adhoc

completed
2026-09-23T21:04:42.425992+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
226.5 s
total steps
354
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree clear plastic bottles are lying near the center; the leftmost bottle’s blue cap is at its upper-left end. I’m moving the left gripper above that neck area while keeping the right arm parked.
move_to
left_x0.4200left_y-0.1300left_z0.1500left_gripper1.0000right_x0.2940right_y0.0010right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0204, 0.7933, 0.6079, -0.3782, -0.0227, -0.0319, 0.9987, -0.0158, 0.7887, 0.6037, -0.3843, -0.0128, -0.025, 0.9998] state[eef_state]: left_x=0.2954 left_y=0.0016 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2938 right_y=0.0012 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4581, -1.4427, 9.7983, 1.8584, -0.0024, 0.188, -0.149, -1.0051, -0.9368, 10.2906, 1.873, -0.0904, 0.0855, -0.0317] 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":0.42,"left_y":-0.13,"left_z":0.15,"left_gripper":1.0,"right_x":0.294,"right_y":0.001,"right_z":0.18,"right_gripper":1.0},"note":"Three clear plastic bottles are lying near the center; the leftmost bottle’s blue cap is at its upper-left end. I’m moving the left gripper above that neck area while keeping the right arm parked."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe left wrist view shows the target bottle’s cap/neck low and left of the jaw column, while the second bottle is farther upper-right. I’m making a small outward and leftward correction to center the first neck before descending.
move_to
left_x0.4250left_y-0.0900left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.453, 1.5051, 0.8719, -0.0505, -0.3668, -0.2733, 0.9988, -0.02, 0.794, 0.6033, -0.4038, -0.0124, -0.0288, 0.9998] state[eef_state]: left_x=0.4051 left_y=-0.1227 left_z=0.1305 left_yaw=-0.0146 left_pitch=-0.0676 left_roll=0.0227 left_gripper=0.9988 right_x=0.2915 right_y=-0.0001 right_z=0.1747 right_yaw=-0.0025 right_pitch=-0.0252 right_roll=-0.003 right_gripper=0.9998 state[joint_eff]: [-0.6085, -6.7077, 8.8547, 1.79, -0.2662, -0.0611, -0.1294, -0.0342, -1.5385, 6.9538, 1.9267, -0.0464, 0.0122, -0.0317] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.09,"left_z":0.14,"left_gripper":1.0},"note":"The left wrist view shows the target bottle’s cap/neck low and left of the jaw column, while the second bottle is farther upper-right. I’m making a small outward and leftward correction to center the first neck before descending."})
tool
executing move_to over 3 steps (0.3s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe first correction shifted the neck toward the jaw column as expected, but it remains about 3 cm of image width to the left. I’m continuing the same lateral correction while holding a safe height.
move_to
left_x0.4300left_y-0.0200left_z0.1300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3397, 1.515, 0.8345, 0.0227, -0.3115, -0.2348, 0.9988, -0.02, 0.786, 0.5827, -0.3969, -0.0124, -0.0322, 0.9998] state[eef_state]: left_x=0.4172 left_y=-0.0862 left_z=0.1226 left_yaw=0.0321 left_pitch=-0.0578 left_roll=0.012 left_gripper=0.9988 right_x=0.2893 right_y=-0.0 right_z=0.1689 right_yaw=-0.0006 right_pitch=-0.0309 right_roll=-0.0057 right_gripper=0.9998 state[joint_eff]: [-1.1829, -7.9658, 6.8855, 2.0635, 0.1148, 0.1636, -0.1294, -0.294, -2.0171, 6.8855, 1.9316, -0.0757, 0.0171, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.02,"left_z":0.13,"left_gripper":1.0},"note":"The first correction shifted the neck toward the jaw column as expected, but it remains about 3 cm of image width to the left. I’m continuing the same lateral correction while holding a safe height."})
tool
executing move_to over 6 steps (0.6s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe requested lateral move did not track—the readback stayed near y = -0.086—so this is an IK posture limitation rather than visual uncertainty. I’m backing inward and higher to unfold the arm before re-approaching the same neck.
move_to
left_x0.3400left_y-0.0300left_z0.2100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.321, 1.5143, 0.8345, 0.0483, -0.2764, -0.2096, 0.9989, -0.0204, 0.7719, 0.5522, -0.3847, -0.0128, -0.033, 0.9998] state[eef_state]: left_x=0.4217 left_y=-0.0856 left_z=0.1267 left_yaw=0.0079 left_pitch=-0.0406 left_roll=0.0038 left_gripper=0.9989 right_x=0.2862 right_y=0.0 right_z=0.1613 right_yaw=-0.0002 right_pitch=-0.0351 right_roll=-0.006 right_gripper=0.9998 state[joint_eff]: [-0.335, -8.1162, 7.0496, 1.9072, -0.0513, 0.1343, -0.1294, -0.3897, -1.812, 7.0906, 1.9756, -0.0757, -0.0317, -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":0.34,"left_y":-0.03,"left_z":0.21,"left_gripper":1.0},"note":"The requested lateral move did not track—the readback stayed near y = -0.086—so this is an IK posture limitation rather than visual uncertainty. I’m backing inward and higher to unfold the arm before re-approaching the same neck."})
tool
executing move_to over 7 steps (0.7s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteAfter unfolding, the first bottle’s neck is now centered on the jaw column in the left wrist view. I’m advancing a few centimetres so the fingertip grasp point, which lies beyond the camera’s apparent center, reaches the neck.
move_to
left_x0.4000left_y-0.0300left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1841, 1.2087, 0.7807, -0.1947, -0.2131, -0.1616, 0.9989, -0.0212, 0.7509, 0.5194, -0.366, -0.0128, -0.0338, 0.9998] state[eef_state]: left_x=0.3728 left_y=-0.0278 left_z=0.1704 left_yaw=0.0662 left_pitch=-0.0432 left_roll=0.0052 left_gripper=0.9989 right_x=0.2834 right_y=-0.0002 right_z=0.1557 right_yaw=-0.0006 right_pitch=-0.0282 right_roll=-0.0068 right_gripper=0.9998 state[joint_eff]: [-1.9077, -3.9726, 8.4581, 1.9316, 0.3101, 0.1538, -0.1294, -0.5675, -1.0051, 6.8855, 2.0147, -0.0855, -0.0024, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.03,"left_z":0.16,"left_gripper":1.0},"note":"After unfolding, the first bottle’s neck is now centered on the jaw column in the left wrist view. I’m advancing a few centimetres so the fingertip grasp point, which lies beyond the camera’s apparent center, reaches the neck."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe outward command did not track and the readback actually retreated to x = 0.36, indicating this low posture is still awkward. I’m raising the wrist while extending modestly to get a stable approach configuration before the grasp descent.
move_to
left_x0.3900left_y-0.0300left_z0.2200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1921, 1.1599, 0.7525, -0.2276, -0.2077, -0.1581, 0.9989, -0.0212, 0.7403, 0.4934, -0.3584, -0.0128, -0.0357, 0.9998] state[eef_state]: left_x=0.36 left_y=-0.0292 left_z=0.1681 left_yaw=0.0521 left_pitch=-0.0558 left_roll=0.0079 left_gripper=0.9989 right_x=0.2804 right_y=-0.0001 right_z=0.1482 right_yaw=0.0004 right_pitch=-0.0359 right_roll=-0.0082 right_gripper=0.9998 state[joint_eff]: [-0.4581, -4.5607, 7.3778, 2.0049, -0.2711, -0.0904, -0.1294, -0.759, -1.7026, 7.2274, 2.0098, -0.1099, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.03,"left_z":0.22,"left_gripper":1.0},"note":"The outward command did not track and the readback actually retreated to x = 0.36, indicating this low posture is still awkward. I’m raising the wrist while extending modestly to get a stable approach configuration before the grasp descent."})
tool
executing move_to over 4 steps (0.4s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe arm again failed to follow the outward/high target, so I’m using the rig’s recovery maneuver: retract substantially and raise to clear the awkward joint configuration. The first bottle remains undisturbed beneath and ahead of the left arm.
move_to
left_x0.2500left_y-0.0300left_z0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1928, 1.1622, 0.7452, -0.1909, -0.2184, -0.1612, 0.9988, -0.0212, 0.7235, 0.4587, -0.3428, -0.0132, -0.036, 0.9998] state[eef_state]: left_x=0.3639 left_y=-0.0284 left_z=0.1715 left_yaw=0.0616 left_pitch=-0.028 left_roll=0.0048 left_gripper=0.9988 right_x=0.2771 right_y=0.0 right_z=0.1399 right_yaw=0.001 right_pitch=-0.0382 right_roll=-0.0083 right_gripper=0.9998 state[joint_eff]: [-0.253, -4.6974, 7.241, 1.8632, -0.188, -0.0757, -0.1294, -0.6906, -1.6615, 7.0359, 1.9951, -0.1343, 0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.03,"left_z":0.3,"left_gripper":1.0},"note":"The arm again failed to follow the outward/high target, so I’m using the rig’s recovery maneuver: retract substantially and raise to clear the awkward joint configuration. The first bottle remains undisturbed beneath and ahead of the left arm."})
tool
executing move_to over 9 steps (0.9s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe recovery succeeded: the left arm is now high and retracted with a comfortable joint posture. I’m re-approaching the already measured neck position from this configuration.
move_to
left_x0.3900left_y-0.0300left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3939, 0.7708, 1.1141, -0.6956, -0.3584, -0.2668, 0.9989, -0.0212, 0.6983, 0.4229, -0.3214, -0.0174, -0.036, 0.9998] state[eef_state]: left_x=0.2674 left_y=-0.0402 left_z=0.3538 left_yaw=0.0456 left_pitch=0.2314 left_roll=-0.1162 left_gripper=0.9989 right_x=0.2741 right_y=0.0009 right_z=0.1344 right_yaw=0.0045 right_pitch=-0.0274 right_roll=-0.0061 right_gripper=0.9998 state[joint_eff]: [-0.2667, 2.6325, 5.1761, 1.2967, -0.1587, -0.0806, -0.1294, -0.8, -0.5675, 7.0085, 1.956, -0.1197, -0.0024, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.03,"left_z":0.16,"left_gripper":1.0},"note":"The recovery succeeded: the left arm is now high and retracted with a comfortable joint posture. I’m re-approaching the already measured neck position from this configuration."})
tool
executing move_to over 13 steps (1.3s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe left wrist now shows the first bottle’s cap and narrow neck almost exactly on the jaw column, with the body trailing toward the bottom-right. I’m descending straight to the neck’s table-level center without changing horizontal alignment.
move_to
left_x0.3770left_y-0.0270left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1749, 1.2594, 0.7586, -0.1562, -0.2024, -0.1566, 0.9989, -0.0212, 0.6842, 0.3954, -0.3134, -0.0242, -0.036, 0.9998] state[eef_state]: left_x=0.3765 left_y=-0.0268 left_z=0.1499 left_yaw=0.0643 left_pitch=-0.0781 left_roll=0.0113 left_gripper=0.9989 right_x=0.2709 right_y=0.0021 right_z=0.127 right_yaw=0.0103 right_pitch=-0.0327 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [0.2256, -5.0393, 6.5162, 1.9951, -0.022, 0.188, -0.1294, -0.7453, -1.1556, 7.1179, 1.917, -0.0904, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.377,"left_y":-0.027,"left_z":0.03,"left_gripper":1.0},"note":"The left wrist now shows the first bottle’s cap and narrow neck almost exactly on the jaw column, with the body trailing toward the bottom-right. I’m descending straight to the neck’s table-level center without changing horizontal alignment."})
tool
executing move_to over 8 steps (0.8s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteAt table height the neck appears to the right of the jaw column, and the top view confirms the open jaws are just left of the bottle. I’m lifting slightly and shifting about 3 cm right to avoid pushing it during the correction.
move_to
left_x0.3770left_y-0.0550left_z0.0900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1761, 1.6115, 0.4034, 0.5442, -0.2062, -0.157, 0.9989, -0.0212, 0.6647, 0.3672, -0.297, -0.028, -0.036, 0.9998] state[eef_state]: left_x=0.3666 left_y=-0.0248 left_z=0.0184 left_yaw=0.0667 left_pitch=-0.0842 left_roll=0.015 left_gripper=0.9989 right_x=0.2686 right_y=0.0029 right_z=0.1224 right_yaw=0.0135 right_pitch=-0.025 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.5949, -6.4615, 4.6154, 1.9414, -0.149, 0.0122, -0.1294, -0.5538, -1.0188, 6.9812, 1.9414, -0.0806, -0.0269, -0.0073] 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":0.377,"left_y":-0.055,"left_z":0.09,"left_gripper":1.0},"note":"At table height the neck appears to the right of the jaw column, and the top view confirms the open jaws are just left of the bottle. I’m lifting slightly and shifting about 3 cm right to avoid pushing it during the correction."})
tool
executing move_to over 5 steps (0.5s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe lifted lateral correction worked: the first cap/neck is now centered between the left jaw paths. I’m descending vertically to close around the narrow neck.
move_to
left_x0.3770left_y-0.0560left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2878, 1.4311, 0.4904, 0.3653, -0.2867, -0.2104, 0.9989, -0.0212, 0.6525, 0.3447, -0.2905, -0.0284, -0.036, 0.9998] state[eef_state]: left_x=0.3768 left_y=-0.0557 left_z=0.0806 left_yaw=0.0498 left_pitch=0.0143 left_roll=-0.0097 left_gripper=0.9989 right_x=0.266 right_y=0.003 right_z=0.1165 right_yaw=0.0138 right_pitch=-0.0288 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1983, -6.1744, 7.8974, 1.6044, -0.1636, -0.0708, -0.1294, -0.3214, -0.8684, 6.9265, 1.8974, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.377,"left_y":-0.056,"left_z":0.025,"left_gripper":1.0},"note":"The lifted lateral correction worked: the first cap/neck is now centered between the left jaw paths. I’m descending vertically to close around the narrow neck."})
tool
executing move_to over 4 steps (0.4s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe descent stopped at z ≈ 5.3 cm instead of the 2.5 cm target, indicating the open jaws have contacted the bottle around the centered neck. I’m closing now and will verify 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, 1.6238, 0.4465, 0.6533, -0.2924, -0.2348, 0.9988, -0.0212, 0.6334, 0.3202, -0.284, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.3896 left_y=-0.0615 left_z=0.0529 left_yaw=0.061 left_pitch=0.0635 left_roll=-0.0455 left_gripper=0.9988 right_x=0.263 right_y=0.0034 right_z=0.1113 right_yaw=0.0154 right_pitch=-0.0276 right_roll=0.0012 right_gripper=0.9998 state[joint_eff]: [0.2393, -4.041, 2.5915, 0.5201, -0.1294, 0.4615, -0.1441, -0.4034, -0.7179, 7.0085, 1.9756, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The descent stopped at z ≈ 5.3 cm instead of the 2.5 cm target, indicating the open jaws have contacted the bottle around the centered neck. I’m closing now and will verify the settled opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe gripper settled at 0.011, so the first close was empty; the bottle is still visible in the wrist camera and remains lying down. I’m opening, lifting, and advancing about 3 cm outward for the single prescribed retry while keeping the lateral alignment.
move_to
left_x0.4200left_y-0.0650left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.308, 1.5967, 0.4938, 0.5426, -0.3054, -0.2363, 0.0108, -0.0212, 0.6167, 0.2958, -0.2718, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3918 left_y=-0.0652 left_z=0.0577 left_yaw=0.0591 left_pitch=0.032 left_roll=-0.0278 left_gripper=0.0108 right_x=0.2609 right_y=0.0035 right_z=0.1068 right_yaw=0.0157 right_pitch=-0.023 right_roll=0.0012 right_gripper=0.9998 state[joint_eff]: [0.2803, -5.9692, 6.0923, 1.2821, -0.1587, 0.1392, 0.8718, -0.3487, -0.6632, 7.2, 1.8926, -0.0855, -0.022, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.065,"left_z":0.1,"left_gripper":1.0},"note":"The gripper settled at 0.011, so the first close was empty; the bottle is still visible in the wrist camera and remains lying down. I’m opening, lifting, and advancing about 3 cm outward for the single prescribed retry while keeping the lateral alignment."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteAfter the outward retry correction, the neck sits on the jaw column and visibly closer to the fingertip region. I’m descending again at this corrected horizontal position.
move_to
left_x0.4200left_y-0.0650left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2863, 1.5799, 0.675, 0.2604, -0.2996, -0.2348, 0.9956, -0.0212, 0.6037, 0.2768, -0.268, -0.0303, -0.036, 0.9999] state[eef_state]: left_x=0.411 left_y=-0.0629 left_z=0.0771 left_yaw=0.0755 left_pitch=-0.048 left_roll=0.0005 left_gripper=0.9956 right_x=0.2585 right_y=0.0035 right_z=0.1019 right_yaw=0.0154 right_pitch=-0.0253 right_roll=0.0011 right_gripper=0.9999 state[joint_eff]: [0.5128, -8.9915, 8.4308, 1.7802, -0.1197, 0.2515, -0.1832, -0.1299, -0.7043, 6.8444, 1.956, -0.022, -0.0757, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.065,"left_z":0.025,"left_gripper":1.0},"note":"After the outward retry correction, the neck sits on the jaw column and visibly closer to the fingertip region. I’m descending again at this corrected horizontal position."})
tool
executing move_to over 4 steps (0.4s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe corrected descent again stopped on the bottle, now with the neck low and centered between the jaws. I’m closing for the retry and will judge it by the settled jaw spacing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2951, 1.7676, 0.6167, 0.601, -0.3, -0.2554, 0.9979, -0.0212, 0.5877, 0.2558, -0.2646, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4277 left_y=-0.0717 left_z=0.047 left_yaw=0.0779 left_pitch=0.0403 left_roll=-0.0506 left_gripper=0.9979 right_x=0.2558 right_y=0.0035 right_z=0.0969 right_yaw=0.0154 right_pitch=-0.0268 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.0752, -5.5043, 3.3299, 0.8962, -0.2711, 0.5006, -0.232, -0.253, -0.5949, 6.8171, 1.9072, -0.0366, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The corrected descent again stopped on the bottle, now with the neck low and centered between the jaws. I’m closing for the retry and will judge it by the settled jaw spacing."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe retry also closed empty; the top view shows the bottle was nudged but not lifted, and its neck is now left of the jaw column. I’m reopening, lifting, and recentering over the displaced neck; the next descent will go to table level so the fingers surround rather than ride above it.
move_to
left_x0.4200left_y-0.0400left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3069, 1.7554, 0.6559, 0.5674, -0.3416, -0.2543, 0.0109, -0.0212, 0.569, 0.2344, -0.2623, -0.0303, -0.0364, 0.9998] state[eef_state]: left_x=0.4357 left_y=-0.0722 left_z=0.0607 left_yaw=0.1005 left_pitch=0.065 left_roll=-0.0366 left_gripper=0.0109 right_x=0.253 right_y=0.0036 right_z=0.092 right_yaw=0.0156 right_pitch=-0.0272 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [0.1846, -7.6786, 5.2991, 1.072, 0.0464, 0.1538, 0.8474, -0.3487, -0.4581, 6.7624, 1.9219, -0.022, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.04,"left_z":0.1,"left_gripper":1.0},"note":"The retry also closed empty; the top view shows the bottle was nudged but not lifted, and its neck is now left of the jaw column. I’m reopening, lifting, and recentering over the displaced neck; the next descent will go to table level so the fingers surround rather than ride above it."})
tool
executing move_to over 10 steps (1.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe displaced neck is now centered and low between the open jaws, a better depth alignment than before. I’m descending to the table-level grasp height so the fingertips pass down around the neck.
move_to
left_x0.4190left_y-0.0380left_z-0.0100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2207, 1.5669, 0.6853, 0.2714, -0.2913, -0.2096, 0.995, -0.0212, 0.5484, 0.2108, -0.2615, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4191 left_y=-0.0384 left_z=0.0881 left_yaw=0.1203 left_pitch=-0.0176 left_roll=0.0049 left_gripper=0.995 right_x=0.2497 right_y=0.0037 right_z=0.0862 right_yaw=0.0154 right_pitch=-0.0295 right_roll=0.0012 right_gripper=0.9998 state[joint_eff]: [0.3487, -8.4308, 6.7761, 1.7216, 0.0269, 0.0317, -0.2076, -0.2803, 0.0068, 6.9402, 1.9316, -0.0562, -0.0562, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.419,"left_y":-0.038,"left_z":-0.01,"left_gripper":1.0},"note":"The displaced neck is now centered and low between the open jaws, a better depth alignment than before. I’m descending to the table-level grasp height so the fingertips pass down around the neck."})
tool
executing move_to over 7 steps (0.7s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe deep descent stopped on contact at the neck, which now fills the bottom-center gap between the fingertips. I’m closing at this table-level contact pose.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2245, 1.8866, 0.5877, 0.8871, -0.2749, -0.2543, 0.9978, -0.0212, 0.5228, 0.1837, -0.2615, -0.0299, -0.0364, 0.9998] state[eef_state]: left_x=0.4461 left_y=-0.049 left_z=0.0472 left_yaw=0.1317 left_pitch=0.1652 left_roll=-0.11 left_gripper=0.9978 right_x=0.246 right_y=0.0037 right_z=0.0797 right_yaw=0.0153 right_pitch=-0.031 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [0.0889, -3.7128, 1.4564, -0.1245, -0.3541, 0.8034, -0.2418, -0.335, 0.0342, 6.9949, 1.956, -0.0317, -0.0659, -0.0073] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The deep descent stopped on contact at the neck, which now fills the bottom-center gap between the fingertips. I’m closing at this table-level contact pose."})
tool
executing move_to over 10 steps (1.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteRepeated aligned closes have ejected the round neck and returned an empty reading, so the missing factor is jaw orientation: the bottle lies diagonally while the jaws were closing obliquely. I’m lifting, opening, and rotating about 43° so the jaw closure is perpendicular to the bottle’s long axis.
move_to
left_x0.4300left_y-0.0600left_z0.1400left_yaw0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.242, 1.8042, 0.7174, 0.5411, -0.3161, -0.2363, 0.0108, -0.0212, 0.4961, 0.1585, -0.2607, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4526 left_y=-0.0515 left_z=0.0566 left_yaw=0.1342 left_pitch=0.0475 left_roll=-0.0278 left_gripper=0.0108 right_x=0.2429 right_y=0.0039 right_z=0.0744 right_yaw=0.0157 right_pitch=-0.0287 right_roll=0.0014 right_gripper=0.9998 state[joint_eff]: [0.0205, -8.4034, 5.3402, 1.1697, -0.1343, 0.0562, 0.8425, -0.294, -0.1709, 6.8034, 2.0, -0.0806, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.06,"left_z":0.14,"left_yaw":0.75,"left_gripper":1.0},"note":"Repeated aligned closes have ejected the round neck and returned an empty reading, so the missing factor is jaw orientation: the bottle lies diagonally while the jaws were closing obliquely. I’m lifting, opening, and rotating about 43° so the jaw closure is perpendicular to the bottle’s long axis."})
tool
executing move_to over 10 steps (1.0s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteWith the wrist rotated, the first bottle’s cap is centered at the very bottom between the jaws, and the jaw line is now perpendicular to its axis. I’m descending vertically for the oriented neck grasp.
move_to
left_x0.4430left_y-0.0720left_z0.0200left_yaw0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4721, 1.8019, 1.2503, -0.4038, -0.8581, -0.9016, 0.9948, -0.0212, 0.4694, 0.1337, -0.2619, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4433 left_y=-0.0723 left_z=0.1403 left_yaw=0.6641 left_pitch=-0.0003 left_roll=-0.0548 left_gripper=0.9948 right_x=0.2398 right_y=0.0039 right_z=0.0688 right_yaw=0.0157 right_pitch=-0.028 right_roll=0.0014 right_gripper=0.9998 state[joint_eff]: [-0.5949, -7.8291, 7.5009, 0.7448, -0.6911, 0.0171, -0.1636, -0.3077, 0.0479, 6.9949, 1.9121, -0.0611, -0.0757, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.443,"left_y":-0.072,"left_z":0.02,"left_yaw":0.75,"left_gripper":1.0},"note":"With the wrist rotated, the first bottle’s cap is centered at the very bottom between the jaws, and the jaw line is now perpendicular to its axis. I’m descending vertically for the oriented neck grasp."})
tool
executing move_to over 8 steps (0.8s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteAt the low rotated pose, the neck is visibly centered between the opposing fingertips rather than offset along them. I’m closing to test this orientation-corrected grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4866, 2.0689, 1.1713, -0.1871, -0.9199, -1.0039, 0.9979, -0.0212, 0.4427, 0.1116, -0.2638, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4462 left_y=-0.073 left_z=0.0333 left_yaw=0.7369 left_pitch=-0.0019 left_roll=-0.0015 left_gripper=0.9979 right_x=0.2372 right_y=0.0039 right_z=0.0641 right_yaw=0.0154 right_pitch=-0.0253 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [-0.3077, -8.5265, 4.3009, 0.7692, -0.0464, -0.2027, -0.2173, -0.3487, -0.0342, 6.8034, 1.8974, -0.0415, -0.0806, -0.0073] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the low rotated pose, the neck is visibly centered between the opposing fingertips rather than offset along them. I’m closing to test this orientation-corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe rotated full close still squeezed the smooth cap out to the right; the settled empty reading confirms it. I’m opening and moving above the newly displaced cap, and on the next attempt I will stop near the cap’s expected 3 cm diameter instead of fully closing.
move_to
left_x0.4650left_y-0.1000left_z0.1100left_yaw0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4885, 2.0521, 1.1782, -0.1478, -0.9958, -0.9997, 0.0105, -0.0212, 0.4168, 0.094, -0.2649, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4529 left_y=-0.0687 left_z=0.055 left_yaw=0.7719 left_pitch=0.0809 left_roll=-0.0361 left_gripper=0.0105 right_x=0.2355 right_y=0.004 right_z=0.0615 right_yaw=0.0154 right_pitch=-0.0181 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [-0.0615, -9.0325, 5.4906, 0.696, 0.2759, -0.0659, 0.8376, -0.335, 0.5402, 6.8308, 1.8388, -0.0415, -0.0317, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.1,"left_z":0.11,"left_yaw":0.75,"left_gripper":1.0},"note":"The rotated full close still squeezed the smooth cap out to the right; the settled empty reading confirms it. I’m opening and moving above the newly displaced cap, and on the next attempt I will stop near the cap’s expected 3 cm diameter instead of fully closing."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe displaced cap is now centered low between the rotated jaws, with the narrow neck aligned along the jaw column. I’m descending to grasp height while preserving that alignment.
move_to
left_x0.4650left_y-0.1000left_z0.0200left_yaw0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5186, 2.0533, 1.4582, -0.5526, -0.9394, -1.0828, 0.9943, -0.0212, 0.3988, 0.0841, -0.2653, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4638 left_y=-0.0964 left_z=0.0994 left_yaw=0.7558 left_pitch=-0.0049 left_roll=-0.0029 left_gripper=0.9943 right_x=0.2348 right_y=0.004 right_z=0.0607 right_yaw=0.0154 right_pitch=-0.0104 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.841, -11.412, 8.3487, 0.7692, -0.5104, -0.0024, -0.2125, -0.3487, 0.5949, 6.5983, 1.8046, -0.0269, -0.0562, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.1,"left_z":0.02,"left_yaw":0.75,"left_gripper":1.0},"note":"The displaced cap is now centered low between the rotated jaws, with the narrow neck aligned along the jaw column. I’m descending to grasp height while preserving that alignment."})
tool
executing move_to over 6 steps (0.6s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
assistant
agent noteThe neck remains centered at the low pose. I’m closing only to about 2.9 cm jaw spacing, matching the cap/neck diameter so the rounded bottle is pinched rather than expelled.
move_to
left_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5232, 2.154, 1.3674, -0.3569, -0.9997, -1.0698, 0.9979, -0.0212, 0.3962, 0.0837, -0.2653, -0.0307, -0.0364, 0.9998] state[eef_state]: left_x=0.4654 left_y=-0.0927 left_z=0.0507 left_yaw=0.7689 left_pitch=0.0489 left_roll=0.0198 left_gripper=0.9979 right_x=0.2349 right_y=0.004 right_z=0.0611 right_yaw=0.0159 right_pitch=-0.0081 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.4171, -7.5145, 3.5077, 1.1453, 0.398, -0.1294, -0.2222, -0.335, -0.1709, 6.3932, 1.7411, -0.0708, -0.0806, -0.0073] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.3},"note":"The neck remains centered at the low pose. I’m closing only to about 2.9 cm jaw spacing, matching the cap/neck diameter so the rounded bottle is pinched rather than expelled."})
tool
executing move_to over 7 steps (0.7s)
step 186
assistant
agent noteThe jaws stopped at the commanded cap-width spacing with the cap visibly between them. I’m lifting about 6 cm to verify that the neck is retained and to begin pivoting the bottle upward if it is.
move_to
left_x0.4650left_y-0.0840left_z0.1200left_yaw0.7500left_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5091, 2.1468, 1.3716, -0.3775, -1.0088, -1.0779, 0.306, -0.0212, 0.3962, 0.0837, -0.2649, -0.0307, -0.0364, 0.9998] state[eef_state]: left_x=0.4653 left_y=-0.0844 left_z=0.0549 left_yaw=0.7905 left_pitch=0.0545 left_roll=0.0239 left_gripper=0.306 right_x=0.235 right_y=0.004 right_z=0.0612 right_yaw=0.0159 right_pitch=-0.0078 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.4991, -11.9316, 6.3248, 0.7741, 0.1245, -0.105, 0.2369, -0.335, -0.1162, 6.5026, 1.7314, -0.0659, -0.0855, -0.0073] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.084,"left_z":0.12,"left_yaw":0.75,"left_gripper":0.3},"note":"The jaws stopped at the commanded cap-width spacing with the cap visibly between them. I’m lifting about 6 cm to verify that the neck is retained and to begin pivoting the bottle upward if it is."})
tool
executing move_to over 5 steps (0.5s)
step 191
assistant
agent noteThe bottle’s neck stayed centered during the lift and the top view shows the body still attached below it, confirming the partial-width grasp succeeded. I’m raising the neck to roughly the bottle’s full height so the base drags into an upright position.
move_to
left_x0.4650left_y-0.0840left_z0.2600left_yaw0.7500left_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4931, 2.0563, 1.4178, -0.5182, -0.9329, -1.0687, 0.3012, -0.0212, 0.3962, 0.0837, -0.2649, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4619 left_y=-0.083 left_z=0.0873 left_yaw=0.7713 left_pitch=-0.0134 left_roll=0.016 left_gripper=0.3012 right_x=0.235 right_y=0.004 right_z=0.0612 right_yaw=0.0154 right_pitch=-0.0078 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0752, -14.2427, 8.8547, 0.7692, -0.525, 0.3736, 0.105, -0.3214, -0.0479, 6.735, 1.7314, -0.0611, -0.0806, -0.0122] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.084,"left_z":0.26,"left_yaw":0.75,"left_gripper":0.3},"note":"The bottle’s neck stayed centered during the lift and the top view shows the body still attached below it, confirming the partial-width grasp succeeded. I’m raising the neck to roughly the bottle’s full height so the base drags into an upright position."})
tool
executing move_to over 12 steps (1.2s)
step 203
assistant
agent noteThe overhead view shows the bottle body did not rise; the jaws pulled off and retained only the removable blue cap. I’m releasing it while moving over the bottle’s shoulder just below the neck, where a wider partial close can hold the actual bottle.
move_to
left_x0.4200left_y-0.1200left_z0.1300left_yaw0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4931, 1.9968, 1.9484, -1.0405, -0.9207, -1.0534, 0.3012, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4723 left_y=-0.0901 left_z=0.2438 left_yaw=0.7573 left_pitch=-0.0029 left_roll=-0.0392 left_gripper=0.3012 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1983, -11.6171, 7.8838, 0.823, -0.5055, 0.2222, 0.1099, -0.3214, 0.6085, 6.5573, 1.7363, -0.0464, -0.0171, -0.0073] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.12,"left_z":0.13,"left_yaw":0.75,"left_gripper":1.0},"note":"The overhead view shows the bottle body did not rise; the jaws pulled off and retained only the removable blue cap. I’m releasing it while moving over the bottle’s shoulder just below the neck, where a wider partial close can hold the actual bottle."})
tool
executing move_to over 8 steps (0.8s)
step 211
assistant
agent noteThe left wrist now shows the bottle’s shoulder and upper body centered between the rotated jaws, confirming the target is the full bottle rather than just the cap. I’m descending to table-level body height for a wider grasp.
move_to
left_x0.4200left_y-0.1170left_z0.0250left_yaw0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6174, 1.9736, 1.4769, -0.82, -0.9565, -1.2152, 0.9955, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4204 left_y=-0.1171 left_z=0.1247 left_yaw=0.7365 left_pitch=-0.0296 left_roll=0.0541 left_gripper=0.9955 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.6632, -11.6034, 6.2974, 0.7106, -0.6667, -0.0269, -0.0659, -0.3214, 0.4855, 6.8855, 1.746, -0.0171, -0.0171, -0.0122] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.117,"left_z":0.025,"left_yaw":0.75,"left_gripper":1.0},"note":"The left wrist now shows the bottle’s shoulder and upper body centered between the rotated jaws, confirming the target is the full bottle rather than just the cap. I’m descending to table-level body height for a wider grasp."})
tool
executing move_to over 7 steps (0.7s)
step 218
assistant
agent noteAt the low pose, the bottle’s cylindrical shoulder/body fills the gap and is centered between the jaws. I’m closing only to about 5.2 cm spacing, matching the bottle diameter to avoid squeezing it out.
move_to
left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.627, 2.0819, 1.2587, -0.4816, -1.0111, -1.2304, 0.9979, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.416 left_y=-0.1121 left_z=0.0454 left_yaw=0.7492 left_pitch=0.0249 left_roll=0.0404 left_gripper=0.9979 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [0.212, -7.2274, 4.6974, 1.199, 0.1587, -0.1392, -0.2222, -0.1983, 0.4718, 6.8444, 1.7314, -0.0562, -0.0464, -0.0073] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.55},"note":"At the low pose, the bottle’s cylindrical shoulder/body fills the gap and is centered between the jaws. I’m closing only to about 5.2 cm spacing, matching the bottle diameter to avoid squeezing it out."})
tool
executing move_to over 5 steps (0.5s)
step 223
assistant
agent noteThe partial close leaves the full bottle body visibly wedged between both fingertips. I’m lifting the shoulder to full bottle height so the far end pivots down onto its base.
move_to
left_x0.4160left_y-0.1090left_z0.2500left_yaw0.7500left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6205, 2.0789, 1.2442, -0.4603, -1.0142, -1.2316, 0.557, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9999] state[eef_state]: left_x=0.4162 left_y=-0.1087 left_z=0.0443 left_yaw=0.7573 left_pitch=0.0297 left_roll=0.0302 left_gripper=0.557 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9999 state[joint_eff]: [-0.0068, -12.0, 4.8615, 0.7985, -0.1197, -0.0269, 0.3492, -0.3214, 0.4171, 6.7761, 1.7509, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.416,"left_y":-0.109,"left_z":0.25,"left_yaw":0.75,"left_gripper":0.55},"note":"The partial close leaves the full bottle body visibly wedged between both fingertips. I’m lifting the shoulder to full bottle height so the far end pivots down onto its base."})
tool
executing move_to over 14 steps (1.4s)
step 237
assistant
agent noteThe bottle now hangs vertically below the jaws in the wrist view, so the pivot succeeded. I’m lowering it in place until its base reaches the tabletop before releasing.
move_to
left_x0.4230left_y-0.1170left_z0.1400left_yaw0.7500left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6136, 1.9137, 1.8023, -1.1347, -0.9577, -1.2346, 0.5504, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4234 left_y=-0.1171 left_z=0.2304 left_yaw=0.7496 left_pitch=-0.0134 left_roll=-0.0309 left_gripper=0.5504 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.2256, -11.2752, 7.8291, 0.6276, -0.6569, 0.0806, 0.0171, -0.3077, 0.6085, 6.9675, 1.7558, -0.0611, -0.0464, -0.0171] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.423,"left_y":-0.117,"left_z":0.14,"left_yaw":0.75,"left_gripper":0.55},"note":"The bottle now hangs vertically below the jaws in the wrist view, so the pivot succeeded. I’m lowering it in place until its base reaches the tabletop before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 243
assistant
agent noteThe vertical bottle has been lowered by about 9 cm and its base is now supported at table level beneath the shoulder grasp. I’m opening the jaws to leave it standing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6159, 1.9369, 1.5051, -0.8745, -0.9585, -1.2346, 0.5504, -0.0212, 0.3916, 0.0837, -0.2646, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4177 left_y=-0.1141 left_z=0.145 left_yaw=0.7487 left_pitch=-0.0251 left_roll=0.0282 left_gripper=0.5504 right_x=0.2353 right_y=0.004 right_z=0.0623 right_yaw=0.0154 right_pitch=-0.0028 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.5949, -9.1829, 6.2291, 0.7302, -0.6911, -0.0073, 0.0269, -0.1846, 0.4308, 7.0906, 1.7607, -0.0122, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"left_gripper":1.0},"note":"The vertical bottle has been lowered by about 9 cm and its base is now supported at table level beneath the shoulder grasp. I’m opening the jaws to leave it standing."})
tool
executing move_to over 5 steps (0.5s)
step 248
assistant
agent noteThe first bottle remains vertical between the opened jaws after release, so it is standing. I’m moving to the middle bottle’s shoulder; its axis is nearly fore–aft, so yaw 0 makes the jaws close laterally and perpendicular to it.
move_to
left_x0.4600left_y-0.2200left_z0.1400left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6159, 1.9476, 1.4719, -0.8154, -0.9585, -1.235, 0.9952, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.42 left_y=-0.1158 left_z=0.1338 left_yaw=0.7485 left_pitch=-0.022 left_roll=0.013 left_gripper=0.9952 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.6906, -12.3009, 5.4359, 0.7057, -0.6862, -0.0024, -0.0708, -0.2256, 0.5128, 6.9812, 1.7705, -0.0415, -0.0317, -0.0073] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.22,"left_z":0.14,"left_yaw":0.0,"left_gripper":1.0},"note":"The first bottle remains vertical between the opened jaws after release, so it is standing. I’m moving to the middle bottle’s shoulder; its axis is nearly fore–aft, so yaw 0 makes the jaws close laterally and perpendicular to it."})
tool
executing move_to over 10 steps (1.0s)
step 258
assistant
agent noteThe middle bottle’s upper body is centered between the left jaws. I’m descending that arm while simultaneously bringing the right arm above the third bottle’s shoulder; the two targets are separated enough to keep the grippers clear.
move_to
left_x0.4530left_y-0.2050left_z0.0250left_yaw0.0000left_gripper1.0000right_x0.4500right_y0.2800right_z0.1400right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6357, 1.8713, 1.2385, -0.1375, -0.601, -0.4961, 0.9979, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4526 left_y=-0.2054 left_z=0.1175 left_yaw=0.108 left_pitch=-0.0486 left_roll=0.0188 left_gripper=0.9979 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [0.6632, -12.4786, 6.4205, 1.6972, -0.1343, 0.2418, -0.232, -0.3487, 0.4855, 6.9812, 1.7558, -0.0659, -0.0708, -0.0122] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.453,"left_y":-0.205,"left_z":0.025,"left_yaw":0.0,"left_gripper":1.0,"right_x":0.45,"right_y":0.28,"right_z":0.14,"right_yaw":0.0,"right_gripper":1.0},"note":"The middle bottle’s upper body is centered between the left jaws. I’m descending that arm while simultaneously bringing the right arm above the third bottle’s shoulder; the two targets are separated enough to keep the grippers clear."})
tool
executing move_to over 23 steps (2.3s)
step 281
assistant
agent noteThe left jaws are at body height with the middle bottle centered, so I’m applying the proven 5.2 cm partial grasp. The right wrist sees the third bottle slightly right of its jaw column, so I’m correcting rightward and descending that arm at the same time.
move_to
left_gripper0.5500right_x0.4380right_y0.2400right_z0.0250right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6117, 2.009, 0.997, 0.4171, -0.5117, -0.4149, 0.9979, 0.7406, 1.9312, 1.3422, -0.1658, 0.5732, 0.408, 0.9998] state[eef_state]: left_x=0.4599 left_y=-0.2125 left_z=0.0497 left_yaw=0.0191 left_pitch=0.052 left_roll=-0.0672 left_gripper=0.9979 right_x=0.4382 right_y=0.2757 right_z=0.1233 right_yaw=0.0415 right_pitch=-0.0446 right_roll=-0.0383 right_gripper=0.9998 state[joint_eff]: [0.3624, -7.4051, 4.0, 1.2772, -0.1343, 0.3687, -0.232, 0.0479, -10.2906, 8.8547, 1.5507, 0.525, 0.3101, -0.0317] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.55,"right_x":0.438,"right_y":0.24,"right_z":0.025,"right_yaw":0.0,"right_gripper":1.0},"note":"The left jaws are at body height with the middle bottle centered, so I’m applying the proven 5.2 cm partial grasp. The right wrist sees the third bottle slightly right of its jaw column, so I’m correcting rightward and descending that arm at the same time."})
tool
executing move_to over 7 steps (0.7s)
step 288
assistant
agent noteThe middle bottle is held at the partial jaw spacing, and the third bottle is now centered at low body height in the right wrist view. I’m lifting the middle bottle to pivot it upright while closing the right jaws to the same body-width spacing.
move_to
left_x0.4620left_y-0.2130left_z0.2500left_yaw0.0000left_gripper0.5500right_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6174, 2.014, 1.05, 0.3241, -0.5358, -0.4183, 0.5544, 0.6922, 2.0274, 1.0485, 0.2615, 0.5732, 0.395, 0.9998] state[eef_state]: left_x=0.4623 left_y=-0.2132 left_z=0.0511 left_yaw=0.0334 left_pitch=0.0241 left_roll=-0.0321 left_gripper=0.5544 right_x=0.4342 right_y=0.2402 right_z=0.0356 right_yaw=0.0008 right_pitch=-0.0161 right_roll=-0.0251 right_gripper=0.9998 state[joint_eff]: [-0.1709, -10.7419, 6.5436, 1.1844, -0.1343, 0.1441, 0.1929, -0.8821, -7.2684, 4.6701, 1.4969, -0.1294, 0.1245, -0.0366] 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":{"left_x":0.462,"left_y":-0.213,"left_z":0.25,"left_yaw":0.0,"left_gripper":0.55,"right_gripper":0.55},"note":"The middle bottle is held at the partial jaw spacing, and the third bottle is now centered at low body height in the right wrist view. I’m lifting the middle bottle to pivot it upright while closing the right jaws to the same body-width spacing."})
tool
executing move_to over 13 steps (1.3s)
step 301
assistant
agent noteThe middle bottle now hangs vertically beneath the raised left gripper, while the right jaws visibly hold the third bottle’s full body. I’m lowering the middle bottle onto its base as I lift the third bottle to pivot it upright.
move_to
left_x0.4660left_y-0.2160left_z0.1300left_yaw0.0000left_gripper0.5500right_x0.4400right_y0.2440right_z0.2500right_yaw0.0000right_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6155, 1.8053, 1.5375, -0.4232, -0.5274, -0.4179, 0.5504, 0.6922, 2.0289, 1.0397, 0.3309, 0.5762, 0.3882, 0.5528] state[eef_state]: left_x=0.4659 left_y=-0.2162 left_z=0.22 left_yaw=0.0284 left_pitch=-0.0198 left_roll=-0.0051 left_gripper=0.5504 right_x=0.4396 right_y=0.2441 right_z=0.0437 right_yaw=0.0019 right_pitch=0.0307 right_roll=0.0053 right_gripper=0.5528 state[joint_eff]: [0.2803, -12.5197, 9.4838, 1.5556, -0.0708, 0.3639, 0.0171, -0.5402, -10.5504, 4.465, 1.3797, 0.0464, 0.1001, 0.1343] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.466,"left_y":-0.216,"left_z":0.13,"left_yaw":0.0,"left_gripper":0.55,"right_x":0.44,"right_y":0.244,"right_z":0.25,"right_yaw":0.0,"right_gripper":0.55},"note":"The middle bottle now hangs vertically beneath the raised left gripper, while the right jaws visibly hold the third bottle’s full body. I’m lowering the middle bottle onto its base as I lift the third bottle to pivot it upright."})
tool
executing move_to over 14 steps (1.4s)
step 315
assistant
agent noteThe middle bottle is vertical at table height and the third bottle now hangs vertically from the raised right gripper. I’m releasing the middle bottle while lowering the third onto its base.
move_to
left_gripper1.0000right_x0.4380right_y0.2490right_z0.1300right_yaw0.0000right_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6144, 1.8503, 1.2343, -0.0631, -0.5148, -0.3923, 0.5504, 0.6933, 1.8107, 1.5581, -0.5011, 0.5461, 0.3843, 0.5521] state[eef_state]: left_x=0.4622 left_y=-0.2152 left_z=0.1327 left_yaw=0.0059 left_pitch=-0.0151 left_roll=0.0029 left_gripper=0.5504 right_x=0.438 right_y=0.2493 right_z=0.2142 right_yaw=0.0275 right_pitch=-0.0559 right_roll=-0.0425 right_gripper=0.5521 state[joint_eff]: [0.1026, -8.4444, 6.3111, 1.8242, -0.1294, 0.1343, 0.022, -0.759, -12.3282, 9.6068, 1.6728, 0.398, 0.1294, 0.2125] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"right_x":0.438,"right_y":0.249,"right_z":0.13,"right_yaw":0.0,"right_gripper":0.55},"note":"The middle bottle is vertical at table height and the third bottle now hangs vertically from the raised right gripper. I’m releasing the middle bottle while lowering the third onto its base."})
tool
executing move_to over 6 steps (0.6s)
step 321
assistant
agent noteThe wrist views show two released bottles standing and the third vertical with its base now on the table. I’m opening the right jaws and retracting both arms to reveal and verify all three bottles.
move_to
left_x0.2950left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000right_x0.2940right_y0.0000right_z0.1800right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6136, 1.8515, 1.2217, -0.041, -0.5156, -0.3931, 0.9964, 0.6945, 1.8355, 1.2415, -0.1635, 0.5503, 0.3923, 0.5521] state[eef_state]: left_x=0.4625 left_y=-0.2148 left_z=0.1309 left_yaw=0.0077 left_pitch=-0.0079 left_roll=-0.0023 left_gripper=0.9964 right_x=0.4303 right_y=0.2429 right_z=0.128 right_yaw=0.021 right_pitch=-0.0569 right_roll=-0.0406 right_gripper=0.5521 state[joint_eff]: [-0.5402, -10.1402, 6.2154, 1.6435, -0.315, -0.0122, -0.0659, 0.5949, -7.9385, 6.5846, 1.79, 0.4078, 0.1392, 0.2076] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_gripper":1.0,"right_x":0.294,"right_y":0.0,"right_z":0.18,"right_yaw":0.0,"right_gripper":1.0},"note":"The wrist views show two released bottles standing and the third vertical with its base now on the table. I’m opening the right jaws and retracting both arms to reveal and verify all three bottles."})
tool
executing move_to over 21 steps (2.1s)
step 342
assistant
agent noteWith the arms clear, the overhead view confirms the middle and right bottles are upright, but the left bottle has fallen back onto its diagonal side. I’m returning the left gripper to the proven shoulder-grasp pose to restack that final bottle.
move_to
left_x0.4100left_y-0.1100left_z0.0400left_yaw0.7500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0563, 0.8146, 0.606, -0.3279, -0.0963, -0.0891, 0.9979, 0.0086, 0.8135, 0.6037, -0.3576, 0.0486, 0.0093, 0.9984] state[eef_state]: left_x=0.3032 left_y=0.0035 left_z=0.1865 left_yaw=0.0569 left_pitch=0.0297 left_roll=-0.0122 left_gripper=0.9979 right_x=0.2988 right_y=-0.0024 right_z=0.1792 right_yaw=-0.0458 right_pitch=0.0026 right_roll=-0.0041 right_gripper=0.9984 state[joint_eff]: [0.294, -1.6889, 6.7487, 1.7607, -0.0122, 0.1685, -0.232, -0.3077, -1.9624, 7.0085, 1.8974, 0.0171, 0.0073, -0.0366] camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.11,"left_z":0.04,"left_yaw":0.75,"left_gripper":1.0},"note":"With the arms clear, the overhead view confirms the middle and right bottles are upright, but the left bottle has fallen back onto its diagonal side. I’m returning the left gripper to the proven shoulder-grasp pose to restack that final bottle."})
tool
executing move_to over 11 steps (1.1s)
step 353
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6159, 2.0071, 1.1427, -0.313, -0.9199, -1.0958, 0.998, 0.0055, 0.8173, 0.6029, -0.3805, 0.0257, -0.0051, 0.9994] state[eef_state]: left_x=0.4131 left_y=-0.1158 left_z=0.0404 left_yaw=0.6582 left_pitch=-0.0305 left_roll=0.0095 left_gripper=0.998 right_x=0.296 right_y=0.0007 right_z=0.173 right_yaw=-0.0218 right_pitch=-0.0254 right_roll=-0.0048 right_gripper=0.9994 state[joint_eff]: [-0.4855, -10.3726, 5.5726, 0.4322, -0.6667, -0.1929, -0.2173, -0.3077, -1.2923, 7.2821, 1.9267, 0.1636, 0.1294, 0.0855] camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
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]
call 0 attempt 0 · /responses · status 200 · 12.32 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]: [-0.0204, 0.7933, 0.6079, -0.3782, -0.0227, -0.0319, 0.9987, -0.0158, 0.7887, 0.6037, -0.3843, -0.0128, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0016 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2938 right_y=0.0012 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.4427, 9.7983, 1.8584, -0.0024, 0.188, -0.149, -1.0051, -0.9368, 10.2906, 1.873, -0.0904, 0.0855, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede1e646772a22617d41889e5b721d7d63db1c59c2632a6de93c6722d925ee21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58160da660665c8e6910e2155717cd10b9a8f20bc91a296fd4dff1bccf722366",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66bac1303b81c36c983611dd30f629244e046950d894198b7fe45c3d8244a1b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 12.49 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0ee9aa1f45ee3dde016ab43ef855a087d098d2a7e4bbaf3195",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8DPjx4cbfdUniY59I2okDO8Ehfa5APmOsmIHisYJ6Ogd-DQWwIFBngVBGNJJUiM9aflGSwq1ZzxJ7N5EZQpJdumuC4UBBx0Y5skocddXQa4nLSSAg3QFY29naLuhcS2bI8paC3G34q42zpJtyOLirRFtIWs84UiAvTIBM8UPBCzJVDGdhTaFoYCGbPOgWgE3aUIQs-sMwYD6UP8qXOl2hezf8Pprmsr3-498pHoGbmbBdHhssPZV-fcUaLpaS8_W2160IwvZYp3Z8fPqVCoP54pJNew3_Fu8qK9QFcmoJmqFEa7lMV3nHfkoggU-bqNv4AS4m6lzQ-mk04HlIHFUMI0PGIXJ4wpTxecUeETwxMBeg7xg_zu_N2HhybgxuQR1i62IvlD5qORfHo5kkPKCJ764JVMDmageAwvK62lbfZpDBHTEncbOkU6BWCJx1KmkNq4nvSNW1hO7HPSQLp5dHRk5ZV2DH0WO_zJ5edW8oaS_OudE7E-G8YdUuWCq4B4NGCaumCejb4fRglZGr44Q3R1g_TlwAf4A5bayHHVoJr-A7Q_fZj5YswZHxpWpmKc5InYgbhA7KfM2RH_52FAN2HOt-KbwGngXmGaMBPBD4_jcgzF9h2HczR0l2wUxMZ0_m8zP0e2KPJYfmOZAzeZokOzt-mWAgIwUimEuh1DOtxBMJny_Ltag-gFaibz51Gi-CmbKpbQUvuTrALnSHD-x6SX99qudBSs5jda8cswNWeIZhzdne1dPZ9GiTMHyEfNYH2y2yNB-NPzmCCh4K1Ovbk9lXvoyrlH8pMxmkoo49jzTaO9__54wPwgel8rDYUhUeYTGT1P4ULuGZxFejQ00g271b3CHZ5ONdxXZn2b_Cz259NKr7phpa1JIWdGegDOW9kIIJDBw6RzpZKCBo7pQhX6GA2Xmn8x0YnpP0xUbNFIKf_Cj4aVaoyGaFLxjyjNnhW3vD7grpWIIek9tdvOJM3ihyRm_ZilbPZOw0j1f8ozrcsDTJTfYHlB1rDiDAhRxezfL89JgTlj_G1QH--7wMrYaDICpBwh1eKChtGcq6QSDQs-XKHVGmtZi2PNCK4xCLUD1nuDH_WWAby4-bp5sel4stF6Upe3y88xMk4_hcfKkVwLWmmy0CQ2Qn_9srJNZ-a4fgHY2S-8EltZi218UXgB-ycsDWd1vUGrzC0E1uzdgEd683XyBiLGD27MO57ln6vCfqxQMKShuHIpU9jVIo6imPKCWaosFmiPFi4BlKwNPR_I3WAy2L_4WphjkjDm3XXtjJg9gOHB0aynA1uLn_817YY4LnxrX0PoUK3QvB9cLgXSEdrGCKTOr0STIuteKhAmN5TYk45NvByXYuRhkRYuATlw2XLxCcN1GqQ0OMMdlCyJWVggvkVSJOZXIm-3TaeZIXC3T_4UjSRtTgkAomxUzup0SNUMGAcYrbVDnPZMtt_mRvkVdjhix1XlVgQpJVREPaYlEo1BMyUvejCo7cKFqMFwJS5vICh8RVvtaBHGT_HOqhhjQMgzJaHnCztj9AYGjCHOiSs8KfBqag_9OndeYEvHLYuNBJ4tYk4PRXRTQe9nHW7RPBiO0eewaEG_Hdad_Fn6ga1E-XeZL9f52BYS7RurxhZkIL600MxAt06z-HYX6EfMH54mwDp2XrxcOmIiWMvR47_B8CmMPic0xHXHL0xRemVY9MMqqFm9TQEMaIgu3mPAyXgHScQ-Aa-HmMMvwGMQDaONJxRbKKBZdf4kil5LK01nBOMBpSaI04Bs9fqAhNSV9aNrYufuCXiDHjQsoNEnrI1RwgyS6_u44hRI0y7hgRDBS15ePSkBeDG2jYQD5yDK7sWyobjXsTBFiSav9_h8-_2kEPVG7HyB-dg-jnXmAdnznh9CaIr2hKljv4WnolZphMIC9-xHSPmVICuFIbF5I-ApxDNfTzfslaRjjaQ2ki4P1T1ZeI_issAIlemuT0fEcwMbeuS9iVSzIFOe7gpb98suKWGHmteBA3A0supDLlM4jnTazmFvignmWHtKygKND9_mr4ce0Ezv6DZQ7C4Xukgo7JKAhotDE3HFm2PyYkc8GIcr2KWJvSUHXKTdzp4_LTCfjM_B7GLttwXsk-Bbcmid7DmN9FHqqpw1jRyi_2O69OSPAy8HSQiInM1jYEUnd0e8aDdH2IlGF_dyVMgB0zq8e9c9mZnwLFKSDqXYFhjEXrMDLzhXkpueJUp62frJ0pfZwccRx-uIWm78PSXbvGnz1WCE8QZSftycXCwMwD4TJ0DyXCwO1NVnYAvFG4UM0VmKg5LZ8uEEPyPlqyPCYlS0QvWFHMq0GpYVyOxiTkf86wo0QbDpOlPQbEQyPbv7a6p1FNTEcrhEXNYF3ZkeYL98UMcAaMMTCuqIK7V6bhEd7fdqoBcOC-_uuCDc2wEkuEykuGYJFgtbFsPDJo6SM4Y1joiE6Zq-iM1Iw3r7N1jMBDnnm1imxq8yFZyN-Z-L6_zifO7pcnnVRCSH5Jgxzw9sndSvA7mHdGKIfRh_ImUB7MX3MMgWHqUdtzqrMm_rAiNRXGDpIAE-FcFDbltjaLZl4krQlgEfz7XXo8zISGshIYitWWRx0icwIJ4MLn2lyHtI8rYxJczc0-AquxlFp2u0tJlUkuuinIHPVdc19BfeoNRWS3KUx6McfKS1EmlrjfQVxJiNDjuWfLjotB_QlcQmq0RCU__cVi7kt7vl5SNAfiHOl2pwdz8Tqa43IyQH-Uv3xx5-JvIEIRojVDTQEJGF6WVfzcEm2N1sEgWdtfZmGbH2ZAbdRYJOtqBhpZX-X0IvmRBMXP82i--KzjCmRhcUf6IhQ1mTXFuconzGyRwaIm6ITqCsMGNCWphIPNeJWp7_lqQJgK0Y0nPYGuDFKo2KqAWa8E5rf52BiOXf9fVTGtmOD72hFRWAPLxqrL-SLqvdULva-MIcQoyait69-HNXJWxYpFNowDWXc0O8Q7OsQFllQz-0XXeGkPfka7B9pPQzm1sk-Lnj604jOOKsRSgc4AhQyx0kLNZ5sp7acuDTAtlT_VlmF9zl5o595SizpMMkDCtGj5eDar2VzpHO6PbWDzeGLLNCyrpJFs7156FfxmTIrAI8pgxS3v-FYg5n0UJTRgBPnEo0TPuKiRIjIyY9dfNeygDaIs2QxFbMDUHvixd8d2atauFXk81ts2JEsebmUaegcH1Io_SR6V05OHwA19UQIOq62AIkrIXYAY8GsllsvkH5KPy1Hh9qkZHVXyl_H5Uepjno3BfDC6Z2k5yEeYemur0TD-abvr9Np3ctXnFbTc7B6FRSD1VmvBN54w12PyklFvhbmetxqGvFUK9Ir2oMSpqtOigcbshiBvYk86fKQMYIbBpPuiVXyJY-3s76neBGWXu1pYLL1PuinNCkzpkzdv0rOlBIiHGBuy2Be7dFYUoKsLG4U4hDAwoZ6mj2fCxQuPTaz4W5yKp80aiC_Ysdqey0L6N-w==",
  "id": "rs_0ee9aa1f45ee3dde016ab43efdc20487d0a143a8f69b280016",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.13,\"left_z\":0.15,\"left_gripper\":1.0,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"Three clear plastic bottles are lying near the center; the leftmost bottle’s blue cap is at its upper-left end. I’m moving the left gripper above that neck area while keeping the right arm parked.\"}",
  "call_id": "call_WWoPSvGAe8OC7rQCXFWDjsCU",
  "id": "fc_0ee9aa1f45ee3dde016ab43f02252487d0869f91a8dce5a627",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WWoPSvGAe8OC7rQCXFWDjsCU",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.453, 1.5051, 0.8719, -0.0505, -0.3668, -0.2733, 0.9988, -0.02, 0.794, 0.6033, -0.4038, -0.0124, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.4051 left_y=-0.1227 left_z=0.1305 left_yaw=-0.0146 left_pitch=-0.0676 left_roll=0.0227 left_gripper=0.9988 right_x=0.2915 right_y=-0.0001 right_z=0.1747 right_yaw=-0.0025 right_pitch=-0.0252 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -6.7077, 8.8547, 1.79, -0.2662, -0.0611, -0.1294, -0.0342, -1.5385, 6.9538, 1.9267, -0.0464, 0.0122, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5811f8385b90485fd92d2eacb274f6bf8136ebeb62e4c58adaf5bafae1a3b455",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8223cafd31a316bacd326d93a59dd01299a41288fe1c7d65781f4b59f08c9816",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:246b49cfa07af36df44329fef0832856271be60bb454501fdf88a265614249b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 5.371 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6079, -0.3782, -0.0227, -0.0319, 0.9987, -0.0158, 0.7887, 0.6037, -0.3843, -0.0128, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0016 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2938 right_y=0.0012 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.4427, 9.7983, 1.8584, -0.0024, 0.188, -0.149, -1.0051, -0.9368, 10.2906, 1.873, -0.0904, 0.0855, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.453, 1.5051, 0.8719, -0.0505, -0.3668, -0.2733, 0.9988, -0.02, 0.794, 0.6033, -0.4038, -0.0124, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.4051 left_y=-0.1227 left_z=0.1305 left_yaw=-0.0146 left_pitch=-0.0676 left_roll=0.0227 left_gripper=0.9988 right_x=0.2915 right_y=-0.0001 right_z=0.1747 right_yaw=-0.0025 right_pitch=-0.0252 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -6.7077, 8.8547, 1.79, -0.2662, -0.0611, -0.1294, -0.0342, -1.5385, 6.9538, 1.9267, -0.0464, 0.0122, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5811f8385b90485fd92d2eacb274f6bf8136ebeb62e4c58adaf5bafae1a3b455",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8223cafd31a316bacd326d93a59dd01299a41288fe1c7d65781f4b59f08c9816",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:246b49cfa07af36df44329fef0832856271be60bb454501fdf88a265614249b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8RXspjw3hd0tU-R_hRs1nF-yhAA8ADbMJ8mIxfo5ospZi3rETPb4hFaIfsySePzrsdsGgzhiTM4-Lh2fwmxUWPcX8hhf3uWMF3qiUrZ6-9ir9Pi2wiQUfiU-QBmQubPi_AVILdujpUPioeeny7LY1ge3aCqteIVjq-1EGTFxnmroG6L5bGtXbaQvrCqCbwu2fVzkXAU4yAt_MGXZCS8jx8vOPyswUSjQ6bGbTnpmjqYkSn2Lx_Kd7HfKsf3QKBI6An0VCxEn5ny9y5bWy82ncZtYPy3ww7guLbcUPuQlp7XZUl0FEqVgTn-CZOxUNLruVREEkb94hk_YJVr2L9DvHcoN_-ehWNfvK9UeJuCPd0FLMfYFIJ4irlBIceFrN4siohd5MkzaUnnb0VaB7x22YHSOVaeEo56MBqdmQjh2PcBRHLpuUURZET1Ny3-OqrVNiXY_hchXpXfIKpnzx5xCdgF9Q-yeFXENUBAFTyLPaEK8QVX3POQa8NEM8uC_cg7jIIeYyqJIBD5WcgUG67sUDCyniDUh8agfykGnC1spccrGvJ6Rm8FPiDJTFdNCSodP34whQrS-0M9ht_zmZAXH29royKp0-aoNeLEFTp6HghMArLtiBPbQYKYfj2LE0EIOg6uLDGsaO03Tz9WR2Nx5nNoQgTQnM-7VBK8iU0speiVjg6R7zRxiVFG1GMXWocBGtCF17vTT_5UQHjN1IG2u_eoJCEcJwcp0-UZ9oCqjnIHyMpYEVmULit8lw02KUq7iuKLBLn2RvCU7jUVs7lI1mEOdClKFTIMs8Ga5gnDYQiqfTJy7sPx--Gh9NAZQsQIMVoOFpDmuJJjMOg9OXTik5vHwFxHN17sQ2mSJ2LFRK_4Qn1r7gOr__IqZopZQ9vvuWwHpDRGhtJZbRVqb0S1jW709ZYp_5Hr_VrJ_CW3ucviWPWZuHeR_lP2vKoT6SnyuRnQ8jSloMdUIJyOfO2vFijCfClE7AD1TohH3h52YEXZYBBGPFlSODEm2Zj61tCbe2gld5wnU5eHYJLjS0k15dWqkYw38s92b0yaS0NQIxGCPRWDb9_NiuIMohgqLVZX6-TXoV1BGtx-4_m-qO56-pzXl7eZIQIyaNC1odgrPzXHBYkTnfjbm2lZi0TMh3GIiiTVd4BuwR80OIcwOMFNXfiEdEOQY2mwHCwhvI2Fl2gztqZ9tktpoo7WuaTM3IJ5eF8QMlzrfdpHc4GJramZudtOR3TbHry-6BjeLuD27vpAKd0sh2z8CAeMP3EYWEn4r6dI1ETk_PYV-XhpcgfmllqG-sUpEC8SLcovkJjkyn-j0aIHgQyGRr_tU4L7RNYsV4vc7ZLC2zCk80qLUJsHikKAS-ThgjSCZp_G77LFtmWbwiHrAY0KgvQbbVELjVBI3bkAnVVKbIoOV-a1gfgLk2nkNJ8Q0_io0O0-ELW9Aw7OZhKueUkXEzenrRk1RL7vmN46STIr9NYb79d5M_kaOMDWXYwe2c47sr-8MQtkrhTzqo62pHTwO8WhzPUFnKG2nMQhd8BobVDITpRaZ4ano5oWpJIbkCRw1qjO9gpmSRkG8ZFZy7jGI_f1TyRDaKLfsPBfIkTsWjX21ui5gcrxJUJcc8VCjw6eU6Ki0KDQAWTfAYNoCFm5_fDzRam55wqfTZQbMdU_AUhesiQPoksdQSeLPVDdhBxkRv5FIVa5lbrJsHpHfbEsBIRbHErLeBPnBWX4vYIWhM8s0vRDHrBE23MffYLSCKjAOlf4t66JfF0edJVkfwizQoda-5ygjwzp7JVFr3i2SZCgdHQzCkN28lKGIx8jY4ajsczCnwwdBvbdvB-XYSkrN-TVeC5bwwzyjtOrXyqqjBzmNqJ287nEJNJBO3NOi2mRn0NYBnbBie_2ONhtpwer8KSSOiYPXmwWcgVrAcvx_Umwbe1QnDkPF6UOtLtCukQJYjWMdabImchxuNBLnqhVxdDMpXb6MKd8TYmAnzABV3VBAec5Ts7eURmwB-fN_Ld1yEUuDwhVn464UpJ9ZI2DM9UVxcyIvMj7QySHAI50GijcHwzB7p4Tl7Yo6K4tEkjtnkMWLJnMlIObbvtgiXhQg57hav8s7Kdw-AuZVYUd4XxxevOgngAvtxfgNUIrca05z4-EJYY-TlmCRh2eLsyaTATmMvVxNcYrDnWJi6WNSRQi2YFvG6l5I37dFGTGtE4G1CAqHf_uci2ZGkkeGZ0FIBb7iXsrqrj20Yc9IjLrMn6NRNwQEPrGAuAUPJxvnYqMOKqIXwyak-k_mbU6QegbLvd8XhDb56AVm5aUm64cQWZ2XVqs4mQbMwgKYmNkIIbLMHMnrhv6oEaJqChH3TRn7TocGXecW3R0ObmBXSsG8LxAsHM9jjczTfnKMiixR-7F58efrOtT6phOhnnM2Jyvc4WrRr6YFw74TXQpkRaGUu8BeXGuTPALo6pOPFZmlxkcsp-NMq_tcnuC5DPb1LlFAyIT5Y74sWFWoJdqNEK45HyA-VlibeDWT6y6-c0jWZ-aa2wd61_h4KMQ_2jiTLA3Ki-4DTH8r8AuO50qd5XmwGE9_cs0G3Jj97sE7oAwBTcEzmIUJXAjXLCBsKaBh4dSl2_2G0qRPl0pSiAWb9SJs4JLWZFaqGFxPdHuocw1zXdLTS-GkhgS9Wjt9cDwqtBCHz3qdzXrYPQ21JbNFAExCALM3iCsIQ5Z0ALMWhSl_hpBNDrZqA9yM_XHOr6_uvbfVhJ1Qh6aLtzdvlwqkwzRuYNERY38pLiYaUs0k5K6pkzAlJFQwt8MvW08feGBYrjorX3z5aw3J2bGmkHKeR8tlVBlEQZwV-xBdOTOu_xIveo5IZ0tdyVwMnYIwYk_jsR3DXn0zVvqIq1LdCo0RTu-JpjR4z-fmXXZBH4bhpm3HGaqBz1fGSdEss2xNpPdXJnVG6fafgahFyd6yj9T3C41K6pripO7dVjGd9ngNdjrP1cvj7dLqrMLh8neZvoCdtLaXIoP4IQQsTcC4_N42n6vaamIiXeGUYIa1RUzMdlBdcIuEbCCc6x-pZfSjV92OeMSdPV2WB57uzgdBlboT37uEUyHW_jB6RrfEDlslnuBD4aNN1ce6YE2j1byoK8dHsVGOTRevoZRfwwqjc_9tJ7pF8QZjnUQPecGLFlBgM9sr1AjPyljR3jUEeJ80nq0cqkNXz8NG7gvP-3SrLWCK1ds7MDU9hAx_XGzPoMMgIq1ODrvulTn5Ts5RCv4WOKyyHz2hzPvbkqoe3dhwuiUdaCRyWOY26lo6a7GdWmJEnnkDMsVHOJy_JnXtPKUbx9Rt4HK3MEXlNNMbCMW29N7dm_Zqbo41fiXFF54wzjsZ5aAPZ_rYLDXTR241TQAR4EoNuEB3W7Ed3vkoun1aabBIkCbJ0MhFTR1L5qJJ98SVxoPFRwJK9TP_8IZlmR8R_WHK6MgC5QG0JUQV6CGyEOBGTapooNub7w0H7IiX-8bhWtxEfMEladc8ykW_Ir7hxiyeBJMJ_ElkFcZVmlZicW-JtBsllNHToHj6fdtNnQIbGpk7lzjWQxoKWipPakg1YxgKBK4nFJ7DINOtxLavAfazaDH5ygBAbloqnydOYky4IBa5NCCICVNaM7NAA7jJnMWvsbXaXO2w1h3DLJwf8HD3yE5oNIZYXZCJbE7r8kDR5anTuywatcs5erwikNYlebQo2TcEXG-m6LD8oI4F79GAivr8-0Jm343RAekvU-wM1IGw2OBSI74AP-AJXPYaeFaNBFdrUV07QQ8cO787hGVuoXlKkRXqq1zTmg_2AaAsoRQxJMBff1P75w2bIIksJKNdbM9P3qibeXo929WzaPBMQpkuR7ufpHyr_TSWAOZrBRftdGQj3oWNZYRrnhdisjuuKyUNuV9_Zva9wChmd2_BwIF2aFIcGvmnEp4XJmBuf47KbLpd-eJ2Mowi6kcXqATp1PV4JQU_K7SUjyk0XY",
  "id": "rs_0ee9aa1f45ee3dde016ab43f06447487d09b7e0da6fe0dd348",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8RziEyKwP4XB2NX6rT7EzVo3MJ7wEEUhs7G-VrRwKgR7zCtxZdvLpkahrO_yF0gAAJN71gtNpBzSuQq5nRiA6pGHr41WBUucXCWoW2np14btoEhoU2RhPgygZBU0hB4mR71edJOHAgYOHnwjloNlIefLLYwQpUs67DUJwVpQKbRwOBNAZipm6jxUuINoSCjdRuZ3kCicB0Fg9M5I5aGg1E340NDZrb75rLLzpu4pJD9TiALYpzWwhXVIA844Pk69w2MJbg1APmhZmgIuICWK2k0OqmffK5QvUaZylK6gcXZZaSOxX4ayJ14dEAe7plkhm-BS-o57BJMQreIvhOpD4Zz9eFVFBOSrT54MtDB3rbAYnl3HXGmSgb68mtbGabQ7BMmaYvoG8n2GBIQbIw25_wkkoFKF_00So-x36mjqyq-VwMjVg0q6Ry0GoIf_HtTAxdsdO4lr4d7wtR0IUu8cLLFbwOjp3EJfC1yXmp7xUFdNHQ8DZt_KlD33xhD77eYDT3wccj8rzv4jQxJZM3jUFN1KpociuzqW-ihVqjpfmSL_pxB4xW0wLyqb8y4DwHJFHvm4PUgBVh40wimDArGX5W8uIf8gfFQ35bgUGphLbrXcb6TZh8NSDBBVuqMnDFmqKbror2sUUhmvdNrD6NXMfcLPyKoNaXdh-sB3GenmvfSeqAxzygT904siPrGPKaWjI4lYncGk-QXe2e3dH0fnmb91Dbltels04wBvCjRJxfj0HzJfAEtgfEmpysZYYjvEZghBYMxq5jNl5ns7JIgWSXJu83hAKAvfTLBCSyA9K1A4UEIPxK6a8JZLIHdnKf235N6fPV9-SEF0Nqy8R44uFuRFfPjbeDa7AhEtOqxhCpC5cy4gNVcW2cvzKNhuvlypR8rvvXnmWgBPtRN72FCW8ElJQ5o5UaLfI52uKeDE7a8hCFfiiczHmtOB4RcuDIoSeF2q9xMs1o-kSOTMuGyWtxvC4DirCKb8bt-lGL2OBFuVIHSIaTs9qYsMLUeWCXk6trY7k8j_32aLfy-LSONqicyQICUO0ns354bZf3rSwX4sQ3dHUxJG9u5qyaxgtJNxepVcsmZJqnyBvvXHSeVnGFweM3jyEmgqTYAo1BOV0r856Va8K9m-MllN5yUHDNR9CZzdoH2je2NKsOrFTWNurFLkhWtVOLLxtewey8cgfqDMIgpb-4XyHdVTHmD4C18Q8dY_lu6vDK4n-w3rW7AZ5eW64GfjEZuMDsoPXihJVoJrKUjWZ_ubRLspS7O3qxfZSRV2iosIsADfLlw3XJWjHllh-6UYM1iepQqiDTN9X9Z5PFHL4aCP2GrCy-MqnF-gn9hq1ByYQNi_jcribD2kAo_zpR6mH3u2PDM3oTpIY0_WCrghmggpfC-b46vcVwxtlhLHWgVE4Qbfqf96HvCzJE29BHbDFWsJvmFd0WMzgENPqdDGct12aHG7TpeKBPowqkIOys_J6tye6nX667WmadLlL98DbZ0gtoOtyrhDEheMItOhoE6L8aNiArR4vNFE29ZmcvdueOJND9yPeRcrccqxt8Bo33mqHZQc7gtz9OxgZxspDnZHpsFXAqUj0RPE1MQZXrSNyNSZ3gA1IHzup8pFj8oEwx7g2B82S2UZypovw93wKc4BVYLvj3vXSYENbKOuLwzFNlEXeOXW2jAcUVVjSpASp5lzEKrxWjgz54jZwo_P9Ta_7cPj9RV-M1tjiEkxu5yWgNaXFTbkXywL47tukBTiNO0OOVg57Mj3RAytKLvHsHU7U5UjhxejW4u0ey9mpTa8jRinBND6jMM09-aSKYiSGUGTGEOx-9SVCaCUUMPnW8voZz7wV60-BFPwmlV6dWtnOhVf6sAG5B-ZTTCcF8bTqkla7kr5cPxkZY8_vBMPx6qo0ZfptBrfvKwYi9idWkSubMkjhjkdhGG4XMvj5OGgge-TMc1epXo70Tlnybt3iP8_NBxN4CFSQ1YWtJMt9jf1DiF1w7i87L65rrQob4R-mKHxx7sNIdiMlkaUAq_8Rgcirewr24CVC78OWKZa2dwti4Or7Ul6I5GPtJ_amIjEJVqRDxIdJOUh07PND3ExBRMQBP2iEEPttHEIJMZCKm2EEsWQHVAWd9V__gvUXXUv3vB11u7jFH_5dYBdsNMbbC9tsau7Dk9TvdNfFWYauL9j2_G-d8vqltyQjvjZFsv9ADMrPBGkHtffzON8cltQE5qILiM5avGyt7CiyJeH1V3t9lU1HRwJRn2c5PG_EgU2pxOcsiqwrAlV9UKcVgJr3Y4QwYZf9d5N46-XeRpJ5-wdrwgOoEaIkh8HnnG6PO1UC6fP2eYsgJuBGFZmXettEMVKo1eL08_zAKskQ7gZlQsSKqPD17LBqU4BuSNdgBitNLBsSt0z9792MHNPWYVKlKafpdx_pH_EcItzVhzi4gE6hBSo3KerXUzbBRPA3jv-3ai3cFeKpCk4jtKSyz5CkVTpfZMzlTvRvKttq7-9NKfxKu7bNteFpNn77RxY0f5s0_l1_OtPCy2n3ZewQx4GsjcCJ1oeCSiCuL_7Qr6_033pLW5KNApf3XUuCHc6QQQ7NBVQNRZrcgSvbHYNyeA8LbUR7Wkh_5a5VYHy-mBI219Vt1po9jacHICIeifVv9CDafWmxLF2SZJQCNj9kdkcaiNEphM4gpDxv2rneRiNb2-IvihPTCDuOIQY67nX86VEKclOmGTjG3ps6zuS67un3mfgNRu0MruC9JZiok94O8GZ8HEC70LMSexvFJrqJtok7_1SLQeRcaC7-cLLiOlfeQB6Rzpf2qdnLa7WIiyc4VsyPM4YYOoulVFblRy_Oqvu63I7NBMLOHYiwHPgdJbvun9O0XKSS-U-39mznsSbraZTjH__qmOZeuWnN6vdl57ws_gr9Ruz7niG6ABwsfW15Ct5PaksCZKmFi0TRw-NTN8gNZZY3obYnl1CeV7humkw603e95W0vnH_YFzLkM4BSWMGkzqzAU4s0THGo1uu3aO4tE6MhaFms43gS7FWscwDqHydX9ZH9FOiwbksYTSgh05zBdBzxndOKqkk9NxXHHWrP4vFj-mhuU6SZ1mURt5PTTHFK50yA45Y_Dqt7pI9js12FBTNI3Z99nr2oIDDScedadznje8S3YOPDvD7xQDoPY5fDFKPcoz_zDWWoadmalPA8AoqmelhyCRDuXUqQH38SzaZfnbFZZRkHfVkRMcBQwyxqOZHWtCqz9gKu_q0cvmSry8W_QwYtMHjdhq9G8lKaLDrWCd9uYPz5hnYjP-rGf0nDJ9lqnJ6eZx5piI1UY4NjVNiWJgvmq11H68OxdNibRvABt3oKiund_GEnfyCwKEWvWO7Zw1hDyCmtOvtynoNDpuvw2vAYuWM4p1aukz_OmmRhXymfqMX_2yFeLJm17RliHmFuTEF-dYyAgCoJqYOyV-Ft5vqla12F_bwEly1WlL__H4KwzD27M1HX5duP2LDA9Nb7j68uSruYMjterJaa4CEe1YBtug0wV-wdYJL89ZvxcKr6mVm655khRNVNyvnLogY6S-v-rc0ApLRuewSWrQBHOq0YI43VXoTmr7NDBE8lqmNCAy_tfO19b5ACY0auEK_EOqIUIBaNGv0at9At0OH-FVWvoLyhtEIap4wvahK8QKH3i3v3ESL8NxzTm54tTs2QXEBuaAUOJHTwoTIdLzol2pzVl6Ur4OWzU_91Ky2MzHxEvvC5aL5RbEJCY4kyvtE-eylgAirJI1EF1UZszZeQkKmPx7L2OBx9r7VaUF4-wq0SfBIu5HznBGT_iUcgMfK9w2wdBtki-YiecTINByvndZe9XcB_mFOvYAeEFAJ4tOx8-axFMkq3AhcGAS3L4az00TIh7HWySDi7ug3Y2kKHdH_PEk27B",
  "id": "rs_0ee9aa1f45ee3dde016ab43f0b4d2087d09793c353838eb4c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.09,\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"The left wrist view shows the target bottle’s cap/neck low and left of the jaw column, while the second bottle is farther upper-right. I’m making a small outward and leftward correction to center the first neck before descending.\"}",
  "call_id": "call_q6vrSntL5PjRtdvff3HppGRb",
  "id": "fc_0ee9aa1f45ee3dde016ab43f10579c87d0a85fb4b7afa687c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q6vrSntL5PjRtdvff3HppGRb",
  "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]: [-0.3397, 1.515, 0.8345, 0.0227, -0.3115, -0.2348, 0.9988, -0.02, 0.786, 0.5827, -0.3969, -0.0124, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4172 left_y=-0.0862 left_z=0.1226 left_yaw=0.0321 left_pitch=-0.0578 left_roll=0.012 left_gripper=0.9988 right_x=0.2893 right_y=-0.0 right_z=0.1689 right_yaw=-0.0006 right_pitch=-0.0309 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [-1.1829, -7.9658, 6.8855, 2.0635, 0.1148, 0.1636, -0.1294, -0.294, -2.0171, 6.8855, 1.9316, -0.0757, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe05b02c4defc0137246610695e49633aedd29d9f4a26d700c01703e224c0323",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96dca7f00c0db06bd77cf96ec623bd9ea909be4ca5931939760b4b52724dc098",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d89e9e5cd275c9ed50595304adacd797156e45c84e6c3984bfdfad30ab40345",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.954 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 12 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.453, 1.5051, 0.8719, -0.0505, -0.3668, -0.2733, 0.9988, -0.02, 0.794, 0.6033, -0.4038, -0.0124, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.4051 left_y=-0.1227 left_z=0.1305 left_yaw=-0.0146 left_pitch=-0.0676 left_roll=0.0227 left_gripper=0.9988 right_x=0.2915 right_y=-0.0001 right_z=0.1747 right_yaw=-0.0025 right_pitch=-0.0252 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -6.7077, 8.8547, 1.79, -0.2662, -0.0611, -0.1294, -0.0342, -1.5385, 6.9538, 1.9267, -0.0464, 0.0122, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3397, 1.515, 0.8345, 0.0227, -0.3115, -0.2348, 0.9988, -0.02, 0.786, 0.5827, -0.3969, -0.0124, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4172 left_y=-0.0862 left_z=0.1226 left_yaw=0.0321 left_pitch=-0.0578 left_roll=0.012 left_gripper=0.9988 right_x=0.2893 right_y=-0.0 right_z=0.1689 right_yaw=-0.0006 right_pitch=-0.0309 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [-1.1829, -7.9658, 6.8855, 2.0635, 0.1148, 0.1636, -0.1294, -0.294, -2.0171, 6.8855, 1.9316, -0.0757, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe05b02c4defc0137246610695e49633aedd29d9f4a26d700c01703e224c0323",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96dca7f00c0db06bd77cf96ec623bd9ea909be4ca5931939760b4b52724dc098",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d89e9e5cd275c9ed50595304adacd797156e45c84e6c3984bfdfad30ab40345",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8WxXtAmgDCfsKbOpFW9rpRLCZ1AzwP_P2WCeVUn0bR-XCFUWEj6jDHsBqyT7shTyC1sh1OpTFYXLjlFyGCQqemhX4DF67OZHRGQLe5_34jV5bd64WB0QNfz7uO9knHYhaldaTYeYj_ekaTAHmvu-1zgSWJa7DeSAkFa1iTaiHt6lCJ3Z2SvQMUI51vsZuK9NEY257bhuW8Xu2mH8oQg5coiidvlwcyXskYyDPpP07A7Y3vsjHtIf_vNbHHErUy6K64FE4qoClaFj3PTzetG4wq4-ulBtFOtESfLoWeZ6MGNCos4Uyy9kjWUhE6MTrANnhPAnMD84q2asmj3_p_Gd_q4Yv4O8z7ybFRhjHQU-NN2rIMCrTivxKWsyXNeZdjh6SmA6ZXnXU0_QulsF1GhQunmq9ip-9HiVNhKic-9cQPwH7jBMMKMcq4U4cop-_IAe4-sAwmD1PS0YL8hl5YEC0izFkBW65AkE5y3jNkEcJIr4vfrRt3uXyiTv3XTmu_z9X9n-znNgSxFi4p48DriHrlnncwgHsugX3HwtYtf19bCfExCmQwTsX-exr--9sDJosocOneC468hZoP4exe0KXX6aIEJ8Xe-myYIHqAusOI9LEG6XweD-K-5RgFoscTq2uOiM8WBfOKphyjNSpRu1keszPiAOkAzTNrEyMIdaX50TWPCOh-efJcU5gK_AdR3SvC5K02QWnsp4pqFX1y_XwczN6ZDiDx64kTCgo4vi5S5Kr1bmt8JIZa3SUYDqVr50GaW4GP1JxKFPYbkoj_62FGyyGR7lcK-2oFPNGdJlsd7DYD0ckwQ7tWssVWLitIM3rEcAC1FKTnfCEJLNfPMngK_MHFqNEt5UNQjrto7qfoKsThBv-ot5wriz-x31ISgL-R3twC2kyEvZW4wHlqGzNN-QpwjVu82r8yHeMJZIosjs5B7thp663mB0ZHIwbBuKdYt783Pq84zQ4oN5-HNg0Qhupz7swN5eP099DQETwE5V3suB8yK7Ahzz2WAbOlKOrTeI_x0EquXtUXgGtGUvsz7qBseeahbqwlXFH8vYt9BPFnZ-eUDtPZRgVHreNsZKJkRS-ulRCq8lCrmuVJsJEN90EqJ8xkInECHux8iZr7yIZmyjSixo70ZGelsVCz1DJOPA-RKjFprxQ-wcKKHsKGwDzm3hMP7O1qSbprirlJc-VhScU_kLJ6c4YQvMpqiS7McMf7LCWP3FwHy08mYQMZSnhi0oBmoUMfmEUXUeuRTvwus9Mqc5bePBSOToccXn8sNfHLi2BSSWes5iBFFazRda9GILL3RRXRoFlY8takvYCFlveE5bgH0XiLigAAkz8ui_8czB9Lntfd9sN3qwBIc1ZHPiqGgxc9ZPMDjixsitbS0M6q4MvzXOFzsmacWknYo2XNCD0rn5AZwg4nbp_upeOhS-jii1dzuywqKJow8qDzhyYI7hvTHYt9HV7Iq_g_pvEi2-rH1t98C5jgpQ01gSPNhSxPon-eQrKVjG1g3fAH1zH1US7VFxogOIQyl0a4StlkunaI72SIcee6cKDUeOFWFlOwTQ2Bi0Ts7AkX0dLIM7lD8lStpaCp4K4Sm1JSAz-o6-D5r_9FHK7ofHRMgRFutFwellz57Z5qm4Y0fsBR0t_JrDYKTKBw3MsvHXWFeMw6w9LcZJkm69O5pmCxUgpX5K5k60R0OnZc9tpf--L62hPPsWSCWlNweh5FjmN41ZHSUQkB2NSXgpag73tWVH7W1qfx8wlwShOylxGL4mgtMxHk3u9C6Ygd9Gbol8hkUp2fI9HKChYYbgO7cgdezI7KK0Ak_O4OtD7JUkopeZh661_2OVllV1lBCWDMfLTEVq-lAPEC4YYH1Jr8ES6UXVDwriiy5b_gjwnkcq3extTEmhOV2N0Wf5H_BzkUngd-Qz0wpJzYONYYmvUiNx8RKSgrIxUyjdNCTLEjqyf33NkG5CkUK8NUAoCrTkmuKaAe57G4YhiHD-8zIfWgsqvpPWgPAWjwmDfY3vx_idGBrbteKxPsyagVXuUq2Tffd_u1M9xLGuxOiKpkvfwrdn8_C1Qnz9nvQ70m-shnzWlSyIie97UX17_wcLnt4-TPQKz6CszxKRjyvcx5JME9MhNE1mfcKuHmfvnoEKcKM7HYE27LpxPFSh_v-6rwZ3Sj7y8cDATNiXBljdOIzilktnqBayx0aJjuXi5G5_xN5OZ_iMP7HaiqIRr4y50FTNKkjlAjSkuj_250IjAFqlX1SMABMrbokaTghkMkQE0wFV4xSgDXPPL5YFi679n9eVhW6ipf_pn9ggA-7-1GhAH-RausbUohLrfiZ0pntxTFKkchU1asjZUBPbvFJaN2NmkTUby0E5C65HMSDIXlc7-j8078GYQrn5jX5bPvNxF2iBR0nVHDuXIQNxL0-XGDJo2hl5dD0JKp0KHJyuwO1pVUGsZUhENUPiPfhS2qsWT_45MGoykkKHu4pHJnb2D0P5mIWe5KD3VwB4LfG6OAP0OBcjd0K2PAYuJ8LrLwIZzynAyYeOH5o2fmk5lz7J2SoTMsd0Z_EFrlVv9HXIjU-9LuBh1NI89zWIWeYeQawEq9p6Old4pR_oOD3DA6SkIYJirIfoqBwXwg2-Et1l8VTlFd7bmErTtzLosgyD4j62j_QqWDBHSv1RD7AAZ_JzCh15vJYOmnsAxfFIDg67Nxy4P8-YpRawohctUkJDQX1yZwdl84OyY=",
  "id": "rs_0ee9aa1f45ee3dde016ab43f1290c087d086fc79e8b72e2301",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.02,\"left_z\":0.13,\"left_gripper\":1.0},\"note\":\"The first correction shifted the neck toward the jaw column as expected, but it remains about 3 cm of image width to the left. I’m continuing the same lateral correction while holding a safe height.\"}",
  "call_id": "call_K4H4wah0Qg9kNbCoeFNkMqwo",
  "id": "fc_0ee9aa1f45ee3dde016ab43f16031c87d0b02f8296c0f2cf14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K4H4wah0Qg9kNbCoeFNkMqwo",
  "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]: [-0.321, 1.5143, 0.8345, 0.0483, -0.2764, -0.2096, 0.9989, -0.0204, 0.7719, 0.5522, -0.3847, -0.0128, -0.033, 0.9998]\nstate[eef_state]: left_x=0.4217 left_y=-0.0856 left_z=0.1267 left_yaw=0.0079 left_pitch=-0.0406 left_roll=0.0038 left_gripper=0.9989 right_x=0.2862 right_y=0.0 right_z=0.1613 right_yaw=-0.0002 right_pitch=-0.0351 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.1162, 7.0496, 1.9072, -0.0513, 0.1343, -0.1294, -0.3897, -1.812, 7.0906, 1.9756, -0.0757, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e51c79e36fc2421f7b88dee8913669a26505636d5fc4c590d810090cc6df675",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a849e017c98b13fa17d1c1c27b8dfb4f94c437a2c08a22dbaf36f17a53f5c888",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5d5082a5cba3c6a17f54e312f49187719239105a8411aac59b63c63930f44d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 4.094 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7933, 0.6079, -0.3782, -0.0227, -0.0319, 0.9987, -0.0158, 0.7887, 0.6037, -0.3843, -0.0128, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0016 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2938 right_y=0.0012 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.4427, 9.7983, 1.8584, -0.0024, 0.188, -0.149, -1.0051, -0.9368, 10.2906, 1.873, -0.0904, 0.0855, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3397, 1.515, 0.8345, 0.0227, -0.3115, -0.2348, 0.9988, -0.02, 0.786, 0.5827, -0.3969, -0.0124, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4172 left_y=-0.0862 left_z=0.1226 left_yaw=0.0321 left_pitch=-0.0578 left_roll=0.012 left_gripper=0.9988 right_x=0.2893 right_y=-0.0 right_z=0.1689 right_yaw=-0.0006 right_pitch=-0.0309 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [-1.1829, -7.9658, 6.8855, 2.0635, 0.1148, 0.1636, -0.1294, -0.294, -2.0171, 6.8855, 1.9316, -0.0757, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.321, 1.5143, 0.8345, 0.0483, -0.2764, -0.2096, 0.9989, -0.0204, 0.7719, 0.5522, -0.3847, -0.0128, -0.033, 0.9998]\nstate[eef_state]: left_x=0.4217 left_y=-0.0856 left_z=0.1267 left_yaw=0.0079 left_pitch=-0.0406 left_roll=0.0038 left_gripper=0.9989 right_x=0.2862 right_y=0.0 right_z=0.1613 right_yaw=-0.0002 right_pitch=-0.0351 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.1162, 7.0496, 1.9072, -0.0513, 0.1343, -0.1294, -0.3897, -1.812, 7.0906, 1.9756, -0.0757, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e51c79e36fc2421f7b88dee8913669a26505636d5fc4c590d810090cc6df675",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a849e017c98b13fa17d1c1c27b8dfb4f94c437a2c08a22dbaf36f17a53f5c888",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5d5082a5cba3c6a17f54e312f49187719239105a8411aac59b63c63930f44d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8bUHJfVGNsnB4MIyjZ0ufgTDiQUHj6BAe4krYcSu6TfFKrLRxFK3qlyAjvVXrIt4LiMjL1Tq0NXfYQNlxpjp4iwZKxe0a2M58_KupaofUJarGVO4uqb4CmHTXB8hy9rF0Hh1197IkUHuDb6ULO9LBcR_puOFVFtO4xzesVI-tgCZu3FoaPk9FsnnXL-DzVvqsr2k0P1xSOsQgJ0_K1C4yaBgq6twwxKLQOwnUR8SFL3qjADQ5Uax1iiC8oKkkHvJk5TbrhYVKSoJGn4PuU6Pii6Je0yMsx6j5s6miq0FA9Rh8zKhstGkSe1Th2N7LW5pnzf49jgGeJDZ5RayzulXhLDMGCcE3FPQ9GbUwc0hmUSKE38eoGdCQkekYpRkhH7yhAIP52zLxfiPD9gYwh2Na82F8aZSmEmxJNbhXcjAq1fAPm4VE20-GyRdQNWfWaLUxDkPlfPAXLOW4zbSNoJihYqUE7ckCT2DVXL6i1MhgdGho7iXjGmT6tC17U2hM4KENj5597N57rNbJekkUgyTBaOGPCiM9hsKv0Af4bp5_pMrWqH55PgMpJvnAp9m-pBWoNn5OaeAd-0WgilFSo1xL58tqL9cLH88OaMgHlmS_sjh9nSm0_TVShu-51Pv7mvyG5lcjSK8pC4Kuj7qKbc3EIU0EXCpIBMjn6fDEY8FmsjFLFe2v4CNz5pdhgsgpWa4Bxtwl-QcpxoZLaGiDN3XaM6lRjQkCu7ZWkllqIxCVyNzW4wMQDeW2pzd8FD92P3jOWUhAqcVcZmTlV_WtpiC-leCEpEB2bEtAx_uCjP7jgr4emPbejFGL2XfroXw4yfd6_EUTCCqb4GWeu7BP2fyGeK8YTVhpXeAs6kBWOdPLlRhORslPrHHAuaaGv7CtrbzzkexvMygUDg_GhUOotY3ZlyVKmDlrkT2tNS5UVFjYSXFrUVQvWe3nbtRRs4XC7hTCppwh9yKw3OVvzP50RY2PuDXDvWfJIL2G_WeWkQSO3waJPF8AdDrwOPeB39MDC0ddbI0DSpBJor1L2wAuBD_FQYnK2lfZjG4jmBQewp9WOwO7epBByp9xDpYbX7DJdYM09Enn32ubiz-UkPdVJPMlMANcTGX5AmUXnHU6Ypes2y78pNuszBITp7-jvetak8VANqsuAR4E5MJbWGwt5HgE923SemXX_xbtvbS6g59ZnVtIhbL-Rsgx4nam9cE6ErT9rG6vsyu-TQtNjLceztHX_h3J5HY-mGTZ6jAwG-jBU-ogWFVZtz7xaXgNIeJ5kynsEzS-R4UYKYOP-4-dlf_cmU6Hy7FHgOtZ9kPE7y9pAB-g33Q1HNdKCukzZmhBBxI9kbopcRfk0GqjKvR7zhLzS5cGkcsy400JQPzGqbLdPPFxspYa9tWlfeVj5PB0c_zV204SRhId3q71dODkJPXestgc32vw_H00tfpjzyroWPyRHIW098saZKphFkPu3q5N6GcCjppW1BzMjNSAmhuK_q6iuz6IcK-ECAxZ3fU5CSuWDIvkFOBbUdh9weXgS-DYYNAk6FWwvYBKBJ6m_5VNNiDZhff9MKBMO3exJIQvPjkQDApInA849FBKKlTnJYFh8aGGsew4DlMBqEyHNa3eSez5PmOhWWqlWQZcAAi4okpRL2UYhvE4yWxTtpadaiKzb6mcGPj0K4fYKjZn5yS7lDPny1MLIU05CNHRD9Kq0yoaFMrkwZY86Mk_9xQOIyWbr35rRkVIdGB446LKFZUccOU8SUt_HF0UlQy2FFHSnF9p-2a0dVacK7zA_5A6qbkGZIXGt71sLbX6UHLBCW4K0UDwK7jKk82jdQeFkI0uqwcrgZnOS9ZMbrv2UMvvhbFimeGKlkmFD71fKGCo4NltHPdCTSUmeP06qKEmrmQRWKSPOPse2NM5W96vDmb85gEXEJ_uhmNxD8qIvoT4VkEF_qcM620_IQnx9h_suE43QcvoO0VgrtgBLKK6W2Q850E0x64y5ZNQW2hduEMkyQkNmbivv6MDqhEEI4nuCqOU2sws=",
  "id": "rs_0ee9aa1f45ee3dde016ab43f18a5c487d085754c0a7792bc79",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.03,\"left_z\":0.21,\"left_gripper\":1.0},\"note\":\"The requested lateral move did not track—the readback stayed near y = -0.086—so this is an IK posture limitation rather than visual uncertainty. I’m backing inward and higher to unfold the arm before re-approaching the same neck.\"}",
  "call_id": "call_P1tmRmAsI6tcrRRTVJ7hwqwk",
  "id": "fc_0ee9aa1f45ee3dde016ab43f1a7d9887d0969ba346d30d0a74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P1tmRmAsI6tcrRRTVJ7hwqwk",
  "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]: [-0.1841, 1.2087, 0.7807, -0.1947, -0.2131, -0.1616, 0.9989, -0.0212, 0.7509, 0.5194, -0.366, -0.0128, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.3728 left_y=-0.0278 left_z=0.1704 left_yaw=0.0662 left_pitch=-0.0432 left_roll=0.0052 left_gripper=0.9989 right_x=0.2834 right_y=-0.0002 right_z=0.1557 right_yaw=-0.0006 right_pitch=-0.0282 right_roll=-0.0068 right_gripper=0.9998\nstate[joint_eff]: [-1.9077, -3.9726, 8.4581, 1.9316, 0.3101, 0.1538, -0.1294, -0.5675, -1.0051, 6.8855, 2.0147, -0.0855, -0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7a2d53c656ce7634fe3b1d5057ea0db6a1eafdc9e584b4f3e11012492af0bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f551d2be817d4e666724c8d4021cc400500497c3dfc21d8a3b59ff124b61ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b844fb79cff2c5e520e23ac262b804ef4d05cb3ba7b2586dfc54caf6a15c27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.808 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 16 changed as sent

message 20 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.453, 1.5051, 0.8719, -0.0505, -0.3668, -0.2733, 0.9988, -0.02, 0.794, 0.6033, -0.4038, -0.0124, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.4051 left_y=-0.1227 left_z=0.1305 left_yaw=-0.0146 left_pitch=-0.0676 left_roll=0.0227 left_gripper=0.9988 right_x=0.2915 right_y=-0.0001 right_z=0.1747 right_yaw=-0.0025 right_pitch=-0.0252 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -6.7077, 8.8547, 1.79, -0.2662, -0.0611, -0.1294, -0.0342, -1.5385, 6.9538, 1.9267, -0.0464, 0.0122, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.321, 1.5143, 0.8345, 0.0483, -0.2764, -0.2096, 0.9989, -0.0204, 0.7719, 0.5522, -0.3847, -0.0128, -0.033, 0.9998]\nstate[eef_state]: left_x=0.4217 left_y=-0.0856 left_z=0.1267 left_yaw=0.0079 left_pitch=-0.0406 left_roll=0.0038 left_gripper=0.9989 right_x=0.2862 right_y=0.0 right_z=0.1613 right_yaw=-0.0002 right_pitch=-0.0351 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.1162, 7.0496, 1.9072, -0.0513, 0.1343, -0.1294, -0.3897, -1.812, 7.0906, 1.9756, -0.0757, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1841, 1.2087, 0.7807, -0.1947, -0.2131, -0.1616, 0.9989, -0.0212, 0.7509, 0.5194, -0.366, -0.0128, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.3728 left_y=-0.0278 left_z=0.1704 left_yaw=0.0662 left_pitch=-0.0432 left_roll=0.0052 left_gripper=0.9989 right_x=0.2834 right_y=-0.0002 right_z=0.1557 right_yaw=-0.0006 right_pitch=-0.0282 right_roll=-0.0068 right_gripper=0.9998\nstate[joint_eff]: [-1.9077, -3.9726, 8.4581, 1.9316, 0.3101, 0.1538, -0.1294, -0.5675, -1.0051, 6.8855, 2.0147, -0.0855, -0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7a2d53c656ce7634fe3b1d5057ea0db6a1eafdc9e584b4f3e11012492af0bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f551d2be817d4e666724c8d4021cc400500497c3dfc21d8a3b59ff124b61ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b844fb79cff2c5e520e23ac262b804ef4d05cb3ba7b2586dfc54caf6a15c27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD8glT9mMlzZhRzwzKiackV5V3nnbOH1DfEJyYQ12UMWC1JqOx46mnf69bDeoIYXYPC4aFbyFNwCbuxPYDxbiZgkEf2qv4IB_oGCaUO-FWHZDPtc7sZwjfbkPe0aSVdGT0TMlI56d8SH4h-vQOzGjS3AAnAQkdl-McbbKE1V8BXbhoLLSpPwoZ9OEiGJkq5Dmdp24d7Xzcwnxpxnx2dfsLdO4BoiMdr3T7kGrp9paZ5MrCGIFdAVwY9b95rWLz_rhFC0IXtkLS903yjfB_O_uuGKtj81ys2WsnW2H4dfekrqqYncaiW6fjKwc_9GqvC2uaNGYxKsFpkMoXWT9kHNCZkxFqGe7LFnrGDUiK5XFZ-cmRbRXgN09cXv15XXfqqSRsEbddOCJv1iC0qBaJ9SdFRuYYjpJyP2hBxTnB70eNj77P2wNQSufFhHRL7Uu-QXNEP8EKe-g5JHok0NsboINVNqYxjmPmOGrm94SfRFr2umpLautoNtMRD8TxbqwZNu5SRSBrXMxB3VaS6HyEdLsvFZn_1ThKcoCbLlew-Bn-Ucw9zQ4pOtuIbg23ahm8WM-t_BaueGut-5A1jjanW7zUj0YpauIzujD3NM2QGpCkCnYtjJpAb6I8KX7Y0dU2N9NXxCXoyHLiaM9TZ_kpBud-R9C01sHO7CSgNOO6a_Uu3BXPIhVnt2IEq2ssGRO-QQvbqpm25SP2Rc6QwSrXGzfpQhvDQV33NHhOneuy-JhlzoAbFAOA4_rx3JnoRLoYeKYatIz6vTDjwxynDiiEMrZjCjLYhTsHdOiqPiDOvzdeeJrX26MlMLrA3en2-4svgVeTSrOmoYv23Yqu460HyXzs7uSgRSlp_9ocYA6zR1go3buPh5S33jicL3p5AYo8lPRzTukay7cObY1UOxwImsUW27u1NvD7su_nZAaU8GyKnsEKVwwasRk7iFed3iOpODsXMoi4xSo6mL2Wm-iF1V0axfnr5juxa5JgxXbCMrCzu6lR_cChd2HxEyAanrOPu5nvPQVPeCqQ_yEm7upCZ5_T95DRJNGXnkKNF7kbECv_o7lxzydfb5j9drmXOqCu732tO-LkIbVuFMRsiiSi9g_ylnjUDIYkEAF5S1yXye_EyxY6d5l8rHgERNi1fUE3ogqfJESxrCRh4HfkrVVWkpxFU4NcsU8KxTb-Rt1DBGQixWjntiPLnyQ8bIUtfGJwJgKgnCd26n3g9DVL8Y03Sy4WzU4TYn5lTv1fcnz3und-biUUHSRf71yw-uGGPE-NwyP4I35Hb5NfuGdoTUuABZyZeMouzXol4YFvUBItDq5MoyBTI-agHxPz3AYgFgDvVN-y0L4Vr7rcw6X3mPCa3FnBMC7bqlGHs5G6uNgEp7LIwnaJVf_knFeu5aFkRTgDbqtX5MPEDgU0q5iGt8BP87zfnAR8vooggtWKbpTPqvUSz796G1CQDE9uiYfMmz7o4KkrSa19wieH-xQERBVSsGR33altt1Xwqyk6oQc56b5ekRkjg-1EBGGMpmL4EPzaHof8PfxwIHc-pvUx9Ni4PFI5gL8aqI46vqBj1ROQENsoQEDGHicuiOPOPM6r-Ma7Uofd3Wt5l9c669RmnxhKRfxiM8-zVUst5x7RRF5cYbIz1-yD4VQaE6zx4fXAU0D_79_IEqJk8IiCF-Q9anXOf5Lxud84ODNwjMwFxDRzN7tSEZmUCt-tZtYccRdu3AXfLkLvWnw6yytpS1tTxZ57igtCMRCbrLOdt038gaI78nFxPfLSpaOZUP_fnjSX6e-97duLQI-6b3U6DM81ZeM_hQ94CgITI0_e_8KBU9-aIsVOGOx41PWJVy3lO0kyR0u_WxhBsKkH0Bb91vHennzu8KmfcYRuzvidyAdX9jlyKHIGrlHO85dY1AJZVmrjx5c98lXt2jPv3-IYvUyHMe013DR3IIQD8DPDTyCjMKhdyySMABoe2YpJWWOE9QeTeseZF5c_X--BdRzVL6tWUBkxjJEccKThtA42WLgUJjkfET5OnPqaFmQvin9yueEd_vBsBustV9B1o6Ag_8fKKUCmPDUBh2XPI2kuCLS_YQU7h_VZdFFQiHtkA8-w5kKyrpTB2g5nP2P14NpKNvillFRkOD0k-cjJm477CsTzCEhmAEOJRS43J30xfVfr-exWwog8g5aBe1Qfo33wekM2byvypo7vV8hS8n_Y3Psffb9v5ee9RSFmQiJJ3Y_Y-uN2mnuLU8HUyT0KHi_gD8XpQokz87gGcaxyF1uGKSrxNWXjXlDQSkD6M=",
  "id": "rs_0ee9aa1f45ee3dde016ab43f1d155487d0b4e31b78f3802df3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.03,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"After unfolding, the first bottle’s neck is now centered on the jaw column in the left wrist view. I’m advancing a few centimetres so the fingertip grasp point, which lies beyond the camera’s apparent center, reaches the neck.\"}",
  "call_id": "call_OIVc3cGRTIHpI2DQ4GUsFTYV",
  "id": "fc_0ee9aa1f45ee3dde016ab43f1f17cc87d0975110747e440d7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OIVc3cGRTIHpI2DQ4GUsFTYV",
  "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]: [-0.1921, 1.1599, 0.7525, -0.2276, -0.2077, -0.1581, 0.9989, -0.0212, 0.7403, 0.4934, -0.3584, -0.0128, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.36 left_y=-0.0292 left_z=0.1681 left_yaw=0.0521 left_pitch=-0.0558 left_roll=0.0079 left_gripper=0.9989 right_x=0.2804 right_y=-0.0001 right_z=0.1482 right_yaw=0.0004 right_pitch=-0.0359 right_roll=-0.0082 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -4.5607, 7.3778, 2.0049, -0.2711, -0.0904, -0.1294, -0.759, -1.7026, 7.2274, 2.0098, -0.1099, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b39987113cc34aa67b74224aa986592b97125a49ee283f0a3d0e6ca3671dcd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a88d5066b9a47e8e73e11346f0cc7bf98d9c847fa4d59be0f3c1858c9bc0dc04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84287a7e7ac35f70d6afbf171a57f0ee160a6c35625be9b2b59dc789cf0c957",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.29 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3397, 1.515, 0.8345, 0.0227, -0.3115, -0.2348, 0.9988, -0.02, 0.786, 0.5827, -0.3969, -0.0124, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4172 left_y=-0.0862 left_z=0.1226 left_yaw=0.0321 left_pitch=-0.0578 left_roll=0.012 left_gripper=0.9988 right_x=0.2893 right_y=-0.0 right_z=0.1689 right_yaw=-0.0006 right_pitch=-0.0309 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [-1.1829, -7.9658, 6.8855, 2.0635, 0.1148, 0.1636, -0.1294, -0.294, -2.0171, 6.8855, 1.9316, -0.0757, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1841, 1.2087, 0.7807, -0.1947, -0.2131, -0.1616, 0.9989, -0.0212, 0.7509, 0.5194, -0.366, -0.0128, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.3728 left_y=-0.0278 left_z=0.1704 left_yaw=0.0662 left_pitch=-0.0432 left_roll=0.0052 left_gripper=0.9989 right_x=0.2834 right_y=-0.0002 right_z=0.1557 right_yaw=-0.0006 right_pitch=-0.0282 right_roll=-0.0068 right_gripper=0.9998\nstate[joint_eff]: [-1.9077, -3.9726, 8.4581, 1.9316, 0.3101, 0.1538, -0.1294, -0.5675, -1.0051, 6.8855, 2.0147, -0.0855, -0.0024, -0.0073]\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 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1921, 1.1599, 0.7525, -0.2276, -0.2077, -0.1581, 0.9989, -0.0212, 0.7403, 0.4934, -0.3584, -0.0128, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.36 left_y=-0.0292 left_z=0.1681 left_yaw=0.0521 left_pitch=-0.0558 left_roll=0.0079 left_gripper=0.9989 right_x=0.2804 right_y=-0.0001 right_z=0.1482 right_yaw=0.0004 right_pitch=-0.0359 right_roll=-0.0082 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -4.5607, 7.3778, 2.0049, -0.2711, -0.0904, -0.1294, -0.759, -1.7026, 7.2274, 2.0098, -0.1099, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b39987113cc34aa67b74224aa986592b97125a49ee283f0a3d0e6ca3671dcd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a88d5066b9a47e8e73e11346f0cc7bf98d9c847fa4d59be0f3c1858c9bc0dc04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84287a7e7ac35f70d6afbf171a57f0ee160a6c35625be9b2b59dc789cf0c957",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8lTrg7No4BarrlK3b94GMumhH4AnZ8lQEDnqgCtG_buvAEulViElcWY6d705f15mrp1NtLCUbWSZHG46UXnCAtvPt0sl5zvnDFazXuJlEGQVl592BQVUnleoeXxo1RYJax0mzRp6oIK68J8PyLo23ow3tYIgh_NaxyIBWQo0Yox8FVnnHvLq3vghPydEc9IX9Kn-NiSPCf2ZM_VTg8nJxi5-zDzpIsvZ1Qt2tFMNRIC3tU4xbwdCnt32iLj98fWRnQltMuab2zH5fw2UJTPYKFl1K4-R85t0A5xNR80xLManpGDGDDObMnwrLezDJopUgqtEQ5i0YRzuVHT1kPFaaTBl2sKTdzkwlWlRAMUn-xr_0RtemQeQgzvLRBrIMTISNGV5RLysmlLx-umv3Ia18OTFQ63HffeB10MXB6MUO60KA9T55ZMOBx10g8RCFTLTJtNCuSSmwuu7AAHSAn_-Fvcf66bVpmMcCtbjwOzvdtZiV1uMeSDXMOCZVyEIN2rOI6X3uCFEW7bIMUIOsDMcCW2BPR2WTGY7k2SOSoibsoFGorXNl1D9uVFkCNZGKEQXCFn4MXuurVnY7T_ijUAFLnBV5CuJzx-6JYJVPhJKCUmybztc7v6zHeXDn53GvW-U5Gk243moOWY6jfXUYYhQVNazJisz8drbjim8rZDngdc423beze42livWOgG36UTs5DjKj7tPCh1Yd5Rb5rrK0hwuenZoMMTawVaNixS4b0-OS9Cp5PDBy4-ZZ_YOwHqnI7wwc4aUhlwyfqK_o-jmWNn5ShRZFuvgBNzPRLR38UQs6ZMs71c42qpHEoDXSCIOacftJsirQEOxP1yb_4IHo9TnCuPZcSRyiK2O4XVoiSGYJDuQrwFBpIopabqZhy1AVuiaSVYqmR1-vgSkdZSizzomwtkO86NXo9wyiRhn81ckCf8uaw88gxm9L5u4Zh0iqlqFKApRdmnvzISfPLuRnQN8o0iQBZOnXDi2Gnfoh_c4rGeTx0ibXGFLq8mxiq7sY2WAMw0J67L8YKrDBSax_RabZ8ySbbYSnhIgnURD_db5CGlCYMz8jscj6L-iI0pd7rvN0yJU6GtekEh8BnxsCtqr8BEQzPU5HqyMaseE8Hr-F57IqOnTmiw8_L3i0S6t9CzSh6PSDIFWz6nhcRdeN8NsVLN-m98WDq9jAfoN52mJTrvrci4MP9dS7h__KXPB6QGNfFaypTifEsMx_UsNuI-HLqwctj_4jJcy-dtvLoFEqgLrqQzBmzLhWZJER2gZG-0vEYFrTzqeCZ3ezDkknq1wQlTvNsZpVUYXBa3Z5mw85RQVJl3tZ9xRuVB6xq2k1YguiWWKx1FkCpNopU2OvPQqSoy7L0WhyQhsNDHQuLKX3bwInlX46MmcZNAa_7xV18g3TcXOEhOdQiwRvVjo3ydG8gPZmV_aaa0Wwm9LbSLlNjRJZDOboXjoLjKqA714WwKK6bTsAN-PimpnfcoV091Sav94MY0Hl7nrpkmSbiQMM7DO0KWT009TVcXja30m3JqVp2G5fQdp222RW9P9TcITUca58LtGcM-fzaFQjFMHofEaNDvEOH3jKkBo_I7zcenESvTaOA39XOQ7PQOgPSfSTLe-ES2Kqxd1N80KcDPDInLGjCWE_dMPhAJZ_Aac_ZhsU5qnKzwarvOJ3EzivLOYEcrLN1QwwCw_6oUA74-Bk2LiHuKcuG-yy6vpY0q4xYTogRah4AzgCv5uci2P72WftV4ABgTxZXwSiYGALGk7Vty0eiJofw2ThgoZkXuwvbDW_18WFt7UdWeLQmtn_neIHuGPzRDBhDWU6hD02p-pfAYOosrLUmszfx5hOmp4ydHV--ntbSAgx018hY2mz0QBu0oc7GbLRUxFOtPYVrrDo_KaUAplK4jCN1yHnYnq5vJjkMoOw8ASfd_EmSNUARSdS9GHYvlQ0kTlwiftpGms5L2Ktpt2CRHGfK5046OJ2UfhuWFvLGMf5ukiJ3N-KDKyxlPPUb926p5neCMQhBMYTR3n_eVxy8B9WdqM9YQh3MzJu6aOddJ-L-BKucuo5EB9Z9d4zx7u1b5lHlann_XGdO1foeXmSnQLdLaU6FpIS1ZvBRp7IEq_DkRTeCZBkcnJ-vz9UU-rC-7mUAJGleutXWW3Z7Ls_uPtGnONRtLpNdgXOxhhYJmMGqkwIFo6hYI6C-bVRaBWXLgkq4NRJi357iKg0fxEoSWRViBUe6bGr3q1Y8uoRSlh3kkIQt-4LVzpHbxzhFF5vk5JvdAZFCIjPCspJrO1OkIniFaujs0xadEZBFl253bEQ9-TXJ3008LLDgy1DbBWIkDhGfIwx-EKXdNduIKDBySuIQPWwEZYm7SUWn1uUjtpQdLq_AQbfTKLuREzKh5GuP7SBOgr1Z82mfJfcRpeeaHeTexb6pYsMc_Geio4TFfubqOT_FGpAMDKDhOWdvGgB05K3t-4tyIP3KggZsBT7dQ_kBZQ2QsBj7lH-yCsk7N02zu2ty4sh-BNbYiENGkGdEpVaxrbmih5lfqE8HITuXaXaApMIpaTZpAylKecjgOIO-3Fupd1gJnoENx4HGWBwPvwpFN0pPHoZyqIoBE7oF61yMXrRABI-dR3bMLgJAcQv4uj_yzu0NrNnDapW30WpqjuHTCPIRNr158wH7RwUj8ZyKtZBedpq2gf6Y9kQdg9suKm4Dl7vgnA==",
  "id": "rs_0ee9aa1f45ee3dde016ab43f215e1087d08afe19d5e4464ab0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.03,\"left_z\":0.22,\"left_gripper\":1.0},\"note\":\"The outward command did not track and the readback actually retreated to x = 0.36, indicating this low posture is still awkward. I’m raising the wrist while extending modestly to get a stable approach configuration before the grasp descent.\"}",
  "call_id": "call_b8vBGmKvQTir6JR2ywdzT25O",
  "id": "fc_0ee9aa1f45ee3dde016ab43f242d2887d0b4392ba4b35dc505",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b8vBGmKvQTir6JR2ywdzT25O",
  "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]: [-0.1928, 1.1622, 0.7452, -0.1909, -0.2184, -0.1612, 0.9988, -0.0212, 0.7235, 0.4587, -0.3428, -0.0132, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3639 left_y=-0.0284 left_z=0.1715 left_yaw=0.0616 left_pitch=-0.028 left_roll=0.0048 left_gripper=0.9988 right_x=0.2771 right_y=0.0 right_z=0.1399 right_yaw=0.001 right_pitch=-0.0382 right_roll=-0.0083 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -4.6974, 7.241, 1.8632, -0.188, -0.0757, -0.1294, -0.6906, -1.6615, 7.0359, 1.9951, -0.1343, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3df5f462b0f0f8b2bc5859b41a3b69fe0b0fb6096cc998abf0500777099d0cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192384beaae27f46ee89a8cbc17de99a3d7499c9422a1066a5be9ce0cfce8de8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae84bb6ef905e77047d28d811d1ea2793986147a16d44d0bb3bc16f21466396b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.122 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.321, 1.5143, 0.8345, 0.0483, -0.2764, -0.2096, 0.9989, -0.0204, 0.7719, 0.5522, -0.3847, -0.0128, -0.033, 0.9998]\nstate[eef_state]: left_x=0.4217 left_y=-0.0856 left_z=0.1267 left_yaw=0.0079 left_pitch=-0.0406 left_roll=0.0038 left_gripper=0.9989 right_x=0.2862 right_y=0.0 right_z=0.1613 right_yaw=-0.0002 right_pitch=-0.0351 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.1162, 7.0496, 1.9072, -0.0513, 0.1343, -0.1294, -0.3897, -1.812, 7.0906, 1.9756, -0.0757, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1921, 1.1599, 0.7525, -0.2276, -0.2077, -0.1581, 0.9989, -0.0212, 0.7403, 0.4934, -0.3584, -0.0128, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.36 left_y=-0.0292 left_z=0.1681 left_yaw=0.0521 left_pitch=-0.0558 left_roll=0.0079 left_gripper=0.9989 right_x=0.2804 right_y=-0.0001 right_z=0.1482 right_yaw=0.0004 right_pitch=-0.0359 right_roll=-0.0082 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -4.5607, 7.3778, 2.0049, -0.2711, -0.0904, -0.1294, -0.759, -1.7026, 7.2274, 2.0098, -0.1099, -0.0122, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1928, 1.1622, 0.7452, -0.1909, -0.2184, -0.1612, 0.9988, -0.0212, 0.7235, 0.4587, -0.3428, -0.0132, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3639 left_y=-0.0284 left_z=0.1715 left_yaw=0.0616 left_pitch=-0.028 left_roll=0.0048 left_gripper=0.9988 right_x=0.2771 right_y=0.0 right_z=0.1399 right_yaw=0.001 right_pitch=-0.0382 right_roll=-0.0083 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -4.6974, 7.241, 1.8632, -0.188, -0.0757, -0.1294, -0.6906, -1.6615, 7.0359, 1.9951, -0.1343, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3df5f462b0f0f8b2bc5859b41a3b69fe0b0fb6096cc998abf0500777099d0cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192384beaae27f46ee89a8cbc17de99a3d7499c9422a1066a5be9ce0cfce8de8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae84bb6ef905e77047d28d811d1ea2793986147a16d44d0bb3bc16f21466396b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD8odyJuIeTZ8qEhIV8iNsxf9LJw2ox4GKoJn_JchBC8X99VIlbTeR9ZyCVuPNqSqezf_hV4TAoTxm54Vy-EpRjBNjm34JRcwrQ5e57Nx6G1leojaOOrCHoRTQQXd0oRx-ajY2UlNsILN62gwMx5X3M7VY-i314tZKkXDZJ0dMaNdF_awWjz0SD30Dca3o7VqqL2RG-oaQE4NNgo_Y461_yFWIW8PK8dFuFE3VexIJNH6x9PONLtQDPvT4Ee0Dk-6kMkSr92kT_Hn3TWcqoO8PqcNQwbG8XA-5hbtpbWO1cI44fpAuSM5TWMZeLAQOzNDAnqtQcvHDRFwCbZkeihe5WD3Gfv6n9c32DZXmvYmrh6LsmxeEUGaJvR7q31iNXJWVVfU2ippJOAxs9iMTCD34nhN2emDr2d3YYJOVUmu7zjbRIF1YFvpCpy3RmKRfXrAPHJFWMxNFQJvfWGismcBZKfNHa1oDsSdTEsubTZLkrUzGqFnQl1_wbCIrXmgtRMA5b_KINMUAphu554lfWI18gHlkntIxgTpK__uuX347YNAsukEWmKEfKt66h7Az1V2pg8Om2_Wb48EHXr-hd3MCh-or-s25ah-tTscYBEzvefqUAuMm1_UvVdfi29W2QwaOFLV5edPnD1EMzs0IJRmhZ97Gwilpufvch1D0eiQTotNKlhMCfnseZKfUMFFKvFzwa1GVoDnjIV21ktKDqEu3XShQUNrrWyOnAgC8JdeLHXb0pezDKCp7quv0x7JW1CDXUtc5pCfN_Gw4MFaYwXig32b22bARqK7D6P_T8cnzrLw00XQNUXExqE0Q0186Z_qz-Wcjn53SFVPbEawcnsWMwlttj8FEaaw_ASF-_U5R5MfX4l8ovnQOfMkDVOji7ybifi1AtVOP6wo8Ka3-plOrRevwcaPU1C2G3HYoKYugTPtND532fdw0YCmNJLV0pZsIWYd6hVW3Vo8xBNCK6wQ8pY4C80c-qhYXOlcZEl5qHLjyQ9CmF4t-sZmjdv1uU1hNI-L2ngfjc2RNDpt8Rr_zWYYQ-UE_1crhWf0oWBkycaNa-u0gKCUuoeufcjW40qJWtt6OkqbEqjcg3Q8X6eKep2jL46AvWYUlsu4Vo6Le6hAH8Kwvcg_O2Hv_XPoDOmvZRvYGUQhSuCv5sGKh5MxIOgaqh9YJVUAigGDuajFc33D3RXbaJD9_SgugHpENFrAtJTTmAUKcO81EGOmGviHd9VDXp4zrQq-9q8uJsp7ZbwMBUmzym9ZyvGdMLOf2MWOA89XeXn1AWBD6tepMWWE7gElD4Xim3y22aD5jZI4q3YyGOysENpdDq2O62NtPbFTKx1Vbpaxf5nmotDilimcCtcEN1ZcW3lWJWLYC6HCMJIDJ-T6eVurhZxIkP1EHwZi4Fawq9c9XRgHK9TBlzA-kG2oXtOKpkAqsyWt_kHJbmQrLxZVqJbu629LKBedRT42b77719IDPC4o9SKeGA67hWu-ho1d6SDHrx0t596qIVNIQ5ibkPSfR8UuctF2PAn9dyDIowILChqSMk3ljvSzv93s-s7kdei72mjBYfEg9rcvD5J0Yq7gN2R_N2PrgOmJUPQE29RWL-bHil7wEPv_RxATs2nufrdxqIymwnWT1P44DCbQmE5KNLkdWW2cB-alP-8DDkHXuoyoVOuMF_yxYz0rueBHybq7Gl1WKV545ceeBc=",
  "id": "rs_0ee9aa1f45ee3dde016ab43f26b3a087d0b9672888b42a9e4b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.03,\"left_z\":0.3,\"left_gripper\":1.0},\"note\":\"The arm again failed to follow the outward/high target, so I’m using the rig’s recovery maneuver: retract substantially and raise to clear the awkward joint configuration. The first bottle remains undisturbed beneath and ahead of the left arm.\"}",
  "call_id": "call_vSucosm4MaFuW8PAiXI0KmxA",
  "id": "fc_0ee9aa1f45ee3dde016ab43f27976c87d0be604ba9216d7797",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vSucosm4MaFuW8PAiXI0KmxA",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3939, 0.7708, 1.1141, -0.6956, -0.3584, -0.2668, 0.9989, -0.0212, 0.6983, 0.4229, -0.3214, -0.0174, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2674 left_y=-0.0402 left_z=0.3538 left_yaw=0.0456 left_pitch=0.2314 left_roll=-0.1162 left_gripper=0.9989 right_x=0.2741 right_y=0.0009 right_z=0.1344 right_yaw=0.0045 right_pitch=-0.0274 right_roll=-0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, 2.6325, 5.1761, 1.2967, -0.1587, -0.0806, -0.1294, -0.8, -0.5675, 7.0085, 1.956, -0.1197, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74487897c862b5c9042d88b7621e0149dba88542e36c6cfb1ada0e6125561ddf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cec191733f11920134a56b6a13d5c09b7eba67d51e66e007f437a41f584d375",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8736fb88457dcc391935715bedd11a7f73a69f5b45e02366d06a788aa8bd850",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 7.802 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1841, 1.2087, 0.7807, -0.1947, -0.2131, -0.1616, 0.9989, -0.0212, 0.7509, 0.5194, -0.366, -0.0128, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.3728 left_y=-0.0278 left_z=0.1704 left_yaw=0.0662 left_pitch=-0.0432 left_roll=0.0052 left_gripper=0.9989 right_x=0.2834 right_y=-0.0002 right_z=0.1557 right_yaw=-0.0006 right_pitch=-0.0282 right_roll=-0.0068 right_gripper=0.9998\nstate[joint_eff]: [-1.9077, -3.9726, 8.4581, 1.9316, 0.3101, 0.1538, -0.1294, -0.5675, -1.0051, 6.8855, 2.0147, -0.0855, -0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1928, 1.1622, 0.7452, -0.1909, -0.2184, -0.1612, 0.9988, -0.0212, 0.7235, 0.4587, -0.3428, -0.0132, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3639 left_y=-0.0284 left_z=0.1715 left_yaw=0.0616 left_pitch=-0.028 left_roll=0.0048 left_gripper=0.9988 right_x=0.2771 right_y=0.0 right_z=0.1399 right_yaw=0.001 right_pitch=-0.0382 right_roll=-0.0083 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -4.6974, 7.241, 1.8632, -0.188, -0.0757, -0.1294, -0.6906, -1.6615, 7.0359, 1.9951, -0.1343, 0.0073, -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 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3939, 0.7708, 1.1141, -0.6956, -0.3584, -0.2668, 0.9989, -0.0212, 0.6983, 0.4229, -0.3214, -0.0174, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2674 left_y=-0.0402 left_z=0.3538 left_yaw=0.0456 left_pitch=0.2314 left_roll=-0.1162 left_gripper=0.9989 right_x=0.2741 right_y=0.0009 right_z=0.1344 right_yaw=0.0045 right_pitch=-0.0274 right_roll=-0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, 2.6325, 5.1761, 1.2967, -0.1587, -0.0806, -0.1294, -0.8, -0.5675, 7.0085, 1.956, -0.1197, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74487897c862b5c9042d88b7621e0149dba88542e36c6cfb1ada0e6125561ddf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cec191733f11920134a56b6a13d5c09b7eba67d51e66e007f437a41f584d375",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8736fb88457dcc391935715bedd11a7f73a69f5b45e02366d06a788aa8bd850",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD8s8VTZOJgWgnMHzHpl79GXfVzZV1Lu6wDpZ_-AgNKSvLYOAQsf7Zkk1EqdIIkSpALpIMamY9MjAricTrDUvBHPe4Nka59EoFqNJaYkbdHIzlwpaBxAOUbaxzMkn3yma_CacDEfNM-ewRyxL03TrDjyWGO4gwEd0e_msY3QAU3XGVJNTIWDTlYOA9oAlmWInaj7sYf-6ZZEUEz5kJXNAPjqoBkZ5vQrq-PtwrlA0F1Dr4sJY8fMhOPIIwWoxg3VZkQktmAUylc6K3STETcvZCrD1mu3aF7m4TruOjYhE7vAluwVGZawdN6Z4rgBd1yHY9F0j8f0ZXTk3xEeqzXTVZXpimbuuEILwHOwKKMMs-ZTQQlnDYs6G-tSd-2gLGHa9mpSiCBHyMjEDz55h0HFQbrL9IHl2sbl-9wpf0sMeWjeBwfeY714aHdLbQqc0hzS2Gd6Bc93lJ7jNM7lJGDmfAtEFiA911YUzVOiLeGPcvJ6mb4ks8vQxQLvySzdfJRLDUa4YdwjN-LwOMzja8E6-T1M1n8eOXqT62N1QBUtUvtMJCi5bF5YhuSpP6GTU9lLABZLKuttuonBwlW2WWDT7nUwzEbPIYUcSwo_My91LqITAgtVeJBkQYVJcQz56SRihg_E4h6IVW9j3hBaAShFoPnvxwSbVzUpYKKJSimpEZeY8fggDpMyZjOaD5cnHM909_olxG4853Lzq49HO4QQ8neTXo-_XoeGUQLl6G7J6CuZG_Xcnv14_r6-JbQ-8tN-3lNMab1ck7UYOIDpDY-nFCfsIUzdnAYbdGLS2VVoFpNw3GVSVQDXlzMm3AB9t35OZxIcWLOnMmgnD4PufwybWjLHMckeddjFrr2bzmbSuY6HAumRUHeyyCFIrflZtNggvJGJzeqccWzPBr5JgMc8BvedpmxKHaFjEqMjc-GQ_jyI4VGzcgazxrYZgbyJTdNxbrUJML-6PtaN_Exwnk76nhj-HUd__UIjL2BOYn21-XgZiwjWyiCWjQ7UAyOl5rshJSd2Y8Cua2rJHF_mjUdtBvCdZGoHOxzNgD0ne9DsOCNWr_omf-5DfFeDgTidtD9-1-h0OBoZkXZWSE6iKQhBVMIvPkOW4H-o4pbYxqlZYfJLpt9dJyAxdhoyCM2r_CCA1tGNRTq_VOzrKVSzpY-7s4z8Y7uZH6xXIpng4fVq5ccv6dBMUPUVKCGDG6Gtddc2LEgDUHBdPuPY6UTtD0Y4jeaMrSHfjtrNjq9fMAZvFKRyqOYOBLDjAtqBkNtIFav44-8dpWQqXdZGRBGnBPxmpK4vDBNIcTycwwWfabiaP0nMgj2TURUBq4W4TF37vbCmlurvBDyZbwrMG8qTYnITYGSHMXiCWX4mcH4Y5U8cnJdsdd1IkXpDyiLVluoVZfJlKkccAQ98cnqR5hqDO8RXS4iewi9mMzV4Jyo_awLSFAtu6E82R2CEbFh09juSM4vLUvQgfXYKUTzcl4PH13p1xhGuuPggiMbqE5cRQL0Gh44Rx49aIcX4u6CFjg86zF4OwkWm9gLZlFjuVB7I6Hrm1FV-DBTcx7oSjN-ZnUyMIMVwuQgiwbDIAnak1fGdYgPK5cpT",
  "id": "rs_0ee9aa1f45ee3dde016ab43f2aeda087d0b67210975882b4fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.03,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The recovery succeeded: the left arm is now high and retracted with a comfortable joint posture. I’m re-approaching the already measured neck position from this configuration.\"}",
  "call_id": "call_81szKUnAgoAUqFGqK16DW1ox",
  "id": "fc_0ee9aa1f45ee3dde016ab43f2bc1d887d0ac84520e0858d914",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_81szKUnAgoAUqFGqK16DW1ox",
  "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]: [-0.1749, 1.2594, 0.7586, -0.1562, -0.2024, -0.1566, 0.9989, -0.0212, 0.6842, 0.3954, -0.3134, -0.0242, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3765 left_y=-0.0268 left_z=0.1499 left_yaw=0.0643 left_pitch=-0.0781 left_roll=0.0113 left_gripper=0.9989 right_x=0.2709 right_y=0.0021 right_z=0.127 right_yaw=0.0103 right_pitch=-0.0327 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -5.0393, 6.5162, 1.9951, -0.022, 0.188, -0.1294, -0.7453, -1.1556, 7.1179, 1.917, -0.0904, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b6da6b4d0956453ec9d4ba019a0103213a9a4124e6085cc6a16c85d1b3bd04a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb181c358b163e111f03b87c92dd8b018a6c1f02acfee52f82348d18be3a52a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c19d17102559d113092d19bd87f1ff6bdf10dcd5abf194e77a900d99c3f93fc7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.438 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1921, 1.1599, 0.7525, -0.2276, -0.2077, -0.1581, 0.9989, -0.0212, 0.7403, 0.4934, -0.3584, -0.0128, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.36 left_y=-0.0292 left_z=0.1681 left_yaw=0.0521 left_pitch=-0.0558 left_roll=0.0079 left_gripper=0.9989 right_x=0.2804 right_y=-0.0001 right_z=0.1482 right_yaw=0.0004 right_pitch=-0.0359 right_roll=-0.0082 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -4.5607, 7.3778, 2.0049, -0.2711, -0.0904, -0.1294, -0.759, -1.7026, 7.2274, 2.0098, -0.1099, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3939, 0.7708, 1.1141, -0.6956, -0.3584, -0.2668, 0.9989, -0.0212, 0.6983, 0.4229, -0.3214, -0.0174, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2674 left_y=-0.0402 left_z=0.3538 left_yaw=0.0456 left_pitch=0.2314 left_roll=-0.1162 left_gripper=0.9989 right_x=0.2741 right_y=0.0009 right_z=0.1344 right_yaw=0.0045 right_pitch=-0.0274 right_roll=-0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, 2.6325, 5.1761, 1.2967, -0.1587, -0.0806, -0.1294, -0.8, -0.5675, 7.0085, 1.956, -0.1197, -0.0024, -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 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1749, 1.2594, 0.7586, -0.1562, -0.2024, -0.1566, 0.9989, -0.0212, 0.6842, 0.3954, -0.3134, -0.0242, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3765 left_y=-0.0268 left_z=0.1499 left_yaw=0.0643 left_pitch=-0.0781 left_roll=0.0113 left_gripper=0.9989 right_x=0.2709 right_y=0.0021 right_z=0.127 right_yaw=0.0103 right_pitch=-0.0327 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -5.0393, 6.5162, 1.9951, -0.022, 0.188, -0.1294, -0.7453, -1.1556, 7.1179, 1.917, -0.0904, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b6da6b4d0956453ec9d4ba019a0103213a9a4124e6085cc6a16c85d1b3bd04a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb181c358b163e111f03b87c92dd8b018a6c1f02acfee52f82348d18be3a52a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c19d17102559d113092d19bd87f1ff6bdf10dcd5abf194e77a900d99c3f93fc7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD81ia56GWene-xQEY_mc1Ot_fuiKo2G0pNLOBgmRxAzf9hJENWBxp8ZzbQtEwcbns4FMgc0RJLgH9r6pdrdm_o4kYp6NpGXS07EV2OeVYiTGyLI7Ykwe8BfvGShFdnvgg5eND_179i0Juoankr2rH3SznoIdeERUUmvTRMCV67dy5cBv6GhQZoxQqWTe6cYHmYwP7cJm1b5TDzN6XYlEHAMmqQjfFRQ3rErSsZC3n1DqDpS4GRCMuDIdBSl--_GKgio5x_xMJ8CHCGoPNECD9EaRPcKT0awOoxNWEpMxXnVEOFUulUgblFd5GzpKYpiodjtQ4TazQIPsANLhUtuvNiLSWl5f_sVCOCJwBqNncQEOEftfNJI1E5rVMK_6CxLZobzZ1IZguKRAVCltYI04on8gn-dash8oW5OWVZmUSwdJqtJZvaBMN_kycTrVKwxC4RgG0HyLAj1obQiJyfF_V8NhprM0VpTZlXB4N0RNdgmhlgRsJtGlBuAMcTeIzacRZjoI7vCgBdtdpyB4xAskqdevI5z-17IRDHuJ4CNQe2fb28niMokY5z4RPVbYnTiTffUga9GDaeXvVQlZ2x1aHjIF5g-UYfqb0EIoBsxdpBSxu279T9fJq_EmVRj5jPjZhQ-x70RIQym_8fxUE1s9hlgLI-BVVJgL7VX78mFaiftRWuVag0EZh7BbDxJOWEexunVGJvBIpwlXWfl5BWuBllE2XojUDSCcX0HLKj0HanxFGw-TyfdsnofH9rBZT79zCKa4ICQI-hmR2msarn-A0dS2XWlFn_seRvGA_bdsEhm9d7zF_OLHt7dxXjS5rrM0d7s94iTRkOGnksUI2yC8u0wh0mRc7wr88P6Lexaecg-fmGg3nULczt_nPk-00sY_XwWPgw98L0ULE07Mu5gMrElfG6a-Y0MLhw_pB44UP68eOxRV8hVxT3UaiQNEOj_LbOTxkRu4GH_FQqFKqAXU67H8GWiSd8_Kfo2m9iA1zvJcvttufcLE-w6n1D6IjJDMZX4UO_PLfit9laFTCvov7cA1mvIyAve1DgTpqHOV3OMFlGwm8zPMyat68brttPDxcMVup5mDTnQohMW7UYe_kqEy8aUOQGmRLSh_1CDNk9aZD7uFmHmsBPum9hMCCwiDGc5AXO-E0Z3xSzJ0LeFztJiB4xtSFO8z7c7IZJJPe031IDCZbtih9KGj7iS_B_C7tapzPUbejjz8n7SJDsJ5C7spiMl7MEvMP1268Q8-3ZxrkR07fk5gkKWHUm0GUvlXcGk1L7QLD245WboCrMCknVXNkxGXuenxmbSacVg2zGA0IVo89HNCzxdSeB9zPwVJ4EUNsVPMANAcs2l6mtbk3COthzzDBbedGDxnJbIKnTaKf9wZXGQ47pO3DaEI9QaOXfsMxIASGYuOsjfmnWxhm-ma4NArtO1ChEVSPeRG_6aPIrRdDeLvD6MDp7TuBR86oWySL4erhiiRCATgZh0DWUNhRAG7ztqB3khzCKDb8Yjk__MTygT3I_izzpFU76FP2CDFJdKYB0YgAT0meUF_4wg2yASc-4KclWutpFHdntX5mEL1qFdjbtQT6PkFY6fUrTPlkpI6vzN-qP01ynRAxvC27QSvTlByFyBXEUxKkkNVOSx0uqDlYvYXoYbFdoX9mhwvi6cy0Pj_hX11S6P_C_Yl99rBjEEz0PAm9PymBdqHsOTdoDUwSMIfkmiNrCkpCljUKstZgPiDy5sP6LmB__dhPIx25aG-ZhTNGWeKMKsq5Rgk8JEOp8YCpV1mj4o33WPQ2i0Zw0bw0lRim-qSW4PhbaQ3sLM63WhMx0TiGb-bjtWO-ysPEuXLx3JV1M9icUoVS4vevwgSnq7vzM3gGYdSPDCW2EhWjxtgBNnfiHcsJsGPFPCOPL-mbSQvhrwS0uANnNkj_PCS0O4IY9r1dw3x9py3RezFuLz0X4uEETQE9xG7kfIke4Pi4QkNTFNxNiQ7sqo58T2zQvs8e6otpZAJtncVRwnnTUICylNwBXrizCsUHuOLLLALYtTu05Uz98ljTKv-1vVauEAx1yHvSePlTUm3LSeKaJiqa9RChYEdlM=",
  "id": "rs_0ee9aa1f45ee3dde016ab43f3092b487d099c22917478a2ca0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.377,\"left_y\":-0.027,\"left_z\":0.03,\"left_gripper\":1.0},\"note\":\"The left wrist now shows the first bottle’s cap and narrow neck almost exactly on the jaw column, with the body trailing toward the bottom-right. I’m descending straight to the neck’s table-level center without changing horizontal alignment.\"}",
  "call_id": "call_pgFbo1e1t71LXUub2pSsDjax",
  "id": "fc_0ee9aa1f45ee3dde016ab43f3515b087d0befacd98f389023e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pgFbo1e1t71LXUub2pSsDjax",
  "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]: [-0.1761, 1.6115, 0.4034, 0.5442, -0.2062, -0.157, 0.9989, -0.0212, 0.6647, 0.3672, -0.297, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3666 left_y=-0.0248 left_z=0.0184 left_yaw=0.0667 left_pitch=-0.0842 left_roll=0.015 left_gripper=0.9989 right_x=0.2686 right_y=0.0029 right_z=0.1224 right_yaw=0.0135 right_pitch=-0.025 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -6.4615, 4.6154, 1.9414, -0.149, 0.0122, -0.1294, -0.5538, -1.0188, 6.9812, 1.9414, -0.0806, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbc08c003728561df8315d4e8419dd318b394cdfdadb50d2b6f038e27a8fc495",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9826a9c5c6736f617c1de425698e1e308a17703223db19a7d6386c2bb8e434c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b25e4da66435c6c753d447d68c3407114ed6ac671e239fe6978e7096af8fe52",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 2.272 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1928, 1.1622, 0.7452, -0.1909, -0.2184, -0.1612, 0.9988, -0.0212, 0.7235, 0.4587, -0.3428, -0.0132, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3639 left_y=-0.0284 left_z=0.1715 left_yaw=0.0616 left_pitch=-0.028 left_roll=0.0048 left_gripper=0.9988 right_x=0.2771 right_y=0.0 right_z=0.1399 right_yaw=0.001 right_pitch=-0.0382 right_roll=-0.0083 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -4.6974, 7.241, 1.8632, -0.188, -0.0757, -0.1294, -0.6906, -1.6615, 7.0359, 1.9951, -0.1343, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1749, 1.2594, 0.7586, -0.1562, -0.2024, -0.1566, 0.9989, -0.0212, 0.6842, 0.3954, -0.3134, -0.0242, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3765 left_y=-0.0268 left_z=0.1499 left_yaw=0.0643 left_pitch=-0.0781 left_roll=0.0113 left_gripper=0.9989 right_x=0.2709 right_y=0.0021 right_z=0.127 right_yaw=0.0103 right_pitch=-0.0327 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -5.0393, 6.5162, 1.9951, -0.022, 0.188, -0.1294, -0.7453, -1.1556, 7.1179, 1.917, -0.0904, -0.0317, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1761, 1.6115, 0.4034, 0.5442, -0.2062, -0.157, 0.9989, -0.0212, 0.6647, 0.3672, -0.297, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3666 left_y=-0.0248 left_z=0.0184 left_yaw=0.0667 left_pitch=-0.0842 left_roll=0.015 left_gripper=0.9989 right_x=0.2686 right_y=0.0029 right_z=0.1224 right_yaw=0.0135 right_pitch=-0.025 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -6.4615, 4.6154, 1.9414, -0.149, 0.0122, -0.1294, -0.5538, -1.0188, 6.9812, 1.9414, -0.0806, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbc08c003728561df8315d4e8419dd318b394cdfdadb50d2b6f038e27a8fc495",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9826a9c5c6736f617c1de425698e1e308a17703223db19a7d6386c2bb8e434c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b25e4da66435c6c753d447d68c3407114ed6ac671e239fe6978e7096af8fe52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD86cT1_KYuO3FRWdWOO9izDM2jKwq4lTmSBf3M9ucm-GWqQNbb5DxCKd6iEk9UBwzQjMqm_gdzJ-cGxl7oUl4C7kOsZtImSfMKSgN4yDZghRn1tjxpS0rg-jq8ssPYRBEc1El7JB41sNsyvsmcory91-5bkuI3VXxNEEfxK79i9vS4U6-kcz9uPvEdaQKdrmVqaZ7qAFI6OtnWPUS6oNKRQobyej6JB3zJiNHNdptOHZQXNyT2MFJESvzc93ImLT6JcFdajnTQqN-EHtdXcqZcxGqJFZTpVL3UbZJRpWvzP54SlgPX5crIyKFH8ygRMzTl06yFqYDskmSBGnRLFKF1tmnMZkRdVR7HAkluK1r48rVVknpSOlkNnY4qZiHSu93qj4OCXzr8Js7apz1kWgx02zRAQLKfli8Y5BXrdQFjRI0ZA6wekaEUO6U2Dos8z969tEiNikRNde_CGblA4VOoNw4jN-R8BDIx938VZ8AzTaaHQVg4aibPc-tdRTZ3XUa_Q59REbKtK5vZqpnOqiJJqUJSHu-fbaZV99DRdhMZlMIGjHyHdpfHqtyQMBjdQE0uaapc1wDjXsN552mD-ibZ06cBIhhB0xQo5GqMaCl1R8kFuiMSzTVWy34r4UYOvWexJlywkDBFQUuXFo7ziRCzHQZCw6PPYASbttajYRf9U9ea5-r9esq1kYKpMDEkE5uojkZ7yiHisJ0mLJtoBpMPg8oxd66NR2MIXtdIchgaQL4FJ-YmV1oOB_SrhGEO-iAAfS20F349dZyKR06Te5lsJcWBz_mJ3kCEagIo_CjMyCRZLG_B8Pn7ENM64IxbovsP3Et_1NDCIOLakTKDlv1UiQWiplLJij6AIY-NnEZq8OCxe1nqumEVzXMcXH04HDhaysBcxyLZk_2CT93PlnqPiV02f9oGXWB58qgXr30bW2ibMbttTyPG4uDTHhCJ8snAE_26QTWYnk8NnF2CIpIAqTwgtxe7LM8Me2dMtRuOWfZKvfpawOIOD6SxLwBVgUPTlzt7p1LpTrStg7vLVB27S4UXk_CQF453AgbeYnv5YohiX4OtFmoNmw6Hs7RUBYj90ne0CVNwSdkS-54za2Al2N1yekxK8IDVR3rd318u7DKiLMoW4LW9ecrJsURfy5Q54bev4E2I-8-Zfzi-GbW_EWAeg2HpEs4-5a2LMqw08cX_s_q3jlidMnCejPxpGoCglFgsfhEIjupS3Jxq_fz17ckeMhEwNoRiAeAMsF4KxtxrjR75XIN0nhHoyZbiDxV1o1dF8I8YanyyVjDye9-Lvl9WXG5p9b2cIPsRu89npaLqllxlmW4feLq8u1ULiITTWtU2G8vbofJbLa9Sa7zKvQOfo8K0guf5f6LakbWV44xCgowx8Tuc0TpupTAo_SoiWg59iLR-EKRhFGKAFOlS0cDJ3wk0Sq9NbfgQOc_sBF37iP36qu-zGKYjfY8JUIUNd9QMaxoKhwraJmBgbO8P4TfXJuZsgdBTZXRX4gmPzPX3-L-L743OCGwizy4Fc0FqeLPirRenXrJIzqSQ8jLTAYP-JNdekMN5saN48oJvX1HOruJxGoIT-p73mn_juo6Y9KKFPZM3ZG6vQZTjcdEBJV-O_C8mhhzu2qjtNrIhlBEp2yv6Y-CiSw-IoR8R9Sn_bFu-31d6fRXWBrP1O7ltZeLz1WipFtOP7cZTOxtfeiOt6-KPB3VApM1uWFn-jZWtM4ANYebKKlE4xsSJrdndK1GSSHHIlsFgb1KBWvg9yCmhfs32gbg7ItctCGc4TKE1mNw3QlysytcQa0Gi47DfV-yeXkSBGlTJVxRNwli-JBfqTLWSdeEgbrhO9X4hc7MahHRml2l32ln99bpW1kmoXB2kDf7BSyZYvXxYbPqitg8C9gekjlxFCNUG6reE6TccfN_mDKDeALvwdM5O9cEWBowpqHdvj91wPXQeA1iZjLgxy39dv4M1V4f0-0q1qSGK_Hrk8qdD7SiIqn2MoYWmLAt73bMDNB2r70RuOXocOUsG9Dk5BBiQGlLvDpS0b4mND7SVpHWLN77OnhYWCUSXyAxafjqCQY3ppmFgQRkRmhOAjYl85mMn0YAY1LIXhV8CbmPLozbGZiCt5wE14dG9Z3UjNWinvCnK1Dziuio9lrr1Fq5UC-jXc_Isua7qRydmLjQod2e-D6S4bji44vjHsYy6kKWEnfUF_LEYM1O5zX2E3aVkjR2UuceHDTsV4k7f-7k0rQj4ZIt93X6Q8UZ3yZi1haFTutmTBUuFomm0AkJer5lfQekCBjFFfhmOf_QWr6chXOEe9ZmtOu6-FC3t5EEK99i2oaVApbccz5RQDetbhYOKo3MdgvB1KvBmy2VXFf943vxtigA-uHTxNMO55oE2uEcqAxsW8SjGyBQgUjqoDuUegcsU2262UroC2jVLO",
  "id": "rs_0ee9aa1f45ee3dde016ab43f37651087d0b167c5b4038acd6a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.377,\"left_y\":-0.055,\"left_z\":0.09,\"left_gripper\":1.0},\"note\":\"At table height the neck appears to the right of the jaw column, and the top view confirms the open jaws are just left of the bottle. I’m lifting slightly and shifting about 3 cm right to avoid pushing it during the correction.\"}",
  "call_id": "call_m3nFsgC58FN8cDUggZckhZHb",
  "id": "fc_0ee9aa1f45ee3dde016ab43f3a16b487d0b6461afe2e3a272c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m3nFsgC58FN8cDUggZckhZHb",
  "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]: [-0.2878, 1.4311, 0.4904, 0.3653, -0.2867, -0.2104, 0.9989, -0.0212, 0.6525, 0.3447, -0.2905, -0.0284, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3768 left_y=-0.0557 left_z=0.0806 left_yaw=0.0498 left_pitch=0.0143 left_roll=-0.0097 left_gripper=0.9989 right_x=0.266 right_y=0.003 right_z=0.1165 right_yaw=0.0138 right_pitch=-0.0288 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -6.1744, 7.8974, 1.6044, -0.1636, -0.0708, -0.1294, -0.3214, -0.8684, 6.9265, 1.8974, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39a58139e080ab2fa49ece32aac90840b1c423c3ae3b6c18a90a6c46bd8db49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0555d38e801cfc1c0a60a708694068c516d4a78bb9d1cf120a7d3914b3c085cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:315f6cc9a06589dbb47fa0be4c1111400bd9c645cf871766a54a5356d0f3b875",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.535 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3939, 0.7708, 1.1141, -0.6956, -0.3584, -0.2668, 0.9989, -0.0212, 0.6983, 0.4229, -0.3214, -0.0174, -0.036, 0.9998]\nstate[eef_state]: left_x=0.2674 left_y=-0.0402 left_z=0.3538 left_yaw=0.0456 left_pitch=0.2314 left_roll=-0.1162 left_gripper=0.9989 right_x=0.2741 right_y=0.0009 right_z=0.1344 right_yaw=0.0045 right_pitch=-0.0274 right_roll=-0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, 2.6325, 5.1761, 1.2967, -0.1587, -0.0806, -0.1294, -0.8, -0.5675, 7.0085, 1.956, -0.1197, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1761, 1.6115, 0.4034, 0.5442, -0.2062, -0.157, 0.9989, -0.0212, 0.6647, 0.3672, -0.297, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3666 left_y=-0.0248 left_z=0.0184 left_yaw=0.0667 left_pitch=-0.0842 left_roll=0.015 left_gripper=0.9989 right_x=0.2686 right_y=0.0029 right_z=0.1224 right_yaw=0.0135 right_pitch=-0.025 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -6.4615, 4.6154, 1.9414, -0.149, 0.0122, -0.1294, -0.5538, -1.0188, 6.9812, 1.9414, -0.0806, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2878, 1.4311, 0.4904, 0.3653, -0.2867, -0.2104, 0.9989, -0.0212, 0.6525, 0.3447, -0.2905, -0.0284, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3768 left_y=-0.0557 left_z=0.0806 left_yaw=0.0498 left_pitch=0.0143 left_roll=-0.0097 left_gripper=0.9989 right_x=0.266 right_y=0.003 right_z=0.1165 right_yaw=0.0138 right_pitch=-0.0288 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -6.1744, 7.8974, 1.6044, -0.1636, -0.0708, -0.1294, -0.3214, -0.8684, 6.9265, 1.8974, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39a58139e080ab2fa49ece32aac90840b1c423c3ae3b6c18a90a6c46bd8db49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0555d38e801cfc1c0a60a708694068c516d4a78bb9d1cf120a7d3914b3c085cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:315f6cc9a06589dbb47fa0be4c1111400bd9c645cf871766a54a5356d0f3b875",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD89xHmQF7J6hU3SWGlc426PTSxhqVJ63Nf6HT1NchCrDfoxVhAxMg5eB-bXYwXBl9p1PoW9MlSXZmiK42FhcpVk8c-wXNsvOFRd-WYAzDPZ9H0-wWznUdePfFzGMqrLX_JCc6C-ZjYHr-e-qCOPN3XA17BPVpTj6OLbNgfTBhaJvdCLs-_zMlYVw3pB6EBHuVmZ9efBTXUtojndR6eOdkakvTXUbKZYChYP-9ZjMdzBr1BYNBO61E-WNHUgFBB9eYltRHjky1G__7q_fKaXQIC2xDmCKJ_kQsz3cUcplgyWZ8fXNvM372I3ffuKSRcg0ByruFj_F_4SnvU1CbBAbOwLY8oTwKMpPTErJkds-Mv9-qghMgnQa-etvb2BwqWaCDMPJqjGoww5QQHWlWEmUXuWiKBg9odiZ-QvlAggxHhzZb7G6aoCni4TSD3LvWfI-Qn_bJ6ARr6Ltg97Z59F_96fKLZK42bcCrFh6m9pNXxPpHVzYF740jVI3ZHtb9qJjjxHr3fyO1G4WG14XFYHIKzvAUBjaylv4TKwoQ5tDdl7lWDYiu73kYjt_mkKc-kVM3OEuNgC9KFkIUPCYP-2xs7JvG5rrskyaHT-hT7MWw1AEzzJ1MnpbUJu1Ny2iCO3qLSl0JRaUOUeMQe-Xa5M1P_SD859-GHro2jgeADYm5LYy0_E6gwVJbREsriw9YjwYb0QmQVbpAa5vwXjCNTIUemWXGnkov3G06a0epgngxrHU8XV3PAj3NGKKMUcToK1QBd_KBEWD40_BGHugUWTJ4hjntaKb9Yk-Iq9lsSvr46oCn1OhyEgK55UODemKvMY7PNtfyMtLCiK6YxOY0Fm6CMXNjSNQ_UqgnPQbadsC3ZUemkjAL5zRLjC_V1Q3ISYlkuCduzXxOM9WqHbqgXY3cKexf7JpP8xEo7ysHTvuSNLWI0qbRKy0f1IkTDcR24mB-OXg8esBumnkOsHKUE3H-UvxMf6dMZN6X8gv59gEqK6KmVDSkgaI8HvFdYaFGoVs4TXzFbL4PvO2J_JeAtMe8TTdpJufe1rGenEuR5VfCBvOAHaAAojjZXqPLcb7RlAsM2DQYwEGVA1zrLb4sHL0ePsHZfagwsG4uKo0SMTZVg6qmq5tk38rSGpmKLKyEZI3ZPCm2Jp8zrI1U9xkBsSJx4WWgsRghrtjIk1rM0UPKb7LnTq7qgm2Ft-uXFdGVmylNZXQr-nP1tLvH5764x9K5jYwV_TFGKIA1ysf8MJB9xs3dPllaYl5-u46TfKciuKF75rn29eEmiOJ8IjYN2JAnFvdU7yz7Giv4qtwypGg-HyDQpqaHXNUcjfqsYh2V8FLxyO6g51cGI76843GuF8PWv86w==",
  "id": "rs_0ee9aa1f45ee3dde016ab43f3c788487d095441d8acd824fbc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.377,\"left_y\":-0.056,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The lifted lateral correction worked: the first cap/neck is now centered between the left jaw paths. I’m descending vertically to close around the narrow neck.\"}",
  "call_id": "call_oc8iQlSY0hXH8SA9v4o6oc0r",
  "id": "fc_0ee9aa1f45ee3dde016ab43f3cbd2487d096f435d6d555dc35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oc8iQlSY0hXH8SA9v4o6oc0r",
  "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]: [-0.2951, 1.6238, 0.4465, 0.6533, -0.2924, -0.2348, 0.9988, -0.0212, 0.6334, 0.3202, -0.284, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3896 left_y=-0.0615 left_z=0.0529 left_yaw=0.061 left_pitch=0.0635 left_roll=-0.0455 left_gripper=0.9988 right_x=0.263 right_y=0.0034 right_z=0.1113 right_yaw=0.0154 right_pitch=-0.0276 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -4.041, 2.5915, 0.5201, -0.1294, 0.4615, -0.1441, -0.4034, -0.7179, 7.0085, 1.9756, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc4169b619579ffb8c0e64c25fdda7adf14b58039b65e16126ef16b5eb09b03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9d0c662b802688d674b6092fc4a0f49ed9ff196f4d69b97fed799138f67d7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ca3fd959c53161a01cb34bd67e7817a7673da9be10d04dc5d8e88b2fa5173a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 3.497 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1749, 1.2594, 0.7586, -0.1562, -0.2024, -0.1566, 0.9989, -0.0212, 0.6842, 0.3954, -0.3134, -0.0242, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3765 left_y=-0.0268 left_z=0.1499 left_yaw=0.0643 left_pitch=-0.0781 left_roll=0.0113 left_gripper=0.9989 right_x=0.2709 right_y=0.0021 right_z=0.127 right_yaw=0.0103 right_pitch=-0.0327 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -5.0393, 6.5162, 1.9951, -0.022, 0.188, -0.1294, -0.7453, -1.1556, 7.1179, 1.917, -0.0904, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2878, 1.4311, 0.4904, 0.3653, -0.2867, -0.2104, 0.9989, -0.0212, 0.6525, 0.3447, -0.2905, -0.0284, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3768 left_y=-0.0557 left_z=0.0806 left_yaw=0.0498 left_pitch=0.0143 left_roll=-0.0097 left_gripper=0.9989 right_x=0.266 right_y=0.003 right_z=0.1165 right_yaw=0.0138 right_pitch=-0.0288 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -6.1744, 7.8974, 1.6044, -0.1636, -0.0708, -0.1294, -0.3214, -0.8684, 6.9265, 1.8974, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2951, 1.6238, 0.4465, 0.6533, -0.2924, -0.2348, 0.9988, -0.0212, 0.6334, 0.3202, -0.284, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3896 left_y=-0.0615 left_z=0.0529 left_yaw=0.061 left_pitch=0.0635 left_roll=-0.0455 left_gripper=0.9988 right_x=0.263 right_y=0.0034 right_z=0.1113 right_yaw=0.0154 right_pitch=-0.0276 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -4.041, 2.5915, 0.5201, -0.1294, 0.4615, -0.1441, -0.4034, -0.7179, 7.0085, 1.9756, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc4169b619579ffb8c0e64c25fdda7adf14b58039b65e16126ef16b5eb09b03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9d0c662b802688d674b6092fc4a0f49ed9ff196f4d69b97fed799138f67d7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37ca3fd959c53161a01cb34bd67e7817a7673da9be10d04dc5d8e88b2fa5173a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9ABefricp7GqMTnyO0HyMAIcn0k6fp73-Zxssu3G1lHbCun8NKSlpGkwgODnFhE7zWa9eO2a1NlnTyrZpl4ZEZcUAxY7IzqCjQkvDFESVfn_0EhsVFanyVsT3zp-M65EnOPn-K_AeNF2sxC40yzAfKtK3fukrajv30-b0ua6YqQojwnPiGngYOj2AZHQfKD05Zs7x7somxVJMiP1XHKjemNDJRq3kXHfopkssaC0NRO-mS2oIzs8ZeBNZX_C8i2gsrGyvp11bP3MoJ3hrLwmaQIYq-XgDyPzs3FFSwidB_OdLxUyeMuVn8hiS5eXqiPxbivDFqJuJOaqMCLex6qU3e5rulIWP5ldVc6WvlAUtArsCLC4L1wNS7eCKoFbi33ZoEpQkJ7kgbhGM-HBLMXos47LOS3PYdKxtSE_Pm3I501E_PSBpHyXlG6hhfb_0ekT2WJpB6OTRlW6G_wlSuKozr6-TIDdKEkA9lQYgWRRDuh_4b4iWlWrN5m8tDL9syKyZbUHRIQFE9ZQuhvGcpCVOeO-JXYbj1gAD41NzS87xJHmLUYG5IzoQy8eweIBMHGyj_ni2C_zmLCCeuLy6lbs_McsCkRklhqUt_qi5nsvwJI1PqQHbYOSlyBuNFGCORHVPQZ68Z0mdOy7PPsbtHAglDmm0g8fCJ0DORNFye8dMTs9sF_RzICKKsTeZ1_YVcwpEzn9_luwUDSwSClntaC7vPNSW8Df-slP8I2HDNqHMMSEGrB9hLizovTBb5wg9h2y-frtrZ59inpK8sae9jPG0xkJWN0UqIyk3Wot8kKXFlDhzwx8h9k8eqb10kHgyeBp8yTaSlMPX9XugrZEEgGDaJyjDSW-DGim7byHzzjKCDxtsfk2YxTN8eQg6qwu38U_rGaZmdRVBHbg6M2tgPxcwTvXBpL-gUfldK5V7MwP7CCDYMRC_6AF46LQun4-JKcm3Y4EpQk7_vA8XkpKkgkN5bHqq609xN1nZtroF6ay9mvWfmWPxq_C2GhlKzmKueCSe8c7moc0kleD59IOlx6ltH3RxUq7UHBD1gc175y6lw_AfSLQtApyqsEacf1Ewk1pZAY8R64Qkd6tOuTFNUy8ekcnWXGwdjxFhANhOfHc7lCsGHyU2a--MhZvvdk16n6pRf_RoFqaomBGIlf0JO3bWGDTSAV9uQLCtIFd6DZ2Z83mGncaQyeBtDOX_8RqBflDnxhJ4dMp369LmSlCXvB0pooN-zI_vyNOhRfeyQXPhkiyfcCi1seEl-C_bNZxBMcmQX1y8BuJJjDcQJAAfXEaPBZaNKo7XhRzICtDppa5rT2W1rrvWns7XqKIiIz1lIbgrZvDDO-4_gipJGf_awlC-vAGxfA-KL7qCQewPZ4kFLgo-18FqvIb1Ylnzs1OWRGNw6R1iMmPtdpGjklmPJq65hHNQydXvlo6VOPPUCPlAu3rJJpAxuq3-G5ouCcZUlKi9I5aa52sw0KKM6QGwKw5NeLA==",
  "id": "rs_0ee9aa1f45ee3dde016ab43f3f238487d0805f55d582c8e881",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The descent stopped at z ≈ 5.3 cm instead of the 2.5 cm target, indicating the open jaws have contacted the bottle around the centered neck. I’m closing now and will verify the settled opening before lifting.\"}",
  "call_id": "call_GwProCbeLz6sSVdMudvzcQcb",
  "id": "fc_0ee9aa1f45ee3dde016ab43f3fc22c87d0b55f696c82af67d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GwProCbeLz6sSVdMudvzcQcb",
  "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]: [-0.308, 1.5967, 0.4938, 0.5426, -0.3054, -0.2363, 0.0108, -0.0212, 0.6167, 0.2958, -0.2718, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3918 left_y=-0.0652 left_z=0.0577 left_yaw=0.0591 left_pitch=0.032 left_roll=-0.0278 left_gripper=0.0108 right_x=0.2609 right_y=0.0035 right_z=0.1068 right_yaw=0.0157 right_pitch=-0.023 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -5.9692, 6.0923, 1.2821, -0.1587, 0.1392, 0.8718, -0.3487, -0.6632, 7.2, 1.8926, -0.0855, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e887f773028defe8cfc6e48f76f981dea2e06ff7def0f5b3143b8a97ebd0759c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f48e31097594a38205e35a29cbb186ef3ecd20efacaf8317bebc3ef64a0dd0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8643d8d0312fc965ccb7597897fbefd32ab99ce654166e74c88257838be835d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.978 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1761, 1.6115, 0.4034, 0.5442, -0.2062, -0.157, 0.9989, -0.0212, 0.6647, 0.3672, -0.297, -0.028, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3666 left_y=-0.0248 left_z=0.0184 left_yaw=0.0667 left_pitch=-0.0842 left_roll=0.015 left_gripper=0.9989 right_x=0.2686 right_y=0.0029 right_z=0.1224 right_yaw=0.0135 right_pitch=-0.025 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -6.4615, 4.6154, 1.9414, -0.149, 0.0122, -0.1294, -0.5538, -1.0188, 6.9812, 1.9414, -0.0806, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2951, 1.6238, 0.4465, 0.6533, -0.2924, -0.2348, 0.9988, -0.0212, 0.6334, 0.3202, -0.284, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3896 left_y=-0.0615 left_z=0.0529 left_yaw=0.061 left_pitch=0.0635 left_roll=-0.0455 left_gripper=0.9988 right_x=0.263 right_y=0.0034 right_z=0.1113 right_yaw=0.0154 right_pitch=-0.0276 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -4.041, 2.5915, 0.5201, -0.1294, 0.4615, -0.1441, -0.4034, -0.7179, 7.0085, 1.9756, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.308, 1.5967, 0.4938, 0.5426, -0.3054, -0.2363, 0.0108, -0.0212, 0.6167, 0.2958, -0.2718, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3918 left_y=-0.0652 left_z=0.0577 left_yaw=0.0591 left_pitch=0.032 left_roll=-0.0278 left_gripper=0.0108 right_x=0.2609 right_y=0.0035 right_z=0.1068 right_yaw=0.0157 right_pitch=-0.023 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -5.9692, 6.0923, 1.2821, -0.1587, 0.1392, 0.8718, -0.3487, -0.6632, 7.2, 1.8926, -0.0855, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e887f773028defe8cfc6e48f76f981dea2e06ff7def0f5b3143b8a97ebd0759c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f48e31097594a38205e35a29cbb186ef3ecd20efacaf8317bebc3ef64a0dd0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8643d8d0312fc965ccb7597897fbefd32ab99ce654166e74c88257838be835d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9E4yv2qTRODq9eUv8RLy3Zm4s-0hZI-tUwxQC5qO2BGv9iDRWXkVXOHOZofnIdS2G6Re9eixJeQe5zlkTPZZWwcpVgNiC96kPr7_-NAl7TeWhe74GWXHEj6zWqqUv4LCUf3C76FVJohl52Tc_XRHqJ0-jflt4cZKKujsAqnBq2xqrmwFlhx_4RFtyLT6ZhP0LyvvKcbtHTkF5PQuYUeSO0Qxpo_DfyQqakHgMLrvNXhXH2soXfs-r5u4OQINJuDYi2yR5OtWeiltmZfyKB59UtMbRhZP2y1YwFYFovpMKXp9Cnf80Dgr0IXklpOWZSvri8NSgprNNczk_6193E-yDT8WvQh54VjVpKKCGRjOlPugsYhUFod-7Mjt_lKuEdcCjtuIhAms2jBjZoniVw10n_PC_wzh76A8ToU0J0w-kVIEnwNZdIY22NhHvlwJC8_bbMBkjV7kZltMiHcSiFDRsAF2mqn482VhWWuxUhJAiSq-TfJLW7eMvKcAYIk58rhtmK9U0qQkglqWcSIiBHJSxlpHB3S1D0t3umYmJW28OT13mvt7NFyoTjj8FUIROHdq55FtNq8gkt1KJGLay8uMe3KdTdAToGJoZd5YO4aC3XvDT6aEogn9dBSfhfNuCKIwI4PfVOZV2IGx5Hv_4pTUSVF9GIU4aykI0Y-29NEMmVLgJuZg4HNUY4IfTaMRj7l78FOL_I74qCWINqf5gGrcSl4NU1D34I2CPjkMq1eDSJpBLsEj4kj17B0v8U50OqCwhHAUJK0har2NF2uK1EoYMmjvZbOjSGk-qZfBFlGmJqoDcFaiIskUx2oLggj6axvkUvsbDcrUkpFlAtbuqvKMA3BMhPMVvE0QPLTXD5zCzsNMpYAnH4cOgbNVtrZBItFV3OUYMnIRJNNe1vNTdc5kt-v93jFmH59ycht1ACEerXmtAXiXI5XMAINNf6Xt2xJel3psut3akiO2L_rJt5erKcW1Rs96yvxTNIjwwcavYBQCFWy9tsZoNnAQXQm9uMRPMecJRPi65RzTSHgxFzdgii9bf8knOTEHmB5U0BrOvUmX9Fj3bQwDHGUxuy0TgdCTuQqqOCJDN35ij8ZH9WO80a1CbNKWP_fKTtPa9_tzEkiVwHx_7G7B4VR6EM5-Oc_dLnl7kNSjvBfO7KjjIi3hEYn1wPqW0oul3khKsIdV1MA_6351BOMP6Kx4aa66iJL9w4SvYgzzobNGJWajd4V-5ZzB5nHj76QZIaqI2xDdpcRxH9x-q1SOFp1KQ8LjOqzJuXA7nzQcClpoG8JKEFSCGDhDbzxvxO9FL1K6ZLN65-N8bf5DbMCOIy0gDWqGrv4ZiPkmRJxRM7MXakcTI3dEeJ-L4nSvW9-Cm0FEoG0NE6g7gBWsWdOJRK5Asrhl4jCWuGjCnm-enB3_TTzdAfPY_BnT27kqiPN1H3zIy6kmP9vGkNE7kdofQ1JD8w_OcPcp6Djq9tTFtsQIhc9rho_ovIK2NgDSj6N5U6WRQOSlLCARF3jLtJfTNkmEV-6osywf3SEzDm5zKfAcnL8lSWpE8_DFFacIKO99o3jOg4uV05V0Jcx89ttE5U5qd-ClSRNIHphP8QbWjy0hDFbWrA_EdoW3NeaaHhbYJIVpuTlS7DQojRu8Gj7H9WuR9CMoch60b_Q63jCLANMax_y5fO7biCMyj0iuhgHQZDXGJGQlpvKO4KGIdkrB_7gOd7_vHHmJuCO0WAQ1xS1iBBe0Ad-G0QzqpKJ_ph9SdzO0v-44ltOJV2EMPrSVeXK3Wfy4Of1krl-0Gy1nbud4KWHLTPhOd2dNzr99kTUkqdr16EOLS-E9R_fCGOqiVSkFsfFxlu2ZB2oFLg1AglusZEdgwZ9ZXgboKfSBmxhqo-qYzXVH84X8OlzsPVEusBIPIxJB32RyiRi8JiaMFID5m9L8P81extwFzy4ilglfHv_Fc1Hh1RdAALQXRakoaBbjv3dzvFjIJzOt_Dvm6RrxLzgbcZDqf2Y-B_1qfsdZSE3y_iVHkm61w=",
  "id": "rs_0ee9aa1f45ee3dde016ab43f4278f087d084a93b1ec5f2c9bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.065,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The gripper settled at 0.011, so the first close was empty; the bottle is still visible in the wrist camera and remains lying down. I’m opening, lifting, and advancing about 3 cm outward for the single prescribed retry while keeping the lateral alignment.\"}",
  "call_id": "call_iy6Mf2Y2zLSHaTu8TytAhIjA",
  "id": "fc_0ee9aa1f45ee3dde016ab43f43f3a887d08bb9df84095a9b52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iy6Mf2Y2zLSHaTu8TytAhIjA",
  "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]: [-0.2863, 1.5799, 0.675, 0.2604, -0.2996, -0.2348, 0.9956, -0.0212, 0.6037, 0.2768, -0.268, -0.0303, -0.036, 0.9999]\nstate[eef_state]: left_x=0.411 left_y=-0.0629 left_z=0.0771 left_yaw=0.0755 left_pitch=-0.048 left_roll=0.0005 left_gripper=0.9956 right_x=0.2585 right_y=0.0035 right_z=0.1019 right_yaw=0.0154 right_pitch=-0.0253 right_roll=0.0011 right_gripper=0.9999\nstate[joint_eff]: [0.5128, -8.9915, 8.4308, 1.7802, -0.1197, 0.2515, -0.1832, -0.1299, -0.7043, 6.8444, 1.956, -0.022, -0.0757, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4e4cffbeceb4a58a2de6c6df351f8630ce746e66ed84e04a86bc6e88b9bd4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8620c1ebd47f0a435fa8c864d358f5077f40a279be723b340fe42f39c15c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04fb7c59d4f4a3a30b72df4b0b8973fa23775a099550677e0c42ca36e3b2b39d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 1.645 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2878, 1.4311, 0.4904, 0.3653, -0.2867, -0.2104, 0.9989, -0.0212, 0.6525, 0.3447, -0.2905, -0.0284, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3768 left_y=-0.0557 left_z=0.0806 left_yaw=0.0498 left_pitch=0.0143 left_roll=-0.0097 left_gripper=0.9989 right_x=0.266 right_y=0.003 right_z=0.1165 right_yaw=0.0138 right_pitch=-0.0288 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -6.1744, 7.8974, 1.6044, -0.1636, -0.0708, -0.1294, -0.3214, -0.8684, 6.9265, 1.8974, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.308, 1.5967, 0.4938, 0.5426, -0.3054, -0.2363, 0.0108, -0.0212, 0.6167, 0.2958, -0.2718, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3918 left_y=-0.0652 left_z=0.0577 left_yaw=0.0591 left_pitch=0.032 left_roll=-0.0278 left_gripper=0.0108 right_x=0.2609 right_y=0.0035 right_z=0.1068 right_yaw=0.0157 right_pitch=-0.023 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -5.9692, 6.0923, 1.2821, -0.1587, 0.1392, 0.8718, -0.3487, -0.6632, 7.2, 1.8926, -0.0855, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2863, 1.5799, 0.675, 0.2604, -0.2996, -0.2348, 0.9956, -0.0212, 0.6037, 0.2768, -0.268, -0.0303, -0.036, 0.9999]\nstate[eef_state]: left_x=0.411 left_y=-0.0629 left_z=0.0771 left_yaw=0.0755 left_pitch=-0.048 left_roll=0.0005 left_gripper=0.9956 right_x=0.2585 right_y=0.0035 right_z=0.1019 right_yaw=0.0154 right_pitch=-0.0253 right_roll=0.0011 right_gripper=0.9999\nstate[joint_eff]: [0.5128, -8.9915, 8.4308, 1.7802, -0.1197, 0.2515, -0.1832, -0.1299, -0.7043, 6.8444, 1.956, -0.022, -0.0757, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4e4cffbeceb4a58a2de6c6df351f8630ce746e66ed84e04a86bc6e88b9bd4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8620c1ebd47f0a435fa8c864d358f5077f40a279be723b340fe42f39c15c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04fb7c59d4f4a3a30b72df4b0b8973fa23775a099550677e0c42ca36e3b2b39d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9IB4NUvKnYFgAU97akNtNLQbm_Mj5jM6K5jlQc8vW3A8NeeIBW3Km3O2QV9XoWgCgto2qzVEvUZaDc9GHJYqbGz_5pmikwS9BZb430DUwEbiL_fTuR8_cM_2a_ajt7kfVKJdBIOIA3w7-3zSBWKkNMRQ8uS8ZQjAOkh7gDxvII4xMImyEM7ja0Eekz5JLK-xPXD5tWc89_NOVXnLLBYx66KowNUsXpuR7t7jdjJwWZC13yCICMkREP2J2xC3TZD89VPzHz8IxDWBtTY8XIllbEcfk7dVcLvDam7-n7ujD-thc1X8eR_mYemt4yG9XaIdHVDG9TvZHdWqL242ry-ADYKQJKK2jobI5kcFYnJYElACc5GZz2wc9yDZX0gXj9jAhV6bvmN-h0mv2No4ou96wo3pGA1ncef0SQjrK_H30FoNSUn5-yaIlqPmc1TkZ5M8Y-sjP1cncgdwLsvTPWQ8SBWPQOQyGtpVuUS3bw07KnCLPULzZS-rP9NHiKMTRpoTUoz7tI6IUcoixNwqWlku0l4LT-fqYzFpae4yjYpP71bfodETKg1CCUitntWSKuH-J4HrpIQqHu5ZA2IiSrAtHuIr1pOvZO_abOnKGat-QFm_6pyVUvcPvXvioEGgxFZ8Y-zXXja6IeFXBz1LWuDauCtozMggeAy4G5u8WSz-D0ie3oVFigFqGTm4X4JoUlcjDgEHLB6UDtH4REzOa2gnczT94O4rpdZ3k7ADlYP2_52hQbJ4usZsxOf7WtNU2zDvoCn3PTxL2Atw-fJ5wXWA4TXNO4Gd_3OOgGz4n6ERSp7OHEzEq740TfYlgEcynwKwgJxJsugIbR8xr6bZIJ4JW-7vFiXuajX3kVDD1VPxnLUa2pbvLtgugjkWeGT6RQVKBpu00VFE77DtycSGtpSW26CPS_Blb76BkjQbFik5nCHkON738jxHdNz2161ApMxMth5_b-eN-PgOS8xC_U0W-NYzpQGMmV5NllXikCBKfpz2IWLaXpIqFjkfi-j3NPOgtePsztND-CyafI6sE7hgxahtGYM_iR-YXOppWLmj7RDwrqruNLAnMhvQ7mOMH4lca6PToFeXql4hgIiEYNTq6QD9XRsu4_6Cxp8jLOKkA-KVEtCsgzBOwpNSxznOpsNP6ctASm5PWM1XFZ7y9iA08suQDs8bMiO-wnySJWObdo1yFbZh8l6mCVFBUNYgM94v9jqzwctKZat9f_ERXSRrg0uGZtayNoIYAl6a3Lp8INCDpfBXgCHUdmrVU-dMwHto031myHKuMZaDKCr9IhtFptMw==",
  "id": "rs_0ee9aa1f45ee3dde016ab43f473b2487d083e2f89cd1871c8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.065,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"After the outward retry correction, the neck sits on the jaw column and visibly closer to the fingertip region. I’m descending again at this corrected horizontal position.\"}",
  "call_id": "call_S2vrZ0gLwMCahr45vwwZvSwU",
  "id": "fc_0ee9aa1f45ee3dde016ab43f47e95087d0a552933bdcb0f27f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S2vrZ0gLwMCahr45vwwZvSwU",
  "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]: [-0.2951, 1.7676, 0.6167, 0.601, -0.3, -0.2554, 0.9979, -0.0212, 0.5877, 0.2558, -0.2646, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4277 left_y=-0.0717 left_z=0.047 left_yaw=0.0779 left_pitch=0.0403 left_roll=-0.0506 left_gripper=0.9979 right_x=0.2558 right_y=0.0035 right_z=0.0969 right_yaw=0.0154 right_pitch=-0.0268 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -5.5043, 3.3299, 0.8962, -0.2711, 0.5006, -0.232, -0.253, -0.5949, 6.8171, 1.9072, -0.0366, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09fb7813189151c2b525949650b87797c5904d3309250b75d370b9b6570318e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f85a76acdbe09ea18bcb97f49cf95989db8907d162b2e77030f503c9c4788d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba3f8a34903f4431c0265168245ba1e4be9384e512bed7a48477e2b0d67bfb44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 10.54 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2951, 1.6238, 0.4465, 0.6533, -0.2924, -0.2348, 0.9988, -0.0212, 0.6334, 0.3202, -0.284, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3896 left_y=-0.0615 left_z=0.0529 left_yaw=0.061 left_pitch=0.0635 left_roll=-0.0455 left_gripper=0.9988 right_x=0.263 right_y=0.0034 right_z=0.1113 right_yaw=0.0154 right_pitch=-0.0276 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -4.041, 2.5915, 0.5201, -0.1294, 0.4615, -0.1441, -0.4034, -0.7179, 7.0085, 1.9756, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2863, 1.5799, 0.675, 0.2604, -0.2996, -0.2348, 0.9956, -0.0212, 0.6037, 0.2768, -0.268, -0.0303, -0.036, 0.9999]\nstate[eef_state]: left_x=0.411 left_y=-0.0629 left_z=0.0771 left_yaw=0.0755 left_pitch=-0.048 left_roll=0.0005 left_gripper=0.9956 right_x=0.2585 right_y=0.0035 right_z=0.1019 right_yaw=0.0154 right_pitch=-0.0253 right_roll=0.0011 right_gripper=0.9999\nstate[joint_eff]: [0.5128, -8.9915, 8.4308, 1.7802, -0.1197, 0.2515, -0.1832, -0.1299, -0.7043, 6.8444, 1.956, -0.022, -0.0757, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2951, 1.7676, 0.6167, 0.601, -0.3, -0.2554, 0.9979, -0.0212, 0.5877, 0.2558, -0.2646, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4277 left_y=-0.0717 left_z=0.047 left_yaw=0.0779 left_pitch=0.0403 left_roll=-0.0506 left_gripper=0.9979 right_x=0.2558 right_y=0.0035 right_z=0.0969 right_yaw=0.0154 right_pitch=-0.0268 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -5.5043, 3.3299, 0.8962, -0.2711, 0.5006, -0.232, -0.253, -0.5949, 6.8171, 1.9072, -0.0366, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09fb7813189151c2b525949650b87797c5904d3309250b75d370b9b6570318e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f85a76acdbe09ea18bcb97f49cf95989db8907d162b2e77030f503c9c4788d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba3f8a34903f4431c0265168245ba1e4be9384e512bed7a48477e2b0d67bfb44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9K2tHtP2nql3E6rGw6xzvbZG2QxCMZYZbCfHHT5xGa-ke6eeFlTkX2T_L2JWhT0Y37Z2-UX93kSV_emG6dqPD0TrrVDeS9--RLoG7_tjlMXGUcsdcDbQNtNAGM0X5CWyBLCzL-Bm3MrASy9hnweW4k3RPERlIOpbJIpON4FTBou1P0saQL2H7wp3wSq4Ia9nGNeS7FM6Ggmci76vBTzdmQDJ8dZCsGla93YM0wBqoc3ByWpVva2NV5MxQ81q9aC-T7EUA4rb17T2J5GTBr1Ak84zVQiWsR8dyUhVEt1_usqyUUzvGNcsRXqid65WMQwftho46ZaJyBbriF6qEH7iFiba4x4Cox9Rufu6RSeIkvNf2W7SAvaYiHSfG8wceClHM28ZfG_3w7gWG8Klf35M9hST7xJwBpA3EZx2VTThs-vG9LKyg6PBfMhXFdsmMFgnW2obHPYw-oTap9Dj6PjHzXSqFKNhZKKG6uQOCMljk8kzbn7y4LneMgNgOV326G8sJiP6lzGrkh1kHn7UT57YQ3QMNiiqdFqGjCFYH0NQEqPKFWw1oLhcNYUizAWHsWMz5plq2yNZQPFeQbaabkANu0yGfw4ZNKLOYGvjH6wB6pXAWfWA8fkMOyHhRsypc06nyVR2XFwFG_G_vXKOL8kM1jXNHX-i75o_h_HI0tkZnoIv6uWDaG3BSBF0HBSl9wsZbH8jcFTW6A1iEoP0-jVZdkumnLbXbJeub-8hlvv2sXNCVn7GQ0o67-_cK5mswCVE5qx9L7nKE6-1kFOp75jaNs5nufeQ-kSyQ8-uiHj0J64eXk8ZqBPUTbPPJiqj-YpG3u457S9n1eaWHID2cb8v9UCFB4Iv0Luj02fhJwk5RxCccY1ZhdOzTvzhB0yRj61gvA6bL3UI4wHHWZlyknFBnRh5mt-WV5Et5LUBrBODozM3iccKRMzIoRket_ImrKgF2NzjJdy-YHQZZEEyjb4rA2CPfiUXP6scProCyGL0g5ixp6WK8xmTSQovzry3mHwf-Hg65SiiG78pbzGsPduPVq3AnMtENdxU6i2S2_AuybvTf2-8QLVG7NCFvcmYuL3l_1YEIk1_WmxMZEbVkJcADDiZFm87frxbPe9c6i1tUgeNGLFKIxzFmtFaaAIi_Qx_fzmN8ClaVMlFRmYWfatZelrvNFZEX9EU-eITU6mnHFtn_F7MFZHaNabgLUMG24E094",
  "id": "rs_0ee9aa1f45ee3dde016ab43f4a1f6887d089b86d1907ab1f7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The corrected descent again stopped on the bottle, now with the neck low and centered between the jaws. I’m closing for the retry and will judge it by the settled jaw spacing.\"}",
  "call_id": "call_K9utq5G1lvKx4OqWNqGReRil",
  "id": "fc_0ee9aa1f45ee3dde016ab43f4a368c87d09693970d4f8cc1fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K9utq5G1lvKx4OqWNqGReRil",
  "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]: [-0.3069, 1.7554, 0.6559, 0.5674, -0.3416, -0.2543, 0.0109, -0.0212, 0.569, 0.2344, -0.2623, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4357 left_y=-0.0722 left_z=0.0607 left_yaw=0.1005 left_pitch=0.065 left_roll=-0.0366 left_gripper=0.0109 right_x=0.253 right_y=0.0036 right_z=0.092 right_yaw=0.0156 right_pitch=-0.0272 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.6786, 5.2991, 1.072, 0.0464, 0.1538, 0.8474, -0.3487, -0.4581, 6.7624, 1.9219, -0.022, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eebf950b7efaf25fa5f8dbb584f6e58ecc81bc6871b0bc01959228935899c30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c68237bfbef6a1be3708b115a4d099d9075f7cdf9195a42f90feabe314e7e5ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e4c9c76dd405a593fe68813f897e5c83b2ab21e34dd7457317c49412e961677",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.878 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.308, 1.5967, 0.4938, 0.5426, -0.3054, -0.2363, 0.0108, -0.0212, 0.6167, 0.2958, -0.2718, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3918 left_y=-0.0652 left_z=0.0577 left_yaw=0.0591 left_pitch=0.032 left_roll=-0.0278 left_gripper=0.0108 right_x=0.2609 right_y=0.0035 right_z=0.1068 right_yaw=0.0157 right_pitch=-0.023 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -5.9692, 6.0923, 1.2821, -0.1587, 0.1392, 0.8718, -0.3487, -0.6632, 7.2, 1.8926, -0.0855, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2951, 1.7676, 0.6167, 0.601, -0.3, -0.2554, 0.9979, -0.0212, 0.5877, 0.2558, -0.2646, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4277 left_y=-0.0717 left_z=0.047 left_yaw=0.0779 left_pitch=0.0403 left_roll=-0.0506 left_gripper=0.9979 right_x=0.2558 right_y=0.0035 right_z=0.0969 right_yaw=0.0154 right_pitch=-0.0268 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -5.5043, 3.3299, 0.8962, -0.2711, 0.5006, -0.232, -0.253, -0.5949, 6.8171, 1.9072, -0.0366, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3069, 1.7554, 0.6559, 0.5674, -0.3416, -0.2543, 0.0109, -0.0212, 0.569, 0.2344, -0.2623, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4357 left_y=-0.0722 left_z=0.0607 left_yaw=0.1005 left_pitch=0.065 left_roll=-0.0366 left_gripper=0.0109 right_x=0.253 right_y=0.0036 right_z=0.092 right_yaw=0.0156 right_pitch=-0.0272 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.6786, 5.2991, 1.072, 0.0464, 0.1538, 0.8474, -0.3487, -0.4581, 6.7624, 1.9219, -0.022, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eebf950b7efaf25fa5f8dbb584f6e58ecc81bc6871b0bc01959228935899c30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c68237bfbef6a1be3708b115a4d099d9075f7cdf9195a42f90feabe314e7e5ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e4c9c76dd405a593fe68813f897e5c83b2ab21e34dd7457317c49412e961677",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD9W5_iZ77Krd41Q6NFq6rku-US5d1Q3fwNBszspS6YO9oKYTnhCurbkYWhKLrT4UUQA51DkxafUP1C0OwPX7_55T56u_QYaS3MCh7bMoC8Zlpu2Aaw-ZYPefOnk95Nko17zrn3M0LA2xvwxTseWmmSGd3g6BT5qRmITVjpb3Dz3YNwv1QCbouRoAli4Ck6A7BAeffeCkHbEoLoQJ-Cu-9DKcedbLidS_09xQPFG9fudHDWZWZWFHpJX8RDDtS5hDnRpMzPhaYPqXXdemDd_8R4CjJD6n7_6nEgkyWIUE_6LbOrRgvTv39hxcjnUnYphPsx5olfawm1z_tCbrSFZnYCU9Yyvvd-MKyE9SUP6j2MIqmXKGpSjbzohWvqp6HALifd807BK4BsPU19hp21Hhn_XnKj7TGUKGwEeYaZWnT1Lyk4ncD24KikRq14HP_LRiGyW4edXHhtax3tB3VfQvLcKr_c3kaMxeMuQ0j-zuT7jTjiqpYCntbIgIRVWbAuQqSvv3awYMASXm30TaV1upWhzzyetnPLZs6NXmW_uYTJEc_3PLMmIOAa6QCnaZHHIFsk6Dec-OKItCma2Z3J6v_yVTpqMBPOlEx8FeqvxFg4DYfK6BuUCQpIIaDI_hS5zpOc59uiES-Ps6ggz76qz0YfyIRruTOnDGEasecCP0qzWtg3hfItRBazv_lt3_xW7YfmIJCjx50wgP4880jblRUUcCLmbBW3JHCB2rChFFGuChoCPLXzaWXDhe-XRptG1z-ZVleg9pLsfb9IJEHLapL77nXSmzatLo7q5FMLaX796Q3oeTxm1eRSwMjQ8rTNVUMrbP41qq87df9D8xU6861Q8yfGtOIqF1VGD01jEVlhWrRl_VfXY7zNIQevA66ASCdBtsoQfwAW6KJBkUsqcNAPn6mYF8dS_w7zju_pnjj9AAKHzzemCdCVB6MB4NIEwPszrN45UWq5g_CseWUuqJRQqiRyZWnpnyhqI_nGP2yOnhV6kYD3f-vpYKrSbnCDKIaMFgzXGZJysDa-EbWPcV4pNcJscw0wJhhUi3XEL-1_Ja8PlypOkyCXR1ZYHAYdLVHvFgkybxFkOlaEfSQcdDQHn6tXjD3aTjxBSrBv-Dru99NuHwep8Tb9Gk3N9IYqPJb_ClfVZkx_ZReoHKGeMTHrEUIXPvkViGlLGYxVZGe6XqbY68jKOYye9slHmzFzx2AlU3mSQkcgop-jkbTAtPRsg0vHrdnO33Ul3iisEXTpRSO2sihNNUgPrG1k8UBrhNKl34XU-HUyQBXJWmGNMJVGzxOKtvPc6kOcy-RCCbjJJyyDkdVv0VWNCEuNu9yRjM7cMay3YYAtQoxsOJ5npTv8a6BfDE5TZEGgOg3BcOTE2WUd15oQFcFqLw05IazdJnL7OK0IIvfEuqjtjGQnkt36-wkiqGy1YvFrxKIXfF1fjJSScqJtG3zx4UTbeCubnMIV-9jMJQCsbZULuHlTD7axQ-XDPl32XH_BqebLuBp-TeeaDcJCB_UoNE6Xb7luaBztX8N014kQhO2fjVvsrUJQ-det9GdJjmKjBaVad-ALgy3xxWL9Zqd6ol6eA6FFNZkSLfwcoTB6yc3n31Y0rRTtKz1q_DoTenSL19ssMbfMnXoM8-yQr6-bmFi5OvbciU3XBmKtVWtG9kfdr2S8Pd_fn3cqAqqCE5bntDsNAJoyXuSpsEBvHNhwS9rCL06K9fS-kClBtH_AQ6kE5_0sf-jAo-T1zAZX_iRtYImDucE906lZhWGoerqSrDTLid8CjsbXgIoPDn1wQRXrfeMI6aN2kZ2Yrdk5oUzgCFnIoRiyECM2FnV4dx3Y4M7ByBzZDzJm-WuRxyRbt67HEImxnaec8aAVi9cc2wdy9o_ghoqcUyXKLsRTB6i-XbCnnxkp6pFXRGv11nqyXXQjtGJ-xsTvF2uBii4OUHjC1uLjINeaBdgHYodFqxGPfdhDS4DQlhQKQIY0wWtxsEbpb65bA8KrPE_djMxT0RFVdnN8xxLAsiS23azgh1fj46thTaQSfpLxgO9MbhR02LRPUxeB6FMNtJdZHkhK7skzWlTOye80i3s7TkEYpU1AWOThZSjXzsrZDF_OeOUFKc1fDRns91LdprDyGOxP-g3WM8f7ApZrN5sU-KCHav7vOW98m_shKf4a046ZHusG144G9_JGTDxCMP-VgmSpCE48yQl6O22u65vnJtxpT4j8jwgCX3D1Qz05CnAEvEbcyo5H-_VVIzO2z-9fCZtNz8SiIyo9zd-PisFK1F3vWMRS8PohLA-ikr4GGVgJntQ7-TRxU8Ue7l1KP9AjoO3jn_1zPXyPvNHoC1jOMFnqzP-x0zzRIkv-IW0w3z0a0cMwnnPflX5cN4Cyp3BOXG29FXl3NYAdJWQwjxWcHcAYj1LtuSYKEY3DpiM-VOfu4EkS8_vXLbPwE2h8v6D1MFQa0AG1bIkKZMWGAcYXrmK1BceZ7a0XHtuc1ZVuIiKudKCErrEL5qKg8mTSLCBgzmtpBbRtA1luR4RLpkRzdyD7QB_mg66GOh598ytCR5EMHQ_L5N1I25qjc0i8VGTRRYPebQR1dt6B8EQANAPfBGr8__TUBAtGW5auuLkGOJzIOoYq_4fU8ejivZ3ya7zrek0wXq3bR80mCEmq-VCP2nXcEsv1iF_aBnT_RqQbvlRo-b399yRF6eZH-wDQxQR3ycJxllAgsciurjMdcODIBJK7neRIcGgMqafOnv05LVb48hhIQ9WvC32rHSuo-fsKC5AfWzq3b9_HCDVbYHAOfByd_TZrB2bfs-nYLv71Nfjug52ltyvuWqwZciwX4B330FDVfaB9zwdriwhj1w7rfqjAa-sq_exS_gBGldTlFFE0bHDrU_Hy5tYUEL5nXoEUZPG0mEaqptdNRVgSkPXpFVhe49QhMvL3GTJYFkVM73MNXNNwoC7OHrsM_jwOPMZVVC2gxvQ7OxNPjT4shgwWlORIgF9i06PJiSirWR2HYAbBFynYCe1YH0sLCQkd00aLMpsmtkCwFEoqRrNJ5xVbz1jpYS00rpU-A_FYhhVB_NY51fO6mE7SpvXPYM4r6URxeZToTabQMYztQ3TeaJ-rySAmk4dNjMd3f3pY8VOlGnQGwlZldhTOrtch_8DGOzDygmrV2hHERTypn7p47rleD-b33tJE-2ot_BjdGs7dqz_plsXoTyA51USvNTPjWPXHzSPyjBqlbH0ymmzW-3emrJrtbZyKiyuu_5tfZs0hzDO9jUfPGjLQ__mfoZuTl7QX1mY4Bp1emNAmyD8RXKqUbM_dsZr1_Gj6wBH7Gozj5bRAd8ItfI6qfRkBSF0vkjNm6gGT4J8SVECu14U5_30J8VyWD9eG5MXhmZWdUKsf5GDeOY3WKUqDR8JMlCaiCigo0sKkp5w-zxauokHNehESmn00aKKVeE4xrnGMOGdgnIqbUcyJADN96emolKI6LakICIFVeQJz639QH91Zbf4IsL5nvVmvt4pq2tiuat423swAQZ7XbcHNMhH_xIi91wXurA9xkXIFJ1w7ql6lJd-twfFXn3a2Myyo-EDVU93rX-dl6HLFFLl9yzxtIhvLQay0kpQW7oygnkGtG04Gi6m4p2mO0LJfcUH5Q6KckL49e3Tm8Ai67-jlYQbxpQXzNVHYZiVmptrCiz39Bkd9chm9gLhwVreHyijocb48b5CKo7-q2slkK7v-WbIXlFNB3Ye-LPIx0Vh2KYTS3ngwkoCs58WhFAQxAzRy-CqerZ2_vMH0DQFAd5-UvUYv_byCSEGRW2dX5mTmTvusXwE5pLFnEV1Ft4wAfGFjq0e4kytMtGafghx_AbQv30cYfkHPETVllH47zmCndlrViJcW_RlInjBWpWPND1gYXd6PYRGTPYU5A9gjten3I2QV4wi9Ua1WSsNx6d49WBOn2X9WAZp9y4EP-4sIFjJm4hRn_peL7GKlPqUIUK73uGxGY_qckIBXROjbC6MqX0d67wpPXDksrhTRPNL8Dd-XuGnQCrDthSLwLOaLk45iBd4wrMj09rBw8LnGB_DijmiyobRG7SIE7ba5WccTtaWI4H3umAqMuIvXmpSqkj7fAZkeluXaOwq4dyRdPHjFg_uJXWPezsJA=",
  "id": "rs_0ee9aa1f45ee3dde016ab43f4d570c87d0b0fc69f604666787",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9WuyrEdZUs48OrECcgmegVex2oVnaeaRYwaBwXGca0nySLNmjamoC77kHRIdAROw89oaGnCnY4dbo-84Zp7uv1lvB6fTWsypLqhzr8dy59n4HmB_ZUMv5tJsw_PFKxY193CyHBE72cCd3-xcX5ZWaGqU-y5SN958UazhCx-5wRRKbB0J7gS4CCigrv_mjZWb6jhU3wsrs3yCPhg-CYN2wzu3vQlt58oTQj3qQzLrwY4wOh0BjkVSnEbwsQ0hQxC_x8bOh6UkvqdtZA5Y3Nvg_DbbdWE5aoZhT56DKYQVvBRTsze_d8z5tvwrcZz9eipsitocds91G4NEkxe0HtPrdNFUNd54-ejEEVI1EyMNL5KdGmB8a6k9C2-Hb6gvjmUgy-XYS7F4hiCRys9OGOYZFTTshwE8hQ-UNYbROV_BIZe7figm9p8tJfczeiDEN0yjoAlrQliNRb12vbsZRvbBxCK-HmZ2nn2TaA7VNAlhVjWyXtnFXN2sLxC9niQhilv78ecdzD98slE3g4CyYgNOvosPBy85b3A7nuCWuJiqWWJTweqXCs27Y1iIWeCFGifDjXuMMQNRhFpGX6Jgm9GjjdDTzyl4Z4Dy2-TZImjG5gFG-L6mOrqxdq97-wSBy6ybLCLDTGBvsh2bB_alqgZ9V-3ECP9tBImH1LmqgFlKxVFskXloBCic6bHRrZhRW4CHlyEUs1Z4Mh0yqbNZxKVQvhTQibd43vFODOCm--AScCEvgh7h4ARzb5_jp202Ynt0ckAMRXS3awrl679BK60AdDsZTeBExyvI_mfs28ymGGUqHuFCtdjUcZ66Nl1JWSyb1ZDV5vJys6vld26QSV-AvL5Si3bsm4Nn6sItnuIWD1SST-6vspnIr-QhpbBaP9z4GMMhRVXSZGxTDKrk_1Xd7fByeYSEvzFXU120XiSjkWNUizLKo_fGLMcbyYVeCEnARNDK-nk_elY0xxzQaaoHkGEa2ZGJOLP0tjbWcFPZ1BDz1Rrpd9kkHwPDmGrraLOx6Orkdr0p8kkhIFZCt9KPwhQDBEyjQ-WsKc0YJZSBfK86sB4BVPCOotnNARd2026l9989J5uwsRCr87CyYjfubVdcu8Ii5cnQZGP7pnUGmacxyyG7jiOUcLpFmBl5G2h4A0ytJMravlQy5z7H19sP5gOgahJ6ntwG-KjOs55M9nltwE4FwNks3Zfe7nU-bLzcjOvXyOH0Lv8y-cdcAUQDDTHznrcfmAcAAqINJoEfYrJNUcICS8O6Yxi-e9yEpGDcb0JEowsSknZtm-ndMH3yDHe5GNlSKd6MZD7PC0_vLdXMTO6Ves7LK1SW13b3FT5Qmn9aluVSNgwrUhf080aVW0js-UKv6PGVwi8klMwSxw-K3pB-qxUODrjsJnUSuQ33TmqRmsU-Yq72WcEO548A4xZaZD2LUlazLnBWuZF12E4zBTtrHUvwFMRM07X_o_JLcEC4pejpFu1ovtRhxeWKJZMj3tPO3fUUbwfkOhmWiAz2KZ9tlj4lEZEE5oUpQ00gA5FAQVqzVsbCQot2hI9tvFzgEX2tA0CUVZDUD7J0any_T8FffTuWS9F6bfJdgl_bLsio23jQAM2ieSIkITdBx4eSNOQ3QyK3Shp1t0c-7Rh3hjQ86BkLUrEWjUTQqvE9PBacG2qW52u42kLbiLg2DnJLT1Dsr6fmSuyln7kF7yZDbl6JWtsd_-ZyfLs4M54ig2IKawf1vKdmGFE-nS2sQWlw1S49alSRHd16PjVRYJ7ztugKHJ-pFHzIhT_oSfs98e5yTaUf9lVq_oTLplz2woEFoc43LSh3D1gqhlgt09Lv3xExg8qoQ33n7L23nquwn1iT3f2EnxLKHgh3awSQlckTpcF_T09Lx3-VJ4glJz7QT4QNG0Jnn_xZMCCLsHwzV4282uK_UR7njY6ZdHqutReFvFd9EMOqrLZii078-GzVK9fLcuEMimZQ_8SMJfZWkgHF5utXJoIkMLPgr3ojjUK8Onmtd58BS27fYCKGS_CVRLPSUfm6pKkR5hCf5E1zlV-IR-Kf3qMJKvdxbqwZqO33UbGkfbJAykn1JoYGAo2RnxKCfplxwtcVGkrxkq5BfEDfCVLDna5iMKLpcj_JbEXKAgbGu2J6fqxKmVN_b8A8MVsX3-B1tsHhn1d9FJxFy6Db9XVDXOCwSx9UO_I-ojVg-LhlOUEr9E2kZdQ54ASrSFPJQtBByvlAgMg4joNj7ag5t0y-K5bEOb3SnJD598v6vH3xsSSbE9CbnphPQe__TxchZOfbZgnFQb-rB4yoFWkz41IBEGhd-Z91RdTE1ylx7J9HWOn4lwEZ0-_xHEF8uxQZ0dXUDoLoTboyNv5Er_SE54DBRb1RncJ2HFVvR5UwbTPrWDAfKb5cw30wna7UAwTi7kc0RGb2Oak-GsbVKY7_Mo4n2GrnBQiGnCAV-7KIRglgUwSVq-6gQwA0eDVXdmWSOjhM1ognBW7B2__CPR9wltM5XVUM0sbDvfAkHvej-CcqANA_agT-sJTuQ0RaKIUpAq3i_kAGStZs2ZtBlln5AyZcPuYXL1dKqt7ZoBvVECKbqmXTUN7yxejjnS6GtLyStt42UfRL3GxL68nbM18ldzOkvLeN3R-GIyZM0g_F47NB9e1AiTqHzmKsghHdwWRMGG0Ohh0yLuIqHxtpzALXJRaSP6lyYFyTkr6tLYlg==",
  "id": "rs_0ee9aa1f45ee3dde016ab43f52283087d0981d4206638f1da7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.04,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The retry also closed empty; the top view shows the bottle was nudged but not lifted, and its neck is now left of the jaw column. I’m reopening, lifting, and recentering over the displaced neck; the next descent will go to table level so the fingers surround rather than ride above it.\"}",
  "call_id": "call_fYt5UbM6jfMC4NViDswwCqkL",
  "id": "fc_0ee9aa1f45ee3dde016ab43f5520dc87d0b6d385120a9407cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fYt5UbM6jfMC4NViDswwCqkL",
  "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]: [-0.2207, 1.5669, 0.6853, 0.2714, -0.2913, -0.2096, 0.995, -0.0212, 0.5484, 0.2108, -0.2615, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4191 left_y=-0.0384 left_z=0.0881 left_yaw=0.1203 left_pitch=-0.0176 left_roll=0.0049 left_gripper=0.995 right_x=0.2497 right_y=0.0037 right_z=0.0862 right_yaw=0.0154 right_pitch=-0.0295 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -8.4308, 6.7761, 1.7216, 0.0269, 0.0317, -0.2076, -0.2803, 0.0068, 6.9402, 1.9316, -0.0562, -0.0562, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7d50c76ecf3b9fac02e436aab9b0f903b38b4ef016bf2e8a4999beea02730b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fecbed5c28010748a4a871d9e90306fd356705767252c9201f2d7d74106ed51f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:830f6d840a6824de7c480a570d2a7fe26f20cfe210e33c19853e1249312cd265",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 2.455 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 69 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2863, 1.5799, 0.675, 0.2604, -0.2996, -0.2348, 0.9956, -0.0212, 0.6037, 0.2768, -0.268, -0.0303, -0.036, 0.9999]\nstate[eef_state]: left_x=0.411 left_y=-0.0629 left_z=0.0771 left_yaw=0.0755 left_pitch=-0.048 left_roll=0.0005 left_gripper=0.9956 right_x=0.2585 right_y=0.0035 right_z=0.1019 right_yaw=0.0154 right_pitch=-0.0253 right_roll=0.0011 right_gripper=0.9999\nstate[joint_eff]: [0.5128, -8.9915, 8.4308, 1.7802, -0.1197, 0.2515, -0.1832, -0.1299, -0.7043, 6.8444, 1.956, -0.022, -0.0757, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3069, 1.7554, 0.6559, 0.5674, -0.3416, -0.2543, 0.0109, -0.0212, 0.569, 0.2344, -0.2623, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4357 left_y=-0.0722 left_z=0.0607 left_yaw=0.1005 left_pitch=0.065 left_roll=-0.0366 left_gripper=0.0109 right_x=0.253 right_y=0.0036 right_z=0.092 right_yaw=0.0156 right_pitch=-0.0272 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.6786, 5.2991, 1.072, 0.0464, 0.1538, 0.8474, -0.3487, -0.4581, 6.7624, 1.9219, -0.022, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2207, 1.5669, 0.6853, 0.2714, -0.2913, -0.2096, 0.995, -0.0212, 0.5484, 0.2108, -0.2615, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4191 left_y=-0.0384 left_z=0.0881 left_yaw=0.1203 left_pitch=-0.0176 left_roll=0.0049 left_gripper=0.995 right_x=0.2497 right_y=0.0037 right_z=0.0862 right_yaw=0.0154 right_pitch=-0.0295 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -8.4308, 6.7761, 1.7216, 0.0269, 0.0317, -0.2076, -0.2803, 0.0068, 6.9402, 1.9316, -0.0562, -0.0562, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7d50c76ecf3b9fac02e436aab9b0f903b38b4ef016bf2e8a4999beea02730b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fecbed5c28010748a4a871d9e90306fd356705767252c9201f2d7d74106ed51f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:830f6d840a6824de7c480a570d2a7fe26f20cfe210e33c19853e1249312cd265",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9a64NU2WNT7TlSw_wUBXmHgBqQ41i16ioZuQzHcHe07leBlNd0DhgNWsAXsZ2qUmMKnqBfUGNmX9_gPIH2zCDaAJ6U6u-YDqqfjcpcNYyPP_ed7M3o9D6M5h69ZGMsiaDcmKq8IAPcZ5HILMYXzEZ949J1iKopzgFKa16J7Lwkoy___oLso5D6KwzCoIq0q9MjDrHBI2Oifk5MfGApZm-gZ51puxMq5Pq-RLVcvvHIG-sbHKYxUmXnaacaP4hETQoxM1Vk6QodVx-Ox-L0mJAXkpmqeFloKnHwjzbT7WpjFrD39HTkjIhPQ8EoXkYzTZSjDkYakc-aUfuAnORPvnfArlGuTOSZZWJDRsxs0x5FR8RxcOJ6OwgDZyCH8v7wlDlY-pxLuYaQ_tF00u1Z3T7l3UrYJ9JpOg2CzYnkQmJjQRKt9iweNnNA765_tRkR5XXWMrKIs14Lfr5bGYTjZIhVxnAWjk7oV9Znh0t3sGjJmH8e_gazKagJGXA9_Ep3yVFDi5aftyYRe1DZad_cahb8qPNiquyHIvb6kj_rPVkNa4QKhiQGqkhc4m9IATFnrKSqewQdZURaUCBTtyRLrsW9TWbtt0KdgK3wQWbwsQY8epxe04Y2koPoTqbDAb5_M_hDP2WM6_eSmabcMpi0mHVEafGrLsvSqLw6M68jZR4fNcw38Yb5prXr1oUGsfSMFXHM73d3bZSrWUjQprmJea3kUgXAXYoOnvBoMFVcgQJy18M1p357lt64yohlLwOtizP12W-yb22amXJwTOvI_e_u3mea_2W-Uk6Xg52YC1XDX-p2_Ahyl8WMipeDBFgQqqJR94N3asdofwbxZ7Hz9R4XCcS4b9fgpnP9skPTlhijraeiqmNK-LVu1FUGLwOkxeaA-Ul3iWMv0davF4T56jIgLbxkky0Rl35c877EvscV7y2rqPDYcE95hEK7sqTHJeFnHU8hTaYeOqncguPAAIwDfB72TVmu7TOk-dQMl8KoOxDabyBaF39EADFw4f2d9I4ArrFPn4D9a2EJ7g9vzaTDhwSpEmzgaNH0ZBiqMqgGNPDTvnufLU9QUTu8WQ-ayyahOtaYBNaeyiKjKpFkMGrV4WwE-RXT3xsDgBiHh7RZt4A1YpHj0160tPXH3YqrHV88EREBLpqja5GRP7DF-FpBh6Q64nwbYzKRJoiTUqZt2JS3xJVruqSyjvG2KMqMPcl6_nu3xwCcqMWV6ljfoQJVGm0ZR-dm45YrX4eY3jFFnbeVz48as552IbwA-99kVxWt6JZ0knDWAIV1sWdCSmcrpq6eLhmtlXMScyqZ5gz6Hjw=",
  "id": "rs_0ee9aa1f45ee3dde016ab43f58d48487d086f5c2ff0a32a91a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.419,\"left_y\":-0.038,\"left_z\":-0.01,\"left_gripper\":1.0},\"note\":\"The displaced neck is now centered and low between the open jaws, a better depth alignment than before. I’m descending to the table-level grasp height so the fingertips pass down around the neck.\"}",
  "call_id": "call_XN4L6cKN0pS52vV11Ylve4RW",
  "id": "fc_0ee9aa1f45ee3dde016ab43f59117887d0a14902a96b5959a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XN4L6cKN0pS52vV11Ylve4RW",
  "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]: [-0.2245, 1.8866, 0.5877, 0.8871, -0.2749, -0.2543, 0.9978, -0.0212, 0.5228, 0.1837, -0.2615, -0.0299, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4461 left_y=-0.049 left_z=0.0472 left_yaw=0.1317 left_pitch=0.1652 left_roll=-0.11 left_gripper=0.9978 right_x=0.246 right_y=0.0037 right_z=0.0797 right_yaw=0.0153 right_pitch=-0.031 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -3.7128, 1.4564, -0.1245, -0.3541, 0.8034, -0.2418, -0.335, 0.0342, 6.9949, 1.956, -0.0317, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cd9b50872e104261b41069458b35090cd0ac64141567b81e5f0e574733bf49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2230ea9e73a63a89978b747a6cc966e18d3cdcdcd9e396604bb77ab63155b843",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c990eda5bf0e6b0de1448041bff326196700582f75b9a36c69ec0eb0fe275aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 8.722 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 69 changed as sent

message 73 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2951, 1.7676, 0.6167, 0.601, -0.3, -0.2554, 0.9979, -0.0212, 0.5877, 0.2558, -0.2646, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4277 left_y=-0.0717 left_z=0.047 left_yaw=0.0779 left_pitch=0.0403 left_roll=-0.0506 left_gripper=0.9979 right_x=0.2558 right_y=0.0035 right_z=0.0969 right_yaw=0.0154 right_pitch=-0.0268 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -5.5043, 3.3299, 0.8962, -0.2711, 0.5006, -0.232, -0.253, -0.5949, 6.8171, 1.9072, -0.0366, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2207, 1.5669, 0.6853, 0.2714, -0.2913, -0.2096, 0.995, -0.0212, 0.5484, 0.2108, -0.2615, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4191 left_y=-0.0384 left_z=0.0881 left_yaw=0.1203 left_pitch=-0.0176 left_roll=0.0049 left_gripper=0.995 right_x=0.2497 right_y=0.0037 right_z=0.0862 right_yaw=0.0154 right_pitch=-0.0295 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -8.4308, 6.7761, 1.7216, 0.0269, 0.0317, -0.2076, -0.2803, 0.0068, 6.9402, 1.9316, -0.0562, -0.0562, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2245, 1.8866, 0.5877, 0.8871, -0.2749, -0.2543, 0.9978, -0.0212, 0.5228, 0.1837, -0.2615, -0.0299, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4461 left_y=-0.049 left_z=0.0472 left_yaw=0.1317 left_pitch=0.1652 left_roll=-0.11 left_gripper=0.9978 right_x=0.246 right_y=0.0037 right_z=0.0797 right_yaw=0.0153 right_pitch=-0.031 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -3.7128, 1.4564, -0.1245, -0.3541, 0.8034, -0.2418, -0.335, 0.0342, 6.9949, 1.956, -0.0317, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cd9b50872e104261b41069458b35090cd0ac64141567b81e5f0e574733bf49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2230ea9e73a63a89978b747a6cc966e18d3cdcdcd9e396604bb77ab63155b843",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c990eda5bf0e6b0de1448041bff326196700582f75b9a36c69ec0eb0fe275aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9dwrpCmfoSVGWB1Y4AOsEQ63GU03ZFHt9Zu2v5REJlGF84dpvDRsTMM_ma_qpY9iHJlfRf7oK6xPufr61bZO81dab66dBCrpS94gZN_CLvzy_ca429aDH3iuVciv9-sRpdRQ8O4qaoTpgHRSvnC3SXKm90MZ225F_qzUl7mDEAwvhKX58AqCa3IsuAg-9kQAMM5QtrNHqdrhyc1X9ZFQAM4EHyNwv1ryn1vdz-GThQqkB2xr_S7A2ZmWj8JrWccu4IJJsYKFPVm6T57sPfLiBBMb_iT8XCrx4l1gDCgaU3CkKPuDa7EUDtazUMEpLag9INO9TLohKZDqVFq0USOtK9Dhh2FBVCck8RR_5LwXHVR80dYNGSxHe-mtfXCGCiFR1MCsnbfVdNcCItB2LsmMRlVuZat-GiJpOvyvwhA89TqrQDtY0CO-bws_3YMZ-9aAwAli7jgP6cEWEjCngTi24fcRDgeOxmN1VFtVGsiyqV6L87QBnnZz2swwpUoAhvSxxxBv9rc4iv7Xk10IL4-2yPvPaRCGXN7GnZar5DwWbpKdrIvJSx0SEnoEX5AeGB7iyHYXW-NOpRjib0c8wMur8vNrNDrvBNocCpyS-_j6_tfXTnMDcnHzh9kUZNMHJYCzA7g8QnHEIuRkegrlxH-Xfa5y6XLDb4eZSrhCEDz1cMY5zLHkPoU82J77_joOPMa4sVWaAvnBPl9hgkvfpdnF-Lj4UXz6r_c_PIHuXcLir2VrkqwaIL1IKuTaBkpja74qEEeqAg6MTJQqWPQo0ebevVrGEjyQsPQ8qk05ivZ1k-RqXB94p8ku1an-unlJWyyzs1RTUMydLsuJ9Z5hUlaIZ_AiuK5I49O5lmD7xJvCZ1udspvwCkoI_IhErzi1WIjoi8lXhFc0ySLj6RYGADeest6oCLYUwpbDR4sWZIvgB2XSNF39HQiCaSP663HTUESGE5JESP8mQZPcT-a9J4K4FV6Fpjy5hpbbxLmQKFdQ0n0shae4_KxiVt5MQnUuDwyH_IxS1zhYYq9JptcNrNLhsmoAHWgP8EexTV_JRJe2K0avJF7blZHkTcjBuFqgsTIRtcljFScR6yBVRbjjGNpF-18LBQjBMARUwWkJCDV9Rw6ZUTUQ-k4bRZVPmwDydth-3brPBzLtzVfB0zVFL4juOyWwDrjEQVjg1dhAUao7u-ipW9zMIIdPyH4iDrdGdCbdd-onNu_PjzmxL52pzrRg5FE7isGXqlckDVfk_8KeABcSGEUc8hKoakhqhWzGVZFDIWa5TqIhu0C5zh_q4KLwwe7GTZqagsdE6qzNxB0HjftMZPYZVTReOeC44uuQtb9tAi",
  "id": "rs_0ee9aa1f45ee3dde016ab43f5bd73487d0810414297df52c75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The deep descent stopped on contact at the neck, which now fills the bottom-center gap between the fingertips. I’m closing at this table-level contact pose.\"}",
  "call_id": "call_BEpt9Fxv3cmn6SMPwoEweAr4",
  "id": "fc_0ee9aa1f45ee3dde016ab43f5c2d2087d0863f5f36fa1306bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BEpt9Fxv3cmn6SMPwoEweAr4",
  "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]: [-0.242, 1.8042, 0.7174, 0.5411, -0.3161, -0.2363, 0.0108, -0.0212, 0.4961, 0.1585, -0.2607, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4526 left_y=-0.0515 left_z=0.0566 left_yaw=0.1342 left_pitch=0.0475 left_roll=-0.0278 left_gripper=0.0108 right_x=0.2429 right_y=0.0039 right_z=0.0744 right_yaw=0.0157 right_pitch=-0.0287 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.4034, 5.3402, 1.1697, -0.1343, 0.0562, 0.8425, -0.294, -0.1709, 6.8034, 2.0, -0.0806, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ea2d73e1fcbcdf0bde61738fa3305f6b1cd4d7fbfd4ef30a1a095c13af13cf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d21739baede823a10010f239f1feace7357c9b8851d1975b264a48225ffcd73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb61e93c046271e7f50d033a2baf28f7c6e9c621b03c3939a93e790903a540b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 2.706 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 73 changed as sent

message 77 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3069, 1.7554, 0.6559, 0.5674, -0.3416, -0.2543, 0.0109, -0.0212, 0.569, 0.2344, -0.2623, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4357 left_y=-0.0722 left_z=0.0607 left_yaw=0.1005 left_pitch=0.065 left_roll=-0.0366 left_gripper=0.0109 right_x=0.253 right_y=0.0036 right_z=0.092 right_yaw=0.0156 right_pitch=-0.0272 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.6786, 5.2991, 1.072, 0.0464, 0.1538, 0.8474, -0.3487, -0.4581, 6.7624, 1.9219, -0.022, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2245, 1.8866, 0.5877, 0.8871, -0.2749, -0.2543, 0.9978, -0.0212, 0.5228, 0.1837, -0.2615, -0.0299, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4461 left_y=-0.049 left_z=0.0472 left_yaw=0.1317 left_pitch=0.1652 left_roll=-0.11 left_gripper=0.9978 right_x=0.246 right_y=0.0037 right_z=0.0797 right_yaw=0.0153 right_pitch=-0.031 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -3.7128, 1.4564, -0.1245, -0.3541, 0.8034, -0.2418, -0.335, 0.0342, 6.9949, 1.956, -0.0317, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.242, 1.8042, 0.7174, 0.5411, -0.3161, -0.2363, 0.0108, -0.0212, 0.4961, 0.1585, -0.2607, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4526 left_y=-0.0515 left_z=0.0566 left_yaw=0.1342 left_pitch=0.0475 left_roll=-0.0278 left_gripper=0.0108 right_x=0.2429 right_y=0.0039 right_z=0.0744 right_yaw=0.0157 right_pitch=-0.0287 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.4034, 5.3402, 1.1697, -0.1343, 0.0562, 0.8425, -0.294, -0.1709, 6.8034, 2.0, -0.0806, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ea2d73e1fcbcdf0bde61738fa3305f6b1cd4d7fbfd4ef30a1a095c13af13cf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d21739baede823a10010f239f1feace7357c9b8851d1975b264a48225ffcd73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb61e93c046271e7f50d033a2baf28f7c6e9c621b03c3939a93e790903a540b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9mKWWw0z8xiRdWGXAvof9lqb5eyF3oNxmAOty_w2OWFk0d9DRM2G_l_VHMz62ALSdSTOcsQNmB5IxGZAJ_JX_Nm9rt5YaWlpCaJDcK7cESCsVYKhzmIXX-hqgoN9f5MiBkoznCEZ9dm48D3ADk9i59k7dZ8-SBxJq94MTR79nCKxGaM5mDWl-jAcZa1fz-weHY4pB9uECzZWtn2nqf6YBqm4P9_KiR5w6ANSVLIycb975K0tbdUBNy2FN4hHYbAUmrFKlMIdRSu6tkBQ4AT60PIqEpF4oHJsHrfO7ZzzmQbL-RZtd4FisyPuRIPpTYaT0_TRP_3wYS8l0d-tI85kRUfuEUSNjrHsX_cMYVGWCwWvWimCVpSOHncJ1zASESUHxJ3cbc8gQ0t2iW-RmeVzjUjmfXKMLA4VodBtCFFwIf2p8TobaqtCTf921zD0gEDq7NYiaDMwHnJU1hz2V6yhHNfvxmLorcBkL-ibI4pO695DiHaTHQ6rO-YXbjhVJhmxj59mKx0VkEoQSiPvOKubKjJE-dTWv7OnHwEavbDmHCeSz9Wvbwj3Vo7-55LwN3qyaaDV5dqeWQNk_RB46O1A-f13TF6d_tQZKxfDkb9YmiWHzx8m7GGJIxAp6Zv2wt-taik9gCSJEFcLIlQ_79qLIBEGo34pzGxRsIhBO0ImKsOKoVQ48M8bexQGLBpMZlGcvNsG6rhyBcE4duuS-MSW54iv6ycC3xyxyn-33oAnS3fixdi4O8KdoTlbaIjixNysoP3KBbBEsD8-2lFSTDqeou-kXlCcjKdc1DonPF04A-HqKMl4iEs9z5vALAuoMe5tDt2eX15drOThS2d61-61F935bkDTlJeImiiqpQm3lX1BH-MLbSm-TcNtsK4LwX2nRSW8DeqEIYBhnt2XWUQJ7lkoHw33YdgGN8Af30zoUJiwVfJtiYEUzplcqoU9QhJTgxeaRimom-5I5P_2L6SSAENNbGKK4Cq4JfW_O2gBWJ4M3680UA2zj84mx2GNOseybqzbkBGSO30M0S_2MRl0MXdMQtKm9zdAtZc0HURbpz79JD0LtRVC221g-iR8qDuWiJIHJJGQ--muOeI9Qe71TZ9V3d0DCkdp8Mltwgdh_CAzngCBprvC9hK19C0CKYFKsk8Dg5fXjnixsERm9rqzfJo-0pH1MYXuueKwQRmxcPDRFnoF38zgJkGzGw_2Hm_bfsNz7PzOn859NPyjXF0QfRTzGBfI_C_yGaVflLBiCo9ejO_GZGYoW7DE_sQSgSExnL9tM41QYSdmUayaLIB8mib5f0Njq8hj0aIYcQdNPAD1AjEWh8bFNYd33SIKCbbg_dyOZaVzHZqvRup76JRMAhrbOKZMWH5sOrPpNiEVLKpXrmlVcs-aKKMUpjjFluy8IVRueSSs0yHVDt3FqvaZwjadIu1ibfxPXXqoJrwLw6gaIpgeTx_HfwVEJS0ohfdm14-sPQhPyLYAyG5_WMeCcHscbdvKeNAw0hdSRw4JMMOazCHRczIc9rgbqpRX-jmfmngTsLuXwREcu1tKNlv3eh71F69CTRt0W2AG_OGT9PbJdZ933XJAQoyitxHFSrItPNbW0H8I96i5Yunf872iDJqvjXhhhKpYkQrcLGfvt_vMBOkcXz9kAWACOcsZu-tqXUKLBvg3Hrqmi2wlYi2KXTvGN2la39SInus0Ivx06VN3m-kRWPRSiRsbwpWa4jxiZU4raNttCDVEHs3P0IGXcHZajj_jXFkZ-65fK1Mn9uv-VzfAl5_JUrkW7zDn6-LhghaKfsACJ0jfGsChGVycuGIrf0XXV3iSFdnB0hZt-Qpq0-rWgFF0PEAWXeYhRYBWErXmUrQeAAwM2zmnAvHoQJHn2urSY8bIVQJZvYwbq_lyOFMBXgTLQaIvzww7CgaJK0iYpSuOmft1W6LuGKyknKBzRfXR8QJOdrPMKhbti04UFOAgSCTv_x1WHRsqp4oD7oUB2tm5zaA3fTc5_lEemYdi0N6VI4_rdOZ-jaf99qeHj2K8hhVyTBrp-OxshhZBoKx5-91Jg8Vjc78z7HUWuRFfNIkHGR61hMayjNIIUFz9nlIpReDVEYSBp4PBwTd3-S3A5nr0Hwz0mX88vZsFg5t0_dkzi5CK8-NtigbQZIpe7D5PBa_KrQh6qNBoOgzVdiWCAGgxWwddeAOHLB3WKbadgBd26L802AZN0FSW1LFJidPv6k9xNbp5xbUPBg-ZVZ-RXDc8Xgv_IZ9I_qhcxqw1Pv3txv-wfC__DTImVwifpaxTDinsjvbDrTenAXXGg9nF1putq6T6XQNdrbaNzeUN7suAri8oFqqjWHHGqX-qzxglL7_oTEa9wlZts9Egn8Wc3yZuvBSoA-sJfJHWMejyyf_Z5ART-tM2nUu6Lub3kPzVkdBHMvFQ_RA8ZeMSFvuFY6XgGUHxVRDrfNlkvu0SGrkMfIJlZj3AiFJaWN6Pe6HnQfc5rnkDnq_QDOLVMV8_fH3TgqdLpCYP92djrhsL_IDbG3NgLxaeBT-S1ghu7uE5c_gf88-etvTLlUJk3ScGyFCRR_a9b38kMxnkv6voMaxvxX_FClnxa2z2jn_VBQ6UFZV4dP3Dti9FWYOoXB46Md0tFkxgPjLCtOKwfIG7X9Ioplf6X-5GUZ4q_k64GqlNQGk1MAVexzRlg3pxdcqPR5YyImL0Tb68Bevsjc0RcyOmh8SJMMRT23d_Fa3wE6T6yYS7o8lVPnrm2sPWztc5npICq7eOgpPeatn5jwhIAKPzwLW0u4WXh9dgyqulQ-1YfFiyQirS_pvLMqR6ntLBmjOYmQI4VyqqXu_0FyHoOYIIYooyldXCNor3JhpL2FTJOcAHXXHTQ49YS1MM6H9RUZAGAse2ZIe3jFlaE-Gj4iIgQ6Z9ktsUMSP8QwFaEdtBLAlr1_EJ_rVAXudj4cpj0PPwk5voA_C7ojFiUAm9TdJ61i6itIqrv9nisiKk4WPRu06Exhtzh9QfNVvlF3EF34jvhmT8OmdHqDpnAcD_3Y43XorYgGDNqPODQwtVVtS_hq3rEGaC09DCqvfu2BQJqI7p3qHhtFbDEhQZH20tKFe0E8S0dUxGUNRavjt-M9Sq7DVjwA_GNtzEcpM-S-SGlAEeWhp3Ss8UQj7FQcdBH5AZmQj5WBbgKYTeN4g5zC10UfkE3BEjt7rTQvTH3zNFcN_qXZuogGN5Ta9iBew9jzhmDiYRcPJndOcrohci6RUBNKlp1YIho25aZ1jD3HTlgK4c05yHhau1fcbTBRi34POTw6SjA-b9sWqPvxJJJKjXAnDE0XKhvemYKypDWOXQKCjh4O7XX44e0TSQfwNAdiQZPwBy6dnpFUErcC6hEINZ4juysG47ociGQLZ5dfmDNU5rIU87Cm79yeQDAYCtYNWKUHmQ93YuRNmA6uKFYT7V0YtPlwusWLGgVfANRJIs3TaILiyIH_EgQXXPp4WiyY3uyjeRvERa7rs-oLjY0v8Ep5fmxiyL948MGfHcOMCEIdSCnkSVjElvY7b9ufa8NXFW_Wp0uXAZNU2nAtOBC3JrnkKIwQpIb0Tzh3MUUom58AOKdFqpO6VnyNgnuF12YFTIYAI4RqScijj9WtvApT8kkpvDSSkGfSLkjEOzkKdPxsczmS_ZPFGQIXT5io3woiffTWJYm64SePMyPBOG3heB1gwWpVM2jQnUgxaxPPWtAoDp9bGeJ4mjANhyINo2vKFu8-iYdFTT2Rt0xMJXFLaJKoq3rsA4vmsZvBp-f4ctaRwUjA6WED_bjKaMlY7nbskMqFGOotVCcA7EK1phxK82GJr7vKXxXcfVnNF8sYmtEkdOGOoQmz7l3epwarW7Kn5dL7o61575FQJwpYPtq_3CMWRCUT1guBBkX6SByoDSkDcRxwedGpw7AuF6EyLjMUGHl75J-hs-so4pMwbgZmS2IrBFC8M_Evi0Zf0cxw-xBv5UcjNulMD2lgXghYWn6doIHAW7rmy9lG-FTxNzAMZPjq5qK6AUYRXgcy166gzwihKCIVXums1R80Xfwerw==",
  "id": "rs_0ee9aa1f45ee3dde016ab43f5f3d4c87d0b59beb88360f4480",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9mJLbvTT2dAcz_wtRz1Q8GjdCGqFh3M9jt5dvZ-WiidtKyRYK3gwSX-7tJttNyH8Fmu4xFTYHHsRqMlAmGpAOdlbV9E76tusWIoEdc_7v0LUpq5zNfRSI9zNNEw5RMffVGga7eFUQAFPSFBYCqWteZYoIeWVrEXuF9cImddpeY2QRLN8vhiWUtnjsZ8qoUaRz_ApQ9w-9LDeVejReGpBBOatv1Kw3PH-sYKxuaU9vzX3lqj176PT9QZ90NrNFw4_Jwrj_EtVoFonvZ1pIA6-lTFAjSN_ORIdWmg_AMQWO44-q96EB8Y2S_tuzYWtG0MTzeIXF2Tm4WQmVpp2MEHkCZa7TmvsR01AadUCfDrv0JbbZ-OW1KsTI1sMMNFyplTcQHVIsd24D5uElNRvwVKwafNzvKO2yjjneWLBYEN-QcFa9Hw7SGuZUcVCd-6u4P1Dg-2lmDxwamVeM8QmFBmFGe54LR5C4w5c-SPlqr3B-h_YPaHSwtmDVlrCTxa0J7LkjfCTfWoHg87OM0MzwqTqCwLscbr_ViSj3iMHIzDQEDMWg9duyzK69wdkEW--MlO9YD__0LOCLhww_E-TiYnIeU1dcAQ9kcDoNuPR-vUW6C7ZM3aXNeVrSpIcHxow_Q5myQPx7b53xy0omMa46LbqiehO03KEEw3nKC3OyRiOD1Oq0WVUPLUAd_h_RcY4Z0qhn_WmEH-FeWDCzqSNr1n9c50hOf0RveC1FkNPFN-xMghQjmxpVb4v0OcXxgEtGLtcvxNQ80eiudW2k5mCRMO00j36R5okTlNZleo7zntqgTo69JPfoMaE7IxjevfzkPEXOACws5ZSbgxamAnW3v7LNJSMfZwSYSAsFcxubZUnyK9jT3tO3ZVYBMjpODlgX1p3mjXWiNM_tCXap1BdrbCcsucKP5YOmvuaJG9POY9K4Fsf193TDtuck8B5hGYyN_5dvjYXgvpj70Dg-vIVh22JUtEIHnxVz7xJaKojUBFT3M1S1y5KZh-L_OREccpnCu_cyo8ZJzuyCuvil9qgEQKGFVjX6Gs5qpOBBi8I-yavGzeSU2g4518a9dQLSoQFWZdZ6ekUNZclpKKkylAwzjimBJ1qvrxNLEPl3ICMoqH_Xz4I7Bw87kk-TjgMPQ5-sIqAK7BBcj4J-OgsGnzX7DZ7JXRhgPR2FIbsbm2qlCbTuXEmObCdp6OSCb-DVADFNzLI3shFbYeGD5FmdMcu6VUplxq4WBUrlor4EvcfeXqDVgrJ8baldr4cQqHGTu17gKaDEgKgXilEBqDM0KcYzmNHSNX4hcMmcdUxCXLcll2DLzP2w=",
  "id": "rs_0ee9aa1f45ee3dde016ab43f64f76487d0b2932d9214bf6144",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.06,\"left_z\":0.14,\"left_yaw\":0.75,\"left_gripper\":1.0},\"note\":\"Repeated aligned closes have ejected the round neck and returned an empty reading, so the missing factor is jaw orientation: the bottle lies diagonally while the jaws were closing obliquely. I’m lifting, opening, and rotating about 43° so the jaw closure is perpendicular to the bottle’s long axis.\"}",
  "call_id": "call_E1XHx5F95mNEoSSX0SUCgTW7",
  "id": "fc_0ee9aa1f45ee3dde016ab43f6568c887d0985f439e4a18b5e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E1XHx5F95mNEoSSX0SUCgTW7",
  "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]: [-0.4721, 1.8019, 1.2503, -0.4038, -0.8581, -0.9016, 0.9948, -0.0212, 0.4694, 0.1337, -0.2619, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4433 left_y=-0.0723 left_z=0.1403 left_yaw=0.6641 left_pitch=-0.0003 left_roll=-0.0548 left_gripper=0.9948 right_x=0.2398 right_y=0.0039 right_z=0.0688 right_yaw=0.0157 right_pitch=-0.028 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -7.8291, 7.5009, 0.7448, -0.6911, 0.0171, -0.1636, -0.3077, 0.0479, 6.9949, 1.9121, -0.0611, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d55905e6ad660ccf29ec49a2446b51ed355dd64bb0295e2c83f12f171ee007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fcf9decf06505e5790b604ac4eef4bf41d90f23c311e852631b3d37947e7bd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0926e76e47eab0a150083ec3cc410f67e2fb242eede2c8b297f43c54a9403358",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.185 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 82 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2207, 1.5669, 0.6853, 0.2714, -0.2913, -0.2096, 0.995, -0.0212, 0.5484, 0.2108, -0.2615, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4191 left_y=-0.0384 left_z=0.0881 left_yaw=0.1203 left_pitch=-0.0176 left_roll=0.0049 left_gripper=0.995 right_x=0.2497 right_y=0.0037 right_z=0.0862 right_yaw=0.0154 right_pitch=-0.0295 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -8.4308, 6.7761, 1.7216, 0.0269, 0.0317, -0.2076, -0.2803, 0.0068, 6.9402, 1.9316, -0.0562, -0.0562, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.242, 1.8042, 0.7174, 0.5411, -0.3161, -0.2363, 0.0108, -0.0212, 0.4961, 0.1585, -0.2607, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4526 left_y=-0.0515 left_z=0.0566 left_yaw=0.1342 left_pitch=0.0475 left_roll=-0.0278 left_gripper=0.0108 right_x=0.2429 right_y=0.0039 right_z=0.0744 right_yaw=0.0157 right_pitch=-0.0287 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.4034, 5.3402, 1.1697, -0.1343, 0.0562, 0.8425, -0.294, -0.1709, 6.8034, 2.0, -0.0806, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4721, 1.8019, 1.2503, -0.4038, -0.8581, -0.9016, 0.9948, -0.0212, 0.4694, 0.1337, -0.2619, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4433 left_y=-0.0723 left_z=0.1403 left_yaw=0.6641 left_pitch=-0.0003 left_roll=-0.0548 left_gripper=0.9948 right_x=0.2398 right_y=0.0039 right_z=0.0688 right_yaw=0.0157 right_pitch=-0.028 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -7.8291, 7.5009, 0.7448, -0.6911, 0.0171, -0.1636, -0.3077, 0.0479, 6.9949, 1.9121, -0.0611, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d55905e6ad660ccf29ec49a2446b51ed355dd64bb0295e2c83f12f171ee007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fcf9decf06505e5790b604ac4eef4bf41d90f23c311e852631b3d37947e7bd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0926e76e47eab0a150083ec3cc410f67e2fb242eede2c8b297f43c54a9403358",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9qXTw2Fzkwa1K8ffvWzZs7WP1addgrMTeaMogVlrlc3wmufDY8W7IFuO1I0tSc_4hXgTitHrufEsXlziyTFJoa362w1ZoQjs1MPYn8oj7kil5BIprc12dn6EZVxJMpcpiO6BcZTSmGYeCgdTmV2BehZs-PHowLGIdBbWJHiafw-2uJ2n4JuKRBpSzjLinwFMtn3RqXStowzqRELDq-Q1VcmqkHcn3JiWJESvjF40QBdFtEd2JZ-3PelEwZRraglwiii9bIKkzNh9zTvR4vAgdaE3JsWFy4rMyLxNxLSw2adfFqt4thx2eC0buHD5Z9Ye8YLqYtSqZgGC95GYC0NTNvtsiqph1ZjJmqOA0a7MrV2HiojjBBK5aDCRpyU3TCtmrN1gNFW-vvbQQZ5w5t2XOVCOuUtByXFvujf0MdiuHrmy47RYwJLKPQ07vwgqq3zqyfvsu1k_9kGTYW37HHrKNR4SRgbT-9ff_i97XwXZ0-Pfxdg6GKoaWHQKCLZ7dUv5obBS7f7P7xRLzqq1htOAMmrheU6F2gXrVz601mBXpmAluMVP95teOxjNCE-_BWmUnrl7pN_40ExmxNarbomLOdNrYTKx6eIe7tEcjmCRcOq80_BlGPj4aE8uMF0_h_-cVnwZjVn8xUMytjBzrnYXsbcC6k_aIMhTc2_cQKDWTesyVs1q_hxAKoGxJ9rCOnY2Mn8OMz82iTDyKO62O4rX1VaqpTuSYVVwX3uzf6md0xBeUvK-Nlb6VdVXyqh7FxWDdVYYySVC_9oKbcpwFlifKVr646sEItxF_5cBwSEJRwRsIJ6gLVZsaXfey507skw3DNiDhfyk1XZD-aVTvqRNt8_98XRlHnRm8Ub-KleZUIKCSfo_t4gVi2do3O8xIQV_aZdB9ntoY6XedkAHpGIp-mbRdx_niVPVkVefrUAtjghnLAhvhwLyr9tPLOkkRN8DJEcCpI1IBBuKJ9EDPiC6eLDtJEUwSvA9KvQp-EVO2INDLF-lxkCbYUuVnoTMUsL8A1plm1Ex6tbBOrnwS8mN1uWCKzzQ0eCL37x2TOq0OOV9DIQqK3gFDX_tSWkB45u9B0MJuFJqy837wuIpjmEBb5TNAbmsCXpGu8XBzpWruGpjIWR4mohUib0GJxebc5tZc1aJ1J3UU1NJWqR_lGI_JsEquY5BQmw_Hl0gpVGjQjWbPFj07VlXeiqkpBDIsJ1c-0h6l8sGtAUK_6_cNpBlm-Ok80j3BByHmZpnD9W1wJf9firB-0AMzJ3WUu7hW93IRH3Va9ec0ht9oqrn83fVNt3F5bNPvjS-_OqnY51JljN58btnvSvmk6Z6HIhag_7WttR68eTCo1ukel8EHQZL_-47MObmtqSV_nW5LciE9JH0srjUnrlq75z6Wi1DjHunhIejyVOjkXHAQS2q9utZOzLrVTvKVMlo2T8_ZhLKrR_hqCmm_UKOlTgBpB2tlN8HUumbojaI8xFV_k1_YCqaY6sQ==",
  "id": "rs_0ee9aa1f45ee3dde016ab43f6911cc87d0a7f435e1009328a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.443,\"left_y\":-0.072,\"left_z\":0.02,\"left_yaw\":0.75,\"left_gripper\":1.0},\"note\":\"With the wrist rotated, the first bottle’s cap is centered at the very bottom between the jaws, and the jaw line is now perpendicular to its axis. I’m descending vertically for the oriented neck grasp.\"}",
  "call_id": "call_hIsvjOyXhn2vOPSpjsX0Emyf",
  "id": "fc_0ee9aa1f45ee3dde016ab43f6994a887d0b22f0c9dd7a11773",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hIsvjOyXhn2vOPSpjsX0Emyf",
  "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]: [-0.4866, 2.0689, 1.1713, -0.1871, -0.9199, -1.0039, 0.9979, -0.0212, 0.4427, 0.1116, -0.2638, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4462 left_y=-0.073 left_z=0.0333 left_yaw=0.7369 left_pitch=-0.0019 left_roll=-0.0015 left_gripper=0.9979 right_x=0.2372 right_y=0.0039 right_z=0.0641 right_yaw=0.0154 right_pitch=-0.0253 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -8.5265, 4.3009, 0.7692, -0.0464, -0.2027, -0.2173, -0.3487, -0.0342, 6.8034, 1.8974, -0.0415, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddcf72dd7ee820be9d537eafba7a9d1b10371a14935a9dd28a4d90cdad003a84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34294e9da93ecaefc0b947943711ff5ea3b0300df3c3c2ea126c5837b730ed78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff64fb24c6871035731251a6a64a4c7e0967025f0813fbc01355dd1abb1d4b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.765 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 82 changed as sent

message 86 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2245, 1.8866, 0.5877, 0.8871, -0.2749, -0.2543, 0.9978, -0.0212, 0.5228, 0.1837, -0.2615, -0.0299, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4461 left_y=-0.049 left_z=0.0472 left_yaw=0.1317 left_pitch=0.1652 left_roll=-0.11 left_gripper=0.9978 right_x=0.246 right_y=0.0037 right_z=0.0797 right_yaw=0.0153 right_pitch=-0.031 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -3.7128, 1.4564, -0.1245, -0.3541, 0.8034, -0.2418, -0.335, 0.0342, 6.9949, 1.956, -0.0317, -0.0659, -0.0073]",
      "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]: [-0.4721, 1.8019, 1.2503, -0.4038, -0.8581, -0.9016, 0.9948, -0.0212, 0.4694, 0.1337, -0.2619, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4433 left_y=-0.0723 left_z=0.1403 left_yaw=0.6641 left_pitch=-0.0003 left_roll=-0.0548 left_gripper=0.9948 right_x=0.2398 right_y=0.0039 right_z=0.0688 right_yaw=0.0157 right_pitch=-0.028 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -7.8291, 7.5009, 0.7448, -0.6911, 0.0171, -0.1636, -0.3077, 0.0479, 6.9949, 1.9121, -0.0611, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4866, 2.0689, 1.1713, -0.1871, -0.9199, -1.0039, 0.9979, -0.0212, 0.4427, 0.1116, -0.2638, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4462 left_y=-0.073 left_z=0.0333 left_yaw=0.7369 left_pitch=-0.0019 left_roll=-0.0015 left_gripper=0.9979 right_x=0.2372 right_y=0.0039 right_z=0.0641 right_yaw=0.0154 right_pitch=-0.0253 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -8.5265, 4.3009, 0.7692, -0.0464, -0.2027, -0.2173, -0.3487, -0.0342, 6.8034, 1.8974, -0.0415, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddcf72dd7ee820be9d537eafba7a9d1b10371a14935a9dd28a4d90cdad003a84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34294e9da93ecaefc0b947943711ff5ea3b0300df3c3c2ea126c5837b730ed78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff64fb24c6871035731251a6a64a4c7e0967025f0813fbc01355dd1abb1d4b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD9tFLNxv3sLTadDH4sWCX-FH0fszb3E2qWfL1xIud8V8D7_diQXYi1U-nOGNRhQ3cRQoEwUf0t24fROaEuqUDRGfAYASgvDniMGN3q_sqXHKwiyxQU423I9xKbs1Mcb78gHRLpNZ9ol7I1YwWcrfzXp3Zrp3UOF2oz9FWW0kd-yqITNoB2umWM0FIzB7hPE9mdHDOb7_uhb-gUuW5_eFGwfrsokPPDf4WAUQYRlCBkhefE7K4T6mR8gygmvM-K9fXmfY9zYhoBz1vXX_e7P0RlVjs9CYvRDlO1nRvMYPrz2hJVU7GuguIW6ga6saE5wurOxttWa7Dp3k1BRs1tkoZKPOS2CM5N-Fjj5I2UxvyVwvMnn6YRG4g4uchYvQav0fYkyQQ7P7S9EuJ28Sv3xJjX7GwgMuzA2C2_-jiU9Gdyeq6KNlGmPppS2N1Zy2VCAp-dFxbqCm66sqIpqZs-5Pn0aQ0tQnWWPbHKmprPOASdeaPNAelLTIiNhXVLqHcCvQLSs5-h-CB0b8fNYvrhpJklnlxZl_MW8eTsoquskwzHuruYLdX2hhHqRzljuBQQLDy_F81TUkExvt41ykv7qwJVoxd_ItPqUf6eKS0EBY76Zz4q8OFNsgE40KjR_zIJd26gkubhWnHkcZD4iXlARQfBcF1ZcTuC1SKGtZ4HyEPIY8woOOQZbpF2-lNXBE6PO4rijOS5zedUvwMrpRZBAJ_V0pn94wKMKITr6OIki0KPlzXjsiqlSofPLi8RT8rTi0Wyy6ECnx17Qi0qdGcWbA-KTbCkFflelsQXsvuGDdeIXSe7yyfSeCP5cMibdVW9-FQi33wcpNAiNMj5CINARkw7ef8gkHQjJuYCsuPRvXms7vRz2fBW1B-lqG047PwFDPE_KasIsC2dYPm0CJyoC25CKr1bsHUVFSo271G080hrB4S6ha1XeflBSVHZ_s5d_nq-Rc1A7g3-fi5kcaakg84_w93NHW5mstG71WhGuPWsjYoIa6YaQ7xcfNxq9P_QhMK4RgPPId_ZSESljSxVaecOCuw_bYHwl6aqMgiCYhwRep8SQbGkMWmj58NOspiZ7winyes59Tktjlwv_4nrgdFQUd2RUPA3wlUktxDtWixa77_Mp3I2uYjgsUb03C7EDu51VPLBJBPZLRDkUym6PfWyw9P4kRmL8pEd_AzbWZ2u5QStDQjQ52KfTCxVntuLDcTEnLpxtN_TZtAU2-WS-Lqv7tA==",
  "id": "rs_0ee9aa1f45ee3dde016ab43f6c518887d094f6671d40245118",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the low rotated pose, the neck is visibly centered between the opposing fingertips rather than offset along them. I’m closing to test this orientation-corrected grasp.\"}",
  "call_id": "call_0oxfMXxckIxW8WBCb8S9WtqP",
  "id": "fc_0ee9aa1f45ee3dde016ab43f6c6f9887d0ba5bb06fb3d417f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0oxfMXxckIxW8WBCb8S9WtqP",
  "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]: [-0.4885, 2.0521, 1.1782, -0.1478, -0.9958, -0.9997, 0.0105, -0.0212, 0.4168, 0.094, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4529 left_y=-0.0687 left_z=0.055 left_yaw=0.7719 left_pitch=0.0809 left_roll=-0.0361 left_gripper=0.0105 right_x=0.2355 right_y=0.004 right_z=0.0615 right_yaw=0.0154 right_pitch=-0.0181 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.0325, 5.4906, 0.696, 0.2759, -0.0659, 0.8376, -0.335, 0.5402, 6.8308, 1.8388, -0.0415, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3411b2328e42b22be3fdcf58964fdeb9fbed09df487d0037d64d29e4afd158d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65dcb51d89c279997ffc22bd40b0f514035d0fb43e6744719deb1e840bf0444c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8665c14bde1f7e4454deaa48217294373af9fe6994c69af6daedc04911b6e70f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 2.757 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 86 changed as sent

message 90 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.242, 1.8042, 0.7174, 0.5411, -0.3161, -0.2363, 0.0108, -0.0212, 0.4961, 0.1585, -0.2607, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4526 left_y=-0.0515 left_z=0.0566 left_yaw=0.1342 left_pitch=0.0475 left_roll=-0.0278 left_gripper=0.0108 right_x=0.2429 right_y=0.0039 right_z=0.0744 right_yaw=0.0157 right_pitch=-0.0287 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -8.4034, 5.3402, 1.1697, -0.1343, 0.0562, 0.8425, -0.294, -0.1709, 6.8034, 2.0, -0.0806, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4866, 2.0689, 1.1713, -0.1871, -0.9199, -1.0039, 0.9979, -0.0212, 0.4427, 0.1116, -0.2638, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4462 left_y=-0.073 left_z=0.0333 left_yaw=0.7369 left_pitch=-0.0019 left_roll=-0.0015 left_gripper=0.9979 right_x=0.2372 right_y=0.0039 right_z=0.0641 right_yaw=0.0154 right_pitch=-0.0253 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -8.5265, 4.3009, 0.7692, -0.0464, -0.2027, -0.2173, -0.3487, -0.0342, 6.8034, 1.8974, -0.0415, -0.0806, -0.0073]",
      "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]: [-0.4885, 2.0521, 1.1782, -0.1478, -0.9958, -0.9997, 0.0105, -0.0212, 0.4168, 0.094, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4529 left_y=-0.0687 left_z=0.055 left_yaw=0.7719 left_pitch=0.0809 left_roll=-0.0361 left_gripper=0.0105 right_x=0.2355 right_y=0.004 right_z=0.0615 right_yaw=0.0154 right_pitch=-0.0181 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.0325, 5.4906, 0.696, 0.2759, -0.0659, 0.8376, -0.335, 0.5402, 6.8308, 1.8388, -0.0415, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3411b2328e42b22be3fdcf58964fdeb9fbed09df487d0037d64d29e4afd158d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65dcb51d89c279997ffc22bd40b0f514035d0fb43e6744719deb1e840bf0444c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8665c14bde1f7e4454deaa48217294373af9fe6994c69af6daedc04911b6e70f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD90hoKiEEpofE66tQa-AA0FBGsMpnPeQssaH4UD1pplcgjJagRklecjHv13JFVc9T0tCZ8O4V19KdMb17PgI6DZRFOOeE1d3_O5sNZkDzqlhHNLG6sWLeFTpbaZL5dkVNgHp38AZOPBGNRO2G4n6fWXeOrO6bADoKFN_z3-X6MEYpJccTryf_a2VfKOzGKSwWOQud7DK5fOMZkYe7NTsBhUbQfmrwxj3Rqow6FhN45wAAIda4EkDzyL0Zc8x1eFdc_JmGJah6l28Ym-crxfgVZByUlHyvqPvNiSYwAD8lalF31vUEe9wDeM27kynMKTlxAHl4jwVhwbhwtvbT7-_p2kiDkvvS6YFE5HHtcPYv2qc4joE4Ec8sZLzAbMygHs9HJ8Yjq4XzYTbHTvT8qt122Za9Y7FEtRyst2LU30FnOY_KUMj1uyIyjYPoeQsbLr0xaHTZINdOxG-i4QUrc0HLhYc8Qu2BC1sH4DiCfUzia255GDsq2CuvQzEsR0r2r-UKHafb4BpfbmewdX03kcWdKQSIaPGjZJN03g4hhh2rixjCjJcT9J6Z3crSbLt6DPJqSq6u6JmuWaANGgknhjGzGuEbn7HyGsg6I9G_Xk18zGz0BNzyzR9W_1xyL2zspP0ySOauuwakRVlh2MGJxDmLvn5Ij9vmnyXIM0wOyzUul6KcGatdOpS32r8ptXRDi-xTE4RFVrJuSrwuLvUrX_xFXJwagHVEtZm9l3MlA6-3fDtuzgmOHkaEEQlCQMGNsSLZsNtImiaT09XPIiTc7RLmbQ5aFnZy0mr0emSQjiAkHTOGCCGjy2rDNdE3YQbf6WlelS4QbLET_27OPE8nbHurhjHUJ5m5GGhHB6be1xAop1Nn8fYjCbQbkl5sJiedgsQNLlzL2ehN6BXK0NwqQsB8ORPnNiN5dA_3WC7P5YnCg3jjWrYvyXb8u6vKPw0LPwX53CQA9qZ3GqRWelmA37ltz6bBVcOykURCXzBPtQaaG3cgLRyc8xI8Ye6O_z9LPDqv1WUWQ6l-0FWTvVtS_lDa2tu-YFuJJBfHyPfZ1XwUp2Fc0gUnS4qx8hbULdjXVpmBtf2VIpBQMmb4GGFiU2a1iE1WdxBXQyyKh3aCqypW8ovAl7Bm6ZcDpoj976eaSuujT1EwyNqTO_dYSiPzx5tQ8GTeMtNr3OmEyarz9CaIjbev92SOSB0PQ7XU7FvEocdfzIs6ifWI9JeMiYL7fKdbH3wbPygCN2ZrIKiWZU-0Trmmz7OCucLFHNIE44EuKQDTdGWqSNgUGurVr4LYZWRZzN_bihQM-C8_WLqRwOjCNuNMkie72-jFfHoev8WSMcloqA3MJlZKPJFnuRpo0ZI5DREtzBmaT-ohhBGKPkvs3jHcOnw2m8jEuB-6vhHCs2b3zAMAN22tg4g8h6wOVs_RFatuqw2daxmP5Ph69YpMvLrkb8fZ8eCe4EnNJlGdM81KwOAaKwc1GXAAfQKdPv87qjd5Fj-oSC_8YkQxq9WnASC2FEFalTya65h-bAzmgCpLyAzBMO6NzYNTRPeuuzm9JLf-0rP12HiURDsShwV4ZqVOcYGXRC-9ExihYHRhc9UwlXzyYgN2LwiJCpchO9HrdN-rYfllEJjptY2GqXOoVVl6qGjEw4vEclgjSOFGAg6XFVgcPyZLcDrUp7Nr02NpuWvla5GmDHkvX6_FqmxAeUOmMn7YWQnAYg7W0oKsx0twLENAjAy2PSzNdFr6CP6f0qqfv_g5SzxyaG7a52UwHubZQO7xrtC4lJZrll6DZoORouTqL4JwjurY5DYHfP44McwcWG07vrfX_dExZ-FZalpQZN6903d05V-sGPAC1EAGJOo-j9nMe_0KHAAzPNdFtQLEiD1c_uFHeB2eCvg_EPB592CF3-mNZOA_NWMEV1_PPTMK28-uptX5IdxkhqcXn6IqOcNtsDVPp2sAOeSpTsUyuleD67c9mjKZBzT1qyq7_2J0XME5TAlnVCwWvd78rrTOoQ_-j7To8SXLJLBrDRSm2TSEX7D3Q8mJEcS3NYdaaYPHTvcZBODwJg9wwHYeNuIpO7qg_4a3Q-hYJunywMKj2JVplCABRz12HsqehtLwx9tPmdGPM6yxRQPHW4-xexGAxVL5VQ624LCIkOhS8up3s5ADd-dc3ZUPCwpPFuJ54LAUHcboXdBZdn2ABDveYoTbUQfarQ_0tV7ru_2epxCGIDhUJWcXdd6D4jo-7MrEy2o1cdqdMlbVvixXVJNaskGAmxijjLRqO9xbMzH0_Fl6Q60Y5sTtmk5X9tkh_M7wV9b0yOA0XkhnIYO_0XF2q8orjeNjbnfrjKxj-UksBowJLRM8PjidpKLfM80tIx4QeoAvqfaDqYIIGz5XzINZuhQhAQUobYmDMkdD4YvcLHRxIGN2Q11rgExDssQ2lfpq1HJFIaLxKTYXPsJbwIjLImyIsl-UScErj7IlI_Lcty61Ys21kW_DSrRj9b_EwJsr4LLULYBKEJRQhXRBv8CE8YGC7i9Da2HX16dIdT1mMY_GgUkipTZ4IJgS4ba_N4gOo6cT7VkLal2qpkhsx70MFBpCBUaz9_8M3TwSq5uIbNNg5KS8n9jakHpbaAiZIOnR85hm5TWQofUk-tVGPKY0jyBA==",
  "id": "rs_0ee9aa1f45ee3dde016ab43f702cf487d091e1f98a0b2a513c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.1,\"left_z\":0.11,\"left_yaw\":0.75,\"left_gripper\":1.0},\"note\":\"The rotated full close still squeezed the smooth cap out to the right; the settled empty reading confirms it. I’m opening and moving above the newly displaced cap, and on the next attempt I will stop near the cap’s expected 3 cm diameter instead of fully closing.\"}",
  "call_id": "call_FjqIBm5MXxz9XodX7gbJ40q0",
  "id": "fc_0ee9aa1f45ee3dde016ab43f72da1c87d0aebd6fa5a49307a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FjqIBm5MXxz9XodX7gbJ40q0",
  "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]: [-0.5186, 2.0533, 1.4582, -0.5526, -0.9394, -1.0828, 0.9943, -0.0212, 0.3988, 0.0841, -0.2653, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4638 left_y=-0.0964 left_z=0.0994 left_yaw=0.7558 left_pitch=-0.0049 left_roll=-0.0029 left_gripper=0.9943 right_x=0.2348 right_y=0.004 right_z=0.0607 right_yaw=0.0154 right_pitch=-0.0104 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.841, -11.412, 8.3487, 0.7692, -0.5104, -0.0024, -0.2125, -0.3487, 0.5949, 6.5983, 1.8046, -0.0269, -0.0562, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a74194d96449129a3bcbfc37978b2c1f0a6656102ff682aaa91e1b2514c7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7da79836aeabbede3fae7aa9f1db8cd10962dd5f484eb2abb93a054814c7b4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26a43ad26cbfd86028b234383ea04e77b2f0d6e3ebcf06448911c90da437c33e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 2.203 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]: [-0.4721, 1.8019, 1.2503, -0.4038, -0.8581, -0.9016, 0.9948, -0.0212, 0.4694, 0.1337, -0.2619, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4433 left_y=-0.0723 left_z=0.1403 left_yaw=0.6641 left_pitch=-0.0003 left_roll=-0.0548 left_gripper=0.9948 right_x=0.2398 right_y=0.0039 right_z=0.0688 right_yaw=0.0157 right_pitch=-0.028 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -7.8291, 7.5009, 0.7448, -0.6911, 0.0171, -0.1636, -0.3077, 0.0479, 6.9949, 1.9121, -0.0611, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4885, 2.0521, 1.1782, -0.1478, -0.9958, -0.9997, 0.0105, -0.0212, 0.4168, 0.094, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4529 left_y=-0.0687 left_z=0.055 left_yaw=0.7719 left_pitch=0.0809 left_roll=-0.0361 left_gripper=0.0105 right_x=0.2355 right_y=0.004 right_z=0.0615 right_yaw=0.0154 right_pitch=-0.0181 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.0325, 5.4906, 0.696, 0.2759, -0.0659, 0.8376, -0.335, 0.5402, 6.8308, 1.8388, -0.0415, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5186, 2.0533, 1.4582, -0.5526, -0.9394, -1.0828, 0.9943, -0.0212, 0.3988, 0.0841, -0.2653, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4638 left_y=-0.0964 left_z=0.0994 left_yaw=0.7558 left_pitch=-0.0049 left_roll=-0.0029 left_gripper=0.9943 right_x=0.2348 right_y=0.004 right_z=0.0607 right_yaw=0.0154 right_pitch=-0.0104 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.841, -11.412, 8.3487, 0.7692, -0.5104, -0.0024, -0.2125, -0.3487, 0.5949, 6.5983, 1.8046, -0.0269, -0.0562, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a74194d96449129a3bcbfc37978b2c1f0a6656102ff682aaa91e1b2514c7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7da79836aeabbede3fae7aa9f1db8cd10962dd5f484eb2abb93a054814c7b4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26a43ad26cbfd86028b234383ea04e77b2f0d6e3ebcf06448911c90da437c33e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD93ID1QpnGUdccrSVghj5MDj6kWBJ9H2mJHgheGdDoS7fPV0AwteSm_X2eFkGLMotDbA_Vvd9nLYvpgVMtJ-WjJLPdY5U_I0J212HdxenBpWNsKUlIEguX6SBdVLzTpLfZRkFGnbvGUFyq4jnxjQRsxb_a71kRDqWDk2Mc_i1tgKjxgqE0vSUWKNtQJuRb5FCIxz0yOtciYL0Gh3qq9-4IliuHfjQnzKmtX7VP6RgIfDuGwpW3xemRZxetOoOrpVgZsuZ_l0kB1AGnQo_w5lHTkCRikXAZcbk8RS3indT9JEUAiljSKLV9CfIT1O7VsePAiUCmype2k7y1o4FXTZRkb7dVH0WX3IXKWosIPTZmrclcTUzyJFvXdbqgRmlJBM9zlMRohN67zhiZ4BfZyw2KyKZJXDHZ2POF654Kmd2OPGR-K8mdyOW7hLCnxjnzZOr_fTwtT4V5zr2VXpMgBMqIrhvvmdscOW-nIC2MhlnLPCnSxK0IRH_PRJ41awecIKnsHl3VGB0vdjPVO3IrDAgy7lFE1BJESyl84v6nuE27yXjWxcVFHVN1noMlI4jshQ6yPoxNgLO2lVTb4jS1oPUul6R8F3a2EL4P3Jd9EnqdaUGbwdPJB_CD4z5YhAeLkPyXxDcCMNC51eBucfEPYY_6U_vGvvNwXMTGXkW_i63jEQSPkHlJDMaaiCcz-teS16uMS-QN5wnOMrDVNFdzagW9FLPhm8pAOt4apFzRbifCg0oxMfR39HMSbKE9wP_9EvfAavgawG1tHdMdL94lXbhvya7y1Y9-YmXpM7340mq9i025GE3AB-uElrkjo2LxdSt4EUN0c6UBXJM3lATL5LUMvN--0m4YV_192lfqZ4R2xaZ8NQ6P6cuSqbg0kb-cDAeujrQvfHN38jmbgeSyKASH9aRPAffG5xoRtCge90psctekRjHJcBe3uCo0bAwQKnoE-EUKkT0R0U_2Oi7es72zXZgKaU6zn1v_e5yJ2QtnFBTwFlGUOFRBwRyv1sP5pdKNyHWwbOu4TLntECZb7sBjyKbiF4k4LBc1QvYSF619yvN1ZwRPFt_LKRAD6pZ-OIrFZ9L1YFscBaGOSwjKZivZWmTGoMWOMlPWB-GLuVL994lCzgXqpXEwNOM25aXPiptag9JwCvsp4ENeQtmSeaEZnDvwYUBY3j_zp-UtJBaFH-HzAG5XCMe3oct9HsyqelKj2G3qfKFMfmYw6zH5XIrtZi1LZXpUrGuYgdjtlDRYnhDS2Kj9Dx8SRvPyTTjVNd4DpzTV4SZ_Gp1o4L6gMfX9Y0Q==",
  "id": "rs_0ee9aa1f45ee3dde016ab43f7647c887d0b7ce364b5437a360",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.1,\"left_z\":0.02,\"left_yaw\":0.75,\"left_gripper\":1.0},\"note\":\"The displaced cap is now centered low between the rotated jaws, with the narrow neck aligned along the jaw column. I’m descending to grasp height while preserving that alignment.\"}",
  "call_id": "call_P6mbwbbLeUsUGNNv95Cy4C6K",
  "id": "fc_0ee9aa1f45ee3dde016ab43f76a46087d0a2d572d3309fa4b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P6mbwbbLeUsUGNNv95Cy4C6K",
  "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]: [-0.5232, 2.154, 1.3674, -0.3569, -0.9997, -1.0698, 0.9979, -0.0212, 0.3962, 0.0837, -0.2653, -0.0307, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4654 left_y=-0.0927 left_z=0.0507 left_yaw=0.7689 left_pitch=0.0489 left_roll=0.0198 left_gripper=0.9979 right_x=0.2349 right_y=0.004 right_z=0.0611 right_yaw=0.0159 right_pitch=-0.0081 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.5145, 3.5077, 1.1453, 0.398, -0.1294, -0.2222, -0.335, -0.1709, 6.3932, 1.7411, -0.0708, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00397a885b7808d914085dac37dba9be45be3ccbd568214c4dbe2b0550fd78d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b23a52c6b2596e1b647939a89dd5fdcb2a47df3dad6fbe21363c2c3c4afabc55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06bf0201e6c02e4f848a40e2ce060cc60337c1ee7da20485494dc8d81cc3d05d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 3.477 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 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4866, 2.0689, 1.1713, -0.1871, -0.9199, -1.0039, 0.9979, -0.0212, 0.4427, 0.1116, -0.2638, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4462 left_y=-0.073 left_z=0.0333 left_yaw=0.7369 left_pitch=-0.0019 left_roll=-0.0015 left_gripper=0.9979 right_x=0.2372 right_y=0.0039 right_z=0.0641 right_yaw=0.0154 right_pitch=-0.0253 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -8.5265, 4.3009, 0.7692, -0.0464, -0.2027, -0.2173, -0.3487, -0.0342, 6.8034, 1.8974, -0.0415, -0.0806, -0.0073]",
      "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]: [-0.5186, 2.0533, 1.4582, -0.5526, -0.9394, -1.0828, 0.9943, -0.0212, 0.3988, 0.0841, -0.2653, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4638 left_y=-0.0964 left_z=0.0994 left_yaw=0.7558 left_pitch=-0.0049 left_roll=-0.0029 left_gripper=0.9943 right_x=0.2348 right_y=0.004 right_z=0.0607 right_yaw=0.0154 right_pitch=-0.0104 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.841, -11.412, 8.3487, 0.7692, -0.5104, -0.0024, -0.2125, -0.3487, 0.5949, 6.5983, 1.8046, -0.0269, -0.0562, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5232, 2.154, 1.3674, -0.3569, -0.9997, -1.0698, 0.9979, -0.0212, 0.3962, 0.0837, -0.2653, -0.0307, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4654 left_y=-0.0927 left_z=0.0507 left_yaw=0.7689 left_pitch=0.0489 left_roll=0.0198 left_gripper=0.9979 right_x=0.2349 right_y=0.004 right_z=0.0611 right_yaw=0.0159 right_pitch=-0.0081 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.5145, 3.5077, 1.1453, 0.398, -0.1294, -0.2222, -0.335, -0.1709, 6.3932, 1.7411, -0.0708, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00397a885b7808d914085dac37dba9be45be3ccbd568214c4dbe2b0550fd78d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b23a52c6b2596e1b647939a89dd5fdcb2a47df3dad6fbe21363c2c3c4afabc55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06bf0201e6c02e4f848a40e2ce060cc60337c1ee7da20485494dc8d81cc3d05d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD96lnqNy1KaHm0yqrHMzea71p1GK9jef2zO2V8Xxkq728JarjN2Z3Y6ShQVYH_BswjkcPn7b-7PEkZgyXHCkYE_wiEBT_veUgX8NQKFe7IZoryRgERb89Y1ea_pzzXSA5g_wNc-mf7HxB1A9UCNglPjxBJMjG__P_xXC8wbxtoHKDn1MbejpL4YKp3UlnGUHuxHBhjeKTq8Wajd01EbpWaika_3e3xfjIgxKJVfF1YBTWdwZC-hj4ecIvJ9PFmAFy7FU4EMe0Fqi_l3ZI4A4lssidHqnCFz_GGaurrQfgFDLFiIpqxvPVRRNGiC4Uqk-3rbl_nspn6XOQHfTpuo9xzOAnPNERTYiwZ78iw8JStGAvlwOI3v7xWEe0Yf2P2x9SvEwB4V9i60GGlB82QNUQZV9-fiuAsNBIvWJA3aOB4EMyNr67JwSjaJ0s3vbQ4aEBUv1Po4eulQpUYo7J612KNOHWohYtxEpHMZ33wIDZWVPuvuqvTzdMY8nV0ifX0ZCmLzZ2uFDx6yJPMQdS1LAzSXD1U6hwdkKVxRAao4Sv38Bds3Q375PTfopjdm8d9kMstbZvdMlXcyyTQ4N16v0o2XUxiPW4j30tY2rMMgEbi3j8K2dm-_JguBX3tao8Q5gZV7X6CLbgtlNQA_ak1Q5cz8r6VaRM7_wT3j3uFcYqSEs96hC0AtGhCy5T5TVdaFuwaP8EqtF2bZPWbtY1zjAL8X_dQwJbFKLaGAbBAExVoyXoFozqjLRq0_76E9d5qp94JwNeY5UV16KNn1QD5BvvtKStEpS31pCbgk906L7XIGAm-WxrjTNvMO7hdnSBxfV53DxFwuE3nVi2KJwYqLklVxI12JLeEjOY06pbnSPVu2TAvzuEViRSN3SP8FtRlBZqcOUP-cJnRnhS4tTOAinlFsDj4wwQwylWtCodhLe_0vWY1cz929-vV-E9JgX7tLdBvh3W0qUgue_5rWK_rk58doBU5XHh5JLvtRAfiNbGUcM-ExAD9EQNdZnHIWep8nmYr9eFkkkQ_20ROeHgSRM8Dsfty6x9cwctRyUmtoZyBP67p72-y39AfFUEIYlrRi2KKA-gj2-NwlsDuhk_31WOqduT9jpacdPR6sffHsn-quemwnv-DngcVerCBfUEOEWa70SL24Tbelrfis1NlUSyrJ1STSv3QQBz74Voi3s1BXNwimkfiZEgEdIdgtFWOSbXCd3l8SGsDuaaz3-lZ_Vxlh-g==",
  "id": "rs_0ee9aa1f45ee3dde016ab43f79765887d09e9012a5ff41aac3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.3},\"note\":\"The neck remains centered at the low pose. I’m closing only to about 2.9 cm jaw spacing, matching the cap/neck diameter so the rounded bottle is pinched rather than expelled.\"}",
  "call_id": "call_RqLg736Q4GTSpGZISJ8mNJXA",
  "id": "fc_0ee9aa1f45ee3dde016ab43f79951887d09158343fbb78d275",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RqLg736Q4GTSpGZISJ8mNJXA",
  "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]: [-0.5091, 2.1468, 1.3716, -0.3775, -1.0088, -1.0779, 0.306, -0.0212, 0.3962, 0.0837, -0.2649, -0.0307, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4653 left_y=-0.0844 left_z=0.0549 left_yaw=0.7905 left_pitch=0.0545 left_roll=0.0239 left_gripper=0.306 right_x=0.235 right_y=0.004 right_z=0.0612 right_yaw=0.0159 right_pitch=-0.0078 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -11.9316, 6.3248, 0.7741, 0.1245, -0.105, 0.2369, -0.335, -0.1162, 6.5026, 1.7314, -0.0659, -0.0855, -0.0073]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aca251265ad40594cc71a08d56f0885f6fb66cf0400ac64c7d64e3a2b08a1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6617504a47c96d7eab86a7fbf44a1dff8d5fc3fcf28c7bfadb744b7daf46b305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78c8ba1b8e0d26bf530d12d307f605e6d4e0f018a91d782802361c9d596dc4f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 4.584 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4885, 2.0521, 1.1782, -0.1478, -0.9958, -0.9997, 0.0105, -0.0212, 0.4168, 0.094, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4529 left_y=-0.0687 left_z=0.055 left_yaw=0.7719 left_pitch=0.0809 left_roll=-0.0361 left_gripper=0.0105 right_x=0.2355 right_y=0.004 right_z=0.0615 right_yaw=0.0154 right_pitch=-0.0181 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.0325, 5.4906, 0.696, 0.2759, -0.0659, 0.8376, -0.335, 0.5402, 6.8308, 1.8388, -0.0415, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5232, 2.154, 1.3674, -0.3569, -0.9997, -1.0698, 0.9979, -0.0212, 0.3962, 0.0837, -0.2653, -0.0307, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4654 left_y=-0.0927 left_z=0.0507 left_yaw=0.7689 left_pitch=0.0489 left_roll=0.0198 left_gripper=0.9979 right_x=0.2349 right_y=0.004 right_z=0.0611 right_yaw=0.0159 right_pitch=-0.0081 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.5145, 3.5077, 1.1453, 0.398, -0.1294, -0.2222, -0.335, -0.1709, 6.3932, 1.7411, -0.0708, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5091, 2.1468, 1.3716, -0.3775, -1.0088, -1.0779, 0.306, -0.0212, 0.3962, 0.0837, -0.2649, -0.0307, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4653 left_y=-0.0844 left_z=0.0549 left_yaw=0.7905 left_pitch=0.0545 left_roll=0.0239 left_gripper=0.306 right_x=0.235 right_y=0.004 right_z=0.0612 right_yaw=0.0159 right_pitch=-0.0078 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -11.9316, 6.3248, 0.7741, 0.1245, -0.105, 0.2369, -0.335, -0.1162, 6.5026, 1.7314, -0.0659, -0.0855, -0.0073]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aca251265ad40594cc71a08d56f0885f6fb66cf0400ac64c7d64e3a2b08a1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6617504a47c96d7eab86a7fbf44a1dff8d5fc3fcf28c7bfadb744b7daf46b305",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78c8ba1b8e0d26bf530d12d307f605e6d4e0f018a91d782802361c9d596dc4f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD9-EVtuXDAfC3Zi5eISyFficfnHrjBDieYK9HQn4bIDJBvpMV0QMv7jFF2ZpBubmZgGmHZ09ocTTgTyir0hOo3yP76b7KYKV8gCrzMvIslQtgiPj3NUyH8kWB6bh2PHI-7xaCQwHpW5ntTCIkGKxGrs0aUQeuMiQ4GQolhA-I1-5I_G0C7TVm_a11-i7qGdE707hbFK3XOUvKZRKRIzMB2WwvoOuhVccsN9Ak-Jw2Koh_Xngd2_AQXcopasODaBr6xGYh8qei89RyLGHQKNJHWU6zXvkdQhNIXDlQTIJ2QsatGVZp89v9_Hw31gPe7884TIyVnsjL5j0AS_ICv3c12CQRKaMeLeBkXW79A0ghcLBbmWinTGbomy7juQc-90D28OfAxt5T2dp-im8gzHGowuCUkC2Ku19IBuhjyDSzmFk4DvYYXH2L97MhLK4LavtlQ1JzabN1kMxtxUJhBLpn1kG7W_dhN26F35SsYlWQfzXXtSKK01DaU7N04flWjvk5ifDVYm0RoA0H-7CtoIvDh3PkS6Hn6slUTgLBbrOfEt89gcBScP0rJOpLEa4E1XzVJeyCO9zKdk9meP0ez0rR-M8LEACk2dr_T0vT9fntO63dzz6KjYv8blyD9QK2BcZ6Y_Yu35l0fv1Rr8jGtyj1G2Y0RzjZ3aYvvkW3m2oEQ0qUOUo5S-E359ZUh5C4ToLZ5bItdtzmWNx2k0Y4gxgPlHwoFZ_wF3fdw4fVWZyJtOuUgUOs5BzsuM6o3gog04TJoh81bYFg6lEF3lRA4VZ5W9r1TJ3uZZASm5jW6P3-HG6VLtxLWlpczh_0QLG_c1qNnlYaMRrWp0W8ya5FUkCjGdVZt50FX-Zc0_CvoghQQAT94CdrZprEbtw-DzlEEX-varyVdeBRMxghjYp1huEuPsgMT1HJiGGvNdEX3wN1TbBBqPYs8eHjeXateCtATEyMFwd5cCntNHuXdARjozq4OiU5Zn2o1F8VqTtLTrzEMqHqdSl582cs7yQJQqHd24Lsyf46E-UCgP4nUPsG3D_2_tkvZeFFISvuDqT1aT5qHdRNklfyoCL9jekYpVGWwjIM9pzvzo4ElgAYMFn-fiynnRhZM0kbarN9hYzKdpHZLPsSPHapZR_96VgFtSFgADJ0tkUHw6qxyo6k26TbVXrMYHI6ZYzfvZxEbJi31ViuNopVwhrdlbYaerzYCpxvJXYyJ9L0NGtqtF2RUv1q2y5JRC6cL9uAA3RKyY90WfUIoJICl6BVkIThnvl4nc5I7xdnMMSxWDByYz3Fc8Bev2hl1Ykb9oIiQ36CdWJi31su_3tQxJLC_Ww3iCVUyBRckJW6sh5MBhvkD1lW7gFb1os6LiAFsRWs9m-7AB3fmelBPtI4E37udSXwYuT-7yLmtwtYlwRPx4OhNASI6GS2I2hn0rks1qjC6bvyd0QgMflxyt44b1hdVNJxO6V341su5w6K6DwC_qaoOYEjcAuM8nth0bPlj6KdIXMqJj6Vx8Hl84QYSM6MWgiqiQ21KBhkqb_F6bA4uXx4ACyXoXSk-yb9gbvS5BTbW4u9Md_la4tQ2RELqQiBZxSMOfCzuaFKj4kqiNgcuQxWAAWCOj_zgJbwnNyVph8J8TbT6D88SeV3GobacYdyCxHt8MHyrZtL6UnGuj",
  "id": "rs_0ee9aa1f45ee3dde016ab43f7cf03c87d0b349cc3fac1b22a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.084,\"left_z\":0.12,\"left_yaw\":0.75,\"left_gripper\":0.3},\"note\":\"The jaws stopped at the commanded cap-width spacing with the cap visibly between them. I’m lifting about 6 cm to verify that the neck is retained and to begin pivoting the bottle upward if it is.\"}",
  "call_id": "call_WevC77siX5z29KhQOFaaVbRB",
  "id": "fc_0ee9aa1f45ee3dde016ab43f7d9d1887d0ae55203979ca19ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WevC77siX5z29KhQOFaaVbRB",
  "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]: [-0.4931, 2.0563, 1.4178, -0.5182, -0.9329, -1.0687, 0.3012, -0.0212, 0.3962, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4619 left_y=-0.083 left_z=0.0873 left_yaw=0.7713 left_pitch=-0.0134 left_roll=0.016 left_gripper=0.3012 right_x=0.235 right_y=0.004 right_z=0.0612 right_yaw=0.0154 right_pitch=-0.0078 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -14.2427, 8.8547, 0.7692, -0.525, 0.3736, 0.105, -0.3214, -0.0479, 6.735, 1.7314, -0.0611, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdd0984bc604350ba78640fcc0e08523a4dd04c99ca54b6916e487a82314f004",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa18640df54389faae765288a16c6f683f2530d3f4e0c371393549ee1565e97b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24702db8464a36059f5cf6b03d64eeb5524fa579d2f4e69a8bc1834b32c4a9c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 6.818 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5186, 2.0533, 1.4582, -0.5526, -0.9394, -1.0828, 0.9943, -0.0212, 0.3988, 0.0841, -0.2653, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4638 left_y=-0.0964 left_z=0.0994 left_yaw=0.7558 left_pitch=-0.0049 left_roll=-0.0029 left_gripper=0.9943 right_x=0.2348 right_y=0.004 right_z=0.0607 right_yaw=0.0154 right_pitch=-0.0104 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.841, -11.412, 8.3487, 0.7692, -0.5104, -0.0024, -0.2125, -0.3487, 0.5949, 6.5983, 1.8046, -0.0269, -0.0562, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5091, 2.1468, 1.3716, -0.3775, -1.0088, -1.0779, 0.306, -0.0212, 0.3962, 0.0837, -0.2649, -0.0307, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4653 left_y=-0.0844 left_z=0.0549 left_yaw=0.7905 left_pitch=0.0545 left_roll=0.0239 left_gripper=0.306 right_x=0.235 right_y=0.004 right_z=0.0612 right_yaw=0.0159 right_pitch=-0.0078 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -11.9316, 6.3248, 0.7741, 0.1245, -0.105, 0.2369, -0.335, -0.1162, 6.5026, 1.7314, -0.0659, -0.0855, -0.0073]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4931, 2.0563, 1.4178, -0.5182, -0.9329, -1.0687, 0.3012, -0.0212, 0.3962, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4619 left_y=-0.083 left_z=0.0873 left_yaw=0.7713 left_pitch=-0.0134 left_roll=0.016 left_gripper=0.3012 right_x=0.235 right_y=0.004 right_z=0.0612 right_yaw=0.0154 right_pitch=-0.0078 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -14.2427, 8.8547, 0.7692, -0.525, 0.3736, 0.105, -0.3214, -0.0479, 6.735, 1.7314, -0.0611, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdd0984bc604350ba78640fcc0e08523a4dd04c99ca54b6916e487a82314f004",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa18640df54389faae765288a16c6f683f2530d3f4e0c371393549ee1565e97b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24702db8464a36059f5cf6b03d64eeb5524fa579d2f4e69a8bc1834b32c4a9c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD-DrbVniXNJlVZWknYSZUv2esWT7Wf8k32usPWIirVpV8coRNTOYOsAUEkXFmzcClsjs-VGM4LMrhT4o2-Lu_O0oNYFXOjatqEIXJLKDaN0fFJ8VJe4mIhehsTlwZMb8CJXbvwk9y2Yq4QUuz9pUMU_L5_PJEu8hy2TepuFHpYQ9KdFfrd7FLleubT9kb0dcXxKBhCxD6xaDEMPhX-hx5jPR7-Y2ckkEfpb7Ls-pHD7-EIYFhJRl1MAqJRNTeKXczYoXRw7iiZS6OE3-lbK5TDuoTaNwWxNt2hrlatSArNzUktSCSM6uGZXhtojfPNUgaEDBFYtnlComeKg-I58k-Rvb1ZJooJGIvH5fly9O26kIKqXs-VNa-1siwZspvb0K51SxM8hiJKR453O7U9LVDvwuqirTrH_6YO58wWdZSWUwjjsQOH192elf9VulifhZL2SbWyHrmkcsil6ztNnM-pekkIvVFB48V-5v0Yte9u5wP5VKzoWstg_dGId24uNPDU7A0ib6spWvx3F8xGVQACeew8eshnxA4mjxc0sIslLRcc5y_R-lYTHJ-p2cTsQZBpMu9NGnT0OjzlqDy5pyuLIoSKSnQgwLzpBBim5B1sVbzys69MeFABwVNeYBRJkX8l5cVH9FCEA5SKtf7sdn3p8ThFqIVFSnKd6NzGJI2RFvC5R0cmGYF4pC1TI5tNA7KKRX98xyMh68maKP9JfymSFloLvhg9O8K0Sr7GWEejcE4Sod-XGt5TRxlb0rRzBE8lJ6ROAhYW_HG7EJdHi36u2PxnOSSdJajHfwNr8-yI2Y8vPo9ZWZHjDGI00wlB6_OOHOJGMA8wvJUdIS3zTsNwz63aPqCDSOXLbSyRL1zDG_ombMAEqn2_SIA0SbGQibnTrN3mQFWnAids8pnVPLHvM4_K_WXVK0AcmG-Cs2o7qFZ8jAPS8LEIGhNJ_8CpebYXTm7htTW-43yTnUJyJZoDtQpbDwMr2db-7Pt-BcZBO8ZoGJKjsfEi1HpQ9OLQV-pRmNX7hT-89WAvruZ2oqThLBSZ7j3Bv56YYC9DyJJf3PVCwBS6q0aVSqLa1jdGifAQZaYZrFun6l5ZSBm09_TTD4HOcnti3stEBTi8QrdZgJPEyjvz6dhS6AZ16GpTkVAxV401ot9n02LCkVr2Tq6qLKhr8wgMQrzCi4vL1NCfd2hvhzpFoOqx7qyEIxdZqJ8sBEYSnNfu8LF4Nsb7jd9beemmtabOaAfHgKtAHtuKhTC1PtHaTVyzCQCKL2OeJhgdbvryqZRYsBwe25vWBz2nbXmdS26yP97tuypos4PepTN53yo2ATM4CuH_QL9_EHYLlMYzm0pBJ-jKPGRHCMQWb32ABLYtynGHUEV7LMH7R62gk0951BTZoZ9uppPn6CwlOFSrJVXSAEkDuFZBm6dHEzfs0F6dCl-yUnYDmUiRM1LPng2DtgGnBZpMzS5pD2yZHJWA8ByUGhQLzz6yaksxugssqEcL4giqzeo2Mc9pd5YxpB44dcNPP1w6x-uDWWOWybXRcGD4ROvCu7eK22G2vV_XCWRQboFzHVQ5XcKuixXAkRHaH-7OG6G4kr--bB829JhJ2UXY7xiq5NDHPJ8gKkeg0YOgis2tbx3zx2McumDnPLd9Q7BLjxSkyc607STngryidhU8M0cBqFi8_NB6pRbWwCb9FVfz1efQIX5-G7VMcftbfRl8KLRZVKrRaqI02-cla7bJjapE4J0DUFPyVkiybIvTlCQ62fAV7kUgq9CYYJKnR1h5FYl2BukwYG-y62uiPAwl2LdWtIPyHAkr-wpRYEyBAXbu0Gf4QVvs9tqKaNUcvdE3YqOQ9Ja4GfgPWs-Pz48VshnKu5my-4bM_NhPIRzaGelPBFAKTRNJklDOqzqzqaA-9-4SjLWcGZML9HHBGzfqWvG2dwvddQ2iQ2hQ2dV0F6dLUKabvBH_u8GjqG8KbsJQjW3Bhj-MaNz2Bv-s7bX1kWGckFsOlPk0miStvBvvK0Od3gigrlJM2gzND5_oEXMJx-_KRyfhBr7jynkZS1sAP4Lo9SM822Vi5wyBH3Pi4CSW1mJvzwqeWqd1lb1b1N2ivF3eNdZ-7X2Mw9NRaejaoD1mj6L68wH7pQXhq77EuDrjrB9SeF9XugTY=",
  "id": "rs_0ee9aa1f45ee3dde016ab43f80291087d090cdf903a6bab68c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.084,\"left_z\":0.26,\"left_yaw\":0.75,\"left_gripper\":0.3},\"note\":\"The bottle’s neck stayed centered during the lift and the top view shows the body still attached below it, confirming the partial-width grasp succeeded. I’m raising the neck to roughly the bottle’s full height so the base drags into an upright position.\"}",
  "call_id": "call_svkOVkWYoID0MoaDTHF3Stim",
  "id": "fc_0ee9aa1f45ee3dde016ab43f825bec87d0859fe17be3ba599f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_svkOVkWYoID0MoaDTHF3Stim",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4931, 1.9968, 1.9484, -1.0405, -0.9207, -1.0534, 0.3012, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4723 left_y=-0.0901 left_z=0.2438 left_yaw=0.7573 left_pitch=-0.0029 left_roll=-0.0392 left_gripper=0.3012 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -11.6171, 7.8838, 0.823, -0.5055, 0.2222, 0.1099, -0.3214, 0.6085, 6.5573, 1.7363, -0.0464, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba7264e281f24b8d0ac9ebe148648f7cb23fd8c739e492b3ed97781dbe17747",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d02a90e6ea383506864659e1beea9ab348c9689947b7e378f9e35f2ccdf9a7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a6da30db32c0209f924f6696f200fe77d4f811c5d944eb6bce4dd7c7cf8a073",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 3.214 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5232, 2.154, 1.3674, -0.3569, -0.9997, -1.0698, 0.9979, -0.0212, 0.3962, 0.0837, -0.2653, -0.0307, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4654 left_y=-0.0927 left_z=0.0507 left_yaw=0.7689 left_pitch=0.0489 left_roll=0.0198 left_gripper=0.9979 right_x=0.2349 right_y=0.004 right_z=0.0611 right_yaw=0.0159 right_pitch=-0.0081 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.5145, 3.5077, 1.1453, 0.398, -0.1294, -0.2222, -0.335, -0.1709, 6.3932, 1.7411, -0.0708, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4931, 2.0563, 1.4178, -0.5182, -0.9329, -1.0687, 0.3012, -0.0212, 0.3962, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4619 left_y=-0.083 left_z=0.0873 left_yaw=0.7713 left_pitch=-0.0134 left_roll=0.016 left_gripper=0.3012 right_x=0.235 right_y=0.004 right_z=0.0612 right_yaw=0.0154 right_pitch=-0.0078 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -14.2427, 8.8547, 0.7692, -0.525, 0.3736, 0.105, -0.3214, -0.0479, 6.735, 1.7314, -0.0611, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4931, 1.9968, 1.9484, -1.0405, -0.9207, -1.0534, 0.3012, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4723 left_y=-0.0901 left_z=0.2438 left_yaw=0.7573 left_pitch=-0.0029 left_roll=-0.0392 left_gripper=0.3012 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -11.6171, 7.8838, 0.823, -0.5055, 0.2222, 0.1099, -0.3214, 0.6085, 6.5573, 1.7363, -0.0464, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba7264e281f24b8d0ac9ebe148648f7cb23fd8c739e492b3ed97781dbe17747",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d02a90e6ea383506864659e1beea9ab348c9689947b7e378f9e35f2ccdf9a7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a6da30db32c0209f924f6696f200fe77d4f811c5d944eb6bce4dd7c7cf8a073",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-LsrHp6THbnJSBJSC8XqUwVQ91sCJXIdNBipEyHUL9iktRhAYNPfrTbx0wl1r1eNF10p3QdI2tO3EeSAvbT4iF7pgJxXLj6Lp6FLwLVbqRUQlePKJGMX7tVfyDz7N_pv7w13KK2gTVBldEz5qZty5gS7cx-yiRQzV8OxX-KcyRKdiGXGR_fYuDeEKVBvGPDQXYmBKbMjvelw8kjDmSRx22TwE9L1vpuXXn9KrW7ocVe0-FV-pYlZKLH54_yVZLct6Ak0IXz6jQsngwW9rG4a-IaXzqIiiNn4JZXsGpDgqs5-2oYznD1EdCJ7wx-RQOqpdjo2MHj2dphnIBW0DFJWMgX0CjLEiv6E-XpdtaA7rDI9-CtdboR8R03Jyj8s3vusyZgp520-g5qfv9lamAEFyqo3IFZBXf3dDsG3OQfT5oBq11qc1pfgR0q-YCvPOz2QR7Cq0D1Aw-pnCydau_qTGFqEfE26UfTEqXxk3HYW773XqG45knrMM1YVpI3LPJAQcyityVfxabpJcDi3Y0pqRfGNg5cIOBoDgVSEz35jt5B85ynJJrZw_JPRjkfkuakYFaMMpyE2jyPHrnikXORMKg0thcdqZAct5ZKYLiW4vWc9TRYp7KsUuSQoa7n-rWg72dZyA7-N5IjEU1t7qxCLh5aQbFiAGWhoXedwcoQsgLy2jN35P1fUd23_9a8jsnwq4L5rZinwk9bAPFse63a1szVzol4M4MshJ1wdhB-iOWcvjUERyjl-LeZxIyUrG_8Ti1whMNCYwdBxJDH3oRJMtI2PEGLpfDuHr0Gph55sTuATVhjdiy47m2GcO_WYrqDqmfIfAi9k4SPnoX0Ca67Pd7yMVViEacf05GF3fGo0kj0NmOfeE7AguUCFwO_0B7QWHRQuqOB8Klof1YBRLXuaLiqAp2RRbkUBjap3hW0QE69Nka0bs9-yxPyWD_09iOHDVC6X7LiNCb34k6T7kBb_wCF4I78VFXErSby8vGxs5vq7KO9nDG0_Meexmqu_Cr1GPq8-YhBaj8pBsqUQ-FGEMvFSsmnTMtZP_Sq1HVX_hJox9pQswWjQNFQokK6QRmpFZsBuTd0_avt-assgcewajzm_plB9wHBV1s8XHDLRnM-tS7Zue6cpQKExb7TfRl-BcY071rLLrfJWZaGj2RhokmD7yfYob2-luuSEVFrzN_u3bDcbjYmKJowvZw-3Nd5IJuxo0QUoqzOuf_UGGuhIUCQJiJzqrVKNDlk1ILcbMZikCc03BkE7DVjBqiJqrFfjEgrnrrRd25kvmzeCVntSrz28Gbc9UvfdgLb4cZG1yL30UOcZExcI237yOMzotw4a3caditj9DK_GDIumO9FwAB5_lGaFcFVrEiJZBKQFM1UdVscI89oM7BCrPhKVbjecxUxxGNgj3eJ-bsZ4SgzZoczgKDY6_9SjKC88SB5d6m-2OW-Ey2DZ27wLP--QVO24v89r5Fu2KlgnInYF0fmUbzvFcJXpxcpr4_Ya_-rGrfARxucCH9742nKejE-_gO5VGNj6mrI96fciiAdcMUhENi0MmGJQ1664bhFww3nYmKLdjNaMnUXqPV7DNpE0YSb5kIbZyQpKsPWfzRCvRRtHV7XDkZ8kisijLo_ZZfTGSJ_lkMiZ9RtXEtNfOmScE1CRq9Moqnt-tWxNL8VlGLCx3UNxKz2lrXOZeqbnO1SjaCxDHNd1Gj--iwX9_g26OOCBx1w82qZL9H8z1tl66UV8TKqSQVISCxYS73CuoZJOueEezG1I1BvwG8Ffnji3vFFsl4iufOzoITrP4hhk0i7dYQuZ1vH3yHcrXsC4QmxK0fKlFDrwWhv7JN7GdduX_nYK4lch9AY7Kc_ewEWnXOz0o6vhKwUtWQ3-_yHKEEZa-nEjXvfBQlkaFOsjRlxBEzNFSvvX-BQGtOe9m1YljwzCKvsgq2gUCoMfSnG0GZDEAhvkPd3XTI-vn3hUQUb5cJzokRHiSB3Ou8Hx4C_mZznbKOxpa8m8GecDgxHwzWpG4KN9kz3ARY003xifnejQk_ePi6GS-Ie1F-OTUmACN0NCIlMIZ4oBa0CDheTGztcnDQqQXYCzIM4dchPunsHU0weaOIDkVrAjojCXcwW78IWkbmweVnACL4svjAAmKW_GHhksyRjAeQAWaZblVIgpcvZc9eY4At4Uw6EeAudwIAy6DOk_E0GA0gcaCT45F4ZTuK5NdAG9Srkuhl4ZQAvvkd0ch4r7WWUBXWteMNBHaVqfjMLY65CL7XWGG7Ghm782AYmJVzXmulaSqa-8nFxFssZ1greK2K0Gji65LpdXon3ozrUUMbUzdNI8OQvRe-iziFMSqmsrBG8p29ELs79br9iIJoL2jRmRabz6VUVUS29Q5uEHQVnInqBTdJgMiZb97LxB6876iczp20MFGj2Zinc7bMe_zZY0W54Abk9oMdQVYQJG8J4fBLICzs6YjRfgLpM8SyQYLP5s68iWb1vwDY44GUqOXn18xMCREiEHYGDqqt-RDcqnAHpTHz6PwpvTHYGd7tGvaBuHKnLA1EHYMkZ3-Rft_-9edDkwA-sLy6qkO91NLh2lgOdkDUl-01-39G4j8Ji0V2309Xxqoj4j9BoOoD89g4Rci55guzEah7Jsq4WuhVWq2h-5hOA3F2alpbhGNvI-f_P1NJwOIKZQOvQZLGBZZOeelxIB0ty4VkOr3PwfmjeN1BjGj76ohqAxl1Ju_IrsnBVpIkxWU0cye4ONsMPfry2sjwLwpij4MIGl4nJQYxXfJg7lRQBvsMLmusSYYLAtmf4ws41ar-qHSp0_DZOpHxD3qfId2znPOHXV7smDTGFjO9FtTAd9cyeOGFIFioECBAAqDX10dTA6J6-T3kwi9y-bcrlPNvpcEARRsWr-NDV-r2po0tBQEMcYVmE5ck6BnH-LXW3qBfxTb_D06nu4qxYqB8ZMkfCRcQ2nSP_vSP4TlNPXGip-fbCNZ7XIQZ5tOCgl6dd13tUaazbytxxKF22c2hFEFTSFWLgm1dURaSCm1dtTSxwz8CFsMNQB-mZIxh9rrl7QTiGIVDSeuGReEQ8U1ueITolWXmZNUtkB6h_3PDrh0u5mwT6ed6raW8fuE30k8zlslAeDfN-GGnDFy_Ya4RPH6F2ZrU5Kvvl5rZ-ZQcrCyGZSY9Jwmpo8PiKuRHF1-q7mFnl8Wm_nGrTuy6iKsBo2wyhYq48NBKUK_scADcsMlf3_tuTXdN1YmBuAJQEsywzSgB0kmm5vXT6Bfp4Lsj6fGl9x7iS8OrhuZe_nH6Oi3bzrOTprNeV8zXUbZMeNntwctDO4klOULkbiIZk1Bd-wLzdhQ2OmHPbHsvcp08dcmaF2NxwwkYubibT00naIA13WjItMRfg58I_PJK8atyPyAC20Znku0K8kFj7iQnn6925M4JvNb3PTrjTonfj9mEIKGuyl2ZQdPMygrv7NWyDcGteiojVpg51iQ96D0uO4D1aPxeX7MusCXFT39J7j_IgjLwgKF6hWmj6y1sumncefkVbw8EOTTqEU-8G-o9yLkir1Ulj0Uy0QVBmqJZA4Of9ihSfdUOfjVGgT_B6MO5wN-qXA-ZJH9F0Mp9oUUOK5iZG9u5t1bT8KJyR8Pxmf2LoRMp9R9ZH3AAOQHh3X_c71bKGa0-Oc-K0bdhStVDHQe8JlotA4NFqoc=",
  "id": "rs_0ee9aa1f45ee3dde016ab43f85ced087d0a2b3c43c44c5cf21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.12,\"left_z\":0.13,\"left_yaw\":0.75,\"left_gripper\":1.0},\"note\":\"The overhead view shows the bottle body did not rise; the jaws pulled off and retained only the removable blue cap. I’m releasing it while moving over the bottle’s shoulder just below the neck, where a wider partial close can hold the actual bottle.\"}",
  "call_id": "call_G400Jsey2mIifCPjJOMUxHw7",
  "id": "fc_0ee9aa1f45ee3dde016ab43f8a3da887d0909e6011786133bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G400Jsey2mIifCPjJOMUxHw7",
  "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]: [-0.6174, 1.9736, 1.4769, -0.82, -0.9565, -1.2152, 0.9955, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4204 left_y=-0.1171 left_z=0.1247 left_yaw=0.7365 left_pitch=-0.0296 left_roll=0.0541 left_gripper=0.9955 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -11.6034, 6.2974, 0.7106, -0.6667, -0.0269, -0.0659, -0.3214, 0.4855, 6.8855, 1.746, -0.0171, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e781285eceadd6eada794604dbb728b309ca0dcd14335b3dbf782cee73f6c817",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd09f9630731f790241f112242ce962df5a24cf3e9f205d19cb63df4fd5d16e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:265e17f640fc2c3f124454fdbadb431d8507e138580aec233b8416cee2c1e5aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 2.55 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5091, 2.1468, 1.3716, -0.3775, -1.0088, -1.0779, 0.306, -0.0212, 0.3962, 0.0837, -0.2649, -0.0307, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4653 left_y=-0.0844 left_z=0.0549 left_yaw=0.7905 left_pitch=0.0545 left_roll=0.0239 left_gripper=0.306 right_x=0.235 right_y=0.004 right_z=0.0612 right_yaw=0.0159 right_pitch=-0.0078 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -11.9316, 6.3248, 0.7741, 0.1245, -0.105, 0.2369, -0.335, -0.1162, 6.5026, 1.7314, -0.0659, -0.0855, -0.0073]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4931, 1.9968, 1.9484, -1.0405, -0.9207, -1.0534, 0.3012, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4723 left_y=-0.0901 left_z=0.2438 left_yaw=0.7573 left_pitch=-0.0029 left_roll=-0.0392 left_gripper=0.3012 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -11.6171, 7.8838, 0.823, -0.5055, 0.2222, 0.1099, -0.3214, 0.6085, 6.5573, 1.7363, -0.0464, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6174, 1.9736, 1.4769, -0.82, -0.9565, -1.2152, 0.9955, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4204 left_y=-0.1171 left_z=0.1247 left_yaw=0.7365 left_pitch=-0.0296 left_roll=0.0541 left_gripper=0.9955 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -11.6034, 6.2974, 0.7106, -0.6667, -0.0269, -0.0659, -0.3214, 0.4855, 6.8855, 1.746, -0.0171, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e781285eceadd6eada794604dbb728b309ca0dcd14335b3dbf782cee73f6c817",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd09f9630731f790241f112242ce962df5a24cf3e9f205d19cb63df4fd5d16e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:265e17f640fc2c3f124454fdbadb431d8507e138580aec233b8416cee2c1e5aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-PaKzJl-0xEi1dPiMrseB0LZQVfgNVH49RRf79t8nKiPrl-DxFBc0ZmJF3k5DCoc-5VCUHYHky7NZRZzNij7wUvZHW7G6yNOtzldZfv857MMzp9h3w0RTUOVlMtrgaO3UindfiE7MLTcBVKOIYRW9BXG9o3WH3nxGk7WeJ4cE3GP5yEDqhTJtWarcNN8fPaSTSeYQuQq3nJ8b_YbtzUjsrRDsFHDcbQTTtfZXWliOMGAxFysZduYTm9TuaqYRnGL3JYyGVfF64R3IOTVpo7E-MptrdArP1N-zF8H7Kp0GIZ6xpvv6nNysL-74_LAh0EE_TjigP-s7T6s-5j_eArBrGDpsAe_xfYWT-HGYA3BT1r7LqJdVHqU_uBmX9WLzh6Wy5hmEVcby3WKsFy7fMd7uKpSOSsT88jj2oKlmoG6_HRRkPmug6mqgbs3PDGr6dPuOCQLVhH9-hLJrUv5lLH-GlW8sufqMxDphZ4Z-M8MxMpvxRIPDNB81AflkZ3upbc8ecfaastN5JqT5G-oZ3ffayoYvb7XJHpnDKL_j3hMIGpmGEnT2rfvmPsWi_uubWdIdnZ28KHnbqn4sCd8sHwfhgA7TBFhj4OD0_mDBuF0DxCqQx9sFsS3ge51s5ld2WpmrnPXE0F0BXrf_ndxcamiJ24_ysSe_dVueK58y1lpAyHv_niQIgGP9bFiyJBJkJIqeadMU0X4eQti2Q8BkziiVtPyj-oA4vCTnmtQVctFjkUTUE_6Ni-7n2hFh-tMP125FDGgDlD-otnfpFogi15u86ZgeZlco42700zZMYdAUQd-lNOhcW8GVWTJQdmMH1MvUQVs3ZDVzXzd3Zrk0cJZNSEJtlAYztPXAiz6Xqj-uPkUsOCDSnT9CpGdGnNxDKp2PuqrM4COj5r70lD1Ps2laoqEyB0W89xe_dZfoP0XDwpS2C-5_1EYyr5Oy6KaIsx4fB__5teEfHohAlKUOjJWGZbdmR0nI15xlTH7AUmCaDC6Ur-coJp2s4xbhKhN9d1vQXHBfNlF8hUmWA3qw4wBhgszHYJ3CJtDcu7McNz2KMJZRnXdYqWpe4eHGETAxGu_c7xnJQdMp1oFw5XNnFrf8qqcI1sJI_TvTOoP4NQjkuXVCfw53-EEOoGMh4a-jTv2rPO-YbzTHJPteoHuADOqHdCFJ2bf3YzFqtMx4IYN7Hct-ziSzBze9_-KMHWDHd27mm6X_9MNqJ6eO1Q3BZqA2EHshUmRsoeLmiz2RzdVDVKi7Ml9YWzRBG02hwN9aon-2dlwPymaLHl_bA0pc6ZuUurbt8cMz248vp8Qh0k9AYBcECh-4tXpZh7DmkYahYZOAvQ_OerdxrgxNlSmYI5sAPXaqTclqVlSY-htok8fwp1zppoumXQzrZCWGdruhty33r--qzx20oKzDkOFFVRgH--4Uo4tveiJqvmQiDTqGp-A_cRx-DxAlFf8i4fBE1qcQ_BZijC04oLJB_Y-l2fVAm3q5AVWy7q2nKOw7oKAtc8DhndxiD4pdBqJcXdGO0PfWhIZOSNGlP1F3w55Ts6hYOEv0Xb5doeWFxcZaQfaRIrGo=",
  "id": "rs_0ee9aa1f45ee3dde016ab43f8d50c487d0ad0c3dc14123b404",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.117,\"left_z\":0.025,\"left_yaw\":0.75,\"left_gripper\":1.0},\"note\":\"The left wrist now shows the bottle’s shoulder and upper body centered between the rotated jaws, confirming the target is the full bottle rather than just the cap. I’m descending to table-level body height for a wider grasp.\"}",
  "call_id": "call_a9HQYb9jKj3TsiQm6RZyIKho",
  "id": "fc_0ee9aa1f45ee3dde016ab43f8e24b887d0a6584c6b1f8519ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a9HQYb9jKj3TsiQm6RZyIKho",
  "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]: [-0.627, 2.0819, 1.2587, -0.4816, -1.0111, -1.2304, 0.9979, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.416 left_y=-0.1121 left_z=0.0454 left_yaw=0.7492 left_pitch=0.0249 left_roll=0.0404 left_gripper=0.9979 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.212, -7.2274, 4.6974, 1.199, 0.1587, -0.1392, -0.2222, -0.1983, 0.4718, 6.8444, 1.7314, -0.0562, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1997d21fcad4b0cde2efa09ce48c65bf2d5010eae63c8c01a92656eb08ae6486",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab1f4d9ce5bf58a1f25e90ca95aaa2d5a4f41a995209d4f9e551d5512ffaa86d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3ebe6eb59a1d2f1311d0098b0e10b5042e0655ec064191e36d128493e25b30",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 2.796 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4931, 2.0563, 1.4178, -0.5182, -0.9329, -1.0687, 0.3012, -0.0212, 0.3962, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4619 left_y=-0.083 left_z=0.0873 left_yaw=0.7713 left_pitch=-0.0134 left_roll=0.016 left_gripper=0.3012 right_x=0.235 right_y=0.004 right_z=0.0612 right_yaw=0.0154 right_pitch=-0.0078 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -14.2427, 8.8547, 0.7692, -0.525, 0.3736, 0.105, -0.3214, -0.0479, 6.735, 1.7314, -0.0611, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6174, 1.9736, 1.4769, -0.82, -0.9565, -1.2152, 0.9955, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4204 left_y=-0.1171 left_z=0.1247 left_yaw=0.7365 left_pitch=-0.0296 left_roll=0.0541 left_gripper=0.9955 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -11.6034, 6.2974, 0.7106, -0.6667, -0.0269, -0.0659, -0.3214, 0.4855, 6.8855, 1.746, -0.0171, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.627, 2.0819, 1.2587, -0.4816, -1.0111, -1.2304, 0.9979, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.416 left_y=-0.1121 left_z=0.0454 left_yaw=0.7492 left_pitch=0.0249 left_roll=0.0404 left_gripper=0.9979 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.212, -7.2274, 4.6974, 1.199, 0.1587, -0.1392, -0.2222, -0.1983, 0.4718, 6.8444, 1.7314, -0.0562, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1997d21fcad4b0cde2efa09ce48c65bf2d5010eae63c8c01a92656eb08ae6486",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab1f4d9ce5bf58a1f25e90ca95aaa2d5a4f41a995209d4f9e551d5512ffaa86d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3ebe6eb59a1d2f1311d0098b0e10b5042e0655ec064191e36d128493e25b30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-SPbau1rVpjY_q9BVv4ZUL_hH-N95BR2tN9zsLiTWIiOzX-oqSRJRTPrLvDdmC3oN61QD-0sIr_YZ-D42ITzSOe5K4NkDbPBawINOLPVVgNw6Rkfp2ICr0d4nFfqqgWVoulvOcTchDYvzoOL8nG_QEo5cYfZFvRRNDgAgFmz37owj9oNWn_3Zeb_Q5RZdCeJMKNlUAOI-uSRkGG5tsL2mCnOFY06hW2_Jy6YzycJZaQC1rIMXthc7qkQk_9l7gp7feKtec5aAvqweT25xO0-SPPNhpwj5YGqzuXTIO4zXZq9GfarPVos662-LFF4hvjpCw_1t1wC2yJZpuWdqmSsGON2EVd-iIQyN5GwDk5E9SkucSm16_b94aISTH485-xCiUxv8wAxJ3lpLRQQXyPtlVBcV2FzMcl1WRrvM6LGyiz30i8PV29yZM8HKl5alfUzQMOtKI6QcbZSpb2nzkM7dMfg4r8aGYwbxJ3YaR4O8B-DtEAzU4CugrzbHzvOgR9WDFW-KWyRE-YGfbUmxm8dttzgN7hJBDlhSwulnX6FRIBVrlqZGzUu9nDz_NUh7P7gM9cEcG6LTVB1ND2fApLwEpsbvPvk5ZGSJmBTNmQ-Hc0alRzEZm1E9vIeTVOYyaHaDFkJ6-iiJpPnH2tQIfSHi50VPIYLtQ4btzYDvlpKIklKtt20VI3cgPCfPh8ptj6a5El7MYEa1turbCtN3kSasTZWNWyeKdCTArOIuS0i15oh7wDu6KUGdAJD3ta5S7d9_oA46Bc-XEh5fqpxMy3ebsBZmuumoF5ZhJ1GJkTTLLlSqIq5R533dqF_eKQAFy0tnjlME1VItaLYa23jfvuFZ8fU810jC8q3t4YWa1TZhgl6m5TEW__mKGPyobyhyUCtNj7bhL0wTq61mcsV31abvkosk0qgdRNoxvqHGXGxGKW3HabcQHtWuXvcVj0uNAQg9b8buKr5swBFZ_T3t08t0VIZgFLcIFNPbDmOaE058JpaMAoln35h0p9azCctf3JPr5FTfy87zJmTQC-Tg3O-lDXDoSmfJuiZf7Q8hZ1errW-0kWYISKJf27EnEemXgz3DHfFw68WppRh-g2PxojfXRvwrXT9Zqcjg8zJL1IqPwKmLdxOzR0dUWcw6ZrgZiv1iWKnPLE2MBtXakO8IovmtWElfiUxwxDOs9KKIpKoQUk5caDGitNYtXSVBuCnLD7NmPQ89eJv2iGwYlhojhX0fB_KykZ9VJCGjxpXSSbUKLN5vkkUIGyuK9-WESdpCh9k9Zf1BRX92B0Ftwu34ua67bZ1Qs1H8Wvs0tRjw-joZwrMOe58PmreAy8ZVtvr8JfUxffHM7CvY8DbpkTRZ33WzhAw==",
  "id": "rs_0ee9aa1f45ee3dde016ab43f91492087d0b5fe8df9cb501471",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.55},\"note\":\"At the low pose, the bottle’s cylindrical shoulder/body fills the gap and is centered between the jaws. I’m closing only to about 5.2 cm spacing, matching the bottle diameter to avoid squeezing it out.\"}",
  "call_id": "call_lVfpXWL98xv73IPw4apJXPtO",
  "id": "fc_0ee9aa1f45ee3dde016ab43f91dbdc87d0aa87cdf2fec44e6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lVfpXWL98xv73IPw4apJXPtO",
  "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]: [-0.6205, 2.0789, 1.2442, -0.4603, -1.0142, -1.2316, 0.557, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9999]\nstate[eef_state]: left_x=0.4162 left_y=-0.1087 left_z=0.0443 left_yaw=0.7573 left_pitch=0.0297 left_roll=0.0302 left_gripper=0.557 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9999\nstate[joint_eff]: [-0.0068, -12.0, 4.8615, 0.7985, -0.1197, -0.0269, 0.3492, -0.3214, 0.4171, 6.7761, 1.7509, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77c19a09b3c2c75b4f6ad290c86b50dcc513e9c871cd1359ee0200cce0f4582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae0504881409b46dc9600e92a7a0dde921bcebfda01906f2399f52294197cd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c9c0cedac91276c1b2dbea228f7b45728d68c38573b4fa115da0afb86315a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 3.499 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4931, 1.9968, 1.9484, -1.0405, -0.9207, -1.0534, 0.3012, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4723 left_y=-0.0901 left_z=0.2438 left_yaw=0.7573 left_pitch=-0.0029 left_roll=-0.0392 left_gripper=0.3012 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -11.6171, 7.8838, 0.823, -0.5055, 0.2222, 0.1099, -0.3214, 0.6085, 6.5573, 1.7363, -0.0464, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.627, 2.0819, 1.2587, -0.4816, -1.0111, -1.2304, 0.9979, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.416 left_y=-0.1121 left_z=0.0454 left_yaw=0.7492 left_pitch=0.0249 left_roll=0.0404 left_gripper=0.9979 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.212, -7.2274, 4.6974, 1.199, 0.1587, -0.1392, -0.2222, -0.1983, 0.4718, 6.8444, 1.7314, -0.0562, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6205, 2.0789, 1.2442, -0.4603, -1.0142, -1.2316, 0.557, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9999]\nstate[eef_state]: left_x=0.4162 left_y=-0.1087 left_z=0.0443 left_yaw=0.7573 left_pitch=0.0297 left_roll=0.0302 left_gripper=0.557 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9999\nstate[joint_eff]: [-0.0068, -12.0, 4.8615, 0.7985, -0.1197, -0.0269, 0.3492, -0.3214, 0.4171, 6.7761, 1.7509, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77c19a09b3c2c75b4f6ad290c86b50dcc513e9c871cd1359ee0200cce0f4582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae0504881409b46dc9600e92a7a0dde921bcebfda01906f2399f52294197cd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c9c0cedac91276c1b2dbea228f7b45728d68c38573b4fa115da0afb86315a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD-V9hspz5rFEH3Md3oHa0gnA82D03DEpl-t6D4wnPF25GY1k7Vj4HNZrb7VHSaXXwI1XBuUCR52zylLZSuCFLv2ePtdrnu7RJGMI4yE2ycYvdlBAAI73S-NKp-LKknj7VWLECyIgszkmEwz0Qh_taENuWGNd_8jGZ8SGFw2y81x0fj3cTQmyyKSJ6JWBbN64scl1ddvFRtu4ZOLe_mkpm3-JDmWvZtA6inhEJzwY899wveu--XVnD0Y4OADCPcoWA_JEd11eSm5RIN-gtiG3xu8UwNY9Nvjpwbt_IuMil-NGrtMOatMKgnZZ5NfJ9UecTYUr47hsyKvn2fGPvad9TcBpyKF6a7s4Lab9MbaQha5--eKldd_qkqcOqk8ki3L4ELVHPAX8e31nvwqMwLJ1e_Z_mIj1m5GGlj8ezVUcVToDpes-Pcxy5Lx0Dc_L6BrgYtbrOplBedz8lD8EUvuPWKBo4zhwRt7WxpB3eHSS2TP8COfbNrSNlRmIbXxcF0cJtKO07t9f-yUYBMSFhD2jLqVsJdWDdGl-TpwS3bKIOI0RKxNLDBGQlU3R2A1GWIOhWTjgFtyQo4YAFBaIz129ydkax8rVjRrpieo07zm-eNEH1wGMlPIerZZx9GAQHI-S-BuAj1FsmYS_zjNqHv3NzYzfvwkhYgVUah73heTRbCXC3cmkeF-1tyVF1L3jBxQG_juRN_KJhR_UZoQfgRgudHV2ug_aQq6DKM_HjiiVLjSjipljgdxlNZtmIcFRUAh44HQ43jFjY7DrABNmWQzUt643gUdoo11qN1V1ajxYq6w9NP8Uf8WZIeKzra_6_tT9uuE7t1LI3xGtuIw8BNa3ensyBOacAKzVWdzybLBKQWjP59GNZeLfXzzhkFOeTuFqgDBaSLlmSFMt5XV24lubfwqPk6YyeybUZvp3FhXvoCW5sd8y8GcImIP2Bk9WQcA7d1Ktlwb6lhUYeXlbz3rcAil-zVauFeJypCbVE-rqDMSbSVfmuHm08Z9yR0_27DrRPOMkWTZsp0F0_c-FuImraHCox2Br9YMWto-JXhrWiQkkS0uMAAWmec4AExBAC3ihVUzo6s854EOSBdsJh8ebTD9AwKHBbyw-3eISRlcEDITkrmc8oTuPge9tR1RTtx-IxW5mbrHRoe1yEnC8r7LnIvGYVa2J0lTUeWgBzcgZ1o2y3W6Mowiko-wMHOsvBkEdSvklhmadYHqV9mROB3fRdZQmTdMc4omhVLbjPx4bGbAnAPxJTpWMDODLZ4Y0fjMMycL",
  "id": "rs_0ee9aa1f45ee3dde016ab43f945cb487d08f4f21b1fb3cfef5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.416,\"left_y\":-0.109,\"left_z\":0.25,\"left_yaw\":0.75,\"left_gripper\":0.55},\"note\":\"The partial close leaves the full bottle body visibly wedged between both fingertips. I’m lifting the shoulder to full bottle height so the far end pivots down onto its base.\"}",
  "call_id": "call_TXTulEewn7sYGAkmofCClbmd",
  "id": "fc_0ee9aa1f45ee3dde016ab43f949d4487d08e034ada8944a8e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TXTulEewn7sYGAkmofCClbmd",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6136, 1.9137, 1.8023, -1.1347, -0.9577, -1.2346, 0.5504, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4234 left_y=-0.1171 left_z=0.2304 left_yaw=0.7496 left_pitch=-0.0134 left_roll=-0.0309 left_gripper=0.5504 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -11.2752, 7.8291, 0.6276, -0.6569, 0.0806, 0.0171, -0.3077, 0.6085, 6.9675, 1.7558, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:859738f88b2d78b279d4fbba7ecbedbf8416ab00756738707f03b67f70871b58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cc643e9a1ae1b4abf51819169aa938adbefe7fe4e23f369a43dca2de75f57b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feb7526565caa2b95aa12f0a03a925c0afffdbd81bcd5083c07e930b1397e71c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 2.41 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6174, 1.9736, 1.4769, -0.82, -0.9565, -1.2152, 0.9955, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4204 left_y=-0.1171 left_z=0.1247 left_yaw=0.7365 left_pitch=-0.0296 left_roll=0.0541 left_gripper=0.9955 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -11.6034, 6.2974, 0.7106, -0.6667, -0.0269, -0.0659, -0.3214, 0.4855, 6.8855, 1.746, -0.0171, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6205, 2.0789, 1.2442, -0.4603, -1.0142, -1.2316, 0.557, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9999]\nstate[eef_state]: left_x=0.4162 left_y=-0.1087 left_z=0.0443 left_yaw=0.7573 left_pitch=0.0297 left_roll=0.0302 left_gripper=0.557 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9999\nstate[joint_eff]: [-0.0068, -12.0, 4.8615, 0.7985, -0.1197, -0.0269, 0.3492, -0.3214, 0.4171, 6.7761, 1.7509, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6136, 1.9137, 1.8023, -1.1347, -0.9577, -1.2346, 0.5504, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4234 left_y=-0.1171 left_z=0.2304 left_yaw=0.7496 left_pitch=-0.0134 left_roll=-0.0309 left_gripper=0.5504 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -11.2752, 7.8291, 0.6276, -0.6569, 0.0806, 0.0171, -0.3077, 0.6085, 6.9675, 1.7558, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:859738f88b2d78b279d4fbba7ecbedbf8416ab00756738707f03b67f70871b58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cc643e9a1ae1b4abf51819169aa938adbefe7fe4e23f369a43dca2de75f57b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feb7526565caa2b95aa12f0a03a925c0afffdbd81bcd5083c07e930b1397e71c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-asj36TQ4YXuWZSipJXLsmc0Qk1F2X-OTD7O372IS5IZNzgRhqPwypZGJhZ7hxMjk4X2PP1Fgigh7isLFFTdWTpb8E9j7MhnRCBk__WsKJe__gNiLcZL9KypXa4w8vxi8QQFuolYcLGlq7n5v1NRk9gF1UbvYr-xeME7Hg7VKLlj807bQdMEGJU9k0HtU-QZpIXn4_A2ur2mWlxD9u29uUIPDEwcrdpcjI_cuMIKfhfkV2ZKkELgo984o5ldCNuC8RYKXF9FHZfS9Ihw3PMeHfWegmvKvQITmRFQbQF_BppsgOmrOb6N7wZfp7lBWoABvRMEAU3MmJW9MYqEdXjKSO3ToNj9afpeNEH_diaQBE2qmUEwjGg1CBPwg-x2Brzg-bGrMRblouGWdwTrpBgt6vFTf4FJ1nbzFxHCGGnjUabMXHxVjBMu1ZW2l5t_V7oiSb38hxQom71HPo_QGRSQf1SVd0IwFqsMuKfLuConwtCOTZyrysDm6OV_O7hlm2tjinr5SNedppmEPRIlSgDci0_SEZbJjSXr4FNoYUIbs7y1ESWmHUvwOjqiCETtGkdfKmZpFthm_j7HSpqED7PkBplxpL2EKVzBdqjHjRjHcMZddhaf7xK6nMFkSOvS9LE-vri7TaWhqw5gnmps14N2E4xRrETiQ3ARpEKowcXPeZNDA3YyKa7NwrQOiS-HrEty0OBVTKxFjrheBwQcjoG4PCfyIdQl4lND2EZ5w3SRCkOqrOY6FdJBctS6LOLEOpU0PedHJERpcHX4hJHmIk2FKsPcnuQ9ostvw0-zU5W4_L6KilWm9cggMbhg6FiMadYhAY1PcBY7RMPRKg36z3iB6bcBroc_dIEcPVBrwNTRwvDl0iHWvrJjgM6rSiaBw-2WSNdSSeE9ay2UcytTimEtwlsE3cMEIFps7Xih3NYYnyPpjNUFeLa5gPRXx8hSTS4KjSYhTcKmvVfwOOZoxbk_282ed7qlfdwMCIL8iX8oHN3V5_iNXqUkDNO97ewOw974q3b5v6_Xv0v65TsGJeQiGJzV5DMmgqsbiFWqpwuYW_JHh9I0SEQnqpkY4X0vNSKvd6Pf6YaBJe6Cal1vgm06pvBCAYFfvIKAASRoHXKfXT3OqeH3Wk83IpgcYtFhr7Tloc9Q-cc2my_xg60UdTJt89_ts3hP5nqF9PnaCi2VAqjlL0SkTvqk3ByNLAeLGp2JTZvTOJ6NIhO69b_U6TP8l81Jrrq5czK3YpBcdAw3ZJH-fccBv3XPtC9Pi5eapzPVdREyGxCq97eu4w8G2qvI1tH2N9P45yYW_0suYUqXCCupoe7yL2yFBdaZlzqROw9MOyS86J9hdXU0QI98pdtTtZ4wuPLuU4omb716I-PHqag6Myv1gXgvCHw0qTZCVi_S_3kNHHjVRZdsqxWdZLjKJ3f3bAXmc2-4je6rXdE1uFjdyYsTSpZvp7uYnO9b1WKppe35n9Kp_yTWPg5mBIhIdGPt28RUmPIGScz6uL9Bz89guXL1oNsr2lqqF2AEjrTGU2HmC_rp4uX-KsV6NqeYkvkH0V2jJdLJooAHCk2qzmcBkRJNzDz9nd6X2gIEsMgIapdOYjX-BXjpJ1RPJEqVhjk10FGeM4_qfinDx-9g_OFadOtNtVGjxE6YSkI0VOZMc5Iz3lWLu4XTGbv0HWcOJgRCxhPz_YZ89aPNG1zMDKXVIEGSmyA6cKlqupZTDaCKPy_vaEjPgtNfZCZgCQHUBxBX3EyLfPl2OPHx3eWB3nILG2kfHXl-K_wn1OAoOUzo5mNCUA-2XTBtvNNgVmGodBJA_m4HP2aqhcy8JRnnD3i-X9MJVHPWeGzaRVQ9iZ5RqvunhqPoCiu1OrOG0QQLVCx2uZsVcezTopsBl2ApYPwMWYA8PVBkT6ELrcNH6kX-XQ4I4BiE8jxRMvfzMIngLwqyk0tyiaK7yyBVHUutKN4y3lG5m1Xs4LODO6WHN7P08BmTHbVKiFUu71gMmEagpNtpAm3pqWELIiEBRgx6cAldgN1vvyg_DyuIhHOUhyIbxTzB_Cf3eqiuBgOAGWhA4hBY3hoXQc2zuaKpedHp7XLVm2yDLv98ywTKnpZ6ARxQCJyfTLFdnto1kA6blPmsJ9dXEEUc9mh-kqyqQ7U90tysJYRWzdMCaRR4Hs3SNNHHcyQd8C-cLBE_10D81jn3_7Z2ZYVnq1PhL6OwQhg_PU1gydMbvn48KIy6Om36k-NEBZDstBGZISw6CgW5qWBIAgaDA348KBTATlm9-7F5TCIw-klsEWOVr4Sv9LuV3rh5w4",
  "id": "rs_0ee9aa1f45ee3dde016ab43f98566c87d0bd910f03d7beebf0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.423,\"left_y\":-0.117,\"left_z\":0.14,\"left_yaw\":0.75,\"left_gripper\":0.55},\"note\":\"The bottle now hangs vertically below the jaws in the wrist view, so the pivot succeeded. I’m lowering it in place until its base reaches the tabletop before releasing.\"}",
  "call_id": "call_A7T546UTBkmGmoIKNevPiDtQ",
  "id": "fc_0ee9aa1f45ee3dde016ab43f99e65c87d0a23ea09b8a53e691",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A7T546UTBkmGmoIKNevPiDtQ",
  "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]: [-0.6159, 1.9369, 1.5051, -0.8745, -0.9585, -1.2346, 0.5504, -0.0212, 0.3916, 0.0837, -0.2646, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4177 left_y=-0.1141 left_z=0.145 left_yaw=0.7487 left_pitch=-0.0251 left_roll=0.0282 left_gripper=0.5504 right_x=0.2353 right_y=0.004 right_z=0.0623 right_yaw=0.0154 right_pitch=-0.0028 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -9.1829, 6.2291, 0.7302, -0.6911, -0.0073, 0.0269, -0.1846, 0.4308, 7.0906, 1.7607, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d680f07f5e5db5395917668f4b91625f7f4753b8834e6057109df5da51e80cd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348deaedb378cb80b62b854c1df5ce587b574681c447fe95b93132640640f59a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f970074811ad75b0fc9b6babbae93053ae81cda5bc8393e350e5b9c6b06966",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 8.721 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.627, 2.0819, 1.2587, -0.4816, -1.0111, -1.2304, 0.9979, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.416 left_y=-0.1121 left_z=0.0454 left_yaw=0.7492 left_pitch=0.0249 left_roll=0.0404 left_gripper=0.9979 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.212, -7.2274, 4.6974, 1.199, 0.1587, -0.1392, -0.2222, -0.1983, 0.4718, 6.8444, 1.7314, -0.0562, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6136, 1.9137, 1.8023, -1.1347, -0.9577, -1.2346, 0.5504, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4234 left_y=-0.1171 left_z=0.2304 left_yaw=0.7496 left_pitch=-0.0134 left_roll=-0.0309 left_gripper=0.5504 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -11.2752, 7.8291, 0.6276, -0.6569, 0.0806, 0.0171, -0.3077, 0.6085, 6.9675, 1.7558, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6159, 1.9369, 1.5051, -0.8745, -0.9585, -1.2346, 0.5504, -0.0212, 0.3916, 0.0837, -0.2646, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4177 left_y=-0.1141 left_z=0.145 left_yaw=0.7487 left_pitch=-0.0251 left_roll=0.0282 left_gripper=0.5504 right_x=0.2353 right_y=0.004 right_z=0.0623 right_yaw=0.0154 right_pitch=-0.0028 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -9.1829, 6.2291, 0.7302, -0.6911, -0.0073, 0.0269, -0.1846, 0.4308, 7.0906, 1.7607, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d680f07f5e5db5395917668f4b91625f7f4753b8834e6057109df5da51e80cd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348deaedb378cb80b62b854c1df5ce587b574681c447fe95b93132640640f59a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f970074811ad75b0fc9b6babbae93053ae81cda5bc8393e350e5b9c6b06966",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0ee9aa1f45ee3dde016ab43f9cc08487d095f477ed91043922",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The vertical bottle has been lowered by about 9 cm and its base is now supported at table level beneath the shoulder grasp. I’m opening the jaws to leave it standing.\"}",
  "call_id": "call_43n09hKDSsGxjiC6WNSGXwnL",
  "id": "fc_0ee9aa1f45ee3dde016ab43f9cf64487d0bd4b65093db0bc3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_43n09hKDSsGxjiC6WNSGXwnL",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6159, 1.9476, 1.4719, -0.8154, -0.9585, -1.235, 0.9952, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.42 left_y=-0.1158 left_z=0.1338 left_yaw=0.7485 left_pitch=-0.022 left_roll=0.013 left_gripper=0.9952 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -12.3009, 5.4359, 0.7057, -0.6862, -0.0024, -0.0708, -0.2256, 0.5128, 6.9812, 1.7705, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a094358137804427fb6fc8558d0caba64082f1047f7d87cd8f34f55708ad8ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f8209385bf8e7e437746d6262aad2e7a67710759665d626d9340ce0e78f680d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f6af18bc6bb31caedd56daeef316401e099ad3e5f94c03eafec0fbbafaa2a4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 7.374 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6205, 2.0789, 1.2442, -0.4603, -1.0142, -1.2316, 0.557, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9999]\nstate[eef_state]: left_x=0.4162 left_y=-0.1087 left_z=0.0443 left_yaw=0.7573 left_pitch=0.0297 left_roll=0.0302 left_gripper=0.557 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9999\nstate[joint_eff]: [-0.0068, -12.0, 4.8615, 0.7985, -0.1197, -0.0269, 0.3492, -0.3214, 0.4171, 6.7761, 1.7509, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6159, 1.9369, 1.5051, -0.8745, -0.9585, -1.2346, 0.5504, -0.0212, 0.3916, 0.0837, -0.2646, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4177 left_y=-0.1141 left_z=0.145 left_yaw=0.7487 left_pitch=-0.0251 left_roll=0.0282 left_gripper=0.5504 right_x=0.2353 right_y=0.004 right_z=0.0623 right_yaw=0.0154 right_pitch=-0.0028 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -9.1829, 6.2291, 0.7302, -0.6911, -0.0073, 0.0269, -0.1846, 0.4308, 7.0906, 1.7607, -0.0122, -0.0464, -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 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6159, 1.9476, 1.4719, -0.8154, -0.9585, -1.235, 0.9952, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.42 left_y=-0.1158 left_z=0.1338 left_yaw=0.7485 left_pitch=-0.022 left_roll=0.013 left_gripper=0.9952 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -12.3009, 5.4359, 0.7057, -0.6862, -0.0024, -0.0708, -0.2256, 0.5128, 6.9812, 1.7705, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a094358137804427fb6fc8558d0caba64082f1047f7d87cd8f34f55708ad8ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f8209385bf8e7e437746d6262aad2e7a67710759665d626d9340ce0e78f680d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f6af18bc6bb31caedd56daeef316401e099ad3e5f94c03eafec0fbbafaa2a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-ma848CfuF2V4TUDrJKRoFsVihVNkqYceGvLLieZExrlzrbD0gPu5vnrJ2iXNunTEkW9wIrGkeY8sra3IcwD7NaL_WDLnCbO8KuR7BaiJnin6TcTcgN5i_ERYvJqfu_kxkEfdS7gClHeFr_GKYZiwrx7sZfmpo1NgtPAUv-5Dou5Re_ThREljh37L6zrIlYg8qEWq0OYddjEFgzdrKvICA050imqku2FD1KWU0cSVqZM5qg_PyVugD1ddNpaQTngk0cTmPmM5FMUULieHLOxJy5-Gb0iZJ1JFoM3Pdpmncjr1o6Yfj36JN-O9XFvkAh3TSXLEDdEhr540PfVWiZMuRXPFWu8V4KAbET301vDKn-2NrgVWbknzGLNElfS0t0z-Repq-qSiv-D-MzkW7EHHUqy5YAj_jkV-Wf5ZwI5bARrpBLYvZFxZBvkcx-2y20Bn5d3jQzmvwLvGwTETBJMiKiAEh5_s8JF7QobzaqqegjuvZ6UubYqaXe9qKdWCfNRiCWWDpZogXlh17k0ziAZRorTKQNXX8r-KfuDE0gZHPjM5CDVjlNhoYNj95nmiDfoiWVPPE4uE3oQXUSN3JhPu86YIr88LSCpg_ORQO8DMH_6jLxGDqaVtIvprrzYlfFW0KwHdfej7gfo1ym49NOAnJBpu69bro3xw6plajiyTZYXsRDFxkWNSolkSovUFQtQ9UDoQ5V0E-BFq0gttVSvU3bDV9F2cFLdumewcOThyZ4x7HS8FvefSN9AxkzmC3VI6S4e4EI5JNFHk8PjxeFYvV6sHSYytutXE-u5dCfV7oUbBzfUAm5do3f7VJYN8AeuZqgpxJDwwb5-I2nGGEMyho9X60M96TugskokwKJ_5fH6PBdgeO6N475r7XhIdR5wluyWyo2GbdtoUiVynArsA9plQr-LOIW6G4-2bUXejzg-RV079JisVDwl-26gYPRsaYYQAJ11eT9Tlz-8X5xZbf_CHBIeZ0fh2pj3dvytqDfxCNnNMl3SyoXK_UvAPSjgZ4smaswStUvY71jDMF0eZkroKPe2g_E-q70k33smSkPbfc1chyq6z20fEzuy_l51VaMwE9pVZzBcUJEwl1lEX7d8p3PhgFDMCqvSX8XGBahUjvlz3fk1nN4v5D5Zcvv8y-1gNnzJ_RSeHzJ99xZVUlhM2t102_3qJMeIBa74RKe8pz3v0ov4kERHsWUGJnC6A6oGGJsuT7ENvca1JmWPObk5DOfDUZsm5c1a31ey1VsVP6KZkDkQk3EXmrmdddq8nmHMTADiQVWo7Lc6tc9Y6S7AJGg_sRdBzJl93BCzEzgyUK3aBJhw1sHQHWa7buflmq93e-lu1fqyZ1jobusWjgQ9e4SXd7Iw_7TAicOCvcFRFPyV682X9rQuOApvzn-Ui5X42ws061CDxcH61W7WpghGmRYjZe_Rt0i9ttZ6qalf4lNPTFisdzf8EI-vr16e3vtD-DavidnX_a76mgTlS5kt3Ee9WaWoDkOvfc0oWwA3W_kyVdl4JtuGmmjUZ1kMWui13_ZxWag-uRAbxrppVyVED084EYca2GiDqTCgf7SGxZsjOxGhZM_8jbpxhPVTA-AvkVtNl-eIaG0j3OD3AonIZsMiDbGl5Ras4c6EDo54m8myGRyVHQp1ZBZ4gkm_ZSda2bgG8whwr70BzUVXTNgX-T4UeH69hM3NOyIz1n2sJK83ZdeNbk-Ogp_f9hW5XMI83BGK6Ww8ptySdu4uOnMzWMYbYdso21vUbCvXya50mMLEY9V1jVmhK9P_D7IEN-I5cQggjts9Sj8jcF_n7zNrKFGNBkTS73e8Wfsl7frLBj-aPeTNqqcw8_4Ff4g7BlczZMb7jtTCcb5DX0Vh4H3cV88GCWUdBGUcTG5oGJSatq-BFzawRPd_Ui1rTglyln8IHmR7VA2LdDiybpR-dxxlXPQppAm95owHkvJhU7BvGaRjksENhc6958Su9IBgJKOLxMOiZzsiS58qG3tvwVR54pXTHoHd9cu8-azxxOBI-S8wW1xuDGgcrturXZrA_uXAlcku9Ua_hxaoVnzWaRyiW8q08ZctukSHxJB5r2swrAN8fd7_r4UCBEmEx1xjDSwTf_BFYRPcsMJe6zqkuVYTSUx4GbuVA1BcZhzuMACLRuVjDraO-2ArpiTMeU_bFyGog7kBdZTxaFqffHqfhLq-0SAMUdKINRy-2JfQCjK-MfpAyqhqnYHEOWAhGzYtLXYHJKz221ieRZR_idqOXRzJtHQZdvetzgUdhZ0W2kavFsm1pbRE8gjFZ8pyEg9-z4-IKWlqet502cxD4-b4ps1jyTGzYqmaSSP16pbOzRk4iLIMMN0qZrTjK-hj0Jwr8h7xXIaOAXeTzn_lNcjm-ZE3WIYDG70rwRZdk3Tw5_reKjLRWb4JZfIs4CIO56EksjC8MbuA3k0FuelX4M6wCab-c6fy_5MyC12w46rbHTTlTIM5pNNdUjvdaKI26-8j9cs7AZHnMyHLA1u1pDVBMKLpJsyaug3LgFpYzxFpaAzxRf-MnbenX9_6JyICmyjdop-G_dP9qaLb677b29FYYnZzv2x27Z72QdpKKiT0GL6zEIDuM9au_tHhCsQM5zvviUbePFNhjNmkh3UzFtIX3ONozrI-txAySnoRmGejR_yJSCujZti5D6rKTC2ugniA6Sdg72GbmJlT4VUmqMtTTskL4DF24RdQ8Xk0bBd9zAAeVocizLQre8RA0BGxCJP8LnSFZZS8MY7xr4tn4rdMCJdqHQ2UTZOsfgMyD9Mud_pHBecmoqGdAdErrQBmYqmiuCCgQyZ9eqA9-Jq54lXE8xH9DOHpnEfjwsBN6AXSrhFpBIXSURbd5_qm2T6XvL01StgWo4dQaHdT6srxelMmzIUCgaBvbKjIgSW5vXebR_MutiZxxWeGBg_auCNYMeXnD0qDIIcYa3Jcm2wHQA0PajNWaBQLeWMS4LKocV8OZp10xtrHI-M08v6bPkRNZP3RNsfIope-m9vaX0NsLpff3por20-P15-tC2pdIXm0yDx6h-TElBeUvGYsf_bpWSmemPDaGCxQoDVo-FLtYD1ImjZp6FxvUK-WefcpZE3VAS3zOC7M9r89TrFvSwDKJwght8SZs2brDOZwthTakQuoftBruazTlODW7TumgTBr5kPXdqyU_hA3Enkh0H3r2ZFCfrpujP0UlrgrCd-gjUBRRzH2rEmDjgF1EugrxB_wY9yy7BnSPK_1LNRjaBQtpvcnQnPM7OwjT0j62CxwiWKFDysa8e-xpaKchdi0rlmZZLcXFxy5EjBWqEmOk3cheRGYM61l-la5zAG_hGGAETGCf8dpSqpBzmgrBmC3ZqG0vy2moDKo14uEaIqxD3fWVMp61byXeggvf0OAFqX7XPoO94CY0F7JzVjTyssjfk3m6eV8cD1WuaORrRdOfXqBUGYR5kYsHxY9yR8fk99X1YfPoUUomoQXd_QkS4o_MeeLNCdlaba_aozWE_Fpa20xYSDh5SQ0B-YhkNrhmggGEEm7jToMai4uYGhXXrBnAJuOuFY_LMz7PL5dW8swaoIzkr_N-hmFJmBFWgK4liMFhkj63zbJ5c4UwPu72MRaT8LI5k6FXFi7oloBE_gZJeHLIesNem5XXNLR5q_4LOk24eVKo-xb2gJLLetOXSWShx4Df_D70__rhB4KEcgJ8tVKf9kmn6E4X54V3Yfy9VcufjAYqgXf4M3-9zArJE1UZeAZ1rTaOZ_M1oBZKvgY4-vtF26i9TIWapZhN7_P7v44TsOlXcxJ2P0l5Ieqo2yArK529xTZ45N9PIiqt7YAGNqBjIGJY_PS0USjDqCmfCZ_htIoIcwC0pbxE6bWbRzuWlsahqMekm-HJYO9Heds700Qz3EeIbi6hH7WlEqBNy0xAKQsNo3RDdi_VLv4IxGeIBe3tw7MlBrq3har2uXJosB3zQoh3R_VPrWWEZGO0ZgmBnUWOSS7NtCPJUCorPS9y7LIQbuBUpRMsV5RoGv2Fy2PeTgBHAZ_GhieTBGrtPxtTmQlrqbGZ5FMARpJRpse-4Pe7BdgBxoTgZh6KLCxm1jxIgswNi6UY6qGM447DFgFXxh_MoFczXaNzAOJMnDm_LyO4ScvG4Jhn-1yt_o3IXfMCsUAPuBPY-G1tmKStZXYEe_qQQbGr5s2fq3sc8kufckCersrBnb5EfumW7GblEKe_8qR3tN9WM917F8MB91ExId5GNbeC1Q4Os_jhN0l02DqtqCRmoCivJ9Ah0p1kyc5OQQUgJUICv_qyl3oXbyIgS2ziWXMYTHJIcIfszkuFBDiUjwleHFi8O1BuSjA4mByXLwirhaUPm1hurbiHlbhLtE5-hOjnB2KIgDeDAtyVQ7b-JVSZq1eQNKA1vc-3QwHHdqYC6",
  "id": "rs_0ee9aa1f45ee3dde016ab43f9f780487d0b2ad624c81ab867f",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-mdVxCMDWKfKd5UqhvEMVMxdjTpzQS8NqW_ubTiubWcmR8g29rnN3Mjqb3R0ctccpOSiQjlQz1_9VwzD2T3yu9UH0zGwN_vlhbpNl_D-bw7rppgVci-4un4AT0OTl1MOyQYtbpeiLckGC5jMC7n3_qGHhaP09MWekZLcWPpNdqv7fauDW-q4K-uEqUqW7khojbGT0NRoN-jyhfW_NvIAN6oq2WtnxKGj1YwR9_P9VLjexYo6rPkBOJoEBTGjF5iBvUN77haaoUfa6V21YXoHDCdMyVN-_nYODWqdy0dz9cI9ajUib6OehNDYYcZ6jtj_x8ubb0hvRGRO_G_1rWDzbc-5CIj2X4zQSf4-VQ4tGmfpCzVGoWLHg0F0LtJr--AMa2ObGzedSmuNQpx5nZzXGj8v9fpWVUU4c1rbn2iVVQtgUilFgbtfPBlG2EBLnki682q6ieQBwdFqQ3MgDWkETHpb8PyR_psJalVObw-T22cBT0LgbDjI507D4FWvoBArc0xAM-ZFa93v1vKL6GOp7DQQzDnZnR5-66PNBEUIH8vlkUanKsGHdBiaeQ_K6viNug1CvD_x7IEvBXCBbYYxpr4OP1qWu5Qq3EWVXJIH9TIvhQDHBhAYuidfpiLA16EaD_CDqn4b1HXl2t0428VdvyYn-706jEGmQ1h5t_qJFMZYeeQ6lYo_kw7Q_w43nV7660C75NP1wnxxDVv_a9LsLKXWjn-0mF8PfMQ_NwBeWAl-VHFGXbEUo-mhogf9HKCG06cwpvBlJNHj3XDpeaq7HN4d76v7rbEuNtinjgZCvjNehp66T1zLOGTolXlXS15_M4nhojTKePUSgvX0s7cttvbXHUUiOXJb_wIvPnoId8iQVYye1Y2KjQD-KYIgYzybvLegepWwFuSc1T4OJvqvw2cmR6DCkuLlTzV_6skgqyf7nLAUwhuzhrMuG7GFyGCrakn7f-5bq-VDs65226W_5kbCcYq_hu71rSTO1zq3auDc9fzXixzfxxu1PAGtIK9Ha9JVEsH-texvi2JSy607eLFd-R9Tn7UcZ1HK-fmHxRwWQuJ_K7HnQPYXsegLo-_EucUSBH2MKOfJCBQzB3hbL7A54ROl_QWQWnca6E4J18KgZnmean7fWIaCKh6d4emuf_FitbpOxNaP6tPEf_fTSxC--sScB4-EFAq-0PjYro8koW49vGZQRQS4dOEjLwC03NC7U4LNa1iF9rH8MLSqdAwo_OV73lwISIY1kJ-rraXLUq5fKmuosS41nImqmrVYgVoBU_AYpVUwKQKQgDbHYluXDciYrYVDRIOaU61M7bvgrXgCGdjttMUOxhZa52Lb9zOfMlIpk3nc0gp-tOy6NvuCSuBzgZdSf0kOsU7ts__r8v_G7wkkj1xInMyTXbjXm1rjlipKkbB6cxzoz9vU8ShQ==",
  "id": "rs_0ee9aa1f45ee3dde016ab43fa5217487d0a4a18505011a9e01",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.22,\"left_z\":0.14,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The first bottle remains vertical between the opened jaws after release, so it is standing. I’m moving to the middle bottle’s shoulder; its axis is nearly fore–aft, so yaw 0 makes the jaws close laterally and perpendicular to it.\"}",
  "call_id": "call_O1AcHGFdMa8RVfXokB18GMab",
  "id": "fc_0ee9aa1f45ee3dde016ab43fa5b55c87d0809fc6b74327b1e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O1AcHGFdMa8RVfXokB18GMab",
  "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]: [-0.6357, 1.8713, 1.2385, -0.1375, -0.601, -0.4961, 0.9979, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4526 left_y=-0.2054 left_z=0.1175 left_yaw=0.108 left_pitch=-0.0486 left_roll=0.0188 left_gripper=0.9979 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.6632, -12.4786, 6.4205, 1.6972, -0.1343, 0.2418, -0.232, -0.3487, 0.4855, 6.9812, 1.7558, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b0521b2cfc6c1949df2701a30ed264eda52af7e0fd825551ac0f50aea8a906b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3202262e1927337c78b4885deacbcdd4a0bbda6a0762b79aef4218dd33347e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d218b8c28dbae3eea136b2d86d8c894fd8ad50edf411885dabda1f81e3d66db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 4.847 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 139 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6136, 1.9137, 1.8023, -1.1347, -0.9577, -1.2346, 0.5504, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4234 left_y=-0.1171 left_z=0.2304 left_yaw=0.7496 left_pitch=-0.0134 left_roll=-0.0309 left_gripper=0.5504 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -11.2752, 7.8291, 0.6276, -0.6569, 0.0806, 0.0171, -0.3077, 0.6085, 6.9675, 1.7558, -0.0611, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6159, 1.9476, 1.4719, -0.8154, -0.9585, -1.235, 0.9952, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.42 left_y=-0.1158 left_z=0.1338 left_yaw=0.7485 left_pitch=-0.022 left_roll=0.013 left_gripper=0.9952 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -12.3009, 5.4359, 0.7057, -0.6862, -0.0024, -0.0708, -0.2256, 0.5128, 6.9812, 1.7705, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6357, 1.8713, 1.2385, -0.1375, -0.601, -0.4961, 0.9979, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4526 left_y=-0.2054 left_z=0.1175 left_yaw=0.108 left_pitch=-0.0486 left_roll=0.0188 left_gripper=0.9979 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.6632, -12.4786, 6.4205, 1.6972, -0.1343, 0.2418, -0.232, -0.3487, 0.4855, 6.9812, 1.7558, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b0521b2cfc6c1949df2701a30ed264eda52af7e0fd825551ac0f50aea8a906b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3202262e1927337c78b4885deacbcdd4a0bbda6a0762b79aef4218dd33347e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d218b8c28dbae3eea136b2d86d8c894fd8ad50edf411885dabda1f81e3d66db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-vwYQND_f25jxKSQrO57a-kVBOPHPM6_GD0u_ZdAqyTSSyxZyxqq-KuhXTWXnKi3t_sDOBhRD5bLPqxIvpa7jZsZIwYGChjVJbvvlVfToNjx4YEUmuNz5sW05el1MuLp8wWTKqz2NtynKRU4ZI2NhH1BxxR5ho-Rs1Ltny3TtMRrZDHnLcD0OgWa5Hyo_Thi9XDV1xLY_RP_bj1ekYGkh2KQXovsBwT2TwbHEE-ZENNtKUjuyyaV0p8t80ZZSpxLB_viMmucjXvbW9Ks21aaTdHz1GkmeTRzWFrl6UpOdYHgbyINNX--I3c2TIRYILNAHI2kGHl9TMHAD4MX7EE56k0RPmrI6ABDvpNmITBakUEpvqn-UbuRkYzm9LzAOhB_8z2GtcErH8fGhvD2H3h57QBc5dUptrFglqdr8YvwHFFSPVBVIOMdvTZSJ_vw_gH4IFKjXtfJ4jyLImDPR_Vy7NtrJO7zv90xbMlSTSn9P20H8X7YhyaQUeKriTv3lufLW3LaFaTy3T90eoJrGRCzOHwD3F70yYk_x1hDv-TBQ8QlH92UeA03nNhDShYUFhG-gTKhcnWY7F_qUQjx12usZKKxwgOYGRT7Xv2l53rIp64rK6zWwSsgVMGKwfvjN87H0hZy_f-jF5lJ1PPLwEyzFnsMPveo0cYylD0XQMVjGzBP9zEu5I3pbAR79e7dHQ2bDIc_GOM28BspBxHLudgKAPg12wIpLShVCLt1tFVtwnNF8KrMp8M2-2SS__r9-zp2J9vOoOnZKyfqpgQ-x5WER86DTQlsX_pwSEiT7a7zkZVREg9BJ79Cp3twBuhdPE5Yk24bSpKdhFdX_JfIRIsovnQrSXD1g0UuouxcUfbqCj9xcIPHQ5ywjmcn35CQpN8828stLrwygyx6Gtnsh-XDzNVfdHYdzwSTpGSBK8Oyr8lniLqAzY2yFyc2_zkJOX1fEw4-Qcno7y7DWfl0AUnM5hdWxuKuExrfEWOeA-oRCn10z5l89uUUU4xZot51tNpiddIZi4sXQV5-kSt4VTKo88uiZtm_k6bacab_F4V8zkkMclkFOVA8pSioLIxFSDkmybY67Zu6CITmUb_zs1cL7LLj6GHioZ4LtLejmj_3yl8v9hvKig1id_tOaPf1hHtXK4Xd11sgcBVKVQ7ACLje76cOJMs6DqlWKKVlUQaEu_Tn2m1XF_ODfWku-_YtXhGESn2VmLVzC_K_pzPrXmk1RASSs0LRPCGm0Onr08pZcHTDwTKmwnY-h4QY82cCbX3vsq8jZ6fiUJdoOCHoY9tm0W4v0RrTZmeKUW0aIaKJhFnFIEeo5d6YStqAix2O4Wp-WRecNItj5vcbL5kvIoD4X3C0aM5Umbi1FQhUiuX9Iu3EOsTEKKKLrlOsd3QRwIBPttaK0DyL-w5LoX2Hggr3VYBv_K_GAhP0EBeGyFNay4Wg-e0hJmjn7A-HQ4i2YXzP2bXfLGCPhp_FdsmNmcwOrcbzb9__o6AbAtIjvimQfAbYwzn8AidTxypZxE2NesfEuGqImotw26xXEp15Uy98cqYpOzRVkymq0K-ur9DN-y8CKWU41loVLAkT9qLHtYXphKV_KhwmdlYuQnn9NLVq7qrmD6YArgq3FhVsv-ZHHnIw1S4hXhD2Knh2fmGqI3YcGXKznhMQ7qZEVm76Pf-dW1gEf7damPuoHbvWScZiKOEP7Fi5xkE203H1TogAToS_fINOgk_N06nCcKdtfG1mlNz6N4X030fvWVwZMatrXrL_BoASD9it1MmphK4OwUnY0Zscp-1aXJGFaMJLtvaLMr13uVT8i5IRrzkIe--vhNyTW8t4k2mJFt5Bv1xTssh0ludxiZOnX9HJRgrcNZ7as-JgMzKq6mQQqtNv4Mz2rYxvTmmG_hrFT_o2nmWX72wdhaKrkOOVFx6ttjMzA0fBmpQ0blvbBQSXZMNGT2TbnTgD-jQb4K4u6qfJUZnGoKVqYDoXlSif-mpQlTlj9qQFo5vHJQzYMF7GGuEKr2SrGxPAIpS2We8GD9L9JYg4VpOSQz_K6n-IXZ496FbripVGnpyYkxgBMtMLTvi8M2WiwZJqDw57KV6wMWSDEnoCJix59d6RaTH3GMpn0vZuogwwS8xqtK43Eb7xkFF10sNT6CGhB_FxAeauJ3mU607sT4ZxQkpw6_cu5pzeR799x1l0vehLyQCVC8lKrqxqoVoMUa8dDwNBYbV0zQdFYZGEBZkPn4DEH3Zt8EgNTijf03vwKFgOtnYCJYtX3JqisnWIq5TD4Un0440c4Rj_W7c2Y1lyBS3_Z4jQmve-yb9-zTeqSpq4sEGuvrFhcRidjGkt7QZy_VZeJyCikDV_fTwMh6ZVh49npa7RF7eqHOGz7e8FqkOAgpvUwmM-0zj-WkGEtc0CoZ0J7awRvrXFRcz-TWMLqmO99bu8hPTTw-HeSiobMf8w2ZAY92bNheFcTOSceD0THrxlQte5-uQ5LmHhRHQA5m9AZK-yOfy54tgNzva1qUZV-jLPgDS0ZZ9xyLfXtLXreW-5a4P5qfkYHAQD9hxCMXJCTRfiOsRZ0L2CQOXnqBOIYS2dxy7-USVdtW4fwgYbFUVG22avnGILEcZKQxPhoYx5JF02npacereGba5Md2hjTousLbFiS_W19weQFxPt1hU6J6vwyEgEpBIUDt6BmFSzfPoFxwDvpA_28kpkq6t5dKbGVErBmh_6Hv_HWYQR9ZdcFSMzsSh4Ub5-xXZBpc_hX9xOpD-NWoe0yjJICBl0mKuAfsVViM9-1sltBccGVk3Y3iVnHYBrCl6wCDPrh5JHZQk012KCzgznf8YEeoDkZmp3GMUONcDVPAWyw9gVw-QiilSkAQWEVl59zsb_p60cjY__DDeShwlVCRexCHoJjvx8x0SQ0Iudaq84LGbcftsi90Mj_HqIed0h9qIEOoGntPZA7C-SwpNv6_RQsgCMKwo7VTQ0KJWygYdztOsA5W56MsRwsGX_DSWHjmVZzpmadjwHxvzz3Bj_Iq3Asq7Xclj_fGtSqa1wWKo-ZHhohKzhmVop3uoFpw_8K8nvd4W5KFTsqjIAyY4oae4eMJTA3WVJ75dntK0TY-tXOLlcLiqsjg6ZLFmxyHvaLb4NUzXSekSPK-e4TH-iuen6ANxsLbg6_IsQYIUJzTjwxj62dsz9ZFm3pjaFacCkauiOZSkVx3DgMHrtFY4J9kZtJaf5SONDMIkhSCuXvN5xeLgk2YGlyErjb4vjclLqno_l_4tDWJUYV5UHRJZ8Sv7qLn_6pjOfWH7WCrtD77IfrzMr0k1tSaNvcuRixnKhprcJhrzzI13zrCoNu_4_lNk_PckXZoAEHGtRfZu4yGwk0BXLmonek9gfLNpjw0sOUcxYxGECedT59_jiDTfwGYCo1IasqTFYU58YhhMSAFYb7A3NUe1T85dn4mA2DyV2M4SBH7DeGovqzodZkn-k0jiFoUXsvAnF20FlXZ2iW58hDxN4s4UlG-iJcQauPmwZfinFEMCVnOwTGO5ZD-sWJNg9Qi1GSgW4LJ2ePBqdZSmvfTNBpFg2VGn_xcoLbEs0T7nQxR6DueSHvbSpyFE321IryMspuig4pM-yyg6WwTXgG-yTpj9W-MLdmqXewdWNsTZ-_deBUkqsqOMAkkqu2gmTAEyi9D2gKf852A7ZEZuBaTrVrlmW0R7BXfJ7Scd3LwK1N109w-TR0IUwZMrGVUt4nbwUwpNUDwCAqSxGwqutVK9oOCZ13JKSfiihu8UqhgSpiYnnR1Tc1Jx9CsL8LGm4hyUg4OQPFHWmBqpsupOxAFhNpYTBRboxfbUfOGKPqZAXZ4mw42UI2wzQ4AF2xiuLo4El5b_y2kr69g_MpFzdjtH_q3H3Z9SfoLRafGLg64QWHkxsXln7a6491cfW3_7t2Pr7zAJPzZegpWq2hHEEL9B85vOV1QuWuPp0kSFP5RsY5DT4rD4ICYPZIPqrwy6BkB4vz4qpUziEUGuFGAyGa8nMZMdwTmeM9k0-b7zoyl1H-6",
  "id": "rs_0ee9aa1f45ee3dde016ab43fa95dfc87d08f4507fd8a7f9132",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-veefuz-IYyJs8Ww1-tXdJ9LJpDwzjv7AYFXJ8UOj5GM8X9McnNHALzIs9W3E5s3mlu-7XTcexUlVLRkfBXH2p8mWkSYBQFmsD0N3UwpUgaZpR3r8c-15FDFO_zeNjSqR_7UAZIPCXwCHCnl_ihn5FNQlPOL3BKUUjQU6RP_GExsS8rZMfAc-ZbTD-YuetK6cTN5FOwl6G2zF7dg-xwlx6pkTkGMFPjygAkbuOlRXDZ5U_OhtUwV-phSYJgkeqyRbWL0kRua2GMaAeO4u2i-z1OX2Y-i85-OrTJr0EwE46wP27TSub-0rgx1Gnpn5oC5cbvql2sksnqzwB4QGWXzfLkagmg4xCb1qSEUO4zE5STeh5qbaCaFtehrjuOkOHS0VAfE3Scp7802gEOHLHeMXnCeGyZUaR0HwZgcp61Tsn8kP9mnCjThmEaFZ6MNPHFHsPSDJy5j-v65p7IdWhBfh3NWV8YHx9lZ9SWJD_xzKTktNIqIzoqBRJ_kNh9stncLd8jAvMfT7b0ohj3-1CAzKEMSMRhsVFH7piaVT5tBe9mYyMWeC7cZPpO1PvG8DJCK_z4Xh1a4WLMZIBxHNIdv-tbZl6ZPFhFyxHCb53uOArzqBCZke0AF9vueuBPxSy4tnMMB6cxJiBYcAQ50WUJ-XYp_VXbqK0JJGAYuCEHibkaM7FdNYQva-GKrnKlGuk0i9hc3p_oe3QGdAWiEqVInesyBAQeH4yhn7BfVtVD_9s6ZXnfqLcg_XEsxonI4w8CoQb5j30vhg5n37i33NOCXuGiU59fpZL4Pl8hLsOQjmrqZs03cv3wC9Xb_DK9lXJHwY0ihZ-EU4hqJklDiGjCXx6H1Co4nVTbSWfBSyO0xegmqRe-W4fdhT97IaiqRYyGyP8y5TQPzcKjRzsEkMSG5AcXWHNH4-M4IncAs0QaSd3paVMqV1i968_WdvmAcgSNpzgjt0j4H4NKyqwAuagw3sDvP5zIErPvWvttQm045RrblnfKKNyYlak7CVJyt_PFrglgI3MOm_hAyU3EWo9cnIyn17FZ2W6pZOyUBltJsSrzMqEt8sH0RZkxO0cqyNkr1f6vVCExodrSWRdfhhqCWibvLzu3i_gGcYJXc1b1cHae6RvFWX-z1SzfiDYqddgeBuhC8llCw0qIYSKEXgzZ75xmQjYgqLp1PBmS4VMq2oYs8AYG16dwkEKZAjjjI9i5Z-t",
  "id": "rs_0ee9aa1f45ee3dde016ab43fadee9087d0a48281e313757e6a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.453,\"left_y\":-0.205,\"left_z\":0.025,\"left_yaw\":0.0,\"left_gripper\":1.0,\"right_x\":0.45,\"right_y\":0.28,\"right_z\":0.14,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The middle bottle’s upper body is centered between the left jaws. I’m descending that arm while simultaneously bringing the right arm above the third bottle’s shoulder; the two targets are separated enough to keep the grippers clear.\"}",
  "call_id": "call_F69iaiLEJj5Ty1HxJaS4EYz4",
  "id": "fc_0ee9aa1f45ee3dde016ab43fae0e4887d0be39410ea1b90a23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F69iaiLEJj5Ty1HxJaS4EYz4",
  "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]: [-0.6117, 2.009, 0.997, 0.4171, -0.5117, -0.4149, 0.9979, 0.7406, 1.9312, 1.3422, -0.1658, 0.5732, 0.408, 0.9998]\nstate[eef_state]: left_x=0.4599 left_y=-0.2125 left_z=0.0497 left_yaw=0.0191 left_pitch=0.052 left_roll=-0.0672 left_gripper=0.9979 right_x=0.4382 right_y=0.2757 right_z=0.1233 right_yaw=0.0415 right_pitch=-0.0446 right_roll=-0.0383 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -7.4051, 4.0, 1.2772, -0.1343, 0.3687, -0.232, 0.0479, -10.2906, 8.8547, 1.5507, 0.525, 0.3101, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d11ab1fe985c8a6a549977ca6f4f94c265bab50aefb24b36cb69e1a38b1bdf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da240c5b5c70e5668c9ab10521439cd923812026d1794517b439f2c97c1302bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcddc48b1295c8c58b03100742c0efd9088e0ce1eeb68917ebe3fe66e63c5223",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 2.48 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 139 changed as sent

message 144 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6159, 1.9369, 1.5051, -0.8745, -0.9585, -1.2346, 0.5504, -0.0212, 0.3916, 0.0837, -0.2646, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4177 left_y=-0.1141 left_z=0.145 left_yaw=0.7487 left_pitch=-0.0251 left_roll=0.0282 left_gripper=0.5504 right_x=0.2353 right_y=0.004 right_z=0.0623 right_yaw=0.0154 right_pitch=-0.0028 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -9.1829, 6.2291, 0.7302, -0.6911, -0.0073, 0.0269, -0.1846, 0.4308, 7.0906, 1.7607, -0.0122, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6357, 1.8713, 1.2385, -0.1375, -0.601, -0.4961, 0.9979, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4526 left_y=-0.2054 left_z=0.1175 left_yaw=0.108 left_pitch=-0.0486 left_roll=0.0188 left_gripper=0.9979 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.6632, -12.4786, 6.4205, 1.6972, -0.1343, 0.2418, -0.232, -0.3487, 0.4855, 6.9812, 1.7558, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6117, 2.009, 0.997, 0.4171, -0.5117, -0.4149, 0.9979, 0.7406, 1.9312, 1.3422, -0.1658, 0.5732, 0.408, 0.9998]\nstate[eef_state]: left_x=0.4599 left_y=-0.2125 left_z=0.0497 left_yaw=0.0191 left_pitch=0.052 left_roll=-0.0672 left_gripper=0.9979 right_x=0.4382 right_y=0.2757 right_z=0.1233 right_yaw=0.0415 right_pitch=-0.0446 right_roll=-0.0383 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -7.4051, 4.0, 1.2772, -0.1343, 0.3687, -0.232, 0.0479, -10.2906, 8.8547, 1.5507, 0.525, 0.3101, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d11ab1fe985c8a6a549977ca6f4f94c265bab50aefb24b36cb69e1a38b1bdf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da240c5b5c70e5668c9ab10521439cd923812026d1794517b439f2c97c1302bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcddc48b1295c8c58b03100742c0efd9088e0ce1eeb68917ebe3fe66e63c5223",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-2LykVX_heynxYc312gn3mWctw2HUCqNGrlDFOACleyx53rfHdaeEbJ_6tJbfwAQ9Sq1xNV14VsNd9_-6A3V4CtLExY6Tb_H4OoCYES4WYYs3VSl8I6ILMnIXa8g3w8f3_IqiE0tnUC-YkIxK0RBUsW5gazkUm0j7sWhA0h1QK-kkqADJcNWfRNr0kPP7mYXYUt3Fqv39jfgAAtYoefffKnD-1K-kxfl2fGyk7J7AVvMpHQ5GNthfhDefLU5ugDXZM5cSsVM-kNOm5Af58JHXx2SwJEoHjP8NmFjxEtLTfyv04EilbnBlsktdh6-Vmpk1eRaDf1nRKh5PUxnkXfeLo8p-C4AfSd_ALKHMgaHmzDmGkS7eneavQdZV-b0GZBA9q6pFV1It-udGK76Py3B5zkGI9Li4sb84OWFLLsc_zDqZr8geDzdN05mxQkquKcurs7OBRAVz4QagYqAZgD2VqJAgeMEB2UrIzbzJ8Fj0zeROB679aZN1Stevnps2sbxeH2147ibIwkEdS-9zHkzQwpZEFMkMyGQ5KHKPun7dG1Dc6geV7pFcGvjVcxnhLEjm6sTg47Igjdx8VFVqhpzIHM1SvCNOgKa3oJvu7i7tU4cZxI5HdhGOmbhY6EOXaQowLE6g4DsaR2K-l7fxC30ZP05aFO61N86ZNpEUv0qsW-S428sjZjm0a4TcUZBax5PZa0yLah_Z5mm-JfsnjUVkZHYkejRZqmoVoO1EYc2tSbEiopZgyLCubKZkQ6stdLAlK0wC0LZ4FUqIGBqGGK-gTwq1MwGALr_yiOKvcEMovnEle6a1vtXJOQj-4ZiF_aTLrbO0p2heJsnox2m5bAZPcXKXEKMnw_LFsk1MXmGPbRISuJaPWXnLeBYAQ70IjFPi97L7gpcgDKePclKER8AQb50Wa_LbNkIvZ7e4J8WdRV7dqd8YtSXpzCqdrKrpcduLcnMcbBLsWu2wPeBjxQ4utoze8_PTl5I7ObJuj0BXH0QVWSAdmHDYnV6n3RUU3RB6QxtCzPJYxhAtjreptpOp_ct13UPKcLqrcBL4YjnM6bUtJiQcsjmcyQ3H44Ff7WIZPpw6RPSHSn7n-AX3TA3QOekU54B9okVHe0pPR-7jt-6JagIBtvp42WcGYcb4fhqocDWJaWiH0KUIe2MVL6TjmFyQdB7WMIQHkaX2RiXzt_d7JMLM04-mK2m_wXRthbAxddUuh8W-EFaAI2h29PLpanQ8lWKr_QEthAlsBrAiXsfvm6nv7IIFB0dNBitR964rGEhzeFYaz8LZMooGkX5jojFl-u7qST1gNwkqTs_YixoxlsACU86m7UBLdrxqyKxIv_rHFWV51canm_oEzZZDbZMahWekib4sX_vr0P4oKRnapbKCt6dc36WoPfHFdgcog-Bpz3Qh8-_XY_lrwDFex2L61xszri6taW7WixSbuaXtvS_71VGObH2Jq54Y_NHdssnIoZ-hFlmYIzkDdtrsFE2VGE3_2YQell4uj620CxwBJG3EhAzzTVfjfS1xpxKsUAAiJPZr0T05Yem5mWxj7fj4LUoTEQWJgIu55IUZRj6yjjIGPeBbnEk6cuX6sJnpgxrITTqFLctFbhOPVHDUl0U_cVehOy3CoJ-DDqaCXa3_fXKXBEATtZeAluHcLkMoWN-o1OoK3yLQyunj457RvtPtbwZ1biWsZ0Bu4sRavAMLLGcOTtYY3wDDMj6_ZHh_xqmmkc7Z0bqURp6-uBjzFAA==",
  "id": "rs_0ee9aa1f45ee3dde016ab43fb2f35887d088072c3bef476aec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.55,\"right_x\":0.438,\"right_y\":0.24,\"right_z\":0.025,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The left jaws are at body height with the middle bottle centered, so I’m applying the proven 5.2 cm partial grasp. The right wrist sees the third bottle slightly right of its jaw column, so I’m correcting rightward and descending that arm at the same time.\"}",
  "call_id": "call_AOnxiDWhp8LqRpNNqXx04fGw",
  "id": "fc_0ee9aa1f45ee3dde016ab43fb4706487d0b09e36663974ba5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AOnxiDWhp8LqRpNNqXx04fGw",
  "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]: [-0.6174, 2.014, 1.05, 0.3241, -0.5358, -0.4183, 0.5544, 0.6922, 2.0274, 1.0485, 0.2615, 0.5732, 0.395, 0.9998]\nstate[eef_state]: left_x=0.4623 left_y=-0.2132 left_z=0.0511 left_yaw=0.0334 left_pitch=0.0241 left_roll=-0.0321 left_gripper=0.5544 right_x=0.4342 right_y=0.2402 right_z=0.0356 right_yaw=0.0008 right_pitch=-0.0161 right_roll=-0.0251 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.7419, 6.5436, 1.1844, -0.1343, 0.1441, 0.1929, -0.8821, -7.2684, 4.6701, 1.4969, -0.1294, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ddc3bb9f007a1f6517c90d6759a8b788bfcff3570734bc345472ed5a2a5df1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a182d9a42b89f8fa372f952b35669bc18c0f4c61a31d06fec36017e5d3ebb133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17086f884f35e9989c4071fbcea2975be88fb1190978fe4e21a959adf70c2c2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 3.657 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 144 changed as sent

message 148 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6159, 1.9476, 1.4719, -0.8154, -0.9585, -1.235, 0.9952, -0.0212, 0.3916, 0.0837, -0.2649, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.42 left_y=-0.1158 left_z=0.1338 left_yaw=0.7485 left_pitch=-0.022 left_roll=0.013 left_gripper=0.9952 right_x=0.2352 right_y=0.004 right_z=0.0622 right_yaw=0.0154 right_pitch=-0.0032 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -12.3009, 5.4359, 0.7057, -0.6862, -0.0024, -0.0708, -0.2256, 0.5128, 6.9812, 1.7705, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6117, 2.009, 0.997, 0.4171, -0.5117, -0.4149, 0.9979, 0.7406, 1.9312, 1.3422, -0.1658, 0.5732, 0.408, 0.9998]\nstate[eef_state]: left_x=0.4599 left_y=-0.2125 left_z=0.0497 left_yaw=0.0191 left_pitch=0.052 left_roll=-0.0672 left_gripper=0.9979 right_x=0.4382 right_y=0.2757 right_z=0.1233 right_yaw=0.0415 right_pitch=-0.0446 right_roll=-0.0383 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -7.4051, 4.0, 1.2772, -0.1343, 0.3687, -0.232, 0.0479, -10.2906, 8.8547, 1.5507, 0.525, 0.3101, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6174, 2.014, 1.05, 0.3241, -0.5358, -0.4183, 0.5544, 0.6922, 2.0274, 1.0485, 0.2615, 0.5732, 0.395, 0.9998]\nstate[eef_state]: left_x=0.4623 left_y=-0.2132 left_z=0.0511 left_yaw=0.0334 left_pitch=0.0241 left_roll=-0.0321 left_gripper=0.5544 right_x=0.4342 right_y=0.2402 right_z=0.0356 right_yaw=0.0008 right_pitch=-0.0161 right_roll=-0.0251 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.7419, 6.5436, 1.1844, -0.1343, 0.1441, 0.1929, -0.8821, -7.2684, 4.6701, 1.4969, -0.1294, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ddc3bb9f007a1f6517c90d6759a8b788bfcff3570734bc345472ed5a2a5df1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a182d9a42b89f8fa372f952b35669bc18c0f4c61a31d06fec36017e5d3ebb133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17086f884f35e9989c4071fbcea2975be88fb1190978fe4e21a959adf70c2c2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD-5LkZf52jxzoWVKKt5od5NCUKcf13r2h2DMtZFW4clEzDD8jvxR9sPk-cOVschI8h7OfiBFb4kNF71LG7-Sr-PY8LbSS1LXKs4IKkoH0gZGTNHR5wMtKd85UrpDbMFHdwMg2x4rMkw4Q8oslNuYdAwVltFzlctJ5sBr0gaZRxn4FuDFqXu5rONCD0TnIVoKj9knUY3_YBKlzsJCrLB0ZHwLrmMzMf7DDoSEVyEbA5hGzi4FIKuHmnqDufpBT4B0fo4SF9iI5X5imJvxeMFnEpZj83HNTnIuHe1K25s3dFDdkvLmV2XkkmmN09LVlyePQibB_oYPH_Nrt1hY938b4N5bWV2CC2YByEwyC41YC87WTyAiBKCzaW2aHF_OIFQFvv2Tl6UkNMC2XtYZ_hqriYiAvQcaQGDfkwWPlLnen1zJ21qheU0AD4iRW9-mQF-C_aZS2Z_F0JGVNCoUYbS8Zk1eiYSngkDb7SiWcCC_aExmKUr6VCUhshOsKEbHWUAFOfRU0KAT6lfuclVDECVIEtuleJE_oNXR9yMTCMqgc-06B0W0uM-G_owzGJdx44WzCNQKrPqsHIY8e4EA_fjn4GBZdlkWJzagjMNp5hGvHYmrG_s0_AhidfY6bOa1FrtzFiEYIYW4VUa1kTDrswneDrLJ3RXlepj6eVgQu-S37WUxNG8yhzOj1-HT4ANZSGvf2mM07x5NafewkelbcZO_vHW20oO66y0X3OaM8-d0vbmjYI0xRyfcw2C4IiVjhTUL5XYF2Yotr6K7aaxWUX9SX8wRpjq4sxl0d8rjB4eWNzvrfLEUaKZE6_4wvpv3TbYASJtKrgLrVdM-djnFRkwYVn6C1p2aOkuxsl-avbmt4QnytxjPKdseGpK8q_MgXNM-JYTv4tAtwQ8P9d3lzzh6AIm61MUbZDrgd4g7d6IZw93qe748Jn6tSj2S_MmGq36_Eptsl0-Ou76gel1arzN0bxhOJ3Nis9oeTKgKtc7nh68ZQbdg3FY5XvFAREl9F3B2rtTztMdaPWAatyiT9FLJ_Is0aNeVmABzlNQAwukMnrB4BY04k_aRt1F8IYXZXK1JUSui5KWvoqEhiBMHvT9I-yCg8WXHdHx3XReykqAlWQYCtt42x4_RPl8V9fpBuWb2gh44SvYH40K7eNBlOFqoy286WfmNMYveZDPav7eEE-7cXUucsj6XhYePDr98Cy6e8MlzIbleKjk79lYdy-nt6rmSunQYL45mQWT2NMRKpNij0TCk9BTwnH2ltxIK2P4YQ5sIxLVI2TPOZHaxYg3NtT_mA==",
  "id": "rs_0ee9aa1f45ee3dde016ab43fb806d087d0ac8f630d86e230e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.462,\"left_y\":-0.213,\"left_z\":0.25,\"left_yaw\":0.0,\"left_gripper\":0.55,\"right_gripper\":0.55},\"note\":\"The middle bottle is held at the partial jaw spacing, and the third bottle is now centered at low body height in the right wrist view. I’m lifting the middle bottle to pivot it upright while closing the right jaws to the same body-width spacing.\"}",
  "call_id": "call_YrZ8wtUw5IC0X8sD73AP6IuP",
  "id": "fc_0ee9aa1f45ee3dde016ab43fb840f887d099bfb73796ca9c68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YrZ8wtUw5IC0X8sD73AP6IuP",
  "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]: [-0.6155, 1.8053, 1.5375, -0.4232, -0.5274, -0.4179, 0.5504, 0.6922, 2.0289, 1.0397, 0.3309, 0.5762, 0.3882, 0.5528]\nstate[eef_state]: left_x=0.4659 left_y=-0.2162 left_z=0.22 left_yaw=0.0284 left_pitch=-0.0198 left_roll=-0.0051 left_gripper=0.5504 right_x=0.4396 right_y=0.2441 right_z=0.0437 right_yaw=0.0019 right_pitch=0.0307 right_roll=0.0053 right_gripper=0.5528\nstate[joint_eff]: [0.2803, -12.5197, 9.4838, 1.5556, -0.0708, 0.3639, 0.0171, -0.5402, -10.5504, 4.465, 1.3797, 0.0464, 0.1001, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78561323558bd35746c50378d3a10e9ef7b7049e0b76dfab74a5a8e9c430c443",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:091f614c4759e9474fac7a2c6ddb3a4acb7173cc3d8a71b71dee2c6b5a1fa78d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a9927ece78581605cccd16744c8d88684ff7aeff32b991986f9e098acc2f161",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 2.99 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 148 changed as sent

message 152 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6357, 1.8713, 1.2385, -0.1375, -0.601, -0.4961, 0.9979, -0.0212, 0.3916, 0.0834, -0.2649, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4526 left_y=-0.2054 left_z=0.1175 left_yaw=0.108 left_pitch=-0.0486 left_roll=0.0188 left_gripper=0.9979 right_x=0.2352 right_y=0.004 right_z=0.062 right_yaw=0.0157 right_pitch=-0.0036 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.6632, -12.4786, 6.4205, 1.6972, -0.1343, 0.2418, -0.232, -0.3487, 0.4855, 6.9812, 1.7558, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6174, 2.014, 1.05, 0.3241, -0.5358, -0.4183, 0.5544, 0.6922, 2.0274, 1.0485, 0.2615, 0.5732, 0.395, 0.9998]\nstate[eef_state]: left_x=0.4623 left_y=-0.2132 left_z=0.0511 left_yaw=0.0334 left_pitch=0.0241 left_roll=-0.0321 left_gripper=0.5544 right_x=0.4342 right_y=0.2402 right_z=0.0356 right_yaw=0.0008 right_pitch=-0.0161 right_roll=-0.0251 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.7419, 6.5436, 1.1844, -0.1343, 0.1441, 0.1929, -0.8821, -7.2684, 4.6701, 1.4969, -0.1294, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6155, 1.8053, 1.5375, -0.4232, -0.5274, -0.4179, 0.5504, 0.6922, 2.0289, 1.0397, 0.3309, 0.5762, 0.3882, 0.5528]\nstate[eef_state]: left_x=0.4659 left_y=-0.2162 left_z=0.22 left_yaw=0.0284 left_pitch=-0.0198 left_roll=-0.0051 left_gripper=0.5504 right_x=0.4396 right_y=0.2441 right_z=0.0437 right_yaw=0.0019 right_pitch=0.0307 right_roll=0.0053 right_gripper=0.5528\nstate[joint_eff]: [0.2803, -12.5197, 9.4838, 1.5556, -0.0708, 0.3639, 0.0171, -0.5402, -10.5504, 4.465, 1.3797, 0.0464, 0.1001, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78561323558bd35746c50378d3a10e9ef7b7049e0b76dfab74a5a8e9c430c443",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:091f614c4759e9474fac7a2c6ddb3a4acb7173cc3d8a71b71dee2c6b5a1fa78d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a9927ece78581605cccd16744c8d88684ff7aeff32b991986f9e098acc2f161",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD--o7aWEjtTYqmXVU2sGyyO2GxfGMYN_OT6QUjpb6K7PevAxbutUkMxj7yuMBTPR6sopZYJsNKVgcl_NYd9DwjshWzjq7wurkznbtImg_BP38uwgNOXBzPFE2GxTzHuEyaLx9N6JZFP5JwVZqs1ysJUJY29S7EMhb_FGbPerI1qBrkrdag_D7A7KkojfSW5cz5NK4byl6V_k5UolnjHNf8s61BELlKFWlVZhUQ8LSvN-UoqymSrX09K1UewG6kh9zZv1vossu8VY757AMqtPX93PJYzBJBUFWXNrKLze0gjAsEdH2iz3z4otVHMtz_TH5iMHWS6LphxTaMhnViTMjXmIM4bi9GwVBOMjaazbUpGXjf_1iPfCXXqvgBfYVLHk6ypOufgXqnH_rMqz3KpuxfGprOwV_vOahpZokrj7lFhCUFQodnXm86RAeqpnFqfXjRHN_NbKR9grG-Y72p3LcS3KKWHOzDBgGsdY_XuBoE8KYzKrIjvLHmxaEeTwFGuqiG9Hwud4FWuo6y5c49WctpC97_tXvF19ehTPK1-kpBp1aAAMTCEDhRx7_PVLGdCl-FOqqqivF_GzNWVXrsEcJYRMVlrfl6QJw-7zMLTMKvyot2sHGRwnFrgIx-LqEYM1MqEDrniY6xtf8iGzjjjzhY5hBfZC5tddk-xceoCKs0PUm2JW7HqJIQrzJHbUH1m4ZEPf0PODyh_m_ur9JA4j75o-jCqYftaMTetPMoWj8hWG1xYh94VE232QYgPpxnf7Cfadfvcsvm97PqRPZwaS4m6pTni_hfNESm7buy7SLbX09yMvbkJkLANOWx94xEu53Fwp7gaJl2HDgb6croppy75nmC6jhBYRmNp3ji0ChSOuxc1wPxy914ET9NunNjygjCftNSdjW9INWicXWiNPs90zjmUEv3yp8hJEVsNPa6ukzMVrhD998LjzlJTifC2jBwLRfq4Yxw9_ZUEmV30hYYTBnmBzfutaMn0LjlLuVFg_jpCGIiwSN6IQgGUA6QDfAc5Z0g1VY0w_8CNKuuTQOGtoVbqLL3HsUjmFykaCZVY53-SxMXJXSkWS7fiXCNfrZtEGS7WSnhVqcv0XTy4rlysN6lCbOLsoAHoLUi6P7BtiMVibVpQoES6nRPT8c4KBKCwJbf_EXyUg9nc6hYxQ6ywDWs9AioK6IalvGt_lhi8vbqQr1lrU9bzb3kVtMJRRhs25CAQsEKuNu3JhRJRmVvd5rp6PvhaxyyAXuBEnOh0y9x4UqS9kTO73DMWnVUfe-jcc9sO3MMkrey8dRAdYHhbHHARNth7Iyp3dee_cFQ8nr6svfxO64xcLsVKnPSMaCyy7-Z_nplf9bzHU2Aca2idP1RhxeWOq7b5k2r-2o4CX5X6WTAbl8r9yfV_AEtcyTUGKE8_ca1uJ4nVYUd74UNtuQtqP_UqL_t3rzWVkspDqe9JOIAZRzx2oXiJV6_n6_-RwHvQr9Z4dq9oh1DBIYRvEw==",
  "id": "rs_0ee9aa1f45ee3dde016ab43fbbe43087d087f09661de03e3f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.466,\"left_y\":-0.216,\"left_z\":0.13,\"left_yaw\":0.0,\"left_gripper\":0.55,\"right_x\":0.44,\"right_y\":0.244,\"right_z\":0.25,\"right_yaw\":0.0,\"right_gripper\":0.55},\"note\":\"The middle bottle now hangs vertically beneath the raised left gripper, while the right jaws visibly hold the third bottle’s full body. I’m lowering the middle bottle onto its base as I lift the third bottle to pivot it upright.\"}",
  "call_id": "call_9SoR16FypFqJ5L6kziqiCL34",
  "id": "fc_0ee9aa1f45ee3dde016ab43fbc8dd087d0a4cb0139f71102ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9SoR16FypFqJ5L6kziqiCL34",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6144, 1.8503, 1.2343, -0.0631, -0.5148, -0.3923, 0.5504, 0.6933, 1.8107, 1.5581, -0.5011, 0.5461, 0.3843, 0.5521]\nstate[eef_state]: left_x=0.4622 left_y=-0.2152 left_z=0.1327 left_yaw=0.0059 left_pitch=-0.0151 left_roll=0.0029 left_gripper=0.5504 right_x=0.438 right_y=0.2493 right_z=0.2142 right_yaw=0.0275 right_pitch=-0.0559 right_roll=-0.0425 right_gripper=0.5521\nstate[joint_eff]: [0.1026, -8.4444, 6.3111, 1.8242, -0.1294, 0.1343, 0.022, -0.759, -12.3282, 9.6068, 1.6728, 0.398, 0.1294, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2575504324431075a4ff015dd046e84852412a1e1b54de82a75f97d36c87b15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dc605e2e1c5fbe1a5a5994f88deecbf1d6544323ee0bb390a2b43240c7dab5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078170af7192f3fd18897bf9e40265c24e3d73638a9382941e88343b52d5a8d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 3.736 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6117, 2.009, 0.997, 0.4171, -0.5117, -0.4149, 0.9979, 0.7406, 1.9312, 1.3422, -0.1658, 0.5732, 0.408, 0.9998]\nstate[eef_state]: left_x=0.4599 left_y=-0.2125 left_z=0.0497 left_yaw=0.0191 left_pitch=0.052 left_roll=-0.0672 left_gripper=0.9979 right_x=0.4382 right_y=0.2757 right_z=0.1233 right_yaw=0.0415 right_pitch=-0.0446 right_roll=-0.0383 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -7.4051, 4.0, 1.2772, -0.1343, 0.3687, -0.232, 0.0479, -10.2906, 8.8547, 1.5507, 0.525, 0.3101, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6155, 1.8053, 1.5375, -0.4232, -0.5274, -0.4179, 0.5504, 0.6922, 2.0289, 1.0397, 0.3309, 0.5762, 0.3882, 0.5528]\nstate[eef_state]: left_x=0.4659 left_y=-0.2162 left_z=0.22 left_yaw=0.0284 left_pitch=-0.0198 left_roll=-0.0051 left_gripper=0.5504 right_x=0.4396 right_y=0.2441 right_z=0.0437 right_yaw=0.0019 right_pitch=0.0307 right_roll=0.0053 right_gripper=0.5528\nstate[joint_eff]: [0.2803, -12.5197, 9.4838, 1.5556, -0.0708, 0.3639, 0.0171, -0.5402, -10.5504, 4.465, 1.3797, 0.0464, 0.1001, 0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6144, 1.8503, 1.2343, -0.0631, -0.5148, -0.3923, 0.5504, 0.6933, 1.8107, 1.5581, -0.5011, 0.5461, 0.3843, 0.5521]\nstate[eef_state]: left_x=0.4622 left_y=-0.2152 left_z=0.1327 left_yaw=0.0059 left_pitch=-0.0151 left_roll=0.0029 left_gripper=0.5504 right_x=0.438 right_y=0.2493 right_z=0.2142 right_yaw=0.0275 right_pitch=-0.0559 right_roll=-0.0425 right_gripper=0.5521\nstate[joint_eff]: [0.1026, -8.4444, 6.3111, 1.8242, -0.1294, 0.1343, 0.022, -0.759, -12.3282, 9.6068, 1.6728, 0.398, 0.1294, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2575504324431075a4ff015dd046e84852412a1e1b54de82a75f97d36c87b15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dc605e2e1c5fbe1a5a5994f88deecbf1d6544323ee0bb390a2b43240c7dab5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:078170af7192f3fd18897bf9e40265c24e3d73638a9382941e88343b52d5a8d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD_CYn3MmajsMWoFiCmhjgKdvYZdBJgPfz1pkPpAFHu-dGqIbp_9WqdpMuPDmYzm-AeKjzqpz45PEUxXfWiVAb9gpOCLXZejwt8Lyx1L56h8WYyIZSPfew403XWrVHYcFfGkUcGsceWXEwLHt--erpugYbwuu9iEbSIvzqV6DewI07pLZ6cZFkYIGK5UJ9tCZ7LrhYuQoOpx1-q-DvfZrcdatTnMfGS5jJKOlP75hjDHqc_CnuZ7TZL_omQxJ1pDZXeZxHz9nUi1UZRLx8FTRCdmTBD0PjFJVyNAzfG-ht8GFRzQ9VdSknatkdygXAuMypGmO5MPkYbmL7d7w2MC2MPrMtuvKl42ZJ2wroENkPEYPdco1u7NeMnvc9NDiBWXdV7L81E21SAJoS8bjWtHN2dhRz62L7RBxoiCSBwZ-hfetl6JfxiocunMDfXXn5EFtv958q602xWO1dU2f0MDf5Hxea7t9j52o4EynjAY2S0CuEgkURj95deq1hz-2GULGkb49DW89a4W2QYkclTYSZHqXPvcPdWntr8DOKVXfNc2WpgiboxevS26e52OkTnIeSOiOH6hKyQOrNixtpVgkVHrd-hhl91uDFOr-5tjrYLQ-VixtLwLZuBCEO3YKqUWzYCRpPQt29yTlqTUyhdQPjFT2kvhMWN_yhkHo3B_JwcyKDzRNE3NwApLXdaTZPudLe_A7WRV3NioDnuoJNhoWhX2UDYkjCu8L3ba2cFK4HAxrDjsUJTSINElANm-t52Mgp0Z-3WaSv7DG_IO5X4vYvGIxU3UO4Z2XzVep01v42A1tSBKaKHk8BCnvS4T1yqBnSpsl53AUXrb7znEyy2ZpWOIcNwpSjBdkP3go8Sbu9sl-uw1moniYtL8JS_8EuMMu_JXWDgpl_niQI3XTsNsROJbFtbVEF8lTcHQqyUoc50gxRaBYtAOHxCiwemZsenHGmJwhNLXhmfaDA08iVZHiyAUGUrFPxVPZw7EJvp-wfZ8A3wUB9YV-6yguasrOwExzPWzWLHz7STPcmDwqA_5FuTJlxWmmzWRGUN-54QLhywMDNdVQ47swvqBELlebK7EYuX1tL8Rj2Bl7iyCQ4mFcPSWSyTbRb4831kUtDefbSPytHbSstJazWlQDb2R-qkVDDfi3ysj1BB4WtENvSiyf9nDfQKVYHR3t6k4OTmk1fU7n8Kku58OGKRmtKd091L-jK5nBwDQBnabRT_UL487qkv6jsewTVXNzYSAmleICuAHP-VZBDJHXr18um9G3njPwoCcS7kyoJAgBEjqOgh8H6Gz-qMJue_2hUfgaqTcrt5yqnrcv6AMPBJj__aP_iX2On5SyM15M4JVmjTRMjfxB3DI_AxoEdPrC7scoEbLesIfcNcikiQ94zkf3psU8YyH8pzuKE8sO9kIjNo8IqBRdymr5Dyx4yxyxQYFpCCrX0WfaCE=",
  "id": "rs_0ee9aa1f45ee3dde016ab43fc1917487d093d028493fbc8715",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"right_x\":0.438,\"right_y\":0.249,\"right_z\":0.13,\"right_yaw\":0.0,\"right_gripper\":0.55},\"note\":\"The middle bottle is vertical at table height and the third bottle now hangs vertically from the raised right gripper. I’m releasing the middle bottle while lowering the third onto its base.\"}",
  "call_id": "call_gOHsQYyUfoj4LejQMTZDbPgx",
  "id": "fc_0ee9aa1f45ee3dde016ab43fc1d20887d0870ec2abab7f942f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gOHsQYyUfoj4LejQMTZDbPgx",
  "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]: [-0.6136, 1.8515, 1.2217, -0.041, -0.5156, -0.3931, 0.9964, 0.6945, 1.8355, 1.2415, -0.1635, 0.5503, 0.3923, 0.5521]\nstate[eef_state]: left_x=0.4625 left_y=-0.2148 left_z=0.1309 left_yaw=0.0077 left_pitch=-0.0079 left_roll=-0.0023 left_gripper=0.9964 right_x=0.4303 right_y=0.2429 right_z=0.128 right_yaw=0.021 right_pitch=-0.0569 right_roll=-0.0406 right_gripper=0.5521\nstate[joint_eff]: [-0.5402, -10.1402, 6.2154, 1.6435, -0.315, -0.0122, -0.0659, 0.5949, -7.9385, 6.5846, 1.79, 0.4078, 0.1392, 0.2076]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:904bd39b125bfe99a8257b5cf9d8754eda6169ec4586924e36ab2066130dd02f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d54cbc4346fc6a824610c5f02b69f7bf85e3b94a3202227046dd25fb106ae88d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33f24e53cb11e96996533fd6c8d7ef90b18538ded6fcf570a81207012c6d386",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 39 attempt 0 · /responses · status 200 · 7.976 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 148 changed as sent

message 156 changed as sent

message 160 changed as sent

message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6174, 2.014, 1.05, 0.3241, -0.5358, -0.4183, 0.5544, 0.6922, 2.0274, 1.0485, 0.2615, 0.5732, 0.395, 0.9998]\nstate[eef_state]: left_x=0.4623 left_y=-0.2132 left_z=0.0511 left_yaw=0.0334 left_pitch=0.0241 left_roll=-0.0321 left_gripper=0.5544 right_x=0.4342 right_y=0.2402 right_z=0.0356 right_yaw=0.0008 right_pitch=-0.0161 right_roll=-0.0251 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.7419, 6.5436, 1.1844, -0.1343, 0.1441, 0.1929, -0.8821, -7.2684, 4.6701, 1.4969, -0.1294, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6144, 1.8503, 1.2343, -0.0631, -0.5148, -0.3923, 0.5504, 0.6933, 1.8107, 1.5581, -0.5011, 0.5461, 0.3843, 0.5521]\nstate[eef_state]: left_x=0.4622 left_y=-0.2152 left_z=0.1327 left_yaw=0.0059 left_pitch=-0.0151 left_roll=0.0029 left_gripper=0.5504 right_x=0.438 right_y=0.2493 right_z=0.2142 right_yaw=0.0275 right_pitch=-0.0559 right_roll=-0.0425 right_gripper=0.5521\nstate[joint_eff]: [0.1026, -8.4444, 6.3111, 1.8242, -0.1294, 0.1343, 0.022, -0.759, -12.3282, 9.6068, 1.6728, 0.398, 0.1294, 0.2125]\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 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6136, 1.8515, 1.2217, -0.041, -0.5156, -0.3931, 0.9964, 0.6945, 1.8355, 1.2415, -0.1635, 0.5503, 0.3923, 0.5521]\nstate[eef_state]: left_x=0.4625 left_y=-0.2148 left_z=0.1309 left_yaw=0.0077 left_pitch=-0.0079 left_roll=-0.0023 left_gripper=0.9964 right_x=0.4303 right_y=0.2429 right_z=0.128 right_yaw=0.021 right_pitch=-0.0569 right_roll=-0.0406 right_gripper=0.5521\nstate[joint_eff]: [-0.5402, -10.1402, 6.2154, 1.6435, -0.315, -0.0122, -0.0659, 0.5949, -7.9385, 6.5846, 1.79, 0.4078, 0.1392, 0.2076]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:904bd39b125bfe99a8257b5cf9d8754eda6169ec4586924e36ab2066130dd02f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d54cbc4346fc6a824610c5f02b69f7bf85e3b94a3202227046dd25fb106ae88d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33f24e53cb11e96996533fd6c8d7ef90b18538ded6fcf570a81207012c6d386",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD_GLPjQP2rNv-QBPashmmY8TbIWBDcqp5LMIBSjbTqyz-YHYO_aoyYuLtMtOqn_an_GWHOKWSRLauDy_DW8KJreMDgawVHtYnyRbk8celvlpgN40Y3wHq7Dd58twR8O2zJU_Zfbn08bztyIxzl0WFREt2OUtUdvFMvZrAF00EtTfWUVN9OHSVohUL_-6CoAweybS0og6ueM87oewP7VNmFKol8mabV6onIxGyCd7qPbwks0TqeL31BFmOKf3nkaC-OIRQkCLtaahe7ys23e2D223pVhysFLoQXmQFEq6WaDHQ7mtzbvJoR_fJw3rxBDmQNe6t7j5KakCvFPkUX7Pb1C6-ohf4RGfysBcaX3HEgWqX324ZrMYtY6hwSUAGJ73PNL-AwF446I9oKFLlejHRZAAhYovoopBnAhmsm-msOyqyNnhO9k2F2JkaAJ3mTq42z2TsgSYtg7Wd8wfO3Rg92048n0e19VSZplVnoO8hy7z-h9QQv88t02kLZCDP_xS7HhUSpGA4NP8VJslq_rxrUtGn0EaL1ZPzmTByioUNEKiSt8OScAgxb7GryNSb2rVcauWSq9g4LBFeHdREBYhwKbvmUaYX6Cf-UpLsfkQWIfBMTWR1aquE1Uc0wKqhl212f_8EcdXl8STLYFizZUAgLDP1-xxDLLZnziGAv7nTTuI18IDZFtpWc20sJp2QgKXz_-V8UE8wWRYJRMPL_euzEasrFrH30WrybXFkTwkUfaVV50HIA77W2dsOi1PFqrR9K_irzFRABIbkM5ZupOrmAqmKL-yYYXVDGwuzf91CJuHsUy6IHh84KB3SJi1vmv8CZHcZ0wIhOPg1e9PGV9BjqvojEdtlhIHQv9I2MkITACoiDBENSyNy77pe3ULswVDXWrVmbNjL3S0oMB-UarPUlP_MzYCwKTySAo1x5ws1XeZIDDtZ39gb8yDT1XjwxafDw6eJSOxznhxMWVkFM3BE1umDwA1YYtOMnqmTX0JN2G0ZLMmF1vM5W-nuCPqZCrS7CmshDDqkIq7pdZVnL24mIQYxzRVawzR2CaEaFQfa_CGFxmdcAltOmq1tqhAwOOPdVjjq9d31o38yqB1kBpRlnbVyJWMIF_H-sDbACOLSZwyEVPjuDgNL7vOPOv-QpwTgBER5WlaA3tGJhFbNpOqmEXdhcl4z571u54kvBPo4fEQh4NBDD3cDq6_vzvi8-3Z_I2rI-olNFrlj8zzTbfHsE-YwnRpwk6SdMtNmnwz9_tLLycjibqma8fJ9v4NtlrOWuxUfmP2jLGJgArU4KfJi-LFF6HrI360m3KOyj2VOtk6CiChHD4FPjBgYxRzhHjW-KdpgStcrq4cO7QJC6qrxqnAvjuH8-pz0MU5-kQqRES01BQYTe5bzYgjXVmly_Pcs5xklgpYkwj0cHe1htNWKCgx-BStX4tb5p8RNOCOSEICCRli9-gmb-jg6oezjlOvHfbhw6nx0nMN65uQ9CWzQ7y-jrgCYiZ-RuajWFlU4U4xlGRcm0ACzdGpRsrDtpPZBpNUQTr461QYTG9tgRPKXpMS1zMFHeYRnebs3Qvw0wKC5YqsSgKerXIh1nb2ppkO_m6IK11XmJWIh8GU6HmgXaKex4WP7Xxly3THwPcZf0SuajOgAE7bDOVYe3LC4QwuTjVo4dPndao1g9WIUV4DLfQcLVi02_gNqw10U5j8Dl4mp73ZsT1T5ftSyA2ad300rFydLV9VaRkMqv7IIn3GY-cejPz5qbzPSarWnseh6HDkXU=",
  "id": "rs_0ee9aa1f45ee3dde016ab43fc46aec87d0b906cf2a2c9bd83f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_gripper\":1.0,\"right_x\":0.294,\"right_y\":0.0,\"right_z\":0.18,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The wrist views show two released bottles standing and the third vertical with its base now on the table. I’m opening the right jaws and retracting both arms to reveal and verify all three bottles.\"}",
  "call_id": "call_qQo83SKwnzNqjmpJEXPPsoLC",
  "id": "fc_0ee9aa1f45ee3dde016ab43fc588e487d094a8933e832ea66a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qQo83SKwnzNqjmpJEXPPsoLC",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0563, 0.8146, 0.606, -0.3279, -0.0963, -0.0891, 0.9979, 0.0086, 0.8135, 0.6037, -0.3576, 0.0486, 0.0093, 0.9984]\nstate[eef_state]: left_x=0.3032 left_y=0.0035 left_z=0.1865 left_yaw=0.0569 left_pitch=0.0297 left_roll=-0.0122 left_gripper=0.9979 right_x=0.2988 right_y=-0.0024 right_z=0.1792 right_yaw=-0.0458 right_pitch=0.0026 right_roll=-0.0041 right_gripper=0.9984\nstate[joint_eff]: [0.294, -1.6889, 6.7487, 1.7607, -0.0122, 0.1685, -0.232, -0.3077, -1.9624, 7.0085, 1.8974, 0.0171, 0.0073, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b371b261f2ec4d6c822ad5cc3cede26ea93df27cdd8665a2bc4e330979de8205",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09fd99e91c69167651e16e07927f7096fa98c9905670c83ee0357443ee9ebba8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd6d708e4d67bdb7a350770fda5a3e88ce63fba776dedefbedc3c53517021997",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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