluElS8KsZYiA8WcQpqpFCAGk0c2ojTZaL8_F70g7PjYHWZDScc3BK2ScGrDQ4ftNDpj-kY2Oh4GpCCWUkkdHDP1v38anB-aUQGPUWT8Y_yYe4_TqYDGmoRp1kyp3514oOZAS_TcScB98xWU3Rk7ldMdVz_LHfYQhV8jQmoM633svqCvc4Ndvkngjq-A8_WuUPXZB4eMcV_BnWtQdA==",
  "id": "rs_0a7e5ccba4cf383a016ab45293746087d0ab397e4a0f2bc007",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.065,\"left_z\":0.035,\"left_gripper\":1.0},\"note\":\"The neck remains centered, and the attempted extra reach was limited at this high pose; lowering should improve reach while placing the jaws around the cap. I’m descending to cap height with the gripper fully open.\"}",
  "call_id": "call_zqwmG8kfB8PyJybV86ocM8WD",
  "id": "fc_0a7e5ccba4cf383a016ab45294a2f487d0adbc84ce4881dccb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zqwmG8kfB8PyJybV86ocM8WD",
  "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]: [-0.2424, 1.4246, 0.7734, 0.0185, -0.2131, -0.157, 0.9987, -0.0193, 0.7567, 0.5148, -0.366, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4065 left_y=-0.0584 left_z=0.129 left_yaw=0.0065 left_pitch=-0.054 left_roll=0.0087 left_gripper=0.9987 right_x=0.283 right_y=0.0023 right_z=0.1521 right_yaw=0.0062 right_pitch=-0.0365 right_roll=0.0057 right_gripper=0.9981\nstate[joint_eff]: [-0.3761, -6.7077, 9.2786, 1.7851, 0.0806, 0.1197, -0.1441, -0.0752, -1.7026, 6.8308, 2.0049, -0.0171, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec51f3eebe47e5549638f8a9eb6c26befe14140d1841b60d6e7217133c4f873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a346da3e157120abfa4e09d849bf7246a89a2c15d5ad05bf0bc6a234e0273f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5489680216d12290840752e81ddf8addabacaa4ce00635bd3298b20e3f43fe08",
      "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 · 3.148 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]: [-0.4541, 1.4212, 0.7925, -0.0608, -0.3626, -0.2676, 0.9987, -0.0193, 0.7959, 0.6033, -0.4042, -0.0231, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3847 left_y=-0.1141 left_z=0.128 left_yaw=-0.0211 left_pitch=-0.0751 left_roll=0.0246 left_gripper=0.9987 right_x=0.2915 right_y=0.002 right_z=0.1741 right_yaw=0.0054 right_pitch=-0.0254 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [-0.4308, -6.2291, 9.3607, 1.7216, -0.3492, -0.105, -0.1392, 0.1299, -1.7983, 7.0222, 1.8437, 0.022, 0.0122, -0.0171]",
      "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]: [-0.2424, 1.4246, 0.7734, 0.0189, -0.2131, -0.157, 0.9986, -0.0193, 0.7738, 0.5495, -0.3843, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4066 left_y=-0.0584 left_z=0.1291 left_yaw=0.0065 left_pitch=-0.0536 left_roll=0.0086 left_gripper=0.9986 right_x=0.286 right_y=0.0022 right_z=0.1596 right_yaw=0.006 right_pitch=-0.0373 right_roll=0.0061 right_gripper=0.9981\nstate[joint_eff]: [-0.4308, -6.9128, 9.2103, 1.8437, 0.0611, 0.105, -0.0269, -0.1026, -1.8393, 7.0496, 2.0147, 0.0073, -0.0562, -0.0122]",
      "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]: [-0.2424, 1.4246, 0.7734, 0.0185, -0.2131, -0.157, 0.9987, -0.0193, 0.7567, 0.5148, -0.366, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4065 left_y=-0.0584 left_z=0.129 left_yaw=0.0065 left_pitch=-0.054 left_roll=0.0087 left_gripper=0.9987 right_x=0.283 right_y=0.0023 right_z=0.1521 right_yaw=0.0062 right_pitch=-0.0365 right_roll=0.0057 right_gripper=0.9981\nstate[joint_eff]: [-0.3761, -6.7077, 9.2786, 1.7851, 0.0806, 0.1197, -0.1441, -0.0752, -1.7026, 6.8308, 2.0049, -0.0171, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec51f3eebe47e5549638f8a9eb6c26befe14140d1841b60d6e7217133c4f873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a346da3e157120abfa4e09d849bf7246a89a2c15d5ad05bf0bc6a234e0273f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5489680216d12290840752e81ddf8addabacaa4ce00635bd3298b20e3f43fe08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFKZGXPGW44FqiGL4Ssm9U02nRVdwaHnowgwsdkRstiXcg_2s-Zrqi0ZsIIPJatAkAJdWjWfgUzgCsHAsfMDeFf-dZjfoZLS38vME33mXkbrIXhcqKA1ZpnAdN9XZqiI05ouXxKxI1Z5_raDYf33FksML5sBnPRsebWHD7N1EEUOFUgZcNzv5_d4fBlI_km3qZ8ssceEfc6GG6GwPqjNWttMn5UbeAE8EKTp6qc8xJ3kZc1RAfk4x6FTfrGPpLC9AP8En8d-27M018AmRCHASqfCJtP017ty2PrkLbg0hsJ1HVqWp01x2ell0LMoCmI1R7IqbBysXYKoTohl4okJAFWv0ouCn2AYSe6r_HfLw29yUgX5GRtyQvsSMF_S70LdkrcU8grd3TiFC9hJVKwD0ImU9GfQOqrjjGvbznwfETI_Pr8_prcaTLNSbKS0p7voWMABtShv1qJMuk-K9punqd61hE1CnOE2uRmufsKKTX6E0iH1briVYWF8Ms2Es9m3XOwH8ZjJ7NDeAhuZWNwMMq4k79NPCWTx1p-x0R6Z75JtszRiMk9r25RczAsxkQpRxOZsp3LHTv_HA_Nw-0q39wnZ2WgD3dSLydK_ukWY4z9Dy4FR3kTtYQxFUKoIDKOpZmYehPBDYO_kepWZ6StGgFj6uWL4SPE1rTfvmfhSFFMbet08vS5UIOQ_DFQNu0TuKInLoxs5uNigxINCyUDCyDC6RPBD4Qg5VQ7WhtDBE77wUIOk4YSNTwMcsbBzLzY5ZonMAI9QXhmzPDh8DPcFVj9oPZRE6p8cSxuWPUhAYFEG2VGqi7drhZWbrMTQy46xX_6JYDpUfkzp21H7HKbz_YWCRfWDg5XxKUg1pJfjm-2YuDYh1YB5-3xgWNYwfbP9jYnZO3sG98jYx3BqG4tMTiuiskjfcMlz0v4PnbAxWpsWczgylF5P1ywfiT7pK_NhT8beTPpppCBJyNZ7YCMEe1lsjb_I8Vq6pUe_YTRE6uEsP-7VSEm22v_WWBTl7y1vtcswif4uH4b1Ss_cRiYiqXyXb1hAwmTcNvU_PJ65E1c8OesnTCezGk0DZSlZt9Z3_sHGDpVAU73b3FL9wRgJPUAuY6_6kRSH4FvKmBleMNXSyIchgpUtgkux9XmOAfwxVUNdFqfiY0XLJHnphwQnHAxDsLwKtDk5IbyQPqD8fyrtp6HvUtrgNPlHbNjPU9G-48174kGmmO3HS_xtvnQ6DA6raue5VBfpW41THm4fEJPLqoL1BkDBaT44Pugbrx8smU8zOg-R12AyPv1oehoNwClC-nNkxYF5JpT3zJcvB0X1YHwutVtH2KPPBaGYFMas8fdlxi7yZW0Owxmg1qfNUAhqVHk7tmRXwSb1EilcvvIxrY0bsyA5Q-hWi6apbQJ_4YDe4id0DEb3ogrLwkWgkK4h8aGeyJ_88yqpmYgXqcKOXUof4-85_Aky9iV3jGkpdt1rZAdzfCpMVOOWlGxSVToSmnwvt7e7-KZ4iQ15xmLjh6aR5OkzBXSldIyrzR-IpvgTYJ47RnQA1k6aHXQ0mJr-vdPTLvfTpPZnkCeYtWVsCL78IBZDvlysFHfxHHciAnFVHTLjTlxbjrOA5hyfewzBbvl5-50L0CRaIjhwejvIUW4=",
  "id": "rs_0a7e5ccba4cf383a016ab4529740f487d0bde8b62650f1f782",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.06,\"left_z\":0.08,\"left_gripper\":1.0},\"note\":\"The prior diagonal descent did not track at all, indicating this extended pose is kinematically awkward rather than in contact. I’m retrying as a smaller nearly vertical descent at the current reachable x/y before continuing lower.\"}",
  "call_id": "call_hazjxA80gOzM9prbnPveFFfX",
  "id": "fc_0a7e5ccba4cf383a016ab45298500887d0a8b0adeea28e0906",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hazjxA80gOzM9prbnPveFFfX",
  "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]: [-0.2436, 1.5333, 0.5999, 0.2592, -0.2165, -0.1612, 0.9987, -0.0193, 0.7376, 0.4778, -0.3508, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.3921 left_y=-0.0547 left_z=0.0633 left_yaw=0.0112 left_pitch=-0.0937 left_roll=0.0177 left_gripper=0.9987 right_x=0.2792 right_y=0.0024 right_z=0.1433 right_yaw=0.0062 right_pitch=-0.0392 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.6632, -5.641, 5.9009, 1.7363, -0.1636, -0.022, -0.1392, -0.0205, -1.4974, 7.1043, 1.9853, 0.0073, -0.1001, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a73ada4d65dd19a83b0d6aafc22f5a9203730036a4ff5815a7d9ca1393151da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb2a501dfbd0c390caec95f88ae4a225669c5cd2136f8687acab001a9e9fb413",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8b1d71ac9f879a207b4e9910a7ba872baaa52e53f38eee4e40945a4c3325e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.866 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]: [-0.2596, 1.4246, 0.762, 0.0185, -0.2428, -0.1841, 0.9987, -0.0193, 0.7879, 0.5804, -0.3969, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4031 left_y=-0.0594 left_z=0.1249 left_yaw=0.0288 left_pitch=-0.06 left_roll=0.0067 left_gripper=0.9987 right_x=0.2891 right_y=0.0021 right_z=0.1674 right_yaw=0.0057 right_pitch=-0.0331 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [0.2256, -6.8718, 10.3726, 1.8193, 0.0269, 0.1148, -0.1392, -0.0752, -2.0444, 6.8034, 1.9219, 0.0415, -0.0708, -0.0073]",
      "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]: [-0.2424, 1.4246, 0.7734, 0.0185, -0.2131, -0.157, 0.9987, -0.0193, 0.7567, 0.5148, -0.366, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4065 left_y=-0.0584 left_z=0.129 left_yaw=0.0065 left_pitch=-0.054 left_roll=0.0087 left_gripper=0.9987 right_x=0.283 right_y=0.0023 right_z=0.1521 right_yaw=0.0062 right_pitch=-0.0365 right_roll=0.0057 right_gripper=0.9981\nstate[joint_eff]: [-0.3761, -6.7077, 9.2786, 1.7851, 0.0806, 0.1197, -0.1441, -0.0752, -1.7026, 6.8308, 2.0049, -0.0171, -0.0659, -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 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2436, 1.5333, 0.5999, 0.2592, -0.2165, -0.1612, 0.9987, -0.0193, 0.7376, 0.4778, -0.3508, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.3921 left_y=-0.0547 left_z=0.0633 left_yaw=0.0112 left_pitch=-0.0937 left_roll=0.0177 left_gripper=0.9987 right_x=0.2792 right_y=0.0024 right_z=0.1433 right_yaw=0.0062 right_pitch=-0.0392 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.6632, -5.641, 5.9009, 1.7363, -0.1636, -0.022, -0.1392, -0.0205, -1.4974, 7.1043, 1.9853, 0.0073, -0.1001, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a73ada4d65dd19a83b0d6aafc22f5a9203730036a4ff5815a7d9ca1393151da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb2a501dfbd0c390caec95f88ae4a225669c5cd2136f8687acab001a9e9fb413",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8b1d71ac9f879a207b4e9910a7ba872baaa52e53f38eee4e40945a4c3325e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKcbdRqfqJg-OywMdrIql-HbtfHrPVhGHmVoiPeRuWz_4I9SUm4F1lZuADMGIQt5Eb23OQaIIXFCsyUzSpE8k-rNklMCEHA65BiuGX8ECwKUy1DvLK-c6-wJUVRsX5OXBmOvV4F3PWB9HnfOvZQz2v8cjx38Qv-Yc1lAlMOmLIPKpcgdkyNvXKXr6robquj-Lk82oaNde1qQoflziJ_v47s4EZ9Fxa5Bj9uaTpV5pL6n_DbBs4JWBRM5TqqRQ-J10_Exi0jIC_P-o8pCqzMY-k4QepxO4NCFL39ABz4LY-jH-Z1MbXeKqBsXijiXr3H_heDjlJB0XZd8HLMsmZlbH3CLK9mhSTYC-16RzOO-tUP4Hrz2N9hOvKmUU8dEx5eOfoGbCPPOdHg37s5nIwUO9iglVAWaR5UeQ8BcYyznPkGBl7OehvuYsEomgUci74kGNEAec7Urhq3TgSA10KLPequT3SN1Jwf0q6RdLFZS-nnfJLSLUUHUpJYHGl1E9KRvrqzlEjevaaVcCPBGpJb86Rh0pQcMGCmJp_mNbrjTqsGCktmgTw3T1IlZ-vnG32NwdDTSfo4XCtXr9TIz48n86TFBxo6NRUTFEFO02GuJtrC1u9n0KeWJKHimexBgWFAuKYZ33c7ncQqPDSknyImzCcOr3StZGCx2whitbrupNDsS4gngDxgrcGycd2P5A0i9iTZnVNEPKnKGW1qW2bydDHJmuLPAikX8EFjZpSrTDC9esQBmic3Zx0qXf_z6Z34RZXgX8-pkcwztFH6UWFqEZw_SeWfwmyfKsS7Vq2HHUKElikIfqE7Wrx2yC0cscTHDIeelgx0sQzY-KhNVYwrsLAJutcefXLVDNm18_YxJybkXMYVSOaLfP71UYUVtnwAs_d0f4h7B1Kl-eLT4XrU3-hcD09t9gZhIak8_TcAL3aarZUd1xjxgehz2SrXs06gsRyJaNydamit__wf7png5q1TB8Ow2-VTmiNOdb4vHCyeEH4FAxVsGsT0L_6WzzwoimX5F-16oMR2vU7B9LCTP3s-G7tPhV0ymieP22XBJreIkkzf8avnZHtAzYvLzizjJAQtARqUw7MsjmswhvqsoAlaTuc__6h2Z0BTLcmXoTsRMJ8S3skzQ4PTX2rYbbefxjuC4IM6opzGwYsoGgLn3CUMxOpEcSKlDg7dVh0Q98R4tdJN8EkdULQTyddzefIq-ZcBE0OcO_1bbF9vR8KDfnYRYEyRHFRskqpKiNObXBj2z6oEVKxKNGni1QLckt_a3jD1iDQNftMCzYMR7-IjH4Ww2N2Qp5PWi9qocMFXd8tttSiyW9Hs0BfSZIA4_40slqWc0br5wA9R_s3B-7R_xh5D8UYzXNF0zXRNsFc5WHEorURGWt0bv_b3PsETO_NjBbcDdisOLwYbsnuiIHwoFYhtFkKx7GY5yVNbqg0Vro95tGPrpAQ-ynmvESE7A-V0oDnPWbLhT77b_ts5Ihk3YIx9xGgzJ6jbxSPTuRjkGBAZPXlfnpNOK60aOtc2oWMDyRnRbXQgplN6c_5p07PvRnfBm-o2ZbN4aYx8u-CkleAyJeljLwB4fd4GwMR3nXJhMq2C-UqOd0vSWlDZTyaGJMPcUkvWDL2Nf-aRydPudwWSbP8d0QsfSuN8ZAqAHU0r-VixdVkNnBGJ5QBAqAM0HKfl86_Ck4Am1H-0pXqv-M5nOmnK3wLTuYdu7PAUAoTkuUniHS4thfcsosS1AdAbHlz6hZCFfeIrOd8A58FpsQCxcHA=",
  "id": "rs_0a7e5ccba4cf383a016ab4529a8d8487d08ff8b0845cf58553",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.06,\"left_z\":0.065,\"left_gripper\":1.0},\"note\":\"The smaller descent succeeded, and the cap remains well centered but still sits slightly forward of the hidden fingertip point. I’m making a modest 2 cm outward correction at this low height to put the cap between the fingers.\"}",
  "call_id": "call_QxKfKXRiBLI8rqG076TBuCef",
  "id": "fc_0a7e5ccba4cf383a016ab4529bd4c087d0bd01878a95535895",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QxKfKXRiBLI8rqG076TBuCef",
  "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]: [-0.2485, 1.5879, 0.5995, 0.3965, -0.2241, -0.1604, 0.9987, -0.0193, 0.7212, 0.4538, -0.3351, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4085 left_y=-0.0595 left_z=0.0693 left_yaw=0.0111 left_pitch=-0.0128 left_roll=0.0017 left_gripper=0.9987 right_x=0.2773 right_y=0.0024 right_z=0.1398 right_yaw=0.006 right_pitch=-0.0312 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [0.212, -5.7778, 6.694, 1.7118, -0.0757, 0.0269, -0.1392, -0.0752, -0.8547, 7.0632, 2.0488, -0.0122, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267dfb21bb2da23dcf6905094964179756d24470ac8a1514b312b0c1e1bec47d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5277576160da12863128b0cd6e078367725485e0797391b1d917036f05cbbb2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c44c1d5ca6944d108d2f4afe19c25c2f119ae61e835f97cc27e3294505183a6d",
      "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 7 attempt 0 · /responses · status 200 · 2.388 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]: [-0.2424, 1.4246, 0.7734, 0.0189, -0.2131, -0.157, 0.9986, -0.0193, 0.7738, 0.5495, -0.3843, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4066 left_y=-0.0584 left_z=0.1291 left_yaw=0.0065 left_pitch=-0.0536 left_roll=0.0086 left_gripper=0.9986 right_x=0.286 right_y=0.0022 right_z=0.1596 right_yaw=0.006 right_pitch=-0.0373 right_roll=0.0061 right_gripper=0.9981\nstate[joint_eff]: [-0.4308, -6.9128, 9.2103, 1.8437, 0.0611, 0.105, -0.0269, -0.1026, -1.8393, 7.0496, 2.0147, 0.0073, -0.0562, -0.0122]",
      "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]: [-0.2436, 1.5333, 0.5999, 0.2592, -0.2165, -0.1612, 0.9987, -0.0193, 0.7376, 0.4778, -0.3508, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.3921 left_y=-0.0547 left_z=0.0633 left_yaw=0.0112 left_pitch=-0.0937 left_roll=0.0177 left_gripper=0.9987 right_x=0.2792 right_y=0.0024 right_z=0.1433 right_yaw=0.0062 right_pitch=-0.0392 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.6632, -5.641, 5.9009, 1.7363, -0.1636, -0.022, -0.1392, -0.0205, -1.4974, 7.1043, 1.9853, 0.0073, -0.1001, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2485, 1.5879, 0.5995, 0.3965, -0.2241, -0.1604, 0.9987, -0.0193, 0.7212, 0.4538, -0.3351, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4085 left_y=-0.0595 left_z=0.0693 left_yaw=0.0111 left_pitch=-0.0128 left_roll=0.0017 left_gripper=0.9987 right_x=0.2773 right_y=0.0024 right_z=0.1398 right_yaw=0.006 right_pitch=-0.0312 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [0.212, -5.7778, 6.694, 1.7118, -0.0757, 0.0269, -0.1392, -0.0752, -0.8547, 7.0632, 2.0488, -0.0122, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267dfb21bb2da23dcf6905094964179756d24470ac8a1514b312b0c1e1bec47d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5277576160da12863128b0cd6e078367725485e0797391b1d917036f05cbbb2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c44c1d5ca6944d108d2f4afe19c25c2f119ae61e835f97cc27e3294505183a6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKfWyCmzEKQZXWGkrqum2Brzp9QTY5Gf2VySVwME23hg20bxvmKRK22LSnmiRGz2LqfbYHyQEcV_7WmeSgwWZkxiNDyRbl5l_EEBful8qsbQU1j0elTMxWXrZFT4e9RC09rXVyEWSPzxLHLmCtqyp0Pj6A7mhxdKOzZJIRjKHafqpZvQDvLfBMQT61HEV1U8u-ew5Uu3oQgFpjcyiu0nnZ61bQW4BVEyYffqw9swKDtHB2bUY0au7RLnMPM3WiGokO8za8dY5DfoGSncheKt-wEM37tw9OOHGRy8pH0Tji2DtJJWGPAlULsRJbkpU8LBSj54M77vPC0KSmDK1vX5hBiZZWLhz3jrHEvp4QW7--dpDRAkgN7fvVibJv0ZVYx55yhCGs9KMfsA9oXzP-2wunWeGSmkoDK1plRtZ8wSOy0Q6Lot2pRA9MEUzbLF8owBiFF096Jk8o5IWggnAdOcsVgXUOlggaqMcglUKn78a-4jB34U4HNh_5FgTdl0QvNT6NkO7D2viB4L8b1CL5Sg_TfDKu7xO4PjOl0lCjbKFp93B7fIvSpS3H0MnP4RvRj2YYzeYnMEuGzny0NsaDTkxWr8mIc3zyzUklrtEu2Fv98xMcoD-QvAShRaF8wY4aCRjofUj1jjO7JCOkOsPdblteRe4cR5pXklv-OpFj7fB8qqk7rU0Qihwm9MqfwBhx8tK6mOVR2uhoUDVb-UOR_An-pK-hGIQo-NXsdiHLczCWkoK7rhbf5mG47M8rpQ3AOv1nO_2-esFF_2gufmdaUab8nHlN-veNblW231XdQqdVwAdPK_pxDklWVhdpATQezuFptzDHaERJiwlPHCI8Bh4-cUym12ml-8AEXHRpSMFmmvU8gI4TSiRZaZtT8Wmlh3rlVbdgES6tXmhMFmfNGIOLb7so7gKJhHjHxEWVdHNqN-c9DE6pGbMtoIdZqn-9yn_uH9w2GCXL234Efk2b_neP11pXfJ7mpYdxmvfZsZjE4MyB4HTYlFqquxfP_LMENecjHNj93_RvPkShNCmP5JmPw8lv827lTPe_UVWBWP8CoRZ7GhdCgwM5FAmFiCElWdOAAUGvNd70-KTsPC-4FzdhZyFGJEMVAXXfj3egnmG1yRmhxsDUiCFWVFO0YQcZQSgw8bL-SqfPjd3p5bAFNnSJ_mnb1qaC-AU4-RrJ2l-us-qch-7jkVJNkdGKoWMu85KN5E5a9zGyEFSp3s1bps7HG519gGITx-1dyxwvk8VPXv8_9Kk6BnD0ihoS-s5JY9ebVYO4YavXC84vD6E7sP5_j4TmB8Co_8u2Yf8qdrKKfP-IjWk6dwhVVLdIVP_k4eelexzh_6TjLnvv1bIhQ4pihTeBQmkrm-XAYlyJs1iIEBBNG41iElUixhutNUedOoMlmBtV2-4Vgg9vAYnljdRgedF31ppsY4rg8tEeV89bhDVjV97cqH6y0qZc7Qj0VacnQrk797bQHN8vYT4PgVPRjZ8rrR-imfJWjgLq07lDAOJE=",
  "id": "rs_0a7e5ccba4cf383a016ab4529dfbb487d087d285e8b79c3993",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.06,\"left_z\":0.06,\"left_gripper\":1.0},\"note\":\"The outward correction moved the centered cap noticeably toward the fingertip row, confirming the radial direction and scale. I’m advancing another small increment and lowering slightly so the jaws straddle the cap rather than the wider shoulder.\"}",
  "call_id": "call_ibSQYpc6UDfkZsRISOEUZvQu",
  "id": "fc_0a7e5ccba4cf383a016ab4529eb78c87d09c533b7894ba3daa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ibSQYpc6UDfkZsRISOEUZvQu",
  "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]: [-0.2401, 1.6688, 0.6231, 0.445, -0.2218, -0.1635, 0.9987, -0.0193, 0.7094, 0.4339, -0.3267, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4187 left_y=-0.0588 left_z=0.056 left_yaw=0.0193 left_pitch=-0.0216 left_roll=0.0002 left_gripper=0.9987 right_x=0.2753 right_y=0.0024 right_z=0.1355 right_yaw=0.0062 right_pitch=-0.0308 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.7453, -6.3521, 7.0359, 1.7607, -0.0708, 0.1148, -0.1392, -0.0752, -1.2923, 6.5709, 1.9365, 0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88103403ac6135f122dfcb036cd45bc634a6e06bdd14d8f9bc94454c548a3084",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f0e30b1245ae47286b7bc7932737092853f0eb23bb1550f97029035761f1148",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:216a4895602efa3dcbae5152b42981e5bc24ea85208c394d8203723fb308d819",
      "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 8 attempt 0 · /responses · status 200 · 2.613 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]: [-0.2424, 1.4246, 0.7734, 0.0185, -0.2131, -0.157, 0.9987, -0.0193, 0.7567, 0.5148, -0.366, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4065 left_y=-0.0584 left_z=0.129 left_yaw=0.0065 left_pitch=-0.054 left_roll=0.0087 left_gripper=0.9987 right_x=0.283 right_y=0.0023 right_z=0.1521 right_yaw=0.0062 right_pitch=-0.0365 right_roll=0.0057 right_gripper=0.9981\nstate[joint_eff]: [-0.3761, -6.7077, 9.2786, 1.7851, 0.0806, 0.1197, -0.1441, -0.0752, -1.7026, 6.8308, 2.0049, -0.0171, -0.0659, -0.0073]\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]: [-0.2485, 1.5879, 0.5995, 0.3965, -0.2241, -0.1604, 0.9987, -0.0193, 0.7212, 0.4538, -0.3351, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4085 left_y=-0.0595 left_z=0.0693 left_yaw=0.0111 left_pitch=-0.0128 left_roll=0.0017 left_gripper=0.9987 right_x=0.2773 right_y=0.0024 right_z=0.1398 right_yaw=0.006 right_pitch=-0.0312 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [0.212, -5.7778, 6.694, 1.7118, -0.0757, 0.0269, -0.1392, -0.0752, -0.8547, 7.0632, 2.0488, -0.0122, -0.0513, -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]: [-0.2401, 1.6688, 0.6231, 0.445, -0.2218, -0.1635, 0.9987, -0.0193, 0.7094, 0.4339, -0.3267, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4187 left_y=-0.0588 left_z=0.056 left_yaw=0.0193 left_pitch=-0.0216 left_roll=0.0002 left_gripper=0.9987 right_x=0.2753 right_y=0.0024 right_z=0.1355 right_yaw=0.0062 right_pitch=-0.0308 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.7453, -6.3521, 7.0359, 1.7607, -0.0708, 0.1148, -0.1392, -0.0752, -1.2923, 6.5709, 1.9365, 0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88103403ac6135f122dfcb036cd45bc634a6e06bdd14d8f9bc94454c548a3084",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f0e30b1245ae47286b7bc7932737092853f0eb23bb1550f97029035761f1148",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:216a4895602efa3dcbae5152b42981e5bc24ea85208c394d8203723fb308d819",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKiyBZl0khJOoOZ3Jk5ckOgz8CpjiVWVizrEi2nnV14io-ExSkcYj7QQfSfybuXbz-M4H2mAbuLrybDyKaKu4GYKpqWFbGLQQrmabn0X1-kDOuJuT0L3Mfz_yzJ8enm8rEMr4DMCXUX6y_J9eMP17dj4BJRroYhKeiiVemSw_ZBUru9F4NCSic3N_ZORFeYPNmszr3ZhN8y7_cZMLxTy6RhjLML8jw_YA0UYsHk4eTJPFbNjP-19G-W6oBj_le4e9kcka4PvCBvndF4T3atjPGH3VK62KcMORq1cv0XPA0wAPzhrd98m7OpnArf8E8hMDVMb_O7CbAJ9GvEskwt28gijYCgYUnQvisA_H3V16zONXI0HHdY669VadOEVqTU_NLS6S_j0cpMcvMHODgdGDbHz3q6NMlXCIbttlJveh8ii8-1yn-sJQ2l6GwEgRmofu39uuzUXCPnlr74qkM27srmiJzpdT_2Utl1FNYUMhWfE1ht2oA__DzKCxvV3ImEPoyI9AF2FZ_mRpYPTnMsSgmUCBzaD5w2m_ixwirEH-9EZcyJEXuKr3PfnuW7pfOcXiIrfN6Ig9FGiZpxPb_8wo2TjYvG54hXUg68yW-oSws_XANcGiJe8XEaSzmlWDvOuynd13eZyfi8UV-alUoMK5AuPlSutOpMq188cQvnfdroU6c9P0hvxtR7ci6-FNCkmtHmEhJiAUjVbWCngNhu9SCrE-o7ioCuhl8u-xZfKVu6c0Tejdy5zl8e5zayTar_arBLUF0XBaC0tt2VPKKDHATvQida23Y_oCzWqk7bqtQJ_BB-vRx-F9kxAUlR4XS5HpA5lU_0sRTVLBohwatsFYGChgpDDQotc1aL9yh4QnJOnXPBXz3ZtoJ9Q_AsIdb2GmbgRNQ7UtJIomG6LcP-HSJjdfun_NgUPotZ2sIkpz9Z6wBM32-LcelfArF_Egx5MqC1pCDfBMxHy9svGqWZ6VfVDEbm-Csd94HBjyNDpafGr2QU0ZoRKI-WcX80UyS4lhqTu6wRdiEb1axZB9YS_TJ7nUJt2KWy4KQFCdRTjAVpkabDGCCReWc_vqt7vGKgLdnBoXeBui5vnc0iO_DKt2VIzBlniiO4XRn4wMuxFmbqOVxyUl9D0Fzuk9U_Abxw9uyRYFTt3xaO00xEPY0KwZhUM38fm47aVHfGQr43cllU9TIUPYK5E-GHfPRtEIFsRMu-MFsZ6bF0_0mUadO2ZQWczDkvoKVq0j3DZgepaz75F8WHICil5Oy-dZRvdHmQUXh2LyKFHBA6kUOfcp0Rr-YY8gqA7rN0q388UawfmNq_fg19uxByisNYULbTpc7ffn_A_pak3UH0qThP3NSPVb-ZtYSG4tguw35BnmNS78QLsGehhD7JTj0R3pxTwAInulUrhIomgsl8XiMTTkG5VvNUaa2p7xWbM3HCwyTvC7li1zQ=",
  "id": "rs_0a7e5ccba4cf383a016ab452a0e52087d095546744963f954a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap is centered between the open jaw silhouettes at low height, with the bottle shoulder directly beyond it. I’m closing fully on the cap/neck now; the settled gripper opening will tell whether the grasp engaged.\"}",
  "call_id": "call_J2WOxiA7xq1I8I1kWmNq3spu",
  "id": "fc_0a7e5ccba4cf383a016ab452a17bf087d08551a4aa3509f133",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J2WOxiA7xq1I8I1kWmNq3spu",
  "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]: [-0.2413, 1.6882, 0.6159, 0.4969, -0.2253, -0.1596, 0.0094, -0.0193, 0.6933, 0.4061, -0.3164, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4221 left_y=-0.0596 left_z=0.056 left_yaw=0.0189 left_pitch=0.0032 left_roll=-0.0012 left_gripper=0.0094 right_x=0.2722 right_y=0.0025 right_z=0.129 right_yaw=0.0062 right_pitch=-0.0323 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.1573, -8.0342, 4.4376, 1.6484, -0.1001, 0.0024, 0.7937, -0.0615, -1.2103, 6.8718, 1.9365, 0.0073, -0.1001, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0157bc262b42d4fd5bf3b0fb9cc3048ea9ccf17276fd23085c574afb7b72372b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3d25e6e05202c7652fe3706af8c8d9d0f9b1fae53d565af90938ec684e461aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f847cba64bd012d0be6e5dc8f3737e1be28d8b4af3f932b23877a6703cd773c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 2.285 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]: [-0.2436, 1.5333, 0.5999, 0.2592, -0.2165, -0.1612, 0.9987, -0.0193, 0.7376, 0.4778, -0.3508, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.3921 left_y=-0.0547 left_z=0.0633 left_yaw=0.0112 left_pitch=-0.0937 left_roll=0.0177 left_gripper=0.9987 right_x=0.2792 right_y=0.0024 right_z=0.1433 right_yaw=0.0062 right_pitch=-0.0392 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.6632, -5.641, 5.9009, 1.7363, -0.1636, -0.022, -0.1392, -0.0205, -1.4974, 7.1043, 1.9853, 0.0073, -0.1001, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2401, 1.6688, 0.6231, 0.445, -0.2218, -0.1635, 0.9987, -0.0193, 0.7094, 0.4339, -0.3267, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4187 left_y=-0.0588 left_z=0.056 left_yaw=0.0193 left_pitch=-0.0216 left_roll=0.0002 left_gripper=0.9987 right_x=0.2753 right_y=0.0024 right_z=0.1355 right_yaw=0.0062 right_pitch=-0.0308 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.7453, -6.3521, 7.0359, 1.7607, -0.0708, 0.1148, -0.1392, -0.0752, -1.2923, 6.5709, 1.9365, 0.0317, -0.0757, -0.0171]",
      "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]: [-0.2413, 1.6882, 0.6159, 0.4969, -0.2253, -0.1596, 0.0094, -0.0193, 0.6933, 0.4061, -0.3164, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4221 left_y=-0.0596 left_z=0.056 left_yaw=0.0189 left_pitch=0.0032 left_roll=-0.0012 left_gripper=0.0094 right_x=0.2722 right_y=0.0025 right_z=0.129 right_yaw=0.0062 right_pitch=-0.0323 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.1573, -8.0342, 4.4376, 1.6484, -0.1001, 0.0024, 0.7937, -0.0615, -1.2103, 6.8718, 1.9365, 0.0073, -0.1001, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0157bc262b42d4fd5bf3b0fb9cc3048ea9ccf17276fd23085c574afb7b72372b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3d25e6e05202c7652fe3706af8c8d9d0f9b1fae53d565af90938ec684e461aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f847cba64bd012d0be6e5dc8f3737e1be28d8b4af3f932b23877a6703cd773c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKlVpMdQSh7XW1iWKqEhc8248oUauE9Pczh4lTTBmqqdNkwUF0U8pAw01hkl_ARfC9_grkZpFi11vhIlO3OTrx4S5ffrp-uH_IlotP0wyuCAMS3QSlglFjkO3qUmxpWc3pNp2vW_zwlOBUgqnC-b8BkM3KM1nIAmiuw55TyVPEeES-MPNBpESrIfwjlS15YNHyzFnIHw2YGECnYjf9haJdFelpC0aCO9cHcdpuQ3GwV_w_Dxbx5LlfDdX52M3bDqw6IeEWg73s4nakhYCS4-OUZAcgGaTQrn6nFp7A7hVj0koCw_7RsvOJYO8L8ySHSxRCE9Vp3FEymLGb3xUA7VsULY3ahB2Fu-5r4cqRF4xdh9T1AWDMIyx6yMwTAmMP9vnLZP4ASbBG5pJ_MNRIWVUubhPSSS7qGZcTraBdEH8-xldftPFq7DIQv5qjKqr61VEQgf7R5ZHMdFQsejQ6pfuPAAGOZ0oUKS8KmzjsfK-ZL0AcN2Mvpj1uA1vyaX5QtXKsEhcBURLrJISpPaZwk0-8vryg0JfNvwU2vJeTHcIRhiHO0WySdinQAoHbfHaD1UPfTmpucQDCjUUUctURC2sdFefNyfJFZkcRHmau-taQTzu7Ey97PaPZeVND8XN3OwPXNnWVPuPi6wU9khZzWNyKSAqtyvRDVZbMPCxWcioRS9gNHwKHL3myv25p2NWO8759ZhrUnGXASow_EcAlbq0qPW6xuY-goGgMuqvja8Lcp2Dr3dFNvsJsStQtB1uwEPABVe-IuYWFDO3mzx1UuyCOAILo1P1uWDXmwixFEmsgJ8XB8Hg6U9xoSPPem5nEJ9blmQ5tT_6nVK615gPT7fhaPH83NSelgoXGcEdB4dk31lhSuxz6kUXehEgAnVT1EMvFgghxrtn7_dbH73cwg1niGpfsZzVMQK0io0TYN2gnail6k1-ubKrFfQeH5G2j1IJ9beqAdY1HXT2AOKAbMjMbxjSuwBItZKPklGn1vCucwcjMrcdAsZ5w6pb-zC9US2163gon3LORoOv8WgEGE4VzhTyxwh46Vu3T12IxdI7SnkfD6jyxab0bhNhcgIK7MzoF62DAhrzI-gBb9u4aBwoF0vgiFmX1IDdGA4XUlrNsXID-drC22Y5gHbqFxdwGgG7BLt4xPKc6WIsRNETk7dGGAH9hiQ0eQx1wyCWA41-w0fe_BDzaNTmo3JeVW6w0zj38fPiUxXzQx2hbmgkoCNDQdf2ilkUP5dOLGAb2EWKqbcy8mNxsFwNCcqpxz6RocZTPkeaGpm3VJFay82d_VYOwHok396s6H1dI0VmcGvcThC_Ft9ZaspO4BoQb0LLeSuHGpE3TcvINApWmdI2k1qOqAtJ-Xxnt2ZysaVoYB6TSTws7sVn8xSrDrfYiuV0yrqG5Ko9SiAQJZZzEPDjmH4cTjv74XKZwRzPFaOzxAS_z5LgttuiGZK2OEB1XV3X3qpekfO7dNYyQHFkbWZlDym98b61LPP7AaY25aZoSAXrEqhd1ADLGarmHXYJtN-tOUPd9C641UDAC5VcimZyqjeWLUA7X2cqkv9P1YT44_BtwXmMz4H9zOq75-IVZiYoGiBcx7LT510tJ1K3hbnoSZTtHeTw==",
  "id": "rs_0a7e5ccba4cf383a016ab452a42cb487d081f588f17dfa828f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.06,\"left_z\":0.045,\"left_gripper\":1.0},\"note\":\"The gripper settled essentially fully closed, so the first attempt was empty; the overhead view shows the bottle still lying down. I’m opening and shifting about 2 cm farther outward, the standard correction when a centered wrist-view target is still short of the hidden fingertip point.\"}",
  "call_id": "call_RGb2mMT73fEVNHfRb0Ky9p1h",
  "id": "fc_0a7e5ccba4cf383a016ab452a4daac87d095915a7f7bdfd9b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RGb2mMT73fEVNHfRb0Ky9p1h",
  "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]: [-0.234, 1.7821, 0.6731, 0.5205, -0.2226, -0.1581, 0.9943, -0.0193, 0.6777, 0.3763, -0.3054, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4379 left_y=-0.0606 left_z=0.0432 left_yaw=0.0231 left_pitch=-0.0098 left_roll=0.0019 left_gripper=0.9943 right_x=0.269 right_y=0.0026 right_z=0.1216 right_yaw=0.006 right_pitch=-0.0353 right_roll=0.006 right_gripper=0.9981\nstate[joint_eff]: [0.5265, -6.3385, 7.1179, 1.7998, 0.0317, 0.0806, -0.0171, 0.0615, -1.3333, 6.9538, 1.9805, 0.0073, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8c44ac6782de84ed0ad0aadc2f7c277f0fe6a22d780c8e49116b2efa153f57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96198e82bd643e4158a85f0d43c12918b259a5decaf06e4ebc9ca707752a6c60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd9a3737468fd43debf83dc2eddba99cf3ebdb8b56dd16cbaa21585c58881c1",
      "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 10 attempt 0 · /responses · status 200 · 6.021 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]: [-0.2485, 1.5879, 0.5995, 0.3965, -0.2241, -0.1604, 0.9987, -0.0193, 0.7212, 0.4538, -0.3351, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4085 left_y=-0.0595 left_z=0.0693 left_yaw=0.0111 left_pitch=-0.0128 left_roll=0.0017 left_gripper=0.9987 right_x=0.2773 right_y=0.0024 right_z=0.1398 right_yaw=0.006 right_pitch=-0.0312 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [0.212, -5.7778, 6.694, 1.7118, -0.0757, 0.0269, -0.1392, -0.0752, -0.8547, 7.0632, 2.0488, -0.0122, -0.0513, -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]: [-0.2413, 1.6882, 0.6159, 0.4969, -0.2253, -0.1596, 0.0094, -0.0193, 0.6933, 0.4061, -0.3164, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4221 left_y=-0.0596 left_z=0.056 left_yaw=0.0189 left_pitch=0.0032 left_roll=-0.0012 left_gripper=0.0094 right_x=0.2722 right_y=0.0025 right_z=0.129 right_yaw=0.0062 right_pitch=-0.0323 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.1573, -8.0342, 4.4376, 1.6484, -0.1001, 0.0024, 0.7937, -0.0615, -1.2103, 6.8718, 1.9365, 0.0073, -0.1001, -0.0073]\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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.234, 1.7821, 0.6731, 0.5205, -0.2226, -0.1581, 0.9943, -0.0193, 0.6777, 0.3763, -0.3054, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4379 left_y=-0.0606 left_z=0.0432 left_yaw=0.0231 left_pitch=-0.0098 left_roll=0.0019 left_gripper=0.9943 right_x=0.269 right_y=0.0026 right_z=0.1216 right_yaw=0.006 right_pitch=-0.0353 right_roll=0.006 right_gripper=0.9981\nstate[joint_eff]: [0.5265, -6.3385, 7.1179, 1.7998, 0.0317, 0.0806, -0.0171, 0.0615, -1.3333, 6.9538, 1.9805, 0.0073, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8c44ac6782de84ed0ad0aadc2f7c277f0fe6a22d780c8e49116b2efa153f57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96198e82bd643e4158a85f0d43c12918b259a5decaf06e4ebc9ca707752a6c60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd9a3737468fd43debf83dc2eddba99cf3ebdb8b56dd16cbaa21585c58881c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFKpVvyayoB3KltVKsJDLu0fhaoKUeyCNltWHS2BfVNUuRqOvWd8T27aYRsjlSWZhGzogMfS82hz9gt2vUVpTZRqUxIlsEXuD3SKVu_OU97l_eQ5bHXop6v8fWTKYFbtipIGpOKbjiP4VKm_-ksBc2wWUqbbM_Dobz0Pv0QAViw8D94-zVgA10cTE_a4p8PrgqUahN9okQgyODRosEarncMO7HkzzUvSn2zhehwGpdU5Jt1e62D_1pVWqwiLqeZuDs5uHj-Xdc-ffMmEn1ADuO_RP-jYPCs3EKn9HiS1u6motdsU7w24X9VcoTWBf0J7nN_0fuafHe3loDkfQn-kDJUdMzc6BhB_5RoCkXeuN7Ho3a6Cmi_WsMXi4gH_U2hhQpHQJNowZBcz37km-udBaPiNml7_DZZIb1kRZC8ekOl8S9MxbdfZVQpvd2vgmWVOPyb0D0u6xLBrtjIKrbwiJFXFMzLjhRlthtKcaHYlbivngZWKCvwVFtQQbAVVaPy5EI0JPG4ZJkXvXzVmbT4OgairglWn950PdoMxnofyNA236V9ZoXN1pTQJp2VFbm6Av_fc30SjDiA5PP_RdkIBMC-9txAv5j4qLdILZKFAQmKvG0XRZLI-kvMFY3nXb3XXYDEyGQAalnmyoI_ilgvBoTBPkpPYLwkd990-dw-yUTJD1jUFV6HuMjmMWrl5j1FANzhdP-52Eb_oDsZcfUfzlwvfFEmWbHNfKdHfpeOqGzdlSiuFOqT7WGYeITGxl9xsAzXIl2lh9iIx5jNBu9wZ_GRu2j26DvQOeeHp69Aa1Lqez5XyNTMoEpZj8AU6J_yRzVI1IUfgR4QX3OS5DqfK5zOGx1dRNbqPinZtN7x1J6eH7ZNVjK8IwAY3xAotaPt0GLhGAt1Wy7c0E_jgb2xL7BU6PVWLS-IRdXGRdhYlYbjh6o-z53yollcA63lV3WEMq4nhZHh95NEQiGySbkmbYmEzVWUe_DvJaP6THB-aOip0vvE6um8sLJEKxVzTSY00BPhFMHulTv8SivIXDMA9loeFO7CwzOLPAx-fJIzzYSMCPbeDjHGEeJLKiem-m6iDnmZH3f83rFGKozuSFBMXnCZhWHL_X0TEaW9Q8hQWLn_iJkzxvu1FqIEFrNLU89nI_PHAt4Q7CWfFGTti91CrKO4u4DdD8NdZDocsr9nKkUiFOYE0zbOnL8-JtXOyltW4uNR0tByVS7dHR6pE76tR9VhahvwhZQNgwvThF-jTSfdPYQa3C_nkW7l7SPmDer9AHuBJ",
  "id": "rs_0a7e5ccba4cf383a016ab452a7ee2c87d0b2c361d21c9cfd4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the 2 cm outward correction the target has disappeared beneath the wrist camera, which is expected when it is directly under the fingertips. I’m closing on the cap for the second attempt.\"}",
  "call_id": "call_PDDJKUfwabtLG9U86BemAo58",
  "id": "fc_0a7e5ccba4cf383a016ab452a8334887d093b593add0641d12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PDDJKUfwabtLG9U86BemAo58",
  "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]: [-0.234, 1.7859, 0.6731, 0.5552, -0.2321, -0.1574, 0.0099, -0.0193, 0.6559, 0.3428, -0.2897, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4421 left_y=-0.0599 left_z=0.0488 left_yaw=0.0307 left_pitch=0.0214 left_roll=-0.0004 left_gripper=0.0099 right_x=0.2658 right_y=0.0026 right_z=0.1149 right_yaw=0.0058 right_pitch=-0.0315 right_roll=0.0062 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -7.8017, 4.506, 1.6093, -0.0024, -0.0366, 0.8327, 0.0752, -0.841, 7.0769, 1.9853, -0.0171, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23535cee6d5bff1ced22122b9c835bd9c9976209f33bb015a9904f947d2a5068",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b94d65bee8532bd6a3b61b349d5ef85c67431e694769f6fe17d65245cfa31a00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e51a68264e135b7ea32f69ea0bd5cafb0f768ae02e3cdb032ba491f84d9bc90",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.174 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]: [-0.2401, 1.6688, 0.6231, 0.445, -0.2218, -0.1635, 0.9987, -0.0193, 0.7094, 0.4339, -0.3267, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4187 left_y=-0.0588 left_z=0.056 left_yaw=0.0193 left_pitch=-0.0216 left_roll=0.0002 left_gripper=0.9987 right_x=0.2753 right_y=0.0024 right_z=0.1355 right_yaw=0.0062 right_pitch=-0.0308 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.7453, -6.3521, 7.0359, 1.7607, -0.0708, 0.1148, -0.1392, -0.0752, -1.2923, 6.5709, 1.9365, 0.0317, -0.0757, -0.0171]",
      "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]: [-0.234, 1.7821, 0.6731, 0.5205, -0.2226, -0.1581, 0.9943, -0.0193, 0.6777, 0.3763, -0.3054, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4379 left_y=-0.0606 left_z=0.0432 left_yaw=0.0231 left_pitch=-0.0098 left_roll=0.0019 left_gripper=0.9943 right_x=0.269 right_y=0.0026 right_z=0.1216 right_yaw=0.006 right_pitch=-0.0353 right_roll=0.006 right_gripper=0.9981\nstate[joint_eff]: [0.5265, -6.3385, 7.1179, 1.7998, 0.0317, 0.0806, -0.0171, 0.0615, -1.3333, 6.9538, 1.9805, 0.0073, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.234, 1.7859, 0.6731, 0.5552, -0.2321, -0.1574, 0.0099, -0.0193, 0.6559, 0.3428, -0.2897, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4421 left_y=-0.0599 left_z=0.0488 left_yaw=0.0307 left_pitch=0.0214 left_roll=-0.0004 left_gripper=0.0099 right_x=0.2658 right_y=0.0026 right_z=0.1149 right_yaw=0.0058 right_pitch=-0.0315 right_roll=0.0062 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -7.8017, 4.506, 1.6093, -0.0024, -0.0366, 0.8327, 0.0752, -0.841, 7.0769, 1.9853, -0.0171, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23535cee6d5bff1ced22122b9c835bd9c9976209f33bb015a9904f947d2a5068",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b94d65bee8532bd6a3b61b349d5ef85c67431e694769f6fe17d65245cfa31a00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e51a68264e135b7ea32f69ea0bd5cafb0f768ae02e3cdb032ba491f84d9bc90",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFKvar_OIWY1rNsvxa0O4WjmuD8Na_QatVVz8kX4b4XoN4MYuzQIkFbY2Gji-tBYSm626SPwCQ7L__EZFtB1bMmS7lLSSmWxMmhZQzeYDN95EPvej9LqCzzVbKMZp4MvitaYZqUseOGAl-Sbe0F9PcowTj1wKmTVNCNByJx2SnW21EGxSZAAW0PJO0oL61FVObUWpjGHl6fGlCAK1ZWTRvUCmtbrLRdRZq6MWxwl7wzVvqwSH5N2ymC9f7ecRexumm8FHJozQ1BIqj-mM5n8zZIWW8IUZvUzxMZfuSQrbWt80MTANXeCfETO42QcsMCKfxReDRySkaDmO4JyBsxKXsVz6lOMGcMGvTb7BsBmwNpLlvbEaNNjPEYPU_DMcHtcvOuehe6X4LJw9dHkadoqm0vZbvAyiELCLr9z_YiH5VVeYBn_uu0FXJFeX2kwUtTTgQ2_vId80AEG5FeNQTl1YU1X_5wyMAX2hvSqIyUq0uN0cp2xXoRGE119W8YIx2XIt-AX_AgUUL2-cNRxwzDSComUvoAkKGIlAFw-6mkiXheuB5r6XCsCGcjIr6fvOKrggicIGYbGiXeu2tDXwSJcopk6N0TMytP9h6o-ecxUUei7dTfA5rBOc9D0O19gh1KlSN8t5gDlm57SFcM2HxeE1fNA7Y7uyd1lDiV9rsgm9qBlYBCr6jHexvF-BLo1V00ZBO07j1Puoz_P5jGVB_SNoiDNu0wxT8SbYRroarQ_LrJtGTmXpwYZgIgrEQo_pKlfpLKUUj-SloShyKA6n8Bdheq-aJceDwBR6QlnS3X_qc9_6YPq5r5-SWglSBiQEoH3d7mZvpJUSkErZ7LMn7MvQ0p-1n2IUPS-pFwC1PsRHMm9Vk7vbhieSNfrgh5VzjSN25iRQ2srFFm3PIJNPeOGyA3tLK6AfPhEXwgKocp83MyeHrauHT_8w5PlUOldS1mhobnR8Fp0fTpLPjwcwxwMfLkARIZ7lU0LImo_EbI49Gv4ZsNxhiGtm0hPkOV6W0LuL5DEHHf2YziTnjcTPbJTkqjSxwwicGaqygyiG27bj4l4dcVkIw_KiM0t0mv9rdoROhQOSIQCOwYiGw-BiPyXKoqKuqZE3k9KrqO-wwENpkjb4ON_lr6hvOSm7Pgg5PsQZbSsIre7kayD3Kfu0RqnEj0on_e9D4THBvtvfTLZyaduU38NuZsTneQe_Hd05XoGP7xEQP8MZThY49_0NhWVJpbAYxBkAetMCCG1lBaHj8CPdazVb0KEVRWEaBpU93xY8NaLcQ3hywHvaMD-cIlb64wgs9n-ERHVl2YISKCiV-kzjTmVo2YKPe-LX-wOCll93fOI--rrxEJkgEcYovebPES7Wu5pBkt37QMweQL97f1Y6QtJ2w8T_LirOYmX1kJxJDgOrAv7M198LhF5TS4NJzH686Mp0JF4y4Apj1-E1C-YNbAi2k8w7dLZH8JXE_0LsTz7npVr0lf_WVBPWWHXZDeApx7pwBwIGfE51TlxMsIhz56F0nXTZ-zRUvjfQMS_Krf2z12YRIENpMX5tRVbRj3aosHF06M_zgd0-ppa7ZZrSKYvhtAZdW4JSMkGV8CawSOONqq7ArcMXLGllYAnZysuOPkR0trhOjDTtWbupRsY647IxnoPZ1Xpr_ElUqFMk_OhToWJwwYmY2DU1YhmAmcxJ_nzsIaYXu7A7rF8-KZl9VIxHfpJ_6rvks8YWAflD3a7ConCLNlACE2zVlTKT6KUQcH3EGYYANGb5jWmGWZg3FJSuzk7DwlJ8YHPUEqfND9w8rtl29f8b6YUUEg0eeLp-uebCaHq9ILjIzBnLQQyrFVMcO5Ylr7ijZAbve9LwOkHFgQ38J8YmuYGnSU0S9m4Q9alIQHfA2BG6nFG4tFBRd6VREkcmJNJYJKpAPPAjBLzZWz-bH6LEnNsJRQdvcxaoLKZPeCgGHr5Hy3N7yoofFsZTYcm69QMmbRolijgRLMae7kJCKKzVuqqniXAvCzj9xI9461qZypweZ--F6Go30xXogFi5gt9ujvM0i1KIhdPQxtZRohWkFeLCGn-Ftw8dy8GHv7n9iCv9ArSpgPFkrJj3dso6OLCw1fDOKyU3lAIbmFyCcNPqZyjB752bg4ajeQT3t5HBUHRnY3EkmFNlX7lEMrUnUu2jLDVDup5i5rEmYKod8SNyl5mqkDHeKectkTD70ynykOqSspJeR0D9DgAkde2D_erysjocAhQr1XPeoPYzX17WTZtC1GK5IWqqHij5RDFZ4-QDe-TJXMqrNM74EXP4-LClYYNCFogBnb_ft3GaL_cqAGhWDi-ti_DNnzzmZDjrNu2tsSIsud7RsH5-avLzygQGM5qWHwPxDs_dzjF_Ke7EedzOlNb-WHunT1FSsb7-MS9bzI29XnAf56etFKw4GxTqtQC0lJ_REUHP6o8S9hk97peIkUWWLAuQLhGEnGymPSv8upJciIP700lMF8dPoXoFb2XQ2gYoZcHrE-4GQQS6R-NiVQRI5oztUqHi-Fl94Md13HaIUi_aGb_mH99L5pSOCGKg-G5s0yTmXXGzZ17jZOaSmKROZ4E5p17ZWGX5_uDjcFrIAgdR62EkY391xCLbc-i3j1A_dxOUDKg7plYxkvTztf0gdbbzQMlgbdNP_XzWnSFbPX3WHVQOg07Xho_mMx0u1f-wFce1ArC6Mkr7uJfI02qjX1nVbjLSHmbBTMMSWRDeFku5rHYoMm4ciBfNqY5Dj7LeTj-eX47NHbCYLKOk7PRu00UDNkCUv8ggDDn65W0XjKl8iOcR-kXkdgyg0kbJsmehMgytQlAL11YslWrQGInoBDDFz_WCeUoMxNVjtb660uxbao9PQFXXh-9AmVGoltA8fOC431pZQRZIppSExrFyt5COwRm0DMK1iYr7mq4SQDvAK83C9BeieXDCwwFU05WiWGRIvcq_nWX0R3PmEOJMUh-1iE6Kw8dwtJJJXGZbGTWAB1bpQcmY5JoSJN1VhNqdQ3XHodL6P52Xv659HPzB4wX7fKonQYJqkabGi3OJH4fNqXsYDUKOE6DOW_6_eDHPHkv6LuMgATgr6Mj5eRq9GgF1gs4L1tT_dxs2xEtX794vqpADJG2jjwkgaT0hQ2RUKhLftRRaHqfuIhF5avloiyrQwh6XHSFm_hsEEVMfCrjX-6JXxajanpEv9-uHEmAkKWooixL6KVAwK9TrzLcnS4EvoQO0eu7PteH0oBNTbzqUu6M8O0wS9ZuH9vh47fvd9gqTB3sHuPcjxiy2W2V038Law==",
  "id": "rs_0a7e5ccba4cf383a016ab452ab20dc87d0a96bb63de84605c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.442,\"left_y\":-0.06,\"left_z\":0.015,\"left_gripper\":1.0},\"note\":\"The second close was also empty despite correct horizontal alignment, so the likely error is height: at nearly 5 cm the jaws passed above the narrow cap lying around 2–3 cm high. I’m reopening and descending at the same x/y to just above table level so the fingers surround the cap.\"}",
  "call_id": "call_TtCV2PCCyAqZFb1M4BNf6Acd",
  "id": "fc_0a7e5ccba4cf383a016ab452ae9b3087d089ef5510994a24b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TtCV2PCCyAqZFb1M4BNf6Acd",
  "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]: [-0.234, 1.8797, 0.6731, 0.7059, -0.2359, -0.1627, 0.995, -0.0193, 0.6365, 0.313, -0.2794, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4539 left_y=-0.0621 left_z=0.04 left_yaw=0.0375 left_pitch=0.0768 left_roll=-0.0183 left_gripper=0.995 right_x=0.2625 right_y=0.0027 right_z=0.1082 right_yaw=0.006 right_pitch=-0.0315 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -6.2838, 3.6444, 1.2723, -0.0122, 0.0562, -0.0904, -0.0068, -0.8547, 7.0496, 1.9658, 0.0171, -0.0904, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ccbd4c5a584070a0c941f2914f28369c81a7477e827d5aa3b9ed7fa20d4b9ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75d5ad25f16383b78b3cc3132cf3730779dbe7f9f38f410dd5a931a4f897277",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d5d8a6ef4b1c559dded7c64ab55fbd1fed797f1870a431786c2a819fbd6d0de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 6.262 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]: [-0.2413, 1.6882, 0.6159, 0.4969, -0.2253, -0.1596, 0.0094, -0.0193, 0.6933, 0.4061, -0.3164, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4221 left_y=-0.0596 left_z=0.056 left_yaw=0.0189 left_pitch=0.0032 left_roll=-0.0012 left_gripper=0.0094 right_x=0.2722 right_y=0.0025 right_z=0.129 right_yaw=0.0062 right_pitch=-0.0323 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.1573, -8.0342, 4.4376, 1.6484, -0.1001, 0.0024, 0.7937, -0.0615, -1.2103, 6.8718, 1.9365, 0.0073, -0.1001, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.234, 1.7859, 0.6731, 0.5552, -0.2321, -0.1574, 0.0099, -0.0193, 0.6559, 0.3428, -0.2897, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4421 left_y=-0.0599 left_z=0.0488 left_yaw=0.0307 left_pitch=0.0214 left_roll=-0.0004 left_gripper=0.0099 right_x=0.2658 right_y=0.0026 right_z=0.1149 right_yaw=0.0058 right_pitch=-0.0315 right_roll=0.0062 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -7.8017, 4.506, 1.6093, -0.0024, -0.0366, 0.8327, 0.0752, -0.841, 7.0769, 1.9853, -0.0171, -0.0366, -0.0171]\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 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.234, 1.8797, 0.6731, 0.7059, -0.2359, -0.1627, 0.995, -0.0193, 0.6365, 0.313, -0.2794, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4539 left_y=-0.0621 left_z=0.04 left_yaw=0.0375 left_pitch=0.0768 left_roll=-0.0183 left_gripper=0.995 right_x=0.2625 right_y=0.0027 right_z=0.1082 right_yaw=0.006 right_pitch=-0.0315 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -6.2838, 3.6444, 1.2723, -0.0122, 0.0562, -0.0904, -0.0068, -0.8547, 7.0496, 1.9658, 0.0171, -0.0904, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ccbd4c5a584070a0c941f2914f28369c81a7477e827d5aa3b9ed7fa20d4b9ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75d5ad25f16383b78b3cc3132cf3730779dbe7f9f38f410dd5a931a4f897277",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d5d8a6ef4b1c559dded7c64ab55fbd1fed797f1870a431786c2a819fbd6d0de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFKzwOOMasnHSrnXl7Z6vCIkdbMYdmv3SEUtDutzEGBAMJFeoSgFEC2IYL9EXKgMHM9BOqNPiNrOr-pNTD2kajoLrNRJYJ87tUmoPNT4ugjNlozptXkwd4o70V0MeAmpvj1k7h8Ucbff9gtVsoxGs7BhFnc2LZFKn2PcPj8rkRYCSCM8flCICQOI3Mxlx2d3-pbDI-5ez-5MFCww0h1eSAZluzG2T2nYEotu5G6YKIAtepjpQ3tnwUCTySLUYSMIWpX5t_AuQucM7yDKNnDcCI5nR0E48SIGb3ITMeCnnCR8Pf3jRc26V3Q6DH-Sx3IEqi4nhl-vr2Gp0QC8oZzz2ZPaZC3Zc0dNndCVJkai30B6RICvovX-NzudBhbacQhBoSdUB-XtGMWxG2s9GPjw045y4QDUV96cN6ehtBIFRzl3X9-4STjl6_X8a0O_rTOGatlxinub6-7dDAnn6kDIc8XalwWIEB9k1hy2ou8gEUQ4OIzPiIno7XOg2at15k4fWDdASVCRBW_MtThhtcMVdwAtVbGk_YwId87v80Y7rDGXFoCWdYTa0Tfp3d3FCGO2zxLaCO9hrdEYXPj0YAZY_H6aWCS1tVgGX7BrzKtcqwBOMuPeEAx3kMsudSXxPJnLm23NskKk4cWRcHB-5-Gp4vrzravfYY2-oAVYzg96iv1dPXEdPzN-dYo2HQj5pheCu35ZYanBVPsBg9eRVHMxJldwNK7NlEqfimLfZnWKwJGClRF0L2X4LTPX1G4Y6r1OTVxFNIgjoT9fw064NKoZJZaaIj3Nrg3pm1sEMYFerX0pwGNyX11zowOur6xrHgeEp0NJfUHpw3yZX39MN8dVHHGRwpFix0G2RLoTa1vo-Nl5UKcAAmq1CDw8QAL3wW75Rw985n_x-b6nDcNkqekd1AlXrvNcsBgLYs262eBhB_QgbKm3JtNmpjcFwastTAH3FG7e-Igj4_uZ78UPF8eYepWClxI0pT_aC48-6NuIikrJ9MfqbCZsP98MIe8lsxkZJHaUiUfF7uoxX-Nx-fqj9TRreh2HUQDtG4yzEnBD34DvtKX5U-kPtmRYsrZjqd5W6oPuv1LrlbUzDYY0kuQ5R1ee0Mxnbqj4GKnE9cAE11levyM56Br-ANizUIDaUXxYCOQIYiaz7JjJdfYDSNZnFi46E_xa20WA5_vElEosx2t0S5jXJ9VeXg9JLSXxzeU-Hj6Hm1wWAtgS_pXag-WLyuSL3BVsl_ZvuE9bIU1oLLembP1VNkhYpF9TbysQhQEzOY-96C2BIm84fCaL78wEaVH1Q3RIRr4ZSGJamvDCk6y-JR_JGb9IC7_61BWPElPGAouI",
  "id": "rs_0a7e5ccba4cf383a016ab452b1ea5087d09f8744436849def7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped around z=4 cm rather than reaching the 1.5 cm target, consistent with the open fingers contacting the bottle while straddling it. I’m closing at this contacted pose to secure the neck.\"}",
  "call_id": "call_moOb3VedwrRTaKaaDBzB77Dv",
  "id": "fc_0a7e5ccba4cf383a016ab452b2344887d0b0d06541f0c227a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_moOb3VedwrRTaKaaDBzB77Dv",
  "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]: [-0.234, 1.8679, 0.7155, 0.5407, -0.2363, -0.1608, 0.0097, -0.0193, 0.6147, 0.2867, -0.2684, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4479 left_y=-0.0606 left_z=0.0262 left_yaw=0.0361 left_pitch=-0.0302 left_roll=0.0133 left_gripper=0.0097 right_x=0.2599 right_y=0.0027 right_z=0.1037 right_yaw=0.006 right_pitch=-0.0251 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -10.0581, 6.3658, 1.5995, -0.0611, -0.0611, 0.7937, 0.1573, -0.6359, 6.7761, 1.9463, 0.0073, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c9441ad70728151de50b8b7aff407adcdeb5b53b9845b2ca9db0e7790b0c0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445d7712f8a0bcb5c751d55521cb744309c5cfe6c679d8bb04f5b7c640abe4ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e3b6c7a2c46de2ba73069ec7d0f000ec6d7e243069aa3974ce8ceee55a86f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.309 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]: [-0.234, 1.7821, 0.6731, 0.5205, -0.2226, -0.1581, 0.9943, -0.0193, 0.6777, 0.3763, -0.3054, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4379 left_y=-0.0606 left_z=0.0432 left_yaw=0.0231 left_pitch=-0.0098 left_roll=0.0019 left_gripper=0.9943 right_x=0.269 right_y=0.0026 right_z=0.1216 right_yaw=0.006 right_pitch=-0.0353 right_roll=0.006 right_gripper=0.9981\nstate[joint_eff]: [0.5265, -6.3385, 7.1179, 1.7998, 0.0317, 0.0806, -0.0171, 0.0615, -1.3333, 6.9538, 1.9805, 0.0073, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.234, 1.8797, 0.6731, 0.7059, -0.2359, -0.1627, 0.995, -0.0193, 0.6365, 0.313, -0.2794, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4539 left_y=-0.0621 left_z=0.04 left_yaw=0.0375 left_pitch=0.0768 left_roll=-0.0183 left_gripper=0.995 right_x=0.2625 right_y=0.0027 right_z=0.1082 right_yaw=0.006 right_pitch=-0.0315 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -6.2838, 3.6444, 1.2723, -0.0122, 0.0562, -0.0904, -0.0068, -0.8547, 7.0496, 1.9658, 0.0171, -0.0904, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.234, 1.8679, 0.7155, 0.5407, -0.2363, -0.1608, 0.0097, -0.0193, 0.6147, 0.2867, -0.2684, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4479 left_y=-0.0606 left_z=0.0262 left_yaw=0.0361 left_pitch=-0.0302 left_roll=0.0133 left_gripper=0.0097 right_x=0.2599 right_y=0.0027 right_z=0.1037 right_yaw=0.006 right_pitch=-0.0251 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -10.0581, 6.3658, 1.5995, -0.0611, -0.0611, 0.7937, 0.1573, -0.6359, 6.7761, 1.9463, 0.0073, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c9441ad70728151de50b8b7aff407adcdeb5b53b9845b2ca9db0e7790b0c0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445d7712f8a0bcb5c751d55521cb744309c5cfe6c679d8bb04f5b7c640abe4ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e3b6c7a2c46de2ba73069ec7d0f000ec6d7e243069aa3974ce8ceee55a86f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFK6DXKvgpIFMo2AUYn055o4cS619_rguH2vw7Kkt1T5wTX-4v1W3dsOM4AxyjcpGLw970jmnOAt4kmAgSa6OpdttHnNpVSNX-6DKQu0vyg8feWO4Gf25Lp_rcZrmrIUeJmndiWuVAc6Oyw76JqpgJ5nE3CXWCrZrhRHo97NWNMY-2ysDHpDjLbQGcPoEUZtFdKzlnkI43RI8w2p4HM84xHLZqJ_7EvTqMJ_7gVi_Mhhy6zklAXVXjun5SAhWr9uj6o8UxTwn68XndmMx0_ou6FoNdOzAQJIqK44CWDUroGLUZ6wpJeZ50IicdGixZAamh7KygzmKSzQEYvc4IwZtVoA3knkNPsx2dpjscYvlfHmqCTGXArPUlqQfelLwazASzJL0HNjGC0N9j6Hrfhj6JYgch6AH9we9kpAYa23Et8wbIPN6a5dPg3cddSeZSYF8slVJLALpmy3MWWhbpoAwq_kwJT8fTycYZqCSdbRUKaY5KSnXOL0H5uy6GKR1jrFnBKi4Mg-Wt3b7nraulf4i6EHh3C0X7wkovuFBVJRmx1jFXCHDGBcVO8hbod0sHQMhdFwQnGBCagkJZen-vQEIIRo98Rd_qwW2lG2meQn_AD-Xv2puMfBeRbCjk0t9wQT79M87pUrOdz56_m8rgNjL7WYK0UvM28HZ7GqkDQ7M6YsF9UFGxCOojRMVs9GlkoRs9vhRETvOsko51squTnfvyZoLUySJtlnf5lR9zEfU1AalypE3UTmZMdJmug-5R1SbLst_vb-YqDKvcMJoYlZJcNDIXp7t6tkHNK1bG91FOC-i0XYz_omzRKBR6UaisCQ1uceoolFpnmGwr_zWsqSk1YOBt0ynuk43dacScwl6r-Ln_G2TlZcALwzdz3AtDS7V1AKQbYt00GGQjnLv-LwWPC4mv1yKHLsJhe1wS8fmy777pabrtm6upSMMmOlYRdqbSNtpwQwjL1LRW-ucxKFW32G0YwxOL0EU4VilPjOnnxcT9_gUHUjDdpa__Rt-sZP1PkCko3COz_lsovx1JrvrCjdkHK-pYXBE5SlId08qLGJwXyst2U3M4RPx8u4VB1uuz6wjfr7QZh3zP1f4JI4ylf2i60absP5NuPfF5K0k4iZB5ltpHJHdrHcllJWsNxRlVMg8htD7G4xSH7MzY9kGuxpAUJwl_7LUUvLmZCqax3mOLzYxBP-gpoTTvEswsZwbDSF4PLTjhkwZEGSomqV3L2nfx-_0WPAeloJqlpyXukg1eg3_P6vGCxSXIMpDq7AqqN3A26BEtiYngfTmotwY8kV79i_d6uCoiGW6ow_X6WhH3iX_9WJ2VWd9GyqAB_ZA5jrEftwaSlBEf4koiWTx7VMJA0vNMpp3O7Ymwbm3qWmxVzJMxnXykbIveuBVjvxoU0BwkPWK_qhwMJKxC5Xxw-acaACbATSzRqpnD6oW7C-3YXs3p_J09-EF1UBiQhF5eErP0BfWD4Yh7mVWE0b9k-mU32TyZVRZk14Rbr5WQg8lZ-_FVia6-kob1ueUMOEbTyai9UdoBw6qSqlOUDQi_4rhUU58vs_tBvqSK5-iadbhPmCYt6leaFAKoRN9Yhcas_bQkshKYKlEbWOqxKQ_CJcYOQu_LR6yT9-Ix8nLsE6OnvZtWaE8KXUBxrYR6Eol29XCiq1hAlpvrn_I38sUR9lHEuj-J_Tk4TvhoD2EArK3jl4yCscdPPQkf8RTYwlkPrZluXUZPlNhil98LaoTq3hAqyJPjRiFUm15_H4mzFEilgLORoBj8D3TC0iPO67q4vCk-Sq9mgaC7lqg6-_0gjYxpXZYlDFjvUWxUK4GpsG8A6YGZhAaV1M7r8o3yEx7Yf88Ew4BI3sNZmKrlk9yh8Nybq86hWnlP9L3xE6_rh1t06V9ZFAuFKfEP-2u4s8epYAZnVJtzd-mHS6AA5kR4M_BhYHSg8W88EHcIR0_RJDg6nNsVlB0zcqJo_OEy5_42j_kAtndWaFwlZ19_1illkkRaws84qt4yh74PkMuf48WA-74cXLzUs0LLIYs3caordxqm1u_bRolpJVU6NHOxnf49OCY_9aSinZd36vX1rASdi7mh6Sr-o-OFqzS4cyYmmJfxioS7MdRe0bY12dkXOucTShMe0OMfEG5mTEoBVpN7UGs4_n-NMhYHqvaZqL1A_PmcywRu32rdiXhzI68Nz91j_AqRuS6XbFmOMgEWa_ewwR3xtZch9KfbDtZRf22VRHL8y4SEBxDd_WykI6PgxdQ4EYL_T3xGTXGKxIQLSbbI9t_1lkgQJUJoLQvjtrX9NdYJxjlZXazX6SEgJopkPXLNIk9gujrIcIDVRpd-CmnNGIxyE_rTjkySf0sDAPhDyxrrqlxy5KT9_gLDWjbXrmTHWCOcPBu4ZRpb2UUdJ5f0akIFgXWuFJnCVQWLh-LtEyR8EKiMQh5i-DWBD_hDp-w6n9-Kj2oPZd_OENFwQ8i7P1ThTyUZLtufdfPkUMJJSjed6tjkWtsgDF0l_8UVymabyRH3eesyGda0H_LOk_7RMa4PGeh5PiqMmmNHl16HNG06dpNXatH38Vr34qCdNv8jcWTi741q-VeaHhWw9naaJcAwVTqOoaBs5RfPlsXXZcMU5L8oPRn_01d85KF492tj4CQdUrqQX2N9xbhoWaUV3qWxNMh4fvOk3SET-LqKc74yUyi5hrlWJkP3Bqd_2jeXMq0nXMQvcECRtcWce5jKY0DSh6vyq4tQI448SYp0mEDYceMvXe8txAT6zumLuiAnnCaZbQVPlNFlBl24Gn0GklcujJAx-_MSYsGemk2M9D92gaqdoDOFOcotQ0YE4o_9nlFONDjZo-atMZ_xz7Xpu9AeQRJpsduQ6N2h8bdNpWKUKrnwPjjQFPi6THhPyLtY1eZqBuHDw0y_thXW2L-yk5rdtcCmpFem1BhV_TG_Lm5DgiE0SXAkkL5r_QRdxWEWrwXHUv6lh1oOyENtI6m2JG_Nz9bJL58vtymcmcaJmx7aXPahDQByanmR9KHtcpCjwAn-vMHWB0P1Mv1HHjmEGFnuE-LB7S_gDzA578Yfv75VLs9Ien8vg61yJBEFm-Up5t2he1sOzh0hPVbPdvJypR5f8iEr4hPMxfaUrrUBtTVuSxIH4roaLq07TobxOupxmCgtCcuJNPU9A2itIn0rKDpevi6sWAvSWvrO7RnfWAdSSxsAQAEba1Rjaysko1zh47KK_Ld_DCbMA-K4Ufm1l2URvvwoLvqSNh_Jhu3BXYJeU4fjxFd6DSTz2q-rsJJWD4J5c9QWy-YKVhLBtBkci0IixTc1IxkBIV8RcjNos6ZujSwUk7L0WqC-a7TmCtVYo8UNNe_FzMr_xYgRYBwUs1-Lp0yo0q5f75xmmPmUUQhoLPJUQWBFyvmcBQJAkuovRW85f2cgSX288Yb6Tc7OsEPG_QqAJaVcArUTt5KXsdaBc1gTWoS3IKlqlTRJ-56fUEh1L8VPASrKAe9MJBZOg=",
  "id": "rs_0a7e5ccba4cf383a016ab452b4efa487d090a5682bfcea1a7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.16,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The repeated empty closes and overhead silhouette show I had selected the bottle’s broad bottom end; its narrow neck is actually the lower-right end, closer to the bases. I’m reopening and relocating above that opposite end with ample height.\"}",
  "call_id": "call_yV1d0SblOZASEorXY9QiDF3K",
  "id": "fc_0a7e5ccba4cf383a016ab452b9440487d0b0376199345a446f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yV1d0SblOZASEorXY9QiDF3K",
  "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]: [-0.712, 1.3602, 0.775, -0.102, -0.5735, -0.4515, 0.9947, -0.0193, 0.601, 0.2626, -0.2646, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.346 left_y=-0.1672 left_z=0.1464 left_yaw=-0.0134 left_pitch=0.0004 left_roll=-0.0155 left_gripper=0.9947 right_x=0.2567 right_y=0.0028 right_z=0.0968 right_yaw=0.0062 right_pitch=-0.0315 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.0479, -6.5983, 8.9504, 1.4676, -0.3834, -0.105, -0.1538, 0.1162, -0.7726, 7.2547, 1.9023, 0.0024, -0.0708, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab3d662f96093b1a48c6b78e88c34b91155d946d7917e762d298d0aa97318f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7418f07a0273c9208f702f6254c4238648f2b3bcaeb8247b7def73c844b89386",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6c6438605ada122ff314b3927684139541167d495983582f292be9cc0337f02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.472 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]: [-0.234, 1.7859, 0.6731, 0.5552, -0.2321, -0.1574, 0.0099, -0.0193, 0.6559, 0.3428, -0.2897, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4421 left_y=-0.0599 left_z=0.0488 left_yaw=0.0307 left_pitch=0.0214 left_roll=-0.0004 left_gripper=0.0099 right_x=0.2658 right_y=0.0026 right_z=0.1149 right_yaw=0.0058 right_pitch=-0.0315 right_roll=0.0062 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -7.8017, 4.506, 1.6093, -0.0024, -0.0366, 0.8327, 0.0752, -0.841, 7.0769, 1.9853, -0.0171, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.234, 1.8679, 0.7155, 0.5407, -0.2363, -0.1608, 0.0097, -0.0193, 0.6147, 0.2867, -0.2684, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4479 left_y=-0.0606 left_z=0.0262 left_yaw=0.0361 left_pitch=-0.0302 left_roll=0.0133 left_gripper=0.0097 right_x=0.2599 right_y=0.0027 right_z=0.1037 right_yaw=0.006 right_pitch=-0.0251 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -10.0581, 6.3658, 1.5995, -0.0611, -0.0611, 0.7937, 0.1573, -0.6359, 6.7761, 1.9463, 0.0073, -0.0415, -0.0073]\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 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.712, 1.3602, 0.775, -0.102, -0.5735, -0.4515, 0.9947, -0.0193, 0.601, 0.2626, -0.2646, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.346 left_y=-0.1672 left_z=0.1464 left_yaw=-0.0134 left_pitch=0.0004 left_roll=-0.0155 left_gripper=0.9947 right_x=0.2567 right_y=0.0028 right_z=0.0968 right_yaw=0.0062 right_pitch=-0.0315 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.0479, -6.5983, 8.9504, 1.4676, -0.3834, -0.105, -0.1538, 0.1162, -0.7726, 7.2547, 1.9023, 0.0024, -0.0708, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab3d662f96093b1a48c6b78e88c34b91155d946d7917e762d298d0aa97318f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7418f07a0273c9208f702f6254c4238648f2b3bcaeb8247b7def73c844b89386",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6c6438605ada122ff314b3927684139541167d495983582f292be9cc0337f02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFK-axyvXmKygrAHzHJ1HOpcCTiIlmLWpntYnpR9e1zhMq0GDIggqUEvlanLN7sWeI8ZqXaYdc3gEjunbJfh-xKgAJl9Ao9abydzloqVN_Q00DU-l1OmTg819WBen643c-8fq0WRhktj9dWAV8KdcpVR2f4vE0au1lJDoCpm97YjQo_ZI1f3DcxeOGiMPbKZDYwKGmLxsrKqZcxSHJQpcJKJa-HLbPtDTUEUkNw5fDa-uZrh1JFjb-kLXn-cLOqbjd3ygGNkvv5CTpm7I8xImeTFwF0HB3ILg07jkvyRcCjEEjBnVKRdX8IoR3Nf16uAomWRJORYveRWawqL-ia4h12coRhi2z-guY9WADN2OD_Z3yUcyX3aUFUgpnYPNtHlqjFSvW7KcPJW3g8ofCJMg5isW7vPDFIIz7lyWqrMkvsgwH43vpovqc7eGxQ93-gGjEqXdztbQsHgBP_YRs4Kib3h-9Du5X4EIhCYml4UNV7tZomc2JScOYT7xvr6vzILAq9dDY6GdCterTQE75JqkuHLTT2Y22FTLg-o1RGbhnv0ssYbDaEe8iXhi0XHro9A4m47BGe2-gdb2LlA9aVmKimdn4b2bVWg3R3hRe6A5iAc63zIXqG9vK-htdYpHPa2NkizbiRs_dkvoQOMVNKFbvxi3MYpf03KE6hF3bT6iTJrTF5XiBK1vz_FKMEhHzLVuPGFejiaUqgvrWDE4CLvxIS6j9jhagoTyf6HDx_OyXTnpiE30zMCgSM_7M9c2gFXGn9GkeAS9lTCcxeYNG2ioQXX2wxIj538DjZjVetHUU9ekClEOIQphvzCsLTgfJIHS358eXk4ZeNyzWD97Upfwl7G6AQmfT8MtuXHWTn_8HM4eQnAzHpKvh12DSvRHrpA8mZ5oo2oQ86Bnda7_wfsALNvgRTd0Ejxbv7Ul1yt6Y4Up68-NUC2ouxdOnGEbuwapprjsYi3sQ6VodApOiO6DMmP3G3wEIBBr90KxFADZAOlBCFIm9GF5Rga0Lrp6FUeb380bOG10nd0wUydt9COqRkyJK85TK7QInenNksfKg39GmjC0-2GlK6Elu032ObdWMeVcZ9ByCTMDDWrZpcaJqBqLnVmu1LOFqgegBiFPgOJgUedmGyyYEHHP3GuY7Pa0EvINpmX4khsr1IsNmge05CrEsJu5wUj2uTvmgQatLGF-BUkhDtfEX9QdhbQC7GC-FJyMMhvmGiA0XFxWhbrKybDKOla9Up5s-4LZQKcQ7jnhC45DaeKFUFXTfbBPlsYs-utCp2IdqUU5rVu0sRh2bhT1l1Zu2tB-_uvUWeZpzJm1mNS93jInjAAJ0MZBLZmrW9GMWUpIBQSGu2mqyX_Kj0bYVEnUMM0zl8ldkEdAXIqa14dcNxRUayuns2AeMekW_C_He6_m4N9mU6UNmeQi6b4364wxD9XIMtlgT6eVVuKieKWgjWz29hjpnTGPtDLedLB_QpeZEWGxqHSJwoNrK3QoJ0S7lfIjg56ACx5mzFqmqSsEjgBic4OnfdmiolevTDMld8oqJyXMissbgIH5E17U73LFJc80i_dw7JIbjaJQuo4eCcKVjkAv6EEdFw6TT3CDI_OjQnbikTEegkGhI4Jln8QtwYOoZJajWiXpb9W7P4Xe90JODdYFiRgfD7MKqJgEC4NCkduYsozsDmU14MPvPde7uh2BslVPqcqJSlpovuo9Ss1ELCm09dZql1xZbpwLXuCvbfIjIZrH9TzSCPIB9kbNi4oLwF5k1lx_r2j6UDZb4t9VOim0W07jXxwWuzgkIu956e3IX2apuaJ7OBhAUkqhnajwkE21wpL1cIf-Ky4KTIqq152ZBeMklMsnlnGW3p-yYaYDslMlqww38hGiiQNtmF57N9r9hm-CtyVlWEz11VU2fHLii0HcOiX_6l8apV7qilsNBWomfCBfBmq6s3Bch94N1P7Owf2GZdy9wl7OhPB6VAWYPygNfvsGv29G8TOaWZHcGbxdwzzmzvJZTr3sNl-zkGz8M73-m_V4JK-Tj6Typyz0Wh2UkVOPSua",
  "id": "rs_0a7e5ccba4cf383a016ab452bc572c87d09da0a9387c66c97f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.23,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The wrist view now clearly identifies the blue cap at the opposite end: it is forward and to the gripper’s right. I’m moving outward and right in the left-arm frame to center that cap under the jaw column.\"}",
  "call_id": "call_NX3SDTPgiHW5OvgZscp6UcmS",
  "id": "fc_0a7e5ccba4cf383a016ab452bdb02487d0a6b1c4291bc2000e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NX3SDTPgiHW5OvgZscp6UcmS",
  "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]: [-0.7269, 1.6852, 1.0737, -0.1356, -0.5999, -0.4725, 0.9981, -0.0193, 0.5797, 0.2356, -0.2611, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4002 left_y=-0.2176 left_z=0.1362 left_yaw=0.0036 left_pitch=-0.0334 left_roll=0.0193 left_gripper=0.9981 right_x=0.2531 right_y=0.0029 right_z=0.0903 right_yaw=0.006 right_pitch=-0.0338 right_roll=0.006 right_gripper=0.9981\nstate[joint_eff]: [-0.4718, -8.1026, 8.335, 1.5556, -0.2076, 0.1783, -0.2076, -0.0068, -0.4581, 6.8308, 1.9902, -0.0122, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee5ace96fdd8ee2ffeff645562601d25162afaa47c8267715a5e61a6f2d067a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19ecdff3cbb9f7ee144932850263341587bf3ffaf13b58269ca7938811c99625",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:656f389c28e243bd06bb45315a97302c78bd75c5e5121785bb1d96f2f541c764",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 3.343 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]: [-0.234, 1.8797, 0.6731, 0.7059, -0.2359, -0.1627, 0.995, -0.0193, 0.6365, 0.313, -0.2794, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4539 left_y=-0.0621 left_z=0.04 left_yaw=0.0375 left_pitch=0.0768 left_roll=-0.0183 left_gripper=0.995 right_x=0.2625 right_y=0.0027 right_z=0.1082 right_yaw=0.006 right_pitch=-0.0315 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -6.2838, 3.6444, 1.2723, -0.0122, 0.0562, -0.0904, -0.0068, -0.8547, 7.0496, 1.9658, 0.0171, -0.0904, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.712, 1.3602, 0.775, -0.102, -0.5735, -0.4515, 0.9947, -0.0193, 0.601, 0.2626, -0.2646, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.346 left_y=-0.1672 left_z=0.1464 left_yaw=-0.0134 left_pitch=0.0004 left_roll=-0.0155 left_gripper=0.9947 right_x=0.2567 right_y=0.0028 right_z=0.0968 right_yaw=0.0062 right_pitch=-0.0315 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.0479, -6.5983, 8.9504, 1.4676, -0.3834, -0.105, -0.1538, 0.1162, -0.7726, 7.2547, 1.9023, 0.0024, -0.0708, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.7269, 1.6852, 1.0737, -0.1356, -0.5999, -0.4725, 0.9981, -0.0193, 0.5797, 0.2356, -0.2611, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4002 left_y=-0.2176 left_z=0.1362 left_yaw=0.0036 left_pitch=-0.0334 left_roll=0.0193 left_gripper=0.9981 right_x=0.2531 right_y=0.0029 right_z=0.0903 right_yaw=0.006 right_pitch=-0.0338 right_roll=0.006 right_gripper=0.9981\nstate[joint_eff]: [-0.4718, -8.1026, 8.335, 1.5556, -0.2076, 0.1783, -0.2076, -0.0068, -0.4581, 6.8308, 1.9902, -0.0122, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee5ace96fdd8ee2ffeff645562601d25162afaa47c8267715a5e61a6f2d067a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19ecdff3cbb9f7ee144932850263341587bf3ffaf13b58269ca7938811c99625",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:656f389c28e243bd06bb45315a97302c78bd75c5e5121785bb1d96f2f541c764",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLBwuoIaGjxgqgM-wYW6C2lCQ2s814jy6fU2ZwcuyJFVjWfg-gRjWVM_aUfOqoWEX5GnvnR3On8H0eTOEBDdhT8v2miiH5TF82UtrCsBmYL9tldd_DwTJEeJa8HbxZjfdRNvKg1q8tbOz8s7BaQheraB0_EWUTp9HtQS6A2TeG1Xejg_VDbvZSKNO-eWQI-eozpLWCIlztM3mJCIi-2Dxus9p5MBmtCcxe0YxZTQB8Ulqj1-U21v4NmHAfr0atQ-GLGJAgnhGUgYaV3a0Aa0piS_OZIYtXZJ4eTobq2MmlcSA1y5ZG6cTuOqwLQz49uvxJ5a8TpE_F6He_QbvV0I0vIoaRBIJOT0_wqGY007uYLFOOCW0Gpwbj9SgWT7wVB5L1mKlZAHa-e85OfsY5WN9UgyOoALqxSetxNdbC2Ia77aumK8qki3Cdk6TlcxfIWMofAiNoRx8scTPv-ehF9KOx7BcNfT4RyfYg4rBmr6gkH6ZJ55UGMPuRs2U7N6kmXD7tOF42jpu-jmfCmJ3TmDbHMQgAhHDK_cH-mARkTt7OfSEnh9bBCNghpYtrZV7kEqIw51wZgDz_NH7aahNRp1nF65bJ0EHZRrrYanq5Altewxr4F02D7Une_c7uGU8bXt1bO5AHZO3hTKP1xa0BRGD_L1gkAlhXhj8v1I3tkI9klN4O17nAnUl8o-djoph3UPouky8KRWqIorI2vnaOIezzUUok8b4NWLFNtgZd1tPtx45a6ZbJV4mW6AHKtPdvVcIA_2PZDHoqC_pusVtIN-mnmkWqAXMxqXPyY_hDwACrsnzQFtg5VzjjkbFQVj7r4Ksp3SuXMtsgXxJp98gc5BzlpJf_byYdgGAHp_BAgx5-PAzdO5Evh-Tm7C-JH85AxTL2e06dUz8kYrawkHia_6e9Cgj8fnCy7QBuuTy8-zpPZ-Hl4-yv2x5GXhezI06kohFnrrZb0cvua0YVxRSP9IUWAHXsK1xBu_Jc8S4MAqeUz77RPyfCu3Wmrf7Vfq1Uf_3Bv464q2e1BH4zXk5IkueVqaInFLOpIFSVKqAtyrNEJHcg1o2pSAC_U0Ci40sEkQ0fLR5tfZu38hxiqPAJO_Y-znG5R75HMgCdLJAFXxpEXpKRdAeZhEU8r9OLKmceglrevRQJqDbD4DPxTZ89zGy-dzIwDwKiC29NsfVdisQNbCG6pEBza8J6vrawsv2vr7h9TN1aWeBHHbee3sAq3iNFt1F-cni1ydGDmbsjMoU0ze_M96SWE6mtC2EIRq9e9Zs9VGY-ukh8oxsx-Q806QIzaJWmKo8s1VZTsxfW6ZdNsM8w=",
  "id": "rs_0a7e5ccba4cf383a016ab452c00a8887d0a51cba8a0a11b030",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.265,\"left_z\":0.14},\"note\":\"The cap moved toward the center as expected but remains about 2 cm to the right and several centimetres forward of the hidden grasp point. I’m applying a smaller continuation outward and right while remaining above the bottle.\"}",
  "call_id": "call_KpI6zr8DddlihgWIp1Cpbn5A",
  "id": "fc_0a7e5ccba4cf383a016ab452c07f5887d083734903a554ebf1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KpI6zr8DddlihgWIp1Cpbn5A",
  "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]: [-0.7467, 1.8793, 1.2648, -0.1467, -0.6182, -0.4934, 0.9976, -0.0193, 0.5541, 0.2092, -0.2501, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4316 left_y=-0.2551 left_z=0.1238 left_yaw=0.0089 left_pitch=-0.035 left_roll=0.0207 left_gripper=0.9976 right_x=0.2509 right_y=0.0029 right_z=0.0865 right_yaw=0.0062 right_pitch=-0.0235 right_roll=0.0054 right_gripper=0.9981\nstate[joint_eff]: [-0.7316, -9.9214, 8.9094, 1.5165, -0.3394, 0.0806, -0.0611, 0.1299, -0.4581, 6.7214, 1.9365, 0.0464, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccf201e020e6324023db65e7a13742ce91a4c235a06f2ba75b62056d5407836d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba866b9fcb48634922408aba88bb6be8b159c8d229d87e77dfcc1d6fc92e124e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:700bfa2523134cf6fd182979d78c1c934d3bac32307d476f9f7106948e6ae7a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.387 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]: [-0.234, 1.8679, 0.7155, 0.5407, -0.2363, -0.1608, 0.0097, -0.0193, 0.6147, 0.2867, -0.2684, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4479 left_y=-0.0606 left_z=0.0262 left_yaw=0.0361 left_pitch=-0.0302 left_roll=0.0133 left_gripper=0.0097 right_x=0.2599 right_y=0.0027 right_z=0.1037 right_yaw=0.006 right_pitch=-0.0251 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -10.0581, 6.3658, 1.5995, -0.0611, -0.0611, 0.7937, 0.1573, -0.6359, 6.7761, 1.9463, 0.0073, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.7269, 1.6852, 1.0737, -0.1356, -0.5999, -0.4725, 0.9981, -0.0193, 0.5797, 0.2356, -0.2611, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4002 left_y=-0.2176 left_z=0.1362 left_yaw=0.0036 left_pitch=-0.0334 left_roll=0.0193 left_gripper=0.9981 right_x=0.2531 right_y=0.0029 right_z=0.0903 right_yaw=0.006 right_pitch=-0.0338 right_roll=0.006 right_gripper=0.9981\nstate[joint_eff]: [-0.4718, -8.1026, 8.335, 1.5556, -0.2076, 0.1783, -0.2076, -0.0068, -0.4581, 6.8308, 1.9902, -0.0122, -0.0513, -0.0073]",
      "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]: [-0.7467, 1.8793, 1.2648, -0.1467, -0.6182, -0.4934, 0.9976, -0.0193, 0.5541, 0.2092, -0.2501, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4316 left_y=-0.2551 left_z=0.1238 left_yaw=0.0089 left_pitch=-0.035 left_roll=0.0207 left_gripper=0.9976 right_x=0.2509 right_y=0.0029 right_z=0.0865 right_yaw=0.0062 right_pitch=-0.0235 right_roll=0.0054 right_gripper=0.9981\nstate[joint_eff]: [-0.7316, -9.9214, 8.9094, 1.5165, -0.3394, 0.0806, -0.0611, 0.1299, -0.4581, 6.7214, 1.9365, 0.0464, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccf201e020e6324023db65e7a13742ce91a4c235a06f2ba75b62056d5407836d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba866b9fcb48634922408aba88bb6be8b159c8d229d87e77dfcc1d6fc92e124e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:700bfa2523134cf6fd182979d78c1c934d3bac32307d476f9f7106948e6ae7a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLF9fCzzBiM9DPHsgcsLdvscAaCR5rAs0IpcCTlxKkSh6482KNWNX6XlozUX0k3gYLXpZEQvBxFc4pMMbj_1kpxFVtGaqXTtmmvY2_NfF8sisJSx8hLYbO77JH2AvdcO9mKHCgXs3q1nEQU4S93AzBf8PGS7K8g5aj_XZwSbZaF3UucBl70jvY0KG4ISws5wYKXMrxysOic-6ZJ5K70_OkuzRSizYObY65eGz8AZTa-bgpNuHuHpl2WViD4mSGum70rqUyZrZpO582dVZvwfxxmO8qSNf_vsfFmyrpy9zK2W10jIixmFUN4zIy20ikRt3MFHICVKkX5AJqBXE5zSemSukxV-Z8bmCwOKnbXYuop5eXS6kxIKwBxuQOzZX-jKYtVECPRem_OuzMBv5sYFYwF2WONCnUGCljtsGXn8J9nKMiJUatdf_G0sdWMFK__y81tY9CW96nCg7qT4ySMIAl6ple0paMurMCn-rjsTP9z3U78lAI6EzzMYfdNv-zjIKyyvQZdcct2VJpZJIBCjbFMowL_5EVXs4lQv0lshbDS8K6w1uN0TrbmSv2j2n5ONrsByDso5NS3MqZ4iZDMistbCsX0ZTcyHqao1YQOL7gjD9eEY_sYuRfkY14TKsl5_rcXBMUE-qUDqiZk90uJePHZygDlzv5_qVcKqaJ4Il4TKg8GxMyuJYw5KDyZg0svOhxLHB1Oal6iXVVUfFJPIpX3PEEfCq9KKjJCJaQdVuzVAvxsZBGwGQXQ6-Q0N7ZCGI23oqmQJB7XUjou6FaXRBOKcfLbz0ddAcA9XJ_q_6qn2Hl57YqCM6JbjQTvSXB18AjI7eDdnjVzI9qOMJkEUTly86a9HD5viNHoIBcolwGyni3e9aA6U7li7WJZ5K4IrpXHNT6OxG4tk_AER2ZTL4Cez8lzzM67NiGb8bt5VQGAR9TWT7FWnU0rs8NRwwTOaWCEvKnNt1l_pWxSs4V8_dz2G7XCmL0NVwqkuxYRD_jvO5Vk1hxAmpeZrj4Wo67IaBL-gB4mzo3lVva42Px1M5lfGqFTTtBSzeRTUSoOX0Bhw1Xng8BfJE0krdwu_CQB5rHNxc6ppvw3vtAaRuwet__sVA9a-A3tpguza3PWtLkZZ-x8DrKEeHkt5eRygiTc511uM-P6jakPhXpwqq9Z-Y-0V2yjsg0Xk8gb01LgWtJI4qMuy74tyIRxKol51Wch3PMZQy-68aq1zCJ3MX3SxZ23Lx4oMmH3Bis1K2VREY3GtsXV3XN8LFTcRIVrG3KpJQma7Q0Vs1lsKFev-XRTU0WyM-Mj4wMcA4Rf6WOG7DTRM0IITMHgBipBa2uYiBZEsy5JLDCts-LCSL15UjRz7bZUGd9qc3MarGJ4bt-Xb95u5trwjywXWYEO13ZHe9ogfyJ8m-h4pDC0XmjXmDbccDFbveiYUbWIaZaHMWGon1TFmGj8PtbeLhVr1Rh4pRNJwm2fwr-E_Ckmc41zXdWzeihEwMxdbZboHlnQ3bwpR_OCIJc5l_NeUw306Qmoo7LIHbPH",
  "id": "rs_0a7e5ccba4cf383a016ab452c36c1c87d0b094293f422d5b3f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.255,\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"The blue cap is now exactly on the jaw column, though it is still forward in the wrist image. I’m advancing and descending together to bring the open fingers around the cap at a low, reachable pose.\"}",
  "call_id": "call_SH9Fu80GHWOSMzsX19w9wh3Q",
  "id": "fc_0a7e5ccba4cf383a016ab452c42d7487d0b2eec58301263a55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SH9Fu80GHWOSMzsX19w9wh3Q",
  "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]: [-0.7467, 1.8908, 1.2896, -0.1478, -0.6186, -0.4992, 0.9981, -0.0193, 0.5362, 0.1902, -0.2451, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4359 left_y=-0.259 left_z=0.1279 left_yaw=0.012 left_pitch=-0.0258 left_roll=0.0078 left_gripper=0.9981 right_x=0.2489 right_y=0.0029 right_z=0.0829 right_yaw=0.006 right_pitch=-0.0197 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -10.1402, 8.7453, 1.5311, -0.359, 0.0708, -0.2076, -0.0068, -0.1709, 6.8308, 1.8877, 0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab70237988b5dce1f952f7982bfaf7e8c8af82d37e90f656ebcbd6c3a56f2acd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f963c4a93f52c8f603e906ae7121905cfc3517541c7e331538ecb8b04d60ccb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79415499b394c87fcf1ffd235c469e153fa4ee2f920d17dc4df187d49a1626b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 3.053 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]: [-0.712, 1.3602, 0.775, -0.102, -0.5735, -0.4515, 0.9947, -0.0193, 0.601, 0.2626, -0.2646, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.346 left_y=-0.1672 left_z=0.1464 left_yaw=-0.0134 left_pitch=0.0004 left_roll=-0.0155 left_gripper=0.9947 right_x=0.2567 right_y=0.0028 right_z=0.0968 right_yaw=0.0062 right_pitch=-0.0315 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.0479, -6.5983, 8.9504, 1.4676, -0.3834, -0.105, -0.1538, 0.1162, -0.7726, 7.2547, 1.9023, 0.0024, -0.0708, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.7467, 1.8793, 1.2648, -0.1467, -0.6182, -0.4934, 0.9976, -0.0193, 0.5541, 0.2092, -0.2501, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4316 left_y=-0.2551 left_z=0.1238 left_yaw=0.0089 left_pitch=-0.035 left_roll=0.0207 left_gripper=0.9976 right_x=0.2509 right_y=0.0029 right_z=0.0865 right_yaw=0.0062 right_pitch=-0.0235 right_roll=0.0054 right_gripper=0.9981\nstate[joint_eff]: [-0.7316, -9.9214, 8.9094, 1.5165, -0.3394, 0.0806, -0.0611, 0.1299, -0.4581, 6.7214, 1.9365, 0.0464, -0.0659, -0.0073]",
      "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]: [-0.7467, 1.8908, 1.2896, -0.1478, -0.6186, -0.4992, 0.9981, -0.0193, 0.5362, 0.1902, -0.2451, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4359 left_y=-0.259 left_z=0.1279 left_yaw=0.012 left_pitch=-0.0258 left_roll=0.0078 left_gripper=0.9981 right_x=0.2489 right_y=0.0029 right_z=0.0829 right_yaw=0.006 right_pitch=-0.0197 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -10.1402, 8.7453, 1.5311, -0.359, 0.0708, -0.2076, -0.0068, -0.1709, 6.8308, 1.8877, 0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab70237988b5dce1f952f7982bfaf7e8c8af82d37e90f656ebcbd6c3a56f2acd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f963c4a93f52c8f603e906ae7121905cfc3517541c7e331538ecb8b04d60ccb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79415499b394c87fcf1ffd235c469e153fa4ee2f920d17dc4df187d49a1626b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLH_ML3yoWFndNJyllheDEHwZnPyA41iDf-hm9qnrxDzr-EN-WdpsJj4bJz5vPEf0hLt37QmFpj33Hhx_D51EsQYM_HiboZgYxheNFQB0ff_lP5crNobUtUpuZZs2x1bvdJmwprz0brINeNIwazFuI-4H4lwOqmbpwgXi3zHsjVS9E5q4UCwFHJCEwAH9GLho95fGU_1Ez7MwPTgmHjEKQG8IUxPzByv6S8qhIqwdi_CxcCz6QWk0rJyHS9Pq_goZAbNWacEYKY-GybycJa9MnryL8_a8q-qzZ94EiruKQznGveqXHY8I3rm5HZf3BRxt0k_YAY8nzdPEmUshkYPnMc-poGGrW5DQiVB0_yvCq3lGCplZ-NdJmrOLMAcM-bL5l4GMlgtjuWH0LpXSFrYByrtN3NIHfyTEEYJwXau_RUNYxcZz1PuQV4s-VbLMWUr-d-FcxqUE3mSo-XO0dCrb63kWdJ_gsTLgRVoEmSDhTTUwAoSoVsk48ohdUit8WWg7cRTV1UELB9BU-7tFjGJq4YwPxRvetgxg8uKioo-nIjKusmhz0PZeM31C0YfN-Evms81HN_L7GBLxdXQrbqHWO43njZ0KF7GrjIfjfaR69IK0g3yuDWMd884lvH92kESCBV3kK4aTusFuzZsNaF9uAMs6fYVOpE6N8O_K_uB1Gejq9lH29YN4_kcdj_2ItAiMEPrTe4mvUW8LtB-LWZtoiUj6scr5iANGk9blyLnsvTyZSmZOgtrWw5zYPgoxw3lVpjeDn49ZO0KfyanBXPJ6dbIVXVs-tiCAtmfbGKskgbPYbHSx5WnHjcCPcminoEtaUtkWdgbklqXUpPca35W41KI2yF0-lB61QUe-4AY6ukc1nq9Ldg7F5ZKCIIBzpKyED89IIm7INiFnfGSAR-Bj27nWsHPYZc3tX_drQZAmcHSRGWaLwJ79ZME4yC5kHTzFlG3ohV8-eTYxcrHWOKURoFdyz4Gxja_lNvFDa0pJHuMoh_2pzgEdjFFxQhoUi9upUlS0WGIy1BY6hrqmGtwv26vWHFLJ-AdFhNqGSBpgubjivmJkQ3E8RaH5XC281EUZ7I4DQt9aE6CTIVZHi3xG1dUtW_DnzJHNSN2n2rUNh71KYiDWvnyFQkYGr6t-6MyKcaXOfK23JPDnP6tS9UFgGS4AUX_1wuv-gmaV0oEW1mwfUn1m5vzK85pfCay1mvs2u1E2wf-y4C2x2lnZGDXwXEYHBN4CWBAFzC7PlJTXDhA-Xoss2A5xXXvzWoO-Q6-Htpct4aHn0oOO_m2CUW2xP0FQ==",
  "id": "rs_0a7e5ccba4cf383a016ab452c6aea087d0b0c90f09dc0a5b97",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.26,\"left_z\":0.07,\"left_gripper\":1.0},\"note\":\"The combined move stalled at this extended high pose, so I’m separating the motion and descending nearly vertically at the current reachable x/y. This previously allowed the arm to change configuration without losing lateral alignment.\"}",
  "call_id": "call_HzCmFOy7YD8B0f0R6roAAtMR",
  "id": "fc_0a7e5ccba4cf383a016ab452c703e887d09221013746e5fa7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HzCmFOy7YD8B0f0R6roAAtMR",
  "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]: [-0.7467, 1.8908, 1.2896, -0.1478, -0.6186, -0.4988, 0.9982, -0.0193, 0.5224, 0.1764, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4359 left_y=-0.259 left_z=0.1279 left_yaw=0.0118 left_pitch=-0.0258 left_roll=0.0081 left_gripper=0.9982 right_x=0.2471 right_y=0.003 right_z=0.0797 right_yaw=0.006 right_pitch=-0.0201 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.4991, -10.0171, 8.7453, 1.4823, -0.2662, 0.1197, -0.2027, 0.0205, -0.1436, 6.7077, 1.917, 0.0171, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69ff8154ddd49c80d37de8ebdc3df06b94e4aaf85e9565ed57d09e0f34d2d674",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23118e68c97722a3bd1b7b11a761e7f85811d4289b442f2c72293a9d12c12e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:295715174b9969a0004fcf136a2589bc6739ed2f9d929fa8705c5fbbd7482ecb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.345 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]: [-0.7269, 1.6852, 1.0737, -0.1356, -0.5999, -0.4725, 0.9981, -0.0193, 0.5797, 0.2356, -0.2611, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4002 left_y=-0.2176 left_z=0.1362 left_yaw=0.0036 left_pitch=-0.0334 left_roll=0.0193 left_gripper=0.9981 right_x=0.2531 right_y=0.0029 right_z=0.0903 right_yaw=0.006 right_pitch=-0.0338 right_roll=0.006 right_gripper=0.9981\nstate[joint_eff]: [-0.4718, -8.1026, 8.335, 1.5556, -0.2076, 0.1783, -0.2076, -0.0068, -0.4581, 6.8308, 1.9902, -0.0122, -0.0513, -0.0073]",
      "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]: [-0.7467, 1.8908, 1.2896, -0.1478, -0.6186, -0.4992, 0.9981, -0.0193, 0.5362, 0.1902, -0.2451, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4359 left_y=-0.259 left_z=0.1279 left_yaw=0.012 left_pitch=-0.0258 left_roll=0.0078 left_gripper=0.9981 right_x=0.2489 right_y=0.0029 right_z=0.0829 right_yaw=0.006 right_pitch=-0.0197 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -10.1402, 8.7453, 1.5311, -0.359, 0.0708, -0.2076, -0.0068, -0.1709, 6.8308, 1.8877, 0.0122, -0.0562, -0.0171]",
      "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]: [-0.7467, 1.8908, 1.2896, -0.1478, -0.6186, -0.4988, 0.9982, -0.0193, 0.5224, 0.1764, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4359 left_y=-0.259 left_z=0.1279 left_yaw=0.0118 left_pitch=-0.0258 left_roll=0.0081 left_gripper=0.9982 right_x=0.2471 right_y=0.003 right_z=0.0797 right_yaw=0.006 right_pitch=-0.0201 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.4991, -10.0171, 8.7453, 1.4823, -0.2662, 0.1197, -0.2027, 0.0205, -0.1436, 6.7077, 1.917, 0.0171, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69ff8154ddd49c80d37de8ebdc3df06b94e4aaf85e9565ed57d09e0f34d2d674",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23118e68c97722a3bd1b7b11a761e7f85811d4289b442f2c72293a9d12c12e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:295715174b9969a0004fcf136a2589bc6739ed2f9d929fa8705c5fbbd7482ecb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLLTciv6Lc3EDX6TQvgpLB0qitd75zyaLJBH4BGaGu2S4DkgXaEIVM_-SP3ZhDHKA2m2OgA3j_KOC4NnZ_5sekUnhc0CY_fVdbtvaCycbqHPp-hqfyYgJJKML1jcBgxcPoZlG7xAgOjZhZrqxYrrkxw8KzhLQ5YNBuvTDcS9NIW4yx4sqwHJwNeur4B6_6MIMyA-0y9w0V2i6B8HzO7Jtr811_T5ZoBwbZTNMQFuAwHPItyjDzA_eznKJHdtoEBTnosyLrRC4QpLxjcLoMk6ye8GRlM7I2xXctpFGrL1v__ux8BLizocV6qtEhIXu-fYLiOqQ9pyUBZlqpCpNj3wgKUvxaBYrnnEOrNQGVjKV0hfvOumNYtFwdKmA-3sHwmnYyH77EQSsHSXlYFB95npEmZZlM5cIs_atJqf35uL2-Z3CQI26hJoXPAgR_gfUgpvJdwisRQbGEUDgHJgTRM7Kt5azl_5mEcAqFsadVIeDYUHh3OdCkJyL952KA8eY_4T0jvXllKLAdP6_zySyPYIoOfx3ubx1aV7ntP4GT_2v9i-1mCHE2k9s2mDO45ypKUA6uqIwaJlXG_yb3uQbh68Jw6qq7uAwHJVZfeuWlXYHWtCcWssbsVrQO9APDQZtT3svuTnecauyZWDH99p82A7tUqmQIe9AkHTk41tq189Uh4ku4yzNdSLzBCtNhcGnLGDMFTVkUoLtBxmqAxiE8UiUVD3pMT2J1UGsLzzhJ7Rs57cecAhxtuy7ijYpyTlgjbdpHpHlet9Jz5CTdl0v3lE5YsSpQxAks3EdwvStMhzk5dQqWqD0Idf6w5bTB6PIxwni4uAoh5KTOPLTVXThMARH-ZvwF4tj0NyJxrv9DcVmBEgsOx4dqfoEiyocWIEAuDpQl-j9GM6Azpcci_XWjlhSrboTmFG1DJpmln9dYmDYXNCYsaTdwXlakMrMGwF3mg_3HLTVfxkfDlTtipDlkW_qFqc_Rjfanzr6jCRJA6Ofio8WvFWsC3aGNuwe1gABb1zVfmKuyPlFCXhm43LcwBfFHRXXocZ4q8ROOsz0GcAel9fMgWUesQ5-ykfEvmSIv6e3GS8w5nLQBtjntw4W2sNybZNp51Csxau7RGGHE3hrdf8dI2XfkdRpHsfQ5-aOlVh9RMjORCLPVGOv84NZPF_Ia9kctFGt-bBvdwid1JCOYxZMLPai2aJp0MdyjVNrVS1CE7rCToNSJTdEP5BN1iEPZHC1ufzcWpXMW5BDF3DyNWFPGA8fajT7v5N5GLWxzaJJWKRu11bXLdNhcg2HJKqoccEl0lY4kkNZWtjCLCL_rqJ07y37mlK8fo6fMQa4AjANv0r5KOLlzeMuLEGhKILYUhsvigepaQC86OWmxqtng2P08Zdo6uIVaBfYG_YdmhSKwY21Z03xmei44lB5Jl1iINn7pT8AeJf-nkkow_-txrEbPlWn9IXDjIelawlASjeX70FuQAoFsGgFUDKQEsudA0MQ==",
  "id": "rs_0a7e5ccba4cf383a016ab452c9e13087d084dede25e5b352d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.26,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The pure descent also stalled, confirming a joint-limit configuration rather than contact. I’m retracting several centimetres while lowering modestly to let the elbow reconfigure, then I can re-approach the same cap at low height.\"}",
  "call_id": "call_yqW4xiE21y47n7QsjTjJxIzB",
  "id": "fc_0a7e5ccba4cf383a016ab452ca8c9887d08cbf969f31ad60c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yqW4xiE21y47n7QsjTjJxIzB",
  "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]: [-0.8471, 1.8324, 1.0756, -0.0566, -0.6743, -0.5556, 0.9982, -0.0193, 0.5064, 0.1596, -0.2443, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3837 left_y=-0.2622 left_z=0.0913 left_yaw=-0.0161 left_pitch=-0.042 left_roll=0.0346 left_gripper=0.9982 right_x=0.245 right_y=0.0029 right_z=0.0759 right_yaw=0.0056 right_pitch=-0.0197 right_roll=0.0054 right_gripper=0.9981\nstate[joint_eff]: [1.4564, -11.494, 7.1453, 1.8095, -0.6227, -0.1441, -0.2027, 0.0479, 0.0342, 6.9675, 1.9756, 0.0513, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e0f79a904e98cb4aadb52541c292c6c1bf53d967aa02940daba70a61fce6c74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759cb3c3592380e3ea855a19ca68dc01ef922be1af5010cb65a02e40401ede31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2208a48192e1d91f47e81ff558a0e5940435fcea70b93e1434853e9f58b774f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 3.49 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]: [-0.7467, 1.8793, 1.2648, -0.1467, -0.6182, -0.4934, 0.9976, -0.0193, 0.5541, 0.2092, -0.2501, -0.0235, -0.0368, 0.9981]\nstate[eef_state]: left_x=0.4316 left_y=-0.2551 left_z=0.1238 left_yaw=0.0089 left_pitch=-0.035 left_roll=0.0207 left_gripper=0.9976 right_x=0.2509 right_y=0.0029 right_z=0.0865 right_yaw=0.0062 right_pitch=-0.0235 right_roll=0.0054 right_gripper=0.9981\nstate[joint_eff]: [-0.7316, -9.9214, 8.9094, 1.5165, -0.3394, 0.0806, -0.0611, 0.1299, -0.4581, 6.7214, 1.9365, 0.0464, -0.0659, -0.0073]",
      "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]: [-0.7467, 1.8908, 1.2896, -0.1478, -0.6186, -0.4988, 0.9982, -0.0193, 0.5224, 0.1764, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4359 left_y=-0.259 left_z=0.1279 left_yaw=0.0118 left_pitch=-0.0258 left_roll=0.0081 left_gripper=0.9982 right_x=0.2471 right_y=0.003 right_z=0.0797 right_yaw=0.006 right_pitch=-0.0201 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.4991, -10.0171, 8.7453, 1.4823, -0.2662, 0.1197, -0.2027, 0.0205, -0.1436, 6.7077, 1.917, 0.0171, -0.0659, -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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8471, 1.8324, 1.0756, -0.0566, -0.6743, -0.5556, 0.9982, -0.0193, 0.5064, 0.1596, -0.2443, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3837 left_y=-0.2622 left_z=0.0913 left_yaw=-0.0161 left_pitch=-0.042 left_roll=0.0346 left_gripper=0.9982 right_x=0.245 right_y=0.0029 right_z=0.0759 right_yaw=0.0056 right_pitch=-0.0197 right_roll=0.0054 right_gripper=0.9981\nstate[joint_eff]: [1.4564, -11.494, 7.1453, 1.8095, -0.6227, -0.1441, -0.2027, 0.0479, 0.0342, 6.9675, 1.9756, 0.0513, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e0f79a904e98cb4aadb52541c292c6c1bf53d967aa02940daba70a61fce6c74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759cb3c3592380e3ea855a19ca68dc01ef922be1af5010cb65a02e40401ede31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2208a48192e1d91f47e81ff558a0e5940435fcea70b93e1434853e9f58b774f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLObzD5wO2Dwk0mdCrIPp4tBhrJq5E6WKBfilaRyNjsbKdexSc9kfW6BM8Zyk47RnWCBQ11ct6-uW-DBfoI0L4F6OtY_Kigmw25J_5FJPNCe4w2EKMCWcr00_Pu4o8rD8x7JOZhUQGkziBXZ3dRkrdb1iVHLLI9OfGxTtJgr2XrwcBrPfQbTrXnvwLhXCYaw5nmiAAeJQgjim9GKM4d0IX6bOlsZoUdVFS8RCxngg5fFe3weLo19nbZyT-DuM7SZXA5yzzHnZISa-Yu4NuFzWXdEllON67pYoP3MiB4OmtgjWF-mRqF6ZmxTi4XVXPmya3XFbzM_8MfQwjUUHSRpMF92yHFJrDHN6sA-w4cHmXbRh-hz2xJWl3mrxirlu2M9CVW0T3R33_-Lx_EfrZlix-ZGQzbJVlu5flGi1x1TH2_fB-mpVQr5PgzuH9gf1RiNCPlXbNsYw29MG-8z8GoqcNosEqL6VzpbD3E3NC4rpX7fWs_3i5G6Ub6yTT-6MfGHHsUZC9Ygt272npMAiG8-_Xxym9yRWgbptyNnXAhWIALkAAbH5PzLmwJSOSaXiJvFA7ul-epCk_MB1BO-MgtrV2pRVa7wYxf0xCBHW17hYI3rs7VGHE_DGNiIurdq4ncZ-S9qdwjfviMl87c2bww2tQSLyQhn7-cezgRSU8LvdKmDlY0lYaLyMvXzfrfkAl65B0e1cHCW0dS2rCUBGouObSIJzSZ-KkbX_XiSVhSDyk5moXcTp2SoqePgzlXWP_thz6HKhTCpBrBEaD7w7xH3uTRVEKt4sbFQETi51FkcB6lBGgTqmJtfhBvPXSMgp1rq5Y0Q_CEgUsn1kkAl_rplB6ysrKuPw5AczSH2B9ncJRq5fPtx4V4oy5s8FCJmKDH7KO_4T1mRbOpAed7zDDL0VKUh-ptH9DMINsLrzeTb6cdGEekdqL4TWfRmPeeC6GO4HLyJbTKO7YxDxcM7J_HG4q0FK1Fy3keK6ISBCEmqoPOS3H9uPAVK6ImCp6PBzfMUfiR9Oyl_CHTc0jt-TC8GfZ73JVnVP6JMP24kK8l1DB3KDG3v1u1zqV_xGgZ5FhYlxKDQgNZ4boloJej1jMMXpuJknEJuGMzXMDU_gIgR388Jj6T6Zpoce-znNY2ReHh5OysNkJeSi0bhBDQyzqClu-03hUGqrPNP4iHDpu0GWHwhF-nkRrH0_2owwP3Aa6mStJ5QSF6oyp5ALt-hYNMCToAEPm_rPR9v_WvevfBSXOrSKjYDL0Yn_0N-EXo070QXEhF700CZDAAUIbBbG8WlgB48SEeVUcena566ixPlIOUM-2dwsdtqpOwzWOdbnQWjwgk1JpE8sdymksEk23V0HZwJA==",
  "id": "rs_0a7e5ccba4cf383a016ab452ccfb8887d09abf520a50aa04dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.25,\"left_z\":0.055,\"left_gripper\":1.0},\"note\":\"The retraction successfully changed the elbow configuration; the cap remains near the jaw column in the wrist view. I’m now re-approaching it at low height, with a slight lateral correction to keep the cap centered.\"}",
  "call_id": "call_Hw8likoURzM1Cyjacr3yO9R8",
  "id": "fc_0a7e5ccba4cf383a016ab452cd71fc87d09f79c46576cd7efa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Hw8likoURzM1Cyjacr3yO9R8",
  "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]: [-0.7132, 2.0087, 1.0931, 0.1787, -0.5976, -0.4713, 0.9982, -0.0193, 0.4896, 0.1448, -0.2447, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4372 left_y=-0.242 left_z=0.0483 left_yaw=0.0148 left_pitch=-0.0268 left_roll=0.0122 left_gripper=0.9982 right_x=0.2432 right_y=0.003 right_z=0.0728 right_yaw=0.006 right_pitch=-0.0182 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.294, -9.5248, 8.2667, 1.6484, -0.0757, 0.1001, -0.2027, 0.0205, 0.0615, 6.8171, 1.8779, 0.0366, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f7b50c65f6dc5ed2e77d9ad9c3e2047cb6967cf874d32551e2983b23db065cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:656d909d425c67afc3c82bc2d915ba0919c4573ae9cbef3940683175639b86f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ac34c056deab91ef762abb66558afc1b834182868a7b33ea130bca6c3e978d",
      "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 · 2.482 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]: [-0.7467, 1.8908, 1.2896, -0.1478, -0.6186, -0.4992, 0.9981, -0.0193, 0.5362, 0.1902, -0.2451, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4359 left_y=-0.259 left_z=0.1279 left_yaw=0.012 left_pitch=-0.0258 left_roll=0.0078 left_gripper=0.9981 right_x=0.2489 right_y=0.0029 right_z=0.0829 right_yaw=0.006 right_pitch=-0.0197 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -10.1402, 8.7453, 1.5311, -0.359, 0.0708, -0.2076, -0.0068, -0.1709, 6.8308, 1.8877, 0.0122, -0.0562, -0.0171]",
      "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]: [-0.8471, 1.8324, 1.0756, -0.0566, -0.6743, -0.5556, 0.9982, -0.0193, 0.5064, 0.1596, -0.2443, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3837 left_y=-0.2622 left_z=0.0913 left_yaw=-0.0161 left_pitch=-0.042 left_roll=0.0346 left_gripper=0.9982 right_x=0.245 right_y=0.0029 right_z=0.0759 right_yaw=0.0056 right_pitch=-0.0197 right_roll=0.0054 right_gripper=0.9981\nstate[joint_eff]: [1.4564, -11.494, 7.1453, 1.8095, -0.6227, -0.1441, -0.2027, 0.0479, 0.0342, 6.9675, 1.9756, 0.0513, -0.0562, -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 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7132, 2.0087, 1.0931, 0.1787, -0.5976, -0.4713, 0.9982, -0.0193, 0.4896, 0.1448, -0.2447, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4372 left_y=-0.242 left_z=0.0483 left_yaw=0.0148 left_pitch=-0.0268 left_roll=0.0122 left_gripper=0.9982 right_x=0.2432 right_y=0.003 right_z=0.0728 right_yaw=0.006 right_pitch=-0.0182 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.294, -9.5248, 8.2667, 1.6484, -0.0757, 0.1001, -0.2027, 0.0205, 0.0615, 6.8171, 1.8779, 0.0366, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f7b50c65f6dc5ed2e77d9ad9c3e2047cb6967cf874d32551e2983b23db065cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:656d909d425c67afc3c82bc2d915ba0919c4573ae9cbef3940683175639b86f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ac34c056deab91ef762abb66558afc1b834182868a7b33ea130bca6c3e978d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLSfIfx6Y7kH2C2sp1Mp8_unEcel_AXeoBvh0K6mm0vCmCnXG4XWnvJJVVKNt1t4XG-5JZkhErhB5sPO7c3hKKrBMmGzEo-gjTouVcfRK9IXNgPKFIx2iO3gc0jvtkkdImGazhCGJxsG0rXRxvqdesFOAys2kZxkspUwS5wtGqVXL6eIQ6p-wrZsYGwD5e4Qbp3_oYXplDch8u7lwkrewTYYrSMVGhr2zQ33pZRiWem4izztPF9zKyjECBJyMSsgcqKcKd9fIevnqPeRfqHfnarIJMo_hzmeLAEUG8xda5zqSwZ08mxfBpZn2lq9hrHckJZ5BYYKtUSr-jc20eHvKVzppscMZ_c-Id0fe_8SWVnxmHAHDoZFhJPnWMrVh8V7o2YPMEdt_dfzN8UOGTS3GLGQfcSYtPb54apUtQoRPUWomkCm_1ULNC_A9SBlkF8xXuq4zAi_pyGZjjYxSdUycjnFU-wuBUYU2g_NbJISnGYAzvqAhrptFBfYDc-TC0plhMKph9YgYjpwU8NFGXZ-Q2eb_YnUq7Cc9OfeN6ZmzkfLQ8GA4pczuErNTQo9i6FCrEohOL2tcmDzOOD36iKtnDubrfWevNg72eFbup5saGFmtgiUp9YOye7lHOWNT48KejyRtE__7omu1UWrLhnzJf8jotzTeBgGvbFc-feGoROVkKo6JffhNEYcrZ7wfGFkIKkc2vNStguLnaC-fsHOhgpQZSRryuw3NI13fiNDENjD8Sck4zOE9SqEG0rRY1qCO8X_Z6wHH--yQ1F5f-e-OpQ5YHQN1TuPmpGpbX5mSt52jxF9eed73d_GdAK7uHuxcxf12Nd_mH9GFmcK13cgrOPFRsf3a5tZ1Hsjl9I09inedkQUqH1jH5dchzCL201OYyVoIzCx5yxnoALj2CPUqnt87DSAZBdI4TIKI4H1nKBkQVu9CEos1-Zq2Dz9EVBNp0Q7UecxMFeNCP424giVyXYSEA7nucaF8m865WOAUNS2yTJtasi4Vms9G-KVKEWj6cwRyyiz4i-1BKIKCmdujqCbQMlBoZNZjwROssmArwGWkRMsPPXMMZGbhlSn9SXSy3DhJGgV6qsYFPKQ_NU5LC--hYdCOtZDAqaImWvHJU9_25szLYHMQoLV0mDFrhydBJTLZSZmOZKS6m7ajHhIpzulfViX60jaBvdETMCl66lPTQBPSUhFj_ZrZD9L4wBAjPqLmhlW8Rq7W7dSx1OXRTG1uirBcWUTLHFldhrni2rT1qauU_4_vQmPTpvSeFnjfclMu64X4LWtml5mC3Y8iMa70AdUgVR92-lUW9WabHURP8xRExir7vZ-dF4hnvRk6qyiLrTYlgsIwilDccuiNshi1uNLqp6rHs1Syl8H9CL2X1pU4_w1fgG3NIvGGQZwwQCP64g2B2Ge0ndnPqDZUXIYq04zCaAnwDql3SoeRR47VMZ5GyWJ9UBvnxibHaVvLsvBEutRfq36SA6Gq6Y03lw5XsZh4Z8XKLKqMs0gX2O42bCFqwy3j38BsFb9tHxwLlzQ2I6R9EkHGfDbUouYqYya6Qx0o5F-uoXmgDoaKp1yVnd_ZZ9QVtxjysNe8Z9-ubbaOVs8MURCwgYA64OyQn9Wi20EKOofjozeIPziTreo4dQ6jdHgpG5MqoIVuPjtSGftpGfunrfDlJC-mbvjthzEXa2BQN7wtoDZk8l2Szd9oPjdwaATZS6ZF60B63g08XT5BTT43mq24pZVgEzIbbj7Rvojwsusu9lQjIcy99TdPrppM0F_HRVUTVJeXR-8lWC_xi966qVzJUDe2E3lg5iySYy34XhgXFEjwaI2RSKFbqedIu-1JxL7q9rcDuwV_CB6Fs-law2OzFPllGq692RTNb084NZWOYUYm96e9p84mF-R30US2EymMWULy5xfqyQ8dwAIvxzEcth2GmWnqL2EfaEl6sujNDlh8tRBdIcueYAgdCnPlb4Rim7vkwSmli9",
  "id": "rs_0a7e5ccba4cf383a016ab452cfb35c87d08cbcf36ce80927a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.225,\"left_z\":0.04,\"left_gripper\":1.0},\"note\":\"At low height the bottle is large in view; its cap is still forward and slightly left of the jaw column, so the grasp point is presently over the shoulder/body. I’m moving farther outward and slightly left to bring the narrow cap itself under the fingertips.\"}",
  "call_id": "call_plBjCCHD2idaXSQWXldihQOl",
  "id": "fc_0a7e5ccba4cf383a016ab452d141b487d09e18283b94c646bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_plBjCCHD2idaXSQWXldihQOl",
  "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]: [-0.6239, 2.0777, 1.1339, 0.2626, -0.5571, -0.4362, 0.9982, -0.0193, 0.4767, 0.1314, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4718 left_y=-0.2201 left_z=0.0412 left_yaw=0.0538 left_pitch=-0.0015 left_roll=-0.0144 left_gripper=0.9982 right_x=0.2414 right_y=0.0031 right_z=0.0694 right_yaw=0.006 right_pitch=-0.0193 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.1299, -9.2923, 7.5282, 1.6093, -0.0366, 0.4078, -0.1978, 0.0479, -0.0342, 6.8171, 1.8632, 0.0024, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b495d66a7e4af171d695e5c68fd8a705a6ff648abcbf3aa08f3992131a50ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c9ee143c706c88a5368032bebe45aa25038c4a29633ffd90fe38eaa87dbea8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fed76d775ccb71e03fafddf475f04485b77ebea97681858dd01cc9df19692f14",
      "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 · 5.417 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]: [-0.7467, 1.8908, 1.2896, -0.1478, -0.6186, -0.4988, 0.9982, -0.0193, 0.5224, 0.1764, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4359 left_y=-0.259 left_z=0.1279 left_yaw=0.0118 left_pitch=-0.0258 left_roll=0.0081 left_gripper=0.9982 right_x=0.2471 right_y=0.003 right_z=0.0797 right_yaw=0.006 right_pitch=-0.0201 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.4991, -10.0171, 8.7453, 1.4823, -0.2662, 0.1197, -0.2027, 0.0205, -0.1436, 6.7077, 1.917, 0.0171, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7132, 2.0087, 1.0931, 0.1787, -0.5976, -0.4713, 0.9982, -0.0193, 0.4896, 0.1448, -0.2447, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4372 left_y=-0.242 left_z=0.0483 left_yaw=0.0148 left_pitch=-0.0268 left_roll=0.0122 left_gripper=0.9982 right_x=0.2432 right_y=0.003 right_z=0.0728 right_yaw=0.006 right_pitch=-0.0182 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.294, -9.5248, 8.2667, 1.6484, -0.0757, 0.1001, -0.2027, 0.0205, 0.0615, 6.8171, 1.8779, 0.0366, -0.0562, -0.0073]",
      "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]: [-0.6239, 2.0777, 1.1339, 0.2626, -0.5571, -0.4362, 0.9982, -0.0193, 0.4767, 0.1314, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4718 left_y=-0.2201 left_z=0.0412 left_yaw=0.0538 left_pitch=-0.0015 left_roll=-0.0144 left_gripper=0.9982 right_x=0.2414 right_y=0.0031 right_z=0.0694 right_yaw=0.006 right_pitch=-0.0193 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.1299, -9.2923, 7.5282, 1.6093, -0.0366, 0.4078, -0.1978, 0.0479, -0.0342, 6.8171, 1.8632, 0.0024, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b495d66a7e4af171d695e5c68fd8a705a6ff648abcbf3aa08f3992131a50ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c9ee143c706c88a5368032bebe45aa25038c4a29633ffd90fe38eaa87dbea8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fed76d775ccb71e03fafddf475f04485b77ebea97681858dd01cc9df19692f14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLU0bD21x6Se-rsnsnsBFgJPvT0pN95CA7p5QkKi5Oow6KyiXHzmVIRi6drhV0ipDd0wk4uc-0PGk1_dVFvHlhOPY78NT32h697AzCM8n2TEJfC7XnI3sRuJbKpI3fix_jgHcWXh3E5PfmjCfK7HvBNcOTyjuXllx13DTMaUAXoXEvpFtZae0rq8TP_j-JC6u7ujS-hb8vL0axBA5LCnw4rKNsV9kKODt7GrugCn5IRs_9ObstgQDd3iRmxOxtPCSK0a-em5cjnOJnilpPb0t8FqxTSVmWcKB11vqCfclqytghfxk1Rg6aUsVpNZlUTmMEgkpwT3xCmCabpigD9PApNWya_ZaWMc1PClhC8AwkEUXp9uLvbW_Gr1OlFRuxJV-hEPkQ9WQanLYT5xdC1z_Gn1kMqOkRgiIEgWoOwEnJMIYM9IVpzneJS3GgWK3EjxHMCMTaucoQZUMV2udxFgOlFO-vBbhI1rG_-6WzHh-uMOo_vX-eq-OF52REMg8p1QM-QooeTLT8k40LwlUKbAvgzXITAqoSWGK9wIHzTBem6LwjeMh44E9zPtA27hUeySP18wyU8kmY1pKOz8hQEtKGqgUCzVwbyPhRr5JZmXyVwksvsANylzCPUv2sezKPeRJm0D_HIflT-rDM3e0JbvE7m3QGw4wGZofE-rP08_JRiJcLUZ3VHlbLYspDyY6BU593Z4jHNnbUv6m6nwYFK3xqoTziX_KV_owuh5_SO-oBO0cu5H--fD6Nooq8UNNv9LTWYwQx7yNTIFShPRPlrh6B-xpttJ307g0n7rYTMdjXfv2-nrU77j0ZZwoHgj8qEKTMoSzjCxC832gm9ltO_wZpd2cCzh1L8bqvmCfbOWnYIJ2lPQ0zrhpOK4ZYB14637xvLPboSZ2rMptta8urSAXttnC0NlgBew24CNtdIVUbtNXGNVO6NXosde5Xfps5Ggptpflouk7cX9-x89QLWEy-uoHy8KBLn6bZLBa9sbNiDrtdu-iEFaL5TDaZGq3oMpSMdjfM2WmPOj2F0LyaP7GQ6pKoM4vhUvfSzsBK_w6R8e3xdx5mbxhMdA0v2K6ooGNC1DYO2o7dSdC6uGZ4fKiFpnTqae23lK47mP8gDROVRCTQxgHkoLeMdqRzKwSPVjRvcGKX-0OuRbpx03p-rCcurTIa9M52DwH9FnAiQC6zXo4G_YiZ3mFEOerraaWqIo--XztsX6cEuXYNIlP7qW1jj143QAxhRx1o4cP8KNtxSkI_ahCgPw_4f2zEe9faXc5CkGy0GI-XCIMnl5GAvs5nN-QQX4S0bC8ruLAFy8yNvGdtZo0Cjnxq4Z-T3nee6oFkd",
  "id": "rs_0a7e5ccba4cf383a016ab452d39d3887d088481f3933fcfc6b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.492,\"left_y\":-0.22,\"left_z\":0.035,\"left_gripper\":1.0},\"note\":\"The cap is now centered and has moved downward toward the fingertip row, confirming the alignment. I’m advancing the final 2 cm and lowering slightly so the cap passes out of the wrist view directly beneath the jaws.\"}",
  "call_id": "call_X4hu5SLGhDechQFgGcsrmln3",
  "id": "fc_0a7e5ccba4cf383a016ab452d4158487d09201c3e0d3bbf563",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X4hu5SLGhDechQFgGcsrmln3",
  "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]: [-0.609, 2.0872, 1.14, 0.2806, -0.5457, -0.4183, 0.9982, -0.0193, 0.4648, 0.1242, -0.2451, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4777 left_y=-0.217 left_z=0.0412 left_yaw=0.0503 left_pitch=0.0055 left_roll=-0.0138 left_gripper=0.9982 right_x=0.2408 right_y=0.0031 right_z=0.0688 right_yaw=0.0058 right_pitch=-0.0144 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.5265, -9.8667, 7.5419, 1.5409, -0.0415, 0.232, -0.2027, 0.0479, 0.3214, 6.612, 1.8877, 0.0415, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203566591050f4720cf604761d1fa663435efd37d0a6934f8f2f0bcb5ef3ea51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e4082692d3ca84b58e69d2c0452b4fe03d60f32e62a85732c5dba62f0e74380",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa084c287139fdaecf894d95219f39eff6fbd975391a74787f1f58f41b492ad",
      "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 · 3.996 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]: [-0.8471, 1.8324, 1.0756, -0.0566, -0.6743, -0.5556, 0.9982, -0.0193, 0.5064, 0.1596, -0.2443, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3837 left_y=-0.2622 left_z=0.0913 left_yaw=-0.0161 left_pitch=-0.042 left_roll=0.0346 left_gripper=0.9982 right_x=0.245 right_y=0.0029 right_z=0.0759 right_yaw=0.0056 right_pitch=-0.0197 right_roll=0.0054 right_gripper=0.9981\nstate[joint_eff]: [1.4564, -11.494, 7.1453, 1.8095, -0.6227, -0.1441, -0.2027, 0.0479, 0.0342, 6.9675, 1.9756, 0.0513, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6239, 2.0777, 1.1339, 0.2626, -0.5571, -0.4362, 0.9982, -0.0193, 0.4767, 0.1314, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4718 left_y=-0.2201 left_z=0.0412 left_yaw=0.0538 left_pitch=-0.0015 left_roll=-0.0144 left_gripper=0.9982 right_x=0.2414 right_y=0.0031 right_z=0.0694 right_yaw=0.006 right_pitch=-0.0193 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.1299, -9.2923, 7.5282, 1.6093, -0.0366, 0.4078, -0.1978, 0.0479, -0.0342, 6.8171, 1.8632, 0.0024, -0.0415, -0.0073]",
      "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]: [-0.609, 2.0872, 1.14, 0.2806, -0.5457, -0.4183, 0.9982, -0.0193, 0.4648, 0.1242, -0.2451, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4777 left_y=-0.217 left_z=0.0412 left_yaw=0.0503 left_pitch=0.0055 left_roll=-0.0138 left_gripper=0.9982 right_x=0.2408 right_y=0.0031 right_z=0.0688 right_yaw=0.0058 right_pitch=-0.0144 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.5265, -9.8667, 7.5419, 1.5409, -0.0415, 0.232, -0.2027, 0.0479, 0.3214, 6.612, 1.8877, 0.0415, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203566591050f4720cf604761d1fa663435efd37d0a6934f8f2f0bcb5ef3ea51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e4082692d3ca84b58e69d2c0452b4fe03d60f32e62a85732c5dba62f0e74380",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa084c287139fdaecf894d95219f39eff6fbd975391a74787f1f58f41b492ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLaCbXqV4U4o-RxtzZHrG5qrtY3b_vj2yjGNr1Srx49aiXPFmHLPTCEVzTerQjuhI99I34PQW1hJKpltbVsPRH_p9qjbS4yqxzs2t0UbswrOSB9iQb_xhMFtjsrKYS86frQsbCXbewT5MzuTVkm2SVJAGkfogYWtlbN7YF_oR5UXJHzyD1zRf0sDSIr0ljZZbcvWJsUrniC4v6Nd6utS1NmyMzwH51eln-7AkgK4EEv7lWK8j1T2YX8J4HUMhHcxqehgBfzI5qc0AjzoLq-PNVqddCLO1fhokSdJ700GDQgRbpRhrrlYFlDZL6Cde0i8KT7nVcr8vWL9vLe9MvX5hjzsWE2MGEGBmGYlhUeXiHiX_YkJrMV6nVtnoPwaIyT-rZpxJPwofs9_Gyq5C0_mjVktf8wPuut_Pb5b-ke3KUMolZECVBTkxXhfhiF3cPuElCN8S8JwDPtpUcJc0drNsufF1iE56ziRRVhkvcNnBDFX5HhaH3t1Cd1ri3ALEj7lUOrVndPHR5yB1DNJ8hk7SeS8T4XUfFFNklNYm5DEvjN9tao6eyimBcoStuFzF8e9HNPBQuMI40ibMCOTkAEPOdB7iI7yw2s2rQb016__qPz_vO1N9AfRhKpVsNH7sw_qeXkF8Xtn1Ha1d-OEbxkIDkt5GJ7wjWs2zADTOUH5pzZ281IeaREdDMmshtDNNhAytSvUkgGnyfFywadvZM_LRPVCAhm2AF-QYsFDvGXvlAKTRnZQcDlvnPRENPQkMIJFiKoNrO91zeRIAJ9ADKGOGD4G2bOXpFKsOPZR_I-dTVUq64nGfKg8UUKZUPaqFph_a7nUTCnUg40cMIjq1VhYq0_8oY9MxgZ8eZh91zk3k9X841b1tArNAQZwrSSF03p-slvfBnXswIF9IXZAc1T1xub6_iQY8Vb6ZSm7Qf3GBAjVjcGHAw55JMAKYL2TooSlW_RImfqTGPqO2oKgdXhzhl1sR7zfQyRmOiehJ7QA5JkkhwblQPozzCMdYG6QyHwgsAkSDxIxl7z_AB_UNBiCpYjeflt5omn5NK0kCwHqrGCcB5HZ20r-nwAlIB188MZu53GtTNq6FcnMGMjFjqaEGSCrZ3UK-MwJpuMOSo-kf1OmKq4ka6Hd98clOwY_FJLMZv40_R8ho9NRlewQgJbaVin14ZqBJrUdq5GFMR84Kb1V5vePPZQMc-XojyGS2uALrwuCUxr9HLJbwCHRqPTm7u_iFIb37DgwgWjralvsb81tx9d7z8AVt3flK1XLTgJ_VDdW7a9qvhYi0h3-ntumpdmxAHbYVZMPcrp74uGRsm2vSmFv_gRSFisf7uukkeWi87aRMycvM2H_SrY4wvNXdPmZJEIWbfN-qgOyxoWCwQmd23Ml7-v5ltbTuHv_3Oo6pJrBf6DcdzXk5bv92h_ggmPp2avPMAGt53uJMeyiogfgtL5oXZcOZ6ynNGju42z3g4-NR2IuuFWfeH5TAirtSh0QyPycNl6IZQoCQ-z0tZ0pzWckgb3eutqtMpnsmsLeaeX8iOzfTv9DGyhhrJpkAZRaCP5O2KmG3iRSvvTmNesFjnJC8Ck2FyNgcQZTWgYo8rcUB18poYzCuLZAEtz7ibQXnBMwiAI2HwOwyeQhxf2x_yrN8GG8GL-HbwfsiJpKjNSru1tPFTxv1HoXuQFeNxRQwJWpB1mU2kwZAmG-2kbuHL8LpnNjNVqTbRbyHs1mwRsUHJ0-zzXJxtvewvDL8i7sBz971WhUA5pHCyLNPom3cipRjXPja1vljh5j_FlGozYfb754oCjISx7y5R9hjE4cf4Q1rEglpiKVYi0d9Dzg4BJEcmQM9PLltJrZa7vFpu2IzZ3uKAVwbRP9q_16e6xwULS6-DYrdVBDX7tWaYpNz-B0u5-aGXbZWIpcFk0gmpYnsubZpifjJg3sBEvQadSjLb4LmmDYOMtNfm3QPreLh0Fj3J77UWsrLevhW38jP7Fa5iDFhD3j9ybyS33HQpNQFw3JZdasKyaBhPJM6M6luH-SBdt35k8IiM0JJVLw8qiooD4rwZiX8XdymR9BtHD2DClMWhLhIZrTAntQmrkpSyRVOOM3G9bQ8cdVn_W3uHAlaUliP00SUB164A0cafvxx4CTwegVkaoePw60g5YMn63DWLHBDWSfYCuy7oGLdXurVDeARYi_hCCA4MbphqYbPbsn5OpHCRJx7GWRMgrt2yzFkorvIgz5KDNLqFblNeUfC8aFsLYztlTLSK_zGJ7NwVN7dch7VV7uQPpTEeaumGczvYLPPV0sSZyCBco3pZDSGfvrfrG12agIEXmj497pxxego81cRVflxqBIbMwDJKaBaB4PH9J_OoCUMb1Il-bIBCtj63olpGkRHllMfxPYXafgm-Sfz1vjGE-IlWAfuHvMmbcKsxR4Jq2cSPUyCKvA9StKjLUM6ciBn6lodJhTuxMWbFx-e9sHpB1qf8wSXiAjCAlUEBRpf5QgMVunoU735r0xdyFPeRYyS5L_dZ2ZEwAb-pIMZPbH_4wcUxuAzHw4Ch0pUGLpTJp-yaNjM8-kGejinRQ6qZxv6fI1crwWw==",
  "id": "rs_0a7e5ccba4cf383a016ab452d6d94887d083da0ac79615de06",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap remains beyond the low-contact reach limit, but the bottle body is centered between the jaws at the reachable edge. I’m grasping the body so I can pull the whole bottle several centimetres toward the bases, making the cap reachable for the upright-lift maneuver.\"}",
  "call_id": "call_TwJ2bHncH6zJLyb53OaSRvGW",
  "id": "fc_0a7e5ccba4cf383a016ab452d96ee087d082fa3f13efb6f1e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TwJ2bHncH6zJLyb53OaSRvGW",
  "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]: [-0.6136, 2.0872, 1.1454, 0.2882, -0.5396, -0.4217, 0.4813, -0.0193, 0.4557, 0.1131, -0.2451, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4787 left_y=-0.2218 left_z=0.0441 left_yaw=0.0428 left_pitch=0.0134 left_roll=-0.0277 left_gripper=0.4813 right_x=0.2394 right_y=0.0031 right_z=0.0658 right_yaw=0.0058 right_pitch=-0.0163 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [0.253, -10.7145, 5.9966, 1.3651, -0.359, 0.0513, 0.8034, 0.0889, -0.1026, 6.9538, 1.8632, 0.0415, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d3beb5df4a2496d3f1da0b1d2bce4407e1ea7843159833c6aab71d8661c5c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc4c4239ba62be38efccdaa4afcc44e2183e8a99f9fb6f55640164338477b26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68aafc679687366e5f323987eaf5d7cb2172ca0c2a3ebcc8cea9a2772b08154d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 4.929 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]: [-0.7132, 2.0087, 1.0931, 0.1787, -0.5976, -0.4713, 0.9982, -0.0193, 0.4896, 0.1448, -0.2447, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4372 left_y=-0.242 left_z=0.0483 left_yaw=0.0148 left_pitch=-0.0268 left_roll=0.0122 left_gripper=0.9982 right_x=0.2432 right_y=0.003 right_z=0.0728 right_yaw=0.006 right_pitch=-0.0182 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.294, -9.5248, 8.2667, 1.6484, -0.0757, 0.1001, -0.2027, 0.0205, 0.0615, 6.8171, 1.8779, 0.0366, -0.0562, -0.0073]",
      "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]: [-0.609, 2.0872, 1.14, 0.2806, -0.5457, -0.4183, 0.9982, -0.0193, 0.4648, 0.1242, -0.2451, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4777 left_y=-0.217 left_z=0.0412 left_yaw=0.0503 left_pitch=0.0055 left_roll=-0.0138 left_gripper=0.9982 right_x=0.2408 right_y=0.0031 right_z=0.0688 right_yaw=0.0058 right_pitch=-0.0144 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.5265, -9.8667, 7.5419, 1.5409, -0.0415, 0.232, -0.2027, 0.0479, 0.3214, 6.612, 1.8877, 0.0415, -0.0366, -0.0073]",
      "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]: [-0.6136, 2.0872, 1.1454, 0.2882, -0.5396, -0.4217, 0.4813, -0.0193, 0.4557, 0.1131, -0.2451, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4787 left_y=-0.2218 left_z=0.0441 left_yaw=0.0428 left_pitch=0.0134 left_roll=-0.0277 left_gripper=0.4813 right_x=0.2394 right_y=0.0031 right_z=0.0658 right_yaw=0.0058 right_pitch=-0.0163 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [0.253, -10.7145, 5.9966, 1.3651, -0.359, 0.0513, 0.8034, 0.0889, -0.1026, 6.9538, 1.8632, 0.0415, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d3beb5df4a2496d3f1da0b1d2bce4407e1ea7843159833c6aab71d8661c5c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc4c4239ba62be38efccdaa4afcc44e2183e8a99f9fb6f55640164338477b26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68aafc679687366e5f323987eaf5d7cb2172ca0c2a3ebcc8cea9a2772b08154d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
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  "id": "rs_0a7e5ccba4cf383a016ab452dd19e487d0a101c8073ebb2cca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.22,\"left_z\":0.11,\"left_gripper\":0.0},\"note\":\"The gripper settled around 0.48, confirming a solid grasp on the bottle’s roughly 4.6 cm body. I’m lifting slightly and retracting it about 12 cm toward the base so its cap will fall inside the low-height workspace.\"}",
  "call_id": "call_kxphmd3aDBlpW9x81pcI1yRb",
  "id": "fc_0a7e5ccba4cf383a016ab452de495087d0b1a3e251e0db2c1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kxphmd3aDBlpW9x81pcI1yRb",
  "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]: [-0.8257, 1.6791, 0.9173, 0.017, -0.6796, -0.5629, 0.0086, -0.0193, 0.4427, 0.0998, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3689 left_y=-0.2309 left_z=0.1083 left_yaw=0.0121 left_pitch=0.007 left_roll=-0.0199 left_gripper=0.0086 right_x=0.2378 right_y=0.0032 right_z=0.0625 right_yaw=0.006 right_pitch=-0.017 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.212, -8.9778, 5.5316, 1.3455, -0.4713, -0.1538, 0.779, 0.1026, 0.1436, 6.9812, 1.8437, 0.0366, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29bf353ab3d5f6364650df7c03c54d89f4534ef85c940ff43ce7ccfc1145caf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776f4a2bae04a9306d53086cc46306ea48cc4730e934869f64706e239ed418ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38df49c59a95cf62d3e9c096e1a126a45807d58c22b329ce448e520caeb78dd2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 3.048 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]: [-0.6239, 2.0777, 1.1339, 0.2626, -0.5571, -0.4362, 0.9982, -0.0193, 0.4767, 0.1314, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4718 left_y=-0.2201 left_z=0.0412 left_yaw=0.0538 left_pitch=-0.0015 left_roll=-0.0144 left_gripper=0.9982 right_x=0.2414 right_y=0.0031 right_z=0.0694 right_yaw=0.006 right_pitch=-0.0193 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.1299, -9.2923, 7.5282, 1.6093, -0.0366, 0.4078, -0.1978, 0.0479, -0.0342, 6.8171, 1.8632, 0.0024, -0.0415, -0.0073]",
      "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]: [-0.6136, 2.0872, 1.1454, 0.2882, -0.5396, -0.4217, 0.4813, -0.0193, 0.4557, 0.1131, -0.2451, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4787 left_y=-0.2218 left_z=0.0441 left_yaw=0.0428 left_pitch=0.0134 left_roll=-0.0277 left_gripper=0.4813 right_x=0.2394 right_y=0.0031 right_z=0.0658 right_yaw=0.0058 right_pitch=-0.0163 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [0.253, -10.7145, 5.9966, 1.3651, -0.359, 0.0513, 0.8034, 0.0889, -0.1026, 6.9538, 1.8632, 0.0415, -0.0562, -0.0171]\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 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8257, 1.6791, 0.9173, 0.017, -0.6796, -0.5629, 0.0086, -0.0193, 0.4427, 0.0998, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3689 left_y=-0.2309 left_z=0.1083 left_yaw=0.0121 left_pitch=0.007 left_roll=-0.0199 left_gripper=0.0086 right_x=0.2378 right_y=0.0032 right_z=0.0625 right_yaw=0.006 right_pitch=-0.017 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.212, -8.9778, 5.5316, 1.3455, -0.4713, -0.1538, 0.779, 0.1026, 0.1436, 6.9812, 1.8437, 0.0366, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29bf353ab3d5f6364650df7c03c54d89f4534ef85c940ff43ce7ccfc1145caf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776f4a2bae04a9306d53086cc46306ea48cc4730e934869f64706e239ed418ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38df49c59a95cf62d3e9c096e1a126a45807d58c22b329ce448e520caeb78dd2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_0a7e5ccba4cf383a016ab452e23e3887d08a53a39a4586d648",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.23,\"left_z\":0.035,\"left_gripper\":1.0},\"note\":\"The body grasp slipped during transport, but it successfully dragged the bottle inward; the cap is now centered low in the wrist view and clearly reachable. I’m reopening, advancing 2 cm, and descending to cap height for the actual neck grasp.\"}",
  "call_id": "call_rpQTx9YbbcrsRRlbVyhqjQXC",
  "id": "fc_0a7e5ccba4cf383a016ab452e3cca487d088dde05f470f4d99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rpQTx9YbbcrsRRlbVyhqjQXC",
  "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]: [-0.7868, 1.9049, 0.8738, 0.2756, -0.6613, -0.5308, 0.9951, -0.0193, 0.429, 0.0914, -0.2447, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3876 left_y=-0.23 left_z=0.0386 left_yaw=0.0205 left_pitch=-0.0095 left_roll=0.0066 left_gripper=0.9951 right_x=0.2372 right_y=0.0031 right_z=0.0618 right_yaw=0.0056 right_pitch=-0.0109 right_roll=0.0052 right_gripper=0.9981\nstate[joint_eff]: [0.3214, -8.3897, 4.3282, 1.5409, -0.1587, 0.1343, -0.1392, 0.0752, -0.0205, 6.5026, 1.8242, 0.0513, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dae9c7f29e2dd890870aacc71a98dae389b662bf7decc1d722210ee4c5a575e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e24d4c602813991ec4c6647256a27baabc07d08c971a67a8bef14306ab20e9c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fe24cfd2a09b7d3cc97dcb50ad9d23eec8eb911c430d92440044a98319ea721",
      "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 · 2.853 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 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.609, 2.0872, 1.14, 0.2806, -0.5457, -0.4183, 0.9982, -0.0193, 0.4648, 0.1242, -0.2451, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4777 left_y=-0.217 left_z=0.0412 left_yaw=0.0503 left_pitch=0.0055 left_roll=-0.0138 left_gripper=0.9982 right_x=0.2408 right_y=0.0031 right_z=0.0688 right_yaw=0.0058 right_pitch=-0.0144 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.5265, -9.8667, 7.5419, 1.5409, -0.0415, 0.232, -0.2027, 0.0479, 0.3214, 6.612, 1.8877, 0.0415, -0.0366, -0.0073]",
      "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]: [-0.8257, 1.6791, 0.9173, 0.017, -0.6796, -0.5629, 0.0086, -0.0193, 0.4427, 0.0998, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3689 left_y=-0.2309 left_z=0.1083 left_yaw=0.0121 left_pitch=0.007 left_roll=-0.0199 left_gripper=0.0086 right_x=0.2378 right_y=0.0032 right_z=0.0625 right_yaw=0.006 right_pitch=-0.017 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.212, -8.9778, 5.5316, 1.3455, -0.4713, -0.1538, 0.779, 0.1026, 0.1436, 6.9812, 1.8437, 0.0366, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7868, 1.9049, 0.8738, 0.2756, -0.6613, -0.5308, 0.9951, -0.0193, 0.429, 0.0914, -0.2447, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3876 left_y=-0.23 left_z=0.0386 left_yaw=0.0205 left_pitch=-0.0095 left_roll=0.0066 left_gripper=0.9951 right_x=0.2372 right_y=0.0031 right_z=0.0618 right_yaw=0.0056 right_pitch=-0.0109 right_roll=0.0052 right_gripper=0.9981\nstate[joint_eff]: [0.3214, -8.3897, 4.3282, 1.5409, -0.1587, 0.1343, -0.1392, 0.0752, -0.0205, 6.5026, 1.8242, 0.0513, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dae9c7f29e2dd890870aacc71a98dae389b662bf7decc1d722210ee4c5a575e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e24d4c602813991ec4c6647256a27baabc07d08c971a67a8bef14306ab20e9c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fe24cfd2a09b7d3cc97dcb50ad9d23eec8eb911c430d92440044a98319ea721",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFLp-Wj9DsNmobc6Tbno74BcapE9hpkC-BZibG_Bh1aSUDOaobzET5Ov7bF-hA2Fw9-AVQZkGTBe1o4nostjarXLVdmacUsw5o3SEuekUxCe98UsyGbak5WR-5f0GfowOeuk-l4vujW6X_eNuv7OlS9P7nE1Z9PJALKXtyGSFzMCBlCESmBtUTZHBzxiGFoWF2XQpsLhjLgxkYGJFW4IyxekYFFreI6Q6N7pCEgvIeUdcJWE6Z1s3oi960C27q3VlQhDh5gxcpPb2j99To3p2XZndDSKSF2H_GxZ6y-FZKvP5B-plXYt9lO2H2JfxyG7n3z2O4Z8cfriRa2LUNazd_Tw-7huQ2ONA8zUzm5X-Bz3VwjQCK-zM88-rdTzePDu-27Y98a4aWFHk2Ekl5JfRiGAS-VpvJbMQwfZm8YaIoPiAFsMYbGF9xg3VTi1qxMa9auVafANYixXULvtqdDl3RT-K3kiEjNfFl_bRaB4KyM8Z5Bf-BV2hZLJKsL5uXWMXyuBFwleJUmlBqliaaRTU4eRdPpLHVJznrDJMPqIA12O6qsYXvz0X95F2fWEvAJltoU_ASDx8T0vkecZkilKbVKpyVvs0S_-PandjbtTxJDE-I0z7xTmafyKZuyKwZEEU40nz3wXku8aHbb2xmyLPkIaWfSevqATxB_KXqTVUxVzduyGUJTaEaT7BeKfcwG2Cr34BiYqLz_OBNh-8-B6S7D2MltuHvWU1jR8ZyWRqxuScNL0o4-tt_Ix13tFIx544JjLWdDrewVY8EmVvmIOAz-iEHXwzVQgXfUlItnQfD9ByC7wQ1KuUdvO751i5jRRQD7WFH5utDpIq8j1icgaCkOqRGZjk7QJ0dUEJpE1KKKKKR28x3jyiVHhSHqBD1CO5ZythMHAQoW_9ZLaSNzWPTvzUpLpfqH4BRkfemjJbf733NL2069qm5apEBXBJgVPK1z2JorGJ5XUvDkE430FLH01WeEbWNnUQSDuqhqzEJYIDQxdeWAyXBc5eWbYG_RklbEWfp4UWpHdh-2sY382HCzDUzOc08Aofx3Fa_2w2X7LzaEu5WzDaZQwfx7kMp_5y4SNEH-NW9jXfD7j9o2B2f7wXXlGWKdhGxoZcOmDyfN-doBqRSrTVZffBBQ9Nf_jnGKa_9nA3YK6rlh-3KsUO542wyIdBvJSILBxzXIUZ4_FuUXLrCzJ7oPiVgZgksLP8Rl7Z9HwLBWnMP4GwYX2KMw3f-KNb5zoJalzTYOBDlcOpVIMkF41NOl6FhKs6DoN-Mkfy_VGuvwvW3Sl-aHUB5uMLoz3KF9lJX-SImwXMq_9kFgrviwp8DBU9i9UifqSasHD_OjbRxGEBYBOlH-GIbKiaESnR0-YT0KVylIhpz8SJzdznXScezOr9yP2Y_Z0r79URbCfUvzsgEfNbPKg1J2h7g==",
  "id": "rs_0a7e5ccba4cf383a016ab452e76e6c87d0b35a7096b57d4311",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.23,\"left_z\":0.03,\"left_gripper\":1.0},\"note\":\"At table height the blue cap is perfectly centered laterally but still forward of the fingertip point. I’m advancing about 4 cm while staying low so the narrow cap, not the broad shoulder, enters the jaws.\"}",
  "call_id": "call_dXThK5UVSKkuMocOxhWVik9F",
  "id": "fc_0a7e5ccba4cf383a016ab452e7f91087d0b5b36d31caec122d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dXThK5UVSKkuMocOxhWVik9F",
  "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]: [-0.717, 1.9953, 0.9592, 0.3294, -0.6281, -0.4999, 0.9979, -0.0193, 0.4225, 0.0853, -0.2451, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4228 left_y=-0.2261 left_z=0.0342 left_yaw=0.0491 left_pitch=0.0092 left_roll=-0.0175 left_gripper=0.9979 right_x=0.2365 right_y=0.0032 right_z=0.0603 right_yaw=0.006 right_pitch=-0.0109 right_roll=0.0054 right_gripper=0.9981\nstate[joint_eff]: [0.4444, -8.2803, 6.9675, 1.4432, -0.0659, 0.149, -0.2222, 0.1026, 0.0752, 6.7761, 1.7949, 0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd098514308ae532eae05add1461720088c31d170602f86e1b6c01070178bdc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a53371a255659e2435c2f2b0a12d99c7979deab95b53b59564f56a0cd1faf43d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580eb55e5c6914cd886a63a4d8fe6736fe1c64329249f4b118f383dbf5ebd270",
      "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 26 attempt 0 · /responses · status 200 · 4.454 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6136, 2.0872, 1.1454, 0.2882, -0.5396, -0.4217, 0.4813, -0.0193, 0.4557, 0.1131, -0.2451, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4787 left_y=-0.2218 left_z=0.0441 left_yaw=0.0428 left_pitch=0.0134 left_roll=-0.0277 left_gripper=0.4813 right_x=0.2394 right_y=0.0031 right_z=0.0658 right_yaw=0.0058 right_pitch=-0.0163 right_roll=0.0059 right_gripper=0.9981\nstate[joint_eff]: [0.253, -10.7145, 5.9966, 1.3651, -0.359, 0.0513, 0.8034, 0.0889, -0.1026, 6.9538, 1.8632, 0.0415, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7868, 1.9049, 0.8738, 0.2756, -0.6613, -0.5308, 0.9951, -0.0193, 0.429, 0.0914, -0.2447, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3876 left_y=-0.23 left_z=0.0386 left_yaw=0.0205 left_pitch=-0.0095 left_roll=0.0066 left_gripper=0.9951 right_x=0.2372 right_y=0.0031 right_z=0.0618 right_yaw=0.0056 right_pitch=-0.0109 right_roll=0.0052 right_gripper=0.9981\nstate[joint_eff]: [0.3214, -8.3897, 4.3282, 1.5409, -0.1587, 0.1343, -0.1392, 0.0752, -0.0205, 6.5026, 1.8242, 0.0513, -0.0611, -0.0073]\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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.717, 1.9953, 0.9592, 0.3294, -0.6281, -0.4999, 0.9979, -0.0193, 0.4225, 0.0853, -0.2451, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4228 left_y=-0.2261 left_z=0.0342 left_yaw=0.0491 left_pitch=0.0092 left_roll=-0.0175 left_gripper=0.9979 right_x=0.2365 right_y=0.0032 right_z=0.0603 right_yaw=0.006 right_pitch=-0.0109 right_roll=0.0054 right_gripper=0.9981\nstate[joint_eff]: [0.4444, -8.2803, 6.9675, 1.4432, -0.0659, 0.149, -0.2222, 0.1026, 0.0752, 6.7761, 1.7949, 0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd098514308ae532eae05add1461720088c31d170602f86e1b6c01070178bdc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a53371a255659e2435c2f2b0a12d99c7979deab95b53b59564f56a0cd1faf43d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580eb55e5c6914cd886a63a4d8fe6736fe1c64329249f4b118f383dbf5ebd270",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFLssaInxzzGgYjzVG2dhfXGY6n188HbWapmFGErHlrvxoqRUtSmowlq0da_FaUmFUWg7vVFF2BX8jjv19C4ArTNGBymhWPHBT01pE0rcdWSD6fxfWTVZjK22Ygbjw1XaTanJuSbBR-E62wdxfZARFuOi7PCvj7hwnOkIsmHFTngK5JpieWRmModIvVNMStlx-qPwgfkTSHduScJ8zq5eJZs88KQhw_WKFIgzZ5ewkjJti9bfz2cmjKH2UapX2FK112DxFHR6K69qCipGmo6nFH7vBrFcbYOY_7ujbdelSBKdNyH8OudI--Z_7eh0kSKyFCs0AG6DOW3dkG_Ny0bZpWJaSxDfXy6GTMDDE98o-asa53QUnrrd5Xh3pllSerS9wluq6iggsjsqusyrbX3S95nwfZGcyHRUGQVj-sPN1BUq0DE2JquTWdpXMS2BtdelCRDfYlCJ7Pcr0Lqk4bABecJfxEAnOP9YcrzljjjIhiLiJcUopz5A0h8mZf_nyF782bAZb2or9ixXIV2juJjofTp8PPIFcc9nNtgWkXJZMzthGa3j1nI5ZZHyKMvaKC-5GHAlxnosBswMnYQcz8e5wD_mgU-546RhTHzJFpJyiW9dQk_RlXYxIkYNJu61zhaG1rZaFV_B2Z_0mSRv2nl0bHjTsnV2fO_x5oBe6V4RYioPkSb1XwpK2k60oSho9NHXlWlIe__dUJ_80VwQFsNAbwD5zUWB2z28KdEzHtLWkzC6zGDeVO5K5mkRNcH9skoGpMATAonhlrff-5ZQfFEACv1lsxSBVu-TawOwdEGn2pfQxmafy7E5Il6IagXZZB0vI1ZpBQ2JwwyKvc2t6TFyBU6_7b7VMGzvDtYJA4GF5FKMyeTwEfh-PYe-CQMY0nFQFS0CtrYAMPP3nsw06v66z1ZZftwXMgtTQmbPtdhHSV7cjJCjGMILDBszvcov0W6Z7p2zdAuC7lbTSgFnMjPaHEz-8MPQMbGBLPLweTsyVTl4t_Zu_V0s_s1CIu-5Xg8jAVyN3FMKiGFNWeZlX_z_609zHqqNqsUxom_VNnMJclFyGRAZsdY5X1O27TC3MbqG0eq8pdLDZVkbrnpAmQtXikAi5yAkqF4iDs7EF7Gm9Nab_6unGPFPKvtwPGodexpYMxgNRA_f-Ej4Le6Rg3Bwiy5hAnSm9WSrh4WJACB4YOJVd99cJ4jLSRFHv-UKo8Tr6OV04oMwDQ-8gVlh_-DyHnkDOJvMDXS8uhaGRTMxTOnRDYMNnxgKcGJgQefJNVT_EQnNFJJ_qc0uYfSSRuLe2bac1XB7a5G7wHDM6o7kQwzJtGiKQVH6Nl3bDuLqN-83kORXBHN3vkx4RVlZktvUdaeAQ_cc0uKue3aDKLLgV0E1RVMTNQBMji5BH-rcPQeTWQrwwQj_lrSoWj04UV3yjNO1CXf6DKKyPZZYvJaOewQTvPmemjiwuzyCR9AH1jE2xUoZhBt8mW1cHOpbG8Y4tnjfhA7Lwb1EYEiCL5a7WcNZFenawGoiq0Y9RrcNKPrlSfq5WM75eER0UBDcsWvfls3DQ==",
  "id": "rs_0a7e5ccba4cf383a016ab452eb4f1c87d0bc55a1e6d55bfd7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.225,\"left_z\":0.03,\"left_gripper\":1.0},\"note\":\"The cap remains centered but the visible jaw tips are still alongside the bottle’s labeled body, so the grasp point has not yet reached the neck. I’m continuing outward another 4 cm at the same low height.\"}",
  "call_id": "call_QPrnuRtrv5UBfpoVhlUFwPLZ",
  "id": "fc_0a7e5ccba4cf383a016ab452eb92f487d0af02f89e79991bcc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QPrnuRtrv5UBfpoVhlUFwPLZ",
  "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]: [-0.6506, 2.0872, 1.0985, 0.3042, -0.6014, -0.4694, 0.9981, -0.0193, 0.416, 0.0795, -0.2451, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4625 left_y=-0.2219 left_z=0.0336 left_yaw=0.079 left_pitch=0.0139 left_roll=-0.0191 left_gripper=0.9981 right_x=0.236 right_y=0.0032 right_z=0.0591 right_yaw=0.0058 right_pitch=-0.0102 right_roll=0.0057 right_gripper=0.9981\nstate[joint_eff]: [0.4308, -9.2513, 7.2, 1.453, -0.0513, 0.3248, -0.2125, 0.0889, 0.0752, 6.8718, 1.8095, 0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e5f6e0fde3aac59072a7e6a67c9a31a14dbc6b6640950dc4b2b468696a42594",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6c1cccb68a24de2108af9e3c27fc381eda0004a8296a5e9584e56fdda12eea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be1165a6afb60671fa9d5f46ff1d55b5cb7dfd42114afa7c3734de0154e57fe2",
      "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 · 5.918 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8257, 1.6791, 0.9173, 0.017, -0.6796, -0.5629, 0.0086, -0.0193, 0.4427, 0.0998, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3689 left_y=-0.2309 left_z=0.1083 left_yaw=0.0121 left_pitch=0.007 left_roll=-0.0199 left_gripper=0.0086 right_x=0.2378 right_y=0.0032 right_z=0.0625 right_yaw=0.006 right_pitch=-0.017 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.212, -8.9778, 5.5316, 1.3455, -0.4713, -0.1538, 0.779, 0.1026, 0.1436, 6.9812, 1.8437, 0.0366, -0.0366, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.717, 1.9953, 0.9592, 0.3294, -0.6281, -0.4999, 0.9979, -0.0193, 0.4225, 0.0853, -0.2451, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4228 left_y=-0.2261 left_z=0.0342 left_yaw=0.0491 left_pitch=0.0092 left_roll=-0.0175 left_gripper=0.9979 right_x=0.2365 right_y=0.0032 right_z=0.0603 right_yaw=0.006 right_pitch=-0.0109 right_roll=0.0054 right_gripper=0.9981\nstate[joint_eff]: [0.4444, -8.2803, 6.9675, 1.4432, -0.0659, 0.149, -0.2222, 0.1026, 0.0752, 6.7761, 1.7949, 0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6506, 2.0872, 1.0985, 0.3042, -0.6014, -0.4694, 0.9981, -0.0193, 0.416, 0.0795, -0.2451, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4625 left_y=-0.2219 left_z=0.0336 left_yaw=0.079 left_pitch=0.0139 left_roll=-0.0191 left_gripper=0.9981 right_x=0.236 right_y=0.0032 right_z=0.0591 right_yaw=0.0058 right_pitch=-0.0102 right_roll=0.0057 right_gripper=0.9981\nstate[joint_eff]: [0.4308, -9.2513, 7.2, 1.453, -0.0513, 0.3248, -0.2125, 0.0889, 0.0752, 6.8718, 1.8095, 0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e5f6e0fde3aac59072a7e6a67c9a31a14dbc6b6640950dc4b2b468696a42594",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6c1cccb68a24de2108af9e3c27fc381eda0004a8296a5e9584e56fdda12eea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be1165a6afb60671fa9d5f46ff1d55b5cb7dfd42114afa7c3734de0154e57fe2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0a7e5ccba4cf383a016ab452ee080087d0adb4d45628dd060b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The bottle’s full length still leaves its cap beyond the low-height reach; the first pull did not move it far enough. The jaws are again centered on the body, so I’m re-grasping it in preparation for a deliberate table-level drag farther inward.\"}",
  "call_id": "call_UMVPhia66KnMJw5uXX9uKobz",
  "id": "fc_0a7e5ccba4cf383a016ab452f052b087d0b51d46390a75e131",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UMVPhia66KnMJw5uXX9uKobz",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.635, 2.0941, 1.1439, 0.3855, -0.6205, -0.4454, 0.0102, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4849 left_y=-0.2252 left_z=0.062 left_yaw=0.1018 left_pitch=0.1108 left_roll=-0.07 left_gripper=0.0102 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -9.6479, 4.8342, 0.7546, 0.2906, 0.0855, 0.7741, 0.294, 0.0752, 6.3658, 1.8486, 0.0073, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c77403d130e71329da628f5f90bf6997e8aef07ce0011b2f5c50f942ea0c7e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91fc1096789c3490c29cf68d51d4457fe5b62595d36cb9858a0e5a70b6bc43c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db82cacad336f6142c153f7a83bac8a3d072779649bdc346ea0513b1ec5a0c73",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.723 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7868, 1.9049, 0.8738, 0.2756, -0.6613, -0.5308, 0.9951, -0.0193, 0.429, 0.0914, -0.2447, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3876 left_y=-0.23 left_z=0.0386 left_yaw=0.0205 left_pitch=-0.0095 left_roll=0.0066 left_gripper=0.9951 right_x=0.2372 right_y=0.0031 right_z=0.0618 right_yaw=0.0056 right_pitch=-0.0109 right_roll=0.0052 right_gripper=0.9981\nstate[joint_eff]: [0.3214, -8.3897, 4.3282, 1.5409, -0.1587, 0.1343, -0.1392, 0.0752, -0.0205, 6.5026, 1.8242, 0.0513, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6506, 2.0872, 1.0985, 0.3042, -0.6014, -0.4694, 0.9981, -0.0193, 0.416, 0.0795, -0.2451, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4625 left_y=-0.2219 left_z=0.0336 left_yaw=0.079 left_pitch=0.0139 left_roll=-0.0191 left_gripper=0.9981 right_x=0.236 right_y=0.0032 right_z=0.0591 right_yaw=0.0058 right_pitch=-0.0102 right_roll=0.0057 right_gripper=0.9981\nstate[joint_eff]: [0.4308, -9.2513, 7.2, 1.453, -0.0513, 0.3248, -0.2125, 0.0889, 0.0752, 6.8718, 1.8095, 0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.635, 2.0941, 1.1439, 0.3855, -0.6205, -0.4454, 0.0102, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4849 left_y=-0.2252 left_z=0.062 left_yaw=0.1018 left_pitch=0.1108 left_roll=-0.07 left_gripper=0.0102 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -9.6479, 4.8342, 0.7546, 0.2906, 0.0855, 0.7741, 0.294, 0.0752, 6.3658, 1.8486, 0.0073, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c77403d130e71329da628f5f90bf6997e8aef07ce0011b2f5c50f942ea0c7e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91fc1096789c3490c29cf68d51d4457fe5b62595d36cb9858a0e5a70b6bc43c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db82cacad336f6142c153f7a83bac8a3d072779649bdc346ea0513b1ec5a0c73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFL43Zw8XcGwge5X6WhFk1o7-jvRqbt8Wy2_gt4rZjRAwkt8P8AecHaxZRl-NSUlCBR-N1TvdHoYsm5SdmTqiVbLdjH4FQGQQdfGAhcFaTRe9lK4Jy51ECnKX5pCsDu8HvQFM7tH_lvnIQYjWMjE54zEOceX-K5a-Kivz42tPfrNZTjeaW9XZ8c2c29Ppk6TSaQR9lbTbg7kh2N7Ofg12ILAmWw4WLSCML20nWi-_r4y1PDlnegBxjr6Vw1L_DIEYy5jT1FAvtBhomUbzx4TCEQCDRh4oY0SoRiNJEGgH3oMsLLj1s4bBySmuXeVWEXcTHDCicdLFMMwMPS954thnVKEqzkule6R13n8smJJ1JPylBEqgNnRYxnDwL1pSwhWJw7a-Jrs8OBVp2hU3JcJKHzqu5mgF2o0tt7I85JlHOkBaJ9QKtTbHEdBf9O73hZfCn18K8NMho7aMht_KJGX1wS58rM78hixqn6LlKPWe53AmgJ9wrgZIL97Nr4wNYM_jifmbIVs2ggpowdLCDn8TC9SokDXv9cuCThbhUK8aS3ldq4VjbxYETwkYsofK6TaMKtG96thyBGClCDbUH5m3p0Dz9vEY0lPUVe8v4vGJaSFIvfVDMiEvvidMJeDFOGXsDs37oCRuL8eeOC-4UuApGTPcxXhJIT1i1sW6qIAB_dAlpJRaN65Z7m48dFyEaS2t0R836qP6vhdl8Fc1UlNit2HeSmwp-SXNi0TRlF3yfUUaH017ib1x3ED9qT_cPaRgTuujX9Xp6OrlkjcnKPGem0XzLACMyGF-3KR_CrxYzoiJWbqs3s_zdfwBuFtVqZ41qNO4wc1gxF04_cJfFW8T3mfTImyOoAPbrIP_TKiSaOEMdREhdJ3gY2Ci4S2_5_Kfjc_JG-a0CHp3mX8FoMj-E82rwV-XySRob0AHSvD_i8lnsAhTo6kgFkH4Hop4IUfl5092nWnQtDyghniQf5OXOSwjZyY1PYgJtLei0RNSZqgRYMbXsW8FgjZe4HVEVsjaKLLhSIozmm1iZ6TJQOXSE93SebaceibrSV6YZgl-1oCrhN-Cprrk7ju0epk1ZudOpJGn7XbraueP2qJ8fCDIWMMgTI81Cc-69M6iSKP3vrD4ZYz6HRKJcwhexcW_4raASopC_WhqcSFMVbXQDI101c9rACqSMdRFRU7ZTpe1kpSUImE32lp4fHvPA6MxpJMJKGBIUac5x0KVs4WPdJBof9cggkE_Tz-i6lRmEG-sOwF9ba6puq0WfvK38QyWHcLmNwlIX_z9SCC6I3W8R8heY2CTu74aSLWK3SDgSVifUhdPl1kaGS6DLpqM3lc_OqApMfDhAcRS9rDvK3jV9PUzcka4eTti6p1hJs5fXn4jS9gyvpkqBg6t3I33fXEmF9wMfQq5BRuFLlGJ5emu97eA-bzS_VISoO42yysKXwYfwgFJwlnBPzMaNBQVty9KfNaSFmaLBdXvtc10yLkco6n3I9rlTep43IdHFxjc57u0HF1CF8YY13sKtBnppTxiL-ww6nuJpkkbOUgha_n2mgQ26_ClrjDHJQu57A_NQ74y3pUhxAVmokPWFTy1tfgZj81j1x-ZeJam77y5_gmj2JO5bD0e3Qv0EvgZtMSXbcdwOEj5rTJxswJrRcsQ3CI5VD-G0pgwacjtODKd7NFFzNYhHoP8YmTeHEyYDPH7-VZMyTQik8cVr9p4_9FlAgscQ5cU_2gLiiZ6fmz5N7yc8GgiD7whTaT2jTjFJbT7LZRMAI9WyBSaaTWySCI-Y-ScrHViH6jdqqc4xT-TOCNaHAj2cI-ZmX_pIRL7spiV15Dl-ednv6z65eRe1S0XqVej0B7VmeDjRou5oW7V8wGIglSA4-jQZohmahbP-n0lyup9HnnDAeBHYWcQa3K5P3SJLF9sjfvhVQO3vwHsQJKKRRGVuAGfCkTpE8yRFNesKZW2ilEqqxiblcCrnLH8UXFwTSyONnB9JycB4385F6zF4DnegDYghf8bkGsSjgkC_iNuh5bRKdggfQGXqJq8d9Pf0Iyvo-_BiWouAIpHUEh6MJBPF1hCSXkwX7LoUm9iIQfZLHr06BSeL1yqpw1SpfjVn1mjpGY9f5FQCaDdgjjfI8nmEcdNtLL0Y3NNsVLO9H7xJ4py4o-OP5h07_xRTzNJ6UI_hHSpT4-B7OQJRq3dNNlHl64OqWIm5coKzPR90NV5VLiiJETo002zgcCTxfFdQX6BhZX4CC6wg6l3QZhndOyy_qt-6xNPI6_K4yZy-QrMNnn0o3C-PWJI6cNaNwWEycUqB_uStAunoQ_irEIy8iL-7ZQWtiJ1-vsI__T-xa1AeeDauhwjWEkv5DxMWK-UM18TeJgP-zmUf9n3Ky3KpsONcXMNzKKUYdr7QGR9VJn78s-ojm9f3cRv3aWhHPs0_V-zphhaGxY-x5FzXueQn52ZXAiDoWDJQhdAvJ_6ZKt7KxGQVACuvsc_UUGjuyfWQq74bzLHIgDqf8WuGP2CQK47LmNxS5eUg1oX7R-FYqGqfNEP7BT8phB-L8HPHZdkJAh4_tIO2X1WA7aHlYnEW2_5OULZAJ8egLFa7UpmpKw7RwstmcKudXIBJeCJXEy1i61LZkC3TwD_YX18nFpfwMffvTsqK8j-Dd57CdnC3ZOPF_mqj-0u_uJaHrB7DHlIXJsySdfbdoaj4KrFfNnVy3BGhCuuOoJ5APjfHGfK9CvzUQ1-O8mYF0UPoNDJmdq0utw6URLcJdvF8cTSgUW8XqU90THqKufxwkmRajhcSab2ZTGr57gWVPpYlYpME0uJhe1PhgKLkARwWu7xA5I3FYMx9YqJDVjT1def6pQ4FPekNFvFSQ0foQUVLl_syU80CejH5KCQMlUsQO7xneNSzJj6_Zej5czyXjaOZQUP72mNyh0Xmmsvra0uyKqNXPvS0MrNfCnsP1HfiQg90ZJXjgh98t4WnXhzS1X2nkC3SxSiabREXhCj1IhIj3p9e5shDJeWdCx2mVxsM6vicP9bsxbJdJ1ANKW3PQH7OmKEEopIiD3ceI_ciZmbpCGE3lZxudewCNlO10SMhVztJLwY_XUe102JTvzDuAwxswx2thH3H3FMNoJJxjaK3jR2TsvCU4fLll5l-3LMVCwO2q9fGpXnKknFz2Rqah0UuUHlc2QJcUxeaNK4MeJB9TYO2tDY-6KjJNJq3Hid1Gpvuai0C961pwTnOjf_R0jaj14dVyUGHFqHuz91owPDgScvnyyXSwWT2AEABM6Dg2m0z67TrVOIhI0b5t71ZtLZytSNy1iUS1mAP17DONTRZbqDaxOLi4ZyBAkOJZm7QED2PSzRsf8R-HPriJwpw-ox1vUECGk9IO6Bs8wnmy3lNk00rK4G5ak_NClfTHUXT2-F2zX9cU8Ot-kr76vArqGMg51g6Z0hodGngdw5lltkj9OgfUY59toObFwp71SSuDN9qBDCFtOJmB_fFtDF5Zkf4LMQ1JrCFS8zxw=",
  "id": "rs_0a7e5ccba4cf383a016ab452f38b7c87d0906851ba54073193",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.225,\"left_z\":0.0,\"left_gripper\":1.0},\"note\":\"This close was empty because contact lifted the arm as the bottle slipped under the jaws. I’m reopening, retracting slightly onto the broad body, and descending to table level to obtain a firmer drag grasp.\"}",
  "call_id": "call_nxoUGKx95uq15fcEC58VuYfm",
  "id": "fc_0a7e5ccba4cf383a016ab452f75d0c87d09cd35ca00bc6f4c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nxoUGKx95uq15fcEC58VuYfm",
  "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]: [-0.6945, 2.1044, 1.0714, 0.3939, -0.6701, -0.5087, 0.9948, -0.0193, 0.4103, 0.0792, -0.2459, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4558 left_y=-0.2322 left_z=0.0354 left_yaw=0.1104 left_pitch=0.0753 left_roll=-0.0544 left_gripper=0.9948 right_x=0.2361 right_y=0.0031 right_z=0.06 right_yaw=0.0056 right_pitch=-0.0056 right_roll=0.0051 right_gripper=0.9981\nstate[joint_eff]: [-0.7453, -7.1863, 3.2068, 1.0134, -0.0757, -0.1197, -0.0073, 0.1573, 0.3214, 6.9812, 1.8046, 0.0122, -0.0855, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ceafa36f7314b7631699ce07e3d42cfbeb2d6b0c176059a5aee290fd54a1a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b25d59dffc525e93dc06102cde0b63a70f8e8d9163f0f012c5ef45261aa48895",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7921cfc1c51709db598d81501258d33e4d4ed5bf0a73313dd117dc6bc378509d",
      "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 · 2.902 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.717, 1.9953, 0.9592, 0.3294, -0.6281, -0.4999, 0.9979, -0.0193, 0.4225, 0.0853, -0.2451, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4228 left_y=-0.2261 left_z=0.0342 left_yaw=0.0491 left_pitch=0.0092 left_roll=-0.0175 left_gripper=0.9979 right_x=0.2365 right_y=0.0032 right_z=0.0603 right_yaw=0.006 right_pitch=-0.0109 right_roll=0.0054 right_gripper=0.9981\nstate[joint_eff]: [0.4444, -8.2803, 6.9675, 1.4432, -0.0659, 0.149, -0.2222, 0.1026, 0.0752, 6.7761, 1.7949, 0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.635, 2.0941, 1.1439, 0.3855, -0.6205, -0.4454, 0.0102, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4849 left_y=-0.2252 left_z=0.062 left_yaw=0.1018 left_pitch=0.1108 left_roll=-0.07 left_gripper=0.0102 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -9.6479, 4.8342, 0.7546, 0.2906, 0.0855, 0.7741, 0.294, 0.0752, 6.3658, 1.8486, 0.0073, -0.0464, -0.0122]\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 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6945, 2.1044, 1.0714, 0.3939, -0.6701, -0.5087, 0.9948, -0.0193, 0.4103, 0.0792, -0.2459, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4558 left_y=-0.2322 left_z=0.0354 left_yaw=0.1104 left_pitch=0.0753 left_roll=-0.0544 left_gripper=0.9948 right_x=0.2361 right_y=0.0031 right_z=0.06 right_yaw=0.0056 right_pitch=-0.0056 right_roll=0.0051 right_gripper=0.9981\nstate[joint_eff]: [-0.7453, -7.1863, 3.2068, 1.0134, -0.0757, -0.1197, -0.0073, 0.1573, 0.3214, 6.9812, 1.8046, 0.0122, -0.0855, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ceafa36f7314b7631699ce07e3d42cfbeb2d6b0c176059a5aee290fd54a1a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b25d59dffc525e93dc06102cde0b63a70f8e8d9163f0f012c5ef45261aa48895",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7921cfc1c51709db598d81501258d33e4d4ed5bf0a73313dd117dc6bc378509d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFL73UhKhzrmtHTQXWiTbFnpymAhluLrDqp1_YD3HaRy1TEba9-171J5YhOaZSEsSPCpAHpH3DrhDttx5ozxaZFLgMZMSY6OqOUlX6msXi-HESH3FtjnVeFTjI5z9T60HhxZAwHNhvp6HSq0ddu0tKB1DiLbSew-TD_otza3dDqpXAs1Mo7SWD8VPE29siBRmB-rAb62cmmnnsCzeeYrmNo9RJcVKcvIsuG5HoaTGwiEwr8XrnWZlbXpvXTGaw0bD4KEAe9t4ULNih2KP_MYKeQ0GP8UFPHy9CnZSZphaLKQIdpemoq4GG2QI2rmTc9POPg9skHlSQsleGHwNr0mrcwnIfdcfz7zjanW1QiN8176Y7FdJseJhI90GqnXoSjNmzGIVHnPQ1f8-cca7IQXEgAaVkzRjyJL7-cLsefz5wfafdssIe_Ztc8lfFVmzHDmTzD-izlYJFZ2HzJWCSiCY_BVnRY8TrcKac4Pt4oIP8TrC2jhnu8MyTknFnBGjsQFgMzTrMAgjqPiDKcmYuLFZoU_J1jUbfuMTPnWLy9zOXUlmjF4SBvI092OJuSFnVgD3eByT_nLkdsnTSsRM1N0uHteXbJtsT6D3KbwR8beb7gQhyxHRtEM0t1A3CLsP6NB56i-sJC8kc8VqevdGS6l76B-9e8D0sBr6TdWLDWr_q2N8fJsNL3q7Po9-xGdTKLM3wGjsDsIhUcWVH4FqyHb4LBHdiLPpTiu4pEriG92dsymzOPjpRmpCQq5YVytobt56BLa44sTtGkYjhCzoo8S0s_DrEMMBJ5uI-ZsIeo8YtzMjHu6oCyBdOlGJ9KFH_OIjmvU75NaQ-PCUF3wG2O_UxthhP1As_LacGR7NjWVXACzSunjPrd1JY0tvwChegiTexmwoPpibLGg3gJLv249HLYypF0D3Joodaej7Rc82RFUezFyQkF-458EahtKbBCVkJOaUOyEKyAw-ZNb2Chbt6Y1Y-YZhh7ekt_BEhr9NtNGtZ9mllwtooBybNZC0Y-WvkxK-5g1fWark5bIfPMfofjUqtgMEwon24IwoXm_QqUmRODkqFhsbpQrTnsmN6WWXyxTO7-GaK9bKEXfF8O2bVCMgtMO2MRddLSsH-Xg0CJHM_r_pFWI0Rt00GTDYWQE5ENWAFZTWFTLMW3jnA-0w-Qeoiv-8rqRrAXvnrNSbb1Yd_OWto33JBu7EJXWidYWgt3gNgXxBa2DHtITky_oSmTLnBnt6jCoNAzVmWby_udsYPAJ-ysTZ-JCKYIiqrMkgyU4YQp5c-QVvZosnLvWMgqJ8acQ0eLx4_2OVKMj1R-uhIZKPeSb8RxplvkclnE0SKlg",
  "id": "rs_0a7e5ccba4cf383a016ab452fa303487d0bbb8eb4fc469e486",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The low re-approach now shows the bottle body filling the gap between both open fingers, a much better body grasp geometry. I’m closing to secure it before dragging straight inward along the table.\"}",
  "call_id": "call_3gM0hLRGEvpcfA05WYauP4gb",
  "id": "fc_0a7e5ccba4cf383a016ab452fa994487d0a3361658f7395b5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3gM0hLRGEvpcfA05WYauP4gb",
  "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]: [-0.6926, 2.085, 1.1561, 0.2985, -0.7052, -0.5282, 0.01, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4679 left_y=-0.2348 left_z=0.0611 left_yaw=0.1503 left_pitch=0.096 left_roll=-0.064 left_gripper=0.01 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.0058 right_pitch=-0.0052 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.1846, -10.0171, 5.3128, 0.6862, 0.2125, 0.022, 0.8278, 0.3077, 0.1709, 6.6803, 1.8242, 0.0171, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f0d4b07d891ee7c131a085342e996b4104fcc055e8767f576d62f8c00c28041",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eb14d3c996c26606213ec448d116935ed938aef4feb1f2630b10034937a371f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eba485fa8f5b58bdd36143c23a631478e9ffaaeaf701f7a5f9c0da48bd2ee290",
      "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 30 attempt 0 · /responses · status 200 · 3.354 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6506, 2.0872, 1.0985, 0.3042, -0.6014, -0.4694, 0.9981, -0.0193, 0.416, 0.0795, -0.2451, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4625 left_y=-0.2219 left_z=0.0336 left_yaw=0.079 left_pitch=0.0139 left_roll=-0.0191 left_gripper=0.9981 right_x=0.236 right_y=0.0032 right_z=0.0591 right_yaw=0.0058 right_pitch=-0.0102 right_roll=0.0057 right_gripper=0.9981\nstate[joint_eff]: [0.4308, -9.2513, 7.2, 1.453, -0.0513, 0.3248, -0.2125, 0.0889, 0.0752, 6.8718, 1.8095, 0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6945, 2.1044, 1.0714, 0.3939, -0.6701, -0.5087, 0.9948, -0.0193, 0.4103, 0.0792, -0.2459, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4558 left_y=-0.2322 left_z=0.0354 left_yaw=0.1104 left_pitch=0.0753 left_roll=-0.0544 left_gripper=0.9948 right_x=0.2361 right_y=0.0031 right_z=0.06 right_yaw=0.0056 right_pitch=-0.0056 right_roll=0.0051 right_gripper=0.9981\nstate[joint_eff]: [-0.7453, -7.1863, 3.2068, 1.0134, -0.0757, -0.1197, -0.0073, 0.1573, 0.3214, 6.9812, 1.8046, 0.0122, -0.0855, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6926, 2.085, 1.1561, 0.2985, -0.7052, -0.5282, 0.01, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4679 left_y=-0.2348 left_z=0.0611 left_yaw=0.1503 left_pitch=0.096 left_roll=-0.064 left_gripper=0.01 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.0058 right_pitch=-0.0052 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.1846, -10.0171, 5.3128, 0.6862, 0.2125, 0.022, 0.8278, 0.3077, 0.1709, 6.6803, 1.8242, 0.0171, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f0d4b07d891ee7c131a085342e996b4104fcc055e8767f576d62f8c00c28041",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eb14d3c996c26606213ec448d116935ed938aef4feb1f2630b10034937a371f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eba485fa8f5b58bdd36143c23a631478e9ffaaeaf701f7a5f9c0da48bd2ee290",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFL_V6zfZQsQGAfWwaVoplQRKim2vPgVP4MuneaKWhVQ4M5WIDG5SpDrfDm4rMvTbjvP1FMHWsshNOJrKnq-JDN0dkr7YXzQQT86Uek9dHwpKQqpNmTIOSarZQQsj6UfItaaAbC-I3k-G70HqN3CnFbdsBWC5AOlZV0wiJf9QnrlPk3cID3XHam5s1R7QRIlx-UzGZWQZitrzzD0jD-CasfwE4NFeN96842g46UkgFgqeAkgC_lulRmyjbhxtvn_W2QlmwHrgq3QD8xBHZVYwTOpn85o5MF4omcsti_9t8PEin6hanfSI889o3LGc_ow0MjLzNAGb-EJ5mMN7-aeCeOv21iDH0UKsmBmVPiKPfVfaM2dH1RrzN6LRIwtywbp7NR-dMNcwab7W0L2A_CGPz0aNi29JQFKlxnJ42c_xmHpQRXgi-5DXSVO05Ni-zaMlQDJECBAO8Fp9InFTbh7yDytZBTTtHV_7cL4mqqtYQGaf0RSlw6WMfEcZQ3pRfPQcQCUHrg2G5FczoUpJg8EVYRv0EZvZaMvMP_urq1u5rRGBD9cjU3WcGkcbzjXokqi1pr4HmVnKyHDbH4MqxOjdE0QuCIuHdFlKblClz1ZOttdy5lbVrGZtz8LLkSXzQrMn_0UaIVsL15Fo_81x3-s4A37bMmJILr29owBXsOdPOR0suROLS7tFkyTwazkoOzXgs9PvZafTl5QgdC9g15LcDZZBrCPtNObLho5D7vTAli6l6XjIA3jP6Wlyeb_Ir1vjv7Zr2T4s1FHBGcohZulzCdM5UkLXkdbxYWozi46G_JaBJB5GfPo-0RbVVGjbEdKBKdJf6XFqUNDmuOemthO2gJ8JI0jXk4bYm-q4N75RmHqqh-Z6uTWIx4-fYidWDWJD2B05dIUMgu24DK1l0XDDTv4QracXO6jdjugRTHhjCwKhuJWO5A3vCkBrC28KRH125yj9bf47UZDqvhPNDyF9OT5GXfFnxoW1oO9t_pibqUVB5Ysb2jfVAYVGnemqBseq6Zaqxu96hkaAf-lqbAGXNF5o7sX07AMo6aEt58SawGRSdXEXvSVlCDNvt6P6OhV9UiIzrooow8FV-Qthlsw4iLKLzZcbUZLt1duO1oBV2yxuVbmwvakRf8GoXorTE0yb_S08w7evJDtWc8IiZJqBHGF80f-W7ko5tsAvhjaaf731y2xxEJqD4nK8Jg-HmGxAxR6PlQZi8zgtc0rlLm3frHw_qoL6QN8fntWf81K_9S26A3aAFdOxMu0hCkGrb0d___CY6xa5Ao8dm2wbuMmZzSuqbH3KF5LZ5d1pDvpKZU6S2Ky4Vbv7Id5RK6KwSQesLnkNxc3Kq_W9CQzmdOePxWHUkO2WvLllPOv4nWCQ6IGAmha3Un-JVx2J4EUcabDfukjnJ3AVmQOnPCgBSaNYl9Z-HBT_mASF-OasoZsCB7-OHlD1rzzorSQj-U2--MIDyzrC9D1nCtxlW9u9-bvg1ixHmwdKquYKb3XBCFPzKI2n3Kaco1QbcH8Ugp7Nzy0y_6MSUwnCWJl2gu34v5zES8174Dn77Ao-B_iQbBkeamHJS8=",
  "id": "rs_0a7e5ccba4cf383a016ab452fdbe7c87d0b5faa7c1f8dd4313",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.225,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"A full close squeezed the rounded bottle out and left an empty gripper; the bottle must be pinched only to its body diameter. I’m reopening and resetting low over the body, then I’ll use a partial close rather than forcing the jaws together.\"}",
  "call_id": "call_rQRd7UoPMNd92aKOOZjArypT",
  "id": "fc_0a7e5ccba4cf383a016ab452fe874c87d0a895f7421cdbdb97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rQRd7UoPMNd92aKOOZjArypT",
  "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]: [-0.7074, 2.0853, 1.113, 0.2684, -0.72, -0.5804, 0.9954, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4522 left_y=-0.2287 left_z=0.042 left_yaw=0.1704 left_pitch=0.0537 left_roll=-0.0483 left_gripper=0.9954 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.7726, -9.347, 3.7265, 0.9597, -0.1538, -0.022, -0.1148, 0.1573, 0.4308, 6.6667, 1.7705, -0.0024, -0.0513, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e6937698cbcfcc1173330a72c03593b32a2bb116f45ce41cee4b151b4e3407",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ab2629a5b32138c89d1ca6d2222ac0e8b1280bb772f6aaf2a08ce7aa26622e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6b84375c036d186ff0d5115d6d26959ee8457ddf0a37a787b42275363e561a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.053 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.635, 2.0941, 1.1439, 0.3855, -0.6205, -0.4454, 0.0102, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4849 left_y=-0.2252 left_z=0.062 left_yaw=0.1018 left_pitch=0.1108 left_roll=-0.07 left_gripper=0.0102 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -9.6479, 4.8342, 0.7546, 0.2906, 0.0855, 0.7741, 0.294, 0.0752, 6.3658, 1.8486, 0.0073, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6926, 2.085, 1.1561, 0.2985, -0.7052, -0.5282, 0.01, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4679 left_y=-0.2348 left_z=0.0611 left_yaw=0.1503 left_pitch=0.096 left_roll=-0.064 left_gripper=0.01 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.0058 right_pitch=-0.0052 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.1846, -10.0171, 5.3128, 0.6862, 0.2125, 0.022, 0.8278, 0.3077, 0.1709, 6.6803, 1.8242, 0.0171, -0.0464, -0.0171]\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 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7074, 2.0853, 1.113, 0.2684, -0.72, -0.5804, 0.9954, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4522 left_y=-0.2287 left_z=0.042 left_yaw=0.1704 left_pitch=0.0537 left_roll=-0.0483 left_gripper=0.9954 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.7726, -9.347, 3.7265, 0.9597, -0.1538, -0.022, -0.1148, 0.1573, 0.4308, 6.6667, 1.7705, -0.0024, -0.0513, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e6937698cbcfcc1173330a72c03593b32a2bb116f45ce41cee4b151b4e3407",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ab2629a5b32138c89d1ca6d2222ac0e8b1280bb772f6aaf2a08ce7aa26622e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6b84375c036d186ff0d5115d6d26959ee8457ddf0a37a787b42275363e561a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMDwV2UmzXAuJlGPHxFr3jZKf3ZRUnQt47R2iQQpdySB7aMNs7Xca2GAv7woSF-BPo_4YK5uACsEsN_A9s4KCbSzk41f4EE591EuzNUy4mYj56stQlj5O3hx9b9c4yHpr850TT5z2k7sf73w8sOz7TmGOLZPomyDQuzZQAsgBhOb_3p0UoMtN3VFD4LX9LdXjBydvzxc2s7EbFFKDFqg81zYMjnWyARTNYyT4fDVhy4ozfbiEfbk7xxJc0YGpmy4hJK38tOz-OttBD9fePiqzOa0aurBdWyS30gROGG3cl8Os6A0MCa47gk8k4CLaGjffPwwHK7QueUv-ZjZ84cJ2RnBW7rdQS4Ma8HRj8qs1UvzVOg8DwXQrzx-DhRt3PxisZyVAnWPH8d6DoJJR3QL52BVJdHxlra2yJvjHxdiTE8oV75CMAuqQmepaEeZ2ApO75LCvucuhNw3yQGy737q838UHAwZOpH-hHY0zeLP9SaxrMUfSAd82ghV1K5UEjQVSo6XvRCq9sS4Ai1WN7xK-M6KVhAs2z8i7dVI4-74RmNJuJ_Rc8d8gtgfWqFHXKQSkeggB2aXCYs08kkrha505WqtooAVDA5eEtTNtJ4XpKmGRhh8Jvz0_L-VtKU39s0-UC4RGE77cV_B_ZlcBREiU7B4FRTWt2S_QShdHe7EhE0HC-znJfTRxzTZM_tQoe8YJRJHABbssR41OzFMkYuwSOTOqxywInsU4YOq_4oquXXp3Fb6U-VDVqAF9kB-UXulaumuyi_hjz7GyfWKqDm9rLbNDRLtIUiL9AUIHLg9__uLXiR0kVH6Jx8uE-VBQuip06ukvG98P-7aF0XguULBXzxZwVO4ZsXeSBQvhJ0HyxSnX5pRnigeqNTkCqYjHOFpEwCBiFDr0FyqP9jJlnOEknrlU7qomQb74cekJeFvC3tqtcKG52hnUIeCWrTClrNTUxGsvJ7PVj_fQhA3IpePKvgC6K7zRjCOnLTBhZwPhEn9oGqBx3mPSUJ5AonNqxE0WRdKTa5Uv7xNKoNz-RGzk55eTrTugxKJqm6mjxgj03E4M4g-rEGSFv2qWJOzptgONy4RChXtBTW9GXr3fNhgY-vD7k4GbnsJt2BPJIjmaY7Fnywuf7jliONli5iEpisQCT7b_gTkOiMVqTmoONWP6akuum1K8Oqzd8CMvETHGwmqu2FsdqPpJlKw9p8jC1vklpBJ4A7PFBgLSw2NcKiJ8pR_2xChDUDV_LIXIoLiKjKygL5FoZ0i61SYJwH3uehMg49tRkCnDqljrx8qlLl3IXUTZil5onVrBlotwWDo1IiGJQ=",
  "id": "rs_0a7e5ccba4cf383a016ab45302723087d09f472f59aa3a2437",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.55},\"note\":\"The body is now symmetrically centered between the jaws at low height. I’m closing only to about 5.2 cm, matching the bottle diameter, to hold it without ejecting the rounded plastic.\"}",
  "call_id": "call_Nn267bb1wp9qLbmZG1GrKmMC",
  "id": "fc_0a7e5ccba4cf383a016ab45302cd2c87d0ab6a25f33999c017",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Nn267bb1wp9qLbmZG1GrKmMC",
  "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]: [-0.7055, 2.0853, 1.1606, 0.1608, -0.7216, -0.5854, 0.5572, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4524 left_y=-0.2273 left_z=0.0422 left_yaw=0.1744 left_pitch=0.0163 left_roll=-0.0058 left_gripper=0.5572 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [0.0479, -10.7419, 7.2137, 1.0867, -0.1636, -0.0904, 0.398, 0.0889, 0.2393, 6.6667, 1.7705, 0.0415, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c03290e7388669a90a4f8b5b355235443cf2b1b810dcdc0e69ed0618b4de31c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:481702ccad4b25de163cb867c3fb937adb7f7c75b2711146a14a88c693044a60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c13b59d1a2e7c44122e8cfc521836af40e1ee268756e20c17bf4132dc3e8343",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.472 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6945, 2.1044, 1.0714, 0.3939, -0.6701, -0.5087, 0.9948, -0.0193, 0.4103, 0.0792, -0.2459, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4558 left_y=-0.2322 left_z=0.0354 left_yaw=0.1104 left_pitch=0.0753 left_roll=-0.0544 left_gripper=0.9948 right_x=0.2361 right_y=0.0031 right_z=0.06 right_yaw=0.0056 right_pitch=-0.0056 right_roll=0.0051 right_gripper=0.9981\nstate[joint_eff]: [-0.7453, -7.1863, 3.2068, 1.0134, -0.0757, -0.1197, -0.0073, 0.1573, 0.3214, 6.9812, 1.8046, 0.0122, -0.0855, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7074, 2.0853, 1.113, 0.2684, -0.72, -0.5804, 0.9954, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4522 left_y=-0.2287 left_z=0.042 left_yaw=0.1704 left_pitch=0.0537 left_roll=-0.0483 left_gripper=0.9954 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.7726, -9.347, 3.7265, 0.9597, -0.1538, -0.022, -0.1148, 0.1573, 0.4308, 6.6667, 1.7705, -0.0024, -0.0513, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7055, 2.0853, 1.1606, 0.1608, -0.7216, -0.5854, 0.5572, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4524 left_y=-0.2273 left_z=0.0422 left_yaw=0.1744 left_pitch=0.0163 left_roll=-0.0058 left_gripper=0.5572 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [0.0479, -10.7419, 7.2137, 1.0867, -0.1636, -0.0904, 0.398, 0.0889, 0.2393, 6.6667, 1.7705, 0.0415, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c03290e7388669a90a4f8b5b355235443cf2b1b810dcdc0e69ed0618b4de31c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:481702ccad4b25de163cb867c3fb937adb7f7c75b2711146a14a88c693044a60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c13b59d1a2e7c44122e8cfc521836af40e1ee268756e20c17bf4132dc3e8343",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMHxsA19_q3bei0kV7XCfamZYq0hJ-RVAJKGtSaE3hrC-1oP9LLLPd5-U8x46HdPCYyj9B13FtsPUau8WpherrHHkLfmUdYTkV2jE06oxDNC8KVF3SxabVju-1X-sTY0cRUxUouXYDpbanVRlbh2nSXbq1aKhhqJ2ez8lI2HfN325W6F7FDs4UTUz9qD5ga3T4pWkJ1DZgMbwP-r2gfOl_2SnM9c-eBGfCwwJDg9PBYaXKU3A9IIaZwwAxU7ofkeH60uyHc2FDPhySPby1nJ4YBeOQ3qYXjkKlPTvTQkLirz_c9VXQfggksp59wuS-hk4DLfKIWgxdaRPL2xsn2IG75bQGHJBipvV3l9ZeE17tff3tgBsDzeUOi69SQCISLcp-LrkGI16lj8pcf25_5dVUwcXDZJk5rBNj7TWEiSfpqPHR4YjZcYLKFP2PaQxt-zeDtXJ8ltaEDdgsWTVlfh79KSX-Hi6rindR3Pp7_MqqYGIA-P5-jXnTtIvPVkPOrlHn8KDmXjF2XdflWtpg22CAnEqu3GfayPTpIRsflV1Y_aZFA4Z7n5AyIhhHPdrR-evGld0-ZonE7BiEinJty4APMFi-I2X4koBcdAXydpAOA5_DwsmdaT0L6nSBX8tX3EFQU842PW6vhXPbbHUhZ3MynD2XognphzWzXg8RD0YHNf9Z6yWD-IrMb5MfNyaQQearwCZMbxLkVGHz2swdgPE8dHxDow0iSK_L8Hw4-9MY3Brid0w0kkE7MRUtkl5rVVQ_91H7XGQ-qBj-UYAUYlkIGB-D2wcm9155ZX_lfVhhsZcNc_1Af2wp9GeIbkNF-Otiy_JBP5GHc4kn9zsT_jfNZ1g3JTgxL5nPAFRU9r-7jPDjYn8rMkD6jLALrb5q2X8G0b5BcDaTMsK2Ax13OxN3YgAaotZ_bAbzxVsMXDfO2s7Fuh-QpyGIWyevKcsvVpE8WAr2nWXJoPh4N4a_f1kzPXjh9hmP8u0dJ2zIChI84AgvUhHvsiyjFOZL3Ik4a0U9aAUN8Pea_pqM7kNZM-ZQ9VGBGHdi9dDICSWJMhb-vKjzaOdsnmFKtDsHlK20PkOQuji2ZeqpbXpPUoNMBp2fD5eM51G5KChgTgZgWMeQs0f1OLUejOPjb1y3OQYsUc4dHUdkvPMfmn0_0rhATVqDm4X46z5Ph2czhhsXP0HzNzE61hzcNd-38yMLqhBkMc_R27eIGAZ8fO2UnM6LTHlRAq2q6FqvfU98EhY9m4k0FyTrHeIWEDqpy-KvzapTnm5jMQ2H6z9L3d7TPm_2Urf-vI8YnUjQ-XT2vBMMLwMt_qoRWJQQffIUSrKaVXibIwzaSgbQvi2ZtU33h2yHcuQhnu64AoUfkqcjUgjmchGDCUV-U22IYilPcgtYz6JhIQddkgEqrpDZhWW-93uPBWi9c2_kOyXXdeqOfWqCzDu0r2ZvgB-vB4ZXoia1orzlMipAy",
  "id": "rs_0a7e5ccba4cf383a016ab45305a67487d093169c78ff120d66",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.48},\"note\":\"At 0.55 the fingers are just touching the bottle sides without shifting it; the centered geometry remains stable. I’m tightening slightly to 0.48, the opening that previously matched this body, while avoiding a full squeeze.\"}",
  "call_id": "call_DU53cmdwyarpkqrDC2l20e4H",
  "id": "fc_0a7e5ccba4cf383a016ab45306424887d0ab03b99873a1ef46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DU53cmdwyarpkqrDC2l20e4H",
  "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]: [-0.7055, 2.0853, 1.1625, 0.1589, -0.7235, -0.585, 0.5521, -0.0193, 0.4103, 0.0792, -0.2462, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4527 left_y=-0.2272 left_z=0.0428 left_yaw=0.1756 left_pitch=0.0173 left_roll=-0.0047 left_gripper=0.5521 right_x=0.2361 right_y=0.0031 right_z=0.0599 right_yaw=0.0056 right_pitch=-0.006 right_roll=0.0051 right_gripper=0.9981\nstate[joint_eff]: [-0.1573, -10.906, 6.7897, 1.1306, -0.232, -0.0757, 0.2076, 0.1162, 0.1983, 6.8581, 1.7558, 0.0513, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e7c80684d262dcb643eb63c358085e73aec30d3864c511edd6d02af74635450",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44cf9b5255638c40321ce9abf023d35ec65924a5e689fafdc20a66f73ab3437c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93570df2af399bcb504541577708a3c2e4c360a2f5ebae53478554dcdefb552c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.459 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6926, 2.085, 1.1561, 0.2985, -0.7052, -0.5282, 0.01, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4679 left_y=-0.2348 left_z=0.0611 left_yaw=0.1503 left_pitch=0.096 left_roll=-0.064 left_gripper=0.01 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.0058 right_pitch=-0.0052 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.1846, -10.0171, 5.3128, 0.6862, 0.2125, 0.022, 0.8278, 0.3077, 0.1709, 6.6803, 1.8242, 0.0171, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7055, 2.0853, 1.1606, 0.1608, -0.7216, -0.5854, 0.5572, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4524 left_y=-0.2273 left_z=0.0422 left_yaw=0.1744 left_pitch=0.0163 left_roll=-0.0058 left_gripper=0.5572 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [0.0479, -10.7419, 7.2137, 1.0867, -0.1636, -0.0904, 0.398, 0.0889, 0.2393, 6.6667, 1.7705, 0.0415, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7055, 2.0853, 1.1625, 0.1589, -0.7235, -0.585, 0.5521, -0.0193, 0.4103, 0.0792, -0.2462, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4527 left_y=-0.2272 left_z=0.0428 left_yaw=0.1756 left_pitch=0.0173 left_roll=-0.0047 left_gripper=0.5521 right_x=0.2361 right_y=0.0031 right_z=0.0599 right_yaw=0.0056 right_pitch=-0.006 right_roll=0.0051 right_gripper=0.9981\nstate[joint_eff]: [-0.1573, -10.906, 6.7897, 1.1306, -0.232, -0.0757, 0.2076, 0.1162, 0.1983, 6.8581, 1.7558, 0.0513, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e7c80684d262dcb643eb63c358085e73aec30d3864c511edd6d02af74635450",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44cf9b5255638c40321ce9abf023d35ec65924a5e689fafdc20a66f73ab3437c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93570df2af399bcb504541577708a3c2e4c360a2f5ebae53478554dcdefb552c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFMJRjPv79hIyRi5YHWNc57d-5a9VaH-YLrpVfUIDdqMsqydtsiLfMZCxvWgmCpeqAYw7dzVTU0RaNueFlqDqTyUDVKKb8FKze6nKB7Vz0QxYXQyNekY3Iq0MMZmzcFfg35XIROUh84d0J1VQgmlxz1MhggXFbk30CD-8MQ4kYf-zzjALOImZFevbZ0vHx78T05KL3hzWxQB8O2DpYj7B4KZxj76bEFLBN6ZS4EXuyPObMuV2Vj-17mqQVTTg-mHdPnicmm38mbzKCs-nEjD4qBuUI52HWnyXEvu-0lcVLEsccteAi8bx3lzpYis3BtDq1ZiubEhxYfL_i6QXi4eWv-zMq9TJXwb0RCo6zGFb10O1lH--gf6LI0-ixQ_CR0U7uzzp9VcDcr_qsTK2BO3aYUVdriSxjXDBonrTLAI811eRdHUUNCkcMTqZOf9HxdYnx_dHl9B0twam0_eYj7p3lJvadKOihaPgc5XIrnE2UFW-qIRNO_vmAjj3PLjvVFwme8q-j4aajPSps1FqaB-_7qqWZOvWm0ZITKoRByWdqbPVCUWnwAbKxU3AdfVTTuid0XkrVghVTyjh44HZmqJe9k9zyJYvXudlqM4hiqYJ0o3_ZZuS1ovcBXAnTwHbUX9D42di8WPqHUjdmIVTdE2meaGYFky0UBTzUe68ImpGbnDf4yQ8usUEGLkPbcUUoemQPLiaQni-Opzm2yfz030xvc7awRiFsyIA_1e44eeNH0hjk71X_1Q0GX07eBSaARp-q0p7T9isBrrSgG1I84CEU6_SO1bxUJJB0w5Uh96k-PEtx0povlgouy3FYumEPuzePQNvceGuT8bJH_H7dDPmeXnj9TrKagOrrSdc3esbTBGqxZY1pUAGAw681CsbVE2zumZJhkBmcISlEJmPNE6X1LrV0v5HVE3ASmTphBpjVdYr-tvqN-MzoVAQmehILpj8d6SY0vrPJbLJaWD7SAmYu0A2HIMNa6_Y3zkD_myhOD0yAq_ylKw8srCtvVeDxlOqV9vE1Exr_3jc9sDHITsb6Ir0BQb38kWSNx8PWUWWr97YewzK_5hRf-it_gFvPCNT0CnSzMVr_UUFCEbrR2qWaG_L91TqwVbfE6Oa255uT4bTJ_sQUUO_kyJs09wba_0u5iV6ouJlkLQOWO3-QPSiSbjVwz022w00sHSDOkBfVDffOag9VVYN9m2ErdlqORR5meHTmksznwog7CehXs9xcu04lltjGqbgVFigI7I950mQlXj-hxdHEYP8OoQJuM57MwpInDosRT2EsP9g1P9i_UB8Uz-TqYJ5X_8s7qHuPy0WuFTnGN_DLKuFeeq6eqyJBWipBGpGy8cu_O4Kd3gYSwfAbI4Z2fBCgSWY-Cr4_N1nQg=",
  "id": "rs_0a7e5ccba4cf383a016ab4530887a087d08fdb0674597ad6fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.225,\"left_z\":0.04,\"left_gripper\":0.48},\"note\":\"The gripper stopped at 0.552 despite a 0.48 command, confirming the bottle is firmly pinched without being expelled. I’m dragging it straight inward about 17 cm at table level to bring its cap well within reach.\"}",
  "call_id": "call_mMUT7LKicKSDK1mnpEgmQIXS",
  "id": "fc_0a7e5ccba4cf383a016ab4530904c087d0bde84da288a7cd2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mMUT7LKicKSDK1mnpEgmQIXS",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0798, 1.7981, 0.7921, -0.0738, -0.9234, -1.0069, 0.4851, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.2899 left_y=-0.2357 left_z=0.0388 left_yaw=0.1479 left_pitch=0.0015 left_roll=-0.0105 left_gripper=0.4851 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -9.6479, 3.959, 0.8425, -0.5299, -0.1832, 0.7985, 0.2256, 0.2667, 6.6393, 1.7656, 0.0366, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:380f98e1d870d0a507e71409ff34db7d4d15c44a68e34378cde6f4d61a11c0ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39571caa75fcb9e1d8bef261065e7470dedda05ec6c5ecfa8b58f2eabc20f419",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ed1d92b9e6fd71051b180d6d3024b4af382cc7f54f116bdefa2e2c95a4c9f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.439 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7074, 2.0853, 1.113, 0.2684, -0.72, -0.5804, 0.9954, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4522 left_y=-0.2287 left_z=0.042 left_yaw=0.1704 left_pitch=0.0537 left_roll=-0.0483 left_gripper=0.9954 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.7726, -9.347, 3.7265, 0.9597, -0.1538, -0.022, -0.1148, 0.1573, 0.4308, 6.6667, 1.7705, -0.0024, -0.0513, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7055, 2.0853, 1.1625, 0.1589, -0.7235, -0.585, 0.5521, -0.0193, 0.4103, 0.0792, -0.2462, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4527 left_y=-0.2272 left_z=0.0428 left_yaw=0.1756 left_pitch=0.0173 left_roll=-0.0047 left_gripper=0.5521 right_x=0.2361 right_y=0.0031 right_z=0.0599 right_yaw=0.0056 right_pitch=-0.006 right_roll=0.0051 right_gripper=0.9981\nstate[joint_eff]: [-0.1573, -10.906, 6.7897, 1.1306, -0.232, -0.0757, 0.2076, 0.1162, 0.1983, 6.8581, 1.7558, 0.0513, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0798, 1.7981, 0.7921, -0.0738, -0.9234, -1.0069, 0.4851, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.2899 left_y=-0.2357 left_z=0.0388 left_yaw=0.1479 left_pitch=0.0015 left_roll=-0.0105 left_gripper=0.4851 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -9.6479, 3.959, 0.8425, -0.5299, -0.1832, 0.7985, 0.2256, 0.2667, 6.6393, 1.7656, 0.0366, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:380f98e1d870d0a507e71409ff34db7d4d15c44a68e34378cde6f4d61a11c0ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39571caa75fcb9e1d8bef261065e7470dedda05ec6c5ecfa8b58f2eabc20f419",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ed1d92b9e6fd71051b180d6d3024b4af382cc7f54f116bdefa2e2c95a4c9f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMOm08Hut8ZnT4bFDz7bpCrvuwydqfWsQUgAGTRzKz2I27TD6ORU9Pq6GD3NIPjqHubSowXHr7UbpVWkH7y1uxY_QG7EjxKjstcgzvRYo1hl8fL-XbgUbekFtAyVo51CAuDURABnJEz5PNwmYzzikwS2ZOqWswBaXhIEcMiFOAuP5Flme67cd7BVTOOBTJg4cOTEPhEfjaZDFEujr7o8eu-gsv89m0EopdI3mFanO8gg3_rzuws29UC9VaUP4nKIDibW8Mzv9iHfJEFhJABP0jepr3onrIQpK8pUTX2tkwCzvtXnEXfb2RcP3anMWvSKfvgNBQzmSzS77pPzFWFHXlDEDZVCR6KUKe-zcSFkn-g4bfYN6diJpi-IXh6VRHCbcO3YpTjBc0kkZ7L5k9Q08NQfZrlcbFMtP25U8y5kV8e8heGLpLNMDss4WgyW76ga1qEL_ZC9qosMmM3VDB6McQXaTF5PHF9w2GWVX2eoS_Lj1sM1UFAP8uToK95T3d_ETOKg1bFdv-cQqzw6_0HztAc03YdG854pmRbaHFPkNw31aKsy4qBbnEICdf_LyF-ofy04Cr03riO7r5URwpgVdXHiEMjNw5nUPrzcTqlH52UYst81FeIt9q3BTlmgDy4lYMuxAa6HN9yuid6awDKmdWs5RLfdv49Hb3Lmc5EaJBMpCCYBz3fbPQ8mScK6uA9ipFqp7DLeVI9vccmayQpi9q7qT0YH7kydvAGGwNdFMaEnOAWzQhXXr41O2cMaT5_4jbhumeSsBjzh24K4Czx4vtq7abp2hQp1R1hOoJg5DYm1wXTgZi9svPVArI4al_hnJAjFsdlWFYZTothTV12HSXSxcjl8rZbuMbkcqZWB3ffahQ2ClAZYgHIrsvRE2-9Wy3TOsxtN9oF_txAB9vO_Yr6AlQpKmBOH0u4rcVmrn_3vql1kghf9ze0DwRCHcSRGHUsknFudKOcaY5yjkv99ozCtvI3Sd4ljaiXU2vW9jMin5pEHlNgnzsHCwcoIvkn4m5pbs3y_3HWOpnHC_rCLmiGQjnnWRpEiNNqNOkIGe6maDk41Xq_z4Ax1zbFWTsYVgOJpLCTKoh8rcDqOO84MjWNFEtlXdCX6ZWna_6YrGjzaKXMruKn0RKsS0qAj79bYWbDup7UXuUJKpTFjl8kL9SBQ5XGOKCL2eLgMG-oAzGB_GJMxUctBHb2W1V6pEtcFSGdi3KpHqK7GqIy_OJII_NX54NyT-C7vIAypiP3v-USiaMcoyDpck3_YMb-KFoUj5iZD-yqo9JLT4D4W3Tb4BIB7-UWERvzkt-dnFFScSzy5h952lgqEs_AbiLYzqnZS8I-lfVD0jrmXJrPsjCi03DCSr9RxpKCVKxRFfV03hFxX7C9icuY_KY5nykesH7Hj1YSQBqw71y8zKD2WW13qXWa5fLfQMPrXHxZZOgo7lJ0H48mb6SOJqTRI1VpCwfb5E8XZULtpZ9VdFrN7EsneVmO7UqekCOYEDLKWoVW8e-ZYPmTl_ZGUaI8xWnIBCWXLJPSEhOXT23sZjiXqDLjlh2WsdfoVv0OAUuATEn4rWG7NkTjmzZQkCaSTnlJzjeoSZ_o4dTNxdTA390FnU4BJ3_YOhUBnII7krbVdycaemwnG1dduzMbmo_Sy_CEcLuBM016tS2DkpfT7e788okeAPcA_ptTH6sncktk57KftNfH6Q0-vLt_P4YRQfnW_zcDRxs8",
  "id": "rs_0a7e5ccba4cf383a016ab4530c6adc87d0abaf74413b2e58a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.225,\"left_z\":0.03,\"left_gripper\":1.0},\"note\":\"The controlled drag worked: the bottle is now much closer to the bases, and its cap is centered ahead in the wrist view. I’m releasing the body and moving about 6 cm outward at low height to position the open jaws around the cap.\"}",
  "call_id": "call_Ij0wvm2fZbDWTZNV0NDdJUVm",
  "id": "fc_0a7e5ccba4cf383a016ab4530da91c87d0b8ed1b0bfc634b24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ij0wvm2fZbDWTZNV0NDdJUVm",
  "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]: [-0.9154, 1.8648, 0.8253, 0.1192, -0.8532, -0.8288, 0.9958, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3431 left_y=-0.2221 left_z=0.0358 left_yaw=0.1801 left_pitch=0.0115 left_roll=-0.029 left_gripper=0.9958 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.0058 right_pitch=-0.0052 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.5128, -6.4479, 6.2427, 1.072, -0.3346, 0.3101, -0.0317, 0.0752, 0.1162, 6.6393, 1.7753, 0.0464, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2782ecd320b77de0956cc3376c835b66daff6673ebef7315b6c2e8303239ef2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1637354df39d65fe7bfc47c16eea54eaacadbd09d83f521150e75ba447e314b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8db30be7f401415faa1f45a314dfab422b3ff716d3bda971e79fc95a72bde03",
      "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 · 2.778 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7055, 2.0853, 1.1606, 0.1608, -0.7216, -0.5854, 0.5572, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4524 left_y=-0.2273 left_z=0.0422 left_yaw=0.1744 left_pitch=0.0163 left_roll=-0.0058 left_gripper=0.5572 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [0.0479, -10.7419, 7.2137, 1.0867, -0.1636, -0.0904, 0.398, 0.0889, 0.2393, 6.6667, 1.7705, 0.0415, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0798, 1.7981, 0.7921, -0.0738, -0.9234, -1.0069, 0.4851, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.2899 left_y=-0.2357 left_z=0.0388 left_yaw=0.1479 left_pitch=0.0015 left_roll=-0.0105 left_gripper=0.4851 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -9.6479, 3.959, 0.8425, -0.5299, -0.1832, 0.7985, 0.2256, 0.2667, 6.6393, 1.7656, 0.0366, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9154, 1.8648, 0.8253, 0.1192, -0.8532, -0.8288, 0.9958, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3431 left_y=-0.2221 left_z=0.0358 left_yaw=0.1801 left_pitch=0.0115 left_roll=-0.029 left_gripper=0.9958 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.0058 right_pitch=-0.0052 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.5128, -6.4479, 6.2427, 1.072, -0.3346, 0.3101, -0.0317, 0.0752, 0.1162, 6.6393, 1.7753, 0.0464, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2782ecd320b77de0956cc3376c835b66daff6673ebef7315b6c2e8303239ef2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1637354df39d65fe7bfc47c16eea54eaacadbd09d83f521150e75ba447e314b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8db30be7f401415faa1f45a314dfab422b3ff716d3bda971e79fc95a72bde03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFMRMdKn7YWMOz503afrwlwE-9RE8j3wgR_59SKSqolmdpZhbYbkAvmZAKIfbxWSyYa4f0cgpIwnFkCSzgy_jicvd1Gih2_3xTJ20slgDXVWqAZsGP9epQ8NZWeuI8v8VMvSHpXPUL96LIFhmcPZUOxXJv7cQR0FjOKC0DKpXp5JIsZaj1xW5efc0tvHPfPta5uu4H7lxjwfS6_3Tv5v-1IMpTXo76K1QnD0mR5s02xKKOC-dO3k9n8WpkfxidneSbN9mZ988PmKpfBvwOVNVRDqI17l5jbNfl7ZKMn_NfLSkzjhhvuHvYO_S9F-cot8jIY_0Q0-BkukkDJKVWxjFtB4gCTR84Ucv9mISCeKuNv4AvzleiJ09D4TAl6FZgfH42xOe4a4H8El4jGrJIlKhgidMFOFv7tJZWjJWnqj8lq8ZxFD-gR_hRWSDB70h7n7uVyldWx1NQoBbn8bAWCVkIDqYSxWU-P-0SM6dRBjmYybilbn7jIC7kwce1WCSOYPr1zqNEwD6Zp_g1bZjx8fTFpzGGUDdtPZe65fThcLnMH45K9MMKx2NSe_F7JwB4-3yzlzSlDhepoVULapragXMYOReR1-KmYbvyBDGfjCQSbrxtwuqyqgQCh_EYJ0Lua09gNJyWJu2_gUTlqbQWelnix1vN-mSCAZURQk2yrmVfUynX-ROWGd8DIOyTrDGb3H1DPakDtn56iHeow4wyta3iGHx_qQ5iYh50YpdXDSgDxG260_xyHZSbf8EVf2R4i9oAj-SXqsovQT8j4BN82uKWjkQ2q0vrTdRAzLGCGlzLdcMIwuJoJTsRxsKK818-fe7Rx37Dr5qw7cHhcEF1RPDnA61UPYxlqIFFxlgiqBQd9rwZNR08Mur-PNcswRYnGfQ8wQri1Al1JcHjpfFRbpPvPZooTosDlz6Zu-L_PgJOpzYYV55iCuVJQiH3BvvR9ORhkRvWQ4vfM2XaNdIlU78X9vDVNcBA56zSoxOx7DGcjhoX6wI1_foNDwiiNeVyTfLvL4EC_FF0upElQsOVRpDUMdP6v1-_tGTUMyeQ4N8ddgyE1f8T_KX68F1awH8rCzEO2pEgm-vTAGGy87vvGr7SGNmwTUezHzALTQg8RNlGJoVGXsrTxMRhcosWEW2giLvzB6sgbyeLlsABo4tHS_vI1so7NB4B43M_mdan-DdLebwFjEDKnp5NoeWEBPZ3h-jWTd6fXxY2BEHuSGCifRHO8SdUv871icjrIIO8DtweLwvQf7puPlvbENl9koL7Sn2pi4",
  "id": "rs_0a7e5ccba4cf383a016ab45310840487d0a720552e2fe92c54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.225,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The cap remains centered between the open jaws but is still just forward of the hidden grasp point. I’m advancing another 4–5 cm at table height so the fingertips straddle the cap itself.\"}",
  "call_id": "call_JPXLPTYwQkvn9wk4voT9tjLa",
  "id": "fc_0a7e5ccba4cf383a016ab45310aa1487d0bf2b7709c176c564",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JPXLPTYwQkvn9wk4voT9tjLa",
  "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]: [-0.828, 1.9659, 0.9344, 0.1581, -0.8234, -0.7517, 0.9979, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3829 left_y=-0.2201 left_z=0.0306 left_yaw=0.2085 left_pitch=0.0143 left_roll=-0.0156 left_gripper=0.9979 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [0.3761, -7.3778, 6.4615, 1.2186, -0.0855, 0.1978, -0.2222, 0.1299, 0.1983, 6.6667, 1.7705, 0.0464, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66311d7f2f9cc8a5c7257b37d283fa6a1cd4380c5d73c325523437eeb89e9c44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:642a5124d219720ed76e849634e6e9a5368dbc3a7a28cfb976d7d1b06b8b1bb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bf4f31327ec5c286db2dcc99859fc71d4a45a953b971e99f139e1865b8c6a10",
      "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 36 attempt 0 · /responses · status 200 · 6.74 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7055, 2.0853, 1.1625, 0.1589, -0.7235, -0.585, 0.5521, -0.0193, 0.4103, 0.0792, -0.2462, -0.0231, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4527 left_y=-0.2272 left_z=0.0428 left_yaw=0.1756 left_pitch=0.0173 left_roll=-0.0047 left_gripper=0.5521 right_x=0.2361 right_y=0.0031 right_z=0.0599 right_yaw=0.0056 right_pitch=-0.006 right_roll=0.0051 right_gripper=0.9981\nstate[joint_eff]: [-0.1573, -10.906, 6.7897, 1.1306, -0.232, -0.0757, 0.2076, 0.1162, 0.1983, 6.8581, 1.7558, 0.0513, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9154, 1.8648, 0.8253, 0.1192, -0.8532, -0.8288, 0.9958, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3431 left_y=-0.2221 left_z=0.0358 left_yaw=0.1801 left_pitch=0.0115 left_roll=-0.029 left_gripper=0.9958 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.0058 right_pitch=-0.0052 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.5128, -6.4479, 6.2427, 1.072, -0.3346, 0.3101, -0.0317, 0.0752, 0.1162, 6.6393, 1.7753, 0.0464, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.828, 1.9659, 0.9344, 0.1581, -0.8234, -0.7517, 0.9979, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3829 left_y=-0.2201 left_z=0.0306 left_yaw=0.2085 left_pitch=0.0143 left_roll=-0.0156 left_gripper=0.9979 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [0.3761, -7.3778, 6.4615, 1.2186, -0.0855, 0.1978, -0.2222, 0.1299, 0.1983, 6.6667, 1.7705, 0.0464, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66311d7f2f9cc8a5c7257b37d283fa6a1cd4380c5d73c325523437eeb89e9c44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:642a5124d219720ed76e849634e6e9a5368dbc3a7a28cfb976d7d1b06b8b1bb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bf4f31327ec5c286db2dcc99859fc71d4a45a953b971e99f139e1865b8c6a10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMU0ZjHl-0ie1jPZv5S7aQu1sosS86lwXfFMEqWDaJCDiqRhjMGH0X50OE_CqVhOO9-Sv5FGV_f3k4TCvM46_Hvldf6baykszD3DAXd_xCMXcDEx87FgkfBW2UsUrFt90BnQJXohdyMyKY6eLqwmbweR7DB8CMtZmn-uFeJsZyfb-QGmlaQ5vfWbhys5IOsbTMGn9uQcN4F8n5pcQI8Odg4TnnkvzzlQviJuwakgMMjbCAwbJ97dVOdlSMJdjKNA4LBuTqsFeE45-fUVsJFdjXkRjrTx7i1X1j6fir-DvjA2fVQhy7xoLP_UxpuA33IrUTxzsSi-OxyWT4hBse9cHyTdOzptVloTKZ_y8m7id0BWPt9yXJv9qGEn9NTlSI-FXPxANkh9XAvS1HU6tCZ3_Wy3k-yj-cgPRMFtLeImfAldiqubGXDpHOy7zkMvfmJukO0MlmEGC4L-dp3cXV3n2KSBK8UGE8gTmjnnsrweno5eS4T2-wCyUBmtJAy7kOge5HAJ77Hc0BbGxG2V_Nud4mQY8gjeWazuAIWwt1ASQEDsnHQWtKr8LFBqCKcuEYx2rlkkqKFLYi_2nOwpgASkYuHFrLsR2NPOGLc9pU5UhAKFJis4Z01AT6UArLAXSLzZ3ickhc4Ez1AmQZtRk6FsBIP165ZtBIdyXsjQUAqloohj-aoYTmKN1nRyxg4GIj07W6j_AmjD46IiDIpyP5dNA-wxJ6pekd4xkMpAadDbi-HiYI50j3QiHAazBqVwnq0GPMgPN932y3X6EI8yvSW6pvMM80T9R8GeMQpJCV31qiikp1kYrSfYkeKatQYA9W2xB6J2W2i4S_ez_UwNdT0iryb8TnGgVobnvjDVB_IDXllwTz15E8fsNWrCGpIyN9sFv6pp7oSG4i9OkP-rO7F-Rcimf4AVzwVY7jIlhviYFCVYHfoelc0Fc2CP579qPO4nbMtSvaYtwRssmh8h7h_QslAKbWXtzcYKgnBSgopiRNjO6zHhej92b2PV3xNxmonGKWcAo523eQ9U4xO60vXfwHvKGn-qhgE1hu_gkWn-Q0vPxwHC_6m8Mv1cFvkf_l-CO1e7AK-M5mfjX0BU3K43iSRqaSH06RqrotZ-LGhx-RjW3QkDSzFqRPlkDH8BPeWaV1ZFTMQItyzeywOm6kpFxG8xXQ3FrNU7GdW1AfLWDxujptKt0pqL3UvEs1xrE3gCvkfCfEnjJbz5EjuaBA77FxqPPIfL_tBJt_fXqGL-QdBxNo8JuV-sHzdmpXV86JVtEU2",
  "id": "rs_0a7e5ccba4cf383a016ab453134f2087d09cfd5ebb2f786092",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.22,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The first advance mostly compensated for the simultaneous descent, leaving the cap still ahead of the jaw tips. I’m continuing outward another 4 cm at constant low height; there is now ample workspace because the bottle was dragged inward.\"}",
  "call_id": "call_Xny6U9yY0EgjZCPEIIR4Vn3C",
  "id": "fc_0a7e5ccba4cf383a016ab453138f9487d0866f33a138e907fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xny6U9yY0EgjZCPEIIR4Vn3C",
  "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]: [-0.8127, 1.9766, 0.9455, 0.1787, -0.8196, -0.7322, 0.9981, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.39 left_y=-0.2189 left_z=0.0318 left_yaw=0.2113 left_pitch=0.0227 left_roll=-0.0184 left_gripper=0.9981 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -7.9658, 6.2291, 1.2723, -0.1441, 0.1441, -0.2076, 0.0752, 0.335, 6.8444, 1.7656, 0.0024, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edae6f481a75719826d352bb38a161d7375f9746d19954f9ccec60350a075aa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:299ef2b2622ee5696ac7311ce6648d88f87a8a95fcc8b09fa4dcc5caa4507957",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e4529eb929b5ddf591497617eea8fe901c79268b4868e63fbb98b2ef333aed3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 3.159 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0798, 1.7981, 0.7921, -0.0738, -0.9234, -1.0069, 0.4851, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.2899 left_y=-0.2357 left_z=0.0388 left_yaw=0.1479 left_pitch=0.0015 left_roll=-0.0105 left_gripper=0.4851 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -9.6479, 3.959, 0.8425, -0.5299, -0.1832, 0.7985, 0.2256, 0.2667, 6.6393, 1.7656, 0.0366, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.828, 1.9659, 0.9344, 0.1581, -0.8234, -0.7517, 0.9979, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3829 left_y=-0.2201 left_z=0.0306 left_yaw=0.2085 left_pitch=0.0143 left_roll=-0.0156 left_gripper=0.9979 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [0.3761, -7.3778, 6.4615, 1.2186, -0.0855, 0.1978, -0.2222, 0.1299, 0.1983, 6.6667, 1.7705, 0.0464, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8127, 1.9766, 0.9455, 0.1787, -0.8196, -0.7322, 0.9981, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.39 left_y=-0.2189 left_z=0.0318 left_yaw=0.2113 left_pitch=0.0227 left_roll=-0.0184 left_gripper=0.9981 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -7.9658, 6.2291, 1.2723, -0.1441, 0.1441, -0.2076, 0.0752, 0.335, 6.8444, 1.7656, 0.0024, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edae6f481a75719826d352bb38a161d7375f9746d19954f9ccec60350a075aa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:299ef2b2622ee5696ac7311ce6648d88f87a8a95fcc8b09fa4dcc5caa4507957",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e4529eb929b5ddf591497617eea8fe901c79268b4868e63fbb98b2ef333aed3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFMb2gDqRFMhVZEKkeaxpvdHhkMExJk5IaD0c7Ba7wsWa970JlDVmlDDWbhvXYoBIEoO_c2tUya8i_HnxSXrAJ7F0swxLe4w6mBhIAHR1-Jsc8rfA7qR9xogCBKuO22nRPApkJ0OuWDlRJFUACW4CBAoTIgsW3AEa3SN1QdE1NlwVbsRcWkJXBAJk2omCuPGDyAdQPBtCK_kgTmaC-pSiDck-fSR-Ji3QLLtLi2UkulejBc3lVW5RSUmr_FcEyrfAyen3g_JGu4ZCWhNYJleu7bdIllHDrnVcJrl-dFRRdbXAHFZSy2a9JK0iPyJ8Y4sKp_DsXYGuLVKCF0Rt5J_7BeA3l_EvGJMLIaECPVxActw3S2w6yrz0rsyBwf_136bKRE27VJho3tpy4n_ZpvvrEa9znh5qb0x3Jc38CTd0YS8fp1crt6S1r0OkQfqB8XdoYZzSDxtlDjqQA9kG4Y93i5Yq32k65HeKc8u0M3lPQbQ40MA2OicEQo6Cqy5bZ-zwdxM1Kft7HMjqLg3o37itKsIakK2y2dmgXIYpDRl0Bq4ZMz7EfUlQPFeV0x0OiRVAyStRSxKfMXvUGfmhkobbgUILXwkb0PbhEXCvOHOog9Fp9k5xZkqkR2qQC_vO5uDLltzEDDuKz7nzetJJIeb2jiwpmROEtOnyYNP-QLg4F6snrDqWsA1_pcdQrCBVNn49c7MQil1qPGDuwJD2q36VW-n-8_mFmPIFdKtx_HF72Ge3mWEUFGXaDHJlGo4mgd90WPt5lB4iJrChO6f3bILv2K4ZmUTBTkfwaxi7lyfx661io3ohPGWO2-VoYdGsBe4bV38KL1OpStgBGXKee4cR8PoV_eg14MI0qQmTMhwFBJq4ktr3v9czeaa8tZOvttoPmSvldhpUrWdcie4g7-F3ugpSg_pwdDtfr4us0sfzyuXlbIKAiaBVceOfYrDHC1U7Laeik0aJAxGgPQhTQ6NqaTmfauqf93liBlDQwD9rWLEZEBiPlD1ziqyZbAMVmJpqvvzH7LSG9__yhCpVE6jOLmjUeu8q8V8jj2gjwESkX4u1jD4RRMYkHXcILKZhRMRjWlm5OKMfagR5QL6LEcHWYOgEc1uCgPTkss2hsAOoS_P0kcBvFeIkdem8W_uJbsoC3YX34cKvpKTtmqH5q_HvzEf8svGyheVbtsfRHyGufrVP21kJMvagE6g0hHesBkuWT0Tx-OD1JvV26t6tOtxGlSzVr6930_DFyJs48Tyg9ZQmfFgLnTp71dDoR8XePYhEaRg7XtPtbGh5rq7r6CvJB3heNFZIIjGdCzbtniA3hniKlGDouG1bmtnEvSLhiRV-_B-0T1FvXznuDHpqq3qgmlJkcNzvm0l5LSuHOU-heBVUn6g0uIJvFSL5jrkX0yw5PcF6qq8-LwtxnCA8Srxbgl5RpJSU7SgWeKZl5wQMZNi10Fv6nUmo86PoXcZMkl3LRx5EYvFZhpCQ5N-ilAwTej5stV_Dwx6QnSNQGKQ5D12wJhqMIePMMRK_iaYR2h4-LlhoOKDgtaEsYaAu7Bv1d-pIOJ2w01Ix8anIQ63gBCxKypJkEhGsagjxlXfUjbZRcrWJvGc--qx31BnnL1zlPqUZKtPGu5U5tw2aB9DZwWhmQEbAlO2IL77n0FJoYvmmA2WbPI0ootONmOHjyZetc3zRciEAh-by1I6iC1KcRAgcOmUIf_2T--vvYW9RTMCAKlrKR-rTfSLbHySnpHOB7GYJNp0mqaYfVGYtao_nkbKI3xyfy6v8qcn8xEa4B76M0fkIu9ggkSTazpP-M6DzaYnb939lkoQAq3nDFXgzl7AolE-bqzUYop1EvfM5aZ40dQVER9ZNOCdH6Ad9JuC1y4W_yPEasmm04IbnthHlWEWmNSDDGGW9t9If7R1yIIr_hZP7NrAcTy_2K3koawASVZ7e0S7rHvln4SucQUh785sZ-MXxCxmSlRjgW9zRGAlgi7HFCTxBJnUvpyM0qxWzD8p1E1gVhllG3RwTVi_4Q8X5xKZDwyqFG9P1lzC7dxymEgoxJ9bQUIzB-bl-FRd2DDAIVhgBGMrvxTzP3xmrzIQMsBLTxdh8Hn9jGvw_3oSwlJZiV2PQW9C3nKg342y6WffqtZmPlL6OxF0d3D22c1eWM0pyCCQM1IclNMUXQJf2xzddngeivF3I6wWKW_0ZSkL0svWJ6gt4q57d6UbAapx2eHxdTL5-1zWSOh0cP7nLkBNzsVM-pAfT0cTs_Dx0Au5nfsEXGnCj3Z5XsLwOn1x_as4LXP4WWkyykoDS6ihhVIw_nq0swNxFZPsVE23NlNPHUOeslcbCKzSlhuNpWVotwfROJqU3ubYeckW3UO_x74Z2556G9UGWBeeOBeZk2lkhzmFSAQEKXgHjzw77wrOXE3-wC9CpSmAh76DxmFwaL8b3_P5gauajtpo2Smjbtd6hi7H_nw1NjWpbHcm-QeA_K9hmM8UHkffwJ54Djaora721HDjq3FyUh-ytSI6yNwZsnKmOnVJXhAJv2pT1AOLvRLwQ_mundgyZuDYjcJxDLDwS7AsOC8ukR01FkHVMNQhQNdY-uKf3tEbPFG1IYvNSFGVzPiwsN5rwCmuZF3CqXTbWoQYadavtxn1DBRkpJ8lNWGo1PpKyKp9Y1G4dnVvS9Rp6R6b3BmLEgSXaV7GGH2WJFvCwqCza_1bSJN6KuuWMhjCs27pgJmd9teJUaU3OkeOhforvW4piGTGJZmwrDv61uIeammkD6TKywfnX9l3Iu7Hh7hSNTucnG_2yZcsyt6Bcm2mUbIivxFf312w1tQpGCPTdndfVlFrVLeHfN9RUmkcC1f_GiX9AqzewHUs5OqEwBOIcMDInQ-pSoxDdGQZJg97d1-Xqpbi7fPhY-2dCHPkwXZb-2Jq8XA1yd2T4ZZRd3-9H_IK3uNCcqCjPqW66EM0kz4oQ7AuSS0iWY1NQFfz9nBL8VpdeQKqo_8bVBcLT3bGvzARI5-k-gdyCxgLw7a6OPQehSVtCA0RWxTQ8QOHnROFZyrT7gdmENmzORZf99AYuuqKwlD0t47nhXTmWg-aCLSCYpdL0LXxLyIK7AxxB8pogmqrhxkS09vaARy-6x7z16vgglNktFGUeYpxYXlt5q3sKfBMoxJS6XUeZ9rJ_NUwDwsprOzPGy4a3ngUcz1jUhAIAltvwgh3bX-1-eIeAm2qXBcYbctS5GG0_ZMjt8UwVknzmpGvKeIff0EfxGNjphuXKcYegJZIiRQIQy-Wl1Fjb1RDntt9Oouy9Tt9G4EkaVhl48nLxQwOnsUHQHwajwU1ANUGPXxDQaW-ZEQWcg8_zXyMrsK61lCyMgyUh4bS6FS99Rg-AsPZjId0mWbA34nVcd-WpE70PEPPg_dpSDVisAlI4z_lSTddWg==",
  "id": "rs_0a7e5ccba4cf383a016ab45316b06087d09dcad8dcbfdca524",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.22,\"left_z\":0.11,\"left_gripper\":1.0},\"note\":\"The low forward motion stalled against an awkward arm configuration before reaching the cap. I’m retracting and raising to reconfigure the elbow, while preserving the bottle’s known lateral alignment.\"}",
  "call_id": "call_sftrdJWP38SzTwdQQWbJiVZe",
  "id": "fc_0a7e5ccba4cf383a016ab4531a972c87d0be67d5a6301d830b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sftrdJWP38SzTwdQQWbJiVZe",
  "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]: [-0.8127, 1.9766, 0.9455, 0.1791, -0.8192, -0.7322, 0.9982, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.39 left_y=-0.219 left_z=0.0318 left_yaw=0.211 left_pitch=0.0226 left_roll=-0.0189 left_gripper=0.9982 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.5402, -7.8291, 6.3932, 1.2137, -0.1001, 0.1636, -0.2076, 0.0752, 0.1573, 6.8444, 1.79, 0.0415, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5d6dc84966d41ec81520705c584dd5a0d8dc6d9885f2e9842367b0328352cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f91c690828c904dd7c3cd17c6fec487410141b57523d8583abd7950ea53f1b0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:000c66b687767a96f5b04947feb7d2c1c5b990e0a4c8bfeaf8c0e4dde4649e18",
      "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 · 2.205 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9154, 1.8648, 0.8253, 0.1192, -0.8532, -0.8288, 0.9958, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3431 left_y=-0.2221 left_z=0.0358 left_yaw=0.1801 left_pitch=0.0115 left_roll=-0.029 left_gripper=0.9958 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.0058 right_pitch=-0.0052 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [0.5128, -6.4479, 6.2427, 1.072, -0.3346, 0.3101, -0.0317, 0.0752, 0.1162, 6.6393, 1.7753, 0.0464, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8127, 1.9766, 0.9455, 0.1787, -0.8196, -0.7322, 0.9981, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.39 left_y=-0.2189 left_z=0.0318 left_yaw=0.2113 left_pitch=0.0227 left_roll=-0.0184 left_gripper=0.9981 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -7.9658, 6.2291, 1.2723, -0.1441, 0.1441, -0.2076, 0.0752, 0.335, 6.8444, 1.7656, 0.0024, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8127, 1.9766, 0.9455, 0.1791, -0.8192, -0.7322, 0.9982, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.39 left_y=-0.219 left_z=0.0318 left_yaw=0.211 left_pitch=0.0226 left_roll=-0.0189 left_gripper=0.9982 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.5402, -7.8291, 6.3932, 1.2137, -0.1001, 0.1636, -0.2076, 0.0752, 0.1573, 6.8444, 1.79, 0.0415, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5d6dc84966d41ec81520705c584dd5a0d8dc6d9885f2e9842367b0328352cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f91c690828c904dd7c3cd17c6fec487410141b57523d8583abd7950ea53f1b0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:000c66b687767a96f5b04947feb7d2c1c5b990e0a4c8bfeaf8c0e4dde4649e18",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFMfdMQgwjdGPWFQ6G0MY41-A2OqOYljFuKvzXGYSSXvSS4uv7-S_Y_PRBx8k30073DB7f1VB5a8cP1PRTjUnqw0R1Fhjf55AvDeqHg-SZQaBUKargA4qUjPH7sVMd_XIUfIoplkvAq8Avip6yZFa5Dv-WOzWNdbO6s3SFqspKAlhnpqaepn3oPiUQ2Ouxe0XWEexWjwNIWer1Q-3kIQTDYlEDiyiaiF1N5e3hzv3bwzC8Hy35djMbfVkJXCaY6aSMc0tryLgyE9oiVdMBwllHlFKOCzWXNIXLJPLQ9LDKCmRkUY9JQHU9pmIX6FyeZFG-5RLhLssHO9ltAKamsfq5ssckmDaR3CdYeSqO6ypDSvG44iQkQnwWXSIdv_qTRcthyWRw2tC4xhmlnPz9Rntgxu4gE5IpdyKSfmMa3waqI-iM9QBXfzM71kG26hTpgbLYnUr7D-CWxWe8WuQElh3gukBLPubenbd-Jqd__QC-kJ7RLTMfqIF4UP8EBS5wus2oBYZxTooCABVddTmyo-UjDE-6tsfbZesU89xrU5rSbWbleUbB4f3Q9wdQ8UoEl4V2GRIaWP8Rh3ubF490yqVFFqQX5e5XouoMwn-iWH9oN073vh2DOOiFWCoUOUwhup0lvZF_s7TiJB9n71XyY5QFylGVmyIn5BaKU4gI0jZSiRUrPDyCK--SG0XR7aV9esDNwBjAYfnR8YhO7dcYybIBToTPwLxTg2qdYo_JtvPKDfwOSjegmtJ7HMEtY7hq4wAE_fyTQol0h13YUSZ6rQsa4wICIW2B8EwoBlDofCy4NPdN_POa_eHebekGfNSBpT2DcChEQYX4pZS8gSYokGzlzDvJ_hZipE-b2IPR2DPkhF8t26vcnZcHJy4MnpGUcJPlkOpOmshsfm2UpUuTOGjb0Huasoo8HAgg4xqcWKW-Y7fh1j9ONf3ma9roWZV6anDRMHfnBX_GmIOWkvALPNy6EkVQkvPkP8O15fzCi0E23QtKOApvObPVYPQLPPmcXq8eFLHhxTJDVEbl_zAJLCfthLKRr7hTIkaeSyly2CHfnWKnbi5hni9uMpqT9gfRS9z0-eNpc9yLdUFUAfcHUqnbslCc7nGmRxpoUBJL_K38L1Hva4JLcZ6T0M2Tcidi4NuUABxIA5FIxDjG9YFXvZN-vOqk2oyo-iXR7Lo5qDTif-sYUF0xOdCbwLvF0ZsUvGM9A_sQdegDZEnl_LOWBWFQR3X_YmjgSlOpXXIfLVg9LT9ShfGlTRVfTt-woeVXhRVSjsz2xvd1jA8kY2PrQLRpIkj2OrMXT2yMCrpDDkL58Fn37qEfyXcpXZOnyYuZMGim4yk1qaCA6SsfUfLu4y4pmIr5OCXWXnGLc3o8__vhGPYc8Kde40vE88WvIrThlqWxCZQopmMXO7KA_tdSTbanHqRQMte4KVmW4u-dfiOMuoAHBdYVD50_IjZVpSTZadX4YeEIQjXQDHOzlLVeziyarjXImTm2Z_w1DUnMxmKXwb90JS0AMAR1evULlEdF07Yu-GPTtXkTmbece0EEdQ87LsYq5pbC3qhPr4t6vzhiXyQ7HYJAZSfAUymEzHmVfZ_fbfkz-rwSPlV8a-phOWOhpYZs7SWy9sKF4f3syR_rnOcboEXrd4TIcjCoi8faAl-tGNeOaGnz-7R8gWrbRd4FYSXQ62AyKOYeufgdkst87sfKZQBcNDhpGU2bLkqehFikgA5ujQeIhLc4TIq65tIa-3hFpuXXk9UOikVZAcB9NlnihZNgN3AOLmbDj2bLwDvUxWIpcGNosSDbN8tgT75Z-aS_7V8m9q264A0XlPA_9tdJeSt3IB3WBAf63jtbjtvyrgQKqdYo5fPiwgJCfwjRaf4dH9EzyS-O-vgYzDIppkoMVFbAQf4cNbNlfkpCgF0zX4",
  "id": "rs_0a7e5ccba4cf383a016ab4531d83fc87d084800b1c36334c88",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.48},\"note\":\"The arm cannot retract while the open fingers are trapped around the bottle body at table height. I’m using the proven partial-close technique to secure the body first, so the bottle moves with the arm instead of blocking it.\"}",
  "call_id": "call_DKuQPYIvy3IETleLC0dFdXoh",
  "id": "fc_0a7e5ccba4cf383a016ab4531ebddc87d0a11d14c6486e6759",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DKuQPYIvy3IETleLC0dFdXoh",
  "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]: [-0.8108, 1.9541, 0.9649, 0.1497, -0.8455, -0.7506, 0.4867, -0.0193, 0.4103, 0.0792, -0.2466, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3937 left_y=-0.2171 left_z=0.0459 left_yaw=0.2402 left_pitch=0.0459 left_roll=-0.0355 left_gripper=0.4867 right_x=0.236 right_y=0.0032 right_z=0.0598 right_yaw=0.006 right_pitch=-0.0064 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.0752, -7.7744, 5.9282, 0.9304, 0.0952, 0.105, 0.3443, 0.0889, 0.1436, 6.6393, 1.7705, 0.022, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcee079789640b9d6edd90f918e63c8f7dc44c612639263d159599d7b8e35d5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d30629f13062473af948f5f8b677bffeb1938d14cae1fbd8f44e24886edf28ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb8808ae36967cff09c3217a0582d3cbb64736322b14b74b37b2b1bb80e4dd0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 39 attempt 0 · /responses · status 200 · 4.055 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.828, 1.9659, 0.9344, 0.1581, -0.8234, -0.7517, 0.9979, -0.0193, 0.4103, 0.0792, -0.2455, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3829 left_y=-0.2201 left_z=0.0306 left_yaw=0.2085 left_pitch=0.0143 left_roll=-0.0156 left_gripper=0.9979 right_x=0.2362 right_y=0.0032 right_z=0.0601 right_yaw=0.006 right_pitch=-0.0052 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [0.3761, -7.3778, 6.4615, 1.2186, -0.0855, 0.1978, -0.2222, 0.1299, 0.1983, 6.6667, 1.7705, 0.0464, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8127, 1.9766, 0.9455, 0.1791, -0.8192, -0.7322, 0.9982, -0.0193, 0.4103, 0.0792, -0.2462, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.39 left_y=-0.219 left_z=0.0318 left_yaw=0.211 left_pitch=0.0226 left_roll=-0.0189 left_gripper=0.9982 right_x=0.2361 right_y=0.0032 right_z=0.0599 right_yaw=0.006 right_pitch=-0.006 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.5402, -7.8291, 6.3932, 1.2137, -0.1001, 0.1636, -0.2076, 0.0752, 0.1573, 6.8444, 1.79, 0.0415, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8108, 1.9541, 0.9649, 0.1497, -0.8455, -0.7506, 0.4867, -0.0193, 0.4103, 0.0792, -0.2466, -0.0235, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3937 left_y=-0.2171 left_z=0.0459 left_yaw=0.2402 left_pitch=0.0459 left_roll=-0.0355 left_gripper=0.4867 right_x=0.236 right_y=0.0032 right_z=0.0598 right_yaw=0.006 right_pitch=-0.0064 right_roll=0.0053 right_gripper=0.9981\nstate[joint_eff]: [-0.0752, -7.7744, 5.9282, 0.9304, 0.0952, 0.105, 0.3443, 0.0889, 0.1436, 6.6393, 1.7705, 0.022, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcee079789640b9d6edd90f918e63c8f7dc44c612639263d159599d7b8e35d5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d30629f13062473af948f5f8b677bffeb1938d14cae1fbd8f44e24886edf28ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb8808ae36967cff09c3217a0582d3cbb64736322b14b74b37b2b1bb80e4dd0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
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  "encrypted_content": "gAAAAABqtFMiqqX1O1fRqN4jY48m30Vp8mg4YYBKInOs0BhZW6JhMJsvvDnXVuhmnw-ERVnMScuQOojdK973toHsTKxYhsSBwYH761fuVk1S6ndIrFvlZLIPMa-OIElTBNyCZhlTOenF-zmT9vpTQOQ2wyPC5nXxBMg8j6XAkiooYJpCrbSklfpZSOFVZ2mBvQjBJOYjtRsLDmWVIJ2CYSQNyifcXG8gnz8RaOucC8EV8psUzTRkvwYAj6DrSXrQ1e3D44825NFzzdlLoX7w1T77VaJ7UHy04VRKP4GQSiQF7Dv0grv4QE-T93Pz05ANdXTyEUkfVZEtCb5crZ_qDcdbtNkaFpNEqfY5r1od_u-0ydV43NvuUyCQhMeBM6SsHRIqHm6a7gUf21wb6V7iPUqBw3TfLpujnzjidk7J_QA3CMgyXgqMXRkYZSvFezCKlfoOclIBHHFhPY6k7Afap4G62ZZunRCmB3kiRQm7i8vqV-IozsyqWnUyPmS7gdVR6mtoUi-68H4TDgpf63n-xoAbkjRE7y76kHhIMWcdxgUfiBNTRc6kTB0TO00l6WwZWXRNsvY2ahKkx5_DE5xZayc3jv4qfeKXi6utE0P-0RTGSQi2CBu21lKku0QJafPc3RKcpzDC19KCBXruw3wg91yIiwAPuRS30G2qRa65kdn1fto_G6Ioai2__ytb333VYY5cr-vCThTU1_zJ45T2MPqdFO77u_jF15PLKESdyItqc24sOq2JLucotISCSggGUWGzqj8iOyWlV7TXlqnKnPObU8Biey1t0xb7P_HGYqwrJhQ6amBkVMCpwhqLgncHuTXd-hp9xzqC2RXuZMvcLX6a-Joc3TZnvhAbBPIEHvfRE84RuYsiWtZ4Y57Vu1LAS_KY6AVRk7qYt4m_rivPLguGOmEQSmNaDkoPy8wxpkD5FkRXgTkaCVvN7_YcrUe-ZWaL3P0Qa9LNAymNAIm_ukhxMM-q9q00RgIvHlmuO2g47H8MRPNyGm0mYkydNtgbwp2rL47_oFp0w1CqnzrvIkaePj8p6PFdoFO7Rvm5m4lP_UOArmXgyXC3MRXledN5p5s_4_AxQqn81rR0ipJmTSE0r4JCBfJHD9JZNaMsfYoCqj45oEkmGsUrs_X205fPOUept6sBSVHUNUG6x3OAPw1mVZNqkrx9Bb1sMTxK6BiksnMmqQwtSC4xaP_xAHpbUIgVcSxz2lEyA5rhFCABT8Bs-ldA4vsVvJZ4iJMj2pjTsEMJ8ZVQAT8IzJQYnRxJEUyer4VKaC_G-zsRH6rQ7qOQYYXOSpusOQkzlKVIVF2JrdNXfXIKTwDv5snUY8Now1Xuvk_RBqlz",
  "id": "rs_0a7e5ccba4cf383a016ab45321206487d09921f15104c27a61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.2,\"left_y\":-0.22,\"left_z\":0.045,\"left_gripper\":0.48},\"note\":\"The partial close now holds the bottle body between the jaws without ejecting it. I’m dragging it much farther inward at table height, which should free the arm and place the cap close enough for a direct neck grasp.\"}",
  "call_id": "call_P9b7r4NKLIB4B960H3ywN82c",
  "id": "fc_0a7e5ccba4cf383a016ab453216ac087d09a9c5d1dfcda7abe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P9b7r4NKLIB4B960H3ywN82c",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.3499, 1.7771, 0.8356, -0.598, -1.034, -1.5677, 0.4812, -0.0193, 0.4103, 0.0792, -0.2459, -0.0235, -0.036, 0.9981]\nstate[eef_state]: left_x=0.2111 left_y=-0.231 left_z=0.0475 left_yaw=0.2052 left_pitch=0.0258 left_roll=-0.0162 left_gripper=0.4812 right_x=0.2361 right_y=0.0032 right_z=0.06 right_yaw=0.0058 right_pitch=-0.0056 right_roll=0.0056 right_gripper=0.9981\nstate[joint_eff]: [-0.2667, -6.8718, 5.7094, 0.1978, -0.2906, -0.0708, 0.105, 0.0752, 0.2393, 6.612, 1.7998, 0.0024, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:035b4741c6946c4c2f166a56469c8c2a9e29520487347c37ee1225502494c141",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00cd70aaf61788fe3a475196debf1ac4d4e43a5d9137e9561cc976dd0a91ff55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
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}
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