adhoc - adhoc_3111c038.json

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: 233.1 s
total steps: 305

success_at_end

scenes

trials

errored

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

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

user

Goal: Stand all three bottles upright.

step 0

assistant

agent noteThree bottles lie near the middle: one diagonally on the left and two roughly front-to-back near center. I’ll bring the left gripper above the diagonal bottle’s cap/neck area, aligned to pinch across its axis, then refine from the wrist view.

move_to

left_x0.4000left_y-0.1200left_z0.1600left_yaw-1.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7937, 0.6079, -0.3775, -0.0231, -0.0288, 0.9987, -0.0154, 0.7887, 0.6037, -0.3866, -0.0238, -0.0353, 0.9981] state[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1824 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0033 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9981 state[joint_eff]: [-0.4855, -1.2923, 9.6889, 1.7949, -0.0611, 0.149, -0.149, -1.0188, -1.0051, 10.4684, 1.8632, -0.0317, 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":0.16,"left_yaw":-1.0,"left_gripper":1.0},"note":"Three bottles lie near the middle: one diagonally on the left and two roughly front-to-back near center. I’ll bring the left gripper above the diagonal bottle’s cap/neck area, aligned to pinch across its axis, then refine from the wrist view."})

tool

executing move_to over 11 steps (1.1s)

step 11

assistant

agent noteThe left wrist view shows the diagonal bottle’s cap low and about 3 cm left of the jaw column, so the first estimate is close but not centered. I’ll shift the gripper along its leftward closing direction and slightly forward/down to center the cap under the fingers.

move_to

left_x0.4200left_y-0.0800left_z0.1300left_yaw-1.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0139, 1.5791, 1.0367, -0.3138, 0.6975, 0.5632, 0.9988, -0.0193, 0.7921, 0.6033, -0.4046, -0.0238, -0.0364, 0.9981] state[eef_state]: left_x=0.3992 left_y=-0.1043 left_z=0.1458 left_yaw=-0.8685 left_pitch=-0.0548 left_roll=-0.0493 left_gripper=0.9988 right_x=0.2912 right_y=0.0022 right_z=0.1751 right_yaw=-0.0032 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9981 state[joint_eff]: [-0.4034, -8.1026, 7.9932, 1.1502, 0.4908, 0.3297, -0.1441, -0.0205, -1.4017, 7.2137, 1.8926, -0.0366, -0.0366, -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":0.42,"left_y":-0.08,"left_z":0.13,"left_yaw":-1.0,"left_gripper":1.0},"note":"The left wrist view shows the diagonal bottle’s cap low and about 3 cm left of the jaw column, so the first estimate is close but not centered. I’ll shift the gripper along its leftward closing direction and slightly forward/down to center the cap under the fingers."})

tool

executing move_to over 3 steps (0.3s)

step 14

assistant

agent noteThe cap is now centered on the jaw column at the bottom of the wrist image, which is the expected fingertip location. I’ll descend vertically to cap height while keeping the jaws open and the pinch orientation fixed.

move_to

left_x0.4200left_y-0.0800left_z0.0180left_yaw-1.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1093, 1.718, 1.1, -0.3416, 0.8093, 0.7341, 0.9988, -0.0193, 0.786, 0.5854, -0.4034, -0.0246, -0.0364, 0.9981] state[eef_state]: left_x=0.4145 left_y=-0.0795 left_z=0.123 left_yaw=-0.9398 left_pitch=-0.0378 left_roll=-0.0442 left_gripper=0.9988 right_x=0.2887 right_y=0.0024 right_z=0.1688 right_yaw=-0.0025 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9981 state[joint_eff]: [-0.9915, -8.9094, 8.4308, 1.0379, 0.8181, 0.1587, -0.1441, -0.2803, -1.7709, 6.9675, 2.0049, -0.0806, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_y":-0.08,"left_z":0.018,"left_yaw":-1.0,"left_gripper":1.0},"note":"The cap is now centered on the jaw column at the bottom of the wrist image, which is the expected fingertip location. I’ll descend vertically to cap height while keeping the jaws open and the pinch orientation fixed."})

tool

executing move_to over 7 steps (0.7s)

step 21

assistant

agent noteThe commanded vertical descent stalled around 11 cm without table contact, indicating this extended, highly yawed pose is kinematically awkward rather than a usable grasp height. I’ll retreat a few centimeters toward the base and reduce yaw slightly while lowering, then approach the cap horizontally at low height.

move_to

left_x0.3800left_y-0.0800left_z0.0400left_yaw-0.8000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1238, 1.758, 1.1103, -0.3607, 0.8337, 0.7864, 0.9988, -0.0193, 0.7712, 0.5533, -0.3958, -0.0242, -0.0364, 0.9981] state[eef_state]: left_x=0.414 left_y=-0.0767 left_z=0.1118 left_yaw=-0.9688 left_pitch=-0.0423 left_roll=-0.0538 left_gripper=0.9988 right_x=0.2848 right_y=0.0024 right_z=0.1598 right_yaw=-0.0029 right_pitch=-0.0423 right_roll=-0.0001 right_gripper=0.9981 state[joint_eff]: [-0.3897, -9.4701, 8.5812, 1.16, 0.5836, 0.2711, -0.1441, -0.1846, -1.853, 7.1316, 2.0342, -0.0464, -0.022, -0.0073] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.08,"left_z":0.04,"left_yaw":-0.8,"left_gripper":1.0},"note":"The commanded vertical descent stalled around 11 cm without table contact, indicating this extended, highly yawed pose is kinematically awkward rather than a usable grasp height. I’ll retreat a few centimeters toward the base and reduce yaw slightly while lowering, then approach the cap horizontally at low height."})

tool

executing move_to over 5 steps (0.5s)

step 26

assistant

agent noteThe arm still cannot lower in this strongly rotated wrist configuration, confirming yaw is consuming the low-reach posture. I’ll straighten the wrist while descending over the same cap; the cap is short and round enough to pinch even with less ideal orientation.

move_to

left_x0.4000left_y-0.0800left_z0.0300left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1074, 1.7336, 1.0134, -0.2481, 0.778, 0.7147, 0.9988, -0.0193, 0.7486, 0.5125, -0.3756, -0.0246, -0.0364, 0.9981] state[eef_state]: left_x=0.4082 left_y=-0.0771 left_z=0.0947 left_yaw=-0.9132 left_pitch=-0.0647 left_roll=-0.0546 left_gripper=0.9988 right_x=0.281 right_y=0.0025 right_z=0.1512 right_yaw=-0.0025 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981 state[joint_eff]: [-1.1282, -8.1436, 5.5179, 1.3309, 0.3639, -0.0952, -0.1392, -0.335, -1.7436, 7.1863, 2.0635, -0.0366, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":0.4,"left_y":-0.08,"left_z":0.03,"left_yaw":0.0,"left_gripper":1.0},"note":"The arm still cannot lower in this strongly rotated wrist configuration, confirming yaw is consuming the low-reach posture. I’ll straighten the wrist while descending over the same cap; the cap is short and round enough to pinch even with less ideal orientation."})

tool

executing move_to over 6 steps (0.6s)

step 32

assistant

agent noteWith the wrist straightened, the grasp point reached 1.7 cm above the table and the open fingers now straddle the left bottle’s cap in the overhead view. I’ll close fully around the cap and inspect the settled opening before lifting.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2951, 1.7126, 0.5209, 0.5308, -0.0444, -0.036, 0.9988, -0.0193, 0.7242, 0.4717, -0.3576, -0.0246, -0.0364, 0.9981] state[eef_state]: left_x=0.3846 left_y=-0.1049 left_z=0.0168 left_yaw=-0.2529 left_pitch=-0.0972 left_roll=0.0094 left_gripper=0.9988 right_x=0.2769 right_y=0.0026 right_z=0.1426 right_yaw=-0.0025 right_pitch=-0.0389 right_roll=0.0001 right_gripper=0.9981 state[joint_eff]: [-0.1436, -6.2291, 5.0393, 1.7998, -0.2369, -0.0806, -0.1392, -0.1846, -1.347, 7.1043, 1.9609, -0.0659, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). 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_gripper":0.0},"note":"With the wrist straightened, the grasp point reached 1.7 cm above the table and the open fingers now straddle the left bottle’s cap in the overhead view. I’ll close fully around the cap and inspect the settled opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 42

assistant

agent noteThe closed reading is 0.011, so the first pinch was empty; straightening the wrist during descent shifted the grasp point inward and behind the cap. I’ll reopen and rise directly above the cap with a compensated outward/right target, keeping yaw straight so the arm can descend reliably.

move_to

left_x0.4200left_y-0.0550left_z0.1200left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2928, 1.7676, 0.4446, 0.7361, -0.0586, -0.0513, 0.0109, -0.0193, 0.7017, 0.4374, -0.3428, -0.0273, -0.0364, 0.9981] state[eef_state]: left_x=0.3824 left_y=-0.1007 left_z=0.0118 left_yaw=-0.2307 left_pitch=-0.0227 left_roll=0.0014 left_gripper=0.0109 right_x=0.2734 right_y=0.0031 right_z=0.1358 right_yaw=-0.0003 right_pitch=-0.0358 right_roll=0.0016 right_gripper=0.9981 state[joint_eff]: [-0.1026, -6.7897, 4.2051, 1.9414, 0.1294, 0.0855, 0.8816, -0.3897, -1.347, 6.7624, 2.0293, -0.0024, -0.0708, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.42,"left_y":-0.055,"left_z":0.12,"left_yaw":0.0,"left_gripper":1.0},"note":"The closed reading is 0.011, so the first pinch was empty; straightening the wrist during descent shifted the grasp point inward and behind the cap. I’ll reopen and rise directly above the cap with a compensated outward/right target, keeping yaw straight so the arm can descend reliably."})

tool

executing move_to over 10 steps (1.0s)

step 52

assistant

agent noteAt the workable straight-wrist pose, the cap appears about 4 cm to the wrist-image right and several centimeters short of the fingertips. I’ll shift the gripper right and outward so the cap moves onto the jaw column and down toward the fingertip row.

move_to

left_x0.4450left_y-0.0950left_z0.1100left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2218, 1.5124, 0.6949, 0.2302, -0.1745, -0.1345, 0.9949, -0.0193, 0.6804, 0.4049, -0.3279, -0.0277, -0.0364, 0.9981] state[eef_state]: left_x=0.4165 left_y=-0.0588 left_z=0.1028 left_yaw=-0.0176 left_pitch=-0.0141 left_roll=-0.0044 left_gripper=0.9949 right_x=0.2702 right_y=0.0033 right_z=0.1294 right_yaw=0.0 right_pitch=-0.032 right_roll=0.0017 right_gripper=0.9981 state[joint_eff]: [0.3761, -8.3077, 8.335, 1.7363, -0.1685, 0.0757, -0.105, -0.3077, -0.9641, 6.8855, 1.956, -0.0415, -0.0464, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.445,"left_y":-0.095,"left_z":0.11,"left_yaw":0.0,"left_gripper":1.0},"note":"At the workable straight-wrist pose, the cap appears about 4 cm to the wrist-image right and several centimeters short of the fingertips. I’ll shift the gripper right and outward so the cap moves onto the jaw column and down toward the fingertip row."})

tool

executing move_to over 4 steps (0.4s)

step 56

assistant

agent noteThe cap moved toward the jaw column but remains to the right; the overhead geometry places it near left-arm y≈−0.13. I’ll make one more pure lateral correction to that coordinate while maintaining height and outward reach.

move_to

left_x0.4450left_y-0.1350left_z0.1100left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3218, 1.631, 0.7948, 0.1886, -0.2485, -0.1841, 0.9981, -0.0193, 0.6609, 0.3756, -0.3168, -0.0277, -0.0364, 0.9981] state[eef_state]: left_x=0.4296 left_y=-0.0936 left_z=0.0885 left_yaw=-0.0285 left_pitch=-0.0616 left_roll=0.011 left_gripper=0.9981 right_x=0.2671 right_y=0.0033 right_z=0.1231 right_yaw=0.0 right_pitch=-0.0308 right_roll=0.0017 right_gripper=0.9981 state[joint_eff]: [0.0889, -7.3504, 9.1829, 1.7802, -0.2466, 0.0659, -0.2125, -0.1846, -0.7043, 7.0085, 1.9512, -0.0513, -0.0659, -0.0171] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.445,"left_y":-0.135,"left_z":0.11,"left_yaw":0.0,"left_gripper":1.0},"note":"The cap moved toward the jaw column but remains to the right; the overhead geometry places it near left-arm y≈−0.13. I’ll make one more pure lateral correction to that coordinate while maintaining height and outward reach."})

tool

executing move_to over 4 steps (0.4s)

step 60

assistant

agent noteThe low lateral move did not track—y stayed at −0.093—so this is another low-posture kinematic limit, not a visual ambiguity. I’ll raise to a free-space pose, move laterally over the cap, and then descend straight with the wrist kept at yaw zero.

move_to

left_x0.4300left_y-0.1400left_z0.1600left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.326, 1.6367, 0.8219, 0.189, -0.2749, -0.1955, 0.9981, -0.0193, 0.6437, 0.347, -0.3065, -0.0277, -0.0364, 0.9981] state[eef_state]: left_x=0.437 left_y=-0.0933 left_z=0.0978 left_yaw=-0.005 left_pitch=-0.036 left_roll=0.01 left_gripper=0.9981 right_x=0.264 right_y=0.0034 right_z=0.1164 right_yaw=0.0 right_pitch=-0.032 right_roll=0.0017 right_gripper=0.9981 state[joint_eff]: [-0.1846, -7.4462, 8.0479, 1.7949, -0.2173, -0.0806, -0.2076, -0.294, -1.0188, 6.9812, 1.9219, -0.0073, -0.0611, -0.0171] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.14,"left_z":0.16,"left_yaw":0.0,"left_gripper":1.0},"note":"The low lateral move did not track—y stayed at −0.093—so this is another low-posture kinematic limit, not a visual ambiguity. I’ll raise to a free-space pose, move laterally over the cap, and then descend straight with the wrist kept at yaw zero."})

tool

executing move_to over 5 steps (0.5s)

step 65

assistant

agent noteEven the raise command produced no readback motion, so the arm is stalled in this near-table extended configuration. I’ll retract fully to its known home pose to clear the singular posture before making a new approach.

move_to

left_x0.3000left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.326, 1.6367, 0.8219, 0.189, -0.2749, -0.1955, 0.9981, -0.0193, 0.6254, 0.3202, -0.2974, -0.028, -0.0364, 0.9981] state[eef_state]: left_x=0.437 left_y=-0.0933 left_z=0.0978 left_yaw=-0.005 left_pitch=-0.036 left_roll=0.01 left_gripper=0.9981 right_x=0.2612 right_y=0.0035 right_z=0.1105 right_yaw=0.0003 right_pitch=-0.0312 right_roll=0.0019 right_gripper=0.9981 state[joint_eff]: [-0.335, -7.4462, 8.0752, 1.7802, -0.2125, -0.0757, -0.2076, -0.1436, -0.9231, 6.7624, 1.9853, -0.0464, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_gripper":1.0},"note":"Even the raise command produced no readback motion, so the arm is stalled in this near-table extended configuration. I’ll retract fully to its known home pose to clear the singular posture before making a new approach."})

tool

executing move_to over 11 steps (1.1s)

step 76

assistant

agent noteThe left arm has cleared successfully. I’ll switch to the rightmost bottle, whose neck points straight forward and is naturally aligned for a yaw-zero pinch by the right gripper, approaching its cap from above.

move_to

right_x0.4400right_y0.2700right_z0.1500right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0486, 0.8459, 0.5972, -0.2676, -0.0811, -0.0753, 0.9981, -0.0189, 0.6037, 0.2916, -0.2897, -0.0277, -0.0364, 0.9981] state[eef_state]: left_x=0.3119 left_y=0.0027 left_z=0.1861 left_yaw=0.0453 left_pitch=0.0487 left_roll=-0.0129 left_gripper=0.9981 right_x=0.2578 right_y=0.0036 right_z=0.1043 right_yaw=0.0004 right_pitch=-0.0305 right_roll=0.0017 right_gripper=0.9981 state[joint_eff]: [0.2667, -1.3744, 7.706, 1.8926, 0.1587, 0.2418, -0.2076, -0.0068, -0.4034, 7.1316, 2.0098, -0.0513, -0.0904, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.27,"right_z":0.15,"right_yaw":0.0,"right_gripper":1.0},"note":"The left arm has cleared successfully. I’ll switch to the rightmost bottle, whose neck points straight forward and is naturally aligned for a yaw-zero pinch by the right gripper, approaching its cap from above."})

tool

executing move_to over 23 steps (2.3s)

step 99

assistant

agent noteThe right wrist clearly shows the intended rightmost cap slightly right of the jaw column with open space below it; the neighboring bottle is farther left. I’ll shift about 2 cm right and 3 cm outward to bring the rightmost cap under the fingertips.

move_to

right_x0.4700right_y0.2450right_z0.1300right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8825, 0.622, -0.3485, -0.0864, -0.0784, 0.9976, 0.7361, 1.8633, 1.2922, -0.1875, 0.5537, 0.3897, 0.9981] state[eef_state]: left_x=0.307 left_y=0.0026 left_z=0.1702 left_yaw=0.0473 left_pitch=-0.0433 left_roll=-0.0036 left_gripper=0.9976 right_x=0.4266 right_y=0.2659 right_z=0.1314 right_yaw=0.0462 right_pitch=-0.054 right_roll=-0.0435 right_gripper=0.9981 state[joint_eff]: [-0.1299, -2.2632, 9.1282, 1.7949, -0.0806, 0.0317, -0.0659, -0.1846, -9.5521, 9.347, 1.6142, 0.4908, 0.3101, -0.2076] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.47,"right_y":0.245,"right_z":0.13,"right_yaw":0.0,"right_gripper":1.0},"note":"The right wrist clearly shows the intended rightmost cap slightly right of the jaw column with open space below it; the neighboring bottle is farther left. I’ll shift about 2 cm right and 3 cm outward to bring the rightmost cap under the fingertips."})

tool

executing move_to over 4 steps (0.4s)

step 103

assistant

agent noteThe rightmost cap is now almost centered at x≈117 in the wrist view, and the approach has brought it closer to the fingertip region. I’ll descend vertically to cap height with a small final rightward correction.

move_to

right_x0.4700right_y0.2300right_z0.0180right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8623, 0.5812, -0.3138, -0.0906, -0.0784, 0.9974, 0.6514, 1.911, 1.28, -0.1272, 0.5152, 0.3508, 0.9981] state[eef_state]: left_x=0.3047 left_y=0.0035 left_z=0.1644 left_yaw=0.0508 left_pitch=-0.029 left_roll=-0.0027 left_gripper=0.9974 right_x=0.4513 right_y=0.2391 right_z=0.111 right_yaw=0.0118 right_pitch=-0.0706 right_roll=-0.0538 right_gripper=0.9981 state[joint_eff]: [-0.3897, -2.3316, 6.9402, 1.8877, -0.1148, -0.0073, -0.022, -0.3624, -9.0188, 10.359, 2.1465, 0.1783, 0.1197, -0.2076] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.47,"right_y":0.23,"right_z":0.018,"right_yaw":0.0,"right_gripper":1.0},"note":"The rightmost cap is now almost centered at x≈117 in the wrist view, and the approach has brought it closer to the fingertip region. I’ll descend vertically to cap height with a small final rightward correction."})

tool

executing move_to over 7 steps (0.7s)

step 110

assistant

agent noteAs with the left arm, the right arm’s vertical descent stalls near 11 cm at this extended reach without contact. I’ll move inward while lowering to obtain the low posture, then slide the open jaws outward along the bottle axis toward its cap.

move_to

right_x0.3800right_y0.2400right_z0.0300right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.852, 0.556, -0.2916, -0.091, -0.0784, 0.9974, 0.643, 1.9182, 1.2819, -0.1112, 0.4942, 0.3355, 0.9981] state[eef_state]: left_x=0.3035 left_y=0.0036 left_z=0.1604 left_yaw=0.0511 left_pitch=-0.0218 left_roll=-0.0033 left_gripper=0.9974 right_x=0.4548 right_y=0.2405 right_z=0.1097 right_yaw=0.0283 right_pitch=-0.0706 right_roll=-0.0481 right_gripper=0.9981 state[joint_eff]: [-0.4034, -2.3453, 6.7761, 1.9316, -0.149, -0.0269, -0.0122, -0.3077, -9.4154, 9.8803, 2.0049, 0.3785, 0.1392, -0.2076] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.24,"right_z":0.03,"right_yaw":0.0,"right_gripper":1.0},"note":"As with the left arm, the right arm’s vertical descent stalls near 11 cm at this extended reach without contact. I’ll move inward while lowering to obtain the low posture, then slide the open jaws outward along the bottle axis toward its cap."})

tool

executing move_to over 6 steps (0.6s)

step 116

assistant

agent noteThe inward-lowering maneuver worked: the right grasp point is now at 6 cm and the target bottle is between the open jaws, slightly to the right. I’ll slide outward and right at low height so the fingers travel along the bottle toward its narrow cap.

move_to

right_x0.4400right_y0.2200right_z0.0350right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8474, 0.5373, -0.2756, -0.091, -0.0784, 0.9974, 0.7757, 1.9053, 0.9951, 0.1806, 0.5789, 0.4187, 0.9981] state[eef_state]: left_x=0.3026 left_y=0.0037 left_z=0.1564 left_yaw=0.0511 left_pitch=-0.0199 left_roll=-0.0035 left_gripper=0.9974 right_x=0.3985 right_y=0.2605 right_z=0.0596 right_yaw=0.0518 right_pitch=-0.0207 right_roll=-0.0138 right_gripper=0.9981 state[joint_eff]: [-0.3077, -2.2496, 6.7487, 1.8828, -0.1343, -0.0513, -0.0122, -1.9624, -8.3214, 7.9385, 2.0391, 0.4615, 0.0171, -0.2222] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.22,"right_z":0.035,"right_yaw":0.0,"right_gripper":1.0},"note":"The inward-lowering maneuver worked: the right grasp point is now at 6 cm and the target bottle is between the open jaws, slightly to the right. I’ll slide outward and right at low height so the fingers travel along the bottle toward its narrow cap."})

tool

executing move_to over 4 steps (0.4s)

step 120

assistant

agent noteAt low height the rightmost bottle’s body is now centered cleanly between the jaws, with the gripper aligned across its long axis. Since the cap is near the forward reach limit, I’ll pinch the cylindrical body near its base; lifting from this transverse grip should let gravity swing the bottle vertical.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8429, 0.5205, -0.2657, -0.0937, -0.0784, 0.9974, 0.6411, 1.9671, 0.9611, 0.3428, 0.5365, 0.3752, 0.9981] state[eef_state]: left_x=0.3012 left_y=0.0042 left_z=0.1521 left_yaw=0.0533 left_pitch=-0.022 left_roll=-0.0017 left_gripper=0.9974 right_x=0.4355 right_y=0.2168 right_z=0.0443 right_yaw=-0.0266 right_pitch=0.0133 right_roll=0.0131 right_gripper=0.9981 state[joint_eff]: [-0.4444, -2.2222, 6.8581, 1.9365, -0.0904, 0.022, -0.0122, 0.6632, -7.3641, 6.9538, 1.663, -0.0562, -0.0611, -0.2027] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At low height the rightmost bottle’s body is now centered cleanly between the jaws, with the gripper aligned across its long axis. Since the cap is near the forward reach limit, I’ll pinch the cylindrical body near its base; lifting from this transverse grip should let gravity swing the bottle vertical."})

tool

executing move_to over 10 steps (1.0s)

step 130

assistant

agent noteThe gripper settled at 0.014 and the bottle remains visible in its wrist camera, so the body pinch passed above it. I’ll reopen and lower the same centered pose by roughly 3 cm before retrying.

move_to

right_x0.4400right_y0.2200right_z0.0150right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8391, 0.5034, -0.2581, -0.094, -0.0784, 0.9974, 0.6346, 1.9766, 0.9768, 0.4133, 0.5194, 0.3351, 0.0136] state[eef_state]: left_x=0.2993 left_y=0.0044 left_z=0.1469 left_yaw=0.0537 left_pitch=-0.0277 left_roll=-0.0009 left_gripper=0.9974 right_x=0.4472 right_y=0.2248 right_z=0.0573 right_yaw=0.0003 right_pitch=0.0691 right_roll=0.033 right_gripper=0.0136 state[joint_eff]: [-0.294, -2.2769, 6.6256, 1.9512, -0.1099, -0.0171, -0.0122, -0.3897, -7.9111, 5.9692, 1.1648, 0.0952, 0.1294, 0.5983] approver: 10 step(s) modified (delta_clamped ×10). 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":{"right_x":0.44,"right_y":0.22,"right_z":0.015,"right_yaw":0.0,"right_gripper":1.0},"note":"The gripper settled at 0.014 and the bottle remains visible in its wrist camera, so the body pinch passed above it. I’ll reopen and lower the same centered pose by roughly 3 cm before retrying."})

tool

executing move_to over 10 steps (1.0s)

step 140

assistant

agent noteThe bottle now fills the gap lower between both open fingers, and the grasp-point height has dropped to 4.5 cm, near the body centerline. I’ll close again at this corrected height.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8299, 0.4831, -0.239, -0.094, -0.0784, 0.9974, 0.6334, 2.0186, 0.9825, 0.4446, 0.522, 0.3317, 0.9949] state[eef_state]: left_x=0.2984 left_y=0.0044 left_z=0.1442 left_yaw=0.0536 left_pitch=-0.0197 left_roll=-0.0018 left_gripper=0.9974 right_x=0.45 right_y=0.2256 right_z=0.0455 right_yaw=-0.0009 right_pitch=0.0661 right_roll=0.0258 right_gripper=0.9949 state[joint_eff]: [-0.3214, -1.9897, 6.5436, 1.9316, -0.1343, -0.0415, -0.0122, -0.1436, -6.4342, 3.8632, 1.2967, 0.022, 0.1685, 0.0513] approver: 9 step(s) modified (delta_clamped ×9). 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":{"right_gripper":0.0},"note":"The bottle now fills the gap lower between both open fingers, and the grasp-point height has dropped to 4.5 cm, near the body centerline. I’ll close again at this corrected height."})

tool

executing move_to over 10 steps (1.0s)

step 150

assistant

agent noteThe second close is also empty even though the bottle is centered laterally; its continued visibility shows the grasp point is still a few centimeters short of it, exactly the wrist-camera parallax failure mode. I’ll reopen, advance to the reachable outer limit, and keep the low height for one final body grasp.

move_to

right_x0.4900right_y0.2300right_z0.0150right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8299, 0.4698, -0.2237, -0.094, -0.0784, 0.9974, 0.6353, 2.0048, 1.0401, 0.363, 0.5129, 0.3325, 0.0136] state[eef_state]: left_x=0.2982 left_y=0.0044 left_z=0.1412 left_yaw=0.0536 left_pitch=-0.0178 left_roll=-0.002 left_gripper=0.9974 right_x=0.4555 right_y=0.2326 right_z=0.0577 right_yaw=0.0083 right_pitch=0.0547 right_roll=0.0246 right_gripper=0.0136 state[joint_eff]: [-0.3077, -2.2906, 6.5026, 1.8681, -0.1245, -0.0024, -0.0122, -0.7179, -10.1949, 6.2017, 1.033, 0.1001, 0.1245, 1.0867] approver: 10 step(s) modified (delta_clamped ×10). 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":{"right_x":0.49,"right_y":0.23,"right_z":0.015,"right_yaw":0.0,"right_gripper":1.0},"note":"The second close is also empty even though the bottle is centered laterally; its continued visibility shows the grasp point is still a few centimeters short of it, exactly the wrist-camera parallax failure mode. I’ll reopen, advance to the reachable outer limit, and keep the low height for one final body grasp."})

tool

executing move_to over 10 steps (1.0s)

step 160

assistant

agent noteAt the outer-limit pose the target has shifted markedly downward between the open fingers, indicating the grasp point finally overlaps its lower body rather than merely viewing it ahead. I’ll close now and verify the opening.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8295, 0.4644, -0.2138, -0.094, -0.0784, 0.9974, 0.5941, 2.1338, 1.1728, 0.3614, 0.485, 0.2836, 0.9947] state[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1409 left_yaw=0.0536 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4894 right_y=0.2356 right_z=0.0412 right_yaw=0.0157 right_pitch=0.0485 right_roll=-0.0036 right_gripper=0.9947 state[joint_eff]: [-0.253, -2.3316, 6.2291, 1.8437, -0.0855, -0.0415, -0.0122, -1.4154, -7.159, 6.5709, 1.4383, -0.0024, 0.3053, 0.022] approver: 9 step(s) modified (delta_clamped ×9). 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":{"right_gripper":0.0},"note":"At the outer-limit pose the target has shifted markedly downward between the open fingers, indicating the grasp point finally overlaps its lower body rather than merely viewing it ahead. I’ll close now and verify the opening."})

tool

executing move_to over 10 steps (1.0s)

step 170

assistant

agent noteThe gripper stopped at 0.36—about 3.4 cm thickness—confirming a secure grasp rather than an empty close. I’ll lift well clear of the table and see whether the bottle swings vertical under gravity.

move_to

right_x0.4800right_y0.2400right_z0.1700right_yaw0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8299, 0.4644, -0.2138, -0.094, -0.0784, 0.9974, 0.5941, 2.1178, 1.2015, 0.3214, 0.4702, 0.2798, 0.3604] state[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1408 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4925 right_y=0.2404 right_z=0.0523 right_yaw=0.0296 right_pitch=0.0479 right_roll=0.0026 right_gripper=0.3604 state[joint_eff]: [-0.3214, -2.1265, 6.2017, 1.9121, -0.1392, -0.0269, -0.0122, -0.8957, -10.8103, 7.0359, 1.1746, 0.0513, 0.2759, 0.3687] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.48,"right_y":0.24,"right_z":0.17,"right_yaw":0.0,"right_gripper":0.0},"note":"The gripper stopped at 0.36—about 3.4 cm thickness—confirming a secure grasp rather than an empty close. I’ll lift well clear of the table and see whether the bottle swings vertical under gravity."})

tool

executing move_to over 8 steps (0.8s)

step 178

assistant

agent noteThe cap grasp slipped during lifting—the opening fell from 0.36 to empty—so the full-force close likely ejected the smooth round cap. I’ll return to the same aligned outer pose, reopen, and retry with a gentler closure matched to the cap diameter.

move_to

right_x0.4900right_y0.2400right_z0.0200right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8299, 0.4644, -0.2134, -0.094, -0.0784, 0.9974, 0.617, 1.9518, 1.3952, -0.1852, 0.4683, 0.3058, 0.0129] state[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1409 left_yaw=0.0536 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9974 right_x=0.473 right_y=0.2422 right_z=0.1249 right_yaw=0.0388 right_pitch=-0.0763 right_roll=-0.0541 right_gripper=0.0129 state[joint_eff]: [-0.4308, -1.935, 5.9966, 1.9463, -0.1197, 0.0024, -0.0122, -0.4308, -13.7504, 9.935, 1.9512, 0.4567, 0.2515, 0.6716] approver: 2 step(s) modified (delta_clamped ×2). 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":{"right_x":0.49,"right_y":0.24,"right_z":0.02,"right_yaw":0.0,"right_gripper":1.0},"note":"The cap grasp slipped during lifting—the opening fell from 0.36 to empty—so the full-force close likely ejected the smooth round cap. I’ll return to the same aligned outer pose, reopen, and retry with a gentler closure matched to the cap diameter."})

tool

executing move_to over 10 steps (1.0s)

step 188

assistant

agent noteThe bottle is centered symmetrically between the fingers at the same low outer pose, with its round body filling the wrist view. I’ll close only to 0.40, just around the previously measured cap/base thickness, to avoid the sideways ejection caused by a full close.

move_to

right_gripper0.4000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6128, 2.1433, 1.2243, 0.2737, 0.4713, 0.3069, 0.9946] state[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4868 right_y=0.2486 right_z=0.0389 right_yaw=0.0335 right_pitch=0.0056 right_roll=-0.002 right_gripper=0.9946 state[joint_eff]: [-0.2393, -2.0718, 6.0239, 1.8632, -0.1441, 0.0024, -0.0122, -1.347, -7.5829, 5.1761, 1.5995, 0.2418, 0.188, -0.1294] approver: 10 step(s) modified (delta_clamped ×10). 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":{"right_gripper":0.4},"note":"The bottle is centered symmetrically between the fingers at the same low outer pose, with its round body filling the wrist view. I’ll close only to 0.40, just around the previously measured cap/base thickness, to avoid the sideways ejection caused by a full close."})

tool

executing move_to over 6 steps (0.6s)

step 194

assistant

agent noteAt 0.40 the fingers now visibly contact both sides of the bottle without forcing it out. I’ll lift only 5 cm while maintaining this gentle opening, checking whether the bottle follows and pivots.

move_to

right_x0.4900right_y0.2500right_z0.1000right_yaw0.0000right_gripper0.4000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6159, 2.1399, 1.2263, 0.313, 0.4671, 0.3016, 0.4081] state[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4908 right_y=0.2543 right_z=0.0485 right_yaw=0.0422 right_pitch=0.0418 right_roll=0.0198 right_gripper=0.4081 state[joint_eff]: [-0.335, -2.0034, 5.9692, 1.8828, -0.1148, -0.0317, -0.0122, -0.5812, -11.1248, 6.065, 1.1648, 0.1294, 0.0708, 0.1148] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.49,"right_y":0.25,"right_z":0.1,"right_yaw":0.0,"right_gripper":0.4},"note":"At 0.40 the fingers now visibly contact both sides of the bottle without forcing it out. I’ll lift only 5 cm while maintaining this gentle opening, checking whether the bottle follows and pivots."})

tool

executing move_to over 4 steps (0.4s)

step 198

assistant

agent noteThe gentle grip remains at 0.40 and lift effort rose sharply, but the arm barely rose at the outer limit; the bottle is likely still in contact with the table. I’ll retract inward while lifting, which both escapes the reach limit and should pivot the gripped bottle upward around its base.

move_to

right_x0.4400right_y0.2500right_z0.1600right_yaw0.0000right_gripper0.4000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6159, 2.0872, 1.3098, 0.0807, 0.4706, 0.3096, 0.4018] state[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4863 right_y=0.2505 right_z=0.0666 right_yaw=0.0352 right_pitch=-0.0377 right_roll=-0.0276 right_gripper=0.4018 state[joint_eff]: [-0.2803, -2.1265, 5.9692, 1.9365, -0.1245, -0.0366, -0.0122, -0.0068, -14.9675, 9.1966, 1.7363, 0.4029, 0.2515, 0.1636] 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":{"right_x":0.44,"right_y":0.25,"right_z":0.16,"right_yaw":0.0,"right_gripper":0.4},"note":"The gentle grip remains at 0.40 and lift effort rose sharply, but the arm barely rose at the outer limit; the bottle is likely still in contact with the table. I’ll retract inward while lifting, which both escapes the reach limit and should pivot the gripped bottle upward around its base."})

tool

executing move_to over 7 steps (0.7s)

step 205

assistant

agent noteBecause the opening stayed exactly at the 0.40 command and the bottle stayed on the table, the gentle close never actually contacted it; the grasp height was still too high. I’ll reopen and press to the allowed below-table target at a slightly retracted reach, so the fingertip grasp point reaches the bottle’s true center height.

move_to

right_x0.4600right_y0.2500right_z-0.0150right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0788, 0.9974, 0.6876, 1.8664, 1.2724, -0.1268, 0.5274, 0.3672, 0.4018] state[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0538 left_pitch=-0.0133 left_roll=-0.0028 left_gripper=0.9974 right_x=0.4413 right_y=0.252 right_z=0.1303 right_yaw=0.031 right_pitch=-0.0357 right_roll=-0.0244 right_gripper=0.4018 state[joint_eff]: [-0.2393, -1.9761, 5.9692, 1.8828, -0.1441, -0.0562, -0.0122, 0.6085, -12.3829, 9.7983, 1.58, 0.3736, 0.1832, 0.1685] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.46,"right_y":0.25,"right_z":-0.015,"right_yaw":0.0,"right_gripper":1.0},"note":"Because the opening stayed exactly at the 0.40 command and the bottle stayed on the table, the gentle close never actually contacted it; the grasp height was still too high. I’ll reopen and press to the allowed below-table target at a slightly retracted reach, so the fingertip grasp point reaches the bottle’s true center height."})

tool

executing move_to over 10 steps (1.0s)

step 215

assistant

agent noteThe below-table command reached z≈0.004 and the bottle now fills the wrist view between the open fingers, confirming the grasp point is finally at table level through its body. I’ll close fully at this properly centered depth.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8299, 0.4633, -0.2131, -0.094, -0.0788, 0.9974, 0.6621, 2.1956, 1.1263, 0.4091, 0.5304, 0.366, 0.9979] state[eef_state]: left_x=0.2986 left_y=0.0044 left_z=0.1404 left_yaw=0.0538 left_pitch=-0.0137 left_roll=-0.0027 left_gripper=0.9974 right_x=0.4634 right_y=0.2524 right_z=0.0039 right_yaw=0.0041 right_pitch=0.0135 right_roll=0.0101 right_gripper=0.9979 state[joint_eff]: [-0.2256, -2.0034, 6.0376, 1.8974, -0.1441, -0.0611, -0.0122, -0.0615, -10.2085, 4.4786, 1.707, 0.188, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The below-table command reached z≈0.004 and the bottle now fills the wrist view between the open fingers, confirming the grasp point is finally at table level through its body. I’ll close fully at this properly centered depth."})

tool

executing move_to over 10 steps (1.0s)

step 225

assistant

agent noteThe gripper has settled at 0.537, matching the bottle body’s roughly 5.1 cm diameter and confirming a solid grasp. I’ll retract and lift high enough for the bottle to clear the table and swing under gravity.

move_to

right_x0.4000right_y0.2500right_z0.2000right_yaw0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8299, 0.4576, -0.2134, -0.094, -0.0784, 0.9974, 0.6609, 2.1998, 1.129, 0.4095, 0.5369, 0.3614, 0.5371] state[eef_state]: left_x=0.2976 left_y=0.0045 left_z=0.1378 left_yaw=0.0536 left_pitch=-0.0197 left_roll=-0.0018 left_gripper=0.9974 right_x=0.4643 right_y=0.2511 right_z=0.0031 right_yaw=0.0004 right_pitch=0.0151 right_roll=0.0024 right_gripper=0.5371 state[joint_eff]: [-0.4034, -2.1128, 6.5709, 1.9219, -0.149, -0.0513, -0.0122, -0.2803, -11.8222, 6.2701, 1.2821, 0.0366, -0.0024, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.4,"right_y":0.25,"right_z":0.2,"right_yaw":0.0,"right_gripper":0.0},"note":"The gripper has settled at 0.537, matching the bottle body’s roughly 5.1 cm diameter and confirming a solid grasp. I’ll retract and lift high enough for the bottle to clear the table and swing under gravity."})

tool

executing move_to over 13 steps (1.3s)

step 238

assistant

agent noteThe top view now shows the grasped bottle foreshortened beneath the right gripper rather than stretched along the tabletop, and lift effort is high, indicating its base is bearing on the table after the inward/upward pivot. I’ll open the fingers to leave it standing at this contact point.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.828, 0.4473, -0.2058, -0.094, -0.0784, 0.9974, 0.765, 1.7695, 1.2388, -0.3935, 0.532, 0.4191, 0.5369] state[eef_state]: left_x=0.2968 left_y=0.0045 left_z=0.1352 left_yaw=0.0536 left_pitch=-0.0205 left_roll=-0.0017 left_gripper=0.9974 right_x=0.3826 right_y=0.2481 right_z=0.1213 right_yaw=0.0621 right_pitch=-0.1906 right_roll=-0.1151 right_gripper=0.5369 state[joint_eff]: [-0.4308, -2.2222, 6.2838, 1.9707, -0.1001, -0.0415, -0.0122, 0.1846, -14.9538, 12.0, 2.3223, 0.9304, 0.2906, 1.033] approver: 3 step(s) modified (delta_clamped ×3). 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":{"right_gripper":1.0},"note":"The top view now shows the grasped bottle foreshortened beneath the right gripper rather than stretched along the tabletop, and lift effort is high, indicating its base is bearing on the table after the inward/upward pivot. I’ll open the fingers to leave it standing at this contact point."})

tool

executing move_to over 5 steps (0.5s)

step 243

assistant

agent noteThe first release command was clamped and the readback stayed at 0.537, so the bottle is still held while its base remains planted. I’ll issue the release again without moving the arm.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8238, 0.4362, -0.1909, -0.094, -0.0784, 0.9974, 0.7738, 1.7374, 0.9554, -0.1936, 0.519, 0.4076, 0.5369] state[eef_state]: left_x=0.2969 left_y=0.0045 left_z=0.1343 left_yaw=0.0536 left_pitch=-0.0125 left_roll=-0.0025 left_gripper=0.9974 right_x=0.3485 right_y=0.2231 right_z=0.0574 right_yaw=0.0793 right_pitch=-0.2375 right_roll=-0.149 right_gripper=0.5369 state[joint_eff]: [-0.294, -1.9487, 6.4342, 1.9121, -0.105, -0.0366, -0.0171, 0.1573, -11.2342, 9.4701, 2.7131, 0.7009, 0.0366, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1.0},"note":"The first release command was clamped and the readback stayed at 0.537, so the bottle is still held while its base remains planted. I’ll issue the release again without moving the arm."})

tool

executing move_to over 5 steps (0.5s)

step 248

assistant

agent noteThe right gripper is now fully open, and the bottle appears compact with its cap above the body in the overhead view, but the arm still occludes its base. I’ll retract the right arm to home to verify the bottle is freestanding and clear the workspace.

move_to

right_x0.3000right_y0.0000right_z0.1800right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8242, 0.4332, -0.1894, -0.094, -0.0784, 0.9974, 0.7925, 1.7195, 0.6746, 0.2337, 0.5499, 0.3954, 0.9948] state[eef_state]: left_x=0.2965 left_y=0.0045 left_z=0.1332 left_yaw=0.0536 left_pitch=-0.0144 left_roll=-0.0023 left_gripper=0.9974 right_x=0.3342 right_y=0.2126 right_z=0.0314 right_yaw=0.0998 right_pitch=-0.0961 right_roll=-0.0705 right_gripper=0.9948 state[joint_eff]: [-0.294, -1.6615, 6.2564, 1.8779, -0.1343, -0.0317, -0.0122, -0.1709, -8.4034, 7.2274, 1.6142, 0.4127, 0.0757, -0.2466] approver: 5 step(s) modified (delta_clamped ×5). 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":{"right_x":0.3,"right_y":0.0,"right_z":0.18,"right_yaw":0.0,"right_gripper":1.0},"note":"The right gripper is now fully open, and the bottle appears compact with its cap above the body in the overhead view, but the arm still occludes its base. I’ll retract the right arm to home to verify the bottle is freestanding and clear the workspace."})

tool

executing move_to over 18 steps (1.8s)

step 266

assistant

agent noteVerification shows the bottle remained horizontal: the firm body grip prevented it from rotating. I’ll regrasp the same rightmost bottle at the proven table-level body pose, then pivot it with a slightly loosened grip so table contact can rotate it within the jaws.

move_to

right_x0.4650right_y0.2500right_z-0.0150right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8234, 0.4309, -0.1871, -0.094, -0.0784, 0.9974, -0.0105, 0.8368, 0.5674, -0.337, 0.02, -0.0174, 0.9981] state[eef_state]: left_x=0.2964 left_y=0.0045 left_z=0.1328 left_yaw=0.0536 left_pitch=-0.0137 left_roll=-0.0024 left_gripper=0.9974 right_x=0.2981 right_y=-0.0031 right_z=0.1602 right_yaw=-0.0417 right_pitch=-0.035 right_roll=-0.0097 right_gripper=0.9981 state[joint_eff]: [-0.4034, -1.9761, 6.3248, 1.9609, -0.1099, -0.0122, -0.0171, 0.0068, -2.4547, 10.1265, 1.8926, -0.1929, 0.022, -0.2125] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.465,"right_y":0.25,"right_z":-0.015,"right_yaw":0.0,"right_gripper":1.0},"note":"Verification shows the bottle remained horizontal: the firm body grip prevented it from rotating. I’ll regrasp the same rightmost bottle at the proven table-level body pose, then pivot it with a slightly loosened grip so table contact can rotate it within the jaws."})

tool

executing move_to over 22 steps (2.2s)

step 288

assistant

agent noteThe earlier drag displaced the target leftward; at the old coordinate the wrist view is empty and the overhead shows the bottle about 6–7 cm to the arm’s left. I’ll make that lateral correction while staying at table-level grasp height.

move_to

right_x0.4650right_y0.3200right_z-0.0150right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8185, 0.4297, -0.1837, -0.094, -0.0788, 0.9974, 0.6514, 2.1967, 1.0977, 0.4583, 0.5156, 0.3477, 0.9981] state[eef_state]: left_x=0.2966 left_y=0.0045 left_z=0.1344 left_yaw=0.0538 left_pitch=-0.0065 left_roll=-0.0035 left_gripper=0.9974 right_x=0.4633 right_y=0.2482 right_z=0.0014 right_yaw=0.0148 right_pitch=0.0239 right_roll=0.0135 right_gripper=0.9981 state[joint_eff]: [-0.2393, -1.5658, 6.0513, 1.8291, -0.1148, -0.0562, -0.0171, 0.1026, -8.5675, 5.8051, 1.3114, 0.1197, 0.0806, -0.2125] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.465,"right_y":0.32,"right_z":-0.015,"right_yaw":0.0,"right_gripper":1.0},"note":"The earlier drag displaced the target leftward; at the old coordinate the wrist view is empty and the overhead shows the bottle about 6–7 cm to the arm’s left. I’ll make that lateral correction while staying at table-level grasp height."})

tool

executing move_to over 6 steps (0.6s)

step 294

assistant

agent noteThe overhead now shows the right gripper directly over the displaced rightmost bottle, while the wrist view is empty because the bottle is at the fingertip grasp point below its field of view. I’ll close at this table-level pose and verify body thickness.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8188, 0.424, -0.1837, -0.094, -0.0784, 0.9974, 0.7784, 2.3295, 1.3613, 0.3035, 0.5903, 0.4301, 0.9981] state[eef_state]: left_x=0.2956 left_y=0.0046 left_z=0.1316 left_yaw=0.0536 left_pitch=-0.0125 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4658 right_y=0.3262 right_z=0.0022 right_yaw=0.0393 right_pitch=0.0323 right_roll=0.0337 right_gripper=0.9981 state[joint_eff]: [-0.3077, -1.5385, 7.0222, 1.79, -0.1245, -0.022, -0.0122, -0.3487, -10.1812, 6.6667, 1.1453, 0.3736, 0.0757, -0.2125] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The overhead now shows the right gripper directly over the displaced rightmost bottle, while the wrist view is empty because the bottle is at the fingertip grasp point below its field of view. I’ll close at this table-level pose and verify body thickness."})

tool

executing move_to over 10 steps (1.0s)

step 304

assistant

agent noteI could not complete the task within the trial budget. I established a reliable table-level body grasp on one bottle, but because wrist pitch/roll are pinned, lifting kept the bottle horizontal; my attempted table-contact pivot only dragged it, and subsequent regrasp attempts missed after the bottle shifted.

give_up

hindsightFor these ~5 cm diameter bottles, a reliable body grasp required commanding z=-0.015 (readback about z=0.003) and produced a settled gripper reading around 0.537; approaches at readback z=0.04–0.06 closed empty. At long reach, vertical descents stalled near z=0.11, so lower first at x≈0.38–0.40 and then move outward at table height. The rightmost bottle's initial body-grasp coordinate was about right_x=0.464, right_y=0.251, but a failed pivot dragged it significantly. A rigid full body grip does not let the bottle swing vertical; a future attempt should deliberately use a lightly constrained neck grip or a controlled table-edge/base pivot rather than assuming gravity will rotate it.

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8188, 0.4194, -0.1837, -0.094, -0.0784, 0.9974, 0.7853, 2.3386, 1.3907, 0.2649, 0.5987, 0.4168, 0.0131] state[eef_state]: left_x=0.2948 left_y=0.0046 left_z=0.1296 left_yaw=0.0536 left_pitch=-0.0171 left_roll=-0.0021 left_gripper=0.9974 right_x=0.4658 right_y=0.3299 right_z=0.0018 right_yaw=0.0473 right_pitch=0.0225 right_roll=0.0061 right_gripper=0.0131 state[joint_eff]: [-0.2393, -1.7846, 6.3932, 1.8926, -0.1148, -0.0366, -0.0171, -0.8274, -13.4906, 6.4615, 1.1502, 0.1587, 0.1148, 0.5739] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not complete the task within the trial budget. I established a reliable table-level body grasp on one bottle, but because wrist pitch/roll are pinned, lifting kept the bottle horizontal; my attempted table-contact pivot only dragged it, and subsequent regrasp attempts missed after the bottle shifted.","hindsight":"For these ~5 cm diameter bottles, a reliable body grasp required commanding z=-0.015 (readback about z=0.003) and produced a settled gripper reading around 0.537; approaches at readback z=0.04–0.06 closed empty. At long reach, vertical descents stalled near z=0.11, so lower first at x≈0.38–0.40 and then move outward at table height. The rightmost bottle's initial body-grasp coordinate was about right_x=0.464, right_y=0.251, but a failed pivot dragged it significantly. A rigid full body grip does not let the bottle swing vertical; a future attempt should deliberately use a lightly constrained neck grip or a controlled table-edge/base pivot rather than assuming gravity will rotate it."})

tool

give_up: I could not complete the task within the trial budget. I established a reliable table-level body grasp on one bottle, but because wrist pitch/roll are pinned, lifting kept the bottle horizontal; my attempted table-contact pivot only dragged it, and subsequent regrasp attempts missed after the bottle shifted.

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 · 18.37 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6079, -0.3775, -0.0231, -0.0288, 0.9987, -0.0154, 0.7887, 0.6037, -0.3866, -0.0238, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1824 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0033 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.4855, -1.2923, 9.6889, 1.7949, -0.0611, 0.149, -0.149, -1.0188, -1.0051, 10.4684, 1.8632, -0.0317, 0.1832, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:450ec53ff52715dd8d49ee5c10729c78beb62c76383e054901c8ef3f15696e01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d7b0a12f3c2f1e210bfc70386ef3b15d791f6b0b4e5b5f8ecdc17ac3133dafb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06414dd5ef7fb0bf87c00aad5fc374ed303df49ecc5a872abde127816018d77d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 8.759 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

{
  "content": [],
  "encrypted_content": "gAAAAABqtEcvt4b-hsAvLU1ggRJjzPTz1VaIPVOhJ2k6tjnhyP7tlDLELBQzogO50TU_iSktz37xikQilF8pHHnMpghsaNz1JMUrozXyTznIIBsSX0LwQjNMWFXNMA_30DML8ID9I2Eces-fWuqUYjCsiIZJzGRur5_JX77oF4BcRXbcSB0Of_YynkNYro1XLyH0Sw4dU-C1Ph3W11GSuA5wiCkDomqNiR8NCxHF2J9CecE2BLARLoe9-ncOuKDF-UwHM8dCC-5XuFPFhr9D359m30ZZJq2jyLK9wISoby0Ey6mdk2yjhT3933K8kglvCkbKW8aQDlt8xHsRlR9gjCWQUFZEIN_wQr6AFLVkIN0pPwFACLV5iKPfl6D_lT1NkdOeX6FtD2icBJIC-CiopYGP6ijEbAAykF_L6K9emi4w1dIHRw4eDtSgXgxNVKBm6AhVC7_JlgQcQ8tNelCzmVp6ZSG9GNJ5VNvJPNAbW8wkMLLlyErtXmnMGLy_qEMGvk_X2GtLrZ1UnLjvRVO7as6IR1TJXO_OpDQtQFXmbMPrNKoLELxlj70cLof4IbwrSQeSZIPi19dQiHHeGTEoHziMuXgAD8f_cHA2OuRBdemSwRbsPcw68aPfSKPwGa_UZR4Ucz5vd1j6ACj9LWP16xkFrdTlyp9j4daBgroKzl6uVEZDzYP8rrcYTzwCTJ0HzVmD_qAGMQ4nRbyII62_OpUX6ZfnmAdjhPlgH9DTpCb6BIkbLlX3WKSi64hutHX0J9sMlm_YHbNPmH-fvvQSC9ZMqnFX4lqvUPpL9xA-GoNItaGv-WakXsAgLec4G-yDRyg0TLghTY-Hs3zt-rmk_sXNFr66XxnVVMEjt_xWMNhnd7sAmGwPyuODtyaL-P6LIOtkzRLXiTvPmCR9_NfM5rNEgQEzcnoDSyC94aNFQRhXBsdYnT5rhLDlN2dUJ2IbV3cXv3hPYBP_rpFwUJArqdCybCDSyI8sCJH-qIDJOGDw9XSaDku5k3Y4q2F2BZYtPC87f12FtzMUC_HRSy92WiEIvTfsRazxtRdKn83BFd74JalsrO1ilhAqQoe2mwK7ibDGCbC3Hlh-4aG09fRXe19XolkmHH7p7rBBMHZUAU7S0xfpWoc-7MEUvWnrR7RY16Jo5oBjjx-pluGGlhMVbhuFXN1rPkMNsHrtN02QDP2VjJa11BIw3YtREPvRv3VpJunYWv_t40aEEskYXa13tIItN-KBpobAO-T2M3iFEbb1FOTulOHxhVt6bcV5-OVK0j_aTkyze9Pfvk8i8Gbe8hf5hmk-1tDHjj4bksWQHOiqgbCRL6IGweiXOGp37WbD1SgwXfwknyUvxQjfuc6vnlOED6zYL_yvO7hrxCMGe4VrG8YwI0WI3flg1VBmmzySQnMkJc8T3mfQ1q9fJzfXSViojS_9i1CwTDzeKZcB05orlo8A4lRNjCgTe8TIcEAH5pB657ZCf3wFGhYZAM-MLMEsB0nab3fQY7n1JhQjAe65UBHDs1WjW_thFfVg-cmGvIYZm8R3xKSR0oZUbFOiUdK2zo1fP94q7hpYf0NMcLKk-vgfwcS0hWkaKdvrsaVDemj2v3jF3-kmIpmXvrQlsup_PtDvtcVbj7_LU4m5h-6nkm-BCC8xLBNNvRepE-TwcCymvtgdxTE7bkVScfMqavQXJtvqXMnJ4YsAgD_JgbMM0cQUaxz1oCS_24BVzYuIfkmM80z85NuF-8VEFdfQNPo_6aIfJ93fDJTvxcedFqVwNQlBViCiSOL19a7p9ZNn1bcjKicIQCrwYp9y1eMPdYjnYvNFA6hAaerUDqG2XDrLBtG2UfD0GkIgTm4UfwDBGDeFsl-H-JKTUbKe1XJxbG-EBUTbSGPj_YO244afx52ey6CPEYkeNlHDYUhEKyTZTPdz8tsdMgZ5w9SPhkZliz6XY6N1FeFT0uItnEcPUWs8nV2qW3CAndtnPadn8znoZQAK9mn0OLZ68T1d-DCmXKol67vCEhwk8T_jga-mjfnAix3q-PN2SKVk-Azv07OR8xFzR5rEnNgrfqkg8Gdhix57l2q42ix2pGD7hGlFRzIrV311fYR0LBjoPd4TqTqiD7RbCE7HMnNwUFP80OlF618fjPNvz079NNxS7NkNRQTMvMknSiR47qwelLAHIPdDXMs0Os6JttE2eo8jLlYjwfZFfReU_Mt24iJSI7CTh2sHQqtMyIDcxNufHIQhDX3BgS-BbKJdLvFGJ--SaEZMKhBcPzhD-PQN4GLxX5deEjzx757k5FrkpKQXRthRdzQAxR1glComFfNicwkuIKBNZZomtZOjgLb4sdBeHDL7AhRrl6j_Vgze8kTEiOGjsxwLpXDujTmdyNuR0s0CcYTh0Q5unnxi2VaGL-ZV566njjFuyIleQ2CsjU_YK0fiEopotV9CuWuO87AGDX7vEMviLnGhCnvQY6S3o2U_SFXmEM-t9Z01hoTcVv4LSdhWV6CemKcFLYXcIRkIKig2TH_sz8zzJ-XWHr4XkPATd26g87Al9J6AekS5dm9brNI4yHZWIMZhD-JVFZBYFuRN90WPbtMeOT1HL0oTmrf-L4Q7kICURVIqxoHOmyR2rgv3AKM_i3WSylsnGL-qMCxCLImneQm2vGTuucfufZdHuGyrfagedp-1TgteWiI-K0WphwmnAXfua4weYDpIUL3LnVgSt_VPJFJvz33BdfiTKVX_EQCVrnWYdgL8Wv8CCd5FufKYTu5EItZnW-mX5WtqCKZulAL9-2TbUw3G37ez3BE5dc-o8CQ0a76iPn1uqqf-MUImGYWnqCXcUSn93OBEbrHg4TLtgb2SjnXNAw00bYSsUkIN7OcsOiq9e9eUYCyGFdgI4InAi0dAH1VvQN0oTyZQavq1oENmRtc9J7Oz0Pxfp4braz2hlkdJ6iqT1kGHslpccu7bRC9CJyF9e6L8YWTXTGzsB0U0kpjuftkik6vZ6qZ8xJ_vtbvcx6P3m_2OEthbfzYGUkUmclYv38vQn0B7lLcKESqzQdeSYi_XPv4-VBN-ksZgSrqRR-5aLYphzaflkuzVzdBZgkdaPRYu6b6pqLuD-h_6RAy7LfwKyX0_7Yp2E_DQsqJVtoKI9AbBfMU91RE0LE4oCMv6lStvOITfhwwpGIz_6jA3Who5TZBhToIIQXLhHlOCNDeE9VU52z18CTGXnh3AVSCprOyEYnwAI8xMX_Uv4w1OYQAgFncTC_24kC3xcoi1vNt6ZaXs8Fy-p7VmV6Xboycg1KlDqA03v4DJeAcAeknxsYYGSmqorm4r3r43hVDBXSF1Zjd_NpLe0JBTcfpvZkvgvZ7dPlem_eB5Jvc06_5N9GcIf4IvjcNKA8jrgEO-IxgBJ6WBW7ps2_Ztf56nhqAs6SLbdjchDoQE5ludtxGIPL1lb8hRtFSxwlygV4PE13pbQIdUssGwHS8zHko6lOyiweWf06AU00YbMQW6z1yl1ZyuAj5e0WryCFHcUhiNaomvWO82FrGYMrclm059kMRqT5o7mMMckkpqogAb7zeVXpIKA2ppoMnqCrbNjnh6aY9OspW_xWKjrjVuAVvf3avljjeJk51RURd60GDEBCjRu5rZHRRgNVzQ1fMIswGZqJebwz8NZNJ0WZ6t1DITQtgWcf-T4_S_6FBLxnb_SVsroZZ8Ofio-xNlp-uagTHem43gPxUeeVgkS8WTzKoF54dMf2XUMy9UgFJTwaYvTNxFORmFGgfqFzdiZs6rxotqzYPXY09ntapbKkxEcsA7X4nY6iOObD7bHij5rWKt8IFEbX3Qg_dHkfhdI8gjL3biQ5Zrufk2xb6fF04q3lYIsDOEJLIqQ_EvoYYzhmdMeEY1lsg5GAwJuyVSQWJqXSNGYgpV6b9Y8Dz-MgHHuzbPonLhmet2aBmdBV--SrvNjRDvUJnsg2KtL8-2AzMalb7KqE0gUOK5afzKJiKTm3lLDjgkGy9awYOBmFixA5ixWtOUucxsJV59YdPC0zcPFaxL20txR4L_UOYtUZQcRoGzTXu9Bho1HXcMsUPlmXcmkszOF58y1T2xUBPUZ5VbnF3Xc9d50PvRw1LuOaOeedw5WnUo8qwFun_MNXLiRCdF-xmqkBlnGYpXYBCpBqJIvViq7ZU=",
  "id": "rs_0eeb861604b4e47d016ab4471ec3c487d098690619e1228d5a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEcvwa1RCRG1hajsIwolU4CLsxK8c0fUdodG-biAX8rjSi2LZ8qYWqG0_HodxybLmFDSFekVk9F-A7ra2oGc65YjIASKL_yZbSvjVtGpi-g9virEITKbq61bQcvU6D2hbM_M0megkOxKYegGrKy32v9MViAqJ6QHHy1qvL1CMOTFGHpVjNi8MXXzxVaesVrqCIHUVWsgk-MSOhaOE9UhrVHBPHrNjrcgTzC2q9Dg7bJrs7PuODpDwjLLWxlpprDbqnYAfq-h4tiAAdLvSsK6nkPMY9WMNlSqKvFNzEsBW1yNFbAGluhEsr-IotpYor9eHSja2XSrtF4EISDAn6bf5qJEjIiNVD7Vu_GVOgO8ZhHgSbK060hdB7YfnkJATngkhG02Z4q14bzHduVOLc6mShKpfAetVcX5BFhM1UEMRKcx7r2RdM-7b_xFpOCHZc3Z7n1mCshy6fVkWajaGRM1bodxzV_VuJvn3Tc5uQSEslvAIUE1lDUyBK_wgXpZ6I7iZTtcKE9VDEDiwpGoV908ppwy9zaZE9Z_v5x1UTz_hOhRD2sGHyCC6tVQfysO6EdfLdYJuTqnrusuD6XgEg6JhzF8CilCEGADrvzMZrdUCZnHGKWSuwEuYn-cCjaBCs9wntw8OFvuYbsdkRtTIXy-H8q_V4rolq58xS8gIMoqHGyQijD4UlHPjCaXDd0FT35h3ClKrObQ2LNgrWHbRFW0YRWc71iYESdpe6NObrHWU4O84PqcgxGr-w8BWVGvwrZAiW7LYpCSmJTYf0xLMIpH3MCkJQcmAQVRr6au-JhAdywCzkl2njyDRnJHwUr2MNzThEYFjF3jcNeY22AHwrhNtMVJ7nicxgR2uX_m_RiTc5Z9_8EeK_wf5qg10y1dBMvbKJcR-jUP-uGehFUwJdZtyDiNDnqeEwZ1FbBDTYHguzgFcAr5a_1gQ4nf-5fkp2I3Lje2iJJ0onzS8jBgxIiLjoJahBk6lQXjVI8vDw_mpNWpc4FmGFkoKE5e9KLZVhHWnhmByFSahTtTUjbthVvsFbGPc7eL2pLPQcwwcOMxPL9CecFqg7PjE-R8PdQoWr9zjkcS8I27Cpmo4lZjSfq956fuSidViMCWMOQhRBvM9I8WSnj5nzMMtGF3IqmrL7y0ETPTpByq82v7ypScDn7ITR_HON2EKT-EnU8PeKdPkJfW8y4F1dt3dVa5behPnYT7abN4dv4a6MXxKPmFppFHFDj_0AmWooPrl7e0eaD8lG2dQZSDcNP3ENclB05FXCEzraR76gnUDqFaag3YFkWriXGUAeWzTwP7nq2ThmIA1Hv8K0JIWTBSAjyKGuiTac4j_tGu2iYaO7hh8VfZ5DjsBU6Ta2gtTIA5hifG20lXQn0nT6pSjV1wukN8kIMvAv5MAOX-05WGJGzW1wvyN-8FBZtB-8LvtP_3lSIPCHSHvt_8oJXAKP8qJ0DPk-k9F1qCsuz-vGGSe1-6a6H4EanBikuticrHTxrGLidrFxzNdRbx8ioVNDtjNcYZ60assm74eU0i2xteu-Aowb6MPFG9mUjr03Xy0VIZOzJcZB5uNpBTJM1BX4h7rS0WMe1JAAPbqxq_McpP-Mspm9HEmi6Bjx4vyBzplGOK3FklGBIwYD-t6035CfBWTweKz8xRwSbL29_kKwn5QRwMvCTy2rocbLu9WZQUvUZ3K5w8l7SuU6M9Bw9CeWMayGwEHdeAiNVpcukMZe7aswjyfChSd1ijF-iShI5KXWvkViObNQI6emHpzWslHYtVzWIS9zs_Pg9Vossvlof8_dlCNp0afVrxrrGXEHdBga0A0DQ4PKWkL55_5YX2UNCc4jXBgfNlQdibofn1dpNZjSgszbYxz3Qj4EcK8KIExZ3MYWCR62RXaTo_TOlPweADea_EwFau0PfvJa01GFENeAtYpaovxHmdD31g97yL-Ez3-ZyLzQD9EmsOzQ0XrsNS1zR6kRYR4Tv1tQtUWUKF-VBoa-0-RlinE-XaXgFBXjsiGVIl--qJ3c7g4nrr1Ma2MFK-RXaGEhp6uWtL6-R2qmDI8rkzqnP_Edl2EiA8wSMNe5Y0YkOjoyo0CiL9YFuScgGD4q7iUv5TE3MjHmqeHsxMk_FnbjqV2rseHKDOpGUeHkVKoMs-8oF1cOO4PLyfS0QR7nhgU7r8zaUm3gJO1zgBxaIpR-wb14hx7QYzhsixpHF8QhsZY23vCvnMAdpzQB7IJ0Yn8uiQ_RhUoz9z-l0-yHGw-SAQr-sFhZ51SZquJrQ35AUv3N1CGedHpt7uQDrot6H96_jbmEQGy-z4WgezHySJ6hl6qxv2mKI29YN3sGcxY1s_6KdDFgpd62IFIPu2Dqpv8TEMwXY9kw_LwR20519p4hIZk1tAEcOlH96OAfrI97-jMf-s1gsl5RIZktbGmyI-zVBz6-gbW-8-EROPdoHstkRJGEGQwcMWXRXKoyhglttozFSYB1xNp1qaI8BgLr-ux5xdbnG2WAZdmJkr7AvDUtMWEvRuvxdOsBnaooq2ZgZ8nz_rWq8IyDrRsn3Pk7a1yiSj7ZswK5E0jStI-gTj6agygYCJPJyra24SxupdSctEhurYVueFzl3ul1abWWo2YQkjJJzRKqtwbX8HMTeV5AxP4qGxFyyPZscjyAY3ApvpzF7rhlsy29y9vITR7wiJdtbNvuU4cu_T7XDSTe5CqW1dEI_CNyp68S9RR5sYJu8APG77syXbyjxzTdXTvZvyBBj_8vqAagd9wcPAITXCW2xzvG4h8XnF4lBM2USBjqSjR0akvp4RuPxc9-m04z4zIQOCpD7_K7fVuFNROZDCVqTbD5tXQkwjp6LL3mPCftLqnFzGd5vizoYC0q24QKuO8lAmcIROF88H4uyFzI4AjpcBqItSQj3gTZQ3R21MG1JBjb1fKIcIcbABtyb_rQuKTbxnYEyi2JfwgJx0iNtliXatCzewW818GwkNYJFmiqfreKRprDXJaD_ixBnZW8r3gsII5CEYROAQH0GQofS2S1yv6x7ipIN5lJH5DwGl2S5Yr7BAYzOVG_Yyit32r99WeqRI1P4kOnFats_2XQmDMRC5qgYU029Ks8odD9N4qeRlCCQqCwgr90NLdF2vZTG7y8OGrtuE5ckZbRdLDk_Uu8bqipW8xtjnR-VvnZKmJncp-n5HUtVSHWmQ7bVn8AiBdLmAcs1Wygcm-ndVvRCAw_PR5l5gPKVNv-jSo8zbpN63RpnkKrWYUHqkKQp4vjGzmGDER-ZBI5yuCQmyYTyLrDaXlwiWiz-TBGpSe9deWTFTxd8Hdbe-UTZyTkgqapqmNmsJbSPg70pU-8SqOMUs5_Lhe5_naFKwMRLvOkTwAx0MuQJubMCr9YSQlYTYS41dBfxpkm3wEJUyZwVT0SVoK9ux33clzb5bQHl0UJ1bbkVo5eBBsHDJGGlNaisWYi-hso2iIcqB_VQl95W7O5L-l6juKfxvWlX9TYZmgVgvXnZPqn6jfKfZs5uznsbzR_pLpvFuF-eUyUrkrUmIA0BYB95Mg7E3M6NmvNjENm35AHSvZ1JelkcFhTJcHaVaCPOBErvCx1kcARpkQCBux_OzPtBNWX0nBvFYaA4xkUTscdgcJsOhWYDkxnvHTcCsbhfWP2BVmhSu1QgtdUjQI-5mrZnmveBSP5QGF2qCdqveI4wzPfRdx6gpyGqXk760cXZwAoSbK4yti4zDKsE9r2N3xTZKPA6maleqTpSBpJxwjGj_Kk7FX9kUzbQrT5hrtmfgM4utoHHlAEfMOai_Mp24006hEyZX-b4rx-1LksfBDRAOh1potHtLixYxGRu5lH9w_pQo0nMV1Sh_c7nyB0o-uVm8izgDx5kPHeMpD8CndYOxRUk-xDtsS33bLsWpfK5y6cQdJTF8mV97uP_qmV4Bz7I4ofGk6nQ0BenSSRnpQeMWEmlkanrwwTw6an2Wj0X5VLkUo8ta6o-_e_egqbdC6dzPFqYbDw2K7iW_q7k-7TAndBzfE9x6ksyjdUFCblcpfxZ6GXqjQ1wxKsggwWLa4VyT9J-IR_qX_d6Wh2Wrp2RPG9GT9wTEeRgnfr1a1HOtwYSEVc1--phxQVZ0vBtw_eySUfsbHPVdXNW1cUb7fBCYhoCGzasR931mqB2ZlcixnFkj-x7Qqdw7m6M1lS3b3XppjsoTom3gYCLtazJMDC0YYujIhSlkb7EUPO-pb3UBbJPNsD15Bf7uVyceEPrM8GtFfZlSiBaaamR5kFiZptvzw9WorRywCycN0NyZBlro1fn-XCU2y8E-4GgYCsTfWFUgetffMdS5UYB5T7fZou7opY18WgJZzB6IK9DFHQmxZ0d3AVUz",
  "id": "rs_0eeb861604b4e47d016ab44724d52887d08993902d7f9fbf28",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEcvu3BU9LJAPjC08K6rVXREP25EkA9WWZNKc4CaJGG4ptgEoDf1P4N3Xcp8OyukkHMU9nuuO3-UtwJcCB3w1QtcUmiFB51aH53JSFom_6yEtjfAliOV0fICyfWUfx7-Wn1_QFKJ9G5iQk5ewnzrWZW-RBGev102IAJFL1YAN-Kjsy3anl1Up0nM5DLS1tHTl_mKdJDqTGRR0kvFHgLsQAv07lhbdd9BeHyAU9AeXQOOs7utdXceL4R7lbv8rNy-b4MM-U9pP2n46TKv_LhgNo2efnEtrDJNCwCWvubUK3zOo2qISm3APi4Yk0pq_G1sifTI6c0ujIfNd5q_hQ4cdHLqbI7OWzDICmCchg5cjchMsjjkzZ393qM61EGycN2-moYlz8pnQ4oc4XjADw1iSkK1HdmVMV9NNkFv6e5D72dD4n7YMnhgWeSlkURgprYuZXfLH-omzd0H5CNlLEQK0fWbCHYH_mOCDws3yAR5VnXhBRVIVGTBNw2RBmhy5ZgjGfNSsRFdAQFh0F1sE_Sx0DFLbGI3_kyaQGGzt2HmM8Vn3KsCXP80Fe8fE7tPg_ocmQKJyRFS_BSMfRaeHebb0okV7Gei-mFtQI8Cadxk2a6MANzkQ9_JwixYP3_NanBEO_MChwPDh26Nkx1UAlsfIS6sYOzlxtNfh2NsXgq7VNEOvnrsB-0AoFWfqo_PUZeLC73tyX_1BfdaEqXlnicZQkntJpDUbGHiOGYw3zNZDokQDpFZmyFnBwLoNZ2trLPXiTpayxeoykpYLUz6z9rkJweLHyiYMpJIUDe21DMvwXVJ6Nphyp2jKpPLveS9PYbhH-uaCCYTp37VFKLwZwAaZEATHwH0qNOdfRSB8ihDrcE-VcyKqNr4tdQydAcKGs383kqWMHO56Hkv5-qQbiedX1PavkuAG4h_RLI-TSWSgwzkDVbK8_ffmLrHKkynXlH_4sSPRkw_jNxl52NPS-4CtRftnz-rAjNdYImJxhoJZv3nrfIysm2-9G1kUHd4m0spsCaMIfb-hA9c31MBn-UhQ7qi2htzeGNlzaLaIj_nY8YLv0bXgVjZo-z-765O0MsmJcfkiHyR9d8nEb8lF9grts7dyq7NwoKL8nisrI0pSUzM4WjjwvhJqN84hiIuVK-epBrHAoQ-pV41Vv1uckYEXoWfhJzSdrAbx_6GNwE3Y6Q69ZcCGBPKCQGsMAs0wmiHWD0wIG8b2igPcxggb_R_auIb4tJqEXYpXWAIGaVu18FvOvBx6PbUrOhiky_-BQCum4oQNodxjYgKIYKgFlcWvCNOX1gBh8yTv_fmIGX4c7FtyuyPHDJdgV5ppjmapQssXavantiP6NF3wzfy0DziczvOorj2TAanIzXwiThFUvKs4QPDwYso3iT6Pxcin8vV2gJcO6xBdjtZrumwSWICfUAbTbiHSqxCmEfaiSRCOW0cThjQi6BZu3NFX9NMf9SnsNop2CJMHmE-yOi1nO6GOnZErd4brXv2cfvJUOUb5SrNzuzgjHlgPXdvS378kHzLdCLUTVtb2aiZS1wY6IvsE8pM4Z1JqVkG3DMDOGOTGeN9zIkzzZqGNe1iJ0zNQ1CiruuPL73AHa1e9z3TXDH1sKwHUzggYqlFslD61hn6Rudwl4ALM4mvo7zx09RI9yQpdOJyRghJM52Iw9EcxksomsFMRFQ_tkKQ95Hs7ibT1Nz4kmThjBtO7EG0TmaAy2X8gNDh_VSFLloTAQ7L9uu5Ty-lzzy-Hu4u3z1GAla_3cm38dVQsNSMzoXg79bvNH-chrZ2ClK8S1X5cT1_8UuwEOxle9tjbksk6NrirmVfPelU_GpmRKNFnVBWUc_iQm_qeOvEIKVvMB-RNJfkXsvT6y6SR-oddgR6-k2oH5NCScEF6XM64D-aGx_8-1WXM2RnaNWrx6qFP5NfCG93QKsM-pq2O87FD1FbCEwsgFF70ZYj6IDBFIjJl19Ga1FvxoX60zvyabHPF-03XrCUbM-GsUg8oi22ssy_BiU69QCdYtxG8tOHGia1JiTpx3ccDjNqUELHN9zekAss9APAuSXFyIcunxFJDbZ8UlormMBtj8FcArSPKqIxraKJSucfCwKeLIo0Ym3LAlItTu8-V6Bsb1rHowlmFXs8I7PWm19S5aaInO2VZ-vr6a2-YIb1dA5kCLidpvpzuN33vXSPCCfltb3ykR6ydCdPR77RFwU08VMX4zdtCzcE_riXkvT8d-42pEaTqAOIcW8eVgxGOW7fEZlBTi21Dasx6g_h-e18idC6xmV3X10wHm7w2briqeLT4d8I-lvUMBERxO5WPm0KosWHUy2xbvnOxc-UFnxhY_FK-8aJz9gdJmvWXSLP-LV67gnfrfGUxy1VSRL_WqsR5yv2MnrCY7UGAceAI2z0Y1DhmFok-X7q-W5LOPn3vqDbmtkdRBoU7dWCwQY2dChmn3uI8Qse5CoDNZORO48CXV3oUeoVrM2rjaVJIWpvj4Rqbu5_wzun2H_q3ab4bsS7W9gtXDNwHjPVMz7u3DoHQ1Fdz_AtSj5OX-GogI46qDMysNgiKC50Wz5e_l8-PsZmo47c5novC1cuNFfs4_RnkmeA7Q8lrS41nJCVkHkFux5iJkrIGQjLyBs94n77YpRlxJXyL5cn187DQnIY58C75oNXXAGlZu9oFT6vAtwsbttlQ-coS17HaChrP048cEfCaDgdvV9qTfRq8Ua8bV-Ci-cdD3WCUFzNnKamlNKhV7dCNwH5OzRPO0-nayepeIY91CTodzGc50nWwh-J9nfeJMRGyqrzx1-Msl5WkU20VC5_BKnDTvG2dABKfcVjrzp-xBsy_0vZy1kN1Czoi0Pt5f6zl0JluARdoewEG71uwRFsQAPpqFbVnWO0A65Z_z6JrAdUtpZjCgqMMSa89TrN2tShNwRoAQXPkso1NqARlM5CF_0W9p7hp5nlZbzNtcac5rdY-TbZxB3gCCop7Aw3S2GrQYhI_J0-vOHn7kSLQSzK9bn9j5d1gCuqeAaZe7v3W7bCRQja5fRYC7PS5vk-THkVNqiI3gTsXpfILz7qTUMQgqRLAOKXZEB6gyZHAidibYVzLE9CAp6Sm55qp_9OR0gmI-fxAWAmrcEl1iz-Rv1tHDEvsxrM-8u0p1s-x06yo54U5212FPTVMCy6fRaOptRZJ-BX9U1szy9wPCYwccvuf54bTEVK0qjo5jbMuyIeROGh6PaiGtqKSs0KEWAOE-5Al45U5c4wG-3nNQ1jrNYPR3jv7vMgLBIvAzNexap37nf8zCc2bS3F62N4K2xrWiorXh5wQGWbq7kgqPaFfUczHx5jqvoZxh8lJXOkGQJm7YxV6fTuwUA14vdxsaR-f_NGPzh4LaoMuLgJeDK2rkGNBGNmkv2wH5rmkDuUhoE-cDk7D_5WBFqI-K7pg4iKhY3EeWceKgB5iyKIoVtL8QoNZBOX",
  "id": "rs_0eeb861604b4e47d016ab4472aa71487d09d1b8604962bc283",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.12,\"left_z\":0.16,\"left_yaw\":-1.0,\"left_gripper\":1.0},\"note\":\"Three bottles lie near the middle: one diagonally on the left and two roughly front-to-back near center. I’ll bring the left gripper above the diagonal bottle’s cap/neck area, aligned to pinch across its axis, then refine from the wrist view.\"}",
  "call_id": "call_df1nbLoJMbHeXBunntFXNaVy",
  "id": "fc_0eeb861604b4e47d016ab4472ecdc087d0b54ec377f5bfc999",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_df1nbLoJMbHeXBunntFXNaVy",
  "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]: [0.0139, 1.5791, 1.0367, -0.3138, 0.6975, 0.5632, 0.9988, -0.0193, 0.7921, 0.6033, -0.4046, -0.0238, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3992 left_y=-0.1043 left_z=0.1458 left_yaw=-0.8685 left_pitch=-0.0548 left_roll=-0.0493 left_gripper=0.9988 right_x=0.2912 right_y=0.0022 right_z=0.1751 right_yaw=-0.0032 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -8.1026, 7.9932, 1.1502, 0.4908, 0.3297, -0.1441, -0.0205, -1.4017, 7.2137, 1.8926, -0.0366, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b6eeed803d5689ea719c6a58e4ca428f82937e5609650d945d589668ecd68f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8abb59e05c633b407238b51c1b211c61951c06af224ce6775479b9cb3526d4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc587d6f28e8e80ed6592098b54dcc7465b273db966bc4158f98303304292c8f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 3.244 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, 0.7937, 0.6079, -0.3775, -0.0231, -0.0288, 0.9987, -0.0154, 0.7887, 0.6037, -0.3866, -0.0238, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1824 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0033 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.4855, -1.2923, 9.6889, 1.7949, -0.0611, 0.149, -0.149, -1.0188, -1.0051, 10.4684, 1.8632, -0.0317, 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]: [0.0139, 1.5791, 1.0367, -0.3138, 0.6975, 0.5632, 0.9988, -0.0193, 0.7921, 0.6033, -0.4046, -0.0238, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3992 left_y=-0.1043 left_z=0.1458 left_yaw=-0.8685 left_pitch=-0.0548 left_roll=-0.0493 left_gripper=0.9988 right_x=0.2912 right_y=0.0022 right_z=0.1751 right_yaw=-0.0032 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -8.1026, 7.9932, 1.1502, 0.4908, 0.3297, -0.1441, -0.0205, -1.4017, 7.2137, 1.8926, -0.0366, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b6eeed803d5689ea719c6a58e4ca428f82937e5609650d945d589668ecd68f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8abb59e05c633b407238b51c1b211c61951c06af224ce6775479b9cb3526d4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc587d6f28e8e80ed6592098b54dcc7465b273db966bc4158f98303304292c8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEc5wlYNdHw6RPb8ISLN_eeSU1jD5DZBzQZOPCC-T4auVVlYpo9ydWUM00FbeFhXsUrCLr_tqCEeL1IkkT9AZmzENEAkI0ff8Gg4OsC4NMFnvFwdUEAZIfdDUf1i-bCdIM7qbk-Cgj4eg9tMlQjBawdiAJ9_FM7MBqmp-IBz4mDotlxVh8GSvNYouJm7oSHmjrtka-PV5Fuaxvp15JRqSXld8Tt-PIwnbH3_AMplo9-dqxxIH9NhRzwHcto38eAtjtKVadUSeMZ6FkX4aNy8YNT9hzB6o_6aGgDNX74hnN533GoKk4PzL_JLyDVJxsBHNm2kl6HiorsxEJZ1qnJFaZV6g2uU7G6cqqgjrsdWl2DgXTJkhU7CeKtBPyCNnUMmNCuoIYo8MkwICbmGB0m35l4QsslPlhIIM1U5DevKdGjbzdgj6RpspIkYxKP7uFDsNNjYuNfJFAmb-S7gkTygI9sFNcj6EGy4VhB705z4BT7VaiYAKUZYby_-103uitgzQGi06GmlCX5NxJBpvGdsTSelPwtJPwDlc8b0YHDXY59_88USlYA4Ti7euC0RBw4WjCjjMMRp_RW1w8g2AG7VPLWmW4jdmWp1ZlmjZLFEYizAKDMWkSFQA_KY9aL-Uvbj3ygvgkL5sKNOZQXPrnU78ZFRiBgj8GbH1HpdnloZmHfa7BhL0_yEjfdarih3CfjXczc3rb31AjqMG7enxGlbQQmthrrQv0jeux9YFrPDhDTC35e55B17rCRh5H498L6CVSwZQBVd8-E85FIhqH8AeecQCq_KlJRMQzqT4KDrIe76YXe1H7hIYt7v-CJ_L7kvbQk191RkF67ZLtZhooID_IUaGck4WDVXLPYJ1L3zTP--d6goaxMmu0ESK9gKQHOS__U14QI8LyGIgXy4bZc0j0Qhmf4zVu8hz8eHWZ6wR7hb11OmUGAwWYohq6AgHIqXuWp6WTZrnHSV_KtJb9sgjn5yoZ2DMEwCgq9UIaeRk2wzOtLFrAJQS3-XYAu4p2O4jIgoF44qZ7jR6b53a3ydgF8DDChsRznT4VhWQiBmm4SN01t8KumU0anSfiM73IvTCBH0AEZYZA17FdH_9pnDrBSaZ9akXOYmfO-MkP2i7EQ7QAiUy4oBF6e6P4QJdIH9fJeaVPr869bjO0p1VDF4aY0ab1yiy10bctrENEvGKRgu20zhx3avLlZi-SFUyKQlE5_KXswQkSi6JgY8_AwZPLSeuFgYvR9QZhLujmZGEJiDVGucbUSMp0QY4JTukPzZUqaLiQyQ7l5nw0z04hhTN3WcnQf6xPFyXOaFO0y4Lq8r8Vx3MyKjg324vBIzVj2berullLLPWt0en2T0pnvvmj19EdSMQzgMBa1kH7xEttWia-676g8rAzbVsaOSpAsIq-7AYxT6fc_JhnNPAND1xZ8LETCpTFfW_0HkoaFmP5nLrYl_KByBcJVr8TjNvNBVfPSxslYE4Z8uy2HLjhOhKTmmp1YvwRkVCixmBnHUpxOuYswFMLw9iKYJb250il6gr-UvigbFKmgriKbSGjCTo9lmWUSQfkPRHeKdck8AhZW0McSp6hEU-AUtI8pIDI9DV2_C-9eI49EolOkFTTh0qu1okZKoJjoXd2f8ljfmwoWBR2DO9Uy4ngEePkRzdcKt8CRzYcqsP8qnd3fRWq_eEnXC-6yQfr9lzPNUN6MzNV2-yfJu5q_Jddjk0VTo8yD2yB8dj67QchtKuPxHWkVqjfdb6b64gZb5kTM_evEacrK0nvEfpxLoPzsNkjP2ApLnQg1KDR8GbqE8W324YBXrL42CB2CPYdGSLFRta6ooKkLDtUt-t6CJ2llAF9AA5ywcD0uYNmRC0RydbDoePtZIlo_LhGVpG7xekSGlXAXhBceVpa8DGPljjrpWmdN-Wlx2IJkJAZiYjjFXV0a5-hYWfwvnhh05jQt54hmeIeH05-_ZSpvIScMLsxy2pIw-Ab-qXxWO1HTDlBcgS4DLRiQlqTFR_kflRw_AWeH8Hc_YaywUZWocdDNi12t6_XkG4-UkFGwp4FDVF2xYv2JL1cCZ6Wzkjk_62tddkZLJqjKpV0M7cNHdm7CzC2YocEGJ0rEMVItPqgJJLphZsAaSYtJW1wycP3cJan7mBOyfx-sP5l2MXeUgjdi2ni6v-hGwwWbzPgwuLOiM97FVhHaz1fBZ2r9fnj5yfsAPZK_fLc5TYdcUIGSeyAbTbiSGNiP7etf58sa7brclHQV_jcJUIYimESOxPXXcQq7m2btCwXUIQ68zqzYQGpbEtesycMlPJNvA6AnCq0j-m4HmQLbqy1qTlChEBl4I88DoW07m-DE9Gz1NVs16Q2oBHgqxFoByPYebArrS8exDVA1pyLH4z7-hlmt5yw3UAhXb2M7U8i9obnLTEhY-8bBCL0XcYP5VbLd3fdUtckdnQzEaXHoSFxUqw1RPh3-H690SgtNZREq_jpoZJMjKEocdbp9C4PzEXftVkH511uRp_j7s6QqCPGN-5ZU5_Nztlbm-leuzU8eUCVO5-Rjv5v2nGGDTBZxfP8ZGLBbSHc2e6Q9JoKOQcrwWi5CDqphAUe4XvcvPvok91ej1sc-e-kCoAS6-mddFCUzkl3gbnTRXVm2LZbhpuxsH1Cq60XG2lcsCWSMmJE6-gPmdQ-ukqllVZW8ws4K_1rdASqHqu4dtGvD0u7Mku0Hn0dHiI9s0_pq2RTs9NZAeG39-mTgKwKkYgrkegvIwZaVzmfO2gUt5uQYvuDXbhN4swF50AWmbqu_PChoKqh9uvm959eXPUuIQpWR2s_YdK2_Hmku8zpc5EyMOM20MgYjEycwM8mLN22wUbOcKntGtykAkvMS4G6vAToDRQ5-1CQAt-NMUg5d13VIWE4Tfa62nz_9i5N_CZ0SbGRoCVfLFE2KbGoCzeQZ_xMBwoZSoeDslBBKNgMwAIRHAp6RnOGRWdmXn0uECBgZC4Z13QeIStlNE4aMcuJqGaDxm5wjWAbnEt1sD4a6aoUMc4DQYwEDBSnF8tDzh-ez_pvUK22vXW-1J0Om3xAUjLneCf4xVk-ZnPaCJVz75liErwU0d2X4UEWKJfB6DD3D-P9wtAeQpf0VRzKjLZrohDwQ9PNrf_wJ_utFyM5050FJD4uHXy_K5u8w8UnBI4dlgG-KxFXC_BNQYztLxBuLH5Qkq24qZLxeFZKEQ1krZTKh7K2QqGHvp31t-jvmY2XQ4jmSLmHf6xVfB6IOM7FqTOP_ZBpPZbbSXHsD4j1mWVr53Cqe7bGYJH6RF26k80hAkiai0Sbn4A1snNDsYQfZOsFYF5H4Takzx01fY2b6IFvOYj_2ZY-NJpvltDr5F3FlL8EB6xu3Cz1oi1P8A6KbVlnu__FOwO-gZrKr0Hr2dPfbrBMIpwki-2JV2gU4Bw4RM-KRSk45v_PFbL7lxIi84yJfZmmsfNzPEGIUZ2SWQ62nnW_W7zFOGZe7VsoCXG9m-9Spf0q5jUVY3AwsT5wDx685vwVxrznqEEkuQSYoS45WoYgoBgqJ6VDd7aGpJqqZkLZGiF8cIm_KEKaMoqdh3SJi_dkcHEndM28rqxVcL3rHYDiFArFXuzpleGhUSyJ5Vx48cFrio9pUpLP0-joFwtOxo7Bhic4tDBGBA6HEhNWGHOW_6uNKbk95Lf12NVTwt_qyqUCHC3N3quVdOzBGB98uKYAj239Bo8YnrRGSXNuPsNr64Syl6G9TaIJ01u6e304I0MzPY7pfAZeFADyXlqL1lExeomb7sZOEIotdNC93iDnzxtnqDMH3N8EIlaa1lSCos-vUh70iJ9xRXKL9IpDuZMTxBGf1hI_c-xU4f6v6CF2sp7hrdM-ugC0QXRY0JD7trXbKDhKS-8Q_bJM81jwp7KeZLF81XXesOfFy_cC89q_c2DmTTjtbf1GqkYMKyx5hbLZqp58hvkzJbA6w0jPUUSmYeTNzrV6uGKzre255nhZMiBXroH3jzXPhAJ74jFWEnu9tMEZBVCrN1Zgh88kZMAj_hgiqcE77yi3LVJdPT8vX1WXnsVbChGPMzvBTkHXN9soJf9ZTXAZ9oA4alWkW6vVwCcy_LqPuc",
  "id": "rs_0eeb861604b4e47d016ab447320c1887d095ec2ec9a129f087",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEc5swO8T8aeiimqqiGAbx1PO_dYuaeDRxfvSsiwHbFru2bulT8dNXDlnKbz2XNvuHmyJ_ZC2pYUdVJWo-KRJ4yC7NO1Tba55XVffzHgPKWF9KJ9KgAYe6H-Ai5wW_UElCOyzUigu7vF2z8yhYtisTxyKs5dfxI7PRdbfa77UpGwTn-XDOGT7Iasn3BxKzcCF4sJoOFGVUGgA3v2W_srgP9R43Vj68ZcqncHJVxZeuJNLpkzNCxq_tXfZPTZOSp4aVhjepu7tAKFbv3QVCTD_-Vzy7i0ZZLCVNtPpbxgh7wiXbUV8hzWC7HdlNuToe6IPhNEiZmuDuorUckrl9HHR87r8I5YhvQX9TdbsuP0W1AsGWd9Y6ZZuvEEcx1OGJp6TAMmSIp_qhLjqXcR4Qh2lKFSUQS-Sxsssj1DrxLD3Ml6WHXYKRSsduhNNbXdCTRZDUVkCCtszPTF4wJRvf_sWSBhyTK2sHl8KJDAZOjL8N7FbPuqfToQ3h4VHfJlcWwBi3UPrRjZaTGjfpVbufjDriRjW5u51xrG0JeSx96zC6VLdTRVKMXKlJ6IXvriw0eCgP4Lvz5xF3XxxuJxRU4Gh5qTOoFVwLXMSrmWCY4rFAdRGay9zaZ9SRZjbEOsCqU4YOPSbkJ8JDEh2Yzi3MkODYvlhzQf0VvOtdazHyeeadLMPvsBR0THD-lzPF9vxFlgYho4_nIcTUqdye_YPqFUJvnVWaXXoLmcFhFhJC5M9Yj8KhIFSnU0Rp36B8MZgxT0m0MbVlyJZGQVZjUEah1x-I9UbgHVgdZXayn8gkkA0GcK2Hn9O_gHG9-mrutm115GX1njHp2cB5J0XX5QXWSx938K3u7ZDSV3KBWcuPpcGVEU9aDGP1ZqGEEvZJ9JhnHcHBaJIwJdwGG-YChRLVmFTw3tdBBTR7CmZ3eM4b4O3O3HgcnL_FeLeoRNLTQ0vyQY710SS0hjKHxhdUb5m4yFJQ-zxJXh8P_vYMDmtRa5fmRQ1Y68-G8tazATqD7cxHZ8V_Ebrj0XGuwXr4_Pf6jP42yDtNPiAcxjJaGLmVoH_ikrvjC7PN2c3vh7pxuVaJT4AxsNjQ_e7S0zkrJerpuHOCLtvE1T216Ad9wmRFl30XTI3CgACgja1zFySDLK6sCBd4Ufn1AMHlYgUq17M_WTqU_1WPJRWij2f-xvlLe5NM8_sNiVPT0sTY_oFD0PG9OrbUdriYvy3Wa7JRhx8fBbmhEPDWLGOaXh9b9DgE8g2SczjcP6u22KYuZzw89_4dZyXiWLdQ4yGR_ezZdoNJ-f4oBfgldxwyk5SzJJaYgYtMk_GfNnpUEsrZKPZGWoeMbv9Nb6-rhd7y8_HMKQ_Tff3WGtSETzuCCK3iYlFnj-pAyQZnDriE9XfvKOzE5U2pbVVGFdZjXJtJCKJEOiZID3A0rahA==",
  "id": "rs_0eeb861604b4e47d016ab447382d2087d0801f5241c582269b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.08,\"left_z\":0.13,\"left_yaw\":-1.0,\"left_gripper\":1.0},\"note\":\"The left wrist view shows the diagonal bottle’s cap low and about 3 cm left of the jaw column, so the first estimate is close but not centered. I’ll shift the gripper along its leftward closing direction and slightly forward/down to center the cap under the fingers.\"}",
  "call_id": "call_9cjVS4xxm2PwStgOX895ngMb",
  "id": "fc_0eeb861604b4e47d016ab44738a26487d0b64b8ec6c68cfea1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9cjVS4xxm2PwStgOX895ngMb",
  "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]: [0.1093, 1.718, 1.1, -0.3416, 0.8093, 0.7341, 0.9988, -0.0193, 0.786, 0.5854, -0.4034, -0.0246, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4145 left_y=-0.0795 left_z=0.123 left_yaw=-0.9398 left_pitch=-0.0378 left_roll=-0.0442 left_gripper=0.9988 right_x=0.2887 right_y=0.0024 right_z=0.1688 right_yaw=-0.0025 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.9915, -8.9094, 8.4308, 1.0379, 0.8181, 0.1587, -0.1441, -0.2803, -1.7709, 6.9675, 2.0049, -0.0806, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:840c76c4ec9f024651d4f567206b84c844d84fec1567bff5697e69a9c3155a03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d61237e80d1e0dbe2cfd1229b2ffb92549dcda243b0708bf450efa602ef48109",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b141b5f7230422df73ad55ca7121b998bbfd0aea74a5c2b063db58a36cd58d19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 10.74 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 8 changed as sent

message 13 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0139, 1.5791, 1.0367, -0.3138, 0.6975, 0.5632, 0.9988, -0.0193, 0.7921, 0.6033, -0.4046, -0.0238, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3992 left_y=-0.1043 left_z=0.1458 left_yaw=-0.8685 left_pitch=-0.0548 left_roll=-0.0493 left_gripper=0.9988 right_x=0.2912 right_y=0.0022 right_z=0.1751 right_yaw=-0.0032 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -8.1026, 7.9932, 1.1502, 0.4908, 0.3297, -0.1441, -0.0205, -1.4017, 7.2137, 1.8926, -0.0366, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1093, 1.718, 1.1, -0.3416, 0.8093, 0.7341, 0.9988, -0.0193, 0.786, 0.5854, -0.4034, -0.0246, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4145 left_y=-0.0795 left_z=0.123 left_yaw=-0.9398 left_pitch=-0.0378 left_roll=-0.0442 left_gripper=0.9988 right_x=0.2887 right_y=0.0024 right_z=0.1688 right_yaw=-0.0025 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.9915, -8.9094, 8.4308, 1.0379, 0.8181, 0.1587, -0.1441, -0.2803, -1.7709, 6.9675, 2.0049, -0.0806, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:840c76c4ec9f024651d4f567206b84c844d84fec1567bff5697e69a9c3155a03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d61237e80d1e0dbe2cfd1229b2ffb92549dcda243b0708bf450efa602ef48109",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b141b5f7230422df73ad55ca7121b998bbfd0aea74a5c2b063db58a36cd58d19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEc9YMWTZ08K_3e0ZynUKSQgvoIcXBX9nc_wlTRXyMpiSIriyCrHnl4ssKMIv3VHximLD2i7ujJ7DqzkHlDNCgIVfNw6t3LGQjS3YPrd5yCNp41S5xQgrxQ9P0CLbgIu0-GwMm3WA9HVhoAUEoVvJfYtmzzDVYTEt2VJdQnMUYQV8gmDqu4jhc-vU2g_Ybx7xk4dgwZkWkN8_PtjQOahQ1S3BhGljAqwSoJJnlL_xttDESnQxcj2F_Lv4oKmaP8VZR4HIAHZUeGDronkARGSiDx_DRyZlJY5mIrrN2ybQaeN1G6-UfXi3Jz1LEOOFRXCztWyJUngPnbpxAcDP-EYsvWK-_rFCE_QOUAXAS4T2VK1JQB4xfSn7FIbru0HVofdMP6hiqF7lRBTk_051qxnc2e08_AA2_j656608JDtQ3OdjpBeW7RJklAK4rHwcy-FUEKe7uoxktLeb_fLPvALdmjBzGYATNLJXYKl2ALKFxcjwpaydb3eZbkDaW6c78xWPRK7yX6qLZoxTk5U5rmSI9QBzRTszp8HD1W0YRhjJ8GskMPlmmZC7jqQd6jXTEy0ZCIe7Dm-qlPa5TTKnOIw38vduhygPqYtc2xIfFpy0lzPZBWEWqKRkmw9bUM64PVf0a6WwsbHw4oiSU0YSdls-jH9R8g9WWs5gNSM6OTo-0qK_bxVrdp8m9dZmw7u5odBF0WhZlaCKe5y5XWAd3Rv087N_h7Y2zG3SAODYcKy28tm_F1JRhSWhOwLGLIJYBJ5iUASBLycfYNZNfBVn9-qWzoHPd5XeB_DYcmbgEckIhcj4rpwkMZbcFlARcIIhNQWXi1W2WPR-FEut4NkQs2y7yh_zfqv7E4CSod4WfHA5xyYx3kD-Weh5028qfzIHLJ2tX5VqsfbE81nV8BM1ovjk3oYXoUO_JPtSw3prHW6uTkSEvSV2Ca7QxKGD5r9pp5MUXIB89Cy58kcyfLJtHzwXhlri3fh32o6j_OYgpDjaSEEaiFP0SW69x0z9shj8M_fBpkEqt4iiQPe63JXtq-JuJCqhdaZwGNQHKoYI3tCSjrLigl_mgtM2zM-sA-FwaObycLbD00TbHX0EZ7G-YaqHUfExTwZReNUCzMTPAH_Be2pVnihXb3Zi3qFm4yCF5hQePDNqgMi8LitL63r5wLkMPujAhvl1ExbAr04BNTzwgPq_Hjfk7_XiaVdxHHyXL_O7pE39uQ-rtFaoePGz0jDGRVz1kJd4zs4ti7O4Iw-izm-vJRNPrDeaGx_OEudBYhKqbiBHnhdrhjSKENoATrPAT9grvUyksaFfoUqVe-FnQIgMAKS65HJ88fS74hESKOjTVouXythR_DSWKlOsXSPif3dhCP1Zzeibzkq6Jfa1sKXpLK8reeP_1qBZin9ZMPkN3TwIBBmdCieKD3t1-Rn1rJ6AuiXq5sDKpPkxc7pOVoqiE6G0TrHw5vHT6N22_PA2tpfYc7YUz6xfHcWjwrj1523VzuXDQzv1MaIBhh9R1u5FRTl5kWAJpLto5D4Z3eUrjxQPzO0QVPIl46ADDRGbO0wxd1ehol5b8B4t1cHXedJ7ceEsmIgQDLDqPtOOZpcgpUn-Rxc-xWOjKFbcz8zt6v04qSJ4nuyjgQYWvG89NwOiyayah2na112lqH56bxpcOTmR5BW3zQqB6J4iu4mBYj2lEj0IQA2r1PNQRhs_JGTmDK_WIwNvQ9V57ecuk9qbZ32UX6K8i6PgvVWFk4mQT0vfbdOLURbWfX8wLgP6SM4CimT1xrI3_krKum0T-Tndq6gombkX8yz2EUn_6IcPim1P0-xnHAZiMO_1Ath2n-eoX0=",
  "id": "rs_0eeb861604b4e47d016ab4473b0b3087d0895f02df83258a83",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.08,\"left_z\":0.018,\"left_yaw\":-1.0,\"left_gripper\":1.0},\"note\":\"The cap is now centered on the jaw column at the bottom of the wrist image, which is the expected fingertip location. I’ll descend vertically to cap height while keeping the jaws open and the pinch orientation fixed.\"}",
  "call_id": "call_rdgx1yz1N9OqV9n8eTsOKF69",
  "id": "fc_0eeb861604b4e47d016ab4473c424887d0981c8fffc4a98bc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rdgx1yz1N9OqV9n8eTsOKF69",
  "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]: [0.1238, 1.758, 1.1103, -0.3607, 0.8337, 0.7864, 0.9988, -0.0193, 0.7712, 0.5533, -0.3958, -0.0242, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.414 left_y=-0.0767 left_z=0.1118 left_yaw=-0.9688 left_pitch=-0.0423 left_roll=-0.0538 left_gripper=0.9988 right_x=0.2848 right_y=0.0024 right_z=0.1598 right_yaw=-0.0029 right_pitch=-0.0423 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -9.4701, 8.5812, 1.16, 0.5836, 0.2711, -0.1441, -0.1846, -1.853, 7.1316, 2.0342, -0.0464, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bc54962ede1f9795fa01ff64cf224edad8ede97bdbfe8d71487d45e9ecb18c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:607b920eb91950965de7945698f09f0afb530e7a9bf7212c1b68454975642497",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da95df7acd8b4a76d9c8b0345c98e55d924e71a530118273ab7716f932d75e0c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 5.215 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 13 changed as sent

message 17 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6079, -0.3775, -0.0231, -0.0288, 0.9987, -0.0154, 0.7887, 0.6037, -0.3866, -0.0238, -0.0353, 0.9981]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1824 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0033 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.4855, -1.2923, 9.6889, 1.7949, -0.0611, 0.149, -0.149, -1.0188, -1.0051, 10.4684, 1.8632, -0.0317, 0.1832, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1093, 1.718, 1.1, -0.3416, 0.8093, 0.7341, 0.9988, -0.0193, 0.786, 0.5854, -0.4034, -0.0246, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4145 left_y=-0.0795 left_z=0.123 left_yaw=-0.9398 left_pitch=-0.0378 left_roll=-0.0442 left_gripper=0.9988 right_x=0.2887 right_y=0.0024 right_z=0.1688 right_yaw=-0.0025 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.9915, -8.9094, 8.4308, 1.0379, 0.8181, 0.1587, -0.1441, -0.2803, -1.7709, 6.9675, 2.0049, -0.0806, -0.0366, -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 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1238, 1.758, 1.1103, -0.3607, 0.8337, 0.7864, 0.9988, -0.0193, 0.7712, 0.5533, -0.3958, -0.0242, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.414 left_y=-0.0767 left_z=0.1118 left_yaw=-0.9688 left_pitch=-0.0423 left_roll=-0.0538 left_gripper=0.9988 right_x=0.2848 right_y=0.0024 right_z=0.1598 right_yaw=-0.0029 right_pitch=-0.0423 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -9.4701, 8.5812, 1.16, 0.5836, 0.2711, -0.1441, -0.1846, -1.853, 7.1316, 2.0342, -0.0464, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bc54962ede1f9795fa01ff64cf224edad8ede97bdbfe8d71487d45e9ecb18c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:607b920eb91950965de7945698f09f0afb530e7a9bf7212c1b68454975642497",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da95df7acd8b4a76d9c8b0345c98e55d924e71a530118273ab7716f932d75e0c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdI9BfDIcq82lrnl935nOjIChv2klqDN4nOVG1cqpmjbgS4FoRORmrRiGSD7L5RvmBKuwxjK_kIZdhj8FqWObjykMKuqaJBEdJ6koIE4Nnheru8tkeQWxKad1Hee1RcqoJvSDaOeizBFLZT3teE8IfkKJcQ4nXpBqN7nZrvJdlRqSJxRDxR4j3pLYJWJ8jEdIeUz_TfskVo_kNHzaWSvPuVdM_kMUgQv-bMp3mSn6zIzZoCLTWzrm5U7i9TNFVJRq2eymlGBvT4Xi5lbk_QZa_zVpI8jT9e150r0fC0O2h8zKqvbmJPHukCAxIFjRCY-KUseM1JOp1ISbmCHSU9ZVb08b4zeFQ5JnTdAFCyYYa6VB0KAqg0YfAehx2mo779o_UrKxf40bDRFrH_A9r4d95z5uhFvF_Lx_qs3HDbkU5JSWkMkdUUUDhzmglfMXfh1dWW68IGV3lqU6jYGzbMCsV3uSYJmDCC2wqtXdd09-c-5g5bo79jl7iE18zUHtTqNCSh6Eax1yG3JaHEsCyWPa6ClPQResEyYpYJzsrq5mP6VRKlfdGM5DCLNr0D3FOaD3QqZ0vLeBdJ_0rqUPbKfGLbmyz7JM33scceyNW-4B4d0_YmsAuFd8xZ5L8S2LpGb3M0_1QDjHNjLhrlHY4t3Rter7-kj-BELeonZEdW9DFqr28IjQp_fUh7ryI69A2UdGyQ6nXenm3xV4xTy_cVcQTl3GRMbM2N4orIXR_ar8rzfhd7baHw01A8mNlk7vuPps-GNMFhlYYNajWeUnCtnU3mA8C0irnTFN-6qgzb49wyIm4fJR2g4QjfWmZb5aIR5uFCSiItnpUsPCmcyneA5_6PaQw8NL3VpkON1s8uhTbd2wIxwq9Jw2C56Q6wiwjm5eYZNg6n-sPukMFhZfK-J4Mf-c9lKfHUqZrLvtnxjYkacQWA1ifOuPKOaXqj6HMDd2H4Pw0TZKWACG9fsAgdYufbCytzWnK5oOYL7s0vNvAM8FXXyfmWTYr--b0Oeo0cwGoSi96pDl-vaHO9rgl5pGMvXVkWGDa0VWr6kCJsTqwzyYw0oU2lXSo2Y-wxXcYWgPMPY5JL36Cu9dzi5VQ8PHnd7urhyFwGV0wzgwgu2tnBjydDAeryQdT1w00lm_KSTdZglJ4YYxXiCC2IYguqlTV-bLgPIqQRTg_TdtOO1i7Iet9qoN_Q_etazQDtk6Lb_G4kh0Wu6nx2UsdLZUCSDSdU4ZLnCClT2S29uztEbTGzlN3suZ7NFoI7OwYfEpSP2cFhA09_X8yXSCpueWW3sHuXr-0uTel1C8dRdnceFl1NE0xGnWb01Qwo2ObWLVTHkDElRPRz_BptEE2rCQrJ5ERJNTGCStVDGUw0FiuYMRge21yHIcixYwbiVaqWjXEiYbsT9R7lPkzl_EyRloCcqzPn6a6BH2fBmglUck-H6gWZl06hhJRr3zSC37fnVTcEvlrgqHPL0zvwdlXpvkDomjLkRgujMJn70qPJ8QtNviNorNPF0Q25GR-La9b8hZWiu0jrZ8sQeXRkAWyD4G2uufMZ_p1VDYm_VuGhvU75iYIA7kM1pgNG_0n5oT93ryvsXl5AuEjKXhqhhJJ8BrWIl4DS_rNVvV-F4kUnNdbyNExMe7pjhZqe3lsvDD_oz5lYaWKCjxKBLqOhK60Jjga1IqQ-c4we8ymPVL6YkBm3h80QpwIX_pQaGJx0od-_ZFeWvMYH5SFK5lrsZBm2RBKB055q0Q2u3oV54csp5mnixb0SfO7Jyh802XLtV0BV_GA77RemJg9hOiGOeqq9xiqFI86zc93nQ4nJbgU4RgceJ6oB1UU9NdINB7d3ZgxHPEqlkDPvfukVGqbeV3gJrn4Y5mQKsrOFlBdABAqhiNCJWMlWvGEANeuZkcxQXjHsnja4mQg9PtYWS49frQfyMrTHlIAzN0tlLQOUldSlZaQGtdGtm8FMzp1q8lpDCTlCIasKOOFnoTHAKu0DxmorFrk2KbN5uaDFm41dVO1i_Ru1cYDH1Kz4bszl4EP9TTYI2ZNNgLGcrk5Up5k6qpnctNChRUuJdid1HnhAM_99l7_-r3nR--eGwyVjZfl178mY3kky3CFP-zQ9OG3R3oVqHsfKh-oTv5XNlP_sbysb-i5pmJJL7KcWVEN9CM0T423HrUQjiQaxbZqRm3xMaxffWuvKLlLZESJQUrIlWw23RIPtvY1qUa3wvdwwFx8XHBFgEzyvoiFXCN5qYkT8MkaavEJWLgK1k_qrlYIMdIY5dDgaKRMYIdxJgjPhHuL7sbjs56Grb4aUSo6A1eJWIFsAGniasMZUTCtlI63kPyIgEoUkmNFsdvSNHaVx4nGV83mQnEnC1xLi6nQC5amCxoHpcLtKzUoflAwj378e-e9534lvgs5ggn8CnsjSiIcMErqzis2llAOPVa5Sck6tadISBu5gngjCzzShzsXfkMtwISXmQ-f8i1XgYIB1zFwqFkFWG-GeBInsK9lEQ0RKoAwYGDtQb7ECAwp7bO8ginmCENiBAD1nf_A4VzMY-ycR_jsUuwqLcFI3VIcW04YF_johkzmcMjNEQ9Mo0PwwRDkcc6ItVIGxzMkQW6LNMOSXW8V3V8zGSxBFuyGqa7o1bkvvLr-kWoFercPUEB2aiiJesDZ6vYBabfKVhZ4xOKY8XhirI8haxb2ZL2OZmGqa9A0absbcj3kzgQK_s57qTGA1H58a5IBgvJHCWDbl2MYzttzvYlicAs89XXTSkC6kousvruGB2yZHEPkm8Ltb5jbrZM0yG-tiRPMuyFswbjq9zzcqmYIOy1N_LQTfQL8QaQaK8OVSitqWgO8AwRmHjz_z1xNf9eLX8S_Z8Gd8K6qNijrMK-59B-kOJebUTnJSG8_b5QilkPPmq1Vx4UOeYRN_xGOGsXBMG_BM4SifOzQfxjo3p9M-IaBAs7XZpFeA76Ytlo80AI1S5lDXG_bALWR_do2W6oeoM7koG80TXL2zV2GdAwKD-smoejB0trc0bxRgyMlcO3wrDrO5-SAQ11Vdbi1AdIXDscfoZ-UZfY5c4rGqIjvU5CBL0QWKwf5UfsypzxkGSbKUWbayEDwkdpTv33Xv0suFVDsSWLqO4HfcuRm0-O7p8FCqtUvdvMZkcWrKPvHliJl6yirLKCF1STp5Dy1pYgov34G1gwTS_-lHsJfDMUiZnUBNyL4zCCme1FioLqbS1J-g9UpZm7WES38XNy8k-b61AixBboqr0t_UQTmXYKJk_bUWqDNpIevda0ph2fObSps-NVtAFI1ApG6wjG-MXwxicqqyBfl1GhGewKkpzJLZxyhmCknCMfdD0THR7yPc-xgchcWgUqZmMxFnh4Gm2m3egHkil_3T3JKY0jh07PibFrrULaqpmZGLVqdaODDAqWoA8RZ1-JRQJ7xKpoUT745vyOF9PH-I74Wf6duWCPcL2LKUGlbUqMCeDl5RI3-VfcvkP9u1P9KBTxX0Z9hiZgO2Jv7--xU9NdppEtyTO26apAvOnh51Y3A7Huzo7PEOCBqMMQbl3T4lTEuis-TQraWt_jzQJeWKiSFDCXFv-e9yUUNGK6RfqsRp_qIx-MTLWPBEtjG5OGnn8d5BIoImLc2vSTpM3bOEKIsH7NfMMNpSBn8bn7ByyQ7-8ATLdmoBLXQ5CvxOgWqUfvvuB59OutEa7KmnMgLkj8hlg0kh2rLlUg6j7yVyRvvyD1nMN13uRrfTtd59yMj1ZhrjexJ-bt6GyjFL0D3vKEbR6J3Jn17G2XBkBi2AdeNkWL70FuSIpNdNqRB7ob60MuD1O_JkQoDhAspom4J2ITDSeyTj4ruxj-aqwjvGoyic3536DvbwopIw3Sv-t-u2aoS2URJDMKLPi5d1O36CpuD5gj6vD0cf36i3Kaj77ng6s7eV3kiEPS57Z9oeFWi9aZtHkoq3brWBr9cJAERy9QvuwgYio2KN6Ru-BiclHRgBbCal8-RfLwEb9kbBYepgXVizPxn5yo6mPpTiXBxyPQ-Xkul2d9NjuQSvtLENFHh8CGO4pSH2V1WJ7rvOKedov_s7VJOZOBTJoWfY7J786awmuHELzycmQIRw_4E1tVk_iIY1rvoxjNcSuhzRnZLm7YSYSARjshM_swctqv97LVzqRZeCjFxEfenixjPFX2qcve_-OH3Pz0cuUDM8EV8xWpW1IreBc1qOq2N4zEOW7uWEWGMchyKWao0Y8I9CvKKuerSmAm3k8rsPl9ZKrAtzIg6Lmqrqfw2sDQT9UOm55YDjfYZk6aPO3GK4",
  "id": "rs_0eeb861604b4e47d016ab4473ee03487d0b0a3aa59cf53abfa",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdIUF0Ap0mJ3bAt1XGPyZsTHtWvlUW-ymW_81BRUUOWOTlAeNPNHdjFy_5L8q7gXR6xne1r3LNkLE9tB-rxb9WR-gU-yhZzjrBf8nRwrW4BJ3V44XcIXQ58rZj-BxISH3l603OpSZw5z7GVe3C7fQI2hSIFWCzyQUo-xOOF0uQQtHm3DD2mOZsJGLwFdJbl0Ke1U93JBvNsCX-T7tEOh38Q7hsdckYkCiaRPqkOnmALdAMzcw0i_mnvnJMNEw-tkYvDCe0FtEH8R_4koJMPvpiWRBHhYwD3V23T1fRxyI2k7O-Db-78qhWds11sqDCe2oCuporbTKiiLC9HL3CqvFy4sxIrCH4cbjXhlBXJrsdytLC82Rfdp64g6FbFfzJDvZj13L0amGSuwB-QQ1QZHAnrrKqiqY61g0zckNkPoFfXEYI6JzdAW0MOAnsU7Zh25yriufcHQt4hhBgvo5r7ZEg4SE-pGkyUUiVjO58Jm7PnugFGHLEZ61KUFvI1c1Gj2N5xNoMpsM5ovIghb8BDwMbZWocJrMOEkRnCfhuadJ-IoO44lTErId58dwZ3ZGaBkb_0DwgFDtIGF7o6Lbn_-D79VcKIcT4Z1604iu-osgYAS0ZdpLY97k5QgiAloxC8RNotcAF_5prMoxHgunUjUhtbBpy7nrm5_ZSrB5VUGzKEQy_QMYVEDhiiV7Ur3Xp5kgMK2Ex64NhDt6PrIc-BTu7MhDm44gH8KW3EjGhwK4xXR9R7uUgxS1Vv7hkTOTGVAPeTYFGO0u8zCPguXilo9JifZuCMc2wvi5RhgGiNNSHk3L6F80q4T-KMgj_sVl5pxNcByIIsfHe1-OmiBpizSaIv3DsKI77T6YUYFmnOzl-ZwnJSFWBLrtWrD4F2q9D9MvmH8ryciK6IwYACyPEAMwbCCRYP6Vh4QlY1dCjSamMOzhwYRVmB-InAt1lxjSDU7zwpPuU7TTNxk8Nnt0e5Uz282x2DEg2hSHdCyCc5MWLcabcUZT1u2FOIPPQEQOmijiS1ko3zaNcwQqtKf2iYBSkWf_vz8gPcmOxk1MvaYzo3qWk2S29_fXFPLWHkQMBYTMaSz-Vdh30qjYya2FVqVEZM2EePIPV5igeZRw3veLL0zpk3PTdOSCrQmVgrTuvF7x2W5flChHfIADITBdbTTFRMLCkNZTpEwjBDUxhaIUDRgKLc9IvMdIIgUe46xBIpAkOGy37_n-WKVOsxWliwKbwTDFjXwD35X0ou-2pulQDG9O_3Mlx7ETHIk5K09SdCRpR5jkv7eLT2_M3c9Gy6jrFHSQbrL2ggT16oqS-KqxpNnUfKJXA04IoBZnoSZgbdxMVxWCOhO6nNuslLly6Sj1637PwRIbpdFSISbj93bI49qBRNd62v2Iqrgcg6_a4nfsS1gF986f3nfrEWZa0GnyXnwimnNgoEx8CjAFLHIxPRaxcoabMAnUv4ClAjGcGzLoZqtfJ8Ksd8I_ypEBe8poe9t_pbssDBgLoWmF7WduxsNIC9HCcUfmUydB5NzTpsBf-UWHG2KVlXz7VPKwEjDnl1ZRTVfjFdT-wS79w-aiLp5531ITde5AcXQblnX1g04KI4gzcfOikIaucFlufn3cARm9xJPRR-uLjZDrQBdjXyUyqBqgXcii-3nK4UFtlI0_WH70nXwsSPEwqsAXy2m5VfW5O-NJAfENQVyWWMwE0kJO4txw2EA5B1x6lC2etzSsGnXNR3bo9nyzhy_2vgBiOe87lfekZ4Vfknww0hQUpUPMe8x-wZZA8_t_ZELSUaamPfUJdyUfLO7HzPUm6-ihIrWqYzvyaQBIP1yH2OfYa20ghCcYueCaCIlafHDzJRle27KNw-VX6XfNDlgUc5wC8FBXqW4CbH5pTJUm_Roz8JIz-QCjFn5UTcJCCong4IEGjLj37xXBajJ9V9HErJ2kjx4shLwSjcg_yNt6wRE_bC-kZ8ztNwDfB5XReVtK6Pc2vRZk6mWtTsTUbydil2E2eN1NBqltoPN4ia8wjYeSnvgAClpP5iR-ibaImdCuw4dkP3WCe421wf54PG8J5E6VH9HGqjsWYfBoUKyOgMxPyRtE-biBFdf4BPKeWfEBI0YgN6XMdqvPIB_UTltIi_Rcj5M5M-lYJAJNk2qalzeNXV8WV_zCS-XEDCgIv5HsWmof21m7waWb3aVe1NFGPKJaebF-dUx4e9GaiCWNyn3AZ0NMA=",
  "id": "rs_0eeb861604b4e47d016ab44744f4b087d0880e99352263564d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.08,\"left_z\":0.04,\"left_yaw\":-0.8,\"left_gripper\":1.0},\"note\":\"The commanded vertical descent stalled around 11 cm without table contact, indicating this extended, highly yawed pose is kinematically awkward rather than a usable grasp height. I’ll retreat a few centimeters toward the base and reduce yaw slightly while lowering, then approach the cap horizontally at low height.\"}",
  "call_id": "call_NpDBsHRh2MvXzyQKJyy8GE7E",
  "id": "fc_0eeb861604b4e47d016ab4474764a487d0886d6cfb4752f12e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NpDBsHRh2MvXzyQKJyy8GE7E",
  "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]: [0.1074, 1.7336, 1.0134, -0.2481, 0.778, 0.7147, 0.9988, -0.0193, 0.7486, 0.5125, -0.3756, -0.0246, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4082 left_y=-0.0771 left_z=0.0947 left_yaw=-0.9132 left_pitch=-0.0647 left_roll=-0.0546 left_gripper=0.9988 right_x=0.281 right_y=0.0025 right_z=0.1512 right_yaw=-0.0025 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-1.1282, -8.1436, 5.5179, 1.3309, 0.3639, -0.0952, -0.1392, -0.335, -1.7436, 7.1863, 2.0635, -0.0366, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff872ab209a3f8a9f0cebf521dfcda5d632fded14ab91487abf00495fea17df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc5e6412a438fb4fec62f270962064d3e856855d56ffe48134e66c2f64a9ada2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d691b6f4a4eb15bc5af0b886bfa68ba589b77363b2b472e8c1ce0da22fcb1b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 3.298 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 8 changed as sent

message 17 changed as sent

message 22 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0139, 1.5791, 1.0367, -0.3138, 0.6975, 0.5632, 0.9988, -0.0193, 0.7921, 0.6033, -0.4046, -0.0238, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3992 left_y=-0.1043 left_z=0.1458 left_yaw=-0.8685 left_pitch=-0.0548 left_roll=-0.0493 left_gripper=0.9988 right_x=0.2912 right_y=0.0022 right_z=0.1751 right_yaw=-0.0032 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -8.1026, 7.9932, 1.1502, 0.4908, 0.3297, -0.1441, -0.0205, -1.4017, 7.2137, 1.8926, -0.0366, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1238, 1.758, 1.1103, -0.3607, 0.8337, 0.7864, 0.9988, -0.0193, 0.7712, 0.5533, -0.3958, -0.0242, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.414 left_y=-0.0767 left_z=0.1118 left_yaw=-0.9688 left_pitch=-0.0423 left_roll=-0.0538 left_gripper=0.9988 right_x=0.2848 right_y=0.0024 right_z=0.1598 right_yaw=-0.0029 right_pitch=-0.0423 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -9.4701, 8.5812, 1.16, 0.5836, 0.2711, -0.1441, -0.1846, -1.853, 7.1316, 2.0342, -0.0464, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1074, 1.7336, 1.0134, -0.2481, 0.778, 0.7147, 0.9988, -0.0193, 0.7486, 0.5125, -0.3756, -0.0246, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4082 left_y=-0.0771 left_z=0.0947 left_yaw=-0.9132 left_pitch=-0.0647 left_roll=-0.0546 left_gripper=0.9988 right_x=0.281 right_y=0.0025 right_z=0.1512 right_yaw=-0.0025 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-1.1282, -8.1436, 5.5179, 1.3309, 0.3639, -0.0952, -0.1392, -0.335, -1.7436, 7.1863, 2.0635, -0.0366, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff872ab209a3f8a9f0cebf521dfcda5d632fded14ab91487abf00495fea17df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc5e6412a438fb4fec62f270962064d3e856855d56ffe48134e66c2f64a9ada2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d691b6f4a4eb15bc5af0b886bfa68ba589b77363b2b472e8c1ce0da22fcb1b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdO7Q8FdDsqRCgCc6F5u7amBzcjFPCAsLGCIYlsGBJ3Aut4cnoYx0wZCC6f_otVktgmCCMgrHgC8l0xMkn5Qjb4gjv1gj_1jSldL_Aua7XDjmeWnZ6pTkjRrIXxUD317_CnrVfxFLNZtxxlXlPAw9Yt3Br4wjGjqNYCzXxUts3puhk7sdeh3Lw8pFCvI266BhVi3ui8UjADKr-I6VY7H1hWsRVFoh9vFHsrFssYwRMjAXLe-H3riGpXKZGDdHz6bjspuz6w7UsC_J1h_8n1vafSDz2RU3QNCW_yPUbZngu4kioxmytH-M7plOogWLw5YQvqzvrXdVsgysAr5a2q48YU1G0sZtLIAHExlGpP28BKmlOqMtrmMXV5p2g0V8HOzyTneQr5MPRH6j82vSpnnIPNtsCxjHZMIbqE8sIwhBcqlV4ZZAiUMjE61iq5viLfxrGLZY07NYBRM6m6-j8dUrb7_sTP-NPMQtw_z45pRyFnnxupGc002hYQusvUnvRdb3uASNPV28s0smRTYytDnmkC5vw1HsjybJOxRXXxSrPSsgUW3U-TPiLE-pfEjanKV3EGlC-3eXncgzKQ3-pcl10V1A8z82gKil0BZsXHHjyz17tnA1DPWnq9dUXVtphGriL4FhMCPN-qFS-do59xz1UWa_zldrT0tOlAO1Rtcsj-HdjAwhQfUmmYxm6burs_nOQICWAGTMf4vQIuJNp1WnxPSUdUrCK82ras1NVzJb7ZSuNloY0ERh7eXwUAG8PItpqixZodP4LmVYe8q1GVqNHrcEIU479HzBLj707nTGQhpoVX645CBodonwWzfLA416gd_gdn3tPe6o2mBU82aL8UNAht2XSJSK8m2PgdEI6anEvE_rCIx_R39nlPAbzwi71ttJlsseLEhzEOcjmOJFNN-kz9I3V0C8yhfpJQ2tabU2YnENKTfFObCbYIxZvp0WNgMra0rdu18pMjub1pInEkj04ZQwropvRBese8OdzSznHCXqudgfy20gQiCPfn6nda1WzcJvmOOz4-EVUONJFHEoUP_N8LHnWhgEuh2lnjHYEfKEJt99MoixYAMqsuR2WBipu5uK0Jk_1iwJ49WV3UXdAKfUQQHSIGSc1wLkO5yeKkQ8PdZeFqCUQRkX9nZcg1dlLC0erU2QxMz2C9Jkt_E3ocng1hXCmw5n21dfNy7NFyN_JfLB78gXjL-GN0CY7K1gfgGke_vZ6oHCqlo4fmGr-o6Z8Lc3uwhXxM87JL-7YKXL7UnXrLpsgVHHDFBNbDzf1kGUJeT8iYRlwqYHqBeuMdmDbRDaUDhbhOtE_fgwtE9aneCeqlUhKpq6MJ72BGJZkwCk5yDd9cSohHRiiE0rFYvS7aBpoAI3d1tO-sPLn5Ag7AwKigxBZwURDIrwOIF6NiNHWks8ll49yPg3yu_ICWXG9tP7LZVJlaPDtQFkqyrCufoRkRmEgsAXcXVW3qi-m-EcEiXuX3UawOxS7PHAphmh-ov-0WqrJNgl1yov3AOwcGnkBPoYmrk6mg7r4Ln61sqWL6kd4QO30AUQipRUX1exXkKVf2dvRwoSW03ssNP8rhWS1gLO92OZ5tiNygE74qGJ-tTXzkvQuQ1zLqUwXJHdt3ybqi_rVahvDJ7gdgcdIlxxPDNtED5Hr0ahrsTnYpMYql-9pt8eoz9hAnMtsMXfqlAtUm4vc5M2PGIUlR37O2txnlbRPawcnTo2TGnPKWV2QOEc538qR0SPnqMy-S8bGEDksoaJVl1YoOgATXQ3n8QssxadIshrxCRZzafSdzXHIm3Q9lcrxs4A9dG1hhGGmZzdqn-4qrizUpQvO4WiMQFfciS2P75K9HLH80IqnW3Gjj8FRVEKZHs1F979IQreAzQEu2ifM88abXqJ79Cba4_oG_KXtl58Ew3BOT87d8DfIuO9u2Ijj_vYgb_bdlschY85iDMNBQ5doEJcLU_KneG9FTWD0jdHGL3NlHMFtfFCZZB4--685hRnWF7wI7aZevDcrxsH3llHg3nk6QQG_YXsTqjPhlpGzHokuTons2QeKG_8ZgPzRebYTA50P88xUvuyLOz7KHTlWpY1Dl1HPiUCXu6gc9ydfsirXVsCo1rFF65_cYbkR3peshRZ_pT6LhnzHELkTceyV2HgV7p1XqYPxADzVozncb9vzx7lReQfFkRmGEGR2Aqn8k0ZNw8hcP2aZyidBO0w5amEggsvJ5VaBs3_CKEpZEXuR9WmOADVGPyq2ABsE-yONINifL2kaWkx2P1SXSooltzIrPStoZ3t79AWJF3BGUArfu6RMlj9ni8EEKFNy9-ZjD0oSski8qeP7SoGIzLB3kmtveSftQFdSiI09E0fWJGu3bBJHbvCKaqPZeKfAz7Whu_hkxCuGvx34JGQ62kENiZ-ryoF5FoJ3M6wCWwfXcjjhJPjvmkxEtNv4vRx2cai9ZO9fow4EvjGf7xab9e0VCgVEu03liIrlM6IG1kWECYEuxDbJ0hSK3T3TWJArov8299e9LBuez2xIJIogtCxjCXscJvkDfWw5h9TdtpzbSzYxaK0iMHPYT4eLizD9SezXgUQMwfFamd4Ns4EPCNHm2wS4VXN8Zak0UGySyXNqzglWhq4n_OMrOpWIcQhDTdL3CxgGh_N4B9MxNzqfU5raColwZU3ooQT2I02LWx9RNtblVHDSiS435aqWZncHTZ5NDBpMdTqGDkwe8Gno029PSKlE=",
  "id": "rs_0eeb861604b4e47d016ab44749f99c87d088d07b3afbb904c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.08,\"left_z\":0.03,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The arm still cannot lower in this strongly rotated wrist configuration, confirming yaw is consuming the low-reach posture. I’ll straighten the wrist while descending over the same cap; the cap is short and round enough to pinch even with less ideal orientation.\"}",
  "call_id": "call_2ibhwgcicI1hkCFvDmzR9ZzF",
  "id": "fc_0eeb861604b4e47d016ab4474cdc5c87d0961a0a98fee14488",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2ibhwgcicI1hkCFvDmzR9ZzF",
  "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]: [-0.2951, 1.7126, 0.5209, 0.5308, -0.0444, -0.036, 0.9988, -0.0193, 0.7242, 0.4717, -0.3576, -0.0246, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3846 left_y=-0.1049 left_z=0.0168 left_yaw=-0.2529 left_pitch=-0.0972 left_roll=0.0094 left_gripper=0.9988 right_x=0.2769 right_y=0.0026 right_z=0.1426 right_yaw=-0.0025 right_pitch=-0.0389 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -6.2291, 5.0393, 1.7998, -0.2369, -0.0806, -0.1392, -0.1846, -1.347, 7.1043, 1.9609, -0.0659, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ba16a5ad6c2d1c4c8c90bddf0fd4ebe3ade02b54c294ec3d84fb2975bbd4d55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ee7cdd623b1dca72c7c92a331b2e8898f1421529066eb350eb92b8691c5098b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d09a2a7916cf3651be0cf6af5ff8f08d6b313f881da54a40e39bfc9973372ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 5.504 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 13 changed as sent

message 22 changed as sent

message 26 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1093, 1.718, 1.1, -0.3416, 0.8093, 0.7341, 0.9988, -0.0193, 0.786, 0.5854, -0.4034, -0.0246, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4145 left_y=-0.0795 left_z=0.123 left_yaw=-0.9398 left_pitch=-0.0378 left_roll=-0.0442 left_gripper=0.9988 right_x=0.2887 right_y=0.0024 right_z=0.1688 right_yaw=-0.0025 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.9915, -8.9094, 8.4308, 1.0379, 0.8181, 0.1587, -0.1441, -0.2803, -1.7709, 6.9675, 2.0049, -0.0806, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1074, 1.7336, 1.0134, -0.2481, 0.778, 0.7147, 0.9988, -0.0193, 0.7486, 0.5125, -0.3756, -0.0246, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4082 left_y=-0.0771 left_z=0.0947 left_yaw=-0.9132 left_pitch=-0.0647 left_roll=-0.0546 left_gripper=0.9988 right_x=0.281 right_y=0.0025 right_z=0.1512 right_yaw=-0.0025 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-1.1282, -8.1436, 5.5179, 1.3309, 0.3639, -0.0952, -0.1392, -0.335, -1.7436, 7.1863, 2.0635, -0.0366, -0.0269, -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 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2951, 1.7126, 0.5209, 0.5308, -0.0444, -0.036, 0.9988, -0.0193, 0.7242, 0.4717, -0.3576, -0.0246, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3846 left_y=-0.1049 left_z=0.0168 left_yaw=-0.2529 left_pitch=-0.0972 left_roll=0.0094 left_gripper=0.9988 right_x=0.2769 right_y=0.0026 right_z=0.1426 right_yaw=-0.0025 right_pitch=-0.0389 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -6.2291, 5.0393, 1.7998, -0.2369, -0.0806, -0.1392, -0.1846, -1.347, 7.1043, 1.9609, -0.0659, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ba16a5ad6c2d1c4c8c90bddf0fd4ebe3ade02b54c294ec3d84fb2975bbd4d55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ee7cdd623b1dca72c7c92a331b2e8898f1421529066eb350eb92b8691c5098b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d09a2a7916cf3651be0cf6af5ff8f08d6b313f881da54a40e39bfc9973372ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdRAP-j9BPGi-lrOfXaTrsbj4YniSncEDbAh61dJ5zJyrfrz-qy09mTMFDHWRTuoxHOjlEmFM0sBztXc6NniL5k1MChBYk1ZDQCrxGxqBnDSJv2yp_Tlu_-SOBUZWT5TIwLTZbNnDnrQDa8V6eVOyhW09jkzkhGyFRs8jyEEScgxKl_qj6cW0lDsFsbymezlaQSTIP-Hb_FIQorY9E5y9mcHDwUAd16Pf8KMoRDtkhQbkrz6B45v14R9geKTJKrCoUZMN_k8Egi9sWBiRMDaPxvB2LFIjQ2vidjwFNS29YgKmjhUe0yq_IV3cLJydA9KKq_LMBCNwSC_jNW8zGSMJMgsuSF12hgSnH74_vfC8ZIgbkgrmg-9Jv7rfUPyQmFO6BgAC_7ktkBGd4tXyYghLz65CGzFFL6CPgnj5XLGju0jt4OcgEW7p21VF0Y3nhvrijL3HWrnch1kWqqpkj1dOuiV8L2PVV8b4YgHe4HktxwXgbOmqfn8l3W_Dqjva3BLD5bktghGdxsHOeuBnnrVOwmnDoYizTlY5wmfdJ7YKCznO5dyXYpbHcU5ANIPHgtMIPhMCGwWK5bnM_g1KECoZWUCAD0G51UBpBDpjiwBgTmVDLUzTRevV_hHk_VikChyIhVr36vmwybWsoZD0s23iCBxfOq7Mcs9mZIeLcoC1hoIz11eIHDn4og1KdA_t-sCLGFZoYBE9RcbMIS5SeXBF0b6hbJPLeABmTfbimoCirqo9B3q9NVoz03KhZcROpW6bTIJSkikyVcetiap8QzKbrK66Mi9YHmuS-p5033NAEMwcm9hp4ycJQDdDJsuQSIGJMNqJMZo4CWayyn21xRkkEg8AGxc5RPBdrDJYup4ff1ZQmt0UtSiMi8X38ed9W85aPB3-f8Sgwc4KE-S17oFiNjYHzB5Z5ZQ2EHEJKqn477YiyKd-0xKTkeeHcoaayp6QYaec8WGaW9jFq6lNcNrLnriirApKAQrfHA7L77L5YzZcbp13IGIGxnrzf2716IgdjQq9xu2bHfM2W3KHUt2ieoW5I8Qp_UQ33vDkTuTlPPxs8h8x8YNr-fizTfdJY3E30cw9qGWoIXHwkvDWxBs_MOXPaoNi9kf_8-fPrAGd5HY0IDFIIpASQV26DA7rkUADNZWfgKPBaIHh_44o9OlbUd7zRSxPjukFTMgRcZn7hPx3u6rWi971xUmBykSc8bp0Pnj3x4XHRMjhRa77dOALjQ3SRFtKxJ395jWJfTXRmDpdf2DPQGQE-TLEKOGcoXHsrY7qktZHLE13ZFlRq3U7T2hbEiC8vwd5D-UDpcSzOnZNGRJs_uJiGMGNO9fYh4OqOp6R5XHvN5KQPupPqLAHwjEsHH4gz5HfZe5RpGPIlMJIVSnH0q8w14fMRxfCYi5pWTN6CqdZrRV44DXETPmX78LmGMQ7GUn1AJ1ly5uATKESinfIV4Sn6XL5QArIyZdoiB-SuvqwVaE32JPLOiV7G6h9EKyKhUPcOlkMeY6ZyjW81thBMS2_Zgcylb7i-bJisB5S05iBT_naGKZY7YBPKEZH1ZVuyBszMEw-ZgzUGlChq4Yd_5p1lTmlCtLVqAnDqSliFKtr1Zbr5Ewwl_IinXNIOxA5Bi8RhJffvlYJC8xWhQm-2KiL4ZMXBfBlbL7ATWBrHR8SicovH7AhEyaAE6CS9OPlDfZecYFn8VGhgZ0FdlD8COGUZoxaZjc5oKIXcGZJfD0nrAWTmgaMjWT_2Hf-4yu0M-vTViuHABVVD-vV7UEoc0rT1ZGKu697ix_ldXH5Hi6d8JkV8mcxtuorE57V1cIQYIMwGFQ7LBBDrusnt4es7ITedeiGes7o1wscfwnQ5Eu3NunhgAvEZuCUKg1ZVXsg3UDcNRHkZO-xm4FSfbn-e0yJEdgs0Lc7pPH1HJmUykK1TjPJXQexL2Pvt5HmeyUW-NAqFyxLAiX6mRmE0=",
  "id": "rs_0eeb861604b4e47d016ab4474faed087d083b816a84aaac154",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"With the wrist straightened, the grasp point reached 1.7 cm above the table and the open fingers now straddle the left bottle’s cap in the overhead view. I’ll close fully around the cap and inspect the settled opening before lifting.\"}",
  "call_id": "call_AJcMT1mK87potfvs1QFjOGU3",
  "id": "fc_0eeb861604b4e47d016ab44751301c87d0a36b4ab66a1a7558",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AJcMT1mK87potfvs1QFjOGU3",
  "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]: [-0.2928, 1.7676, 0.4446, 0.7361, -0.0586, -0.0513, 0.0109, -0.0193, 0.7017, 0.4374, -0.3428, -0.0273, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3824 left_y=-0.1007 left_z=0.0118 left_yaw=-0.2307 left_pitch=-0.0227 left_roll=0.0014 left_gripper=0.0109 right_x=0.2734 right_y=0.0031 right_z=0.1358 right_yaw=-0.0003 right_pitch=-0.0358 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [-0.1026, -6.7897, 4.2051, 1.9414, 0.1294, 0.0855, 0.8816, -0.3897, -1.347, 6.7624, 2.0293, -0.0024, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc59ae93a690d98f3c60eea5aa16ebdb6756a97ea0d3a401b9bb4d556a390eea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e4a6be65b243209dc820afbfc1864e8c173483ee051549b7ceb6c9f0824c35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d21dd75b226a1588af3c040184f523d6c06243c5d112a5dac3ef52721c8d5da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 4.328 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 17 changed as sent

message 26 changed as sent

message 30 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1238, 1.758, 1.1103, -0.3607, 0.8337, 0.7864, 0.9988, -0.0193, 0.7712, 0.5533, -0.3958, -0.0242, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.414 left_y=-0.0767 left_z=0.1118 left_yaw=-0.9688 left_pitch=-0.0423 left_roll=-0.0538 left_gripper=0.9988 right_x=0.2848 right_y=0.0024 right_z=0.1598 right_yaw=-0.0029 right_pitch=-0.0423 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -9.4701, 8.5812, 1.16, 0.5836, 0.2711, -0.1441, -0.1846, -1.853, 7.1316, 2.0342, -0.0464, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2951, 1.7126, 0.5209, 0.5308, -0.0444, -0.036, 0.9988, -0.0193, 0.7242, 0.4717, -0.3576, -0.0246, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3846 left_y=-0.1049 left_z=0.0168 left_yaw=-0.2529 left_pitch=-0.0972 left_roll=0.0094 left_gripper=0.9988 right_x=0.2769 right_y=0.0026 right_z=0.1426 right_yaw=-0.0025 right_pitch=-0.0389 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -6.2291, 5.0393, 1.7998, -0.2369, -0.0806, -0.1392, -0.1846, -1.347, 7.1043, 1.9609, -0.0659, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2928, 1.7676, 0.4446, 0.7361, -0.0586, -0.0513, 0.0109, -0.0193, 0.7017, 0.4374, -0.3428, -0.0273, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3824 left_y=-0.1007 left_z=0.0118 left_yaw=-0.2307 left_pitch=-0.0227 left_roll=0.0014 left_gripper=0.0109 right_x=0.2734 right_y=0.0031 right_z=0.1358 right_yaw=-0.0003 right_pitch=-0.0358 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [-0.1026, -6.7897, 4.2051, 1.9414, 0.1294, 0.0855, 0.8816, -0.3897, -1.347, 6.7624, 2.0293, -0.0024, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc59ae93a690d98f3c60eea5aa16ebdb6756a97ea0d3a401b9bb4d556a390eea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e4a6be65b243209dc820afbfc1864e8c173483ee051549b7ceb6c9f0824c35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d21dd75b226a1588af3c040184f523d6c06243c5d112a5dac3ef52721c8d5da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdYm44-rHiZGDIIpwPizbJanutealQrANg8vkU_MkM2N5TOt80GjK617I4bhXkffsqyEUIbmYQiG5KdtWxf88W4ubeTjGQDDyb4niGsiz1wctsatBPoFf_IyOZb0KL-i517z1QDEmDlndt_UxLOV_uRiQDSuJYQn2ce1u91qFKa03FYkG2ps_mOdrdsDz_AI82FXXyr25_6lIBN5QuQmejwVPGHwN5gyxQDB94Vu1Rw18RKpEWemjo3FrQsSkdPDWtz1QJiG40Jid_YeyHc9nbxlPz6Rn4Gse5EBtlFApwu3D_4Ccz0y95ehGbFCBBS6dIULhyY5MZdcIwq5UAHyc2XcSMbfWUFn-6h_1lRlkoZ7e6fNV9R_lYexvedRSE_P_Kyd4AD0TPbkgjbPG1O87aoHP3JC3qe2Y-Y6VP_g5cjGaeM-N4lxT9hmP0MQN3naEJC6BIchqE2ty8WgJWpSiTQPKwj-i8P5EGx22tToi_i-PIk1QvRYa6b5wXftb1yC7IycG8BtVb4X2tRx9qs-Gj4Vwro37x2VVkykBvmUCpaCZCvD35gjJJrNOqbMg5j_wPEOJ3kwuApmB4j8_Uehcj85lZ55Rs21Kpj4V6Uy4XvleGBs0zFs3I6NgpEXcRzI-W1HUasqpWgOzXtOASrX9OAz-DZVWhIPAzR3Kl2mtpj5SmC0Q1gOArIsoLXSB2dZaRTs3mMoc51OvNTQNLxJwZGQSax95lLsHFCvlq3VY-PrQLGBY0tirVX8-8g_1NOSr3VKOiJ7ao44XS4Hbb9lDoztwFesxcjSAUjLJ3QHNZrG7QqfOOHEPCIENlQ6HHKSj_ebFG8kra6N3_wW6XExTJVkZN13h63Z8AO8V05s2hU-Xzulbv7p3Sm-eaRH2Ke1t1HQNnAOSkEt9qa7XSNLuSiYAvwPnjZ7cM2pcROUaxWANPiylsZFYyCaHW5v1DfsFjFKZ5-RQfwwi3c3EqaUnuLKalqxojKFyDs0nutOBPMmWjuFjmkGLArXyg20wE7_-V-pWXRY9F3tZQcMQWDX_ezJnBNlxOKjQ16V_08tL-5y1_tD7Yrz2Ty867I-uChHO0F1Cu2QeISxDTNwGb6geDZO5avbB_O_-Wueg4-DuVTuWhXtc3mJJNZBR5PMBNyRrTwFUgy-UemoxTGnnzMIimbYTkG-uDd9VCVtLqRvkhzevx1pPW9icTTebhkpmH2nxheb5CUxAVrWYxieaHphxJw47Ghoi9mgiAQ-300DjdSxcZSaL_o7gHNIk1U8H4koNK2WuRyNKJeoQQWUVwI_FSFlOtXQ7ZM8wnERPioGb27IuoNaoVRQqESDFJlhrJk1vcjCEGQPp3I0K47KisHV2qRvIU9Uh3i9abt-kBdbeOd53DIyY77HR4ueoYaEwENCM-xFzgokA6sYEpkxykKUbuMl_Sbie7-AwlYYVSILvRHAs-2fP-OK0HC2qIpSFhJp16xpxRp7RD8WjlfdyBv7CGnhk1DGuyuICQfYb1j3ORY3vowRcY2wv2DjQDCaKzMASFlGEAUKNWljfi1Ijst_dear_jkA7idA_STFPVBA7tmoifHd1P7Qk5PYv3cRCZocRhvIfW_Njzm3zcSO7AysSH-xmhHzp6jH-2QcJcd3hp_EAPbz9_o-7l7OhRWhZtNzqGv3vEovke3budPyki8gwZ67ZA-vEBHRV7RD5-tRtgtc901pDwfBKyQO8BWmoIdTA1Pk3d6_WE8HA7GSep3k0u-Z9xDfNz2mPX0qy7-cQIogVavVozlxEKhBVZeJSapR1H3nhdA-oFwpZGt09rU48amzGzE9X8gGnRtWRXkO8MjE_XGBRrLTODQrCVSBhREdZbieBZbiIog7lXL5gsCQ1spoabCXVT__JuhoiSDR0zEMVUR7TD0bUyHDVaKUdSe2cAuyO9JwS-24Bc9iZReBUKaWnl_j5rlBKXI7BGQPtr_ZaIZt_bMkAHGRTkElZlJkKfrGgYft399rgZ7DjVdF235FUECMIX0_RJbtafj66-X9q8I22DHCYbI1vti5-S9pyC3NeFWA0Fc1n8MirXyXmef7OnPPNBBIjdfx730yGorARHa9zA0Jumv4f2f4w8rTfeVb3cY2DMvrsF8oeWOPgNoHMjU2-C5ikX9oGlBTq0BUWt0xx8Qk3ZjuySLIHr4S6Mpib3I8e3eyQhyPsKX-pXI34FZqCyFWaCXI0YXmVPTq8KnGU3njc3TbQ3N6At2uRhL0ici0R1M0ySeYc1vh1YpkwYyCrGE2B7TWIZWYPfgdCdZCQrJNzxJqlZq7c-GhgTB_iMkCQGn_w_Wxl1p1cnuNdYsZHZKeeZi5c-eCCKemSGbuzdHuTeg_z-G2yxwcukxgv-9kCE6DQDd2VA65aemIt5RaF3W_XQb8-LRU1TzOMswHCpO_yozLUAinCszyL0PaEAUr8WCK1LbchbxH2TQwB88b2m7wxMIFay_pReafIs6PIEg03SrsxV2ITS9ktp2rFTRwHjehT4E0MdiwqegmAOtnKWfWforqLcA6plPEV_XoYfG4SN-QMCJo_bWVmQkKCO41jf43PtOJ5SUyKLGrXxRuYnvveD88cJVp554D8qihXusiww6vOEGX3BRfNN7tTkT4xZZoBK9U6okObaKNpYN4LmXnae1ncItWhGga-s0SiEAGVbRq_9AGIWzfJskk2T2Kqiw8nPiCMl-RYTzT_AWkHs8MGLJVdDVcTos_5snVSJxigVHbP2cy8plVA-H_UtIqQxM95YhR8XDDQJhGQ==",
  "id": "rs_0eeb861604b4e47d016ab4475463a087d0a7b7757aae6479a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.055,\"left_z\":0.12,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The closed reading is 0.011, so the first pinch was empty; straightening the wrist during descent shifted the grasp point inward and behind the cap. I’ll reopen and rise directly above the cap with a compensated outward/right target, keeping yaw straight so the arm can descend reliably.\"}",
  "call_id": "call_a9aMpEQ0gkGgQMgTHR5yQVWV",
  "id": "fc_0eeb861604b4e47d016ab447570af487d09a39dbf0f2d5d127",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a9aMpEQ0gkGgQMgTHR5yQVWV",
  "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]: [-0.2218, 1.5124, 0.6949, 0.2302, -0.1745, -0.1345, 0.9949, -0.0193, 0.6804, 0.4049, -0.3279, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4165 left_y=-0.0588 left_z=0.1028 left_yaw=-0.0176 left_pitch=-0.0141 left_roll=-0.0044 left_gripper=0.9949 right_x=0.2702 right_y=0.0033 right_z=0.1294 right_yaw=0.0 right_pitch=-0.032 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.3761, -8.3077, 8.335, 1.7363, -0.1685, 0.0757, -0.105, -0.3077, -0.9641, 6.8855, 1.956, -0.0415, -0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5e84a18c3239cf3e9dcd9856e1f2d96f5aafd0c34d0e2987aaf4e0ff3438b72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e59e32c01e8369cd603935c974766e61427151c7c19c218714d17abc016f528",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:142225520752719889d291f6d15587a7575bca1fb27a2ab22d60d2a503b1b182",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 8.002 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1074, 1.7336, 1.0134, -0.2481, 0.778, 0.7147, 0.9988, -0.0193, 0.7486, 0.5125, -0.3756, -0.0246, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4082 left_y=-0.0771 left_z=0.0947 left_yaw=-0.9132 left_pitch=-0.0647 left_roll=-0.0546 left_gripper=0.9988 right_x=0.281 right_y=0.0025 right_z=0.1512 right_yaw=-0.0025 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-1.1282, -8.1436, 5.5179, 1.3309, 0.3639, -0.0952, -0.1392, -0.335, -1.7436, 7.1863, 2.0635, -0.0366, -0.0269, -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 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2928, 1.7676, 0.4446, 0.7361, -0.0586, -0.0513, 0.0109, -0.0193, 0.7017, 0.4374, -0.3428, -0.0273, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3824 left_y=-0.1007 left_z=0.0118 left_yaw=-0.2307 left_pitch=-0.0227 left_roll=0.0014 left_gripper=0.0109 right_x=0.2734 right_y=0.0031 right_z=0.1358 right_yaw=-0.0003 right_pitch=-0.0358 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [-0.1026, -6.7897, 4.2051, 1.9414, 0.1294, 0.0855, 0.8816, -0.3897, -1.347, 6.7624, 2.0293, -0.0024, -0.0708, -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 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2218, 1.5124, 0.6949, 0.2302, -0.1745, -0.1345, 0.9949, -0.0193, 0.6804, 0.4049, -0.3279, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4165 left_y=-0.0588 left_z=0.1028 left_yaw=-0.0176 left_pitch=-0.0141 left_roll=-0.0044 left_gripper=0.9949 right_x=0.2702 right_y=0.0033 right_z=0.1294 right_yaw=0.0 right_pitch=-0.032 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.3761, -8.3077, 8.335, 1.7363, -0.1685, 0.0757, -0.105, -0.3077, -0.9641, 6.8855, 1.956, -0.0415, -0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5e84a18c3239cf3e9dcd9856e1f2d96f5aafd0c34d0e2987aaf4e0ff3438b72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e59e32c01e8369cd603935c974766e61427151c7c19c218714d17abc016f528",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:142225520752719889d291f6d15587a7575bca1fb27a2ab22d60d2a503b1b182",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEddZ3ZajZc-vCL-fs0nVOc-xemQc71z01uhuewCcZe5UB44dkhTTtwx5B_XwuIL5PX67G2xVSIhusgf8RCNd8gai4o490SDQSo4B8_r3SI_v2MzcWiy9P-CY2_WMFvvrmpKKE4tK_HBDEob51I_ppnkSuTtI3Hu1fyZ1I_8fOcf7O2AziOa9KtQ984QvvWrlgj7zVeJz0fnKKLtQ-FrFdGRry4415IDK9lUOloevmeX2s5cUHYjMy3ATtPE1iNMwuRatujkYCh4gLHpPvbnNQL65LCEwt9nQ5-r0grWeudBAuRlwcRc-PLAXeJmNMdhZwA7hjw4P3Ldt9p4vS6elDjD0uRFQTwceo7W_5Bccw_sJrFFKKT7B1Cf-dUq5bVa-xMV7ClGMzjw5K5Xo71jBS8lFUwdDMrELBFLZHO1wJAjgZEw8V9TItr6onWWzMpdmIJEgCArc5UKGztVVQih85--CVD9MplTrTjE96nGH6brdw3_wubbu6-uZ3Fze7IyuwJy14mkP0jR3sylSQB6m6JI54GCR5z4cqN8b_4e4EVhuhDYlYpvCSGMLJSGqKGXzHoznCCiGviG9o6ptf5ckNzulgkRvWnQ293o-FgPvXK6K4Io60ezrMGCv1P7f7Wpl-t5ls_MQSEHGOlIv5ZyDB-HzVfRtGTuEtLDi8TX_j_vdi1SUaYj0V4NtsmPB-CzNA_ygrC0pRCXQsVuRm-hU2KgszqY-bdQo-RZNz7ILFGixuTV5fssg1m9fk-hCUcjczko6SlUys6WLmCETCMrJAFJoRHcCwpOVmvvsjrL1Op7QAjGNNnH-n97t-ohbR2ibnMif4waRm1Nlr4JVIv6A4-Wf3kmPE9AJ1wpEDJFa5ihHMUQQjIYfqF3eplEaEkwamoq5_FN8TQSkO8R9C3eo6mWybmpqiuDZKu0I9UvADkngKHilEBDR3QKV0CvJA1HzVumTGUMKx4nGEfBg-k7RC-dy_pECdTmXsuATm4JVG5PVwHS6L3AyyHih2eD7MyphH11qP4FC2vE-HX39aopzh7wy3x7IJax5JZDeZx_o9YQXxG-Fowawz1n0Yu0BnBP6WFfMLihlNeFqSLTVmfqYNCZ1GWHooE_9KrtM9HfoKXSDhZDXyjsHALb3hqXM7nVWwLF7tn2QxTvsRQhDXQB24M64C_4Bxvywke7LFzStRZc3QIuESTob1Aox4Ztwlz53l3AbSxE59Nn1gY1tA-wJs66WyruMne686mdQYR_JhfDYRJE1dY6_C53OcBhEccjxXvS_r1gs4xKSdin5MSE5fzRplL4m0P4-X-zix7N1gATloBfrVu5uTQxLR0Q_XslRkabPs967g2wfJlwVJo2TbResxlKLrAQfqIiWBbJp66taWAia6M7Zh1L_VcJbv7qmN--piUKPXSbJMVpfKVRLOwqILw5oNB4i1lY24KJ1BIIcNAuXTCcCFKazAXz_DB5OV_YmySZBG8eNYJfdfh9me9RqLS3ozM3hK4kkYjQ4wgGVol1jEho9HTE9Q9oDPpjFp9m6T1fwl8L_kYDPv7dOjgIy4HGXyxxPp94WrvBk-lxJi72cw5XJ4h_xM07wneGPFeyHOzWXneKXtPQGK5rJjWHf9jtn6iU5LBodQ68J9X7nLej6Viwcj15eLl__cvwwXmCaIMQg5lJLlANyn5v3YkusJiL-L99iC7ooqO97g_bRlhJlTmMT65eUR3kQcMc32glvSB_ndZav7sCs0QUuqx6O3HxVnYam8YRzg5e__R_1dzuzSZDoBVRLaJZOBBB61L66LQtHFRuBO0mvHoMrukDFQMQ32hs7P_BedFUM2XMS5fIFjIhVwdKu8X-2JexhDgg",
  "id": "rs_0eeb861604b4e47d016ab4475abe8087d098e761e95e741633",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.095,\"left_z\":0.11,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"At the workable straight-wrist pose, the cap appears about 4 cm to the wrist-image right and several centimeters short of the fingertips. I’ll shift the gripper right and outward so the cap moves onto the jaw column and down toward the fingertip row.\"}",
  "call_id": "call_CaWECQi3D46aenM5KGx6tx27",
  "id": "fc_0eeb861604b4e47d016ab4475c46bc87d086bf11e288196e60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CaWECQi3D46aenM5KGx6tx27",
  "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]: [-0.3218, 1.631, 0.7948, 0.1886, -0.2485, -0.1841, 0.9981, -0.0193, 0.6609, 0.3756, -0.3168, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4296 left_y=-0.0936 left_z=0.0885 left_yaw=-0.0285 left_pitch=-0.0616 left_roll=0.011 left_gripper=0.9981 right_x=0.2671 right_y=0.0033 right_z=0.1231 right_yaw=0.0 right_pitch=-0.0308 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.0889, -7.3504, 9.1829, 1.7802, -0.2466, 0.0659, -0.2125, -0.1846, -0.7043, 7.0085, 1.9512, -0.0513, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77aff2415060d7718808447e1205db18b3952719d88417b5ae37b6f860aeabdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d2ce73c69b10263ac62f844bda47220ed83346b600ee951aca795e0a8df2fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00b72adb267831908e05bb3b440d97aaf1c5092705d06d4a1a57c6c380c714a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 4.14 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2951, 1.7126, 0.5209, 0.5308, -0.0444, -0.036, 0.9988, -0.0193, 0.7242, 0.4717, -0.3576, -0.0246, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3846 left_y=-0.1049 left_z=0.0168 left_yaw=-0.2529 left_pitch=-0.0972 left_roll=0.0094 left_gripper=0.9988 right_x=0.2769 right_y=0.0026 right_z=0.1426 right_yaw=-0.0025 right_pitch=-0.0389 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -6.2291, 5.0393, 1.7998, -0.2369, -0.0806, -0.1392, -0.1846, -1.347, 7.1043, 1.9609, -0.0659, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2218, 1.5124, 0.6949, 0.2302, -0.1745, -0.1345, 0.9949, -0.0193, 0.6804, 0.4049, -0.3279, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4165 left_y=-0.0588 left_z=0.1028 left_yaw=-0.0176 left_pitch=-0.0141 left_roll=-0.0044 left_gripper=0.9949 right_x=0.2702 right_y=0.0033 right_z=0.1294 right_yaw=0.0 right_pitch=-0.032 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.3761, -8.3077, 8.335, 1.7363, -0.1685, 0.0757, -0.105, -0.3077, -0.9641, 6.8855, 1.956, -0.0415, -0.0464, -0.0171]\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 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3218, 1.631, 0.7948, 0.1886, -0.2485, -0.1841, 0.9981, -0.0193, 0.6609, 0.3756, -0.3168, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4296 left_y=-0.0936 left_z=0.0885 left_yaw=-0.0285 left_pitch=-0.0616 left_roll=0.011 left_gripper=0.9981 right_x=0.2671 right_y=0.0033 right_z=0.1231 right_yaw=0.0 right_pitch=-0.0308 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.0889, -7.3504, 9.1829, 1.7802, -0.2466, 0.0659, -0.2125, -0.1846, -0.7043, 7.0085, 1.9512, -0.0513, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77aff2415060d7718808447e1205db18b3952719d88417b5ae37b6f860aeabdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d2ce73c69b10263ac62f844bda47220ed83346b600ee951aca795e0a8df2fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00b72adb267831908e05bb3b440d97aaf1c5092705d06d4a1a57c6c380c714a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdleSd6A9XfeeHBppyPF4F9aCD-uMFpKSYr_rtNg8G0upgveZSLYEX8Ic1yVZSut27eAxk-4-GIyLWO6lPN3R6Yp9Tivuk-YR9WA77Z4fuQtrVX-ZXNmf7mUteuGDuXyPovA4mQDnlb0GGGAEfc1S-4p1nUDTMD54pAoGqd6nd_us-WKTpVdvRIw21Z_gq0DumseGxlzOPNc0J8nYIpR2WuGUDArg_ul1o7x14e4lU-w8qm5wEN_nRTLCMSzLyjRYhX9tFfnqJXE92J8YBZwd79IsN-tvEW_cG7P-f0ZLu-m30tlMivyBJEGXWI9L7TTvSz2XpfwTizA57ATBTBW3DsTMXpEHiF2pRetxVF0ap7zjRpY8QblIemKHT10tHJ2Rg58n9-h96hFVo8iMQS3PS5ai7VYCtdBiPbtiJs6lWTNMwTmKj6vNEWRjUHLZzaKHAOIJdXvpgOol5EFnFDUN1Cs1oN4_wSfDYHIaGDmQ96P3Hb-nIX0aCzPUXmO1ZfDFchZcOpKBQjBi0uoCGlHB62g8pVGcgXOTe9G4IbiYDORroZib3R1d_4ZJoNzIi5mwaO86irwbTTGVDKgHd2tE1NiHN7tYT8q0hLNac0laaU_3ridD4YYCw8wJwba26aiOqQZ6GLc1ZJfpOci22pYjBNa1rqCa7S7V_kcX8GiiVj63xjxwvSks8wDOrTF1ebsRhctBLJ107r63-nUsNOF0A4wYydjbvFMj7Lkz8FzpLYOyPoPDMRWbYsIQXL0kLAr69CAYddRXS0zXf7aUY63ieK7crxXn24yrxY448W6qVi2Wd3c3lyG7Wx3bO2ds79s9UB5A64Jl_FX_842exBbDXy8C-qZJWzIXcQUkAVBxhZpCdJ1Xpho0fH3nq00G9x4kerQZILH8nKiTKOh7kjvEnR_E9TQsEve2MoSJXMSdO1WQvTyGbQMwFeyU2NfLVv9K-HeK_lYzP6Nijq-RBGvItt9uB2TJf_y1ei02wPDtFP3EkZ1LeMZBmaAheeMkYcnY-fDid21OuaovPMiLAUh617MGYOwY5h-Hsj1M5V3Ff1Yk8ESYI66eYcj_NBNHgh8fvXH4XE6gi7z5yiQbsbgblF5Nc5J56YUoRo2TqVxL6sfryQPkvBanmlZjWEtaipVfGZMn9aZR_fAIeWLkdqoHff9o1O5Edtl7auVCbA96rSAlMyd9hNU8PAdd5IHWvUGygD_t8FeQFVnthB13Qxo3Cyx-a0IUC09kZXrl3HJazKxG59XEWD2IGoqxk4RLHUTD3pZi01SUnxlSz5_2SdPNLIDe_uNjIo8qz6v04danQRo-SpgXnERJf6N3FDZqvRDj9im_33Xuna1lSK_X9NzHeNYMBG5Tha2Azf3SnGGjvm8OfMYPsaozgGa5TFYBi5APSQmiidoeF3ro4HHdiYi-U-2AvqTPNgKOjqJvGpk1nGjCR_0NQRp72G69DrjGFEz0P8yS0arVWcQX83_eksu4bL4osujHyIDjm7o7ln-85-dTJY7gNslGWXMFJ40_agNDIuEV6xYBObVsRzfwSEuApzvrirR1_IAWovQAzncK0EfhpQnAD3NomsmZgmNAfDzjRSDKViQPyzloiAJkox9rbFGTPspKL6ZNhEki1ECKV9ftUNAlLKLT7-_tNCpnhCeY6itE9VqgDUsbgBUJ2zfl9fZTFfQU3s8w4nUPpvvEP7RnDC3xpeVt9_1nxxeFfJ6aoPUN1FbrlpcPmiL35e0N1ugaZaslbMqnZtIOFVRzouTwxOyaOjhyAmlyIpUKHdi7I3t3FY5UHQilJiyDFcEIEW5KyUATuZLnN6vMPqRETGsEQ5FQl-LsgNDuDtgcfAl5DTa9XFXWahXeeDZTvY6FhRC_OLI9bmX2YFtySCE_hTQ_JfiLKoFhzIBCps5oo-uGYCUF_-RsjpmVxjIM2Y1eF4vjlSU3xIZ_gsjbkCRN5cvR8sKNp3y3qht4XZ7qpjaWmfbCLh-6h7IBMBSYmiAgaSjsEG5eESvkRxuwboI9qEh_92Kck1jjcb2tIwutAPnb_cUKLJ9qO4eDVHDdKvEMTewL8Iicr9ejtbZMCB1P-SGMs6pq2gKSRBswxVkTHrXDJSHnxl8bU8yKrFdQ-Lcy83aOShuig5UGa6FCBcHbJliQkwe36FPgVaf34vbGkhuWTSGD1DpIaVyrleeyZrrP9Jn_KKSHKQeXXJugAy4fYzXyeJfdVFRelRdDePJhSy4mof93aZbZ63m75EAQ8D8toHhKR48dZd_JO9NwX55k2OHmRqZWqPhQHgULEyOdBE-FrUxh8rxkDI4xGhJij5Rl9_zeh_i-R8sDCRVZIh-L7u6KVJ_knCLtxLlnbM-QH1mYARj5whL9BjH3QgPd66REqs-arApbGnAgHHIku6YpT6rTWE_xPDvgobwnWH5nBitl_xJUiPPdr127ICq4snU1hweMUtRudiZnZWZkzdWcPATfCsNGoZMkjoH55LFsWxuoTJ3GtdGJS6OrO1R6jZd3e1ZC-VMR7reXg6AfMdXD1dOU70hIeF5kr79TftIJjz9Lkcl5XMRURGtvMz3ET9E6V94w==",
  "id": "rs_0eeb861604b4e47d016ab4475f853487d081a09cdbb8bf46a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.135,\"left_z\":0.11,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The cap moved toward the jaw column but remains to the right; the overhead geometry places it near left-arm y≈−0.13. I’ll make one more pure lateral correction to that coordinate while maintaining height and outward reach.\"}",
  "call_id": "call_AgsUjZnP5Hbt3aASwfmCmKdv",
  "id": "fc_0eeb861604b4e47d016ab447650a6c87d0b0fc19f0f6a6d09e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AgsUjZnP5Hbt3aASwfmCmKdv",
  "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]: [-0.326, 1.6367, 0.8219, 0.189, -0.2749, -0.1955, 0.9981, -0.0193, 0.6437, 0.347, -0.3065, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.437 left_y=-0.0933 left_z=0.0978 left_yaw=-0.005 left_pitch=-0.036 left_roll=0.01 left_gripper=0.9981 right_x=0.264 right_y=0.0034 right_z=0.1164 right_yaw=0.0 right_pitch=-0.032 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -7.4462, 8.0479, 1.7949, -0.2173, -0.0806, -0.2076, -0.294, -1.0188, 6.9812, 1.9219, -0.0073, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b05a2ecb3657402c6c875085fe31affbe330fa8a90ce7da4f19b4aae6832b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fea90e1ee61dfe761f67adf2f2262f04fe4733854a5adf1c4b06001c7ce9fe1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d708ef868f1f59fdbee104c8bc681cf1e880db1be4659cbca9fce69d40a3ef22",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 3.898 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2928, 1.7676, 0.4446, 0.7361, -0.0586, -0.0513, 0.0109, -0.0193, 0.7017, 0.4374, -0.3428, -0.0273, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3824 left_y=-0.1007 left_z=0.0118 left_yaw=-0.2307 left_pitch=-0.0227 left_roll=0.0014 left_gripper=0.0109 right_x=0.2734 right_y=0.0031 right_z=0.1358 right_yaw=-0.0003 right_pitch=-0.0358 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [-0.1026, -6.7897, 4.2051, 1.9414, 0.1294, 0.0855, 0.8816, -0.3897, -1.347, 6.7624, 2.0293, -0.0024, -0.0708, -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 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3218, 1.631, 0.7948, 0.1886, -0.2485, -0.1841, 0.9981, -0.0193, 0.6609, 0.3756, -0.3168, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4296 left_y=-0.0936 left_z=0.0885 left_yaw=-0.0285 left_pitch=-0.0616 left_roll=0.011 left_gripper=0.9981 right_x=0.2671 right_y=0.0033 right_z=0.1231 right_yaw=0.0 right_pitch=-0.0308 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.0889, -7.3504, 9.1829, 1.7802, -0.2466, 0.0659, -0.2125, -0.1846, -0.7043, 7.0085, 1.9512, -0.0513, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.326, 1.6367, 0.8219, 0.189, -0.2749, -0.1955, 0.9981, -0.0193, 0.6437, 0.347, -0.3065, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.437 left_y=-0.0933 left_z=0.0978 left_yaw=-0.005 left_pitch=-0.036 left_roll=0.01 left_gripper=0.9981 right_x=0.264 right_y=0.0034 right_z=0.1164 right_yaw=0.0 right_pitch=-0.032 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -7.4462, 8.0479, 1.7949, -0.2173, -0.0806, -0.2076, -0.294, -1.0188, 6.9812, 1.9219, -0.0073, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b05a2ecb3657402c6c875085fe31affbe330fa8a90ce7da4f19b4aae6832b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fea90e1ee61dfe761f67adf2f2262f04fe4733854a5adf1c4b06001c7ce9fe1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d708ef868f1f59fdbee104c8bc681cf1e880db1be4659cbca9fce69d40a3ef22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdqmvXrgEjmZerE-pTzHlf3gED-HBm8QrAfvH_ArixYdFi975wKf6tRVAKVCF0TtLVxZD_uVd4k2lJdYLF7g1jhhk6fFUCi6VHGxZm3ERzdATdS3vE3Pn3wBaA2DUdt0pedWozpZy2bnjpOddhL5z-DtSXbYtHGfpm_0ZjRWVQzDHC2ved9JlpTBQEVN9U1SbPJvCW0TLNi4wkVgPYa2i2rjGBZ_7dv5aalagyIMlZJkXSItBxEVAxJSIWxErCDJdCVnmLQOEVIy28CgXUGEoKb6CHxlzo5mPXqXW6SyqJE5OZ1fZum9nerXAJlzVUsjR8HB47vUHLk5GPAWWNTmyDJ0zmYeIVC8HJHQq29gFo8bmq3FxBXpufN1-NqCpQRCVApeazBsbh0X_l6adaBpHGk3cYZQcmUAnh7WUg7gytt91ZuhBtGzOhKihigqhTK33PJ1QScsCGASrV9UjmxAv5HQoM1_XKdmtzZNAH1UiWH-F87sFp4BYHI-0_TtSzmCgA9J48mvnFNfnmYKk6YzXCmIuuvS2lxfPGFpreI_Pe-t7kbReJScnJkR7ypbAER5uunZgHOP6N5SbYt9YsQSiNfbAj8f5NRNfsSrn2eKCWifF2lrRWcvnHyUpgf9Y05TnW3-N4kCc-_SwoZnTjGsR1mvFyqq-gurlyW_hEapz4qCOL2RBoIJI7bg5zZQlaOqZqoFn7jijVxx2_XBUQXkHsRVBgbuHzwWWLOSia-Ut8lR9zmUERL-J0TNFznT8sEs7eNQYGjMYQdvnrL8iEWZgvguChZeXY7NfkAPu7hOPeosnpuA9yT-OSLqsS9hdIBqz0ND8hPO8h-IX1JIdzgG92T7z47uGC3g8de6wgxStqIgg7GcJXB4OsC8P2oHSMLe3fTjran609_ksUcPsohEOOGbFGdEdqU1rxg1QIQtCA_vlwEb1mNdqVnHW8w2XPiYJSmFN_fFvcQd3fEGR2rIyBc-Vnz-M0Z5xW_k_KxT8Z7GYIIUZF8krBZtZhOsp-QjcUBxa1VoQE39qcYL41DJEzRljezxS2mMt4Izq-btRg9w5oOZ-6u1Dr7Qp8cEHJBm_1e8yFrw7pK1vC_LRyFX0wFtw87h1BMEm_km-9sGBGSxLIKSOMgZY_i3dKMpKRwntueZCbyatwYalmr4LFjYp2F5oG3RfBV5h2gWysUH1R16H2VeltE_IwvGok0C6owFPpcHjEVM9uUhRe3XIlwD2bKTCGlIK_Nz8Iofmefay8QXngOan16MFlp2FEytKYKPO33wS77WqFa-3o8VKcuxHkzpFs8VB0sb9vXvd5ESSrXwG9ME0SuK5cE8eyI5foTZNKnwAmBR6om2P_razPAKLfUE19RkpDqnJ95zwumsUfcNebZ6e7dYnryRv_pCm7Acb10N6LmSPxOjh60SrPXiZmzy3vB4qvIoUpAELkL8FrQ6Z5Ujcw9alQcbVIVrQN01ZG3zjYV3EOY-pW--tTMFO6Bc_5QppOYbu3MBekoEL025eHB-hGgRw0D9PKZywGVghLgNAgGbR6F1KSRcAvzj_dm1Ba39pPpmK6VaLayj5Jxh8K7lAyH-Zi2uwjYIqNNP2rrAoA3nVrF9Kky4nNmJhdyT3snPer0vaChha8PjdhGHGXIhEC8vk4-mypkfB531XFAC1n5-h9ZlJWJr7hZdJNwdZ1GKBtKl_v_FWw7F3AryNtw8s8lzzE49KAtVWx7Hq3JCw0tQTCZ99dEVqyqgnK8MuLIbImvv8C0_k97SbKxda4xTqU_ZPDf5ftACBs1TN32q7MB5ZhHOM21FazNmubrg1cyOKOVluGyJlkd4iAMnk3BtRnXT8BW_t9n_04SnMgzMdzfBRJuSPtiGcatW_52au6bgfJnhHl4BQm7yVLmWbtJ4Fzxl9JIInKjJ-wM0rH7R6CNsyowiXz9m46J0tK8A5XFs_bLyw94ckDo5xm7rwlQU1w-hSJ04HGMnYwrZlKsBG0WDfK4ooUJxUvWXtH5fKVEaPvoLmVIRu37Z-LcQn0C1kBzCJI-UwQegdFORQYw0ErXZqdwvqRJLFF3dLByI80p8H3lY1d1eJu9wCqjUx6UkBvWRNg5qsXsWuFTDw5rJAnVcE5g44gxltPWDXzDXuP8EQTe08Ff3MlNqcDvRak6_Iw5m_H5riZpniog-tJUqWhUKDl0xsCdj9DcDiVdAg==",
  "id": "rs_0eeb861604b4e47d016ab447676fd887d086acfcc537667db6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.14,\"left_z\":0.16,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The low lateral move did not track—y stayed at −0.093—so this is another low-posture kinematic limit, not a visual ambiguity. I’ll raise to a free-space pose, move laterally over the cap, and then descend straight with the wrist kept at yaw zero.\"}",
  "call_id": "call_AXUjDCChw3lSTTPjck38JOS7",
  "id": "fc_0eeb861604b4e47d016ab44769666c87d08af0be5c7a312d00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AXUjDCChw3lSTTPjck38JOS7",
  "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]: [-0.326, 1.6367, 0.8219, 0.189, -0.2749, -0.1955, 0.9981, -0.0193, 0.6254, 0.3202, -0.2974, -0.028, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.437 left_y=-0.0933 left_z=0.0978 left_yaw=-0.005 left_pitch=-0.036 left_roll=0.01 left_gripper=0.9981 right_x=0.2612 right_y=0.0035 right_z=0.1105 right_yaw=0.0003 right_pitch=-0.0312 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [-0.335, -7.4462, 8.0752, 1.7802, -0.2125, -0.0757, -0.2076, -0.1436, -0.9231, 6.7624, 1.9853, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ecd9916f3bbdba6000b980755c07773854c37b0f261a0a214e75181784b03c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b570e4f300c63328804d932f636de28bdd23950293383a0034ae9f7a5c648bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5aa9ce2cdab9b9aa0ba246849a11270135f0505b522e1c95d838faf13fa6d48",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 3.683 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2218, 1.5124, 0.6949, 0.2302, -0.1745, -0.1345, 0.9949, -0.0193, 0.6804, 0.4049, -0.3279, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4165 left_y=-0.0588 left_z=0.1028 left_yaw=-0.0176 left_pitch=-0.0141 left_roll=-0.0044 left_gripper=0.9949 right_x=0.2702 right_y=0.0033 right_z=0.1294 right_yaw=0.0 right_pitch=-0.032 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.3761, -8.3077, 8.335, 1.7363, -0.1685, 0.0757, -0.105, -0.3077, -0.9641, 6.8855, 1.956, -0.0415, -0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.326, 1.6367, 0.8219, 0.189, -0.2749, -0.1955, 0.9981, -0.0193, 0.6437, 0.347, -0.3065, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.437 left_y=-0.0933 left_z=0.0978 left_yaw=-0.005 left_pitch=-0.036 left_roll=0.01 left_gripper=0.9981 right_x=0.264 right_y=0.0034 right_z=0.1164 right_yaw=0.0 right_pitch=-0.032 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -7.4462, 8.0479, 1.7949, -0.2173, -0.0806, -0.2076, -0.294, -1.0188, 6.9812, 1.9219, -0.0073, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.326, 1.6367, 0.8219, 0.189, -0.2749, -0.1955, 0.9981, -0.0193, 0.6254, 0.3202, -0.2974, -0.028, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.437 left_y=-0.0933 left_z=0.0978 left_yaw=-0.005 left_pitch=-0.036 left_roll=0.01 left_gripper=0.9981 right_x=0.2612 right_y=0.0035 right_z=0.1105 right_yaw=0.0003 right_pitch=-0.0312 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [-0.335, -7.4462, 8.0752, 1.7802, -0.2125, -0.0757, -0.2076, -0.1436, -0.9231, 6.7624, 1.9853, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ecd9916f3bbdba6000b980755c07773854c37b0f261a0a214e75181784b03c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b570e4f300c63328804d932f636de28bdd23950293383a0034ae9f7a5c648bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5aa9ce2cdab9b9aa0ba246849a11270135f0505b522e1c95d838faf13fa6d48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEduBX7JAIazThMHGdDdIK75Nbjr5zdCJDgFCRfpRb8iDfXGkbttxb0Kt45OcGNxZMkpHL_UfHjGpiG85I5Fmk4pQ7dHJStP-DANb2OHAriQyX9XyW4aFMNBwj7ewUEcxtjUWBbYI9fefkHDLzUC_rv-EJuZ5rDqrKrGJcW3a4Ma3J3b3w8fCJUWZoaUD8Evd-nWRA9rWazemMVI-c1SuSsuqOHqksH8RlqS14qAC6A0Hr8rukhfHE3HaR2xYmdbGmS6SaqSO1Upm_O0h7xx977rwE4QNqgjyxCUwvgJRxAIqpv80J_1eAg1sXXhTZ3KAwbAlROVVjUdCFCp6qFijafB-zqIrlanT0tk2Um4vVOfG2sf2y-ma6exWHhM6dgzaFlH_oWBVwSF4PO2wr0AxaBbSSiMO_jwIqe7r59BvB4nGBLDscx7QlsxDFoBmGzoyowwC7YmRMoEwLOOQik0EkGM4H6pkIQbP5_sHoqspbb_XKNMzS4i7QwdgHIFouGmL02NoEmo3kYUxKFSIADDfcmteRwhI6HQfKAR2cttWS3pdPVDCZCOEBXvokKQiJpRDZ8zlezzC-jEKQ2GUsxPauLY_LXa7Wm2adLRn0zYMnM9owcC-kajFLkDjDyRh_4aor3Xy-HB0F0-qNxro_hucC-vXUn5oPtMcwrlJHqz8AN1JZHrfMliNF3nFCDTPZTap2A3bjoIYmxy7EdotXQyReJdO9d8MZijVKsQryrSlh4hdV15Yk_0MoiCIlxrq8qJdvAyUErBWnaTmjHg6uYiOgkBK69ObKB9EbxDs-qfZNqDl_12i3lgib1opeQyr2_J7WnzWC4ccN4t44KNkz4pwmMkU0Jqt8DTFUYbc39NR5rzgn6rfK-VsKKdZAO2wc1Cnq-0ECFILLOfEya0wVa0zUC8UGRcolezkCZd0-pbAxye0k0bAOrS_OfyjW4XvBf4wM8kKvWzZj1c54xN81xjFr_0EeGZGRqB8aR7LPtIYXrYHlGMT5OLDyq-yqCOS_fOhUMD1OKLM1o5t0GZKsqP5W0Lj1mgK0v5-tSs9o6M3PhDAVhevw6EdSuV7LnOtSIajtaSY_Fq4dh3-tN1g6ryvPwOU7dVz5jgtsMB6hUnl_r197FH14PaHxZsnfc4p306Ev2Zwg-iSyma28HaJOhyMjtG3j_326UU0VZpHuWaWQUJbOMSOE6YUnzkgETsCZzPa-APKUWUkcWXLcdiHtVtWKl9Nl_rBeMTXQdMeuUqPyWPxV86OOczqr1PVDW6IrNWGdvnRTJyYNE1lQXiKbNSA0lwLE7l8z3McnDoZV4ZZ6QAPljIXzte1AjCXR4kUey1fNelgqW0t8Hpc0mVT9N2z7sK8mF2w6vcOredumdr7-GZbqhmY4epkbmBDWb844TTrXH-iXztyQlhKTCSVSfLWDkpuLUF9J05dinBJs_3z0u-lyV6ROBgVD2gKXUgQHcfr1dMucnjP6z9sxWJXFygOxT5aVa48M6qYRS8xZ1adjMIFnqPh0CiyQelwkaFGfufeuqjy4RPlhd0jfxt1p8Er0ih3zZN6gE5emwYYsZVJyLapYwWLVOZyXaAAy8xuZCI1b7yBhOtCeQazNU-rOLdY4zXK6B4WiQWTWcm4o12I6kg6Tg2yxTHU8FoW-1dGCzENBVanNCWEnZGBAW2d0zsSEIdUkB0iutrYcj5cFWDe7cJ-avdssh4IFMwmOo79dATUs7qamvpF8WKmhIuvmi9zuKALX76UUp-DL-Cu3xhjTomA-n2ccRL7i0pPtvu10Sm-R00jjzD9rpapWy40fbaUfWkW8rAm68Z-19P_Ghs3QS3PO7ne76GjDO2hKfhiBYuVqqw61VRrvn0JNNa3vXQAwQyA_dDUuDPZVMTXe2wz-EMW5P8SkC7NpDthD3TriU7SQ93qXrsg4XuEQSzsQEkBWmlLFepLXNeJv8olaeD1py4HfXiEazZ1JzCVjQIIa6mlcm0eM292EYyISvvDNuNs8yP0mL8BSinifGlc-XgpPZaho4VEVG-6zmpLzYiTTz_H2M9e0gtgbwXbc23GvMs5xdGh9Qw-ErAq2k1pE8SfzF8jtvwogFCckgHrrir3MUgczHvRCkmNUk2OxkdIfgX2pigHnxkDuRnxg3vqOe8BpYHrEQ=",
  "id": "rs_0eeb861604b4e47d016ab4476c102487d089d2a87dba09a712",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"Even the raise command produced no readback motion, so the arm is stalled in this near-table extended configuration. I’ll retract fully to its known home pose to clear the singular posture before making a new approach.\"}",
  "call_id": "call_hc7s0rWRthExBDCVB6dQJcTF",
  "id": "fc_0eeb861604b4e47d016ab4476dc56887d08caacc8c09db28bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hc7s0rWRthExBDCVB6dQJcTF",
  "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]: [-0.0486, 0.8459, 0.5972, -0.2676, -0.0811, -0.0753, 0.9981, -0.0189, 0.6037, 0.2916, -0.2897, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3119 left_y=0.0027 left_z=0.1861 left_yaw=0.0453 left_pitch=0.0487 left_roll=-0.0129 left_gripper=0.9981 right_x=0.2578 right_y=0.0036 right_z=0.1043 right_yaw=0.0004 right_pitch=-0.0305 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.2667, -1.3744, 7.706, 1.8926, 0.1587, 0.2418, -0.2076, -0.0068, -0.4034, 7.1316, 2.0098, -0.0513, -0.0904, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5862024e46c9981e96824c80c01cac86106be272b4146f32b8db9b6cd227ea3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28e84c305fa14ca30d775a910258fd181f1c89bea3f1a01a3fee830ceb1b1577",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9f93017cf3d10641df8fb01c304463ef7c8b1c90820b1d1c399b6685a4124e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 3.917 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3218, 1.631, 0.7948, 0.1886, -0.2485, -0.1841, 0.9981, -0.0193, 0.6609, 0.3756, -0.3168, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4296 left_y=-0.0936 left_z=0.0885 left_yaw=-0.0285 left_pitch=-0.0616 left_roll=0.011 left_gripper=0.9981 right_x=0.2671 right_y=0.0033 right_z=0.1231 right_yaw=0.0 right_pitch=-0.0308 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.0889, -7.3504, 9.1829, 1.7802, -0.2466, 0.0659, -0.2125, -0.1846, -0.7043, 7.0085, 1.9512, -0.0513, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.326, 1.6367, 0.8219, 0.189, -0.2749, -0.1955, 0.9981, -0.0193, 0.6254, 0.3202, -0.2974, -0.028, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.437 left_y=-0.0933 left_z=0.0978 left_yaw=-0.005 left_pitch=-0.036 left_roll=0.01 left_gripper=0.9981 right_x=0.2612 right_y=0.0035 right_z=0.1105 right_yaw=0.0003 right_pitch=-0.0312 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [-0.335, -7.4462, 8.0752, 1.7802, -0.2125, -0.0757, -0.2076, -0.1436, -0.9231, 6.7624, 1.9853, -0.0464, -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 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0486, 0.8459, 0.5972, -0.2676, -0.0811, -0.0753, 0.9981, -0.0189, 0.6037, 0.2916, -0.2897, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3119 left_y=0.0027 left_z=0.1861 left_yaw=0.0453 left_pitch=0.0487 left_roll=-0.0129 left_gripper=0.9981 right_x=0.2578 right_y=0.0036 right_z=0.1043 right_yaw=0.0004 right_pitch=-0.0305 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.2667, -1.3744, 7.706, 1.8926, 0.1587, 0.2418, -0.2076, -0.0068, -0.4034, 7.1316, 2.0098, -0.0513, -0.0904, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5862024e46c9981e96824c80c01cac86106be272b4146f32b8db9b6cd227ea3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28e84c305fa14ca30d775a910258fd181f1c89bea3f1a01a3fee830ceb1b1577",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9f93017cf3d10641df8fb01c304463ef7c8b1c90820b1d1c399b6685a4124e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEdzvsNF1QPqNE4XrAloRplJRkd9GhiGXWwOhsWXVTfkL6vkFoqVAASC3dbQEq6ShBfkbn_cjd7j6HiBfC_me1P7PIkTfkIh4x8C_Fzv4ihDehmRqPuNCUfOwcJI9ZpNTpa9z8B7HIGTefuUqj2AlMer4XmiR_5B_f-vzRjauP8JoGy2B7MoZTb1qIWGEllNZlhiQPwUGNVuoG7jz05EaRuGJBRabaMSpa26Fs22iv2sj2_l4bZ9LB0dRvAFP-n5Z_js9K669S2vPVvvFPpHsg2p9Rih7XHDEt7i3mnpyoUSFPUbjdmaS36A-hCMFNGbC3SVo6gvLOGFGU4bsfFlD0BNZt5kuaGwJ8QulIvx4sU3XFvhvMPUo8BvXzJCPKq7cLwSxOQPR9tKQh03L_90LLAhwpvolwG1UbG972LPSDcQ_A7okivLeanWxbsvSd6wLbzshVdhAZ8_Q_AnEX2pEgASx9iXzauSciG5BfWM05iOOcV16kd8d5IcD1JvEnv-12jKshXM_3FwpwHsfzlBMLSX6Dl42YDkg6cfhQon1nImxfJQ-NpyNWLaj5EW5SgsLOcbP9g-6zrDQ62SKkKoKFr2JcCd2kGZMcN5bAHDJSeg2hZXQIjR-zDgF8gAhc71vmn9yPZOgFUK_nJVUHOWeSQCs_T8_jDibxUYjjryHPXxtluBqTFy7-DCTOZOc5_iIMaasCfKEJ1KKwB8seDCtYTgsNJk7x5F95E-XBZBP_inL2uTcIrNmaotSusAejXHXGmjBShie-gRosZfisenZztsnzbowYLSKEo1GOIC1MzT-VWAkAb4CDkTDohzvTrzezzk9QcQ8AK3cM1C5jJ3bqeME-HbHpoEe_AyDi7Xivm6Po7Br4A-EJ80iq3JtVXNy6-JKyLp55AX7LhvxvaX38h9oeUMQ9nyUw3vXV3SwtUSx-qva1dblgI2KDNpa0PFAJCb-hzhJAIfMCyw9-sM2x0k0BuNjrzfRSC-wzWnIfTEhPc7r35Jxtb1AgNxRcn_8ZSbIiK-H20E3g2xhlo2qv5_n8khLe_H_U0kNat4atncGushwrAMvsMJCL8qaB_hVjyd8OM5p2J2DLUuwx4VVXAVObiCBSNKma9TNShddvj-jm_Oi4XYo-Rn3VuJmnukVtUy86aDI3vv5tQxh7WHNAj4i9cLJLhiZ2k_WTxvIXpO2Dx89d86WMjuWKqNcrkdkDMRaheHWr8jR36rlU_7n_aH5c4ylSx-xrRBz6SD28GvqkH1j8lmX3Dmb8c9gMCESDKwamQQ3YWYR6sz1IPTXjQByu9zGWSr-rZ26S5-VTG_gvJGrlg4rGgHcBtpMIFWVx7dIpWXIwDSpQ6A1QlDFLi1Uu9aAbG2ihlZ0E_F7FKciaV6DVIn9twtMqnN0WejxLDJzzF5LZffhycVRCMF7HggotbnGQtlodNoWztZwoy_jkVjtZC7sJ3PjIiAQyFusj-D7LLw5hhCgIyu-9WKXOF0eQInYflKjmgCIdoNj_91JD-05kkFc-8U5Yz4yKDG2cJejiM_1fDiNb4CA-RZ5lPjDHiZ2zFdTRcJJenqNDaFOW3wQdIRgDKHy-2EpoC_uHscUrXQIpaVAP3r_JgWoPUpDunVXa2_QnJobUTuyMz3RnvlJJ4QIthBfBkcwIkpirzWJrGPWR4iUDiXxnBe-W1NKmCu154qiJkkOMn9vawyT4bhtgzZa8ZVGbUcSHUgtW485_FU3OuwQ7ka4jvJofzZj00Jj48yPtLufAc6lCsq43_pyxY8s9e2QW1PNCNgJupPw2Xznba7lmiIwLj5M6qvqW2iXkovAwW8xDNgHy6hwp96525NkDP2AiG7Rh1_hnFxQ2HbHM7jycFZ3f49gHpFgA==",
  "id": "rs_0eeb861604b4e47d016ab4477102f887d0834589971101e8b5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.27,\"right_z\":0.15,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The left arm has cleared successfully. I’ll switch to the rightmost bottle, whose neck points straight forward and is naturally aligned for a yaw-zero pinch by the right gripper, approaching its cap from above.\"}",
  "call_id": "call_74UmKLA1JOyzbEVcjsrVDMcz",
  "id": "fc_0eeb861604b4e47d016ab44772876487d0a0580bc575335f70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_74UmKLA1JOyzbEVcjsrVDMcz",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8825, 0.622, -0.3485, -0.0864, -0.0784, 0.9976, 0.7361, 1.8633, 1.2922, -0.1875, 0.5537, 0.3897, 0.9981]\nstate[eef_state]: left_x=0.307 left_y=0.0026 left_z=0.1702 left_yaw=0.0473 left_pitch=-0.0433 left_roll=-0.0036 left_gripper=0.9976 right_x=0.4266 right_y=0.2659 right_z=0.1314 right_yaw=0.0462 right_pitch=-0.054 right_roll=-0.0435 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -2.2632, 9.1282, 1.7949, -0.0806, 0.0317, -0.0659, -0.1846, -9.5521, 9.347, 1.6142, 0.4908, 0.3101, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70aeb8fc14f35b2e23cc198286a61118ce08266666da1cdc8f8bfa86684d10f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c15a30650d89f4763034b2b346e44e990877a3728fae9e724214ecbd21e53c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a370066c041088808cb8ccc285fd78954fce9d126af82e91ed5f3b864e4ad530",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 2.944 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.326, 1.6367, 0.8219, 0.189, -0.2749, -0.1955, 0.9981, -0.0193, 0.6437, 0.347, -0.3065, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.437 left_y=-0.0933 left_z=0.0978 left_yaw=-0.005 left_pitch=-0.036 left_roll=0.01 left_gripper=0.9981 right_x=0.264 right_y=0.0034 right_z=0.1164 right_yaw=0.0 right_pitch=-0.032 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -7.4462, 8.0479, 1.7949, -0.2173, -0.0806, -0.2076, -0.294, -1.0188, 6.9812, 1.9219, -0.0073, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0486, 0.8459, 0.5972, -0.2676, -0.0811, -0.0753, 0.9981, -0.0189, 0.6037, 0.2916, -0.2897, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3119 left_y=0.0027 left_z=0.1861 left_yaw=0.0453 left_pitch=0.0487 left_roll=-0.0129 left_gripper=0.9981 right_x=0.2578 right_y=0.0036 right_z=0.1043 right_yaw=0.0004 right_pitch=-0.0305 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.2667, -1.3744, 7.706, 1.8926, 0.1587, 0.2418, -0.2076, -0.0068, -0.4034, 7.1316, 2.0098, -0.0513, -0.0904, -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 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8825, 0.622, -0.3485, -0.0864, -0.0784, 0.9976, 0.7361, 1.8633, 1.2922, -0.1875, 0.5537, 0.3897, 0.9981]\nstate[eef_state]: left_x=0.307 left_y=0.0026 left_z=0.1702 left_yaw=0.0473 left_pitch=-0.0433 left_roll=-0.0036 left_gripper=0.9976 right_x=0.4266 right_y=0.2659 right_z=0.1314 right_yaw=0.0462 right_pitch=-0.054 right_roll=-0.0435 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -2.2632, 9.1282, 1.7949, -0.0806, 0.0317, -0.0659, -0.1846, -9.5521, 9.347, 1.6142, 0.4908, 0.3101, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70aeb8fc14f35b2e23cc198286a61118ce08266666da1cdc8f8bfa86684d10f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c15a30650d89f4763034b2b346e44e990877a3728fae9e724214ecbd21e53c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a370066c041088808cb8ccc285fd78954fce9d126af82e91ed5f3b864e4ad530",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEd5WtJ84mSA5R7w9e672Dmy_r_kfxKYWHM8RCOmmAeDkTDYvDMWUh4sNEBejYekAUBjLm94EzQeRZHbEIGWo_vpGmIMZGBH7x3Fia78-JJNqIPYo3GEz9jFi4Zo9NYb4qnc8lC87LllbSlXGZXUdH9oijZ_zHx-ug7_K_16LsGHmU9QZLLdrbuA9Bws0JpM2DHi3PVg-SGgyffvWJ2aPtyl4JSy2GcJrsci4T4J9BFjEfLQcWazzZ4EG7Y2LdZRE4K5k2KrtI2hPuFKg6uK2svExWKocCjoMMcEaCJ3s8MvhjzaJ6o5RinZ8sRIrmNMWA3u4WoQOWbp22C3W_OJ5l9AYGyaFyGvzJMG9wtYgGUwl68N_s8XULiUkKgzx65SWHTxZ2YngNDyDts2qf46duXWp0ABizHAhhzdb0ogTaH-Lw897MA2oOcKuQsT7KSH88bfgi9n55FI3-_8v_RdImHgOIA-jLgvdaSxOSaibE6-q8hcZfNn0dEwJJWEUskuKMnLMP68opitiG1kXhHaalgrzFCGU03_CjYe0nD-F2QziA8ClciV8lBgED8XeB6KuzGalZDkJMIx5Q07gfoevEGwy7UCOT52CTz5z4lVnryKMCpt2-nuEgsqTHDwgc2fJ0Fv8OwzMC6i6NSzOLLfBTkv_VzM_uxa8dO-kz8PA4e04wuAmHf-V0AwLIVllsNoD0DSvYn511168Y8ObJ2H3PAQjaxPjpDslIw6nh_xSA76b5kM0KgdDWI2u5lC7AcrNW4qB8m2nbS93dFLAfxuntIHIIYjiIcZU9QcaPVeYpsTuVaibkf8IFuzsycDm7TbLunA3XwFiiwldwiTvU1G2JJ8HI7jdojZi5yk4AObgudIoQAuNpyhnXa0P9F1B1MAVOn6puzCTiA4glD7ejjLvqgYUlQWVZSqMD8j0IPDUesNsyUSvG38viTHtX7W_HO-iX_qVjXVBsXVtN71vDB3j_fS6IliFupsJP1woVE3a9lAfC9RgoH2miRvKu7CL6uJbuZZBTKqm3gtPkjJKDeqNnP4bW27bro8EULiwssIkb4fIl1cyys9EDTLX51Ms8bKUz9rKXtFDURuWxBC_4T54sW-r5eES-oyHefeNFl1qMYmiqDf5x7ohZTK284NdDb38U2_frwWYJPEcuJ5usqs1GGjCf0mboqKhWIpIRgnBma2zbfrK6NXkdcf9qD4coPzxUJTKSdP669f8M80GFMhXXkhlEnjtwBs-qDQCl8Kig5CBX1h5gLTA30Gk7gNqCe4tX_tZotLezCI5ygu0VRv-mG4WR8R0sPxwkPVgtkO884F-dILuTW-IR49tmcjE35qAMd5JCzV4vYpl4oixoGOS391cS-Cwi8dtA4y4yUiU5OQTc4yZtFrSunispTfALb54-IxUodOU28i4EJDbxEltQYwHWe5hrlAEkjFcyqE1foKkWMYBOz_w58mmegqcRawGvQsjrvaIMN-cTWKuTRjAgjnfBzpsjrTZAdZKRWwaV3HOtX66UMOk0YgcHpVGNMJXB5qIxX7XFxqhc-reqfn2CKaVLCCLoyx9bjrxfrJPwXAognlj2MqhTBpP8nszkUh4whn0Gg7DgNpS-TT1Qp38kWmnpbLg7iCUhA65c0KVsgXhdABA8h8QHOcYN8XaD8SzNNBB1zD12wuGKN7J6cMIEARpcE7nblZbWWA4cAPuv274OaFYdtYrwFw2uFSXTuoFl89dnchgwoLSxWIsjxffzWdknR7nLb9nLnJuDbq9sT-xn6XaGv5Pbj_4LS-WhiFnYhLW3B0r3VAzeFsbCfZAo2mTrL85EaECI2u4YOqvdwvwCWOrH52tIPbm8c2mua-S30iu3AvxDkEtlK46tXSh3ob5th66N634mu7s_qu9VMZF7v1qCvWYfXZaswTqQKFOhRgwy_np1BJ0auKlsvrdqw6VQ==",
  "id": "rs_0eeb861604b4e47d016ab44776ee7c87d0ab2c117017e4e02d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.245,\"right_z\":0.13,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The right wrist clearly shows the intended rightmost cap slightly right of the jaw column with open space below it; the neighboring bottle is farther left. I’ll shift about 2 cm right and 3 cm outward to bring the rightmost cap under the fingertips.\"}",
  "call_id": "call_TOSx2WjI8JdBEGrLHo8jhaI2",
  "id": "fc_0eeb861604b4e47d016ab44778890087d0bbeb2c59d6bf55b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TOSx2WjI8JdBEGrLHo8jhaI2",
  "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]: [-0.0528, 0.8623, 0.5812, -0.3138, -0.0906, -0.0784, 0.9974, 0.6514, 1.911, 1.28, -0.1272, 0.5152, 0.3508, 0.9981]\nstate[eef_state]: left_x=0.3047 left_y=0.0035 left_z=0.1644 left_yaw=0.0508 left_pitch=-0.029 left_roll=-0.0027 left_gripper=0.9974 right_x=0.4513 right_y=0.2391 right_z=0.111 right_yaw=0.0118 right_pitch=-0.0706 right_roll=-0.0538 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -2.3316, 6.9402, 1.8877, -0.1148, -0.0073, -0.022, -0.3624, -9.0188, 10.359, 2.1465, 0.1783, 0.1197, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:729c7ee9888309d7d0fadcf254f50b180bd688096cf2f96d7ca47a09afe192a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:333f9d64cf12eb1b4f9606473a98c587e27776c68c91fa2f062f8dcb320f52b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffa042eda43fcddb5e0aba10725d8c1fd7e5503a2339a44514fd15ddc30c430c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 6.569 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.326, 1.6367, 0.8219, 0.189, -0.2749, -0.1955, 0.9981, -0.0193, 0.6254, 0.3202, -0.2974, -0.028, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.437 left_y=-0.0933 left_z=0.0978 left_yaw=-0.005 left_pitch=-0.036 left_roll=0.01 left_gripper=0.9981 right_x=0.2612 right_y=0.0035 right_z=0.1105 right_yaw=0.0003 right_pitch=-0.0312 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [-0.335, -7.4462, 8.0752, 1.7802, -0.2125, -0.0757, -0.2076, -0.1436, -0.9231, 6.7624, 1.9853, -0.0464, -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 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8825, 0.622, -0.3485, -0.0864, -0.0784, 0.9976, 0.7361, 1.8633, 1.2922, -0.1875, 0.5537, 0.3897, 0.9981]\nstate[eef_state]: left_x=0.307 left_y=0.0026 left_z=0.1702 left_yaw=0.0473 left_pitch=-0.0433 left_roll=-0.0036 left_gripper=0.9976 right_x=0.4266 right_y=0.2659 right_z=0.1314 right_yaw=0.0462 right_pitch=-0.054 right_roll=-0.0435 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -2.2632, 9.1282, 1.7949, -0.0806, 0.0317, -0.0659, -0.1846, -9.5521, 9.347, 1.6142, 0.4908, 0.3101, -0.2076]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8623, 0.5812, -0.3138, -0.0906, -0.0784, 0.9974, 0.6514, 1.911, 1.28, -0.1272, 0.5152, 0.3508, 0.9981]\nstate[eef_state]: left_x=0.3047 left_y=0.0035 left_z=0.1644 left_yaw=0.0508 left_pitch=-0.029 left_roll=-0.0027 left_gripper=0.9974 right_x=0.4513 right_y=0.2391 right_z=0.111 right_yaw=0.0118 right_pitch=-0.0706 right_roll=-0.0538 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -2.3316, 6.9402, 1.8877, -0.1148, -0.0073, -0.022, -0.3624, -9.0188, 10.359, 2.1465, 0.1783, 0.1197, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:729c7ee9888309d7d0fadcf254f50b180bd688096cf2f96d7ca47a09afe192a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:333f9d64cf12eb1b4f9606473a98c587e27776c68c91fa2f062f8dcb320f52b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffa042eda43fcddb5e0aba10725d8c1fd7e5503a2339a44514fd15ddc30c430c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEd89KyU0mV-198HYPPp0M8E7TWEYGXQdLz2X0NoEhyP4INPwpt4wImX7gzeWH65Vr6l2L2GrRXkmuoUeOZ0MIuwkzxOyrLFrp87Ush35P9yuhVJIHw6_JIgVjGXhbiqoVhu-SdhXi1mqc3ocicm1jZW0X8BrOeTPl835O--FEGBBJFPjfpDI9QHD_h9PilDFyhCZBQvL7shaFvuhYzVh1h5ilM_3NWDV4Rt1noiJVRdjN_sn1O-q0BwcoL3HXdZwPj3Glme6Osx0jevmCfwWqmxCm2MqIDkW6hCNFkW1e_idfPm2UF_D0yc50dOaHs-mFlwnXwMX4L0Ar7-xWAQuOHliR9B3ZyWmvG1I5NkP3sOOD-do6kAzTOley-MlzCjyjWSmctoqEvuNP26Mx74DJO4a8BSfffzrODu3QE7hXsWBw5PDLU3n0nvXnPd2HxHx2knBUFjyjBULJvrPjcBgJhadycayLJPx4KSpRESO1s1OJzQVkAc62XejVkGwp-3Fn9t16Y1vruxYASZHgIehK5zHJskf8PiapI7Zz_BrZ_t21TtNxS1imXJUlVjwPM3mWz16RAxP9sAPnyvun5UrDrKYK7g-15F9PKej4y5NCCclqzF2I3x3OiCdbdL_vHHmk-PZBL9WMWyakIvrpU9pNE-PR3XaVI7sxG-wx8KHrse6LZa0OM1CQK6cF5nt5tlPZqjKifExCWY7pzdboW3ko77yOXnGvUA36ZKTMF35A2lQXM17gvNEEikyNTJv2JvaERhEZUe2km5bJu9_Tsa5Ok_DI6SV9dhFSl8-oy8UqH-R2Aqub5EbO75iDbO2FN1MHyGItrGp7huvXpxVUOhiyZ7ROlMRhZXLpDrtzVnwUJjNn1X61GdQ20tlIKfOz9On58hKPXmrTNluQwRoL-OKQ56n38rU_aVozhfSVSJEU9zdUS2MWkK67CLR5QTCfK5CLQQNQpQeoL5sxAMlcdgaesqITb9h0c6oLrdZF3iRlQ1GmhZY8_C-Irdk0CIKoNkIupR0eHtTiRDVD8jOh47aadJiwE8fJ67Yr1imBCdOmEAEc-zTHSGRv4bLr17akWaLvST_y8rV9NnRzcBeWQ2viKYiBuU2p5P2NtAK-cHP7B9dafG8QTcdF1dRo6JcdXU1GeQfnv-edpmzxOjSRo64lXKz_T8CPAR4ZBDwm62KqqFWbzL6UA3Mn5mJUB9dPlvt5Ob5llsj9DFngkX4iH64E0Pzyev37Ha0x7Gtx7sexlAzkD586kTdGtZUt9GYTc3PAPqE5B6FXK79EOYu6Ly7X1p872xvZQiYmIGB7nxT_w9NctLqjrzG321QFb3U70-u5ORH6TsvtOWD8ykHlBo4uAehwj7eSfFzPYhT55psExodZq4tRvXa6EDxmUzAFL2UVxpQf2HERk0NjxKrBLgCiD5ErEJTLsrmIQC6lYtyQKvGK7ELof3fO--i-1WwIyxkSL775PBOUgPA6jW3MX69D9MShRlU7W1XYcfzUhMgDH3OxM=",
  "id": "rs_0eeb861604b4e47d016ab4477b350c87d0a563df2fc1797c71",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.23,\"right_z\":0.018,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The rightmost cap is now almost centered at x≈117 in the wrist view, and the approach has brought it closer to the fingertip region. I’ll descend vertically to cap height with a small final rightward correction.\"}",
  "call_id": "call_G7dpl2IrZMszfMddJX0e2JI9",
  "id": "fc_0eeb861604b4e47d016ab4477c147087d08d195fdce8a54e0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G7dpl2IrZMszfMddJX0e2JI9",
  "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]: [-0.0528, 0.852, 0.556, -0.2916, -0.091, -0.0784, 0.9974, 0.643, 1.9182, 1.2819, -0.1112, 0.4942, 0.3355, 0.9981]\nstate[eef_state]: left_x=0.3035 left_y=0.0036 left_z=0.1604 left_yaw=0.0511 left_pitch=-0.0218 left_roll=-0.0033 left_gripper=0.9974 right_x=0.4548 right_y=0.2405 right_z=0.1097 right_yaw=0.0283 right_pitch=-0.0706 right_roll=-0.0481 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -2.3453, 6.7761, 1.9316, -0.149, -0.0269, -0.0122, -0.3077, -9.4154, 9.8803, 2.0049, 0.3785, 0.1392, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc863f8506801aa504c31afc9fa9f6c1dee21607c39de1c4898288efe523447",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8c2c434d5d9db574c67f0108b26c029c8465976bc1a25a238bc1257422dd699",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58280b69ee27e582191d2869319fa0f02f9fb2837dda7bc98b1fe1ba5f652fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 3.744 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0486, 0.8459, 0.5972, -0.2676, -0.0811, -0.0753, 0.9981, -0.0189, 0.6037, 0.2916, -0.2897, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3119 left_y=0.0027 left_z=0.1861 left_yaw=0.0453 left_pitch=0.0487 left_roll=-0.0129 left_gripper=0.9981 right_x=0.2578 right_y=0.0036 right_z=0.1043 right_yaw=0.0004 right_pitch=-0.0305 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.2667, -1.3744, 7.706, 1.8926, 0.1587, 0.2418, -0.2076, -0.0068, -0.4034, 7.1316, 2.0098, -0.0513, -0.0904, -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 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8623, 0.5812, -0.3138, -0.0906, -0.0784, 0.9974, 0.6514, 1.911, 1.28, -0.1272, 0.5152, 0.3508, 0.9981]\nstate[eef_state]: left_x=0.3047 left_y=0.0035 left_z=0.1644 left_yaw=0.0508 left_pitch=-0.029 left_roll=-0.0027 left_gripper=0.9974 right_x=0.4513 right_y=0.2391 right_z=0.111 right_yaw=0.0118 right_pitch=-0.0706 right_roll=-0.0538 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -2.3316, 6.9402, 1.8877, -0.1148, -0.0073, -0.022, -0.3624, -9.0188, 10.359, 2.1465, 0.1783, 0.1197, -0.2076]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.852, 0.556, -0.2916, -0.091, -0.0784, 0.9974, 0.643, 1.9182, 1.2819, -0.1112, 0.4942, 0.3355, 0.9981]\nstate[eef_state]: left_x=0.3035 left_y=0.0036 left_z=0.1604 left_yaw=0.0511 left_pitch=-0.0218 left_roll=-0.0033 left_gripper=0.9974 right_x=0.4548 right_y=0.2405 right_z=0.1097 right_yaw=0.0283 right_pitch=-0.0706 right_roll=-0.0481 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -2.3453, 6.7761, 1.9316, -0.149, -0.0269, -0.0122, -0.3077, -9.4154, 9.8803, 2.0049, 0.3785, 0.1392, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc863f8506801aa504c31afc9fa9f6c1dee21607c39de1c4898288efe523447",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8c2c434d5d9db574c67f0108b26c029c8465976bc1a25a238bc1257422dd699",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58280b69ee27e582191d2869319fa0f02f9fb2837dda7bc98b1fe1ba5f652fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeEKJOvKevzOuPJI_RfypxhPNQLQTbG3hLADZgMLC8TwYiVy--katqv-yZpyKtsAgcGV3iqvLvSobnh9zIbcuEPc5Ds0ohgXujHY0ZHBpkWA_UsggQPwBnFprHqJr1F-w_DNlKBGn1E0nMqiob7Thd1QMj90PYpslrdQxCZLqNwbjlH1TYDG0l2tfoFyg6jsipkPr2geZnEGtt6blrEq2qB7s0Z_N_cKeHGPnFVyA8lTYnlTrODIH4uPx_AYzqurphV0zsEwnJBXxVp_XseGoGIb1Qsu2wJcaQCxpIjpqsxbZStkkV3KRMVEkfRiSxZQXQWERPJ-UrrUVDr4JICq1tY6HgTb1oaZTBjmmXnicuEYVTQ70xUc4f7vAECCF7fnVL37y1Dl_9VXCzicVCsvdFP1759ml-DXRNk5axgo0Q_-E8lMbqMCNa6fhjTf4CsDQKQsGTDsdzprZVub0ZEWe8K3fX4xaG2L0_rpGgNG7dSdKIqAaOGZ4eSlW5Toz1GSm6qRbJM7GTo1oH12JLPSx0QfFQ29iPVwHrbfzpRjyl-CQNUqKdq2Imdo6If8Og77oQN96ksxytnYxW5wccXZZdleHT11RwX3OSdaHoUjRzdzf3WxX0z-aj90rEdWj0nUwIYbTlZNpfg0n92hBQZOMRFqnF22og8UDbehx59oAvPEvReyYWFbNsKXQyDaNCMB4BNjuXt_1HdVUG7OVW4U3C1Q9_N-EiFIbrCnI_BvWWhDv6CH5VssjyWw_IAh3EH_Hu6s-abqlZhSdfi16mvjqdpxWgvra9ZSpfHuVKNrjXJUMb-TQMvFgssPzJcUdDkjTKsmVQdCLPicT6HeqsHElDAifmhl66F-Pkq5lm0gdKkEbFRvVnrxEDqjPuXB9J_2W-F7lK0XDoFqBH8_Sd1BixIbb1qIGFk3ztaSCuB4FvzE4oFn6EDk2GLhQ3bOrb92ahoobFiWe7brxjVyNq786Jbqwsm7t7LpsRgrY0AbLEr0JBU2_qib5gkwnn7AH8uvmFEpcDsB2Xsf5TBqpIQkr7zHkDLX6vAAMxcKQqz1R3RlW2UnmNbhgbIjvBjPyYyi-mFwj3KWnsuH855qQVWJLd75A0x8-RqhlZ34TZ6grQk6jhYsCZtEugYKJBDs5veQf_hSrf-vr2GSOPlpWi8lcqqcd_jLjb7AxFOdX1be-pu0q0XPkfsH8UGMhxfXQLUs4jF0AdQMjprc5UhxQGvvRLaF9nXYzJdMMH1HR6caoNksGiF5Avarj3aQrILmcFMUBrtrO1UTDL0O4LY1NROtktooQ_bGqJ_kB5P8uceoS0kf-MBtCgGtWlpLYNsn7DB5mTkFCq8jFJcu637E0meBfXB4vTzFhgseaSjDdNyRwnlssMkOjUwOmX3NSuaYVqte-1b0dM3ZXuSs0M9mFmUZTl1v0Z-OMWZyPPRqDbLZvO62KmJ-idFAobHtoNWPTsllGtjSS7kxxH9eIyTBDzlb20AMXdgyNm4azJVCYiUX3bErHpnprSLAiPSWxrLZ8PcA6eZ_4ZuFluE5Ad4phya3FVTbcnK2fSZUlCZMK50dquSNk1DtYQK94lyWZxJaSFgnPBbgU8nNiMkC09YylBQd1o64kCpyfl3J8NMyxuNAwxJHKqQ9mFK1ev7GXk7MGhy5H0qneu0Uau9miH_PR3fzfWZI1h4dpbj5ZayDlG1Bhfegtl6gEQU1rdWjsOzqRY5FUSs7sBrMT6SmIBoAZyLrJw81S1dPqwoi6bU6U9G8FrjIESN9aPvKgW6n-Jet2DaBMvO4yFWCGUQ0Pvw-In487dCOOtiDyErb-P1gL-ZPqVsQJtihb-is_2-kh1PGd3CkCO6N9jypwRrdJFbvebZJb9k8lds4U_n1-O1XJNKtGtvBzKUKKDx5eaK7dwhzwm6hu_Jk_2VTazrVz_xT_kaYuY0TSdeJsgUYpFDQrld005YkowGQTNqaB66eNRW5f977OVKfQvSbG1BPHacKM50MthAEVbscUX_YFDUeWOU86VIcOl_aWQIcIW-Y_pwy5YRnp8pp3pBP01AHoVfsSb_VmwkaldfoJ9B35aRDqQ5mOEHpgCHSVW5MePuMlez-SOWt7g9peJR5bWrFnfPLQAlzesEWbpRQqVrCDsqixL65R3S-w1kj39rYSEz9m6oSj8ZUZhTlxRt251tXrh71CQoQa3oTluLVC5Wco6UFaQHupCW3Je2JO3FxIPXpmrG6XxvqioHifgi5zchR1swv-IwclTdwyfW00pXAw-s5BBhCPt_5GD6KS96NUtTJ0o78u-fzPKiu7HUCqbXnBiSMTo_RUIE2O1EU1METQQAbeNZ7Xamkw64bczWdzfDw9WXQj1wiwNy0ypAm2YDs8cLOVnRLCnDkBRXZmhjRhLsyR6qOKjbuo1nTcNb-NC_sIWT8n4Wt27qqYPYKkg89gsjwX-SACdbQzduFUeP7GnxXfUUy_HnZUb1QpTpQo_brJGWjWZv1YQEy68RSiHImilZUGkTKpoLzFhx-QRdr6bTeho99MVvifEJhWM8cAmVYJ1GiY7hJWhC5EdyMv3RFOo9SuEmFQ_4bWVyvOtNjEtiJCysAD7fzWnrsIKtr82-CY7wVQN9jlsk8UUHIOxWkiX7P_NYIfib0ShItukqap-iAm7PAzVz7usmVDD783RACi2UJi-wNwjnLZg4d_CvpPhzqxuPdEOKxwqnHhQnxW1komSxhOsbmxqxRGBg2SP8f8YSk4DXUt2e93FWGLE7tZAiXkUAXj_O5NjVQnhVEUydYLcffi96WavYNO0GldeLSCQ8VnzSsWwHGbCAlBt3xZEJuldzHHp3cIf3xolIKw-Jp2t_orAlBtVzbrV4nzzrbpxVXMRN0rT__SDaSOOI9SW9wXirmX8eZ0HP6MW_-WkztOMlnwx15cVVzpbQ-XXrgKBs9TJeUKbuYFybU2foo7si7fZHfAneY6DfjpDl7lLGldy1btJfnyCF7ZxulwWt9YrJiVFpldBABpwb8ZNPT-9Z_pnMFgmnuBkeTCssYnUa8MS7L0UGVixzAxtcehXXF_Wc2PijRyIR7qSB9noZddYOL8uNvQOstJjR-CflFsXWZPwdlWKSb-tUIGxykaV1eGHPApZeVP8WW7om8r4sCwC1cqYqJ-jZx_OJ3TBDDzV9GhvKDiUAiZyhAtopVjpdtp2X3u3BbD5Adg9w6jCao-rt3U5h1-oTTzifi_hne7FRiVN0PLeuA46PfrPyFVniBW-bN7RUdCl_",
  "id": "rs_0eeb861604b4e47d016ab4477f4bc887d086379d8ecaa5b209",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.24,\"right_z\":0.03,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"As with the left arm, the right arm’s vertical descent stalls near 11 cm at this extended reach without contact. I’ll move inward while lowering to obtain the low posture, then slide the open jaws outward along the bottle axis toward its cap.\"}",
  "call_id": "call_TBGEfA0PUdTprrbilHhlKraj",
  "id": "fc_0eeb861604b4e47d016ab44783000487d0a8d5738ebd39154c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TBGEfA0PUdTprrbilHhlKraj",
  "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]: [-0.0528, 0.8474, 0.5373, -0.2756, -0.091, -0.0784, 0.9974, 0.7757, 1.9053, 0.9951, 0.1806, 0.5789, 0.4187, 0.9981]\nstate[eef_state]: left_x=0.3026 left_y=0.0037 left_z=0.1564 left_yaw=0.0511 left_pitch=-0.0199 left_roll=-0.0035 left_gripper=0.9974 right_x=0.3985 right_y=0.2605 right_z=0.0596 right_yaw=0.0518 right_pitch=-0.0207 right_roll=-0.0138 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -2.2496, 6.7487, 1.8828, -0.1343, -0.0513, -0.0122, -1.9624, -8.3214, 7.9385, 2.0391, 0.4615, 0.0171, -0.2222]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eb6f6184222310dd1e8c66dc0fa29cb76853baca74bdb700c8c4755ecea7ec5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92df04cdfa6d9ba18952aec154f0942a4baa2ef02011ac31e09c37e8be0477c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5835e0a7531169d27f37d9321e724f7380efd05aeef1d5c56afb236eeb03e9a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 5.702 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8825, 0.622, -0.3485, -0.0864, -0.0784, 0.9976, 0.7361, 1.8633, 1.2922, -0.1875, 0.5537, 0.3897, 0.9981]\nstate[eef_state]: left_x=0.307 left_y=0.0026 left_z=0.1702 left_yaw=0.0473 left_pitch=-0.0433 left_roll=-0.0036 left_gripper=0.9976 right_x=0.4266 right_y=0.2659 right_z=0.1314 right_yaw=0.0462 right_pitch=-0.054 right_roll=-0.0435 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -2.2632, 9.1282, 1.7949, -0.0806, 0.0317, -0.0659, -0.1846, -9.5521, 9.347, 1.6142, 0.4908, 0.3101, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.852, 0.556, -0.2916, -0.091, -0.0784, 0.9974, 0.643, 1.9182, 1.2819, -0.1112, 0.4942, 0.3355, 0.9981]\nstate[eef_state]: left_x=0.3035 left_y=0.0036 left_z=0.1604 left_yaw=0.0511 left_pitch=-0.0218 left_roll=-0.0033 left_gripper=0.9974 right_x=0.4548 right_y=0.2405 right_z=0.1097 right_yaw=0.0283 right_pitch=-0.0706 right_roll=-0.0481 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -2.3453, 6.7761, 1.9316, -0.149, -0.0269, -0.0122, -0.3077, -9.4154, 9.8803, 2.0049, 0.3785, 0.1392, -0.2076]\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 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8474, 0.5373, -0.2756, -0.091, -0.0784, 0.9974, 0.7757, 1.9053, 0.9951, 0.1806, 0.5789, 0.4187, 0.9981]\nstate[eef_state]: left_x=0.3026 left_y=0.0037 left_z=0.1564 left_yaw=0.0511 left_pitch=-0.0199 left_roll=-0.0035 left_gripper=0.9974 right_x=0.3985 right_y=0.2605 right_z=0.0596 right_yaw=0.0518 right_pitch=-0.0207 right_roll=-0.0138 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -2.2496, 6.7487, 1.8828, -0.1343, -0.0513, -0.0122, -1.9624, -8.3214, 7.9385, 2.0391, 0.4615, 0.0171, -0.2222]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eb6f6184222310dd1e8c66dc0fa29cb76853baca74bdb700c8c4755ecea7ec5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92df04cdfa6d9ba18952aec154f0942a4baa2ef02011ac31e09c37e8be0477c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5835e0a7531169d27f37d9321e724f7380efd05aeef1d5c56afb236eeb03e9a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeIaRB7_DXW4woZtkWfPgjuRGOc9YqDwgcIp25KdSmYkUOd36eFZB743N_hU_tuOTII3rIiKvXpKUg60MqvdwOwrDUGecQNhuqq7F98NthglC3dPBZ65p4hSU0ryABnBILUxE35kx1o04oZK79CSKa825IFub_wF8IH1Fl0pJTGHFMZv9HKySID46sYFyiP4dUyEMzgvTsxJeMLZ7kSFAgJklSnJq9y7i35y3owfswWvHAmwzsRMpQ1deWCV34WEzYJrjQRSyiY-FBxwbvfgPEOhpmKLz7HzUyjVW0mtbnbzn6ch8HizunSHjM26xX5wnAHTyk5CCLHPiE5XugFbDbq0SzS5sxizPhRmDzA85pfxsx7BLi0f-yL5IRPrwyIbwlAy5d__52DB_Y9zS_O2PaOsdyGgmgWTLIHM8fsKhntBUfHcd3CcMI1h4RKelXpeIpPCk1oznm9PDR_nw6KDfgXSwZELZ0U5JNbS_NeUDeVuDgwqXTR85NNu8gXZLBBTYKtTf40SZ9mX9oSli7UEPVdURRRG6BByu7ZUrhiIDXJmsqgZxAoRdM_ujBLFdMst9SmIHto2GZt6ytm4FQ77mrA6lWwoNKIC4mRUf3R81J2Xv6-QmyBCeVix2TSs1pje_GgKIoZNHlBbYhdJgd4CenZtWRurbomnMqALmh8rf6e-ttjToQ5ogmAXZts1u-IUV7IueDPR9VMLhF_sI8fHBg_Mys3Wmv_UgPiVAXf4a8jiWGteLi-ZOdvH8cJcV9vHUhR7_abZDphVTYN9OVFIbxXSXHAog-80Rf7XY1l7fkrTpfBZ_IudmkgP8ZtR2BOeOxWheNT3xta6LAIeOYu829Ch_AUqmZ-JO-dA7pjU3bT_us09Rb8ytGce01wBqov9Q-k2TGQ3UeRz4XJk-8TF_7K_SPgNZqblyJ0Ftnj-0ehYfz6htm1zbMxHJkmOCRMBzJo8vCJnXe42EpO_YsjPI3YI0DMjlj2m_Ud7Mkxb8FjYQlDcTwYZqEtdGQjhkGAbTC2w0Rv9PTlcg64XEUJW3bGMF1tPoiLGe8tOc3wnypx3MSiVoZpFgDFbjoCvtOmuAHcI3MwX3EO9Ie4WPtZQIourKcYcVUMMAqVpsIYbv5IdHFdRpzlZ70ohz7dFzs2cNTRYKcDKjhVmJ7CbCS3SihDXdIGKdbwt31RoXAVmoJA4n4ogkQ1x-2fV0Z0_L6It29h1H3rRxU9EzRl1pb0g-sEYgkzsJUEMJV9JWfWqriKPBgsYkvnX_K4Zvhq4V3_JFmVdgmV4b4JeaEkbjA8A-T9ZKLhXcupEERYOJhNymj7NCFr3afZiyPM7TorlpPaSRSDTv-2eAEjbOJ6KJqxsETo_khhBqrCLKdfeWMjJj3mInT6DSwdtOZAXqPbfJfzz04aowM5vOANvFOJY9JS_wAsgPVCUdrhXUi9Nhx4ep3m23bfrSe-xQnG5YVCn1Zv5G19m1FTVITWJSq8EssnhcqEKUxY_VaBwUsVDUoi3VptVq9SrABnGIcOrJfzaQkB9ei8JTeK32xtcqlg-n9jlw6xwsq120AAbz57zsGUiNYAY8yoHL4TS6p5k736Yv0p414zHTC7iAdmuy6r3hcLfhDtA0qnw3Oc_TG89IZuNXG2Tr_aKBhnh0rxvewYdEgaB7Hy4-ouCvGFo6Awi9xznd5SKZGfrvELur56Hyl9wfsTCVNQV7YrQTzRt-jLOzfpnhO6RBlmrXxO9QuOcOepQnoDUW3ippxbz3YAQzjpGbPvCVWyW_-NfSKOUr1EVbZeHFm4B7fFQ4FR-nOluHmhrkkvd9uKsbAAdnLsXet1XbSpHsGGf1sC4zPu7CzCkrG1An1X",
  "id": "rs_0eeb861604b4e47d016ab44785df6c87d09b3cb58572d37af4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.22,\"right_z\":0.035,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The inward-lowering maneuver worked: the right grasp point is now at 6 cm and the target bottle is between the open jaws, slightly to the right. I’ll slide outward and right at low height so the fingers travel along the bottle toward its narrow cap.\"}",
  "call_id": "call_96j6txR3jRB6drQOyHCHWtbC",
  "id": "fc_0eeb861604b4e47d016ab4478755cc87d08df287bed10975f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_96j6txR3jRB6drQOyHCHWtbC",
  "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]: [-0.0528, 0.8429, 0.5205, -0.2657, -0.0937, -0.0784, 0.9974, 0.6411, 1.9671, 0.9611, 0.3428, 0.5365, 0.3752, 0.9981]\nstate[eef_state]: left_x=0.3012 left_y=0.0042 left_z=0.1521 left_yaw=0.0533 left_pitch=-0.022 left_roll=-0.0017 left_gripper=0.9974 right_x=0.4355 right_y=0.2168 right_z=0.0443 right_yaw=-0.0266 right_pitch=0.0133 right_roll=0.0131 right_gripper=0.9981\nstate[joint_eff]: [-0.4444, -2.2222, 6.8581, 1.9365, -0.0904, 0.022, -0.0122, 0.6632, -7.3641, 6.9538, 1.663, -0.0562, -0.0611, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb5764788c3565868402757b551dd078a2dbbbf293cb2e6dc098406e20a82c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f7d78e19cd8a7bc0e13daea3e6974c8ba547fe5c9321503915c1c286d06978",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93a2e023b6ac54349062b08e66bf4f087924ccf6fdbbf31aae679387ef5d041",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 4.417 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8623, 0.5812, -0.3138, -0.0906, -0.0784, 0.9974, 0.6514, 1.911, 1.28, -0.1272, 0.5152, 0.3508, 0.9981]\nstate[eef_state]: left_x=0.3047 left_y=0.0035 left_z=0.1644 left_yaw=0.0508 left_pitch=-0.029 left_roll=-0.0027 left_gripper=0.9974 right_x=0.4513 right_y=0.2391 right_z=0.111 right_yaw=0.0118 right_pitch=-0.0706 right_roll=-0.0538 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -2.3316, 6.9402, 1.8877, -0.1148, -0.0073, -0.022, -0.3624, -9.0188, 10.359, 2.1465, 0.1783, 0.1197, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8474, 0.5373, -0.2756, -0.091, -0.0784, 0.9974, 0.7757, 1.9053, 0.9951, 0.1806, 0.5789, 0.4187, 0.9981]\nstate[eef_state]: left_x=0.3026 left_y=0.0037 left_z=0.1564 left_yaw=0.0511 left_pitch=-0.0199 left_roll=-0.0035 left_gripper=0.9974 right_x=0.3985 right_y=0.2605 right_z=0.0596 right_yaw=0.0518 right_pitch=-0.0207 right_roll=-0.0138 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -2.2496, 6.7487, 1.8828, -0.1343, -0.0513, -0.0122, -1.9624, -8.3214, 7.9385, 2.0391, 0.4615, 0.0171, -0.2222]\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 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8429, 0.5205, -0.2657, -0.0937, -0.0784, 0.9974, 0.6411, 1.9671, 0.9611, 0.3428, 0.5365, 0.3752, 0.9981]\nstate[eef_state]: left_x=0.3012 left_y=0.0042 left_z=0.1521 left_yaw=0.0533 left_pitch=-0.022 left_roll=-0.0017 left_gripper=0.9974 right_x=0.4355 right_y=0.2168 right_z=0.0443 right_yaw=-0.0266 right_pitch=0.0133 right_roll=0.0131 right_gripper=0.9981\nstate[joint_eff]: [-0.4444, -2.2222, 6.8581, 1.9365, -0.0904, 0.022, -0.0122, 0.6632, -7.3641, 6.9538, 1.663, -0.0562, -0.0611, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb5764788c3565868402757b551dd078a2dbbbf293cb2e6dc098406e20a82c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f7d78e19cd8a7bc0e13daea3e6974c8ba547fe5c9321503915c1c286d06978",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93a2e023b6ac54349062b08e66bf4f087924ccf6fdbbf31aae679387ef5d041",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeONdVz-sk589SSOeXeLrt4dGgwg7jouOaIVoyML6953C_10VmLhcP8pZksDcEDlfN3C5SmqXxuz_WVGt_tYiFQU_4Eog7HkkhZhVH85lxC3MzrIEG2ERl7uyb6j-a8EBD3uNKaCxLBc4UIwQIXaf8_8Q7wy3nFgByvgMp5Jko13ynLhaYAMsLm8fC8wccSaDENdvyFjpJ_Oa2awnOFr4wyF0WgRNT4EQyV166u7KUIi-_WxNQtXnQv3OSW4csLsy2TIxhJ-ZJAQ0wqiLrrPVIAiIeL_5Rtpk2lqr37UGxxIcxMq_racm2uyuyXX_MUCXsq0WPxI_SPQk0UTpKmMh5QOi2pgwDJUUxR_jZvviBDgfj90--n5MmsPrkxaISjK8UGLLNZwSg6wi8K0k80mT5v_n8Yk5NzYwFqrjXFIzrsdrUBFZObp834BvZIQxhMJSUtgskj6nuZPrIgVckvsQbckH3jQwOxuq6HuqH1Xp-bP1ERkFfoJ9oTL88v7_HXdI6BemzaPdz0nwdCkmiQFdYQfeVra2WNGjxAwPzasSYttPAJ_az45-kCEPQxdvXWGiSD7wk1ah2U6H8O4SeXxu05mJxV2o4W1ORQUltjnTM1h6rciIsrxw6vZaTcGPfy7VwGm-KDIYAv8_eJDxkWqAzGBRmGE80RIayUUg3P6ZGd53_orDxBduVu_iNl-9vt1cQhzlSI5eoqkJJiycBu5tJu6dkV01SeeBZFXWmaQFRxnYmm8lvkYyhVJkXadWLI8BA7iRpGppGuKSfOCrVVUJNBEH_4wTAfNZO2oun_qiMPIWNqChYymzKN4vKPmULaAqt87r3bVe4_UkcipumuuFDo4LMwW-Oa1NauMQQzqYlUStRFXtJ2UzI-T4JP14JX0GkJ701mbDWFhMFQjsOBsrYBH6AGjxdTluOj80eXG0hvyD2PA3zSnyCp1PrbpQlL-DpR4hMGNqFkWDUOeQNh5Sor05Fp21QGRhFndXsLDjdgSIebArR2bBxKO_m6JEKsEVzU9W17tHu_dowSScWyJTawK7uOTz8MvivjMwMlXB0kUL-7CPpOFFYZBZjE78YR7UAfH2_zfc6uets4rKV0xk05mLW81dxxVOp0ojo-tUkzYDcN38aSdcT2iSwSnmNbDIZIQIS7TgkX1J8b3mic06utRuLo-KcNWavgWPbJVC0y7xyGH0K45Ehbd3tBapWtAKYzr0Sz_neNlfWQPfr9zKYzkrXoN4sK2Q5RvZtunlI9x-qrGtkC4dw5eXC9-2sy7vHFfCGltdai9afleLAATmB4Fh0IOT5f_WppzYtGMiMkzVyv-i8zXrbqTxSeu7djedhb1DU3wabePx2jF-Nls3fJ0hbqmJNbvQqKBbH_lT4oO02H27QUt324FQvrsPil_inPOOCEjxY1HkdDa5FEBK0ds5EC5PLN0kpsCAA8z0XTb0h4hwjbSEsPLU6y5OX_-lz8k-QXn-cJuwbXbd1THvZQfiz7hn5egCeidZ4AcA2x_f5rTyVmBjePA3zZu-Vny_cxlHKNjNn5DmbIqbXdajRSCi7cxZu0CbiOmLZKAL23crleFo3A3NPli4phhSxWssQ5nw2hnm2k_ZAYITPhxRvej77WJj0PKpyYm0vzP0ifkZOzdqE1q5QONqLSNO49yCKRsIDzO9Z35-H_Knh4x4hZw6AmlYlFsqUwflvxoANoC953B8P0O_iz07Fs4qiVwtnf6QY2YS8GmTINvLQuGMrUm1N0cApKXpCuxWx3DlID45OlG_9Ic6TEwhkbaFZ8ZF1fMb4NZehWS_OXWZvGbyJfphZZ2QxoZg24CWwO5WV82PVibBDLmal1Ra5o3d5G6YBvP8ycCpzlJpPP0Xm3hb1etPk06zFBtw7VZaukwo85jo6lWGt0ceFwTogO-LOjJEOqybeMhPLVvuUI7bnQfETjt9_2xaoVhetTjInl6sBqr209nuYz3SaQKCdr8_XG927SYYNSRyesNZj_kUndVU7Na_32e4zbg1gg0PwabjGM59rC7XlsAOFXGNU2LCMJr5oli9APqYC5GgxYOuCDMZLJ5I_16s4BXMMl9h7wM791onfhgFZgoaOp-LjvplAeMWyYHPbTG_50oFWy07BlIh-wJTblqt6Ct6e27EWfZzy0fqt2MQ19_yp21YErhnd5-yD7rkdPgvDnmKp42FUWeVXxA9aEYqOVdbDsr9lUmk87k9RzMss00l_UBbw56_nigJmMNzxKWQH0KWcBgwGoX5C-rw5WB3GGL_9Slct5Hc-yoPJicIks4VCpbM9Irma9lHDHphDg-54si3WnaqBUQaTteo2qsCBAu_S0cLhYGo6nQC2ir5EOmuWG6MyjrvxSDOjGCBo7qFBCKCAMZMUhEbhQkywlxABvxq8ZVtOsIahiga_2frfMfmqy_lLjAj_JabCB4jq8IIJD80myrfn0DxdxOIe4kbSIyjbGIe-RdfAaZuCJBI3w3PQRRj6dBetEk7vAo4CfH4OCCU3QI26Q4-vVZfL-Q5NSbv9hj0wZT2TcNTu8jAIbOBXZpN-ePx7RmgPFmBdq9bqZuiPbduGnQfwiQRPcSkVfHk6-LAJy8jzTZ0ouWZl95iow7cTeic6WpT_fW6c35JOSPiIjE1Dm5IS60JMY7v9DhfTbuPZkXZyEKPuMsM_acK7F5c5ec6L4EK12KdO_pzAxPTcd1c4aCp1fKb_4iezNxCYe4Xxskn7HtV1IQYLf-Xz-LuQYnn__zP1yP-rc5NBBip-7Kb6QiHM1VdzGZGf1HLb2seB0zc4MiySyPDLIz3O2Eh9Xq1ueD6dNMUjtpKhT-Bn-Jx5jQdj-P6TSz8XH9v0vghekEYsd1ZF0ATleBMF0z4aiZTLqDUYJODxKMvLmcRG_44VIUHh4n81gsKA30Cw9ZeeDRYQidrnYWsGKkGfOG4HbiITYaPdYWkW005iT6dQMaPBR5P8ot9Yld5MVzrcNcpxPAKy4q5oWlFl8F_3DAb4ORw_9kePlQM0VJV7NXEQC67MPTzgalr0CJOQgdE1jWoHSRYmp184yZqOsvOhI_VYyHAIAgFb6sm9aVjtZ4POPreaJDITI2B5C5IMl7KHWFI2rH6Q3Zsiw6pIjAlDmQQxWzGX2E0mY-Bkdei0CsxQEnFxJowlZOX5eD1KZoSB-V3hm-iDzMzKl8d7AtvYGtHSVayV0AIrB6D-fc0dhJH-mFU1ZlnRIv2Kxj_yHFlS0ZSy3l_IqPEKJPNFBAwh_DfCbHeF2RPFkqOtQPgbWsqyZMl84UpUjp3Q9y-RIFTOxvtn2rMDrksZ7BWv0SdiXAKv27yhiYLF7DZV6Hsfp7oP7fCGc2BuanCJ2LAIGHVXtTxuV7jvoTcpxN4HqM83zriVJmY9MMis8l4NqI9C6ZYyJN0p6G7hglGqEx8Xlk6HDHrLBdXD1qYSrBakel6pcblLqmXtHT2ZwZEEFZFpR-kwrMFW820eu6PuNjkb36udD8mQsvjO-kC4=",
  "id": "rs_0eeb861604b4e47d016ab44789b82487d08dbdc316ac7c4b31",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At low height the rightmost bottle’s body is now centered cleanly between the jaws, with the gripper aligned across its long axis. Since the cap is near the forward reach limit, I’ll pinch the cylindrical body near its base; lifting from this transverse grip should let gravity swing the bottle vertical.\"}",
  "call_id": "call_a4qpjeufQ34nBIQ9LLMSVdNQ",
  "id": "fc_0eeb861604b4e47d016ab4478d7edc87d09078d8f6978e67b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a4qpjeufQ34nBIQ9LLMSVdNQ",
  "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]: [-0.0528, 0.8391, 0.5034, -0.2581, -0.094, -0.0784, 0.9974, 0.6346, 1.9766, 0.9768, 0.4133, 0.5194, 0.3351, 0.0136]\nstate[eef_state]: left_x=0.2993 left_y=0.0044 left_z=0.1469 left_yaw=0.0537 left_pitch=-0.0277 left_roll=-0.0009 left_gripper=0.9974 right_x=0.4472 right_y=0.2248 right_z=0.0573 right_yaw=0.0003 right_pitch=0.0691 right_roll=0.033 right_gripper=0.0136\nstate[joint_eff]: [-0.294, -2.2769, 6.6256, 1.9512, -0.1099, -0.0171, -0.0122, -0.3897, -7.9111, 5.9692, 1.1648, 0.0952, 0.1294, 0.5983]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f616d69d1f99f6c31717c74ee5e72d7f22733d9b9c5322bd45d66ec2caa5f1e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e2d46340ecf5e3bdd1975f9f894ad9911ab5892a3f09edf6f48a65a838d049",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a43e482ff443b88fa327961c6db384911251f6ab851afbea53c79839556f81a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 2.675 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.852, 0.556, -0.2916, -0.091, -0.0784, 0.9974, 0.643, 1.9182, 1.2819, -0.1112, 0.4942, 0.3355, 0.9981]\nstate[eef_state]: left_x=0.3035 left_y=0.0036 left_z=0.1604 left_yaw=0.0511 left_pitch=-0.0218 left_roll=-0.0033 left_gripper=0.9974 right_x=0.4548 right_y=0.2405 right_z=0.1097 right_yaw=0.0283 right_pitch=-0.0706 right_roll=-0.0481 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -2.3453, 6.7761, 1.9316, -0.149, -0.0269, -0.0122, -0.3077, -9.4154, 9.8803, 2.0049, 0.3785, 0.1392, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8429, 0.5205, -0.2657, -0.0937, -0.0784, 0.9974, 0.6411, 1.9671, 0.9611, 0.3428, 0.5365, 0.3752, 0.9981]\nstate[eef_state]: left_x=0.3012 left_y=0.0042 left_z=0.1521 left_yaw=0.0533 left_pitch=-0.022 left_roll=-0.0017 left_gripper=0.9974 right_x=0.4355 right_y=0.2168 right_z=0.0443 right_yaw=-0.0266 right_pitch=0.0133 right_roll=0.0131 right_gripper=0.9981\nstate[joint_eff]: [-0.4444, -2.2222, 6.8581, 1.9365, -0.0904, 0.022, -0.0122, 0.6632, -7.3641, 6.9538, 1.663, -0.0562, -0.0611, -0.2027]\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 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8391, 0.5034, -0.2581, -0.094, -0.0784, 0.9974, 0.6346, 1.9766, 0.9768, 0.4133, 0.5194, 0.3351, 0.0136]\nstate[eef_state]: left_x=0.2993 left_y=0.0044 left_z=0.1469 left_yaw=0.0537 left_pitch=-0.0277 left_roll=-0.0009 left_gripper=0.9974 right_x=0.4472 right_y=0.2248 right_z=0.0573 right_yaw=0.0003 right_pitch=0.0691 right_roll=0.033 right_gripper=0.0136\nstate[joint_eff]: [-0.294, -2.2769, 6.6256, 1.9512, -0.1099, -0.0171, -0.0122, -0.3897, -7.9111, 5.9692, 1.1648, 0.0952, 0.1294, 0.5983]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f616d69d1f99f6c31717c74ee5e72d7f22733d9b9c5322bd45d66ec2caa5f1e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e2d46340ecf5e3bdd1975f9f894ad9911ab5892a3f09edf6f48a65a838d049",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a43e482ff443b88fa327961c6db384911251f6ab851afbea53c79839556f81a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeTIP_6rlZlnSU5Cr25lNcKKYCQ691-tB5kJ0LK72a89ZjuWe6DKV_wNsEyMdzgHys_Zrc_JodLdDcY-dKgxgKpHV3kFPnPGNcfxBTO71MfCuzKbbfJsHV84vuWpUbQzvi4v_RP63m3SBA8AtQTuRuoK1htVG0RUSnxc5huiOVlqbl9OQoa1LG2FLwSno-TpjEJSGIWoYt5zHFgRqdMCZ5QPF1OAj2RNKFwH9yg9jFSVGr4Kpdrlv3zvQBSXFOAf3LchC4LcIjyStpmfn0NBLn5GsiAIoA8pLDCM-mdE2HG5LV01sYN3_fRACULMq45BN8aWgAScmnDc96oabGxPoQ5P_xGb2Sw7-Mb5-UKobcZoPoHa6zm9OjjBiLpakOWvJ5-w0bJiOq1Es3SwzTzasmwNI9wUyh1YARPSJ9LkS-UYRVkc0TFbrnyNQkcILVN9CzbGJPyAZwCE7XbdEYM0eT5N26CU77zx8fPx6QopKMyZOICnhMoqEIvPV-kA8uVzJK8HZLZm65c2WBE7j6bumJrKqPqTqOoW8XXyewwL7SMR-Scmcma5lmnuJc1pYvGhErxB1e9cwrlAWVikQnjbnjLvbniGcMgbDlxMTrYUMZaXXCoxM4ZU_7lefqpMwc83bta-uoeYsO6Em7lnL-MbEeOIXGLGWLPQA1U_y6ivjRABluenEG8NHXpNcb-dE3g3MPQAXM1KPIGrPeL3QIn87u87e0MTjkMI_5xPCD52HUqBmbvgRreqrrv3j1O8gPCguqwoqFAXZIFBcB-Ld5sU3pc1FglgpZ7-FROswxv1yWuAmqGS9rZ2gP_FDrZZmdRlqv_x3azoa2plJPQdO2ReQfSHW5W0YaHQ0isw1op7GpCB7WHCXIoKaEqlR0hGTjsdxooA-kQc_dW5QWmD7-Gu_JBaHzyIgSmaB95OyYzOP2LxlxHmeLPPAnDEx9UIw8b8ojrDAhoHsng_-ya8iPMbxT_FR9iHcJGHGtv4SDA4f2WdtmEPfAnzJEqmI-iO_5yVbUp1cb4gn6vWO49nYwtug1HkV2m9oEs5uAd6WclQvUdKKBVaWcONDpjRRKEJVHKMXXfEGVFqJQRGqX0DmEQ1jzHAc5jwZotK4DG33XGQ4__q2Zsftjolin4im-5HPxucu8sxmM7SummSM8Tbxek5yXcDCModd-xtXRBeisJZFSiTqQbphVFEtARW2pHxEZQigBSZpj7NOGtxnJUrHuxpM-gADVh8sz-g3oHdz_5CK6cRwbG5nAVZm3cVh9TVV7B_86bgLoIIqNB6fQhZOop2GMWmcoaSpQubYuyHCf5lSglpb3rWI7etkt89fMBbssheQMQIdH03MxlpsHnLgUJoZbByEXdzT4ycjOST03aUif1NSWCn7QGXQIjEwSj3Uis7m3Ci7pnxoJ6OW0YSS8jRIYRltE7EusEui00Zp-EFuXMNXxlFe0gWd8sYSRvPhw9v0cgNHzQTlrGc0bd37uzXxI46Lqwqrh9XEuX3bPIENZec8hCgTJvcIjayYEF3f_2sQEAKY1GcKOnEdj7UnrFLg_oo1sBy2YRK6ADY2jdOmx8q5bW9LFeJpcJcRz3pDvx7r8GctFUP-jYigOX8Vw2yovS2SCYWWCwxdXcnG2XOTDjbDZgOfn0padTi-AsPUEBzACUTuVQe_rR5kSWyzEys46Eya2XInrfi7sjWo-rDwOWQZo4mbwft-czTl0-dKrEq1n0iOWO-Ayr9atKKHYR76umx7GLNDMSSKFsV11tMwoYv6kkm3K78mCkctYjtrQG1ggfFWp8-ytOFZ8TBk1iHblUe471fZbZMVbcjFfXgYaY9OkoO_aHcmMd_0WVBHPo3P5y18O9lGp8UPlDzHK7jGQ3Cg6uneyyXjc1yIdP-Fw8CGnHAhXPo5UmTm4IPYP-wqP8-E5t9qRupbJ_-ITCmBIpg742SYM2qaCMvwhptglVzLCb2XSNa0EJ3rr0kxokcFddiJv0KhiTMy0YNIUMHFc9E6bjiewg6reowkznPq-SWobjg1feMAzCzq4ZbqQd1ZrTM5uhNv0_QPdiIlsJdQukxV_MJD8hSTLwV8H64zUewJ75i_1v0IM-MJudvYu475NArJYiN040HgvohJcYD--Qx-7aSpCwvJdjQAzais-gl_LGS2gvN8nZzC3ZVSvtn7hhRXvUmWBS-6IeCW7eLx-dRc1Zl0S7bcUqIJl5uOReeWnIxMZUe1zXU79IFll2GWKRPa3mynkk7r3Y-ISbaF-dBwAVFLz7SqIdqr0PatpKdS0=",
  "id": "rs_0eeb861604b4e47d016ab44791000c87d09badccb6b9575acf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.22,\"right_z\":0.015,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The gripper settled at 0.014 and the bottle remains visible in its wrist camera, so the body pinch passed above it. I’ll reopen and lower the same centered pose by roughly 3 cm before retrying.\"}",
  "call_id": "call_aJTIiaPKpigdokcB1Bc4OYIm",
  "id": "fc_0eeb861604b4e47d016ab44792d9f487d08ba5fe98067e8190",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aJTIiaPKpigdokcB1Bc4OYIm",
  "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]: [-0.0528, 0.8299, 0.4831, -0.239, -0.094, -0.0784, 0.9974, 0.6334, 2.0186, 0.9825, 0.4446, 0.522, 0.3317, 0.9949]\nstate[eef_state]: left_x=0.2984 left_y=0.0044 left_z=0.1442 left_yaw=0.0536 left_pitch=-0.0197 left_roll=-0.0018 left_gripper=0.9974 right_x=0.45 right_y=0.2256 right_z=0.0455 right_yaw=-0.0009 right_pitch=0.0661 right_roll=0.0258 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.9897, 6.5436, 1.9316, -0.1343, -0.0415, -0.0122, -0.1436, -6.4342, 3.8632, 1.2967, 0.022, 0.1685, 0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37147764f8ce06c54bcf797575dd3198ea4eabf78e416c9f3c6e7ccc55e8b938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073ec7986076119460a030fc36448c16a96b845add2c87d2781877ce6dc5f717",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9fcfe6679dfe5f5222f30718677f053c635f4d367176febee928896a1e1131e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 4.677 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8474, 0.5373, -0.2756, -0.091, -0.0784, 0.9974, 0.7757, 1.9053, 0.9951, 0.1806, 0.5789, 0.4187, 0.9981]\nstate[eef_state]: left_x=0.3026 left_y=0.0037 left_z=0.1564 left_yaw=0.0511 left_pitch=-0.0199 left_roll=-0.0035 left_gripper=0.9974 right_x=0.3985 right_y=0.2605 right_z=0.0596 right_yaw=0.0518 right_pitch=-0.0207 right_roll=-0.0138 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -2.2496, 6.7487, 1.8828, -0.1343, -0.0513, -0.0122, -1.9624, -8.3214, 7.9385, 2.0391, 0.4615, 0.0171, -0.2222]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8391, 0.5034, -0.2581, -0.094, -0.0784, 0.9974, 0.6346, 1.9766, 0.9768, 0.4133, 0.5194, 0.3351, 0.0136]\nstate[eef_state]: left_x=0.2993 left_y=0.0044 left_z=0.1469 left_yaw=0.0537 left_pitch=-0.0277 left_roll=-0.0009 left_gripper=0.9974 right_x=0.4472 right_y=0.2248 right_z=0.0573 right_yaw=0.0003 right_pitch=0.0691 right_roll=0.033 right_gripper=0.0136\nstate[joint_eff]: [-0.294, -2.2769, 6.6256, 1.9512, -0.1099, -0.0171, -0.0122, -0.3897, -7.9111, 5.9692, 1.1648, 0.0952, 0.1294, 0.5983]\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 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4831, -0.239, -0.094, -0.0784, 0.9974, 0.6334, 2.0186, 0.9825, 0.4446, 0.522, 0.3317, 0.9949]\nstate[eef_state]: left_x=0.2984 left_y=0.0044 left_z=0.1442 left_yaw=0.0536 left_pitch=-0.0197 left_roll=-0.0018 left_gripper=0.9974 right_x=0.45 right_y=0.2256 right_z=0.0455 right_yaw=-0.0009 right_pitch=0.0661 right_roll=0.0258 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.9897, 6.5436, 1.9316, -0.1343, -0.0415, -0.0122, -0.1436, -6.4342, 3.8632, 1.2967, 0.022, 0.1685, 0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37147764f8ce06c54bcf797575dd3198ea4eabf78e416c9f3c6e7ccc55e8b938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073ec7986076119460a030fc36448c16a96b845add2c87d2781877ce6dc5f717",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9fcfe6679dfe5f5222f30718677f053c635f4d367176febee928896a1e1131e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEeX2SJnF8UksU8Dlz2MJCuHITPfSpojxsEgp0RwdM_Xqt_kjaAjwmWSoCK0_q8dEwD7uhLjPS4KFg6B4FbqmjG1ZR6tzANtC5Qw0-zqpVznylfOBtV0D54LJoTajfN8sCmfqZ5SKXTq6zhnF6zl1j3jbDK9E7gJka_o3IT0Xd1kZCqhQn8uejNjvgXlhUP4WkA1ZCMnhE68HOUl97qS_BQdX8rupqB6q_1eFU6ldClqnVvs3VqWV3axHIsjJuEB-irQmRNHyM1Y8jIJH3Qvvl18mVwU3ZKC8xFuwZiwNXzjbh0PvlnKQOJEtwU7n4OJAsxJRQSO7q7fy-N2TpPBcUnESMJln6uryYsnw6u72yRtvJzeMKn3bS1x8cG0MTPh0XJ-1sEfYxGIN0wjW4z8aTuJ4kyj88w60mB3IohMwhrfx5Bt2iW2a77gnElFzQ7_Fz-G6GZVUA-m_hvG9V0jRq_DNmOStt5oOtbvgtm4XRAQzW9X9SL6X3kcEra7seiJONLTBypNmJ9-AJMC99-PNb-479echBzSszAmy70QeGR4demeU2fsM1uYRfp57ups8n46cWgVjv93ciUyglKwJSIVLgli75vVIJkaPd2p0U1wS9Z-yZFQRMlokzYUWH3ipCopQPDEwrxcInU6vyyw7ysaNvuAQgMgqNjzxeC3EB7KO6wuNN7WzR6q5iYKuKDSUzfeDerNZNCm1ATp_B0NTawPqEKdiLYVA5ryxAWrAxBUx_pq3uMWksVP6sF0Xn_T36vaSDhr-rFSi5YtM2bmVmFsGA6n9OqfjN2qKZ0cHkpzCnYU96CRSw4HxpIj2Gcyi8A3pUuTx75S2mtEN4cM5v2io6poR2dqo8nSUPIOLhqJ4IJmO32_mrffOb2NeOjvXY6XCnHLkKTA8B8BEzokqz5bDlFVFOc7OxBdRMVBi9IMrR3ldVBvMSjtkezJfLP--Vi39RwTkwVC7zMkArhsCah5WXbGpOfYGUrVhrIHqOhFuoVgzIVYs555yBy6N_p45CXYKhlwEL7-bsGb5DqkZFB0GBfHBFIy4BxsIwgGTcYAmI1QWtkYSDDWkMZgq3wXLOAZeq6p0Ji3nT9ZCrL-lJAHUTTwig_JnFiMkBa5YnlCCv1lI5sbV8pEk-56hFOuwX-qjEwfuAYxvMyNn9ErZIjesyQGE07eJGCAtY0Z2LRdkSqmJJamedRN0U3PlWJH-rqUjX0LkSjEhwRNifaoVVMHPfBHaI0g-fPxlkckYRpEztc-eoMNZXToNv9xhEzmohz7zDCfLdrwGsX64ZQOAgCLKctMW61eyUzQBc0ulFCF-3RGVuvNSoApgFittYOuSA_SbiWRcy8_yQkLZwrS1JYvJ5DjfTFt9Frq8ocpGkl9uG5Df3ZxiM9itpSXXCpXt8SA0zt-IIGLsGqojME5J1kkSTIQ9XLASgC7HKaoU74nhfrdhfn2xTdyGK2ma6JVTWc-S1BNv4wid53MaTjVY09IU7fy0Txg-TEmQ7cc0UKKl1G-Vn6uRCw7rjEIxnRYW9V69pzJ8e6PP4oDsz9C2_6j5g==",
  "id": "rs_0eeb861604b4e47d016ab44795c4d887d0b71e42a2056c454d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The bottle now fills the gap lower between both open fingers, and the grasp-point height has dropped to 4.5 cm, near the body centerline. I’ll close again at this corrected height.\"}",
  "call_id": "call_bZ9PK5tI6MdbUb4BFHzrq6JY",
  "id": "fc_0eeb861604b4e47d016ab4479676c487d0b340a45d717b2af9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bZ9PK5tI6MdbUb4BFHzrq6JY",
  "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]: [-0.0528, 0.8299, 0.4698, -0.2237, -0.094, -0.0784, 0.9974, 0.6353, 2.0048, 1.0401, 0.363, 0.5129, 0.3325, 0.0136]\nstate[eef_state]: left_x=0.2982 left_y=0.0044 left_z=0.1412 left_yaw=0.0536 left_pitch=-0.0178 left_roll=-0.002 left_gripper=0.9974 right_x=0.4555 right_y=0.2326 right_z=0.0577 right_yaw=0.0083 right_pitch=0.0547 right_roll=0.0246 right_gripper=0.0136\nstate[joint_eff]: [-0.3077, -2.2906, 6.5026, 1.8681, -0.1245, -0.0024, -0.0122, -0.7179, -10.1949, 6.2017, 1.033, 0.1001, 0.1245, 1.0867]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:340fea0142be96fbf64128e3116b8edc5d2f3b5ea703336461cae1a394ca920a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeb7780a5b90527e905f7ff214caeba926ec3ad8a651c5bfa48b30b4f4f26b63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c625cb225cfde8df9596b6acfd685672859f2a50eb6f91e1825febad7639c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 2.588 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8429, 0.5205, -0.2657, -0.0937, -0.0784, 0.9974, 0.6411, 1.9671, 0.9611, 0.3428, 0.5365, 0.3752, 0.9981]\nstate[eef_state]: left_x=0.3012 left_y=0.0042 left_z=0.1521 left_yaw=0.0533 left_pitch=-0.022 left_roll=-0.0017 left_gripper=0.9974 right_x=0.4355 right_y=0.2168 right_z=0.0443 right_yaw=-0.0266 right_pitch=0.0133 right_roll=0.0131 right_gripper=0.9981\nstate[joint_eff]: [-0.4444, -2.2222, 6.8581, 1.9365, -0.0904, 0.022, -0.0122, 0.6632, -7.3641, 6.9538, 1.663, -0.0562, -0.0611, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4831, -0.239, -0.094, -0.0784, 0.9974, 0.6334, 2.0186, 0.9825, 0.4446, 0.522, 0.3317, 0.9949]\nstate[eef_state]: left_x=0.2984 left_y=0.0044 left_z=0.1442 left_yaw=0.0536 left_pitch=-0.0197 left_roll=-0.0018 left_gripper=0.9974 right_x=0.45 right_y=0.2256 right_z=0.0455 right_yaw=-0.0009 right_pitch=0.0661 right_roll=0.0258 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.9897, 6.5436, 1.9316, -0.1343, -0.0415, -0.0122, -0.1436, -6.4342, 3.8632, 1.2967, 0.022, 0.1685, 0.0513]\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 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4698, -0.2237, -0.094, -0.0784, 0.9974, 0.6353, 2.0048, 1.0401, 0.363, 0.5129, 0.3325, 0.0136]\nstate[eef_state]: left_x=0.2982 left_y=0.0044 left_z=0.1412 left_yaw=0.0536 left_pitch=-0.0178 left_roll=-0.002 left_gripper=0.9974 right_x=0.4555 right_y=0.2326 right_z=0.0577 right_yaw=0.0083 right_pitch=0.0547 right_roll=0.0246 right_gripper=0.0136\nstate[joint_eff]: [-0.3077, -2.2906, 6.5026, 1.8681, -0.1245, -0.0024, -0.0122, -0.7179, -10.1949, 6.2017, 1.033, 0.1001, 0.1245, 1.0867]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:340fea0142be96fbf64128e3116b8edc5d2f3b5ea703336461cae1a394ca920a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeb7780a5b90527e905f7ff214caeba926ec3ad8a651c5bfa48b30b4f4f26b63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c625cb225cfde8df9596b6acfd685672859f2a50eb6f91e1825febad7639c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEecbY1ux8neWbXuE3zaTI50AdmRvZ5GWkOp7G661Gv1NeUqpZ2WsJFtHHX9dCAYJtXkjhluGA0rKAO5g09XglAQ0m6h51cjZzh7KfPD2AjoSWwws4XS0FU02amRTS75Lqsp6TN620H_BQUC22pziWb_NXoTiOUD31Zd5rkPi70fJGIp6choXaG6MUCHJDm97pWibRSuFo_M7vSs5vAd1BPuoEvDypNt3fpCyOLHgu_U9SO4afvMEE9re8Ra3uFWRgLh7Mpla9UWC2bLObs6fEX3P8ggOgFrtB1eClIXaCX24phBH_Hb-tpPis8hf5jU60s8vxaz6Tq3GQFjSv9H4zZnmTnAgA6EthmZsmIIMFZHmtevqQX2pBkoNhp7TMxF6oz-FjYJg3IBPNu_JD5gUAj8lfQgtL46T7L0NBpnWUynmWYkhj4YE1pxJbUAJNswUhZo1W3nhhjBrBVfv-0cnYCSBUnlRRMg-v0xUhu1KNo3SIkaxcR-iQa8p6IZTynVlIr0Y4Six-C_rEyKqzFoLD3sd0oY3Mhfe5SoiKcYEvOcgEx9H-Zqxo9WyF-DcyjKJDaUm0eWINvX_CanxkeQraC21d1Agr6eWBh7BMVer-IzyRer2gX-bvtBnaAnUNdo7YaoeFdCm0p2f6CnHqLuKaFx4nR1KLhhofQia01JVF34ryK_vVmecj0Csk2AWych6-4-FVZp1y2Xwyr6MhSWsxOP4CI2hyZaYbXuxeTgUGgK-D0RJe2NrDGz-0FWmlugssEBFJl64VH37m2DECoO_I1peytbWYBPqB27uM_I4GoR9SCEbJmBoIW1h7lnHPJzihaz8ZQgQ6rvzpIF1zARaqXlz3Ilfhks-z0zpcOwKA5lIwE4ezOQo61hM6bSGf4ug53eqfvQ0IEeuEIUOfO5eKNDKJBHi4R1HDue31o2YdXweJsI6U0T-kRgNZTOnGYznt_gBrqJsdtP_ATgKoMDCtdI-nO9LzMUp1NfHv-j4ncRyvXHK_JcaAl80zH0mq55X5HhAmDAzyZ-mOz0tTj04OQ_9Qqi8-dcsLCKfhphWGMwfPNCn-dXYTef72ilPPj0y73OjMEr_o9jUm5jR27NUQgfdrsB7pInT7yZnrtp1YuDOpcSAcHMPMsyCdqCSVZRdIWNEqwpJPsiZEXfRPMEknzU4rEBNV_2cec-_uN2nXHwAFhe6OXTPM-7Bea39bIzRCyijMssDcbXrJLfD5PtcpcJvspmLLiEnhQutCyrZ5JJtcn23u6NhnL6k-CcYWG727RH0TO5BqnLy0U6EvvZ8mpluYg5842tcVWIJvlSF_qsIItercdEy7E8amGGC1inMTIuhC-WhTbi0mFj7NqC-DJNsblBQKd8FYzg6DERMzxw3GKHWm39aVleNDphf21dh86Zx_jWhcPaGRlTiWjzYEuXDkDTNezDXb6_Tjbg54lDQD2q5QGr-T7WgE5NYLW6ZlDmefZn6bh0YpSYHga2QddkliKno04nCBEX3ejbghmNGQ_ibm1U98TLCtRm_EkDSDgy4-XgTkPhtfCe1adQm4YIvRuDR_lwhIGFHSBt7eAQOZq-tt4Hwz3fgaQFROiUkAU3Qy7sXTttoqGfUbsZwJtursMYMrH6L4BozRIeLTWou8oc2b1bVCmDjnqOFH_qFprltYWFfvMWap8PpS2BFYmAjzcrGovtOceJtDo-OlW7oOuGdQrKpQO9uDNmHpdmNLooAr9nTBUGtYFNpOWPD502fou8LE5mi5efnG43KQ5lngQjmMVkzq_i8S1pxR-AEajd4LOf_iHowYhDzhDGXMfdWGCq_TZJeZWUvtitVqX2x48Ovnf1MLaPhUsNpep8csgy7Qv4nOyoBMg7AYobtIjhJfW6v6m5viTuuJTnmZyV-ToWfCSTUeAqCmQ4vLyVIbyzSuRf0qJqb2foFxeVm9TtK7cU8IRFhciNRNkZD7dvGVnEx-gOnGZDql0AEViJRVD5E9ruLsermdudx4pb9oMpyZvr_ooVWs6eetZ6FwJb98lBUTKQfyMNwMI1F_hYgPgBABSWMmUbU_ysN-68TAMvIfIiblyWU9HpREmw02sVuyxRgjrXSeg99BdEYo99ZWsco0HI4LwJQuprppbmtI3ojaSQTCJ8MEpg-CO5nKL1InQIjW1YwbIliBuOQxmkH1wpaWjY8w4otz2dJkReJ50-fj-Z_WEO6amInMiZ9MnDu3p5KM71gBT76zrziBXfnb6Lb7tSGdefzNbxV96I-P4WB9nIep3PBsa79M8jJBQVHcVPLDycDTCaMIMZ5YZK22Xw",
  "id": "rs_0eeb861604b4e47d016ab447994b1c87d09f396ac6928bb4c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.23,\"right_z\":0.015,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The second close is also empty even though the bottle is centered laterally; its continued visibility shows the grasp point is still a few centimeters short of it, exactly the wrist-camera parallax failure mode. I’ll reopen, advance to the reachable outer limit, and keep the low height for one final body grasp.\"}",
  "call_id": "call_3uQijhsJBH7Z8yfKTccJc4Fl",
  "id": "fc_0eeb861604b4e47d016ab4479b96b887d09508afb2f680b7ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3uQijhsJBH7Z8yfKTccJc4Fl",
  "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]: [-0.0528, 0.8295, 0.4644, -0.2138, -0.094, -0.0784, 0.9974, 0.5941, 2.1338, 1.1728, 0.3614, 0.485, 0.2836, 0.9947]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1409 left_yaw=0.0536 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4894 right_y=0.2356 right_z=0.0412 right_yaw=0.0157 right_pitch=0.0485 right_roll=-0.0036 right_gripper=0.9947\nstate[joint_eff]: [-0.253, -2.3316, 6.2291, 1.8437, -0.0855, -0.0415, -0.0122, -1.4154, -7.159, 6.5709, 1.4383, -0.0024, 0.3053, 0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de778e0badb9364f09c265f6dd2dffb04a1050db95880f961216c8c0a813612a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:595481052e7e86407518aad5a320d0371e9798cbedd5b4727d14607a02beac94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a638c17ec48de3560e3b5831dd5d64a695ed95f5c5ca05699a5264362a40b815",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 3.268 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8391, 0.5034, -0.2581, -0.094, -0.0784, 0.9974, 0.6346, 1.9766, 0.9768, 0.4133, 0.5194, 0.3351, 0.0136]\nstate[eef_state]: left_x=0.2993 left_y=0.0044 left_z=0.1469 left_yaw=0.0537 left_pitch=-0.0277 left_roll=-0.0009 left_gripper=0.9974 right_x=0.4472 right_y=0.2248 right_z=0.0573 right_yaw=0.0003 right_pitch=0.0691 right_roll=0.033 right_gripper=0.0136\nstate[joint_eff]: [-0.294, -2.2769, 6.6256, 1.9512, -0.1099, -0.0171, -0.0122, -0.3897, -7.9111, 5.9692, 1.1648, 0.0952, 0.1294, 0.5983]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4698, -0.2237, -0.094, -0.0784, 0.9974, 0.6353, 2.0048, 1.0401, 0.363, 0.5129, 0.3325, 0.0136]\nstate[eef_state]: left_x=0.2982 left_y=0.0044 left_z=0.1412 left_yaw=0.0536 left_pitch=-0.0178 left_roll=-0.002 left_gripper=0.9974 right_x=0.4555 right_y=0.2326 right_z=0.0577 right_yaw=0.0083 right_pitch=0.0547 right_roll=0.0246 right_gripper=0.0136\nstate[joint_eff]: [-0.3077, -2.2906, 6.5026, 1.8681, -0.1245, -0.0024, -0.0122, -0.7179, -10.1949, 6.2017, 1.033, 0.1001, 0.1245, 1.0867]\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 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8295, 0.4644, -0.2138, -0.094, -0.0784, 0.9974, 0.5941, 2.1338, 1.1728, 0.3614, 0.485, 0.2836, 0.9947]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1409 left_yaw=0.0536 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4894 right_y=0.2356 right_z=0.0412 right_yaw=0.0157 right_pitch=0.0485 right_roll=-0.0036 right_gripper=0.9947\nstate[joint_eff]: [-0.253, -2.3316, 6.2291, 1.8437, -0.0855, -0.0415, -0.0122, -1.4154, -7.159, 6.5709, 1.4383, -0.0024, 0.3053, 0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de778e0badb9364f09c265f6dd2dffb04a1050db95880f961216c8c0a813612a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:595481052e7e86407518aad5a320d0371e9798cbedd5b4727d14607a02beac94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a638c17ec48de3560e3b5831dd5d64a695ed95f5c5ca05699a5264362a40b815",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEegSriD9PJjPwtLGTlKgQ0i0jj4K9kfi93iGN9ssqVkTno7jrZu1iAI6b78WCaOEZXxSXCtICShgYFHtkPbDK278WRlOmSK0OivljDvAD_TXR0_DDGvsiz3VgjxV50q6RVXMDXA4O-bOmR6t2lXo5d4eh_s4RQPA7U6kIHPe7HzaEGy7bQCk_Azs98oI5sqkTKm9tR36XEBJ_V3J5SRq5Ftv8nswVhCRnV4V_t_HGjgPPVJznPHPWsh8ayi6wxxFMpCMgtlLcWE3Qe5yCOZ3QqyLSc59ur6Wuls-FnFX86Lg9hq9F3f1ccEa212zOgbOVB70ayVYqbQhFA2FBMPBIiVSztE5XnyFPOU2t632K2BLdR9eU58ur28B4I-3vnXKQ9ArZFnFv02cz_2LR_7EZpQ6kXAxaxd_JpMnP6ziZ0Sb_Hf_EgzDnYsUqxy1Eu659eOAhmkA-iXwPQI7_MoirmPByyfgo_Tv8sQZCTkI08WNb-uB7VeuVXd1-aXgJNiWxVJ4l4ninYQ0w67RHhRwIhtDcqkAcotdbsQyx1cEqxHz0In9n1BHZQtKq6vb4A0pkc52nOFyFpPmwhByduHi1I_QlpTsN9Y1YsPlhn2W922H737YMjvPBaJfsL7XzG4TwmL4aig6G4RdUUZI-hQmshBam2rKwRQOB3RaE7CA1tsYGpY8o07btQZcyTvA8xZhZexxVElzIEcAcgOTqxRZnSSO6z6W-2Ea-2fCLjdGcId8fm0pGnTgFP2XryVmsubYMdhDl_BdPsNvbkpXXukId_nGTUI2MnP5HYRw1aisQTBwcKTvhUpmseBHOhBpWXLDmFyZdiqhBJtXHJ7Gb9HYHUfHzaljsKlubqWqF7tzMjd7EGHG5crHcQBgxQh9XIqCCZTAPdx7U8aMEmAqv-OO5BRw_QVggzzP_kKDDBcX7j_axgi1BQdXqsxlmhcko4fDpZOGANaRuhiSzVyHoqvBRx36TsaRXpIakmzHf59EFgZw_sDFc2IxUGMO-Rk8OnDTlud16POlSQybu4Ah4kQY2lpmxqt6bM0HceKn239sQ1UuZpE1NXccofaxnPGIK56jYWjaif8XO0V2tEcjKaB_9m9YmNINQhYm9mZN8SDXQP9fzWHAus3mhTZDLRuZiDjDeLQvRSmHXHe_hr_kJPKm2ZhwypQsYaqyRbeVNtZtarvH5siJnyA-790v4yHWHCz0KXME33hGF3TVy5b1Y_I9NDmUCWTcCFfzWPB5rk9HED56XIRuZf80jW43EYOYcrrbFLeSylFwWXIWVkF-8ZQLY8QXZrmCoMhCjhWKPGEkeYHXWEMAmM7JtuejAIJZf18gK-pcECKPLZKzjeDJtUaQ26n-_TdShoFWb7zQLaXtRaMC6-mUUNFQQ0IE4Hvsvv9kygGAH8cRcKPEUVKBRrU7dXIRDHoDu178Keb4JqwAppcM0LFMp62ygIM3hn1pxBWIcF_CWhEQ0FfK-9L_eFkukGHfg==",
  "id": "rs_0eeb861604b4e47d016ab4479efea487d0816866f3f7d3b0bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the outer-limit pose the target has shifted markedly downward between the open fingers, indicating the grasp point finally overlaps its lower body rather than merely viewing it ahead. I’ll close now and verify the opening.\"}",
  "call_id": "call_Xrb5DIAtJH3SzymJWxof6zli",
  "id": "fc_0eeb861604b4e47d016ab4479f8fac87d0af74842db8b53dd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xrb5DIAtJH3SzymJWxof6zli",
  "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]: [-0.0528, 0.8299, 0.4644, -0.2138, -0.094, -0.0784, 0.9974, 0.5941, 2.1178, 1.2015, 0.3214, 0.4702, 0.2798, 0.3604]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1408 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4925 right_y=0.2404 right_z=0.0523 right_yaw=0.0296 right_pitch=0.0479 right_roll=0.0026 right_gripper=0.3604\nstate[joint_eff]: [-0.3214, -2.1265, 6.2017, 1.9121, -0.1392, -0.0269, -0.0122, -0.8957, -10.8103, 7.0359, 1.1746, 0.0513, 0.2759, 0.3687]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97060430001fb2fe873ab756dcc80643063053868019770fbf71da0bbbf7ba52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ce31a60f93225502f20f092272eea2f2c47704351d1abf15f9e0ee11ac900d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df755d91963e046dce7e1b54b0a002f7957b6ef994593e5dfd8558ea0a2db7d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 10.83 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4831, -0.239, -0.094, -0.0784, 0.9974, 0.6334, 2.0186, 0.9825, 0.4446, 0.522, 0.3317, 0.9949]\nstate[eef_state]: left_x=0.2984 left_y=0.0044 left_z=0.1442 left_yaw=0.0536 left_pitch=-0.0197 left_roll=-0.0018 left_gripper=0.9974 right_x=0.45 right_y=0.2256 right_z=0.0455 right_yaw=-0.0009 right_pitch=0.0661 right_roll=0.0258 right_gripper=0.9949\nstate[joint_eff]: [-0.3214, -1.9897, 6.5436, 1.9316, -0.1343, -0.0415, -0.0122, -0.1436, -6.4342, 3.8632, 1.2967, 0.022, 0.1685, 0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8295, 0.4644, -0.2138, -0.094, -0.0784, 0.9974, 0.5941, 2.1338, 1.1728, 0.3614, 0.485, 0.2836, 0.9947]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1409 left_yaw=0.0536 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4894 right_y=0.2356 right_z=0.0412 right_yaw=0.0157 right_pitch=0.0485 right_roll=-0.0036 right_gripper=0.9947\nstate[joint_eff]: [-0.253, -2.3316, 6.2291, 1.8437, -0.0855, -0.0415, -0.0122, -1.4154, -7.159, 6.5709, 1.4383, -0.0024, 0.3053, 0.022]\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 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4644, -0.2138, -0.094, -0.0784, 0.9974, 0.5941, 2.1178, 1.2015, 0.3214, 0.4702, 0.2798, 0.3604]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1408 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4925 right_y=0.2404 right_z=0.0523 right_yaw=0.0296 right_pitch=0.0479 right_roll=0.0026 right_gripper=0.3604\nstate[joint_eff]: [-0.3214, -2.1265, 6.2017, 1.9121, -0.1392, -0.0269, -0.0122, -0.8957, -10.8103, 7.0359, 1.1746, 0.0513, 0.2759, 0.3687]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97060430001fb2fe873ab756dcc80643063053868019770fbf71da0bbbf7ba52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ce31a60f93225502f20f092272eea2f2c47704351d1abf15f9e0ee11ac900d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df755d91963e046dce7e1b54b0a002f7957b6ef994593e5dfd8558ea0a2db7d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEekOXA69liSinEWHT5AGx634LqTTwYayOeXJY1B3ps_1YpDORL5P8whSZSVhKDlpSIXcMzFWxjVGCoO8YwHN8P-v0AEw7nW_6AoZHigNrXGMUzf4W7mjBnAMhD0zMKlYmEKGkI07eyixf5I8iShZgIgbxlXO7kcebmpsAqeyzIlSRpD7YJcCdigPWQvwtIm7YtPRdSBFUjzleRVOFU8CgNUiQkAqjUqYlFbFcieopT-WpWcFtfQhfkQEZiL4JAePfocutgjUobmpxPQAu9yDVWcm-Zo5A9OHRrHVC2iRnkglfLg4caw3EV0XMSCgvprlUXEfaU3PXFiHsXnf4Bm70BbW0EjgUgY6AHWRlnpQzZbgk6oA2vmAb2dDXYxbwx9IURUwP5cyRxPrJGZyDTHv3GtAADYcUuVpZLubcLqh4aO4c6KKf7U1bHZ1MLfkYzqjhV9b0XC8YyESYiNzIlUVWf1erBJwdMEuHw6sAV26Z9m36lfzy-fACxUODE41xkyB1S32oJzYZ7Je-dFsZnpryBepDdcavCRZLoKr3G6r01l28rfTKBwVHgCnVK8Rd9_vRwRWYVlapah9GjAgLzV-rDNU1efxm_a4ojHg5DN09uEwUTN7DlmsFOi5-RMWA3GZbEAvIEC6u_WUPFGtTbKq-a0dMoi2Zgj_lPpwKCXYQ2-8lB1jEUbnJhxjnT0uB_8Kob88o4F5P-f8IPiEK4iQj8C3taOWwS2dY3nJ1YN0DO7CxXPfE3-hPkHtkpooGZF8qSMeG-bPlxEp1uJauhAlQotA5S4H-ObO7bYI_4V2IoKFjZKfWMl8ettfWu4BqUdIaFx-NLy6pGguB8Fw0AJj1VYEUOS3LFdy_ON90acsY2B7P63-T5mSWjU7-ilnEnNM5CXHa1cN9VugIblE3_9nhWodTzYlTDQl1PRsWILXT3lPROvLltdqWwS26HXgWssoHZrMvv4lQTtaa6uFoX-ARmA3zveoB4DVYM-415HHpNmQB1SaKpDGhVK2ir7F76jhU57N22H1fHMAw3gUXjRscCR4JHtsVSNHtrh-drN9yyurKVeAuF1LiWrwMsIC9jCj_N3uhTAlTIKyc9aLXs5UPb-WtJx3AvmSx5S9Nj3ZZoudcgGHKngIDfVnuzTIuFGx_DuLeIfXL-Eq_HiCtNR_ILVNHyQoLdOAN9aANGTIGronLKMR-116m90u-Kpg3CIqdbWLxHKuv6LyPC0nqS8BtUPLQnojA4mNlZF9pS0aG1RYqfKFjws11de352OAm0ximUrizTul7lTU3pSQFIX_lOoq6-NF8nPoMGkS8YD_z63w7-JAZi8zZ58G9r3-ZTcgt7dM5IBEpUZ3g6whbb9eqbeG0QXLfkIxWhLOFG-pKDU4HUFstG9pvWbZtIQjynJxReAcmqlVSwQ3D_iQbceyQs45uXN5qqtHtSMdllqkfLyEojKnP0NoGQunK91zTJiEPBpLzOBHUtajP6daANRofEvGpFWmDRossAcpyjnnZIBTqAPou1e1qlSLt44hctPlFoj5J9R_8NjbDf1NGz4SZ-C03xVrh-IeWmofw35EBApaY2wRkHcchROAVgIthNbPAemhkScqpfYQ4fD6zg2TYfBb0kkZeTYvwxRrWol8z4jFgVpo-xWV398k7wztN9bBUe4aZKGaVR_NJnNsEat7c0WmRM1grWTs7cV2Gutd-OTcHcEEcyENCzCrrp4yYXlIhq1vliGq6kMv3gatoWHlEFWzVdwnFHkhLsJqlOxUIeMsv09X5bjUVbhNJsDBi1T1CFaNHSJF3usN3gBJ54aLH-_2rhXQ8kg2M2Oo1i1V6PFDj-2b3lFWXeW8H3hIR9x4eJ4B6T9NdKbWo0fPZKKynXHg7f_vm0RpKJDAQnMa8ICm6lYfIVxmNhPVBte6tWf67XykiHJ4KJZSCl3yi8pVaqiQg==",
  "id": "rs_0eeb861604b4e47d016ab447a2811487d09d9485524b9ae9bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.24,\"right_z\":0.17,\"right_yaw\":0.0,\"right_gripper\":0.0},\"note\":\"The gripper stopped at 0.36—about 3.4 cm thickness—confirming a secure grasp rather than an empty close. I’ll lift well clear of the table and see whether the bottle swings vertical under gravity.\"}",
  "call_id": "call_aqSt0kVyEZiZ1pC7SAnujY16",
  "id": "fc_0eeb861604b4e47d016ab447a3bb6c87d0b95da2fdb0f19baa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aqSt0kVyEZiZ1pC7SAnujY16",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4644, -0.2134, -0.094, -0.0784, 0.9974, 0.617, 1.9518, 1.3952, -0.1852, 0.4683, 0.3058, 0.0129]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1409 left_yaw=0.0536 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9974 right_x=0.473 right_y=0.2422 right_z=0.1249 right_yaw=0.0388 right_pitch=-0.0763 right_roll=-0.0541 right_gripper=0.0129\nstate[joint_eff]: [-0.4308, -1.935, 5.9966, 1.9463, -0.1197, 0.0024, -0.0122, -0.4308, -13.7504, 9.935, 1.9512, 0.4567, 0.2515, 0.6716]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54787f830e333038b766bef2b6893572128f624bb7af0532281d893dd400884c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:799d6764344b781459922300da4a57afd196f183d9d48765baed92c013c4b141",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65530a04be9c7f0cd28803a6298b03a13e4119ea2593a63aaa6bc1626371745a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 5.18 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4698, -0.2237, -0.094, -0.0784, 0.9974, 0.6353, 2.0048, 1.0401, 0.363, 0.5129, 0.3325, 0.0136]\nstate[eef_state]: left_x=0.2982 left_y=0.0044 left_z=0.1412 left_yaw=0.0536 left_pitch=-0.0178 left_roll=-0.002 left_gripper=0.9974 right_x=0.4555 right_y=0.2326 right_z=0.0577 right_yaw=0.0083 right_pitch=0.0547 right_roll=0.0246 right_gripper=0.0136\nstate[joint_eff]: [-0.3077, -2.2906, 6.5026, 1.8681, -0.1245, -0.0024, -0.0122, -0.7179, -10.1949, 6.2017, 1.033, 0.1001, 0.1245, 1.0867]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4644, -0.2138, -0.094, -0.0784, 0.9974, 0.5941, 2.1178, 1.2015, 0.3214, 0.4702, 0.2798, 0.3604]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1408 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4925 right_y=0.2404 right_z=0.0523 right_yaw=0.0296 right_pitch=0.0479 right_roll=0.0026 right_gripper=0.3604\nstate[joint_eff]: [-0.3214, -2.1265, 6.2017, 1.9121, -0.1392, -0.0269, -0.0122, -0.8957, -10.8103, 7.0359, 1.1746, 0.0513, 0.2759, 0.3687]\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 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4644, -0.2134, -0.094, -0.0784, 0.9974, 0.617, 1.9518, 1.3952, -0.1852, 0.4683, 0.3058, 0.0129]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1409 left_yaw=0.0536 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9974 right_x=0.473 right_y=0.2422 right_z=0.1249 right_yaw=0.0388 right_pitch=-0.0763 right_roll=-0.0541 right_gripper=0.0129\nstate[joint_eff]: [-0.4308, -1.935, 5.9966, 1.9463, -0.1197, 0.0024, -0.0122, -0.4308, -13.7504, 9.935, 1.9512, 0.4567, 0.2515, 0.6716]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54787f830e333038b766bef2b6893572128f624bb7af0532281d893dd400884c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:799d6764344b781459922300da4a57afd196f183d9d48765baed92c013c4b141",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65530a04be9c7f0cd28803a6298b03a13e4119ea2593a63aaa6bc1626371745a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEewwZPgcdDRSC1YgWYpkZAhdYvqbUPP2EFWRt5V023F8YumgqA-1_63MqFfW4NoxggSeR7AO0mnRwsBZQNIjSwHUVMbKk8CfmJK7ji61AQRtardYty7v6-L6qWsL7NYHPI44Pjr9ZaIuw9vJxOo7IS7zTHfkqNWiSpFLDgHLIhc8enx1Nzv0WZVPoQoi_OhFLSHo8kDJB9bvGDATQR7MBYnZF4dYpaRJrVDJhDz6_3XPEZmbahdKJwodlTJYEOvFeBGRwIbSbAkotJXBoIcNxnpUmxuHjTvBwHOItXbCziv-ekrhOC0_5rYzS-hwA3KbaNXkGnh2FoRFLb8gLqI2BHyfqC16bHpy8LEEeWq4nlizoUTmSmXJg4LlBOKVwwoo_s8nj5cbJFA6GDbjAsdHRbPDKROxCAwf3dqsfAaEjGyNUwECwbTA8YuT67YsDflEc1gK_QP4izS7ZmVx67Vj_RDv7FkGODHyWBpRa2eeyJS1R8przWmAJsaVsOqkEnaZjv7Oe5Yu2glmygINCNqX6YBJbyFKd2Xi6zNFY3f8DZz0aK5zuDnVpHVrEegaxW8IBx5M3clOM2ezZlTuRXsuBhl7V4BMqHhx7QQ6oEpPazv5biyi7is8US-OmdEUzy9Cae4BUmpSsgy6p1oCVO4jyuHMQghVKoZmM2YIpfeIxymdrO2qxtR4LawTzl_5FQx3uiBZi-OXQpA4XN1UyCQC9AvfCLE69H9m_ns4lio-5v0ld3xl0goyLA7hMnQSIj-PXXBfbH__VBgEd84seHtTe80KvzmspepdluRcX7OrnWy4JQjcPkfR3uC3UcJf0PO-nHw4AloOSLjzg99mra7FAZcCdr53xYvDLpcZMVFKKfXKf0hw2LncTg0LMPlScPxiXBZOL5CH-zzEjZHQANz7PDT3zVEQ5BnSsIisUh0LSIEulwklGyXY7uhURSYkM4LBuAvQ0OhuNdzZLiXlGKji805oRWi1rDH9_uCOf9vfDg1c9p0qiGFMRnEhQhRmT1Aax4Sa-3xddT-EpmYwr-mvS_ymACk-hnQPYHtHglF0tn_nwv9YDoOYWjxKk9Uv4w1ivrpw6GHapqY71p5S85zGXPlT9CB3Z7j0pwIHABmYJB2pQpYCFkK9XdgHdkxPwks6agzvtwihgLz2UDfgeDoARkpzJ58t1smJE01bBhbIQmzwKTM7H7zFZBAkTSK4gZ1D1uDoOFntRXszBrwPnXO9TDGRsNs6_Zd-2hU8WQUYKI7AhdniGu58qYigl_IsYV-XngcqqwdZ1PZ0OUxFiwkAAf_IoIeHH09pYD4FaU9SLXhRu1Zc3z69yTu6hlMvlsocvNBO-bIk4Uk0VBq4Ct_zYLmNg-qaFOfiI3IAUOBj5g43biH2VFeG2CBBkgOd-5EPCHEA90XT9cvzp3LVkXlzLojw671-xmfPxjYoAGlAfXKzPkXqCzyJAet3T66rUECt3xixGUwUjMumWyvfYddEM8Q1amVz-wB2DORwttP3NHqFamIWxDpWKGBZUCO8Z4j3Bvp4vNQnb6OVLQjQYOOf_HOPDNldlND-sb4G-WG5iR7bjNhUUifH-gqMfXU9zh3lq1WWWbywuTsBI9dAhwAhKlR2COZxihrYJQVxbYqehIrhcAxunEIOmLvMgAoyogBhZdRfMIw4fntgMmgYEP7K0DJ-yZr3AJQNnlT99V2-4slo37mCOu9ytJRfxOxGf5SOpjbhwD_REKhY5qCN04RRayEcVJAEgo_QIxp141NVzLViwr-rFvXR1H5fA36aWO3HDclJylWEhlMvp051jKBux0vtJwroUrqazcljSEgVImJz7cu-enbYRftimqZuGnY1dpUtqkLOqktkUc_nhlWbmyEYdP1mINMi9DBYVG5oD2-PwE-eAMrpJD6SVci5iWkTOzOpv0AsaRsWQMx07SaI4dhIWS_wCKP_dSci95m9ZLeYZk4Dp4Ccq9QCabiFJsSrc_PdsFYi-RkKtCjrNa509tzWNgeE_6754ibZ0rZ9zdM9u2eO1nTFgruinQ_r7LsbIwwfGKXZytYzbdX3yazMZU-SnjLhpjr4fvtGmhfsfuCvOyNkhVqX-OzdUuUzTsKps0yDuZ7FThPdicEzFikNii8iN-dNe_9HmAGafC4iEh_uBWII6c7-tDOUAge0NNvHBhj6Wmc1MyzNS0kA2rGCG6Ma35cl1f2q50d6Tmq7HuYAJ01zVhZhFi43g_BhCjaXPN1-NL20zUUJSuer_TXYqnmXdKNjxFT7bG0R0fre2MdQepeo8g-oFlZMdTCLmKPw58SyFlIKAuhRwERoagwUH4QqsHQvmxuwOjR3r6GNEE_WCX9wjqvd137e-gl4zmGDKmbxov9DNMWjZxWmD3ic9NLlEVPanJNq-q_EER7Oy6RFKCyc9DgFCOCNbfDbr5OTau93FgickxEGUEKQNXi9GoQHc7K71NLnFbKdC0FpZ0QTto0UsoPprGYTLHZWOqnQoCKj9yPZxL9IcYmo0d7tAcNs5V9V-2yARD8lxwL_7unHbPWPRWm-bHUXHP-5FDwLzauweZUV-aCcrOuAMXz09hJ8e1pZYTOmaEDu30-ajpP94SzAjKfkL8tEXQXvqLt0fcQimXOM-4s1w6TFB0li_IT2jMzU0-CVr1xgVY-Wdk3iGrfzMFkrsQW1UgyfCObE1aaRg1R0NajhU1izeNC373ulSjKe6BEAl07tv9wM-e__8DYI4n9MQ4U7NOyyNtKlBmjMR2hlbQA8EblE7_17JzsqWdR9qi0Q15CJIrBPkB4puwg5c6M09oM8xZ7naS8zULEqa5HnSHqbXdAORs0pJHLoZvypJjJExKJtljccE7I_MaPZq_x47qXdT0omkXCArpHk5_w9eg2pNRvxmSig4M6E5h_6JDQU7ItJD997ibL8e6tNxhQp87HTmzWYjmrDDx0FmMbV1O5LaEhut-SOxpuwdg3O96pV_WQqJsYHzdZPULTBqTqjfTttbofWJrMogZ7TQyOJR1cz8xUvxC07bnUFLKx3x7EaA7YZi_CzqCVeVRZtHoFypwzUso1r_terTZneGmJPKBuKU91-r1VefVFsmLdxEIJm8F-CCyUE4HXARiicurTkrLiIOZTa9gr3qH4EvJdZo99NI432nzaC-DXAwQ4Q_pgMnxDuefgQyOZhs-4qn_e09h1ERhLWTSXQ3z9bvtboIyEBRjqB2JN2PWV34TrsF3FtoHpHEh0YBKgiFbf98LZixS8AjYgS_RZvB7AKrmSpZw15cbIyMwDaJz_t4A1K0ux0qtKe8x19MQETh2l0kKM6vICS109eEexpYgy4sWm7RnMQ_xE1St0_R_K-sH4uWQr1hQ84uhVzwo6TiXbeavc0Toy2AvURIixg-roJQHz6d-9JyjWjFsZ7AdxH0d2wUFeFTZQuYDnjWXnJd_l3derE0sONFZBrlFIDEEYl4hi0W0Ige2oIKS-2jiUFEzWQkcYT5TXjv75dLykBJKGO__wmEceu8NJQmlywSogrcBRxjylVMfMSX8bIkVneSH2zwfaiAaKePhuPk0DSqs1y911gSi83GKbwqja1hjLe87sKNeimhQzOuHd7OL7_wVfkLBkSs1OGZR95NIImnAwF06MEq7MqPU3JNiwYjfL1aEi3xKu8wMTXthEqT9EIFjEef5AC1mX99wgcDiWp6EL7HQ326hUt5B6Qy-QWa6fKACJxR9g3WuXuoW_v57GwwMADqw0Oj8hTrXnN5C9AtPSzV550wiiyo_50Pq00kU3Eu3NgniFV2YAGSXviGwxP6qEv-VItzXuEDxKHEppTD7JScporSUlBmKbN8B3i4sVCI6OylavLZt-1_GoSP1r7XNaOMB17jpXcjTqNAqg_EKwX6v7-b3WDzDIyZi5t74INTs2GlcdDBk7xcuj4Z7nqQLltPoCVbPFBKCE4lv8spp6oAwEM87mMeLJJn3wHx6b1zV0Z9SOs6Q5BPRcVCp84GLnFtDuA6evsAG7rqjQw6F1zq732bKbz_Oi8A-f6y1rKjrqhl1hSQYhSzpvpf2rFdtREQQ3ikuXGhbCwxta9S0yTUz2dBAM_RLzpqcp6iEyYgQDniaaCRo2E_Kc9wC2hXqvwxywyFqccdvZDgXbSjR4-gnqW4m4k0yFepZaZwMEmk3GfIjzdklDajwFPrDKokG-oDTBXl-3fwSAgT9ruF0=",
  "id": "rs_0eeb861604b4e47d016ab447a71b8487d0b9a2b104b5a404e4",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEewZHRzbx1JUDJiX2FpAB5TWjqWTr2VcTisKb3DeOlMbzqAlYHwyWkc50oiEeizDPYaJFH0jZt-B-xLaCGyl6T92RsPwwCro_0Yz3I4c2jOd7Qd_PmgF-JSDomKhbPakiApCksYlfMw2cS0XowOgCT_9WJQW9dN33qXGWuxOJpIeN4hP2ttkOMoR788hKrJkDE-rLpDZmc12vJ5GuZVpSGxEFzDvYYk4U3nhQ6XkWU5snSxTGhNF3NzVfF5XoUsHsDjAj7OOgzjUuzUozG0znYh7WOPA5t9iNgUVJiNPxk4tbBdre7Yt9s9vepfzz9zwS_Bwv-tCvBnAbbSVf-UXM1acLPvUwnCh7v8s1WseF1NXb_r9w9dZCJxjWa0XF1irFHZPGV3qFBGDJtKFp806t_Pc6G63MDZE3N05zo8SwOPmakMol44SPaJQooOKNFiRZ_29zAd4mPGbNyCpG0EYyC5jO3Ni4yFehQyzRa-wX8KpSnrxQi6khxeqFMT8ugsoOZhUgvoGWH29kx9kvJq5rQcBoEeien-gzybsQ8GDdvBRYUqpTXnJEGdtJTUyUDXBq5pOo3iWYQCwXt7yx9Znf8q1gHVQVy9yFmjj5U9Jc-UP87kPG7Bc8kR09xk1DflR-_5XWP6TwH4nesDnN0q49hOBGtkU8dEPH4lp6HqY-5weyCqK2cY3XOe28ntcx26f-aasKkiXiQYVqJn8NC9LW6l6TBG82w1B6UTKBachO-qJznkTo4preaVoznqIA5ly1cm2G6-qJnD3Byo0su4cagSP20-M8ecRgvFdvhODyf362-y6GY56EkiGIfBQTMfCA8iR4qYG-7U_XKnc5qoLdD6QkM0sFTUoF0uwWqm1zgbj6Vj-LE2zT6rgNgM68e03zApfsd1b57OxHZVKz3g3fmEwrbj3RHOAm0EKYrUCeP8OMA5ukGKoI2VxZJpky8esA9axeFyWUW8aJkzfoeItaPISVAfXvvCHuUw0oaVLyf2FC0IaDSJBn1gEviOq_h947MoEdNJxqOJ7ryNhg9Eo1XeLiHm1nzqCmHwggQytGQgBcrQEQEQORqMLiugdU11xT-zUbvp00Oaiv_xKIt8qvSrSBHdh4OgzCVGCfX2cMnqDLkrSb-FLif6pVXBjjSvkIYZMWgIYRQtI8RUmLxTcx8r7XB4A4VDXXFMNIJLzC2-QpF99qpFxL5Wm7cu6VqITa0zGwS1Uqu9MYadXDNVKLsOdCyByHpdSaWVuqzIu0Dd_2FexSph4rH4veBNObUwpbHvy9xNKeU8cgWrKL6ZC2GEkKQGjqGJgcs4lMELZvqpWsI-MOVYV9V8PIYMN0b1daC3aVQAi89mL1uRac01QGkNJu2jA286Rw4_aWPWldNVNmhqzTkia5aJpaJdQkY5ekCoIfFk9Ve86VYJVRB0I_4af8pj9vbNsrnsEkRERr6ZK7GAPogOM2Ip8JjqO2ZIcB5dQmq-KO0N7pQP37NJSC65F3ZBwP_0WcHL_gViRmhDR_zSJ7r1S6XvViBe45ZJ-KaRXRhtrJJuJdZ3Mo_lcuQoJ5dalJn4YZuAi8eoHMXiNjCkxbTsKk8ng90cKjF5tdKyayPx_STO_w8mjIBwfKm_zYnpqh9JJSVZOWqJvpiRllQc8vrUzjpYTo3fKKkdI1DCK0Gfio2AF-ZtGRt7hRK2lgt_F5WcGB9p0tjUujO618U=",
  "id": "rs_0eeb861604b4e47d016ab447ac9ea487d092ccf080a8ddd1e1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.24,\"right_z\":0.02,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The cap grasp slipped during lifting—the opening fell from 0.36 to empty—so the full-force close likely ejected the smooth round cap. I’ll return to the same aligned outer pose, reopen, and retry with a gentler closure matched to the cap diameter.\"}",
  "call_id": "call_UTg1iki02xJw5qiIzOgJR6LF",
  "id": "fc_0eeb861604b4e47d016ab447ad748887d09ca04f07ccc5feb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UTg1iki02xJw5qiIzOgJR6LF",
  "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]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6128, 2.1433, 1.2243, 0.2737, 0.4713, 0.3069, 0.9946]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4868 right_y=0.2486 right_z=0.0389 right_yaw=0.0335 right_pitch=0.0056 right_roll=-0.002 right_gripper=0.9946\nstate[joint_eff]: [-0.2393, -2.0718, 6.0239, 1.8632, -0.1441, 0.0024, -0.0122, -1.347, -7.5829, 5.1761, 1.5995, 0.2418, 0.188, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feaf96251b4258036dfc5d2dcd7e16879174671fa93f3b7ac88b4ceac1c9c49a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca74109666eb457f823d9daa9f877102df5eb3282d23c462d572da22f688d17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda90639981a26fc10b867a27928a4f8961862385216031a4c0c2cc23c28d59c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 2.833 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 86 changed as sent

message 94 changed as sent

message 99 changed as sent

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8295, 0.4644, -0.2138, -0.094, -0.0784, 0.9974, 0.5941, 2.1338, 1.1728, 0.3614, 0.485, 0.2836, 0.9947]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1409 left_yaw=0.0536 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4894 right_y=0.2356 right_z=0.0412 right_yaw=0.0157 right_pitch=0.0485 right_roll=-0.0036 right_gripper=0.9947\nstate[joint_eff]: [-0.253, -2.3316, 6.2291, 1.8437, -0.0855, -0.0415, -0.0122, -1.4154, -7.159, 6.5709, 1.4383, -0.0024, 0.3053, 0.022]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4644, -0.2134, -0.094, -0.0784, 0.9974, 0.617, 1.9518, 1.3952, -0.1852, 0.4683, 0.3058, 0.0129]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1409 left_yaw=0.0536 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9974 right_x=0.473 right_y=0.2422 right_z=0.1249 right_yaw=0.0388 right_pitch=-0.0763 right_roll=-0.0541 right_gripper=0.0129\nstate[joint_eff]: [-0.4308, -1.935, 5.9966, 1.9463, -0.1197, 0.0024, -0.0122, -0.4308, -13.7504, 9.935, 1.9512, 0.4567, 0.2515, 0.6716]\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 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6128, 2.1433, 1.2243, 0.2737, 0.4713, 0.3069, 0.9946]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4868 right_y=0.2486 right_z=0.0389 right_yaw=0.0335 right_pitch=0.0056 right_roll=-0.002 right_gripper=0.9946\nstate[joint_eff]: [-0.2393, -2.0718, 6.0239, 1.8632, -0.1441, 0.0024, -0.0122, -1.347, -7.5829, 5.1761, 1.5995, 0.2418, 0.188, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feaf96251b4258036dfc5d2dcd7e16879174671fa93f3b7ac88b4ceac1c9c49a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca74109666eb457f823d9daa9f877102df5eb3282d23c462d572da22f688d17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda90639981a26fc10b867a27928a4f8961862385216031a4c0c2cc23c28d59c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEe2rdw15ilyxYNjEJL4AW3oSyxcoaB5jTOg-1vfTWj2dnt0GECtGJYyDjVGtx7gnFv9Yx9wpe87xS0As1Ta9LHKkHxrZHzhJVuD68cDB_5ctbBv2brihFbvEt6DOviY-GrXjeB1PI8jAsZIJz5um8Z3x7O7eYYAIRwl1vaNLWgVQ1r7geKkfr62HlegY3Uwv5hHB7L-R7vpQ1y0BAXziCJ7-DQciLtuBeCoGkD9D5mmq66jLea3SenO_1nSH5ioTXHKHlevjli2RALTT_Lx033-41Uu5OSRyNpBuG8Hvi0d9Dk-JhcxeychpMwRF173pC66VTfRKoU0l48JYh1o-SW4WgNk5m8eswUafi20EIRQbkftmWOGI_U8bgKOx6oFIyxfc0Rq_iZ3v3hovbR2w5Y8P_bCP9BS0mGfotzupyd_UbnEyJ3UeTZGDWtohXy23jIehPSvjHidi2y3mMqDGIVuifY3280KP9y4yuM9DfqUgXzVV65vjCcsCvysozSpygcPxWaa_ifHbmtT_ynuhxAw1ohSjTpQlqTe_2_OMpJKSVtvfMTy2Kt26v6q_gAjQTLxoW79N1xaG2dko9gyVQalx_apaBfrg5yYNnmW7Fdq1EDtFIRd8w-9-gzC7Cng8OOH0UYSbQNZOR2dXRi-PzXblBOxQB9u-zr0PoF0yCOy390NeTHXMenL5Z-ZNmuVCx5Y_HR_FBYkQ1EktmdKzdblk2chrbw-2eqZB8IqegABtRuyPmAd_zZq8gOUSUuF0-ry-53BzN7zf5HIrvFHKkJnkCIYYso4LeY38OWH4wze8WcxIvOxmP1cNfmBXk6ohe2AlKjSmXSH_UKqTvClXB--1uBIk8ac0nnB4xUNGZxkeOD43sV0v9OsgcIJUW4OC6IaRVrlCCS_GhT0CvF6jlwvlCUu2Q3gJg-LYiXItZAVn6oBNHOV8pqLuc1ZaoQ3nNKAUcXqIhZ6AkiZSZFSGIg9T1oBkvgoZ3NEE1n6Whh7BdRxHDHAsJY43veyfiYXSUhwsly2BtD-D4sTi0zTwthtK1QX-gYqTWJucx_aPifeRR1w3IyKKV-zqHF1bTiuBM6mk6IYPuFQbYyFOsr5cx_t8B8i8N_INRmk7qkTkM4BXKxRVkMhEkYyoJ1WWR6PhooPnbC5jIm62FRAA6QgEcmulqGnyR4fi5iUwW75NP3l55ZLJihF0jALcEv1Uu0gLzXXSTuXxeFhahoeKQlUU_Ri_SWIGLB7Ye-jkpIv8XRFkwwHI6VZz882s1HYoEA9omHcKGuZJ9uWjNkXGqmWWA88CZI6JSPfzBvxqTip0gbtGWRW59gSttzrlCPEzZWYKdtfQQrRBMGABz5Oy9vjHgTu64LAhK0BaHdgPYCPv20BCkPhVBELBeXf9T-0nPS4RPjJ27dDrT9gj_fBEThWu_bZMljjDYWjbO0OnhO_9tZ10h6ujLRHmEe1dhFZoGhdUtlBXPcfsbnKlPmO0YHa43DfrsH7kMhmSMbU9ajH5_WPW0_xtu3e461mIAhSdFJkIY3W5SjtyMoZKPPqZcrhHHu6sXgdc6C9CynrNZN_QnGYcoJg5OD8EmRs8R0fVxkb7I9M6SfKr4uc0D103GMk3iZhnUhRQTvtxGXrRr4R4KVaI9bkae08kQxPwOgwgh3ce5nwc8CRxzDZSbVRocybbrT52GijGhF_7-dBVAWY6oIr-QyuqFXfUxZGOuG8AnISTn_kmMhJTve8nXgCeGKu1Bly9a_R6SPUB7z5_VfyZ1946A-p_90yG45a5khrYwk4bEwAO7Tabqxyd6sEovPMgVZyU7Nhrn-r-5tJ6roavBpxNPvjJctEp3WRpVF6A5opcd3wF4lXLDTo0zFnROmiBt9tJ19xfmY-UqeSAWtZquEj098=",
  "id": "rs_0eeb861604b4e47d016ab447b2be6087d080a47d2dee0d0afa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"The bottle is centered symmetrically between the fingers at the same low outer pose, with its round body filling the wrist view. I’ll close only to 0.40, just around the previously measured cap/base thickness, to avoid the sideways ejection caused by a full close.\"}",
  "call_id": "call_pS9V8s1utdbOpZFCQWtfU3HA",
  "id": "fc_0eeb861604b4e47d016ab447b473b887d08024346a84cfffde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pS9V8s1utdbOpZFCQWtfU3HA",
  "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]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6159, 2.1399, 1.2263, 0.313, 0.4671, 0.3016, 0.4081]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4908 right_y=0.2543 right_z=0.0485 right_yaw=0.0422 right_pitch=0.0418 right_roll=0.0198 right_gripper=0.4081\nstate[joint_eff]: [-0.335, -2.0034, 5.9692, 1.8828, -0.1148, -0.0317, -0.0122, -0.5812, -11.1248, 6.065, 1.1648, 0.1294, 0.0708, 0.1148]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ef7a65d4530ad748afded723137123d37e785008e6b0c120c2f9250b92807d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a860e486248a4d0d59490fea0a3eb375f90b938dd6ad649560d4c465c23cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa154945b751badec62403e36532ee58cb36134ff57e2f5ea05b9ee55044926",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 3.884 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 90 changed as sent

message 99 changed as sent

message 103 changed as sent

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4644, -0.2138, -0.094, -0.0784, 0.9974, 0.5941, 2.1178, 1.2015, 0.3214, 0.4702, 0.2798, 0.3604]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1408 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4925 right_y=0.2404 right_z=0.0523 right_yaw=0.0296 right_pitch=0.0479 right_roll=0.0026 right_gripper=0.3604\nstate[joint_eff]: [-0.3214, -2.1265, 6.2017, 1.9121, -0.1392, -0.0269, -0.0122, -0.8957, -10.8103, 7.0359, 1.1746, 0.0513, 0.2759, 0.3687]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6128, 2.1433, 1.2243, 0.2737, 0.4713, 0.3069, 0.9946]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4868 right_y=0.2486 right_z=0.0389 right_yaw=0.0335 right_pitch=0.0056 right_roll=-0.002 right_gripper=0.9946\nstate[joint_eff]: [-0.2393, -2.0718, 6.0239, 1.8632, -0.1441, 0.0024, -0.0122, -1.347, -7.5829, 5.1761, 1.5995, 0.2418, 0.188, -0.1294]\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 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6159, 2.1399, 1.2263, 0.313, 0.4671, 0.3016, 0.4081]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4908 right_y=0.2543 right_z=0.0485 right_yaw=0.0422 right_pitch=0.0418 right_roll=0.0198 right_gripper=0.4081\nstate[joint_eff]: [-0.335, -2.0034, 5.9692, 1.8828, -0.1148, -0.0317, -0.0122, -0.5812, -11.1248, 6.065, 1.1648, 0.1294, 0.0708, 0.1148]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ef7a65d4530ad748afded723137123d37e785008e6b0c120c2f9250b92807d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a860e486248a4d0d59490fea0a3eb375f90b938dd6ad649560d4c465c23cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa154945b751badec62403e36532ee58cb36134ff57e2f5ea05b9ee55044926",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEe5eRofesCvzaZamhmwVvZk5GYxYKfiNe0hJNni_jMYmJ2OlksE1GEIKvj23SfkX0o437_i_eilpQif-gTRrqwyracyi5cxm97ZxsYtZTgPIAeDFSeofsj-clh9ZrdBuT1VoYuwKVrQVITCYhPyhpWmHqWyY1T-b6J0g4gDLScEQiTrE5YbLFND5qAgDTikM_0KOQHNcX6JumS-ZoDh1sbrYx44y88h5Ol63KuHhqTtHQDnC4Xnl-RST8UbzFq-nq2DyT5dYXlv--BXzVpRuNBOCYBgTMFQw0RgP2i0nYYw2FBfzhSsBiXW4bRo7M164wveieOjh9x6T3ObjL1Ak4VbvNmpFYYjDR8P0kdAS22wNbddZFMZG-_aGHSUSmB_1qsMacHbAD1ZFlJHtNEUTFI9rfIuIkeakTp0Q49tJCqoMwp1P5xjUUYfbDVx9pRCjaO_ZSqlESUZ9n073kwHh1aMcA1a2jlf84Up2wnrIjyKOFVFjpsrHTUKPNQ_0XWu-J3i5issPLl3mF60rGg41B5FH4J-wORnhBWDxxRPB_36D0bucAWbJdLmzvUCSXuW4vJasrvtU-BCHnNSZqyN96u9ELqocoyIIH_sK0bS6fwz3Qy086b5i_lmWJemZldYPWYgRt2eZQJQQpYh5Gjf6hLP8noYXKr0s6McnYMRFgD4sAwilSOwVhbnaGi7zqWEopapwptQQqqTyvLpIDLaBs_W427YHrA_Ro2APSqmecsEsh8W-d0lkTc8-C3RlDfaRRVwF38U5ymtg9AXxcGHcR5zZRkaSPayM7OK-uSnXl0tM8oLLmUfyFRtDasAnf7jxRWiagkZWrh8OGtt7krB5NbnaRJmEpfAK3ZiuEPVaeLh7jJ4REZ8e7t5L3rxjHCkSyUSVn5XOpg5xG4P-E3zCHrXRzMO7Vzjrj_K_ocxpvUIx6MXbMhH3OxJ6ODn31Gen9-7clZVhUAMKwyZ64riPeAlRIR1ZEv6vYAo7499Ll49GXjjUkn-zf1CwM3-eVHweAf7c2d67WHDbzB8K99abvh8RqxnHHHfhj47Ahj3gbef65wyszvTkLEF8BCCcVjAySvtJfN3GTFDMtCAHNWJ3gO35efHKq77YGe0D_whcqe9O5QK13MNbnmv1Uc0oQUx3-VeUub9YzBGEIpy6WAMTF3KBtSUckyvxgHG6hiD3nU0VHJRgd0ix81hR3D6DHW6Yx_-7XIcMOcw5vfDptQec8n9zvBaQ_bxqSwj9t75hYG_NU1ICn0zitH01wI4-uXrluSjsEt27A5czQcsyXdPRF4NkISAnfmiSd4s00sBABj8eGaAXrcFGbtXd5FLeqXreyt-Cb6_o1dpQvAbsiJltXPPdw8or2CbP4ZTt46MJSLS7VsUlepiIgSOpj2P_pyHJxTYpp_H4IAQWC1b4TJwDm6fqJL5x1iBujLPqsznM0X61bL8mcL3eAMsNv7n2712cI1NLppf3Lj1-IzcfbDQbibaNP1c9jgD9WUiyk9zVcCryB2QYd6jGeBw1B8D4EU8o-5i",
  "id": "rs_0eeb861604b4e47d016ab447b7eacc87d0a63eb7a1befd03e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.25,\"right_z\":0.1,\"right_yaw\":0.0,\"right_gripper\":0.4},\"note\":\"At 0.40 the fingers now visibly contact both sides of the bottle without forcing it out. I’ll lift only 5 cm while maintaining this gentle opening, checking whether the bottle follows and pivots.\"}",
  "call_id": "call_asFOORVrlN5iYNZNYNit88Cw",
  "id": "fc_0eeb861604b4e47d016ab447b8b49487d08bbbb30de182a3a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_asFOORVrlN5iYNZNYNit88Cw",
  "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]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6159, 2.0872, 1.3098, 0.0807, 0.4706, 0.3096, 0.4018]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4863 right_y=0.2505 right_z=0.0666 right_yaw=0.0352 right_pitch=-0.0377 right_roll=-0.0276 right_gripper=0.4018\nstate[joint_eff]: [-0.2803, -2.1265, 5.9692, 1.9365, -0.1245, -0.0366, -0.0122, -0.0068, -14.9675, 9.1966, 1.7363, 0.4029, 0.2515, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1bb91007339135e4ade0a60c54f1c5c5c3f433b81eaca1361dd1b30d6061903",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:599e94dfe5f61f07cd9f26ae2dcf9658b05f5ce7d535af820bf1479eb13bb526",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b383ef42b4be991a87e34a622682830597d6bb570214ad8d46ec31630917a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 9.541 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 94 changed as sent

message 103 changed as sent

message 107 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4644, -0.2134, -0.094, -0.0784, 0.9974, 0.617, 1.9518, 1.3952, -0.1852, 0.4683, 0.3058, 0.0129]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1409 left_yaw=0.0536 left_pitch=-0.0129 left_roll=-0.0025 left_gripper=0.9974 right_x=0.473 right_y=0.2422 right_z=0.1249 right_yaw=0.0388 right_pitch=-0.0763 right_roll=-0.0541 right_gripper=0.0129\nstate[joint_eff]: [-0.4308, -1.935, 5.9966, 1.9463, -0.1197, 0.0024, -0.0122, -0.4308, -13.7504, 9.935, 1.9512, 0.4567, 0.2515, 0.6716]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6159, 2.1399, 1.2263, 0.313, 0.4671, 0.3016, 0.4081]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4908 right_y=0.2543 right_z=0.0485 right_yaw=0.0422 right_pitch=0.0418 right_roll=0.0198 right_gripper=0.4081\nstate[joint_eff]: [-0.335, -2.0034, 5.9692, 1.8828, -0.1148, -0.0317, -0.0122, -0.5812, -11.1248, 6.065, 1.1648, 0.1294, 0.0708, 0.1148]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6159, 2.0872, 1.3098, 0.0807, 0.4706, 0.3096, 0.4018]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4863 right_y=0.2505 right_z=0.0666 right_yaw=0.0352 right_pitch=-0.0377 right_roll=-0.0276 right_gripper=0.4018\nstate[joint_eff]: [-0.2803, -2.1265, 5.9692, 1.9365, -0.1245, -0.0366, -0.0122, -0.0068, -14.9675, 9.1966, 1.7363, 0.4029, 0.2515, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1bb91007339135e4ade0a60c54f1c5c5c3f433b81eaca1361dd1b30d6061903",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:599e94dfe5f61f07cd9f26ae2dcf9658b05f5ce7d535af820bf1479eb13bb526",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b383ef42b4be991a87e34a622682830597d6bb570214ad8d46ec31630917a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEe9C8qfetmemK7GPGG2Z663eKId7iVr0bcFUCEQ7aByrtUk5pqpeXhOU2Sb2pKI00NgirYs5OWyp-DC9qa3t7rAK8wfoJSpt6Wf1iP6XKeiEC3u_ZG7LG_ueKos-S2tfP1hmgF1oijgzYiC-wD1um47QiW5zXiSMtkRpt8znPOavEjm5iRetRbwCtk1ATcc30cWdpoLuszKtS_lDfCmYQAndvlAAu9FRKaZfBX3-m5OK1v1fcx6KjbRpZZC-2cN0vWCo4PSWzuSGTD-6CrcbRKOZOocT_lDwgdvrxgkdZyrcCAVV9V3hX1Wvc3xaNMHGW2hkA7HVGmryuDYgBKmqz8OdGWmU3teor-GGuLBVi8PPQj56O5wzu31ZMDz0Cxm2isQG6K-c5hTyxrftedYE8H6mE4dlp5g43atyelb2I5rduliDhr6ZaL_4QEu2_J_sf2fsyXLA9yuLgzaeFDsGww_pfgrHUl7IrtsaIYzDYHGcd_o2RCz0SNtDe5Wprj2YjtObZYNtgQL9S9h3VJQTauYWVampR7J63npLZ76dhaG1FXMu82Bi1zDd_NmDhqghwywBGgn_abEpo-n8YLFpKqDcbDGL8uSTtsnkt1iOlQhPLG1NHHrOqDuygXtZw_FTyLThfk0y0cUDgKipePuHAZmK6-ImtPrPQnizTB6hIWWdDKegDP33fdAP6gG_SsLdFlD4NBmYecg0SU_d2k8sn4mCuPfK8e1S899Ybfp7Dlgxi6O9YatV3jP8cWd_h1lKOlKvNbY_VlULUYBeSYGGXEjCYtRVTzQDDOB_JTypqPcYvvdZwjxkRlPry_kHyng_KBpiEh0-izEwzwR53Eqaam_rR5Zk1SXKTpo0g9TE_gb7cVnJ38BBow1w2AQzZtMwiKRORV3gG7XO7YUKwzcy7qVkqaVzIFYK8dKXKk2CPITX2UnZhaUHNnKgMB0gA6tHwUlqeKCOTpmc20LhHOUcux9OjrXQX3g_9bXLRfzr701Sejlip-DZ2DchBCB_tgsAPfTxzGXkKMagcyDDhc8YC87nFtml7WWPvWS5PR-QoJnJffvFBeCt3KXgAbV1a-pGg4xl8zENW3UiJj30TBCQM1yLx9gZcokWHq9DvbVN7Kz-vlLjqwfE1uReHwPKSQmEclY5pMR32eA9ps1RIbGsUMoFuC5hfJmredXalG0gZdHyJmqxjZBXDa6ggMNeGxxsGsajfzW-rai78KhMieViSK5UR7k7lcXCm9C9s5rqIIoKGB7AueBVjtaCwzVQg1xNrsQ98195vdGSijKofGDyUoRmO9wZFwdSNwVGIfazGqi4wIHphq30R6qNHsx8V0vGPEkpKGoLGLxTVcebi67z-2YJUnfJ9gPwwGtec-rHKAboocDV8Tf3SMGYieXlwWORhgWN6Z_KVKRPOcW5IBHl7MZJ80CYG3L_qgRPoCBfLHHjkx0zHReZTV7x9OBYza3dBReiIdpY6KDr03pzK6oVmU_Mq-IUt-TjNboSnl3CdoWgFlMO8nTdLPT0kEKZ9hRS3TEyIfhy5USTZmJxurPM9rtdCUA_zfxo76oflkOUoeSm3OBHfEZdMtP1FlphB0CsJtRju2V80isK5ILbWB_ks6eCjU7vrDkd4QjGMGJEXqTF1wAH-bhdjTaJnaoVgfE1O-qpoaRq28TxzC8-AIHK_vPailhyBspzLYfO8DWtf7S1qg46kw-_K-gwPML4_eHrXItz9p2Od0aB2QNPVRdsR5fyoBLXpCl6VFTwOFHvlJsMX-tSnK9w40Vr1IcmnPEqBG8yrL6F-6DNoAZCPQY5eXY0GwT2uFiohHlI3b2GznO7ivPNyhVyGhFd35psYjq_Tnr36JCxRSA3xMkaHpAfCnmA9X2YQ58S1Ie4PuC9alqmjWvPDw9mLLh7jKQQFmNAEXb_5MaOlovc11GXriQ7sRZYyvyEr2FawX1dY6bzcnOtTIuuZtDtzaZGHN1kHXCRftWXO-sGVbEvStmmASy3vxs9BYBO93fw55qAry0xDGFcl4Ic3LBqbM2vuWG1V4o8Pm_a1oCt-w0mQNrlndYt3xdKEJvO8tooaIWpj6vkm0sAYJwqlIw8q4tSRshqNa-52VN9h8QoHrfWauHaSgp_lVEEcjzFV5GNvWfCTBmVphwf8cq8gDaDj2JJEQi_KVXXmeqgJzKLfpXAl_td-eKfKpnd4cl5T6tvN_bv09EHygShcY=",
  "id": "rs_0eeb861604b4e47d016ab447bb289c87d0b7629a43fbc1cc96",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.25,\"right_z\":0.16,\"right_yaw\":0.0,\"right_gripper\":0.4},\"note\":\"The gentle grip remains at 0.40 and lift effort rose sharply, but the arm barely rose at the outer limit; the bottle is likely still in contact with the table. I’ll retract inward while lifting, which both escapes the reach limit and should pivot the gripped bottle upward around its base.\"}",
  "call_id": "call_4WhwNMQ0r9I4DzNDkrYzS7XH",
  "id": "fc_0eeb861604b4e47d016ab447bcec1c87d0b503d0a3ed213032",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4WhwNMQ0r9I4DzNDkrYzS7XH",
  "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]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0788, 0.9974, 0.6876, 1.8664, 1.2724, -0.1268, 0.5274, 0.3672, 0.4018]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0538 left_pitch=-0.0133 left_roll=-0.0028 left_gripper=0.9974 right_x=0.4413 right_y=0.252 right_z=0.1303 right_yaw=0.031 right_pitch=-0.0357 right_roll=-0.0244 right_gripper=0.4018\nstate[joint_eff]: [-0.2393, -1.9761, 5.9692, 1.8828, -0.1441, -0.0562, -0.0122, 0.6085, -12.3829, 9.7983, 1.58, 0.3736, 0.1832, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c63d0ee09f6c2f6ca94d32ebf0584103b59966581ddcff7f869233a0ddaf3888",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5810df620fa3e217dcce4b5855f05d1f534bc608c122314c1436a9898ea260a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab99dcf30a1c8685c39e1ea09de2e539e9a7e50f80e6efbff81c5130f1eda3d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 3.843 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6128, 2.1433, 1.2243, 0.2737, 0.4713, 0.3069, 0.9946]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4868 right_y=0.2486 right_z=0.0389 right_yaw=0.0335 right_pitch=0.0056 right_roll=-0.002 right_gripper=0.9946\nstate[joint_eff]: [-0.2393, -2.0718, 6.0239, 1.8632, -0.1441, 0.0024, -0.0122, -1.347, -7.5829, 5.1761, 1.5995, 0.2418, 0.188, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6159, 2.0872, 1.3098, 0.0807, 0.4706, 0.3096, 0.4018]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4863 right_y=0.2505 right_z=0.0666 right_yaw=0.0352 right_pitch=-0.0377 right_roll=-0.0276 right_gripper=0.4018\nstate[joint_eff]: [-0.2803, -2.1265, 5.9692, 1.9365, -0.1245, -0.0366, -0.0122, -0.0068, -14.9675, 9.1966, 1.7363, 0.4029, 0.2515, 0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0788, 0.9974, 0.6876, 1.8664, 1.2724, -0.1268, 0.5274, 0.3672, 0.4018]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0538 left_pitch=-0.0133 left_roll=-0.0028 left_gripper=0.9974 right_x=0.4413 right_y=0.252 right_z=0.1303 right_yaw=0.031 right_pitch=-0.0357 right_roll=-0.0244 right_gripper=0.4018\nstate[joint_eff]: [-0.2393, -1.9761, 5.9692, 1.8828, -0.1441, -0.0562, -0.0122, 0.6085, -12.3829, 9.7983, 1.58, 0.3736, 0.1832, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c63d0ee09f6c2f6ca94d32ebf0584103b59966581ddcff7f869233a0ddaf3888",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5810df620fa3e217dcce4b5855f05d1f534bc608c122314c1436a9898ea260a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab99dcf30a1c8685c39e1ea09de2e539e9a7e50f80e6efbff81c5130f1eda3d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfI4Hyh99R5h8Q_2P-bT4b0LY9d5xtILBF2ZYO2vjwnPtTAsXqBNvP6e9sJ2WEtp_1I2_vZCoS_cWfntwmJyPijW80efHm3vX3mu_KeDbJ4FuNOoPTbE_rW2Eyfmv55R3G9uu7aWHSwWkkGUPYTvfwtn39etIxbEh9xK-Whb4n8xGLTSjSnvxb1FaIGEr-zYHHoC8QknlGrkegCoHuy84t8Crou8jysBBke1XF5qoTBaYdVzi15tMWPpHP4mkqYYEQ1-mTodYjMBz9Bqm6ixAHuhrAQtKOheQk-oYVGZ_aqncwgkw7tcG4kmeaOy3Q9F9pt-8JAEAblcw8DYNIFUKZW9BPSwCuU6KPUOyqmfAug2Fqb8Kvb7uTTQzQvq7zbp4zuKB3HhCs1w6CPLfN1P1y_SQJBWxmnCQ455fb_KigEADxV4wRAPTjkvaUS0_yAkNYBrxgXBykXpaYQtfAIylSdU29LtKoZNWe_-VpGX2qGVtroKqm75JNypF5Sz079EoBs8CrjiHQQelMiscwAO_h-YWUsqTuRCQ_Yx6XNa2bM5mxfZuX5bvr1NpLZIHtNmGpLF9JGqzL2Zy3xhQAOB56sEvXzDQdLYCI6XMK06VxWXd0OOk1sagZqsYBcmLCtvmDpiKrGWnSUstdidtYyHkdjcpbfs4n6JHtIiHelZdrwyPxglrUeDQh4zjxwYKKcvfx-VB0Uow2eKUAKBetWkU4cJjYzCIyf71JYuX65qYYhv1BelfbpLpP3mfrqDYoAHvmwgt7T3g8XrXqQ19gMFYWKUTbHhoKCnyurIVUl0urCeuxFgn4u914Ec6pJkTio6zsy8p9tYv9DjAzNvyXaJG03mRKtFdpejSmI8Z3EVmpVvWVScQmPw9Rxx8czpSd233fCeGoDhh4J6rcwSYvZjXMLJTCasJK6K8-2q7fxmV5vut8BXLiUMWTdplXkmWSQFQ7QuS4MKP2kBrKSNFsdVSEpVEwwGJ4L_G6uCX0cL7SW04_EPrqFEXjloMAPYTg_CMBsvNUuoCUSoRL4v9Izvedvy2jKgOtK6_ZvS8hrNyPVDwPViVU1ZrTdbFC237tLoaclIiAqT0NCZ1NU7tP9Jmx46Wc_FK9ILOgPGdDfsfL2yMAXL3zwXzyohTA4_kZZX3zLkOZM_X0M7lkNS6eEj4xGaQxtgNHKgjXdmUvS5ui5RHw_AMHkoky9y-je2hzMkiNDl1VKJDINe2HO-NFl0wSAEJCWzzT2xcasrAKz5xQZcGA98TTqePXHiZjgWvaCOliJpbNx9Dqa-iWBv2AvJETFeh7BaqvgqQboTj6aEFoKGkEeyyq_ie5TVPPbDKdasL3rd4lb5xeqTgkcEBsdbBZvAeJBq99-jdkzqOTnzrQF3RzMJ2D1Cij-NCnMkDo808qDjgENA8YyJpDCnEu76xSZ7WBNFdVhITsPMK_KVc7Vj_c7eYCm6qgfEDYaAssqiyrHi3MLcmQ_Eoqt0ZygI5vNr4ydnfgp4iB7j0wnJNY2_XB689H73fgm0sqFtFK_4iLaC6oPyuDwSvKBtsnjzNWnNFgCudxvhqZ8lrC1R48hbAUIX9kF2N3JNEwm6SfCO09j4dzB9imD96MaaojuS9idRh0Qhl5b2lUmsVCGYn8g8I812hjVnx261MUYuraWV4zfBlAKwSAuLrh1obIZSjvJTW6VtZVqNonml2P1tRgMFMux0cnbP8-kmfUUF98Jno7ZDS7l5TonuX7y-5ryxmNKuhS6K778Gb2EhqlO3m7q0b6zXRhbcqx5n3zov17RyQbsCxXmDqG5IjKIdWSHGgxB1qGBE3mBjTD4emt5krilWgYi-HSycWTAjfYil5CD5OVwPDA4ttGQGih2CFQJjLaeWJYAzeC71TfN_gvtOs49SmlbiFf163iBVV6H3qnA-KGfoFyAOhokyl8B3ma8tDzvGXKJ3MybgY8ry-9jsF3RyrG3jDqYK01Gdl2JBRBg19OKuWwQuwWYGbUBjPFagI28TWHGB-zEG95PWVFDHp0Bgz2mxUGblzevyto25XSSelF8RF32oi29odCVsZk3ZD3tHTLByOMOmSzQgRM6k-jT_I-Pg4fTZyHUTaLsYWqYZNk7kEE3GlJdvVMpyiN7dFVhNkn976ZPMM8gAaJCn_95u2ValFQNIZGCOnw2CTJzfRkWVB8hQScLOqMSpKiP5MgOkE6NdQ47Qpk_tN7VykV_s59fyNdMBPNcCkBs1t0EkuBIWIODpuVSjlOY8WA-Nl3hOh75lrr2uHE_dSHVKjJtJ7aVi2G0QTm1yrGhRBEwiD1hDdvKxaoRy5EYJC6pEh_R4mhi2Sdu5f-zRVEM8ojEkiWc6y4_fu-M3CUgEXZmXZJN4SlH7lkioTo9an1rCkKs_YbZdosYtiHQUn835DG4BH2T5oie-BCe-oINDOwUnW3PivLlbt12QliGgHovt35B6oxIh1JIwD1TFBCSNmKRgvTd6CcZVDaSS7sdpgP7DHV9gnpTX1VZoKZWlUIrZ775m8-DnDcYwtIs_Z8hLc3b1doqCP-0d5gMHRXPtK_CvrWIADXReUdmp4SbTBH49nm5isRbkYkKlY2NzTgGy7DwJ1VzWTWMe9QkDm3uMTZvqKE_ThZJnGPaRDsF1D400cliqzaOSjDBRwuqM2W2_sof55ZRQo9Nft8ULwfeDb9cAuXzg8q7k9Zye4Vdvk3_EIOjORzzzHFXeE39yQBAhyhicGButu4rMm5Sf2fuQiCspgESC5XkMuC4D5lARlXqa_xKY8zLIZdHf7hnbKmeP7h6lKOseHGA1KY2SBaoUGCyH0dq3ecKzrokWy0C7KjrYiYiMYFhQ0MIUokkSKbNA3bJfcDC5wBJdIlQh7iOpEGf2UvSZnzDAlKNenIZiLq-w2hDkPVFbPeJrvrPlNS4KzaiveCXcXVqAN94IZcT_YlYTkOMOaDUMl3Iqhyslag6glazU1-it38HLnAPtiyb5IlS34wDDQ6ltkoGJUOZDEFO0Xn5p1_dhfLuocxASJv7rLi3Bqba5FOa9f8TGANyBvyVFn3OxooHMgdUkM_evmrBzfYcFpKF-C70Bnrgo09mo7TJnNWWjILmhkGVfDxIrE_HKEFixJ8yQwEngorGyC3ZwUbnjNTt44ACrcJ2GU8TdVVn8418dlFazYjfH7AI4zda5tZ8Cuzw-5L45D7FZmvEo3-6I2ULf5PX4ak87aqt5bNHSEgXNvjUSL0i3OWuZG4rTZW8EYlO-Ho5otaDrAJsXGXxbIOjBnUzby7ewXbDhpD6hKMBA_NkPipdJ6xzT3YqL7wf7jWswS-65eV6wjSnqZdnEsa9EE-3go1oFB4Ap-Tw6hIp7adJAfO4XSNhlPkjHSEKu9GmQ-QxezmFcpTc8U-VOQMZQxFXGFIi-bgKY1Z1o0RicSQExhC5B0aCZOUMwIIUp2Un2_cO1JP003-VfAvHFoURlEccB9m1hLGaZnOrctNziCsDrhu0DPdZyojViL9xMtXiTAhPiYfuKZ8gny00Ob7EImIuFLtUPSy_WBsmv6cfF8p42U-lVTVUlfAkrxgYQJnqvq4O1lmM1GnWA9Ha91njLK4vQL0APykJYoErsFz4HUKfbSszNycKb-6SyQDRdj7lqgW2-BoecM22vs8HdY9scIcOBNUoN9uNQmw7EbRcxU-cYdxdcoa6kBYR76ZFcpfYICz_8iviHzNecMXkIGm7ZOUM_mLaXYyBPThelzb9yseNVOn21Ht2H0H282Zp4Vjx0zabxwC5JdRkSK-jUw4Dh2Sp0jkqnSweMagem6n2MlFQSnXbZxW2UWZaXkWtu2mdTPsQ1hJAOhXdsHHzehL16w4tU0UjbFM7zdEiMgcupo6eR61JqzhR5EOQgE3Fe8VyrhqgJkAU_zL9y7n9QlAmRld45m4HcGENoGQkSvr-6t_P_c4gl6VXDNtmayekBiTmjC4LPrqeal0nD9dJJk9Gxmn0M1WDD2ahJ7T1UggJPZD38t_detTbIrAo3vNl3CN2uGTUydl1LsFpGPoY8ldbc-IvnmOttN7xp2cLj9DVI6WGjdssx7dvRvQ163Sllgk8Ab8bWlx-mtWKBBx0sb-6hYcyhU6G5vDNNihDBKakHoo6SGZK4RafGwu7-9nItW7GcUDQWdO7ctpeypLAXSa7BqfmvTOmT10Fq1m-8aLGaY4Lcu-kF94ipuP6NczF_lQqQbXFUGIeF0-O7AUeh3WgzkWZyTiPklI9uTLLASTkOEkwT2iXUeZPmZ9FRZJ4nuo1dubGZ47WsT0y2tW5",
  "id": "rs_0eeb861604b4e47d016ab447bf8df887d0abdd776ca6a30532",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfINdu8mB-PwnfMGFW2bqwgiKCVdAzZ-dYoqSnFV9Lf_tYYf5TkxDs2vxvr2aq46kKhHxw0wMS0NEslPU_oZsKxoXqJzUR79-HMwDUEd1inwIu4Tv7JwXZG_Tg9yg_S-JoaKywT6HoPLqBfrMRQeAiEFxCMDf29rTlmLM46oW6bEocBRqyw6yx1mUUhW4H3obLG3z_UcmeM3lykFEKgImIhEEn9f4OM_0smsodugUYhOpizJ85ML-42YeatOCiCZ0Kfz8ohfw2UBKwGr4wrPdsUOhfqRrLVJoRBtbCX64Avd2zuHXXaFSm9gHcmI2M9WvSs_Q2AMNSlvHiTPV2seRbxXfoY4Qg1U3sOJFoEhT_nDWqyEyEVTd-xMPWekBqTa03FgejiUgDxcpPKkK1VdP02VIuoKVKz2mTpk-xaRIdaFLaLzX4G9HEg3L92QYaPIQ_ZQX7PkQtJv-JwFoVQvkL3YS10uwc0EDeKODxmcV8qDWD5E5sDHJW_KJAP2Oa9ku8uTcnnUsXWDR4zZsQsAkGuo-oM7egnijmjpXzhg0kFJgQODtnwRYX79r3f48G09SAcB5U0nZCgjltojTl2oKxB_Z8yLo64mtYWw7SEKmp-xQ-TgqRqvrEjGDKYtCp8t7CeB3oqL5HrBWeeHR6RikWk7uULxGpXF8NOFk95PtrRquxWIwWYa_EGJqQGlUSmpC7-0sVUZ-0dORxL2QwlMVhltvBkvIulfE4r1CzRvzEF841rOqEIuTcoVI6PsS090RNj4qECR2Lgwa9riAKFO80UOfJnSspr5Q93iop0rEJcS6CmwuklIZ1j4BLirY6uH0rg5BNl8NdI-9gx1stfJ8rnqiaQSHkyaFiZ2BI54DXNr-CfMp2tuTIQZpXZndDGwqIXviq3o8mSfoHDyKc2mXsgaLzrT3-Oj9aIUHNQB6Jz3sSC2FOKhLSWm5dpyta5APdw_J79XP_CtkURwqKRuhvDAm3i1PNqE4gVTkBCzX3o5izXNrM0q5tL7RLP5p7HQZbAQzF8wv8o97MqF40_33H1i39n70j88bGv6fqW9_W6-uhOMr7gnEWm-NZVPTcPttFvVLNOIalTxIxPo1RrVYtmS2E93eOykHnJqKKk42yA7spv65rxMTnUzl-0ZSneG4qqWVjc0YlFNvjuEWL1k5GW8nVrsyogYEHtNYYzZ8hLHP8loWWe7jdeLAeDV_a4PXr7yZ7E3CYfgmta9WbknzstjpeCK0YKZlSFTNvm-1jocIGhQVINcgx6WDSrkBdKpLejCxTM2Sdt8N4lRDglH8FSC4eEB04tqQTUnjNfVfbrJbfUUFDyxi8E7YdwPiK5H7MihL-C0udxP7VlIWKeEA9Br2iXw-KvqT9pMpYaXU84hIkGKrI2Wtnb234cSpltqB3__boBpHBfDC3aYHDtVurO86h-kTkYm_AVDkLIfS9rukbakg-WemrUTiWFgq9JQSKMdEeBlAulKpCYDdoFfPzwcf5154m1nYLu6644QNWtkhD0WPcvyqDcViMOepyVkUtnQNhKfQ58tQlP2vjqcaXPP14-RQUIx3amZurzY9YCVUFSWuS3ySVvdc4VFb1ldcdVM7KAvJIiie_Zln2zuq4ZuJ0iUyOsFoggsjFxFP5CqyOG80ZM_z5t_kR_ctA7W68IsApMoinXYLADllNkbOpKjCL3x4mk5SXl7u5KSZq0CuZGVMZ2voxtXWJw9hH11gqVyEwqNhr40F4LdrxUfvkNCx-app9ojPDsp3r9iieo_twprT1bBjwPuK3PzUHutZ0BV7Gu4AUoZ_cJvy8g57AVTQywZTGVnFZbIQ7oXxkx_d-0ikEvWkJKUOD3gSK_diegjh7BuGUofhoWFRlzav3m1t0vwBDvECVMJh5PL1TNlgLV0f20OkUPjScvP7v9YT9nfW_1lltCUd0b9LUK_jRv3fxh_Pv9_-DNd-bNd1ZiOm2tUhnDiF5-vEsNqSTwwvXbLOlg0t52apHtx_Zhoy9MHZVuPcyDuvHaTyTtEZSRuEv573TVz1cL5xzUpac0jGF3",
  "id": "rs_0eeb861604b4e47d016ab447c4cc5c87d0b45ceeddb5be5892",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.25,\"right_z\":-0.015,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"Because the opening stayed exactly at the 0.40 command and the bottle stayed on the table, the gentle close never actually contacted it; the grasp height was still too high. I’ll reopen and press to the allowed below-table target at a slightly retracted reach, so the fingertip grasp point reaches the bottle’s true center height.\"}",
  "call_id": "call_RP9hlHTeFx8mTMm71PgeOuOf",
  "id": "fc_0eeb861604b4e47d016ab447c75aa887d095e5768f4f394937",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RP9hlHTeFx8mTMm71PgeOuOf",
  "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]: [-0.0528, 0.8299, 0.4633, -0.2131, -0.094, -0.0788, 0.9974, 0.6621, 2.1956, 1.1263, 0.4091, 0.5304, 0.366, 0.9979]\nstate[eef_state]: left_x=0.2986 left_y=0.0044 left_z=0.1404 left_yaw=0.0538 left_pitch=-0.0137 left_roll=-0.0027 left_gripper=0.9974 right_x=0.4634 right_y=0.2524 right_z=0.0039 right_yaw=0.0041 right_pitch=0.0135 right_roll=0.0101 right_gripper=0.9979\nstate[joint_eff]: [-0.2256, -2.0034, 6.0376, 1.8974, -0.1441, -0.0611, -0.0122, -0.0615, -10.2085, 4.4786, 1.707, 0.188, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9a2af4f0ee1530355c8d974f84030c5971f876d249d0479bd7f9e2b675f5c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b5d20ab181ffbaf04b3afef44a894380329c4f71c908eea59663feb0221f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41814d0ae86bba3f60ea331a9dbfc38498278aee0cb0308e5486ab1e7d439473",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 2.608 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 103 changed as sent

message 111 changed as sent

message 116 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6159, 2.1399, 1.2263, 0.313, 0.4671, 0.3016, 0.4081]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4908 right_y=0.2543 right_z=0.0485 right_yaw=0.0422 right_pitch=0.0418 right_roll=0.0198 right_gripper=0.4081\nstate[joint_eff]: [-0.335, -2.0034, 5.9692, 1.8828, -0.1148, -0.0317, -0.0122, -0.5812, -11.1248, 6.065, 1.1648, 0.1294, 0.0708, 0.1148]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0788, 0.9974, 0.6876, 1.8664, 1.2724, -0.1268, 0.5274, 0.3672, 0.4018]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0538 left_pitch=-0.0133 left_roll=-0.0028 left_gripper=0.9974 right_x=0.4413 right_y=0.252 right_z=0.1303 right_yaw=0.031 right_pitch=-0.0357 right_roll=-0.0244 right_gripper=0.4018\nstate[joint_eff]: [-0.2393, -1.9761, 5.9692, 1.8828, -0.1441, -0.0562, -0.0122, 0.6085, -12.3829, 9.7983, 1.58, 0.3736, 0.1832, 0.1685]",
      "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]: [-0.0528, 0.8299, 0.4633, -0.2131, -0.094, -0.0788, 0.9974, 0.6621, 2.1956, 1.1263, 0.4091, 0.5304, 0.366, 0.9979]\nstate[eef_state]: left_x=0.2986 left_y=0.0044 left_z=0.1404 left_yaw=0.0538 left_pitch=-0.0137 left_roll=-0.0027 left_gripper=0.9974 right_x=0.4634 right_y=0.2524 right_z=0.0039 right_yaw=0.0041 right_pitch=0.0135 right_roll=0.0101 right_gripper=0.9979\nstate[joint_eff]: [-0.2256, -2.0034, 6.0376, 1.8974, -0.1441, -0.0611, -0.0122, -0.0615, -10.2085, 4.4786, 1.707, 0.188, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9a2af4f0ee1530355c8d974f84030c5971f876d249d0479bd7f9e2b675f5c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b5d20ab181ffbaf04b3afef44a894380329c4f71c908eea59663feb0221f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41814d0ae86bba3f60ea331a9dbfc38498278aee0cb0308e5486ab1e7d439473",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfMwGSxq4_ngoJLmfddTbqMNHif64hkJ5naucp88eaKVgrr-tlMYtF5uZ0_X-m5TeJj20RomTPc_5zyQ_Jkr-YlnyoXBFfQsyJf3bBIy8dvRwbYasf8BDHM4F1t5R24nzeH2dxLdR8zocgh_GMYgED_wlzux216C95c07NFt1cOC8YMY8ghm6nHsuFR09VbkUAepsbr3M_70dXvS7HtpcYfPPyDfz5oQ4Og-khRsySMwjKW2XfWWbn-eVVqhhy_VkAsAB8OexNU-AoqYyfVHa7bWFIzG0IfguTk81zJzvVWiMyqE1wAW2ZWVDWZGSzq4b55SHMXR-r0GazZHKx0Bjf6VFWXgciw0pd5NK-M9nH7rCM83uId44Gk8AYhxln2iziGVu7WpZ0bWk2N-_C6qD_KKFw4Z9ICtjqZYrupBteJvTGMHL9_EhwSTlxD230Yrla6hqOQTKL6RCd3Au23KUC0JYIdxzjuvt-9p19V85ypcmKBW4laXfQIJ-UnMhb7-a6HQU2z-eoBadO9U4fhlCa4Ag4TzMgBKxzJmirZzLNlvEa_p4Huzq1ZKmTfY771bB5z50zVr_4Ojjesl5QqawcFcG-knI7aiv1H7ribYwX8tuCoQwaMVUPNjPGF1f8ZzBKQM3eMmR6tWsINGdgSGHDp4z0RxxEFqn4VEmsSOmcoFkWqmIdibwPfGwPoeNlmTrmBFB6rQ4oC0WDY_5Tud182eutkeYccvBaDhNgz3jTRKGNLpBywZq9DDdjKvr3SNJPSl0qO_fUc3Hk9zQSbEURKZP8USmHqGYGwzmcTiP7o2Z40ik3VrplZ8ZO9-wi0xePs7mWkD-XcD7vqInh5QK8Zj2IW5Bku1VJp6483k7I64aqU97KVnH8jmxoOlCWipejr2gyHmPYdkGdEs_K7zcDyBRXKEIay8CLbQDOkKqkA2sTQvqsdekoupf4-Soo-fgnYeYreF3XXU4hSYDrMGi3YKe1yCcKEkPyohZ-YlI6L7JSYMC35l0taDHpD8tUR43V66vGVRHL4WtF5aul0ro1iL4vH6vWJ_qJIzcGLLaRRR3qVK4bOl-QrbW2p3OZ-xSWjHl68pzJLxpyXOyyIxPvH3Arr2orGYLi_6gT8pXLyxtzXNp3y9uOvXVMeaxI9s3VIJWWxWGsc279T0rYxs1r3ug7ZiVK8dFIhw6gJOEMVJxy0R4qtQz4DU2-IULWXy0XGAns2Ua_oIDa_cjvSYMjhJwOCWKeTVsCYA_JUUOVD9ow8JcN1AZickygIgnExQu8W6CNcIjKb1zTKBhG1BVbLzZ9gV-6x1dij75KHJZnvRA38EQwVnSVa5p6Eudo3Djh6IPabMgtEhNRcAMInZRxSycadlsUDaNI2UM0PaxsoURW_pMzOxYEmt2I2xOtK-_xUdyxBkYtlaciMN7JeyGUwCQ==",
  "id": "rs_0eeb861604b4e47d016ab447cb443487d0bcf86573f7e89d98",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The below-table command reached z≈0.004 and the bottle now fills the wrist view between the open fingers, confirming the grasp point is finally at table level through its body. I’ll close fully at this properly centered depth.\"}",
  "call_id": "call_RqQsqaYQPyXV5SWzrtJfXsml",
  "id": "fc_0eeb861604b4e47d016ab447cbe4a887d09dfd6b0ce698a0ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RqQsqaYQPyXV5SWzrtJfXsml",
  "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]: [-0.0528, 0.8299, 0.4576, -0.2134, -0.094, -0.0784, 0.9974, 0.6609, 2.1998, 1.129, 0.4095, 0.5369, 0.3614, 0.5371]\nstate[eef_state]: left_x=0.2976 left_y=0.0045 left_z=0.1378 left_yaw=0.0536 left_pitch=-0.0197 left_roll=-0.0018 left_gripper=0.9974 right_x=0.4643 right_y=0.2511 right_z=0.0031 right_yaw=0.0004 right_pitch=0.0151 right_roll=0.0024 right_gripper=0.5371\nstate[joint_eff]: [-0.4034, -2.1128, 6.5709, 1.9219, -0.149, -0.0513, -0.0122, -0.2803, -11.8222, 6.2701, 1.2821, 0.0366, -0.0024, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3ee4c744d4d3448ba336b6c26c103844071cdddedefeae29eeab5f896cf0ebc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ecb373aa5d0e7c7c1646ea6ea8f9ff260b08a4ceafa7aba058322fbba187d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa129b183cd6e678f5aa87544634b5a0038013a5cc16b7c2221c59c72ed7ac5f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 9.096 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 107 changed as sent

message 116 changed as sent

message 120 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0784, 0.9974, 0.6159, 2.0872, 1.3098, 0.0807, 0.4706, 0.3096, 0.4018]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0536 left_pitch=-0.0133 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4863 right_y=0.2505 right_z=0.0666 right_yaw=0.0352 right_pitch=-0.0377 right_roll=-0.0276 right_gripper=0.4018\nstate[joint_eff]: [-0.2803, -2.1265, 5.9692, 1.9365, -0.1245, -0.0366, -0.0122, -0.0068, -14.9675, 9.1966, 1.7363, 0.4029, 0.2515, 0.1636]",
      "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]: [-0.0528, 0.8299, 0.4633, -0.2131, -0.094, -0.0788, 0.9974, 0.6621, 2.1956, 1.1263, 0.4091, 0.5304, 0.366, 0.9979]\nstate[eef_state]: left_x=0.2986 left_y=0.0044 left_z=0.1404 left_yaw=0.0538 left_pitch=-0.0137 left_roll=-0.0027 left_gripper=0.9974 right_x=0.4634 right_y=0.2524 right_z=0.0039 right_yaw=0.0041 right_pitch=0.0135 right_roll=0.0101 right_gripper=0.9979\nstate[joint_eff]: [-0.2256, -2.0034, 6.0376, 1.8974, -0.1441, -0.0611, -0.0122, -0.0615, -10.2085, 4.4786, 1.707, 0.188, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4576, -0.2134, -0.094, -0.0784, 0.9974, 0.6609, 2.1998, 1.129, 0.4095, 0.5369, 0.3614, 0.5371]\nstate[eef_state]: left_x=0.2976 left_y=0.0045 left_z=0.1378 left_yaw=0.0536 left_pitch=-0.0197 left_roll=-0.0018 left_gripper=0.9974 right_x=0.4643 right_y=0.2511 right_z=0.0031 right_yaw=0.0004 right_pitch=0.0151 right_roll=0.0024 right_gripper=0.5371\nstate[joint_eff]: [-0.4034, -2.1128, 6.5709, 1.9219, -0.149, -0.0513, -0.0122, -0.2803, -11.8222, 6.2701, 1.2821, 0.0366, -0.0024, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3ee4c744d4d3448ba336b6c26c103844071cdddedefeae29eeab5f896cf0ebc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ecb373aa5d0e7c7c1646ea6ea8f9ff260b08a4ceafa7aba058322fbba187d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa129b183cd6e678f5aa87544634b5a0038013a5cc16b7c2221c59c72ed7ac5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfQQTrO5ULiKGO-hR-xAsRDIcSEZDvWF4LBYCdfKtTwxLSs3726BF-BNjBu5DOyYYr5c4Tq3DHjCH5we_1ZutJi4f9lT7LoZ4IKwBSeOv2GjWehQ_HXNFDox40Zbdmmjq4DPR4p-fLZxVwe8Gkgk_DnF2EYRm8XeziYzTAoWpSlj3N78i7xfYxPAEl0u-2Q4ARYnAeBdUSX8hjDxfAc_jmC7SS98OwSn2_1fRdGN0czYeH-lDnUMat7hqAiBP7Q9G0CZMju_WjcEJRGKABg5FeruHMAY5HNBvHc3Om9-FvGtJHqIwjKTayxS9TWuKvoc4fTDPCHNKZr4tRTOExrfqtdbaWVHftuPqAJ6ryobuwIGMX72F9aDh15d83pCSq01DZ_CyZt6FUB1nsi45lgya9gJDQb2t-p34mlHgb6hCUhk3_4cCnCJZsd27V9NMIIgoQMSLJY2uyZtwal4MnL8cvEBTeIe2iZhbGkd2vf_hHCbg9OpM9g5gzciGJbBmtOKG7NJbB53kdk5KbmCjI3n52Vsj3gdLMcLq-P8Nj1n2TZvXTz_ICzovOqF57lT98f00IW_SDSgYiBpy7GEBf9dPEgUgjHSzL2L-XK23to_vF9pI_2fCia0jqoX308HDt0IZ2l0KkFs-QPwXgQTjMsvRN1l4L9uQ9kPzEc01dyIFUiWUzIX6kiUAvRSu-Vb6n5X6C0DY1QmT9XE5B-2kV0gCYeV00IoiAUtaf6hzh7fsmjm99AgE5ROu1JcdSczzQmZGIzHWjhG-8nIB7VsRQjXdC15lEJ0PlQP8mec0Sq-oXnP8rOZIP5nzDa22i8r8tAX0Bs0YXdE4aBMfF7lBeroqVpfP5tH6UrF3INr4b1YzR9-51Jdz6kWstaiKKVYlAld7M7gZdSF6n_QBAVYi3miUo1QRroyzsJKXJvuRb1N6fVKoJrsSTDs2R5xKo9uVWbS8D3Es6qfkUpPHIKITu50Zv1_bptdIM-a3wa9mTqCCm1xaKq2KDtwsQdHxvrGeNWFZCdISArud-xf4i4ApQvytyHsLfxNkP-mwAy_n3_2e4HtaBU92QB_yVKJEHI2poTShC2Uby2p6-A-Pk0ZVo6rDpIzgG3PLsqdbreyWvYnwtKlt1S3r8yK3JmQRTPT_VS3N_m9za2tJYM1fqM8OclM41DwNhG6CpqFasAAB9l0_aahuF84eHLwoL9WBUZnkP7LsPzdXfpp2uxqJ_Pni8b3ZE5Qsj9v7PVChNWV_yVHA_i8Swy-XTc1rPCq4ptVSzzlE6h7ZnPZNllgaXeD13tp43aDXNcWDHe2_eEL3zcPi08XUOCC56I1hsBtilEgcarsGW0rHqMQLR79new4P-ZP9WxBRowf9nx0KNYCpNQtFWen3UWOKF7hUM2uoAzywd9IOdazSLNtPdQ0q4H_ZFnOpjk0K5Ec31fBhybqNLj4Z9N-KZiO1ZdExO9YAhcF38IBBbP",
  "id": "rs_0eeb861604b4e47d016ab447cee9c487d09efbdd36c3333a72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.25,\"right_z\":0.2,\"right_yaw\":0.0,\"right_gripper\":0.0},\"note\":\"The gripper has settled at 0.537, matching the bottle body’s roughly 5.1 cm diameter and confirming a solid grasp. I’ll retract and lift high enough for the bottle to clear the table and swing under gravity.\"}",
  "call_id": "call_gcwuVGTpyoyxN9HU1PJ5SPxL",
  "id": "fc_0eeb861604b4e47d016ab447cf5eb087d0828bd0a90314cdf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gcwuVGTpyoyxN9HU1PJ5SPxL",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.828, 0.4473, -0.2058, -0.094, -0.0784, 0.9974, 0.765, 1.7695, 1.2388, -0.3935, 0.532, 0.4191, 0.5369]\nstate[eef_state]: left_x=0.2968 left_y=0.0045 left_z=0.1352 left_yaw=0.0536 left_pitch=-0.0205 left_roll=-0.0017 left_gripper=0.9974 right_x=0.3826 right_y=0.2481 right_z=0.1213 right_yaw=0.0621 right_pitch=-0.1906 right_roll=-0.1151 right_gripper=0.5369\nstate[joint_eff]: [-0.4308, -2.2222, 6.2838, 1.9707, -0.1001, -0.0415, -0.0122, 0.1846, -14.9538, 12.0, 2.3223, 0.9304, 0.2906, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f45ab7a42cf2c49baddaf2bed72b5a50789795f2495e75d7bf2267585c5076f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4dbc08ba040138f8089e5e30058a1a0cea2e6e33145a9da204c9e4c94544f46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe5532b0c6725b67937afa53bdcb77476f6aa723ef88925167de89f3d8f6c46",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 3.081 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 111 changed as sent

message 120 changed as sent

message 124 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4641, -0.2134, -0.094, -0.0788, 0.9974, 0.6876, 1.8664, 1.2724, -0.1268, 0.5274, 0.3672, 0.4018]\nstate[eef_state]: left_x=0.2987 left_y=0.0044 left_z=0.1407 left_yaw=0.0538 left_pitch=-0.0133 left_roll=-0.0028 left_gripper=0.9974 right_x=0.4413 right_y=0.252 right_z=0.1303 right_yaw=0.031 right_pitch=-0.0357 right_roll=-0.0244 right_gripper=0.4018\nstate[joint_eff]: [-0.2393, -1.9761, 5.9692, 1.8828, -0.1441, -0.0562, -0.0122, 0.6085, -12.3829, 9.7983, 1.58, 0.3736, 0.1832, 0.1685]",
      "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]: [-0.0528, 0.8299, 0.4576, -0.2134, -0.094, -0.0784, 0.9974, 0.6609, 2.1998, 1.129, 0.4095, 0.5369, 0.3614, 0.5371]\nstate[eef_state]: left_x=0.2976 left_y=0.0045 left_z=0.1378 left_yaw=0.0536 left_pitch=-0.0197 left_roll=-0.0018 left_gripper=0.9974 right_x=0.4643 right_y=0.2511 right_z=0.0031 right_yaw=0.0004 right_pitch=0.0151 right_roll=0.0024 right_gripper=0.5371\nstate[joint_eff]: [-0.4034, -2.1128, 6.5709, 1.9219, -0.149, -0.0513, -0.0122, -0.2803, -11.8222, 6.2701, 1.2821, 0.0366, -0.0024, 1.033]\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]: [-0.0528, 0.828, 0.4473, -0.2058, -0.094, -0.0784, 0.9974, 0.765, 1.7695, 1.2388, -0.3935, 0.532, 0.4191, 0.5369]\nstate[eef_state]: left_x=0.2968 left_y=0.0045 left_z=0.1352 left_yaw=0.0536 left_pitch=-0.0205 left_roll=-0.0017 left_gripper=0.9974 right_x=0.3826 right_y=0.2481 right_z=0.1213 right_yaw=0.0621 right_pitch=-0.1906 right_roll=-0.1151 right_gripper=0.5369\nstate[joint_eff]: [-0.4308, -2.2222, 6.2838, 1.9707, -0.1001, -0.0415, -0.0122, 0.1846, -14.9538, 12.0, 2.3223, 0.9304, 0.2906, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f45ab7a42cf2c49baddaf2bed72b5a50789795f2495e75d7bf2267585c5076f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4dbc08ba040138f8089e5e30058a1a0cea2e6e33145a9da204c9e4c94544f46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe5532b0c6725b67937afa53bdcb77476f6aa723ef88925167de89f3d8f6c46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfaiwiNviSqglQrrzYQ86q_0esreprlNmzsosO3iopQmuiHGtfpYZ7LZ4TarJQsN5e48eZWMtjg0KzT4D1wTKjHJzH829rsMS7wvlXeUj2TOnlijdh4Ns5BviRA4RbBCoyxnzI6xZB3fI3ZEKg3kpfVX0NliZJ_Dlx4O1CsWCq6VMJyFO059oq8W5UnpPoBgDytasVhDgL6_jT4a74DUGpHxsorl6ceUb58IkMxVVh19XOIGcOjQ6ZCKwSZLqBAimDI1v10dl4Y9nT6x9axFxUWvjQyAfMnrdRVIrh0iEz28jOkIjXNS9Ef8Sux3fSIDtvpaF3PIUKl33vnCpI3AArJroaM9UtuoJrD0B5YEY-zz9mNNNmVtwz1jh4dROPm4sGJfpgXUKMeStAqkdI1DVtdH7Miex3JQ649b_t732JUVLxf07QC3WVVxT9FTDoSXndDkL84s3iDD6jrDfEEVFSmi32aE7K7uu34k1WnFREP2RdLXZ7kqt7w2-2KNGsJDcInYG-CGB8U9W5VeqXpLUbf3nIUwvsokHRepM0LnMUWs0Bcg9W5AhTA8gxnC7VXCCJrqTZv_GeqY6HZ0ZtY552Jyj0xQwlGwg80wVO7pviDOLncC_67eMZIRC3ulqsoGfG7-2nTnAOY3AsBn5qdRex7GRsXv72Ea-djCg5muaHZvIHbyMgrsn0iKo4kNSkHjM87aNFE2OZNxQkh4TK0OK0Yx_MKDhIGHYyG6KfNTvmg48MIDQeE79aaOPZUr8oxoaMQWTIntnPdIu_nFBsg4JuagGtsFDqrEXsfckffy1CeNDnAPw8Txr8T9IzKFc1JvxJiJCEh8m5OkCBTlkvVYzBPNPrACSE0YOc8nyxv-UUjXS5_85AqpeMeqUsxng_CAuuNELmWosSxCiwqiHFNzwuW1lEJXmSyuib38KBnue3DqATC7JHHuLU6XyPVt2M93VjdLYynlYyVIPnDDhcsNnfEFJ15ILxY6mlTidf4bUNJWMj8vidUg4DOJrC8-5udhu6aR1cOd7tauBmBo9I_Rh78ZxhXO9DrQDdHde43cpbz7GbJScDdGm-28ra2rkifOaWhnvcdhj8AG2A3JKmAmb-8qoEijjbW9D3NjxE-uIaEd7lNozC8yaeNiCHRY4jmr3fpNji_9F40YGaO4EpBluQKMnuo3rtksT1rxIfvar6dzq0vSs9hq3KqAVWJGEdBgLM4X5kdYOjhlsXrwC37MEcYkI2UIcvCGkRVj2EgiTDdXvUT6URhq8Lr4GM78Lbsktm1Ut6m7QB6HSPflWUVTB9rK6A9TXwKj9_Lo4eD1YsJMbAFXcft44dSUOdvWduEVh-DttquisnoUWLKfrd_N7IrBll_U8oSqrA2aWgLDcQUyWlCaiK7RWbVYccX1kBeTHmjJWAEbnovgmjU9jSJjtIVdH9xDsdZtsiyXEo2VbjlSYcjDAQBDFiA7VDLBc2hCNNhn5hdOJNYOKgRqsufkx_pDX8TfG1F2LMtDEer16QFuQIVsHUH2pBlCXbwbfOkiT1un3g4kBTiWXVFU64WQPdh1xubLehlCWsNkh3_dK5USfCVMwBPAOeZVtvM9f1Sk01jLhwo_TUB9ynbfogZ7GPeFvI8Wcv6ferchzjlF-3Cwqa4yVBQgKZturXE-GIoWHbqceWC9xrK0rpzAdz_JISHVQwU74sP-ll39sJ3f3-kLDymwLgyVzTclamkDIwLsnbA4Enw8sssgQhMuJVqSiZdxTewTB6RgGYWGQouWkkseV5p_hpcPE0ILAUZ5r4GmmbUmUnGu3lat0EM8N5IjH2LnIjPKT2GTMO2Y6fqD4qNBSAPaAPbf77d18QxwkPSz9dSBeHVJS7dhoaGg5-pjTEXJ3h5BhRAE2mw_h1NtzHP--1nvOyvAatVwFHmwItzxig8uazBghUyuSKT7KebWC7JkMNLAfqbtUpD2GB2QgZfC2bH4IYbDqmQbtBFMGWdQF9p6PALJWXiyGaC0P_erbnoKpQx2lmSGms-KkbFIvcgXSMNe1IyoWUGkcP_0rcg7J3OwL9BQHr3cA0qJos_p8sagAls3oQ0_wE6DC6JrnC69Gq80mvQ7XMhnaVMNuWH0_q6ykEIqUtI6duM06anBBAxwVrdBqBWAjcix9MTY8rM0bruuHc_-5Sjvi2gB7d2CY6M7dw2bllf-2ISDjWnaVHNc1WgdtKuMtf3jr4uEfmo2AKaFZbJPTAanu-Z0QheRHGNTm_7k5OsdX9EeZJMrv0OWlH0tcTb_qHSAFNNVC4WgAlFXSUZKAhNoDykA0idb8IICvMXZAQiKkftK_cn2ueEXLAAv3ED_HdogIkiCV5w31rOTh_MqtQqcvlXxM6Qcp2wsM8SCHX8GDZgDYiRqgShgaJQWAuBLKc6YxDP1mdrnQNYe_5-0qAyl9lVmThexd-5k5nj6O_pxYSP7T29291hPs6s_aAGbn9CFZ2dZAT9lOSc8YL8feMax4y3x4uSYVzZ3j5urLz_GOjFOcX4sH2wqwGdi7JWI424fzkwTPSjO38oBFkjYedkdl3iBTt4vV07TE4WjROZQCD1Sbi9Xd9yfFVuCTfKHfFQezi7ynuluTlz96mkmlAZl46XHjyuSNIypVZhxsuOLcnCDf4sdFq4JDcw_AUkoZ5BIB1_G88ewaQWbgMahqT7tqhNgFBuosJBDBSuxyguBPwpQJLy3La5msmkZRy3einBeb4V4-bOP2oVDpnzvCFG2zEmn1oeTsLDiGO6h8zjUD9fAjfhgUDCEf4yYXiO50osMSPO7kuyHvmRyCilSugCmTVNqttgvrnad0CKDh6YXgXrMSaV1rkwCWT0i4yQ1EeeffMqLlGqMTzhVltF1VUraRfydgyJzuZLvKDyrQlHnMXrlJhT8BmFWz6sgBxTsMP6A_-aLuMZNScSRhHU-Ey-qj4iQaiYZMo5EMisQlACbu_xSXCMxgR_x2BB5xsHBORc1PopnkLQKSkv_uJRbN0gEPuPBlFihyMh2NQQFjzY9N9w9KhL_FDGoQLUXc3DwV92LtjKpVZSzLjHLaWm7_zjrNurragDCFutGXUCAQL7sTeEOkiLRN7-jbmYTANINbQ152iLBvfsyMjvvrmTFDX0soLfxEU80sx7A5fa7XL5ZxIv3EBZt2N1tQNU5HwB1MtS3M_-XMotHj1WMAkeaKK_viVNZLau7hxH93bWKoK8u5dQ4XeJ_04RKgTOOQ3_1s3fkW0c8yoavUcwN5Ad6q_TFwnxEugHQBUCMneTVn9tKtT-WdOhE0NFyS-KT4IiqSc-X-aUabaiVAhCNRMHvR9_t_qktFsvt8EtwX-gedFJZl5eUeVroSgj2Yn_07Bt78PayLmW7Ps0sM2ZXvZyZ2bINUlIlsAdpVDgkWYmAaRhusPmyGjbOq8ugfklEi0qCVGz07IYu0fi6oBw2ZJoYc4_DjFfGzhgExdT7g6JHEw_Tiji3ZItbUv1pA-QM3cLX6vye4ra6xBgWK25JnHipE04rAe9ogBlXJy6ueF-n3pK3zFMbGa1g2q3IcUmpcmgSh7VKYhFPCXkgTZRWEaNToeBkVofiOzbqXASEokcMIGd3ayGq13rKYTlbIbhDBu6_xWGueWw51L8CS7w1GcTKMC_s45FTu3s-Y-K04GPJOxhfgN1mC8pjm9z9MCgU4oTX1I6cG0HrqZClLmQhHe1Gt6X7JKllvaKwDF6jezqp2VJfIHOVzJ8Qu2YYK9Y7-ixwCFUBu-3fDhf2Q0jCI_MG0QpKgAz2JD5yLsvvroL_EbqABvXtknPtITjgH0CRXPL485ujuqepoAwyv3NyDfGAQPWhVgQBdp246Hj4Fhvw0Zc3MnskUno6YkTJwJqD-vnKjFQUFYUIMeWIVKWhKWzzjzCRQVRhZIOUY30a225ro25E9D2mKfNsnMHeKiTfm1j-zQyRc4lihuuBOV1jC28n4ZlnlFXKdOh7WSsLKrFQp0DrCZBYOISIpSM0n423c2sY53yqYpXWqd_FoLVzveDWFmwX0_poBKs1q9GpF0K6LrRt57m64MqncM2m9mIdWVuvc8t16WvY-dIjLFTvBdOishTEYmKhwNx1JwPQsjX7SZ8PvG2PwH5cLGlKkn9hNqaDhbCsW3Y7h3OrTdF0O01hUhY72wYuh8BM8_L238pd18JAhW03TVjStidDok1yn0j3BAauo-zDQaHdW1j9gSRlk1izsxlpbWeDOekq4HGI3J8TgE_zzPRpWNAZvKyLPjv0K-m0z9ovjhRYbk=",
  "id": "rs_0eeb861604b4e47d016ab447d2cfc487d083ae8c7c4b1ad0b6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfaHrnHPk2GcPhfBa3XIv95NCToom7ohCBfI7O9Q6A_zxGFRdI76XGV7PEPWKbUbdZE_2Z-kXxq_fAPl6gVY1VKlyQk4U0F6vK9v4sq3-YalGUXKPpsV5CeCGSaKRaVpi3_KMZiDlLTLfdP2sakLgUqUtuloN1gmWUJrIo-87CTpPoChVt25QcwTdK1XOBJ-NG8xB7PW2KolIHO-zUj0X6udWsFQW1J7AtdRiTJVQxG_uGNh0PKBrpT0O_KjJMJ88oW8ps7RWoO8uD31_OEW5xhwoJjg86-rwmqNJU0sEt6y-YLaSBWlJSec1fVO7OKgF5joGaAQJHXlJi_ztlBLM1TDvbuiVes40EJJ0lXqqPBzVClAjb3Y6pDoFQrp0w8zHbtesXNIytxxmAsc0ODjLn54IwRpkJEXA3FUwLVUNM6B4K2WXwcknhshZP4f4oMZcj_xK7vch1ITBVooPMC0Lj1DtdjCH6FN8eQGToeH9imIB-OlxQA-bliGYcZinRGEk2xXD85TUcYaZ57qcTdzaTqAfdxg4phPazmYwQnaaaeRXRqdyjemNELsRUP9wtSy7li0gOUPfoacc0X2XEBoBRIjqItqZgLCkmjK5GkTd4fcNBXxphfjVEZQji6Q8JcPs9D1EdzdIIup20cGEGdAHMS46SJQnoFQarWufKWrdeEXNwPwZ6q_3VQ4l8YsA77RDprstPoq_uLTScAjxfvnrGd5zQImSsYrDXITu-cgNeyI31jfBQuzj3eSLOGOiAQHqwAAhBjCS4qNq_h8gLH1VpcTVKlyGaGR6XqEmu7J0_1RiRt_fTMebWR8PS3V05Ikd55lJwZSUBiml2eXB4GS2F8ekSNdP63vHzerFVvw4s7tVZ2uGYBhQnX7glc5JnIt2pYHmB0l-vuXRfnqB9vSUZLW-7C5Va-tMDfmp-xTHlovI3tDgOOAHU0ydXl7lPYQ9y_actrH6AzYxvXh-G35m9o-ZG9_7wnUWhncAEsGng6_euuJsf_AaNu-8OK8SaHDCkpiZfFB0z-e_qxJKRAZolre9nZsVtLwncTYTxjan_EhLp_oZ8FEv4Gvgpxw-JFV2ohlYB29_-xl04E12HHN9FNZSqHnQdMeLOYN9S5tbd0dflRfOIs0yaArpeP-Hnq_88lbNFQ7NH35MA--syOFmfcDBLoRuphmVBu31cIraPiHIySKivZPmtdsKkk3V0HK0-_e6_iSpVaL4Li-hxmAD5-oIbVzZoGPeNdbwOzrpsk-7YkPcNVwFAotY5bis7PtwD7LfEw9c1wv_xbgID1jO-ZMHft9V-Dw51d7-25_Yz8BYyxFGhTu_qgDhMrj9lXtajd4m7MO0KIlf4NqPfXh6N5KcNf7FeoB3jip0b04B0dfuKvpadsWaoDbDswu4jfcOgwuFPC8cefsbmRXYdchV3raqzX-XfGe9L_f8ou7F2KEioOaJ3SeRkJm5WCPe2IigKgY87zXg2-_NE8b2u3Q8T9F7vfgogVPj1I36q06KddGNUurqsLU3SKVsuYWBs4jjoBL3GGInl8MJi50nA6cU7x85d7dJ1-AWOEZJ3u0m_rofl4UKfsDrCxB07h6Is5bHZuJR7BBWnMhVBjMmz23-9co8eSGx-1sv4MD3b-4FMDUAjq8rTDfOpJM07bxYtW4EuYbwvYckTvCG7FDbj_MFEBnYtsQ0X-J0V2oH7I-ajbUdS43IBwauOrLszpcLfLDkBP",
  "id": "rs_0eeb861604b4e47d016ab447d8800087d0a597ed070ce216d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The top view now shows the grasped bottle foreshortened beneath the right gripper rather than stretched along the tabletop, and lift effort is high, indicating its base is bearing on the table after the inward/upward pivot. I’ll open the fingers to leave it standing at this contact point.\"}",
  "call_id": "call_XZKwsXbjrUYReHr3YIX0kYAm",
  "id": "fc_0eeb861604b4e47d016ab447d9b57887d0aab290c2148e5055",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XZKwsXbjrUYReHr3YIX0kYAm",
  "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]: [-0.0528, 0.8238, 0.4362, -0.1909, -0.094, -0.0784, 0.9974, 0.7738, 1.7374, 0.9554, -0.1936, 0.519, 0.4076, 0.5369]\nstate[eef_state]: left_x=0.2969 left_y=0.0045 left_z=0.1343 left_yaw=0.0536 left_pitch=-0.0125 left_roll=-0.0025 left_gripper=0.9974 right_x=0.3485 right_y=0.2231 right_z=0.0574 right_yaw=0.0793 right_pitch=-0.2375 right_roll=-0.149 right_gripper=0.5369\nstate[joint_eff]: [-0.294, -1.9487, 6.4342, 1.9121, -0.105, -0.0366, -0.0171, 0.1573, -11.2342, 9.4701, 2.7131, 0.7009, 0.0366, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33bb6df0c5103676bb8662c61f20396fb1b2318b2649cedacf125c9bd5dbfd07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bae13f9eb0c67e426911d363888b37ccc92f3b0c1fd9f748b6a58c193495bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee0c76778004932d36034a2ad01b9af8ae7bd26ef58153c4b1bf3abbb93f88c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 2.822 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 129 changed as sent

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4633, -0.2131, -0.094, -0.0788, 0.9974, 0.6621, 2.1956, 1.1263, 0.4091, 0.5304, 0.366, 0.9979]\nstate[eef_state]: left_x=0.2986 left_y=0.0044 left_z=0.1404 left_yaw=0.0538 left_pitch=-0.0137 left_roll=-0.0027 left_gripper=0.9974 right_x=0.4634 right_y=0.2524 right_z=0.0039 right_yaw=0.0041 right_pitch=0.0135 right_roll=0.0101 right_gripper=0.9979\nstate[joint_eff]: [-0.2256, -2.0034, 6.0376, 1.8974, -0.1441, -0.0611, -0.0122, -0.0615, -10.2085, 4.4786, 1.707, 0.188, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0528, 0.828, 0.4473, -0.2058, -0.094, -0.0784, 0.9974, 0.765, 1.7695, 1.2388, -0.3935, 0.532, 0.4191, 0.5369]\nstate[eef_state]: left_x=0.2968 left_y=0.0045 left_z=0.1352 left_yaw=0.0536 left_pitch=-0.0205 left_roll=-0.0017 left_gripper=0.9974 right_x=0.3826 right_y=0.2481 right_z=0.1213 right_yaw=0.0621 right_pitch=-0.1906 right_roll=-0.1151 right_gripper=0.5369\nstate[joint_eff]: [-0.4308, -2.2222, 6.2838, 1.9707, -0.1001, -0.0415, -0.0122, 0.1846, -14.9538, 12.0, 2.3223, 0.9304, 0.2906, 1.033]\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 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8238, 0.4362, -0.1909, -0.094, -0.0784, 0.9974, 0.7738, 1.7374, 0.9554, -0.1936, 0.519, 0.4076, 0.5369]\nstate[eef_state]: left_x=0.2969 left_y=0.0045 left_z=0.1343 left_yaw=0.0536 left_pitch=-0.0125 left_roll=-0.0025 left_gripper=0.9974 right_x=0.3485 right_y=0.2231 right_z=0.0574 right_yaw=0.0793 right_pitch=-0.2375 right_roll=-0.149 right_gripper=0.5369\nstate[joint_eff]: [-0.294, -1.9487, 6.4342, 1.9121, -0.105, -0.0366, -0.0171, 0.1573, -11.2342, 9.4701, 2.7131, 0.7009, 0.0366, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33bb6df0c5103676bb8662c61f20396fb1b2318b2649cedacf125c9bd5dbfd07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bae13f9eb0c67e426911d363888b37ccc92f3b0c1fd9f748b6a58c193495bd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee0c76778004932d36034a2ad01b9af8ae7bd26ef58153c4b1bf3abbb93f88c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfe1y7nXZsv-AgaaaiXJ2ajOqWQjQrEgsLzHbL08LrmMrM74ihCCbxJDl4sivvQO_BdvW2kB20l4P4D650rc_M-Q7LwUOSl01-nrZgjWVw2WgX1qzhpohcc-VMLzbPqVDgH1n1w3-IUYB3MiaBlHaOjpHvrbewIZ0wqv0rRxkcAFAk-ZAd_PJqSimqlkUBAtYE7Q35SYXEJfwolypV-Owa9dZHWajDPGFIujcHY7GR7ByrWePDKBDVJax4_ZFB5N33Up0IMyvH3w2mnS92oSsesa_9veu6mRmbkULnwgeuSljX9P5tMQIiH15Bwh8JMhyHzRxbZKnvgvyhhKgwUsCOt6EDrlHnmvL-V2Mjjp3CeXICVMUEw6d1A9vKMUbgFuLbf75U89fi3FHkZ6IqD_ADNW79Zje7sW88VLWWY-yYXWFo0i14aXPCmitPJ-NobZtlKL9_LF-bUQM731P8eRTK6VE9vmPFxgJP5zZQ5MJP70gvYyt-NYImQM4tTg-ixIwPf4gj_3c6H9blWSjDKoLjJ6pAXZEHzlKdaw-u-HIIHrD1EVu-AOYfRTOM8xmfErtx479A0U6AWo-7PcsWsHneBELqnOfKC1qipDrGDAsRIXT1B_iBdm_mkSgUqDj56i5wTKv_pGqsDUcr7OpcOIohgSPLe-pRK5W6Rf5m_9IvqXq-Ml9j6IS215XfqFub_Mgv2YGE4NtWWP7a7cH3QQ-RgaYLbTMATExt7DLjAgHjURqkjHQjblE5_ATH37viRso6JuddX0yTkAe8cvf6vQs0OayngSjTOGqmx6ip73HkXqEM6mXrR4MGu4SA5uM-KTfNA5fulDWrPd5o8o3jgSTxEOzOt8rKEd7fzCKmNX39gICysOLTcPRa5MUaQ0RrVhDCaPTk2ekFd5-T1lBgUM8066Dsds2UKP3ZSGcS9tcU6sGkOqR4tdX_phOsQfFqRtOOzlyn2ADTWwbp9532GyNOoAPzFZ4rPa1eFSV5akQh-3wT3ypoxoTTZIX0LwUMcDGktPX_uMJtbM1rbI9nzos5QvN7CskY9eNqQ9LHbPMH13yJ8GyyJHjOsvBxMerszertSDsufnb8jlDzTi6tfosTWruQnqK88KNOeVUQEqoNwmIoZ-NncnY_nDwfLivVMx2mguv7cUBBB89_iWXHveO6B7u58ZUn_WMN22LrMfSvKVzvWjlj92dmWjhkpqeWup2a5-2568SqJuomggWu39jMTfo935Fcn4Ckjf0EZj8wv7grS5P684ueSdGEjqStRXG3HFDaqhDGy4--jCmbEG3L1blAFtGCpjAk0EuOMHcO4bby5lLLA778BY8n8u1Eq4iZZZTKXkOSZgsgQaswxfBqhV2vmPDBAUDu5XfqRyD57ove2eRi6eHJu3A0E9w_QktbyISddC5YuC1UdkxBqPjHuVInumY5RZzONeM6mN37lqnxPSe-JRVW9QpXVf8wC4P1zmhQN9HQ9OrzHCr3duUus-He33D1pvXivjUy6HUpJCeBhk8Fkecq5IjEg4z1hOT5sdO-lm9pb1WGsRu8QL8eGFpoCR3zr6xmL42tMCHCspYp4TF6BnvbKbGVVNcrltRulLtR6jVWg-LfoeR15CAADsqVJCOHpucSL576sAD7zlLlgrNO0-pO7Fg5QYVcE9pWByehQEBQ7pPw5pd3FsLbzOFFeWmYWLsmXno_kxKOnX7Oth5vIJpZZUgapYn03hfvqUhk01H7T1EhpZHpFjJc-g4L4vORUHatxr554rpoIMzjGNawvAsZMA2j8l9IqWlPgadRWMr_ZNTXXjy_P_1K306p9o3W_QFIXVxTf34h5iI32GL_gfc-TwYOpKfb3yx0JIb1uZev85l-jT0sfSdDm-8d5YEbiK1pmQXaxcCkm9Rk=",
  "id": "rs_0eeb861604b4e47d016ab447dce4e487d0a67bec1330f83e7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The first release command was clamped and the readback stayed at 0.537, so the bottle is still held while its base remains planted. I’ll issue the release again without moving the arm.\"}",
  "call_id": "call_vBHUbpPaglpHMuS5YEn4UjJ9",
  "id": "fc_0eeb861604b4e47d016ab447dd75f087d0be27968fcec5cc6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vBHUbpPaglpHMuS5YEn4UjJ9",
  "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]: [-0.0528, 0.8242, 0.4332, -0.1894, -0.094, -0.0784, 0.9974, 0.7925, 1.7195, 0.6746, 0.2337, 0.5499, 0.3954, 0.9948]\nstate[eef_state]: left_x=0.2965 left_y=0.0045 left_z=0.1332 left_yaw=0.0536 left_pitch=-0.0144 left_roll=-0.0023 left_gripper=0.9974 right_x=0.3342 right_y=0.2126 right_z=0.0314 right_yaw=0.0998 right_pitch=-0.0961 right_roll=-0.0705 right_gripper=0.9948\nstate[joint_eff]: [-0.294, -1.6615, 6.2564, 1.8779, -0.1343, -0.0317, -0.0122, -0.1709, -8.4034, 7.2274, 1.6142, 0.4127, 0.0757, -0.2466]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:525e9f22d7c345daaee04f573f002ff4b2b28a23ce06fdeee1606bc74b504e07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb741299f95d0d3a87b7e53fb09fb05bd3ea2510b2e4bf15fe26b52c2efd2bd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f2043993c0c9e7508a850ceb8a2ff9d4ac65f451ae170408c06b3895f66369",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 10.5 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 120 changed as sent

message 129 changed as sent

message 133 changed as sent

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8299, 0.4576, -0.2134, -0.094, -0.0784, 0.9974, 0.6609, 2.1998, 1.129, 0.4095, 0.5369, 0.3614, 0.5371]\nstate[eef_state]: left_x=0.2976 left_y=0.0045 left_z=0.1378 left_yaw=0.0536 left_pitch=-0.0197 left_roll=-0.0018 left_gripper=0.9974 right_x=0.4643 right_y=0.2511 right_z=0.0031 right_yaw=0.0004 right_pitch=0.0151 right_roll=0.0024 right_gripper=0.5371\nstate[joint_eff]: [-0.4034, -2.1128, 6.5709, 1.9219, -0.149, -0.0513, -0.0122, -0.2803, -11.8222, 6.2701, 1.2821, 0.0366, -0.0024, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8238, 0.4362, -0.1909, -0.094, -0.0784, 0.9974, 0.7738, 1.7374, 0.9554, -0.1936, 0.519, 0.4076, 0.5369]\nstate[eef_state]: left_x=0.2969 left_y=0.0045 left_z=0.1343 left_yaw=0.0536 left_pitch=-0.0125 left_roll=-0.0025 left_gripper=0.9974 right_x=0.3485 right_y=0.2231 right_z=0.0574 right_yaw=0.0793 right_pitch=-0.2375 right_roll=-0.149 right_gripper=0.5369\nstate[joint_eff]: [-0.294, -1.9487, 6.4342, 1.9121, -0.105, -0.0366, -0.0171, 0.1573, -11.2342, 9.4701, 2.7131, 0.7009, 0.0366, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8242, 0.4332, -0.1894, -0.094, -0.0784, 0.9974, 0.7925, 1.7195, 0.6746, 0.2337, 0.5499, 0.3954, 0.9948]\nstate[eef_state]: left_x=0.2965 left_y=0.0045 left_z=0.1332 left_yaw=0.0536 left_pitch=-0.0144 left_roll=-0.0023 left_gripper=0.9974 right_x=0.3342 right_y=0.2126 right_z=0.0314 right_yaw=0.0998 right_pitch=-0.0961 right_roll=-0.0705 right_gripper=0.9948\nstate[joint_eff]: [-0.294, -1.6615, 6.2564, 1.8779, -0.1343, -0.0317, -0.0122, -0.1709, -8.4034, 7.2274, 1.6142, 0.4127, 0.0757, -0.2466]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:525e9f22d7c345daaee04f573f002ff4b2b28a23ce06fdeee1606bc74b504e07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb741299f95d0d3a87b7e53fb09fb05bd3ea2510b2e4bf15fe26b52c2efd2bd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f2043993c0c9e7508a850ceb8a2ff9d4ac65f451ae170408c06b3895f66369",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEfhZsNfY8gALAywCl4PHWWIdHJ9jQFVMf0sSeIceN6j9exXMkbGvrC5dEe4Bv15ukbptOxLz82HDCYfOeLIPF7FpBzp24L1xlrMk905xItvxM69oP_r3rf7pLBzOx6BrnHxkTJF2noSGMLENfLBwMDuMY9AoEO7kYoL9qvi6zzzoQo9mNjqzFThnHllJ6X5K8o1139rvA0BlbKqkFBzUpbk42HjjCSiVkdSVaFGISblLYjcNlK4KTDF_Y49s8g62HGe7eZlWmF_KezSqKvfqNx4QsmnoEYInT1iYfiYsjl1tzBgHg_lH5W1OP7OhpgA99D5OzOzDtnytzedcN8IeJISQXSJlhGIoqgVyEiWIQQQxDcOA4k6mMnQGXth8MPfKKcZyym--necYqme--fcitL06pDM9HT15_B_LoTg5qK_lrwqVH6WEcW8ysVYigea_tZiHZtW0jXceRTbk02yIXsm81ByQ2yIWYR5f5kFl8QiARSZVkC2sXg6O2btXJqticjEtHfV-37yuyGqFZWhu20lWyeYb4zdDIEAYCdMtlS_g4einHy5bHIYAO857jFSGEe4KVRA59C6CXJSRkBkbj-TH7-R3MMOK2oeFNR8q-KwTQY6bgrlGKj3oKmb45kN7YtsBX-VzLAn60QFPHQPj31ZPvkHgkT7Ugyn94a3UA5aLcTuUJaN6QN7YYnZcNPX9WnDwWIA6rFlSEB93LUUdk0rH8DDTQuMzPSCRFronfRG16FiXkcd8eUGsxA_sf-rzfgbQ_YdB_Tex3FiciLSvesFIBo2GiClE7Ne1cHzyUXYRjKkvRonf1ruffyl0Kd03045sSkgqFwpbX54n4jnII9-WIxUTUI0rLSML6zm8WIJmQv31HiRB7vS-nwt6GzUzy_10tl9mSRwpy4LlMxC0kWNoOHKQ9rFGWKZYIGvf1nnQybWuy26XZGqt6UibJXffTlVmaHkV6P97FeDBGpwj9KOMPIj4byE4Anb9VecBv3wDNG4gjruC6GybS0MpLOvsjK5Pup-8V6ktHsE8W_DZQdRaT08MvjRtz-1HIXUFYJ6TUb2pDhG7arLSg_xHLdtTP4qJtLveXQ6_FcUTqt5vE82luh8Kplddn4XsjUxI1icdQuQbNqzrdntYGGNF34l21xMHUiTHoNlLAWVsoiYdjLiBGTcenU4_IOaK-MZURBg2DnRsw7_YcRSTow1s9oCtHQM30GtJy2xSytIvQcPZf-E_VND9kcjbYBgM48Jo2uMur90utH6ISlcDWPatmPLkyJEIsTnYEb6uGzyuroM7261K-M2eFTV6JGGSfjxSBbAqb2EWQv3CECDS_X1V2MmNb8jsL0J9Y1-CXTDz9NR-R8jIV1otjZzzy5BbqC1vHQytg-ueIyBq0itqVT8qC2JamO6UMXaJFWVvRnOkXdHiYVc3BS1wc1cM9wDWpgWhJMj-WJ63fsWGc_KTwCVA36lyIjWt6MoUYD3TV1AyyweprHpmdvtMXIp7RsdlDrMrs8vvZc=",
  "id": "rs_0eeb861604b4e47d016ab447dfca9087d0abf2c55fe295f0f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.18,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The right gripper is now fully open, and the bottle appears compact with its cap above the body in the overhead view, but the arm still occludes its base. I’ll retract the right arm to home to verify the bottle is freestanding and clear the workspace.\"}",
  "call_id": "call_XVaQ1U7duDEHwKxc9DxARA0J",
  "id": "fc_0eeb861604b4e47d016ab447e0810887d0b333bd566efefe23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XVaQ1U7duDEHwKxc9DxARA0J",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8234, 0.4309, -0.1871, -0.094, -0.0784, 0.9974, -0.0105, 0.8368, 0.5674, -0.337, 0.02, -0.0174, 0.9981]\nstate[eef_state]: left_x=0.2964 left_y=0.0045 left_z=0.1328 left_yaw=0.0536 left_pitch=-0.0137 left_roll=-0.0024 left_gripper=0.9974 right_x=0.2981 right_y=-0.0031 right_z=0.1602 right_yaw=-0.0417 right_pitch=-0.035 right_roll=-0.0097 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -1.9761, 6.3248, 1.9609, -0.1099, -0.0122, -0.0171, 0.0068, -2.4547, 10.1265, 1.8926, -0.1929, 0.022, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070f02379d782c133abb95a7d421e7ba5044045a2fdb35b6273783febc5fcf64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf4ec523ad2568dfda8acf1c29afe4505557d0a6520611f2b6c5fae2fbd1fc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f88d06ae7737fc7ba8354b4cc261bd066ff1e5adca44fda413715257c029f390",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 4.409 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 124 changed as sent

message 133 changed as sent

message 137 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.828, 0.4473, -0.2058, -0.094, -0.0784, 0.9974, 0.765, 1.7695, 1.2388, -0.3935, 0.532, 0.4191, 0.5369]\nstate[eef_state]: left_x=0.2968 left_y=0.0045 left_z=0.1352 left_yaw=0.0536 left_pitch=-0.0205 left_roll=-0.0017 left_gripper=0.9974 right_x=0.3826 right_y=0.2481 right_z=0.1213 right_yaw=0.0621 right_pitch=-0.1906 right_roll=-0.1151 right_gripper=0.5369\nstate[joint_eff]: [-0.4308, -2.2222, 6.2838, 1.9707, -0.1001, -0.0415, -0.0122, 0.1846, -14.9538, 12.0, 2.3223, 0.9304, 0.2906, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8242, 0.4332, -0.1894, -0.094, -0.0784, 0.9974, 0.7925, 1.7195, 0.6746, 0.2337, 0.5499, 0.3954, 0.9948]\nstate[eef_state]: left_x=0.2965 left_y=0.0045 left_z=0.1332 left_yaw=0.0536 left_pitch=-0.0144 left_roll=-0.0023 left_gripper=0.9974 right_x=0.3342 right_y=0.2126 right_z=0.0314 right_yaw=0.0998 right_pitch=-0.0961 right_roll=-0.0705 right_gripper=0.9948\nstate[joint_eff]: [-0.294, -1.6615, 6.2564, 1.8779, -0.1343, -0.0317, -0.0122, -0.1709, -8.4034, 7.2274, 1.6142, 0.4127, 0.0757, -0.2466]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8234, 0.4309, -0.1871, -0.094, -0.0784, 0.9974, -0.0105, 0.8368, 0.5674, -0.337, 0.02, -0.0174, 0.9981]\nstate[eef_state]: left_x=0.2964 left_y=0.0045 left_z=0.1328 left_yaw=0.0536 left_pitch=-0.0137 left_roll=-0.0024 left_gripper=0.9974 right_x=0.2981 right_y=-0.0031 right_z=0.1602 right_yaw=-0.0417 right_pitch=-0.035 right_roll=-0.0097 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -1.9761, 6.3248, 1.9609, -0.1099, -0.0122, -0.0171, 0.0068, -2.4547, 10.1265, 1.8926, -0.1929, 0.022, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070f02379d782c133abb95a7d421e7ba5044045a2fdb35b6273783febc5fcf64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf4ec523ad2568dfda8acf1c29afe4505557d0a6520611f2b6c5fae2fbd1fc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f88d06ae7737fc7ba8354b4cc261bd066ff1e5adca44fda413715257c029f390",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEftDzUAT5gLGF6pDeUIq7XjYSOdMCPjiXi8TBI9Hqj1cKXqUZilL3HAavbswg5ZacJuh832p4fytBlVOjh1Y5L0Ir1000RQIAK1Q1_7ywilodck3E33D6ogkFNoccYuWd8SZZfUscwz0XUVPM6xCG4AmeVlMTO60atzJfBrliAbArnWpjw4rtu5MrtLPb4tmzWBjHQ5S89LHZeNcsZaU0bxfpuTM9QJYIS6iqbPe-TVevnoZnqvWfwU17j9qZkvK3CmlhbcmheC7E8YKHfRHWSm4y-n7u1Ahw-VlOsWBZOdxshdF09Q5nr6gEv6h7IuW8h-x1ESZd5kNG9cjmifJwfFjYqVGGPeW7mKJ03BGtdRcB2is3Vz00MeDoSTGk0TOf_xI_sTtvmmEbFGK5OSkDX704H8Pk3j-3qaUOmyyInodVNJ8LKU_wVbOLPd72KNcKh1ABMgwKyjpkDZz0MIAY7-j3rDmfrPQ6P5dFxQTmhPBMAcePtJP7IkLDbbEsoomFbjlKlZPlHY9MiAa-7-mZWoGUqxH1pJ5d3j8PAPBLdrqknJ8HM6hSeCYlW2tBxP6NMi0q3cb04i1XTOQfbHwjZGr7xClhiryhs4Njdpk5lGBLgu8bB3fIz_qprHlVH-i7rtWo8EZVowhVWcM-Z4PE4D47pH8_8P6MU9vqSglK_b_NOhsLw39EQ1aNMhWKc2GQpDM5Fnjt2Eno-pv1hnfk2p9Ku6lg-Ca3oN4EwC_cSSjQfvysF7wJWR21OoSb6r5ktIjbx_lBcCXA_g0zlonlaCDOErV5uX_Inzr-pIGgwYgqx_9TOwl08soJMX2oHrbsZIURPi10ceAAoyD4hfsnFo7h0q3cQK0wVMOu1vpDlNZ1DYB_siPfFfhHNzIUMr2kmT9o2iIEJO0LgJZMMZRvngM9xq1dmqW85RoGI6_sy8N-wABqWF3yXBfwt7evJmaZKhRRDCd4RaoVlwoVzcjj2oQv64Rh01_rEtv24pZPemyKzmL4wItT4n2VIRFEa2lEUnOUS1sUovXtRLiQMB-MoHyPAob07n7idR0r4fCTWvvxsXxcJBX-xP---zVbcPYIL7ZooM4REBlswkKenH3mzfR5hmfBgP6VU52UrSRuqkfERMrLGfFP6sfuy_K2iaPQwCJlzl4gikUuyZV7Tzm7pHTtW8XbCBa3KeEu2mCr6gDEOZKru4PDbVLIlR2056dpt-IYK_Q15AOs-LtVeZn0j4EBaTYbz6azsniKu2vytanKi1GcddqMDZm7oIuJEATqAMACDms1GtBp6dAWvQiPaUwBznCS6rypvmxwfG5-3GWCT-RBBW0u14pQLhTAqEfkdYrMgAFot6kRAhSsaAGqSMZveJwTlZRcFoORktSt8_2O4TjiXqczhXDRVbW7Azud4cU6iMJHcVGqm2bKT-3KB5WCfdCe25B4Zy-5NsRcvwM_0sE9TdSgBI-lmtc6wIG395Bn377XEKwnsTG2h4gqyz_4vvy08-CWLbH2V6A66UbFq-cohU0nkkBgnwDuOkXldheAKLhN5IhFp1D4PyS4dezcdttcpeyx7caYz1aNRF9psXuS3pmnDJquyYMPSVDzsZvvkccpBbxpjf3ancELB2ADRxTwY9jr_qg8ESYoOzQCyO2bX5ieOYEVHELGMbym3uZMxBWTGgjKjNjToYdO09dkyTP0lLfRYQTf2K6ycdbTcZDF_ufz6HV-wxpekse50ZZ75A54cIlbVFElQgJ3m8GVjUvU2cLL6HWD4dAFJn6GgURcMZVQMW_V-mslddkxi2BQcAwe3Zw5VKwRdfFjMgsCWGDaLavXrgRIU92DEsaHIYcvt2jNaw5OM6HsEtJUx4_JWcIhM7ppABjTRBevfPpn3B0EgJ2Pe3XZBqw0DCAmAQT2p-RYVi1_nWVyAdqI34WcmBOtxeQJaUGQtgxfo1RcP3Y4B3ME_Zeo5O3jXc5R-fZTWfYuEP9KjJx2aGualzNiANnMMv4UcNUv_K32UmuSdhsTg8TNLYh5DEqiqI-md2-2T5bzd8cEFolPRZco1qo-t9yhg0YcG2sIfqL5UayvR69X6wcv92GdxZU1yRJLX81C4gDmsYRm1WWW_4OYjGG8soKiLUZpwUA4LLmTP0wB-I-9cjg0WA66S461TNm65t0I9SXucLExMQ2xvRuCG2yIYds47eI0JWLikcrqrnfdOh76deupx3E4xG4p9_90_9pz5tSu67QvW2amZMOesDjcLKGHSaZXaonDU4-MNEXS2gtyBatT4kG81a44q1h6G9h-FApe7BpSSnb_jsGWpDDVRJ-oh_xrpp4I8VjIdqENbCHc7FrJVTk5cy_TBqdO1Mg_IvUwaGuBzN88UX4dqnR_uNsfKaqdbsm24tfzoo-1xfJM3ZI2JIkSfffaf3KXX3NDwmO3a-3xCvdV64KvJnn3yaNreBT4D-Px9Cit7xa5IS1XvKih97c_Fodo_iLbRjPsRYxAR08yAUjP0vU97dwM10_ZSYNTIwiMAeArFdlQIJvFrifPn6bTrSbmWfZYn3286OcebWbydxCK33cjyrLRB8avSD5Efv6QoSvIexkxscYbtfegRGKX8MPuI7ti8LdNlmnjgPLMKQ4yzGYKg9-jtHfY3rRF7rIlcaZB4qaZmXWs3-1k9rCnfl9TCCGDexZtNwCYvW4-FMJhw06dtVyfJBVUrPaxlBK5RDzwwE8erQH5Jc516-iGHYtMTowEJGcxadcJtiI9guVuJ1Dqc9xHbchE0mef4L9u94b1XEFqxvBbFcLgp6n-3UWvMHrHasYvBifosBfLQNuQVMV6uqkGiHyaw_lQX717pjttPn2tlLbw-N1xTRR8CuOr4tAf6lltHOac6oeSmgaqkr64LgFpRYHDNpEpNZJZcnd7oLYKd3YxDU9NmXV6p4r9r9s6NCH19ODY3zDdd7URDOkyFO8wna6dPMDSoQGi_QiryfeUIaBpsQUwdpuDxjFNJ86Wmlu9lJQ1bZgGKa5QtMM-275SC3evmLVS5exEHHDtJi59AiM7yULgPQMGqiAuc2G0rMSam67zBL_Er0wVcvnleTv-iYDit5IbtFMfLTD46hn7gsJ1L8737VZx5ARPftDwrEr6l9noVYsohZl_sgkkN7GjdBjsVOcqQLFrKe5ZdYA2SV9LdQAphl6VjNnDHJexrioO65FlGc8m3ZGg5zVxR2oPR4VqfGfa_brw58F5J1KxDDqWoypkfOs9oAU_BALGIFnqAceqyrPm2OSCmZVAjHbXfyJUT_ljS4MZW36eFLISfr7STzGuiautTq6hEKT3sWPaNDWncpMibU7E_5sung8kpUSDAIX91Ey-Mve9ynA04687S_OE3ZnJkqgBmJjlUZEzN06MXKhI0FlfAbacm3BMC3q4b6Gm1u3T5mQpfX1cLpRlaKRT8ojw429GA-jaOwyUcTTRpjri_O3sO4UIr94r036DUvGF21SL2P7u-NJaUiyOuxeIqGUcnGXHpKNnwgTZEAp61_QLz6ROIz1xI8Cxc9c4zcob-3gFUlVckZpZ2Ax3Z2tmglmTS2FhzpWLEH-96oxYF_Gtvy4YC7fJplL3C4nhY-iMMsr0dJvKj3p-zISJRwloRv1U2w2yolYy9n7K__OYiL-AhM5Ddcfirfu5VZD3qz5SlpLNLig1Y3rPAf32sdJ2u4vxHiUTaUfSTxyApbzXTXD2b_mnAAtP33D164CsX4NZURrHO3JN6w6vngpEum18KW-EFdeOwMUT1A2HhdOSuj-QpfjZXiOzBzIz2I3sxYSqyMj3helrzrBEdTpNGIqZr6Vi3ddkbVRVUkzitB1spzvoxmWjc3oaJkbmmutfTieMrc0Z0aiW616PEFobGDx12-QKxiiyIf89dtpA-PckmMKhWfO1RUhTbT9Z9p4IQXYq_ynbnBt8wQcHpZrdq6bfOXw_9aLfVWLO7wCUrGsUMSLcw9nWOALfq9SYHaFNlZdQLjwenbgluVPno6mKqM_YmXpd7NNRPrw0FtN7w87DMdqFl3MMlHcCMKD2qDnNZAzBP1I3omBvunQTV2BQZ8mEXBzAHYfVs2eQvZEM4ATB6fPPfDkomK-Xv79EqoU1O824gIBMuAKfJeKbfn_hE9FNJczvPqT3J1aik=",
  "id": "rs_0eeb861604b4e47d016ab447e4505087d0ab7ad6d74ba67121",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEft_wkRtznafDzyIk6pB7bEVmMmxrq5a1KJUAzW9R9IDMUkyLT1gvgytaEuoUwJWBiq_7YcessjnvYFf9QMopnm3CIGH-_x_TRuUo3oU7O6nc9o1ZFB8VfYVG5YjnlIlJ7ANvk_Tv_zkSHp7nqEzzEobn1CU_RM26KiBOec56MueWovx84bz1E3Q1xa-_0q2QlOcIWC_BGZSCnWMwI_zUsWSesq8Ah0rtbZ5D2BLrgz5XYCRG-SrHL6R0ey462_bH4WkhNf0SF4BCxReFgN_VtxvGN_Er0UGXnPYizc3zJKp78RJCGhyGiV3FUmx2jKpgKFts_jpunq4mQvrWNKX6D9CCeO1PwA6DeXyR2IhbWKD2UTzqYAp-DpFuZDI1XjsKXY9k7roBwgkCc1KUNFb_aKCZUSzGWYNTS39JvdlS5i4jggBS3JXbpBLWnjc5CRmDtYM2LUSuoSqg87g_LC-kLPOw7dxevkuCqNyMjwuiHNJ3LiLvCaqEbklbdpoASAh7wSLz-5_S4Wi2jdz5NXLT36GUNNFekoygcWBeMucBHRtztzmrkYC40ymQ2bWEqL2uQUmQlh_prCsmimMF-QYid9rNY1zLbwxOPMGyZfI3I3PcQulD7k5PomE8hu4XNeBcL3Ce0pvJrT5nh74GOR6jymRnhTeo0ldkjtDE4MPYMXGfyAyTSQK_VjCp2rCEjLICNVpFJbW8LAxNqGlIDEQhDFoUTLlnPZF4lk1Bb-u9QyQdp6Apcq2IKkMHVCLesolzENviMLBz0YED5OAyRP2Qu2mON4imQmettPwhtYcF_L3KEtTSuMZPJy9NnrlGg9EeIdVP8qy_cxy4gvRJiYEf68i6a8aZa6_R5AeYSkI8Ztrukrf79ye40WYrfS7mEAizEPxvokySQxuy2Cav6nmlhFSJpjTZp7saLs68fwNk5mUXTT8c2dANGXNkzN0zQgChjLcsKcK5WU-gaTARWbafksrKo__tMcEe9WkxtIXqTOHrYCzwN0PhsN6WHwhtS0pMvZjmj7w-eemoG4Y2uFIPuC0CozsaEphSnk2L-CHgPnU3jNuAU01OgnB7Ey30B37BZjmLmIFegml7z6VvqxnZTS-0v60xkT5eyWyqPuxHV1UbIVMjrNbGGeLeDCz_9u1-AZ-pZZt9cLxwzfKK93CqCpAxC4cuErhRTQMfG2OTL3SMbZSfBFNz-snOZrcBjqFQ7Z6yxcstCT0rw416CDVJL4uWQun4Sazaj_JVRU6X71e6qiZ5-0-Xf2Fbjz4FDimbli5kzN3XSN6nfyaLwQAKEoncMgQYPL0dXfZ1142jsc3vFnzzw6I5SI8T-QylxiivlruYa3_d_HmxblFLrVB-fjWs483w5RePh0jWJ9-lPacTCUVMBZ9KY_Ixc_SBHkTM5GHlHjQc2CHCv5wF-h4UAIqzJfjFbkYhKFd_VGZHDJiefSeMMSt9CbB7TOCQQuDCKRQD-B2l1jfoJeIWAf1KmhEuZB8ZUh565mNVKeeUXEum3utwouRA7SyGEHz9zmLRLxZQYIZbIY4srI7tCUcixUPRGnXnwLQwqFGTVDsB48GVerzYq5nu8HM0hu-75dPAeYUHK5Xn7dJsXM-hwJO6kzLQ_dNCgu6My152Y4FzF6HhSk14GJesFA9rugH5C-01tqcHa6mz_WG0CScuVU-YHZmdQ8jYIAXiFVUl6sBJveOPYWrKGzcDVPwNSCo0SMYQmTiw4W_LHsDulckO2Ru1xwpeHV1lg8U_z559UDexyQCRHaNfOdlzJN66ppU8sK_8O_lCJV1NolfODWYpCHfFaRsMERpGT1-G_X4ElAXMX5UK6jX0KMei-PpB-RPSr9O7QgN6F3vGOpPvQ2Fj0d73tYMIbvOtGisGraQqTmDBZaBp_EOfOZeEjnJEnBfb3L6vMrXKEppv3JxkBSr0RtK3kSLSNWBw1EdERJSWa459nGEvJW-RTmCHH1T7Z715P-9-Nyr5L4nsO8pvM0p7ZtT7rQv5RFPliIbbpsibbBe2i1_PL0q-2bsylbqHYD_KinnTnZo8yKVhV53hjAXrgWJH-kzRciztR2gTQ3PPlxQYv5tDV8rxQIv5wyzlMsnmiaFZZLdNuP3ejGPdBiMJgcyW7RxJO9aBhaASrqA9syjD5v85JV7rtmM8V-g9w10xVzz0VPvPeSj01cr2RMOwoZJD6_qEKVShRL8ACeJ4R5JNzYv9lEEToc3tjVNXly1TBycabR1e_MdXS6GJbI2s0LNJOCMPRFIgtOgMn-hkVX6jJQsWhem614QrpPoRJd-Ruj2zpCF6qpnjAjEiXLK6XY2zg8ju9ZtE_0grhlXoEjthNBjBk1IUBvcqAJC55_JcJsX9oESF5I4kDgxh0uFhO1_VwMow9b2w3GZoA-khajrT63SVGL1JstXq0dM-_xBD_HzuAiWVQ_MwFJNM_t1Za5_Tc07uQjvAIBsT7Ic-j3sUejdJQf7M9mfYTDyY7tSWMFc4_x41ezXSmBXaoIIot2_c4d-2PtHNJPzMxlzAw13siPWgKVW1dI8bPApRS8AQJicT52B7jHAcvUE56Hpz_nbJNWCfcgHYV8I6IUCQrJZ7mjk74hEz8HR-Oa-VE5sQDIMoCUoOBOoaqsUQIEZGebmyRax0c0xQugNQd34hNGPsvAcbBmIyoIZOfWR6VBP5ue3J9a47lyiHi3TeJPkmKBjGQ3nlv_t34THSY4TCjiiLSdrICWwHc5RDiu1KNbgUib40hf3NVfxougV5B5OOe8fwe9Qyw7UgVBWXcB1c9a06YFaPCuoMeqLg0A8QhxXbbp_t8mjE1Nx1hyRajvL59968wea44Dx48o6mQm9YxzKdiV14DpNKPIXX7vmV25IKZHBMP6",
  "id": "rs_0eeb861604b4e47d016ab447e8fe4087d086024d338b148476",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.25,\"right_z\":-0.015,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"Verification shows the bottle remained horizontal: the firm body grip prevented it from rotating. I’ll regrasp the same rightmost bottle at the proven table-level body pose, then pivot it with a slightly loosened grip so table contact can rotate it within the jaws.\"}",
  "call_id": "call_g6RIDLxw6zvlWUAjJlmxRUjc",
  "id": "fc_0eeb861604b4e47d016ab447ec4e5c87d0b81624145c008d6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g6RIDLxw6zvlWUAjJlmxRUjc",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8185, 0.4297, -0.1837, -0.094, -0.0788, 0.9974, 0.6514, 2.1967, 1.0977, 0.4583, 0.5156, 0.3477, 0.9981]\nstate[eef_state]: left_x=0.2966 left_y=0.0045 left_z=0.1344 left_yaw=0.0538 left_pitch=-0.0065 left_roll=-0.0035 left_gripper=0.9974 right_x=0.4633 right_y=0.2482 right_z=0.0014 right_yaw=0.0148 right_pitch=0.0239 right_roll=0.0135 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -1.5658, 6.0513, 1.8291, -0.1148, -0.0562, -0.0171, 0.1026, -8.5675, 5.8051, 1.3114, 0.1197, 0.0806, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ded60c5880d6948101f50fdfb672d074f4cf0b8f97886fa4c8c1436959e0e581",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f77436293c1890156fd6cd4f5a357ccd3f898399a3c204d9a2cfc850e1a676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49566559a69c361cded7b9c440047895d0b5aacba4e81124d1ef0c80781b99c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 3.338 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 129 changed as sent

message 137 changed as sent

message 142 changed as sent

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8238, 0.4362, -0.1909, -0.094, -0.0784, 0.9974, 0.7738, 1.7374, 0.9554, -0.1936, 0.519, 0.4076, 0.5369]\nstate[eef_state]: left_x=0.2969 left_y=0.0045 left_z=0.1343 left_yaw=0.0536 left_pitch=-0.0125 left_roll=-0.0025 left_gripper=0.9974 right_x=0.3485 right_y=0.2231 right_z=0.0574 right_yaw=0.0793 right_pitch=-0.2375 right_roll=-0.149 right_gripper=0.5369\nstate[joint_eff]: [-0.294, -1.9487, 6.4342, 1.9121, -0.105, -0.0366, -0.0171, 0.1573, -11.2342, 9.4701, 2.7131, 0.7009, 0.0366, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 137 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8234, 0.4309, -0.1871, -0.094, -0.0784, 0.9974, -0.0105, 0.8368, 0.5674, -0.337, 0.02, -0.0174, 0.9981]\nstate[eef_state]: left_x=0.2964 left_y=0.0045 left_z=0.1328 left_yaw=0.0536 left_pitch=-0.0137 left_roll=-0.0024 left_gripper=0.9974 right_x=0.2981 right_y=-0.0031 right_z=0.1602 right_yaw=-0.0417 right_pitch=-0.035 right_roll=-0.0097 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -1.9761, 6.3248, 1.9609, -0.1099, -0.0122, -0.0171, 0.0068, -2.4547, 10.1265, 1.8926, -0.1929, 0.022, -0.2125]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8185, 0.4297, -0.1837, -0.094, -0.0788, 0.9974, 0.6514, 2.1967, 1.0977, 0.4583, 0.5156, 0.3477, 0.9981]\nstate[eef_state]: left_x=0.2966 left_y=0.0045 left_z=0.1344 left_yaw=0.0538 left_pitch=-0.0065 left_roll=-0.0035 left_gripper=0.9974 right_x=0.4633 right_y=0.2482 right_z=0.0014 right_yaw=0.0148 right_pitch=0.0239 right_roll=0.0135 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -1.5658, 6.0513, 1.8291, -0.1148, -0.0562, -0.0171, 0.1026, -8.5675, 5.8051, 1.3114, 0.1197, 0.0806, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ded60c5880d6948101f50fdfb672d074f4cf0b8f97886fa4c8c1436959e0e581",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f77436293c1890156fd6cd4f5a357ccd3f898399a3c204d9a2cfc850e1a676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49566559a69c361cded7b9c440047895d0b5aacba4e81124d1ef0c80781b99c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEf0ZZZ548mD8fuR4dj8KEQbAMUFlCFlG6MZR4m-Qo3h3yN8QmK7UNZ9X3faPZ5is1laebwyWBdtgxlybG3z31e2ikdkTypcZeqMakYt2qeeJYklukCpQOR9FOTkLEyabWfhvGK_ncaAqQe7ir-xyd51KBFSqi0T4PDlQAYzDoD6PskaGoT5g_yXyTvLSvFKSkR0LygzzytKI6YnjKzqz4Xqyr_72buHuxKo6ToBb2JtTjQSuDtrS4maPwluPiJrDrP7OQjB1xnxUvxH68Ite_-3PzfOOM8tsA4mSaT49FmhWqRPGSAynLamlQrey70oISFp4RC7ANJKxWNcaAyTBGhxhvOkhB2giGOWruNyGjpMAu7PCNtRWfFuLgq_jmz00fZjseu98SijQACGt-weLIOP-aGWm-oTx_CkB1faLPGKeqJZS1e2THWoSxLQfkq3gEhXjyhCjB2eYt0EeYHLLflSY2JcInp48edkVgXMOlml3JgVvTQdUlzlhBWqL9uOs-NQbQxbrA9QwFbMGNLzgdBHh1UzWY45NdMXXGZw5GlFNkf4McC0rIbn4DpqltorybYDpVaDYSon6yBNkYWHOJf-r0NSnAAK5PEhevhc0jq6_Tty3wpSx42niTzBQ9CuDBc4YOCp3LSPs_SAgCpJvDoco73eQMb3kaXw7-mFnZdKvr7donIAuRU56sjEkhywucudQNHNztwdcmtTdDlKxPSnTZxVPHuC-7TENQnQIrRkukN0zxB2SsJjfX5sL_QtWSLJpn2wN2rUvN7IopNYOfeq2C5MxujSFTJepIDqlb6B1r9BTl9mwz6KXvZs6uz6aMH9URiaKZspQ_t_kb0XJOtgXrzSv5CSTXEwrrPTv60tHvN5u5ZYFVjx-ZFXKdwrzpwOUc1qdtIB347thIxYZrFnA7LTYtCR9Ep1TDozfPDgTYu26WC0vQGEYD6sF1JIZiSgSKlPokaank8DhRTuqkjq45Qn91PyHWlYJB2wGdOYzkWdELDdE928T826FaXqv9E3z0OJydMLgzNcjXZxKNhC4lAOgoK6HOYlePa2r19dEc2sZemDIbeC4ZClAqzytg0X6zWBX_lrNCKKcb171mKESkuwHsqNOjdP3MhNg7Cfmp4sHekMhIBJaAPJHFI3Uj4Pd7bg_AsMFYQFgedHP2Ml_pLr6smh0aLNairLaA5p3-Jf6LQMtXHWoKxRAAZtshuIIMEB66cNkoM8D8GYOo7WT1T9hTLqjAChKEmYlk19R9hUjcOqWbNYFSz_mOV9pDxdobNKVmQsAzo0_tBg31drW5Rl4BuXRHwJVkF9ANvSgirrrpmuUJGXEIC6GZUiCZUHoHrfeIuh9aUhZE3X7lu10TZCp5sVBBaKzPV9Id668OjskXZaLF8cGf2ePqLJ-_Szrr-yYYJLNRyHXbaxBBqkyfVb31TISqDQAcNbnPKn0-sjONkgmkUKRyt7S5hDzNZoAGRzHPUt8v0r9cgSzF8SYNDwiQDI3k-i8Ui0rVeRjDsWUG7clA8W7fIKmbBleiGoNF2Jc0TYo4DzQca3aMAPC5E-qBaO0m81p_Ej3uAK7nNx-ImgHhu40q0bodvp3ARp8MJFfEFDAfEn-mD6HE7_IUVdAFuFXmRJYIV8n61TGBDi0D9MrS4I-c_V6AOo4kTCZO4gMA8ncwr6d4xy5naEJ6Vu9tE-IUnGKCvh5B8j22NWHc5diKcwvQx6w5sR5D0M2UHmm-yTQ0eIVOwICOPbwt8uXT4jEmiWXF9gkRbu4AXCrIBdp_lTJa1OksI2FSWwudsId9L9-jj_P1mq8E-1QPDOSV1qTtngm956vUV-IwCXPmPv27ABzlnOEsFAB_NHlEHSVmUfI4tCsE0aOv6FEmWxld_TTCVrrGh0ybY5nGTIaz1PCZKxvSQ2qZ4_rkD7SY8rdpvpx4lk-WC3LcAfI5v9buVljL3HqwvebFKLBZ_BlCBV0qYxuPnGVh_jRwfJqYOu1dA5ABBoL8_tiiGak_rcFFN8w0IqFKFf1et115vhVzg536yhG1mDRFtqjSkBBxnBUkyYhL-i_xuOgZAhCw==",
  "id": "rs_0eeb861604b4e47d016ab447f1452087d0bab6cc3aef747d8d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.32,\"right_z\":-0.015,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The earlier drag displaced the target leftward; at the old coordinate the wrist view is empty and the overhead shows the bottle about 6–7 cm to the arm’s left. I’ll make that lateral correction while staying at table-level grasp height.\"}",
  "call_id": "call_6Q8ooeKTVxGFGo8ae7jzIagh",
  "id": "fc_0eeb861604b4e47d016ab447f2fd1887d094941fa96d2fa48c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6Q8ooeKTVxGFGo8ae7jzIagh",
  "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]: [-0.0528, 0.8188, 0.424, -0.1837, -0.094, -0.0784, 0.9974, 0.7784, 2.3295, 1.3613, 0.3035, 0.5903, 0.4301, 0.9981]\nstate[eef_state]: left_x=0.2956 left_y=0.0046 left_z=0.1316 left_yaw=0.0536 left_pitch=-0.0125 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4658 right_y=0.3262 right_z=0.0022 right_yaw=0.0393 right_pitch=0.0323 right_roll=0.0337 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -1.5385, 7.0222, 1.79, -0.1245, -0.022, -0.0122, -0.3487, -10.1812, 6.6667, 1.1453, 0.3736, 0.0757, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:339861fe8bd4f43c4bbb1177b78ca0f010a56895d7b8615d1faa0b20bd69665e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d049000f9990d5711848a375ce705f7b358a43fe216abbf181c21e86d5ede80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4efed5c4b03da189c59c5e059aab3932a6f2ce32d99fbfd8c202e4e57f83963",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 5.617 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 133 changed as sent

message 142 changed as sent

message 146 changed as sent

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8242, 0.4332, -0.1894, -0.094, -0.0784, 0.9974, 0.7925, 1.7195, 0.6746, 0.2337, 0.5499, 0.3954, 0.9948]\nstate[eef_state]: left_x=0.2965 left_y=0.0045 left_z=0.1332 left_yaw=0.0536 left_pitch=-0.0144 left_roll=-0.0023 left_gripper=0.9974 right_x=0.3342 right_y=0.2126 right_z=0.0314 right_yaw=0.0998 right_pitch=-0.0961 right_roll=-0.0705 right_gripper=0.9948\nstate[joint_eff]: [-0.294, -1.6615, 6.2564, 1.8779, -0.1343, -0.0317, -0.0122, -0.1709, -8.4034, 7.2274, 1.6142, 0.4127, 0.0757, -0.2466]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8185, 0.4297, -0.1837, -0.094, -0.0788, 0.9974, 0.6514, 2.1967, 1.0977, 0.4583, 0.5156, 0.3477, 0.9981]\nstate[eef_state]: left_x=0.2966 left_y=0.0045 left_z=0.1344 left_yaw=0.0538 left_pitch=-0.0065 left_roll=-0.0035 left_gripper=0.9974 right_x=0.4633 right_y=0.2482 right_z=0.0014 right_yaw=0.0148 right_pitch=0.0239 right_roll=0.0135 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -1.5658, 6.0513, 1.8291, -0.1148, -0.0562, -0.0171, 0.1026, -8.5675, 5.8051, 1.3114, 0.1197, 0.0806, -0.2125]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8188, 0.424, -0.1837, -0.094, -0.0784, 0.9974, 0.7784, 2.3295, 1.3613, 0.3035, 0.5903, 0.4301, 0.9981]\nstate[eef_state]: left_x=0.2956 left_y=0.0046 left_z=0.1316 left_yaw=0.0536 left_pitch=-0.0125 left_roll=-0.0025 left_gripper=0.9974 right_x=0.4658 right_y=0.3262 right_z=0.0022 right_yaw=0.0393 right_pitch=0.0323 right_roll=0.0337 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -1.5385, 7.0222, 1.79, -0.1245, -0.022, -0.0122, -0.3487, -10.1812, 6.6667, 1.1453, 0.3736, 0.0757, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:339861fe8bd4f43c4bbb1177b78ca0f010a56895d7b8615d1faa0b20bd69665e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d049000f9990d5711848a375ce705f7b358a43fe216abbf181c21e86d5ede80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4efed5c4b03da189c59c5e059aab3932a6f2ce32d99fbfd8c202e4e57f83963",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEf3Fg-glN4s_I2adCh9GApsM09InwQR0LZefQHM3BzcjcZ6DYDbhTE7L7TZfAJrqD8Wm9eO-PxgraRDsI6IgP0bYBLlf5ZxBD7T_k7Xadz2n4iXeIWggRHfKJ7Td0Ja46r_99bWBZnXja2SESVbVLPiT8lp_1-cedcaHyDhQCQm3V88w4qscrLwa7bzdlCU8_u3XUZs0cbTnUlCWDs3HmOO8vje2YecEj3Tlu75KpvKKdiIYT4vyX1M38JA1qsxgnNm9XLXcFiU2nJeVFSCpVSdyqfCNWR71vo8MGZH8oxKQE6zEnUbueHEDkYkxfPYTDAySh1sp3XyQhY_GbAtdD41nBRBp-r28MURwv7t-ChBahdrPsKelmIUbHWOE4yiIdersbsOPDCmIqnqR1o7-J4Wk-drXnla40zp7GtvB4waYbbxvR0NdWIUn97AKHKNyuanNgAvTB9likS5_df8RxXdUD3F32mR1-nTVKZFKi0tF5BKEUczFTFxDEOCg4B76RZJnZ62BCRJqaknL3rwakGEe3KQsVwWRP30JhORZYwvqj_XRQd6j89ss_i1xNlOKAHwQYEtbmm8SXtakPgsTRfr4Vf9oM43ffOmXHAEHxBxo0GOAKaAJmWBj-6bo_XtKjr9mMqx2kSnVEN7iFoN9-SZvDPejR_6aZFhCCyY7BgAA9rTb09YgnOZOLkTlyFAZl3d50uRSwv6XOUmjUm3cl3ApgMolnnkales1jqgkQzwnHrNgEYZlrW2MBN2h4_D_970lGBQSs3-CoTZ9bFm6hSofjJ5T732cck2E-OykOZBZvrUA9yja7VwMSXp-Vm0EU2sixU-j6g670KivGtmF7nPXlcjwm0VJx32zYiO9feRl_IihtJeLZoFECZZxXwCYSt5sd-Cmf4CT7uZB0uBIJNQDPloSpFq0Gycu44uX7RorTq02cfwgwzX1oju6mNKWSjcfW2N1YHV1LCRM9YODPKy92yfcHNLeaJVV0RD5Egbd44ocjVlLdiciuGxx_tfOxfa_2pxgmwM9vLHAz9VhjgZHOYYKsrfkQNr0JuA-gXw1J38Wd0GMFufYTudymwNyOFihXESdmZ6o-wm-9vYUxtp2PSgmT0igO21dyDTc6jYULlBdjVc1ynQuMmz2rJ1P-7CuBe8_d4wlyWO-ZUbwey7L0D2FkX0FDOgrLUJNmQDlGINP_t_qIr_dayjgDhOsTWaNbC5hxS85hL78wDRmpT7YwT7LUmNNazgYvE5_EEZzHmNOuXT_zQLTpcoj7RXCZZPXlVaYUb5O2kUhejDLIpQgj-RBU9S-aYIJQT-kQRGo_CjnmRJcbpC5hRUiTxXzwh4ftDZ5x0ARjgZYYRDlMpBMmk7oAaawVuz4vwPpnJ9rJA7VmottUDRFtcZKu5Tx4NR5iL-3czVkVLCKCW41HxXk3CKreJs1gNV-MZmvvrROy3gHdr8eW66AdTisxNNJ-DYmpQqibiilzC-7YHO0R5D053i_oK7pnc0lG097nXelQUTAZNNF-eHJD9roC_ZOUkVNs1L0T5MRVzdg5yFyB1JZ2KKfzJTweQD-_FlC1bB0ii8sanTdlJOhAhiIygHcEwo",
  "id": "rs_0eeb861604b4e47d016ab447f64ec487d09a2158419710188a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The overhead now shows the right gripper directly over the displaced rightmost bottle, while the wrist view is empty because the bottle is at the fingertip grasp point below its field of view. I’ll close at this table-level pose and verify body thickness.\"}",
  "call_id": "call_7AyevI1ZEYizLgsz0Fm8t5Q3",
  "id": "fc_0eeb861604b4e47d016ab447f6fcdc87d0b091ee3b9f246ac0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7AyevI1ZEYizLgsz0Fm8t5Q3",
  "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]: [-0.0528, 0.8188, 0.4194, -0.1837, -0.094, -0.0784, 0.9974, 0.7853, 2.3386, 1.3907, 0.2649, 0.5987, 0.4168, 0.0131]\nstate[eef_state]: left_x=0.2948 left_y=0.0046 left_z=0.1296 left_yaw=0.0536 left_pitch=-0.0171 left_roll=-0.0021 left_gripper=0.9974 right_x=0.4658 right_y=0.3299 right_z=0.0018 right_yaw=0.0473 right_pitch=0.0225 right_roll=0.0061 right_gripper=0.0131\nstate[joint_eff]: [-0.2393, -1.7846, 6.3932, 1.8926, -0.1148, -0.0366, -0.0171, -0.8274, -13.4906, 6.4615, 1.1502, 0.1587, 0.1148, 0.5739]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ec41fe66a7fa3c670066d6d57f300bc098f28ac588f02f336a3d2128cba3acb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9015083f088dea1733a1aa0c2a000bd9995eeafdb2bd7e0db7d64bf29580e162",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:229c29d488411d8d98bc1ee30f1fa1223def8e3e9a7fdaf6beb1a9a93d0fd17a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]