adhoc

completed
2026-09-23T22:16:39.367184+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
219.6 s
total steps
318
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe three bottles are lying near the middle: the left bottle’s cap is the far-left blue cap, around the upper-left of the cluster. I’m moving the left gripper above that neck area, open and at a safe approach height, so the wrist view can refine alignment.
move_to
left_x0.4000left_y-0.1200left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3763, -0.0257, -0.0284, 0.9988, -0.0158, 0.7891, 0.6037, -0.3859, -0.0128, -0.025, 0.9991] state[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.183 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9988 right_x=0.2936 right_y=0.0012 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.5538, -1.4291, 9.7026, 1.7314, 0.0317, 0.1392, -0.1343, -1.0325, -1.2103, 10.4547, 1.8779, -0.0952, 0.1197, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.12,"left_z":0.15,"left_gripper":1.0},"note":"The three bottles are lying near the middle: the left bottle’s cap is the far-left blue cap, around the upper-left of the cluster. I’m moving the left gripper above that neck area, open and at a safe approach height, so the wrist view can refine alignment."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe left wrist view now shows the left bottle’s blue cap and neck just left of the jaw column, with its body running diagonally toward the gripper. I’m rotating the jaws to run across the neck rather than along it, while holding the same approach point.
move_to
left_yaw0.7000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4561, 1.4204, 0.7921, -0.0582, -0.3676, -0.2676, 0.9989, -0.0193, 0.7937, 0.6033, -0.4038, -0.0231, -0.0292, 0.999] state[eef_state]: left_x=0.3848 left_y=-0.1141 left_z=0.1288 left_yaw=-0.0208 left_pitch=-0.0722 left_roll=0.0245 left_gripper=0.9989 right_x=0.2914 right_y=0.0021 right_z=0.1748 right_yaw=0.0075 right_pitch=-0.0235 right_roll=0.0027 right_gripper=0.999 state[joint_eff]: [-0.3487, -6.2291, 9.3197, 1.746, -0.315, -0.0806, -0.1294, -0.1026, -1.6342, 6.9949, 1.917, 0.0562, -0.0073, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_yaw":0.7},"note":"The left wrist view now shows the left bottle’s blue cap and neck just left of the jaw column, with its body running diagonally toward the gripper. I’m rotating the jaws to run across the neck rather than along it, while holding the same approach point."})
tool
executing move_to over 5 steps (0.5s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteAfter the rotation, the left bottle’s neck is still just left of center and the overhead view shows the gripper covering its cap end. I’m descending vertically to neck height without changing the lateral alignment.
move_to
left_x0.4030left_y-0.1430left_z0.0250left_yaw0.4900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6662, 1.7802, 1.1877, -0.4538, -0.8551, -0.9329, 0.9985, -0.0193, 0.7826, 0.5823, -0.3985, -0.0235, -0.033, 0.999] state[eef_state]: left_x=0.4028 left_y=-0.1425 left_z=0.1224 left_yaw=0.4859 left_pitch=-0.0428 left_roll=-0.0036 left_gripper=0.9985 right_x=0.2888 right_y=0.0022 right_z=0.1694 right_yaw=0.0099 right_pitch=-0.0281 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [-0.3214, -9.6205, 6.0103, 0.3785, -0.696, 0.0024, -0.0611, 0.0342, -1.6068, 6.7897, 1.9219, -0.0269, -0.0317, -0.0073] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.403,"left_y":-0.143,"left_z":0.025,"left_yaw":0.49},"note":"After the rotation, the left bottle’s neck is still just left of center and the overhead view shows the gripper covering its cap end. I’m descending vertically to neck height without changing the lateral alignment."})
tool
executing move_to over 7 steps (0.7s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe attempted descent stalled at 12 cm, indicating this reach-plus-yaw pose is kinematically awkward rather than in contact. I’m reducing the yaw while keeping the gripper over the same neck so the arm can descend.
move_to
left_x0.3950left_y-0.1250left_z0.0400left_yaw0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6682, 1.8175, 1.243, -0.6479, -0.9588, -1.1534, 0.9984, -0.0193, 0.7704, 0.5537, -0.3882, -0.0238, -0.0357, 0.9991] state[eef_state]: left_x=0.3911 left_y=-0.1199 left_z=0.1241 left_yaw=0.651 left_pitch=-0.0094 left_roll=0.0103 left_gripper=0.9984 right_x=0.2859 right_y=0.0023 right_z=0.1617 right_yaw=0.0117 right_pitch=-0.0342 right_roll=-0.002 right_gripper=0.9991 state[joint_eff]: [-0.4034, -9.0051, 7.6923, 0.8669, -0.735, -0.0562, -0.022, 0.0205, -1.7026, 7.0769, 2.0244, -0.0757, -0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.125,"left_z":0.04,"left_yaw":0.3},"note":"The attempted descent stalled at 12 cm, indicating this reach-plus-yaw pose is kinematically awkward rather than in contact. I’m reducing the yaw while keeping the gripper over the same neck so the arm can descend."})
tool
executing move_to over 6 steps (0.6s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe arm has now descended to about 5 cm and the wrist view places the bottle’s cap/neck between the two jaws. I’m closing fully to test a neck grasp before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6178, 1.7912, 0.9531, -0.3794, -0.8379, -0.9565, 0.9982, -0.0193, 0.7544, 0.5213, -0.3733, -0.028, -0.036, 0.999] state[eef_state]: left_x=0.3645 left_y=-0.0935 left_z=0.0511 left_yaw=0.5523 left_pitch=-0.1245 left_roll=0.1289 left_gripper=0.9982 right_x=0.2828 right_y=0.0031 right_z=0.1542 right_yaw=0.0154 right_pitch=-0.0356 right_roll=0.0002 right_gripper=0.999 state[joint_eff]: [0.2667, -6.4205, 6.4889, -0.022, 0.6813, 1.1062, -0.0464, -0.0068, -1.7709, 6.8991, 2.0244, -0.0464, -0.0171, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The arm has now descended to about 5 cm and the wrist view places the bottle’s cap/neck between the two jaws. I’m closing fully to test a neck grasp before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe gripper closed empty, and the bottle was nudged so its neck now lies farther outward, nearly along the arm’s radial direction. I’m reopening, advancing about 3 cm toward that neck, and straightening the jaws to cross it cleanly.
move_to
left_x0.3950left_y-0.0960left_z0.0550left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6426, 1.7596, 0.812, -0.0837, -0.9211, -0.9672, 0.0136, -0.0193, 0.7372, 0.4862, -0.3584, -0.0303, -0.036, 0.999] state[eef_state]: left_x=0.3683 left_y=-0.0956 left_z=0.0557 left_yaw=0.5614 left_pitch=0.0155 left_roll=-0.0244 left_gripper=0.0136 right_x=0.2793 right_y=0.0036 right_z=0.1457 right_yaw=0.0173 right_pitch=-0.0386 right_roll=0.0016 right_gripper=0.999 state[joint_eff]: [-0.0342, -7.7744, 4.465, 1.0134, -0.3443, 0.0611, 1.1697, -0.253, -1.7026, 7.2821, 1.9805, -0.0757, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.096,"left_z":0.055,"left_yaw":0.0,"left_gripper":1.0},"note":"The gripper closed empty, and the bottle was nudged so its neck now lies farther outward, nearly along the arm’s radial direction. I’m reopening, advancing about 3 cm toward that neck, and straightening the jaws to cross it cleanly."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe reopened wrist view clearly shows the bottle to the right of the jaw column and its cap still a little farther out. I’m shifting rightward in the left arm’s frame and advancing about 3 cm to center the neck between the open jaws.
move_to
left_x0.4200left_y-0.1300left_z0.0550left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4019, 1.66, 0.5648, 0.416, -0.4305, -0.3191, 0.9948, -0.0193, 0.7166, 0.4515, -0.3428, -0.0303, -0.036, 0.999] state[eef_state]: left_x=0.3879 left_y=-0.0808 left_z=0.0399 left_yaw=0.1116 left_pitch=-0.0466 left_roll=0.0146 left_gripper=0.9948 right_x=0.2758 right_y=0.0036 right_z=0.1384 right_yaw=0.0173 right_pitch=-0.0371 right_roll=0.0015 right_gripper=0.999 state[joint_eff]: [0.3214, -8.6222, 4.8342, 1.8388, -0.0024, 0.1294, -0.2125, -0.335, -1.5248, 6.8581, 2.0195, -0.0562, -0.0464, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.13,"left_z":0.055,"left_yaw":0.0},"note":"The reopened wrist view clearly shows the bottle to the right of the jaw column and its cap still a little farther out. I’m shifting rightward in the left arm’s frame and advancing about 3 cm to center the neck between the open jaws."})
tool
executing move_to over 5 steps (0.5s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe bottle is closer but its neck remains distinctly to the right of the jaws in both views; the overhead also shows the cap just beyond the gripper. I’m making one more small outward-and-right correction before closing.
move_to
left_x0.4300left_y-0.1600left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4591, 1.7466, 0.6689, 0.4328, -0.4042, -0.2913, 0.9961, -0.0193, 0.6952, 0.4168, -0.3275, -0.0307, -0.0364, 0.999] state[eef_state]: left_x=0.4097 left_y=-0.121 left_z=0.0449 left_yaw=0.0177 left_pitch=-0.0245 left_roll=0.0071 left_gripper=0.9961 right_x=0.2723 right_y=0.0038 right_z=0.1311 right_yaw=0.0179 right_pitch=-0.0352 right_roll=0.0014 right_gripper=0.999 state[joint_eff]: [-0.6906, -6.7897, 7.3231, 1.619, -0.1197, 0.1099, 0.1294, -0.335, -1.1419, 6.9675, 1.9853, -0.0611, -0.0757, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.16,"left_z":0.05},"note":"The bottle is closer but its neck remains distinctly to the right of the jaws in both views; the overhead also shows the cap just beyond the gripper. I’m making one more small outward-and-right correction before closing."})
tool
executing move_to over 4 steps (0.4s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe low lateral correction barely tracked, likely because the open fingers are dragging on the table or bottle. I’m lifting clear while moving to the corrected neck coordinates, then I’ll descend vertically.
move_to
left_x0.4300left_y-0.1700left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4599, 1.7515, 0.6903, 0.4294, -0.4038, -0.2909, 0.9963, -0.0193, 0.6758, 0.3859, -0.3134, -0.0307, -0.036, 0.999] state[eef_state]: left_x=0.4151 left_y=-0.1241 left_z=0.0499 left_yaw=0.0163 left_pitch=-0.0131 left_roll=0.0013 left_gripper=0.9963 right_x=0.2693 right_y=0.0038 right_z=0.1248 right_yaw=0.0176 right_pitch=-0.0325 right_roll=0.0016 right_gripper=0.999 state[joint_eff]: [-0.4581, -7.2137, 6.9265, 1.6825, -0.1148, 0.0952, 0.0024, -0.253, -1.2376, 7.1453, 2.0098, -0.0757, -0.0171, -0.0073] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.17,"left_z":0.12},"note":"The low lateral correction barely tracked, likely because the open fingers are dragging on the table or bottle. I’m lifting clear while moving to the corrected neck coordinates, then I’ll descend vertically."})
tool
executing move_to over 5 steps (0.5s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe combined retreat was held completely, so I’m trying a straight vertical lift at the current x-y to free the fingers from any table or bottle contact before translating.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4599, 1.7515, 0.6903, 0.4294, -0.4038, -0.2909, 0.9963, -0.0193, 0.6567, 0.3569, -0.2981, -0.0303, -0.0364, 0.999] state[eef_state]: left_x=0.4151 left_y=-0.1241 left_z=0.0499 left_yaw=0.0163 left_pitch=-0.0131 left_roll=0.0013 left_gripper=0.9963 right_x=0.2668 right_y=0.0038 right_z=0.1194 right_yaw=0.0175 right_pitch=-0.0272 right_roll=0.0009 right_gripper=0.999 state[joint_eff]: [-0.5265, -7.2, 6.9402, 1.6679, -0.0904, 0.0611, -0.0122, -0.335, -1.0735, 6.8718, 1.9316, -0.0317, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The combined retreat was held completely, so I’m trying a straight vertical lift at the current x-y to free the fingers from any table or bottle contact before translating."})
tool
executing move_to over 9 steps (0.9s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe vertical retreat succeeded. From the higher wrist view, the left bottle’s neck is near the jaw column, and I’m now applying the modest rightward/outward correction in free space where it can track.
move_to
left_x0.4300left_y-0.1600left_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4595, 1.5028, 0.9394, -0.0719, -0.4042, -0.2916, 0.9964, -0.0193, 0.6399, 0.329, -0.2905, -0.0303, -0.036, 0.999] state[eef_state]: left_x=0.4165 left_y=-0.1246 left_z=0.1574 left_yaw=0.0174 left_pitch=-0.016 left_roll=0.0024 left_gripper=0.9964 right_x=0.2635 right_y=0.0039 right_z=0.1124 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.999 state[joint_eff]: [-0.3897, -8.9231, 9.4291, 1.619, -0.2173, 0.0024, -0.0073, -0.253, -0.8137, 7.1726, 1.9414, -0.0366, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.16,"left_z":0.16},"note":"The vertical retreat succeeded. From the higher wrist view, the left bottle’s neck is near the jaw column, and I’m now applying the modest rightward/outward correction in free space where it can track."})
tool
executing move_to over 4 steps (0.4s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe lateral alignment is now good: the target neck sits almost exactly on the jaw column, but it is still forward of the fingertip row. I’m advancing about 4 cm at safe height to bring that neck under the grasp point.
move_to
left_x0.4550left_y-0.1600left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5377, 1.6043, 0.9932, -0.102, -0.4454, -0.3328, 0.9964, -0.0193, 0.6209, 0.3019, -0.2836, -0.0303, -0.0364, 0.999] state[eef_state]: left_x=0.4167 left_y=-0.1557 left_z=0.1344 left_yaw=-0.004 left_pitch=-0.071 left_roll=0.0287 left_gripper=0.9964 right_x=0.2602 right_y=0.0039 right_z=0.1061 right_yaw=0.0175 right_pitch=-0.0318 right_roll=0.001 right_gripper=0.999 state[joint_eff]: [0.212, -7.9248, 10.0171, 1.7558, -0.3248, 0.188, -0.0122, -0.335, -0.6906, 6.8855, 2.0098, -0.0024, -0.0659, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.16,"left_z":0.15},"note":"The lateral alignment is now good: the target neck sits almost exactly on the jaw column, but it is still forward of the fingertip row. I’m advancing about 4 cm at safe height to bring that neck under the grasp point."})
tool
executing move_to over 3 steps (0.3s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe outward command stalled after only a few millimetres, so I’m raising the arm while extending; this should avoid the awkward low-reach configuration and place the wrist over the bottle’s cap end.
move_to
left_x0.4600left_y-0.1600left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5419, 1.6119, 1.0107, -0.1017, -0.4648, -0.3439, 0.9964, -0.0193, 0.6006, 0.2756, -0.2718, -0.0307, -0.036, 0.999] state[eef_state]: left_x=0.4204 left_y=-0.1565 left_z=0.1395 left_yaw=0.0128 left_pitch=-0.0554 left_roll=0.0252 left_gripper=0.9964 right_x=0.2578 right_y=0.004 right_z=0.1014 right_yaw=0.0176 right_pitch=-0.0261 right_roll=0.0013 right_gripper=0.999 state[joint_eff]: [0.0615, -8.1162, 9.2103, 1.7949, -0.3101, 0.0269, -0.0073, -0.1026, -0.6496, 6.7897, 1.9072, -0.0464, -0.0171, -0.0073] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.16,"left_z":0.2},"note":"The outward command stalled after only a few millimetres, so I’m raising the arm while extending; this should avoid the awkward low-reach configuration and place the wrist over the bottle’s cap end."})
tool
executing move_to over 4 steps (0.4s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteFurther extension is being refused, but the overhead view shows the fingertips already over the upper half of the left bottle, above its center of mass. I’m descending there to take a body grasp that should still let the bottle hang vertically when lifted.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5419, 1.6119, 1.0107, -0.102, -0.4644, -0.3443, 0.9964, -0.0193, 0.5819, 0.255, -0.2676, -0.0303, -0.036, 0.999] state[eef_state]: left_x=0.4204 left_y=-0.1565 left_z=0.1394 left_yaw=0.0127 left_pitch=-0.0558 left_roll=0.0249 left_gripper=0.9964 right_x=0.2553 right_y=0.004 right_z=0.0973 right_yaw=0.0173 right_pitch=-0.0238 right_roll=0.001 right_gripper=0.999 state[joint_eff]: [-0.0342, -8.1162, 9.388, 1.7705, -0.2906, -0.0122, -0.0122, -0.335, -0.3214, 6.735, 1.8974, -0.0513, -0.0562, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"Further extension is being refused, but the overhead view shows the fingertips already over the upper half of the left bottle, above its center of mass. I’m descending there to take a body grasp that should still let the bottle hang vertically when lifted."})
tool
executing move_to over 7 steps (0.7s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteAt 6 cm height the left bottle’s upper body fills the space between the jaws and is centered well enough for a cylindrical body grasp. I’m closing now and will judge the grasp from the settled jaw opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5518, 1.8057, 0.7898, 0.3954, -0.4759, -0.3691, 0.9964, -0.0193, 0.5674, 0.2359, -0.2653, -0.0307, -0.036, 0.999] state[eef_state]: left_x=0.4245 left_y=-0.1621 left_z=0.0602 left_yaw=0.0243 left_pitch=0.018 left_roll=-0.0343 left_gripper=0.9964 right_x=0.2528 right_y=0.0041 right_z=0.0924 right_yaw=0.0176 right_pitch=-0.0261 right_roll=0.0013 right_gripper=0.999 state[joint_eff]: [0.4308, -4.6291, 2.7829, 0.8962, -0.2027, 0.1978, -0.0024, -0.335, -0.5538, 6.7897, 1.9072, -0.0073, -0.0659, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At 6 cm height the left bottle’s upper body fills the space between the jaws and is centered well enough for a cylindrical body grasp. I’m closing now and will judge the grasp from the settled jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe jaws again closed empty; the close revealed that the target bottle is left of the jaw column, not between the fingers. I’m reopening and lifting straight up so I can correct laterally without dragging the bottle.
move_to
left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5613, 1.8153, 0.8074, 0.395, -0.4984, -0.3672, 0.0132, -0.0193, 0.5484, 0.215, -0.2638, -0.0303, -0.036, 0.999] state[eef_state]: left_x=0.4276 left_y=-0.1649 left_z=0.0636 left_yaw=0.032 left_pitch=0.0315 left_roll=-0.026 left_gripper=0.0132 right_x=0.2501 right_y=0.0041 right_z=0.0876 right_yaw=0.0173 right_pitch=-0.0264 right_roll=0.0011 right_gripper=0.999 state[joint_eff]: [0.294, -9.1009, 6.0513, 1.0965, -0.1099, 0.1636, 1.2234, -0.1846, -0.335, 6.9675, 1.9121, -0.0366, -0.0171, -0.0122] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16,"left_gripper":1.0},"note":"The jaws again closed empty; the close revealed that the target bottle is left of the jaw column, not between the fingers. I’m reopening and lifting straight up so I can correct laterally without dragging the bottle."})
tool
executing move_to over 10 steps (1.0s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteFrom the lifted view, the bottle is laterally centered but its entire body remains in front of the fingertip row, explaining the empty closes. I’m commanding a more decisive outward move at the same safe height to put the grasp point over the upper body.
move_to
left_x0.4800left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5617, 1.652, 1.0142, -0.0494, -0.5053, -0.3748, 0.9945, -0.0193, 0.5289, 0.1932, -0.2623, -0.0307, -0.036, 0.999] state[eef_state]: left_x=0.4264 left_y=-0.1631 left_z=0.1351 left_yaw=0.041 left_pitch=-0.0276 left_roll=0.0129 left_gripper=0.9945 right_x=0.2473 right_y=0.0042 right_z=0.0825 right_yaw=0.0176 right_pitch=-0.0272 right_roll=0.0014 right_gripper=0.999 state[joint_eff]: [-0.253, -10.5504, 9.1009, 1.4579, -0.1929, 0.0757, -0.188, -0.1436, -0.294, 7.0085, 1.9072, -0.0757, -0.0415, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_z":0.13},"note":"From the lifted view, the bottle is laterally centered but its entire body remains in front of the fingertip row, explaining the empty closes. I’m commanding a more decisive outward move at the same safe height to put the grasp point over the upper body."})
tool
executing move_to over 5 steps (0.5s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe larger outward command tracked: the left bottle’s neck and upper body are now centered on the jaw column and much nearer the fingertip row. I’m descending vertically to body height for a fresh grasp.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4908, 1.8076, 1.1091, -0.0078, -0.4702, -0.3603, 0.9961, -0.0193, 0.5076, 0.1699, -0.2623, -0.0307, -0.036, 0.999] state[eef_state]: left_x=0.464 left_y=-0.1531 left_z=0.1095 left_yaw=0.077 left_pitch=-0.0561 left_roll=0.0166 left_gripper=0.9961 right_x=0.2442 right_y=0.0043 right_z=0.0767 right_yaw=0.0176 right_pitch=-0.0291 right_roll=0.0015 right_gripper=0.999 state[joint_eff]: [0.1299, -8.9231, 9.1419, 1.8095, -0.0757, 0.3101, 0.149, -0.335, -0.2393, 6.8718, 1.9023, -0.0611, -0.0269, -0.0073] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The larger outward command tracked: the left bottle’s neck and upper body are now centered on the jaw column and much nearer the fingertip row. I’m descending vertically to body height for a fresh grasp."})
tool
executing move_to over 5 steps (0.5s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe straight descent at x=0.47 hit the arm’s low-reach limit rather than the bottle. I’m backing inward by about 2 cm while descending, aiming for the bottle’s upper shoulder, which remains above its center of mass.
move_to
left_x0.4550left_y-0.1550left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4847, 1.8175, 1.1339, 0.0105, -0.4599, -0.3408, 0.9963, -0.0193, 0.4812, 0.1455, -0.2619, -0.0303, -0.036, 0.999] state[eef_state]: left_x=0.4727 left_y=-0.1562 left_z=0.1176 left_yaw=0.0638 left_pitch=-0.0318 left_roll=0.0094 left_gripper=0.9963 right_x=0.2412 right_y=0.0043 right_z=0.0715 right_yaw=0.0173 right_pitch=-0.0268 right_roll=0.0012 right_gripper=0.999 state[joint_eff]: [-0.4991, -9.1692, 8.841, 1.7851, -0.0904, 0.149, 0.0073, -0.3487, 0.0205, 6.9265, 1.9316, -0.022, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.155,"left_z":0.035},"note":"The straight descent at x=0.47 hit the arm’s low-reach limit rather than the bottle. I’m backing inward by about 2 cm while descending, aiming for the bottle’s upper shoulder, which remains above its center of mass."})
tool
executing move_to over 6 steps (0.6s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe diagonal descent was also held at the reach singularity. I’m retreating inward and upward to reset the arm configuration before choosing a more reachable grasp.
move_to
left_x0.4000left_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4847, 1.8175, 1.1339, 0.0109, -0.4603, -0.3408, 0.9963, -0.0193, 0.4557, 0.1249, -0.2642, -0.0303, -0.0364, 0.999] state[eef_state]: left_x=0.4727 left_y=-0.1562 left_z=0.1176 left_yaw=0.0641 left_pitch=-0.0313 left_roll=0.0094 left_gripper=0.9963 right_x=0.2387 right_y=0.0043 right_z=0.0673 right_yaw=0.0175 right_pitch=-0.0242 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [-0.294, -9.1692, 8.5538, 1.7167, -0.1099, 0.1636, -0.0024, -0.212, 0.1573, 6.7897, 1.9316, -0.0415, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_z":0.18},"note":"The diagonal descent was also held at the reach singularity. I’m retreating inward and upward to reset the arm configuration before choosing a more reachable grasp."})
tool
executing move_to over 6 steps (0.6s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe reset succeeded and the high wrist view places the left bottle almost centered. I’m now approaching a slightly more reachable point on its upper shoulder in one clean diagonal move, rather than extending first and then trying to descend at the singularity.
move_to
left_x0.4500left_y-0.1500left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5911, 1.5204, 1.013, -0.131, -0.5316, -0.4023, 0.9964, -0.0193, 0.4309, 0.1089, -0.2672, -0.0307, -0.036, 0.999] state[eef_state]: left_x=0.4078 left_y=-0.1616 left_z=0.1767 left_yaw=0.047 left_pitch=0.0217 left_roll=-0.0255 left_gripper=0.9964 right_x=0.2369 right_y=0.0045 right_z=0.0648 right_yaw=0.0176 right_pitch=-0.0184 right_roll=0.0011 right_gripper=0.999 state[joint_eff]: [-0.6496, -6.0786, 8.2667, 1.3797, -0.2173, 0.0024, -0.0073, -0.3624, 0.2256, 6.5983, 1.8974, -0.0708, -0.0464, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.15,"left_z":0.05},"note":"The reset succeeded and the high wrist view places the left bottle almost centered. I’m now approaching a slightly more reachable point on its upper shoulder in one clean diagonal move, rather than extending first and then trying to descend at the singularity."})
tool
executing move_to over 9 steps (0.9s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThis diagonal approach reached 5 cm successfully, and the left bottle’s neck and upper body are now centered between the widely open fingers. I’m closing for the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5022, 1.869, 0.8848, 0.3134, -0.4717, -0.3592, 0.9964, -0.0193, 0.4137, 0.0978, -0.2684, -0.0303, -0.036, 0.999] state[eef_state]: left_x=0.4448 left_y=-0.1486 left_z=0.0523 left_yaw=0.0654 left_pitch=-0.0257 left_roll=-0.0007 left_gripper=0.9964 right_x=0.2358 right_y=0.0044 right_z=0.0632 right_yaw=0.0173 right_pitch=-0.0135 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [0.6906, -8.1162, 4.8479, 1.4628, -0.1441, 0.2759, -0.0122, -0.294, 0.1436, 6.653, 1.8095, -0.0366, -0.0659, -0.0073] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"This diagonal approach reached 5 cm successfully, and the left bottle’s neck and upper body are now centered between the widely open fingers. I’m closing for the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteDespite perfect image centering, the settled jaws are empty, so the finger tips were still above the bottle rather than laterally misaligned. I’m reopening and lowering nearly to table level at the same x-y.
move_to
left_z0.0050left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5068, 1.8793, 0.8757, 0.4191, -0.498, -0.35, 0.0134, -0.0193, 0.4034, 0.0925, -0.2687, -0.0307, -0.036, 0.999] state[eef_state]: left_x=0.454 left_y=-0.1514 left_z=0.065 left_yaw=0.0778 left_pitch=0.055 left_roll=-0.0269 left_gripper=0.0134 right_x=0.2354 right_y=0.0045 right_z=0.0629 right_yaw=0.0176 right_pitch=-0.0089 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [0.0205, -9.4427, 4.6838, 1.0965, -0.0513, -0.0122, 0.9646, -0.1846, 0.1299, 6.5846, 1.8291, -0.0757, -0.0464, -0.0122] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.005,"left_gripper":1.0},"note":"Despite perfect image centering, the settled jaws are empty, so the finger tips were still above the bottle rather than laterally misaligned. I’m reopening and lowering nearly to table level at the same x-y."})
tool
executing move_to over 10 steps (1.0s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
assistant
agent noteThe gripper is now at about 4 cm and the bottle body is centered between the open fingers at its widest section. I’m closing again at this lower height.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5022, 2.009, 0.8917, 0.5735, -0.5098, -0.3706, 0.9951, -0.0193, 0.4004, 0.0921, -0.2695, -0.0303, -0.036, 0.999] state[eef_state]: left_x=0.4687 left_y=-0.1549 left_z=0.0412 left_yaw=0.1046 left_pitch=0.092 left_roll=-0.0629 left_gripper=0.9951 right_x=0.2354 right_y=0.0044 right_z=0.0632 right_yaw=0.0173 right_pitch=-0.007 right_roll=0.0004 right_gripper=0.999 state[joint_eff]: [-0.3214, -5.9009, 3.3436, 1.033, 0.022, 0.1148, -0.188, -0.3077, 0.0479, 6.5846, 1.7607, -0.0317, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The gripper is now at about 4 cm and the bottle body is centered between the open fingers at its widest section. I’m closing again at this lower height."})
tool
executing move_to over 10 steps (1.0s)
step 171
assistant
agent noteThis close settled at 0.384, confirming a real roughly 3.6 cm grasp on the bottle rather than an empty close. I’m lifting high enough for the bottle to swing under gravity into a vertical hanging orientation.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5041, 1.9865, 0.9707, 0.4179, -0.5247, -0.3935, 0.384, -0.0193, 0.4004, 0.0921, -0.2714, -0.0303, -0.036, 0.999] state[eef_state]: left_x=0.4745 left_y=-0.1566 left_z=0.0515 left_yaw=0.1247 left_pitch=0.052 left_roll=-0.0451 left_gripper=0.384 right_x=0.2352 right_y=0.0044 right_z=0.0628 right_yaw=0.0173 right_pitch=-0.0089 right_roll=0.0005 right_gripper=0.999 state[joint_eff]: [-0.1983, -9.812, 5.9419, 1.0232, -0.1001, 0.1245, 0.4567, -0.1709, 0.2256, 6.5846, 1.7851, -0.0366, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.22},"note":"This close settled at 0.384, confirming a real roughly 3.6 cm grasp on the bottle rather than an empty close. I’m lifting high enough for the bottle to swing under gravity into a vertical hanging orientation."})
tool
executing move_to over 11 steps (1.1s)
step 182
assistant
agent noteThe grasp remains secure after lifting, and the overhead silhouette has shortened, consistent with the bottle hanging nearly vertical. I’m lowering a few centimetres so its base settles on the tabletop before release.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5041, 1.787, 1.3899, -0.3004, -0.5388, -0.3977, 0.3835, -0.0193, 0.3969, 0.0921, -0.2718, -0.0307, -0.036, 0.999] state[eef_state]: left_x=0.4796 left_y=-0.157 left_z=0.1882 left_yaw=0.1373 left_pitch=-0.0231 left_roll=0.0172 left_gripper=0.3835 right_x=0.2353 right_y=0.0045 right_z=0.0635 right_yaw=0.0176 right_pitch=-0.0058 right_roll=0.0006 right_gripper=0.999 state[joint_eff]: [-0.3077, -13.3402, 9.2239, 1.4188, -0.1245, 0.0269, -0.0562, -0.3077, 0.0479, 6.4342, 1.7998, -0.0562, -0.0757, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The grasp remains secure after lifting, and the overhead silhouette has shortened, consistent with the bottle hanging nearly vertical. I’m lowering a few centimetres so its base settles on the tabletop before release."})
tool
executing move_to over 2 steps (0.2s)
step 184
assistant
agent noteThe lowering command stopped after less than a centimetre, which indicates the hanging bottle’s base has contacted the table. I’m opening the gripper to leave it standing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5041, 1.7683, 1.3266, -0.2455, -0.5392, -0.3973, 0.3835, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.0357, 0.999] state[eef_state]: left_x=0.4749 left_y=-0.1543 left_z=0.1799 left_yaw=0.1372 left_pitch=-0.0147 left_roll=0.0116 left_gripper=0.3835 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0171 right_pitch=-0.0059 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [-0.3624, -7.0359, 6.1333, 1.4969, -0.2564, -0.0269, -0.0122, -0.2667, 0.1436, 6.6667, 1.7851, -0.0562, 0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The lowering command stopped after less than a centimetre, which indicates the hanging bottle’s base has contacted the table. I’m opening the gripper to leave it standing."})
tool
executing move_to over 7 steps (0.7s)
step 191
assistant
agent noteThe bottle has been released; the arm still occludes its posture in the overhead view. I’m retreating inward and up to verify that it remains upright and clear the workspace for the next bottle.
move_to
left_x0.3500left_y-0.1000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5041, 1.8, 1.2743, -0.2169, -0.5388, -0.4007, 0.9953, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.036, 0.999] state[eef_state]: left_x=0.4706 left_y=-0.152 left_z=0.1483 left_yaw=0.14 left_pitch=-0.059 left_roll=0.0417 left_gripper=0.9953 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0173 right_pitch=-0.0059 right_roll=0.0004 right_gripper=0.999 state[joint_eff]: [-0.0615, -12.6017, 9.2513, 1.5507, -0.2808, -0.022, -0.1001, -0.3077, 0.1436, 6.653, 1.7265, -0.0513, -0.0562, -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":0.35,"left_y":-0.1,"left_z":0.2},"note":"The bottle has been released; the arm still occludes its posture in the overhead view. I’m retreating inward and up to verify that it remains upright and clear the workspace for the next bottle."})
tool
executing move_to over 10 steps (1.0s)
step 201
assistant
agent noteThe first bottle is visibly standing at the left of the pair. I’m resetting the right arm high above its side of the table so both arms can approach the two remaining, well-separated bottles from opposite sides.
move_to
right_x0.3500right_y0.1500right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.556, 1.2652, 0.9096, -0.3168, -0.5667, -0.4282, 0.9962, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.0357, 0.999] state[eef_state]: left_x=0.36 left_y=-0.1078 left_z=0.1984 left_yaw=0.1232 left_pitch=0.0079 left_roll=-0.01 left_gripper=0.9962 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0171 right_pitch=-0.0059 right_roll=0.0007 right_gripper=0.999 state[joint_eff]: [-0.2393, -5.559, 6.6393, 1.6923, -0.3834, -0.1929, 0.0904, -0.294, 0.6496, 6.7214, 1.7656, -0.0269, -0.0073, -0.0122] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.15,"right_z":0.2,"right_gripper":1.0},"note":"The first bottle is visibly standing at the left of the pair. I’m resetting the right arm high above its side of the table so both arms can approach the two remaining, well-separated bottles from opposite sides."})
tool
executing move_to over 13 steps (1.3s)
step 214
assistant
agent noteEach wrist view shows one remaining bottle on its inner side: the middle bottle is right of the left jaws and the right bottle is left of the right jaws. I’m making matched diagonal approaches to their upper bodies, keeping the arms on their own sides and the grasp points separated.
move_to
left_x0.4500left_y-0.1800left_z0.0400left_yaw0.0000right_x0.4500right_y0.2000right_z0.0400right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5568, 1.2774, 0.9077, -0.347, -0.5659, -0.4274, 0.9964, 0.6106, 1.2579, 0.8684, -0.3161, 0.4561, 0.3012, 0.9991] state[eef_state]: left_x=0.3569 left_y=-0.1063 left_z=0.1883 left_yaw=0.1217 left_pitch=-0.0268 left_roll=0.018 left_gripper=0.9964 right_x=0.3394 right_y=0.1469 right_z=0.1775 right_yaw=0.0609 right_pitch=-0.0513 right_roll=-0.0333 right_gripper=0.9991 state[joint_eff]: [-0.1436, -5.3538, 7.8838, 1.6239, -0.2955, -0.0415, 0.0073, 0.4855, -4.7521, 9.5111, 1.6142, 0.4274, 0.2369, -0.1099] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.18,"left_z":0.04,"left_yaw":0.0,"right_x":0.45,"right_y":0.2,"right_z":0.04,"right_yaw":0.0},"note":"Each wrist view shows one remaining bottle on its inner side: the middle bottle is right of the left jaws and the right bottle is left of the right jaws. I’m making matched diagonal approaches to their upper bodies, keeping the arms on their own sides and the grasp points separated."})
tool
executing move_to over 10 steps (1.0s)
step 224
assistant
agent noteThe left jaws are well centered on the middle bottle at table height. The right bottle is still slightly left of the right jaw column, so I’m making a small leftward correction and lowering the right grasp to match before closing both.
move_to
right_x0.4450right_y0.2300right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.556, 1.9125, 0.886, 0.326, -0.4946, -0.366, 0.9964, 0.5877, 1.9213, 0.9466, 0.3363, 0.4694, 0.3115, 0.999] state[eef_state]: left_x=0.4362 left_y=-0.1681 left_z=0.0369 left_yaw=0.0339 left_pitch=-0.0426 left_roll=0.022 left_gripper=0.9964 right_x=0.4424 right_y=0.203 right_z=0.0554 right_yaw=0.0226 right_pitch=0.0101 right_roll=0.0037 right_gripper=0.999 state[joint_eff]: [0.1026, -7.3504, 6.2564, 1.4042, -0.022, 0.2711, -0.0073, -1.0598, -6.6256, 6.0103, 0.9695, 0.1783, 0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.23,"right_z":0.035},"note":"The left jaws are well centered on the middle bottle at table height. The right bottle is still slightly left of the right jaw column, so I’m making a small leftward correction and lowering the right grasp to match before closing both."})
tool
executing move_to over 3 steps (0.3s)
step 227
assistant
agent noteBoth remaining bottles now lie between their respective open fingers at 4–5 cm height; the right one is a little off-center but well within the jaw span. I’m closing both grippers and will use the settled openings to confirm each grasp.
move_to
left_gripper0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5568, 1.9339, 0.8658, 0.4438, -0.4961, -0.3672, 0.9964, 0.6315, 1.9835, 1.0008, 0.3786, 0.4942, 0.3359, 0.999] state[eef_state]: left_x=0.4432 left_y=-0.1726 left_z=0.0414 left_yaw=0.0345 left_pitch=0.0213 left_roll=-0.0207 left_gripper=0.9964 right_x=0.4489 right_y=0.229 right_z=0.0553 right_yaw=0.0329 right_pitch=0.0465 right_roll=0.0315 right_gripper=0.999 state[joint_eff]: [-0.1299, -10.2769, 3.7812, 1.3016, -0.2125, 0.0122, -0.0122, 0.0752, -7.2547, 6.2427, 1.1893, 0.3394, -0.0317, -0.0073] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0,"right_gripper":0.0},"note":"Both remaining bottles now lie between their respective open fingers at 4–5 cm height; the right one is a little off-center but well within the jaw span. I’m closing both grippers and will use the settled openings to confirm each grasp."})
tool
executing move_to over 10 steps (1.0s)
step 237
assistant
agent noteBoth closes settled empty; as with the first bottle, the fingertips rode a few centimetres too high despite good image centering. I’m reopening and pressing both grasp points down to near table level without changing their lateral alignment.
move_to
left_z0.0050left_gripper1.0000right_z0.0050right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5568, 1.9224, 0.8906, 0.4675, -0.5316, -0.3679, 0.0139, 0.6487, 2.0022, 1.0214, 0.3904, 0.4976, 0.3359, 0.0142] state[eef_state]: left_x=0.4535 left_y=-0.1726 left_z=0.0616 left_yaw=0.0653 left_pitch=0.0818 left_roll=-0.0392 left_gripper=0.0139 right_x=0.4503 right_y=0.2401 right_z=0.0564 right_yaw=0.0469 right_pitch=0.0589 right_roll=0.0376 right_gripper=0.0142 state[joint_eff]: [-0.2667, -8.6906, 5.4085, 0.906, 0.1392, -0.0317, 1.1893, -0.759, -8.0205, 5.6, 1.2234, 0.3394, 0.2125, 1.2186] 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_z":0.005,"left_gripper":1.0,"right_z":0.005,"right_gripper":1.0},"note":"Both closes settled empty; as with the first bottle, the fingertips rode a few centimetres too high despite good image centering. I’m reopening and pressing both grasp points down to near table level without changing their lateral alignment."})
tool
executing move_to over 10 steps (1.0s)
step 247
assistant
agent noteBoth bottles are now visibly centered between the fingers at much lower grasp heights; the right grasp point reached 1 cm and the left reached 4 cm. I’m closing both again.
move_to
left_gripper0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5564, 2.0335, 0.936, 0.5335, -0.543, -0.3931, 0.9953, 0.6476, 2.1185, 1.0416, 0.4007, 0.4942, 0.3325, 0.995] state[eef_state]: left_x=0.4663 left_y=-0.1783 left_z=0.0394 left_yaw=0.0884 left_pitch=0.0853 left_roll=-0.0569 left_gripper=0.9953 right_x=0.4492 right_y=0.2392 right_z=0.0091 right_yaw=0.0515 right_pitch=-0.0131 right_roll=-0.012 right_gripper=0.995 state[joint_eff]: [0.294, -6.9265, 3.494, 1.1795, -0.0171, 0.0611, -0.1441, -0.1846, -9.5385, 4.7385, 1.9121, 0.1392, -0.0317, -0.2271] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0,"right_gripper":0.0},"note":"Both bottles are now visibly centered between the fingers at much lower grasp heights; the right grasp point reached 1 cm and the left reached 4 cm. I’m closing both again."})
tool
executing move_to over 10 steps (1.0s)
step 257
assistant
agent noteThe right jaw settled at 0.54, confirming a solid body grasp, while the left jaw is still empty. I’m lifting the right bottle to let it hang vertical while reopening and lowering the left gripper for one final table-level attempt.
move_to
right_z0.2200left_z-0.0150left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.556, 2.0041, 1.0183, 0.4133, -0.5774, -0.4, 0.0135, 0.6479, 2.1269, 1.0321, 0.424, 0.4904, 0.3283, 0.5386] state[eef_state]: left_x=0.4772 left_y=-0.1788 left_z=0.0625 left_yaw=0.1196 left_pitch=0.0899 left_roll=-0.0432 left_gripper=0.0135 right_x=0.4483 right_y=0.2395 right_z=0.0057 right_yaw=0.0571 right_pitch=-0.01 right_roll=-0.0106 right_gripper=0.5386 state[joint_eff]: [-0.1026, -9.3607, 5.3675, 0.7937, 0.188, 0.0073, 1.1746, -0.335, -11.2205, 4.8342, 1.6972, 0.1832, 0.0122, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.22,"left_z":-0.015,"left_gripper":1.0},"note":"The right jaw settled at 0.54, confirming a solid body grasp, while the left jaw is still empty. I’m lifting the right bottle to let it hang vertical while reopening and lowering the left gripper for one final table-level attempt."})
tool
executing move_to over 14 steps (1.4s)
step 271
assistant
agent noteThe left gripper is now pressed to 4 cm at the bottle’s widest section and perfectly centered, while the right bottle remains securely held but needs more clearance to hang. I’m closing the left and continuing the right lift.
move_to
left_gripper0.0000right_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5503, 2.146, 1.0752, 0.5606, -0.5995, -0.4259, 0.9964, 0.6487, 1.8568, 1.3796, -0.4328, 0.4389, 0.3088, 0.5427] state[eef_state]: left_x=0.4992 left_y=-0.1851 left_z=0.042 left_yaw=0.1619 left_pitch=0.1442 left_roll=-0.098 left_gripper=0.9964 right_x=0.4264 right_y=0.2335 right_z=0.1246 right_yaw=0.093 right_pitch=-0.2317 right_roll=-0.1251 right_gripper=0.5427 state[joint_eff]: [-0.3077, -5.9829, 2.8786, 0.6862, 0.2222, 0.0757, 0.0317, -0.4855, -17.1692, 12.8205, 2.5568, 0.6325, 0.1441, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0,"right_z":0.25},"note":"The left gripper is now pressed to 4 cm at the bottle’s widest section and perfectly centered, while the right bottle remains securely held but needs more clearance to hang. I’m closing the left and continuing the right lift."})
tool
executing move_to over 10 steps (1.0s)
step 281
assistant
agent noteThe left arm cannot close on the middle bottle at this far reach, but the right bottle is still firmly held and appears nearly vertical. I’m settling the right bottle’s base while retreating the unsuccessful left arm clear.
move_to
right_z0.1200left_x0.3500left_y-0.1000left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5491, 2.1147, 1.2182, 0.2981, -0.63, -0.45, 0.0137, 0.6617, 1.7435, 1.3922, -0.5461, 0.4149, 0.2977, 0.5427] state[eef_state]: left_x=0.5103 left_y=-0.1861 left_z=0.0643 left_yaw=0.1936 left_pitch=0.0884 left_roll=-0.0488 left_gripper=0.0137 right_x=0.405 right_y=0.2297 right_z=0.1631 right_yaw=0.1323 right_pitch=-0.2314 right_roll=-0.1097 right_gripper=0.5427 state[joint_eff]: [-0.0342, -10.6598, 5.5179, 0.7204, 0.1538, -0.0122, 1.2088, -0.6222, -14.653, 12.7111, 2.674, 0.6569, 0.105, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). 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":{"right_z":0.12,"left_x":0.35,"left_y":-0.1,"left_z":0.2,"left_gripper":1.0},"note":"The left arm cannot close on the middle bottle at this far reach, but the right bottle is still firmly held and appears nearly vertical. I’m settling the right bottle’s base while retreating the unsuccessful left arm clear."})
tool
executing move_to over 13 steps (1.3s)
step 294
assistant
agent noteThe right bottle’s base has stopped the descent and the grasp remains secure, so it is settled on the table. I’m releasing it upright before addressing the middle bottle with the right arm, which has the better reach to that point.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5816, 1.298, 0.939, -0.3244, -0.6296, -0.503, 0.9962, 0.6739, 1.7042, 0.9619, -0.0761, 0.3996, 0.2829, 0.5427] state[eef_state]: left_x=0.3637 left_y=-0.1103 left_z=0.2021 left_yaw=0.1858 left_pitch=0.0255 left_roll=-0.0371 left_gripper=0.9962 right_x=0.3809 right_y=0.2208 right_z=0.0824 right_yaw=0.1726 right_pitch=-0.1691 right_roll=-0.0706 right_gripper=0.5427 state[joint_eff]: [-0.1846, -5.7504, 5.8051, 1.5849, -0.3541, 0.0464, 0.0366, -0.2803, -8.8137, 7.1453, 2.8107, 0.5934, 0.0952, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The right bottle’s base has stopped the descent and the grasp remains secure, so it is settled on the table. I’m releasing it upright before addressing the middle bottle with the right arm, which has the better reach to that point."})
tool
executing move_to over 5 steps (0.5s)
step 299
assistant
agent noteAfter release, the right wrist view shows the remaining middle bottle ahead and slightly left of the jaw column; the newly placed right bottle is hidden under/behind the wrist. I’m advancing and shifting left to bring the middle bottle’s upper body into a table-level grasp.
move_to
right_x0.4600right_y0.3100right_z0.0050right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5831, 1.3277, 0.9489, -0.3943, -0.6365, -0.5022, 0.9969, 0.6819, 1.7008, 0.7666, 0.2047, 0.4072, 0.2718, 0.9952] state[eef_state]: left_x=0.3588 left_y=-0.1066 left_z=0.1854 left_yaw=0.1894 left_pitch=-0.0357 left_roll=0.0293 left_gripper=0.9969 right_x=0.369 right_y=0.214 right_z=0.0577 right_yaw=0.186 right_pitch=-0.0888 right_roll=-0.041 right_gripper=0.9952 state[joint_eff]: [-0.1983, -5.8051, 9.1419, 1.6435, -0.3248, 0.0122, 0.0659, 0.253, -8.9915, 6.8171, 1.8877, 0.2857, 0.0366, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.31,"right_z":0.005,"right_gripper":1.0},"note":"After release, the right wrist view shows the remaining middle bottle ahead and slightly left of the jaw column; the newly placed right bottle is hidden under/behind the wrist. I’m advancing and shifting left to bring the middle bottle’s upper body into a table-level grasp."})
tool
executing move_to over 8 steps (0.8s)
step 307
assistant
agent noteThe right arm reached 4.6 cm and the middle bottle’s body is now centered squarely between the open fingers. I’m closing at this low height for the grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5831, 1.3163, 0.9062, -0.3313, -0.6369, -0.5026, 0.997, 0.72, 2.1738, 1.2114, 0.4217, 0.477, 0.2554, 0.9989] state[eef_state]: left_x=0.3592 left_y=-0.1068 left_z=0.1818 left_yaw=0.1893 left_pitch=-0.0129 left_roll=0.007 left_gripper=0.997 right_x=0.4674 right_y=0.3069 right_z=0.046 right_yaw=0.1764 right_pitch=0.0955 right_roll=0.0028 right_gripper=0.9989 state[joint_eff]: [-0.294, -6.0103, 6.5299, 1.5165, -0.3492, -0.022, -0.0024, 0.5265, -7.3641, 5.0803, 1.1258, -0.1978, 0.3785, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The right arm reached 4.6 cm and the middle bottle’s body is now centered squarely between the open fingers. I’m closing at this low height for the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 317
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5831, 1.3163, 0.8944, -0.3183, -0.6369, -0.5022, 0.997, 0.7189, 2.1532, 1.2846, 0.2909, 0.4419, 0.2775, 0.0138] state[eef_state]: left_x=0.3589 left_y=-0.1066 left_z=0.179 left_yaw=0.1891 left_pitch=-0.0121 left_roll=0.0065 left_gripper=0.997 right_x=0.4702 right_y=0.3159 right_z=0.0589 right_yaw=0.1933 right_pitch=0.054 right_roll=0.0195 right_gripper=0.0138 state[joint_eff]: [-0.212, -5.6957, 6.6256, 1.5946, -0.3297, -0.0269, -0.0122, -1.0325, -11.3709, 6.5709, 1.1502, 0.1343, 0.1587, 1.2674] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 12.57 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"
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{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3763, -0.0257, -0.0284, 0.9988, -0.0158, 0.7891, 0.6037, -0.3859, -0.0128, -0.025, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.183 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9988 right_x=0.2936 right_y=0.0012 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.4291, 9.7026, 1.7314, 0.0317, 0.1392, -0.1343, -1.0325, -1.2103, 10.4547, 1.8779, -0.0952, 0.1197, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464a466736bc2eabeecd05665fdda3eadbfa9db152b4165eb0971c46e7d68c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d36586725b3fb68c6178849ed62ab8c6c3b9ddd44109f654ffa15979d73efe21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60cb5bf1ee1fef552ab8fb6aa696eb242fdf6caeb4154748193eec2c2be7f47",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 8.125 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_04a5618a74d61950016ab44fd57f0087d0acab041f7d65cc61",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_gmEzP2XdLYaru_lzOYwluejNf0hgmUU2vmtNzmJ2iCqMZ1-9XCrCfQqdqKJAk35_FDDfg-e-eXR3znNknTDib0Nk6pAB1T4JGU9no1gHm4QHpJinj0qwonUOdJjlzPzSr_74aKE7pXWadkCkYjU5P3aFD816yA-Jfd80WlZCb9z7bYx0ngbG5D_97MK10I17qxRGtgjruHEglw8Pmw1HYVr0tJNLkl2fbVPeYOtyxSR1vMieynW2sGviCa6iiavr-UJlvApoCKkIjDHEsMERbM3FeYyKTsseMZNuUGErdLG7QFpSNPLEXRUO6RDsxGCv_AlnCW-RmDgCRRgJYrYpHvmVTU5xjckpzZPUbBz-xxOdsPqa3atZutoY46CLTX2Pe6gr3jOLWaF0khB7CpscZQfHWiFukV6-yCr9oaeW29LglWBySKj-yowmcVJUIAw7hGFRVWM7GmoClsFxPt0MoqhNa2XClvKmWyRs_chSib9Px4OekpsphZtfHiQotvTZ1acjJOySLu3tHC1eDFuGrRkEIRTLCb9dtIO3uZ-29pEGaZQAqbrJIBl_DS8bkfqGWeCXZPvHIc5fSecg3kN5S77xa4EIoOFIebwv5vNzFRO_NIJeeKOA4_zcY4Cg51sO-ZpMBJHJ0QbzCW3uHfx-Tnl_vqbAkDQePGpVU2jJl9yfFhkEQxhZsitvTOe-sqo1aUpcTKtmjPtKfSBJb8neTS8MHQUzx9vrzHorTMNFOb_4iLde5nZSM_KQJgPERUY3BC3Lk-6_kx68B2k9sM-RDxMqpzH4_pEnIVkh_HjLrt07c5UKEteeVkiX9HHVjSd3U5rH5YNzsy6WMxEaRR6BpbzjEgT9cYsYQJGhbovHIAYkJfnZ4Zgf7ZVIyY8IhNSRMlg1v2PRKE-TuJFsUADX4SkmE6nmVa6Lg6wwFB_xZLoUnblxb-yL-VA2Ot9WqcgZnK1KZ0Ey3d7Kv2c5fU7CcZa7GcGP9sv6j03gCGrp_HC7pVSUGzTw3ROZVHxQIFYTb-QftidHOntc-A-kkExyPLmhcf7rEzUz8Kla8lU4eOS7HbpiULSbdY2iwnPrkXMAgupkwmHZXFqhs-tQ0Tm9vMWyF2fnk0AKNeSnD6-Z2-lO_PYlckI1wdeMv5xq2qMZE9ExRWrlNlwDEjqmhVLRzmFQJwJVsGVhCL9yIoMp9s6p3x2zgmxi1FnqqtqzTkwktZSqe29IrOWfLNEqMrnJdVQ5Hf9btNppqsfqjDGUjByJXtkHZfwwAnGZhHdvH-HyJsm7sFEOlkJPjzaYeG-JCD0qnwnpEe13npVCSaZ_Xuz7-VLYAbZy1jHKWvutuP-kwuM4wjVZd22kqMLJNnYxFzEy19rf21lRfNEhqXN1sTGBKOvv9_JP97rmDfSKB39Ta_HcLL6zYE6D_5gHnapyCxvk4p8dwJrEjvswc1pAYv4c9otjjjW-C8iJPWv8SGmBK9GhDgWB55FSu3BQOpPERcIirENuLdiszN9EiEE1wQiLSpFSbgSlT4PiOCBGtl3o95-RaqHZboOBpJqfbMb74uj5ft7INH6nBkXvZmtkFlx0EaUmu6yAXC9B1W5GssBrNJhoeekgw42GAe96WEd69Dr8fiQfToIxcjFJdgm8U2xXTzBGNw2BVzgCUAbuR-HMApEDCt5U5I-Iy28_xKqS5tdvydGf-xhCir_7y8fbPtZ3aLm-FwxMNxQsPLZaeZidJEXAkxju9QzUSKejNIQSKQGoVSJo1h1wGgo2HoSIhe4FkazLebXjp_fN3mg0fpfVOAo61zL2nA43L6_UbRZ5GojcdhFEWVgGxZfWPSGBuu5CHcNPV1NXUBYYLQbIKLA_jEGmbUujY1mi9beubkb3XyKID92tpxyFrhf1IDTip9Do7S59IHKqK9pbmNMJRP0kwqRsYk1aeu9kck_dRS6a_LL0Ldfal_bl0nTHQADH25Ma9pM8hQNLeRT7jUPjTCwQecCHbTIezgLL5CoOwbvmTcR-NJk-Ot7znyOJmpDsNxJg0ixNFxOoLZ7HGwGe5jCodywICzszqIQOAK5Mq4cJXT7W_vVoQm699Sl8ZTIa4aUE0dw8mYRxXp8aZIhvt1tt2dNFZNqgaYNrRalrMhp47CdOAC-SnfYC2NgW4xCFgyWDJyFRG2shoiGFJo89p3mPx6_FhxD5IF7eLLzI4PGO8q1qPBUJ7Rt9Aa7TrTxLEbBBg8giIX5LAiBcR9kjpp9Jrqb2A6qGi3CKUDpP4eWsc_xkM4j_sSln5pM0_MBU9LIfRZ_trSBoXGLADKvCH8iSoBfysUaU52Y0cTHueb1guJUNN9eH9kOl8Px2k83mRXSYIqy984_56hktEmiMl3KFx8guo7i5vajvOv6c_mUiGyS4-WdXormvCNb9KvV9N-CgEOkWyXJIUv23h6O3dMMPUpgdhMvuBkdewS87iaIGTx_fWyTcgyqFcNWF_fCv-belrJizXiGtzH6gSHK974ORTURtHN3UuiIYOwg5yf5rmyDLarDmrSYDPTYzkvA-05cb-zw0jLdg22FUzKQU6G3wnK5JNbTkVQlne0_i1xmFQJtlXo0QSVchwp_YYTBDGLSPjj5IlHCAMtctMrwssJRddqydCS1VidWumXCuMcw0gPyIZGRcPlQFoLsWmrXKMG0jYULxAuFAuL6aP3TBirN2NYG7fri7Jr-ZNA_33cX97th4csRq7p6guGBB9AnBQUBD7GK-BzjXl4ZBUN6uPi8ls2EZ2k6T9xF7ojXZlaONwNdoKXBXnc9SdCGk2Oj8HTc0xCaFr_UqC3VLGBDmlvmir_jzE_zBNA4pJxustl5V-GQON5hxlNjS_iumVnM-opSGHaicozDSsqSim_tUItO0u67Ookrtmg7wHFlQaEM0WKA==",
  "id": "rs_04a5618a74d61950016ab44fdbdf0087d08915815f8e04543b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.12,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The three bottles are lying near the middle: the left bottle’s cap is the far-left blue cap, around the upper-left of the cluster. I’m moving the left gripper above that neck area, open and at a safe approach height, so the wrist view can refine alignment.\"}",
  "call_id": "call_cl3jpcwBbYoNEHFh6W9Bc4mc",
  "id": "fc_04a5618a74d61950016ab44fdf9efc87d0ade2804add447641",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cl3jpcwBbYoNEHFh6W9Bc4mc",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4561, 1.4204, 0.7921, -0.0582, -0.3676, -0.2676, 0.9989, -0.0193, 0.7937, 0.6033, -0.4038, -0.0231, -0.0292, 0.999]\nstate[eef_state]: left_x=0.3848 left_y=-0.1141 left_z=0.1288 left_yaw=-0.0208 left_pitch=-0.0722 left_roll=0.0245 left_gripper=0.9989 right_x=0.2914 right_y=0.0021 right_z=0.1748 right_yaw=0.0075 right_pitch=-0.0235 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -6.2291, 9.3197, 1.746, -0.315, -0.0806, -0.1294, -0.1026, -1.6342, 6.9949, 1.917, 0.0562, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cdf180e469ba159f3b8c9056dd0bbbadb1466abd417c874495dcfdfe7152d11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fb98b26fbf207e348afaab0b0178903089ea2fb96ae3c3649aca53be96af5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fdb343c1a4c26a45014f2ab3c8d2f2e5e8f4f3672f3cf00e8b578e670425eba",
      "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 · 4.53 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]: [-0.02, 0.7937, 0.6086, -0.3763, -0.0257, -0.0284, 0.9988, -0.0158, 0.7891, 0.6037, -0.3859, -0.0128, -0.025, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.183 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9988 right_x=0.2936 right_y=0.0012 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.4291, 9.7026, 1.7314, 0.0317, 0.1392, -0.1343, -1.0325, -1.2103, 10.4547, 1.8779, -0.0952, 0.1197, -0.1148]",
      "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]: [-0.4561, 1.4204, 0.7921, -0.0582, -0.3676, -0.2676, 0.9989, -0.0193, 0.7937, 0.6033, -0.4038, -0.0231, -0.0292, 0.999]\nstate[eef_state]: left_x=0.3848 left_y=-0.1141 left_z=0.1288 left_yaw=-0.0208 left_pitch=-0.0722 left_roll=0.0245 left_gripper=0.9989 right_x=0.2914 right_y=0.0021 right_z=0.1748 right_yaw=0.0075 right_pitch=-0.0235 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -6.2291, 9.3197, 1.746, -0.315, -0.0806, -0.1294, -0.1026, -1.6342, 6.9949, 1.917, 0.0562, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cdf180e469ba159f3b8c9056dd0bbbadb1466abd417c874495dcfdfe7152d11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fb98b26fbf207e348afaab0b0178903089ea2fb96ae3c3649aca53be96af5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fdb343c1a4c26a45014f2ab3c8d2f2e5e8f4f3672f3cf00e8b578e670425eba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_qq1CvWFSND2RiFgcUodVKo-3dR84CaogSGsSX329r9q_PcFsFcza4f6c5LC2Uw9KUMiPE40Ei2CE0P1MaLT4MwPLw6CrddtrzCcTHV2I4D2nAaLHZKoRNv2jQDD_v6FTSYFYOXIGX52ycBmbPYcLTZ1zOVRTvCiamwvs1FeNfyQgoyjxNQlY_3uWacXv6-0FHlCSk_EDGze0eroUfl2Nx-Z7Y3HDBdmhSfRgt5EXBH3RyGQ6D9YfHGz_uhd4pP2qffqhlWZ_hEXvfPI-835bTRn0BuplRx2ZClP35HiCR8BUT1gkUy10FiCF8FqxtV9HE12nFhVPrI5KPPEU2JfGRZ1BCBhWed3NfNR_JFJs1IjfjoYGAMMPEP38JGjC9tFzXBz015JGutLAOK8KasE6KA72uoRE3vIT3Dog4p9fkyPaEi9-mGXpIlE8LHozt6W1RSDXIqrPwi2ajhnI-jnGXbv5UxKCfbX8oj32hl0jYo7MBwjoYnzzHBpn3CW3nRULvWdilD2gqV2ZxFv6YtGFYHW-kPw7IiaoQijh4iZqptppWzh3SXp-TVUbeNAYSgRhEjb4qPjUGCLoGpQKZzJUniWR2ANaFsy4UsSVcQNkt9K1PORRPQunSd3IsfX0ojU3doaH4G3JegSE_QLoa3a7v_3kIUw8P9lXyKK9pArJIBItsQqy0ScLrhzhrm81o3LFXPQSHi4g4Z1U4OO29qlqLtCDm3BcGMXGs2rsXcwC0AxwLx5QiYP18GgHPdYPMsGo7Y6mPQnowsgHZf2Sw7AWSZOHb-0q91aPETlQMgNtOVB1GS18aNl3fgsZq0pu4NgIVw_2PBs4CoxBS3LkHPNAFSUq_mXBSEi2EKmmNxQIg_7ar9_nRAz5i0N7G2CSAKDIOH0QucTTc9pl-3bQGK02um9O3C3fb-R6r40zqDymmaFNcn3XgxxCmFBcb4bRwpcXwiImk3IO3QTL7kycl_tNKmkEFVVQMPO1i7neYeTe4_dCSUuiPdw_xKIhszFuDlWVrQb8zZtP8VB8xOsv9t8Jq6rozyM9g0x-fDKOySaq7XOzfsyaEz5E-A9yBpha8ZglExezZYlpBZX-8Nc5-Cd1lyI94kO6DKZ_hazP533I2BzPAdlik3WX_vwYwI210d7VOiHdPzGGJaElyRd5wVM2yRbZFYSj6W8jhhd4yxVqQukuMjPrLlHxh2vH08A_qyBt35TKKXbIYQwvCaVUCVr8gwIZ2-l45YT7-entEIbzdgaGJoeae5N_Jki3A6Gh26-TEuAb6NjiT6hVuiWzHVtkZ1fjS1c0NN7QYRC8a1JyKZFexm9aKhO1DUi7HtiwaGWpxSMvdf4WKQGQBFmr4GfQQiFQ_Oqb2_1b_MkBuSDS-FUgXRGbukYaCRBqXwwKhDaBx6r1CQTvmmtrRvl4nroIMj6nR2S3LoJRx8NwaJ3DPRmUe9fZcgiCCH7dmur3OTOW-7kaXUqf2Vz7FdBlZM3svYCNALe38kdPzrrJVLJQeh4ZRwIKicAfKFNXxvQ9ltBtqhLhNVmWg6G1bk1419xRA4m1rm0LgUQvrJ_hDsB76lICnzHeel_V-yS1Bss1KJ1Fed_7wAC6zHJjsXfuARHz1j-GBye_-asDrnlnELQ4fpVK6FFV0-M0VI5yADSBboZle5TRR-wz5dz4QG0R0JVzNav_IXwMn6jSUuPpHo78aJHs3qV5ex_Ij7AxMoG1_W3mTdIUZJ9Vujac2HmTZBJTBUdswrG6LUKbA64nQUb_SrcK256h5_zA03FmqbDKA03BozPDGBfc6hhZyRVbHbw_X_Pzp7258XlHdLoLzD-nXL96p7p_XGyXHPTdJ9pASID76XpuuNb8kkLcUq_YEfonRjM5tCBpWK-ypqy7J_rkuphEYdVOmv9jq5B4Z3gRjVhnic6SJ0Pu1pB-TQ6FvIVEWC7b9as9QTuPA7mOhdXOVqwFg06dxqHqi8R3oCjxIYItikbl42846t8dXVOZaxP6jdliGmiiC4FvBeCp6T7SDfFIAqVGD14EnerzpWhsOGI5_OkUHqhhODZ8iRwXEng63xGUk3WEiRob_9rBkuSCRsuBoYv2PJRWCw93B6dorbVZBPfD4ZkXuauSToiXzrT5UOi_eA6jBNQ8SNyjalYiNpp1G-DPaXYhkN6yecy_7nPvBmB9HwjYOsEtfIkBQude-ALmVrbnktHWd7fskkabfgUTrCSsvTVGevmNemvYyGvSOkTUjDklL1Pr0iZjlWBFisQ8hRA_RcDqLJp2aCR8mtjO6yDouBPkRf564x9OFxouJ4Z9SUL_j7dx6tVeXMutK-44s1EFmOcxBUq0g2H1c0XKAJyZOSVNOpwbIvzEOWY9t92x8e1zxwAoySoRV1uE2SqKl_jqpBdSlYH44jcDnadd2T4fbsG7KCImOwOD_Xe1zPxAqL-xWNYCODMjC0pj7QvWescuWJOjHSpx9MeU8BHljt0VFK-2bAvhoU6X1fqySZ4p9SdhU9MiDUSNBKcAUTmNDefLeRHO16NRAuCnKSY0bIMu-ERze0sKLAH9R8fV8ExGZJIEBjQtKOVsHcnusZQUSlu_3qPl4ovdS91qVd-cx-OxeeFDdnodpYpC8LLrHblq-L2cYwpckyJrBlZOugMxXYIc-4DF_9RMfEBg_un1OYLElPvguHzMIWbVkuC_m-4L6E8BeRjkm-aX0iwsYVdixknPcEhvJWG0zK96DK8qnwIiOGv_eJRktQ69NiQP6j50JLVd2tXAg2vrl1eIeRjP4rqvzrB8Ae-6k6IDu77NuOFzoNMmLRmqCMCBBaxfx814dWjtS727ilf9G8eW8e-4Z0DIgLuIRSri6S6v1M8ro6qxthoXFLPQj8djuRdMIWpfLJlprvrx3sLUcpKTkdrlkYlII8kualXB9BmOd4hqGSeWNR4XjUf4F4AtivfSSuHtxs5jZkXBD0mUFvOA3z_l51gE_oPfZx3pZj6_6-x51jTfdXWCNqqwRjDa6DDLtzCuf_WqoqejAntrl-qx3qwd_73tsaekuVB4WFQ4BT2LkBLY2cWatB-9uNaAHVjPKMHHtRwa6VDKtFKyVB-3-JsGeZYYFh7JW3KJ6af1WdGIPCk2oi7Mffc7OihYUbqyeOQR5fe58DJHwrJYmZ6d8pf7q3OWS-7Y_L504q0SuGkGX53mCOOrrj9e9f617MeTBJl_chl4LFvxVcfbVhqQ7wbXc2JJ5H-xhnX7pRL4M-K06rPYidwhpsBMuy_am7NKqPQQ9P1g7ww9-ILT_10KJfIMqTC_RxS8SzkQRzfIhVbzf4ub4NNg353pcnet08eWQzQlDKfJV85_9K6UHTiQ9ewBJIm3XfU-d63x0BaSH2nWvgmx-DqmvDIX_YmwtqrVCMIzSAF0SoKxSZ9dXUK1VVc8nHm0qx4izsAAor_c94KtLAuxKw6lLRxwmlpD_1z4U0lpLCcgHfdthSpDB7Zeib6NjZpYV2VUf23ySESP8ry7VcW8BXHUb4gjRbIyB4r03sHV0gkxxQeEJak112BKLWxaDDe3ipzfke1E55UQYZ1TK1U86qydc7oIykc6Z_J6w_rQTtFfGZMSmbDP56OJGVcOhMORVsNuaQFzp0hQnBRVEkL20u0mvHOfcCITxJbtdi6zb_BjCW1AwDEcqlCDctq57d765RTg83qvz7eyqK2QNrRLwRQqxrjcEpE-rnDYZKA0c2NNqkHUIJ7EdRI0Lr8Hlh-yCZY2nPu8CGUitWIrY4sP7q-C7VzgNq0IB9lAjIHBht4dhFQFAwPgsUGKNYnD3LnVxlzWo28XgTIzC1TLOdkZTMErkKyMKvRVqz28sDNmd3vfdynoj5ltAM3OGqYjZp4Y8dABPVGq3EXxnx4Y7JgO8XxMY5bE1IG-wUtur18Jsjce0RetQmIhT-nxt59FcHDrnE3ciFaO9FYbZqV9O2IlOamTciHOuVAJk3rR5Mqvc7f-d_HlGqMdny72hbyRm7CxLg2wy6mLDU9EVugzfq60ZJObSyGwC9yIEoZr3eExTdZQe8C4PVZujZJMrzfrQpSFXQoQehj90WK4cuqj6sCj5JAnDQ8Ut6tBo7JTbCBRAiuXJRgPLEkbywJpdUivRJRQ9kTYV4mCTJAw9CqJXJuQB4bjQvWnSJZiOciGFZLYJ7Mi7N6FfplBdKei78yklOy9Xc2Vt_yMyXCCgVZoeV--PwQ-8q1wnnMpnvQbF",
  "id": "rs_04a5618a74d61950016ab44fe2e1f887d0a9d75d4f4b202067",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_qqOV64GjMCMnq46379xleTedUCQfyQTioX6HbJ6_PZZSOEwYoQFYRL72JbwDmufJSXTuPwt0-nsQWmwohLy5suAMl_OpJEY7OvGlfutpM9L1N72SOoZtXYeemWVjxQQv61pCbJk4f6aFdskyGvhIyhZ4ZI7h-AFCNzD6EAb3MRp8omNgNWbVbh73cgDycAn6W0fbyWMc4D5DWiQBpphNFFUBfSzibVfHPoRTGqWvKXK_YRgSdwf0tJMNIX6PbaxFaOlCiEDxEQBm2iOmHzI5VKv8BklotYjLw9UQIYv653sVVb7ktdIet9XwvIO6MbOaEF8V2k7JsbVYFCPGXZOg037UWxgUS8M8bNo0dUglYBGVczbR0-a-xp6QO9QA1doCvmMgTGAxmkz1htc-e7qMgFpBzsdItMkbaTBsRlATFsuWRqHzk0tGhLrOYnCWYuya45ZKjSPDvcgybP-qq9O5LCY_iL4ykIfATRL65aSrwzOjGCd_qp4r73j10VQ8APlFiCeUT-ARporxZUnA7iY8PQX_Tpux_xcIsFtPAAmhiq_KVv9WAS99_4gLns5S9639A5Rv5CIIDtFXkoZXKG0d7TP_o2rMGX3yuKcipvh1ZW_F4xwep_-YCSyuTrqIZxHXy25ZYPjIc-1iABDWmbvO7c_s8dMWurJO0GpoJAL9fxVrhn4IHA3a22Ts-484cmU1GNCCZXgouFI1q5PmLsGYmKmTRVz4Z5Jc055zFYFYUBypPJ4qmGO-pIbv5S7rLgZ4uVj2zRK-3ZTG0aqSI2HeYlMHk1Dzy9V2NvoNCQUVzLcCcUKHpEGfMWgZ9rIohARESHw_eEYsTZnBseW6-pGQeMcIDxGP4s1YFEPVoNTbgTR4VPffa7v5-Bjdl23Ge2ZCpDEJZgFHW4UZRWOhYpY_hSMIGsik2F-Lc4REYbzw9QEEjqAD9j12y0FK0d0IUIM5TMgCweyI7J2fSvuBpZkDvolTAAETCTff1ZCtM6YITdFjQnCvo1n5DxSM8tqnMab4dxXuLxKpzASJJdxA3_FMr4Sdl8U1244StnoYW7No52d0iQ_Z6agOpIMNImFgBk2AOHyX63dGE03ENvvjc9WFU6XXp2bE5Pbz0e4KOQbKtk6O5oictLl7kTOXsQf17Jq7xTDElfo9H9kCNeTpxlxKbymFmrNL5QUay1qaWJL3zVkVrfa8Q3D5ehjRB4B24O4KMkJgcRZS8Q2nKziaULcYuXGwfN01PnZ2aN_V4raDlicqiJu9DGORRFDmN0MKUhAKfFJqUd1cQ6KkfgP33NKw4K6oGmoHs3KVXXoN2DOqc79N4ORS2dK8IKZ5ooZDjdtt-W1rpRz1wXKKSJkPiWy1QxPkk9IilrUAADreOPtBPtZn8T2oBea2rK7kyZVx9V0Ea5Ss_QnVkfIx3jbQCt5rkQtrGbUSJ6PuKUn63qh-S_n-SFrw9Z7YO3WQRg9XSkfgSBR4ImBrgAIhzWJJeNzXtjRJsrBqZOjWbV8VUnwn_leLtpafuf64MB5vyujETJtqi6fU9TdSY5B6zPxf1pqJNc9A8gKyO8eKKtMDbrf4RHgbgKxRdJZtc7R22wtmK-b0LJFRkwQsP65XhS-npVliNkaQCYm_2fqVoQwMEsWOxfDRiEk5fKxUAEHkXCP8J6sX3zBPaaMlGv-5prrsf5jYTMeY9ylxgm7cNmLFWr6tkGaTGUbdUAiFSMTSpyJLJKnWTxFJj67DhE67lIt6LRjMcEg==",
  "id": "rs_04a5618a74d61950016ab44fe82b3087d0a04cae528a340201",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_yaw\":0.7},\"note\":\"The left wrist view now shows the left bottle’s blue cap and neck just left of the jaw column, with its body running diagonally toward the gripper. I’m rotating the jaws to run across the neck rather than along it, while holding the same approach point.\"}",
  "call_id": "call_VNHHVeNXoaksPn9NSY8fN4Z4",
  "id": "fc_04a5618a74d61950016ab44fe93eb487d0beeb50b575e9fa83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VNHHVeNXoaksPn9NSY8fN4Z4",
  "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]: [-0.6662, 1.7802, 1.1877, -0.4538, -0.8551, -0.9329, 0.9985, -0.0193, 0.7826, 0.5823, -0.3985, -0.0235, -0.033, 0.999]\nstate[eef_state]: left_x=0.4028 left_y=-0.1425 left_z=0.1224 left_yaw=0.4859 left_pitch=-0.0428 left_roll=-0.0036 left_gripper=0.9985 right_x=0.2888 right_y=0.0022 right_z=0.1694 right_yaw=0.0099 right_pitch=-0.0281 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -9.6205, 6.0103, 0.3785, -0.696, 0.0024, -0.0611, 0.0342, -1.6068, 6.7897, 1.9219, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da50f7380c13c344e89e144338179b236d48f2e81165ac8ce1bfab1b8ada22b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060206c90a1e6fe8fe03d75f28c3a3f7e421749d4578644defa228027dc0333f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c32da2caf34df392f60bf383fa6f84c9324e972de09ce0a76029647805750a",
      "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 · 4.042 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]: [-0.4561, 1.4204, 0.7921, -0.0582, -0.3676, -0.2676, 0.9989, -0.0193, 0.7937, 0.6033, -0.4038, -0.0231, -0.0292, 0.999]\nstate[eef_state]: left_x=0.3848 left_y=-0.1141 left_z=0.1288 left_yaw=-0.0208 left_pitch=-0.0722 left_roll=0.0245 left_gripper=0.9989 right_x=0.2914 right_y=0.0021 right_z=0.1748 right_yaw=0.0075 right_pitch=-0.0235 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -6.2291, 9.3197, 1.746, -0.315, -0.0806, -0.1294, -0.1026, -1.6342, 6.9949, 1.917, 0.0562, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 12 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6662, 1.7802, 1.1877, -0.4538, -0.8551, -0.9329, 0.9985, -0.0193, 0.7826, 0.5823, -0.3985, -0.0235, -0.033, 0.999]\nstate[eef_state]: left_x=0.4028 left_y=-0.1425 left_z=0.1224 left_yaw=0.4859 left_pitch=-0.0428 left_roll=-0.0036 left_gripper=0.9985 right_x=0.2888 right_y=0.0022 right_z=0.1694 right_yaw=0.0099 right_pitch=-0.0281 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -9.6205, 6.0103, 0.3785, -0.696, 0.0024, -0.0611, 0.0342, -1.6068, 6.7897, 1.9219, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da50f7380c13c344e89e144338179b236d48f2e81165ac8ce1bfab1b8ada22b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060206c90a1e6fe8fe03d75f28c3a3f7e421749d4578644defa228027dc0333f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c32da2caf34df392f60bf383fa6f84c9324e972de09ce0a76029647805750a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_uaGlvIQ9aWSmlr09p0Ptcqa5Cs7NSE4DPT67P7tgQ8q8gAhO9RFna995Ouroz_ejrP0INAopirvRjSydDk9pQG6HzH31uz0vkZMkwNcsrwLWIzLPLsxYfp07iOM0k73M9ZzRuk2d56mobqjO1aUNh_vhhkYc0gLnkgqjllK82EklMSbL8b9ic2ZmvQ1R_CgT9Mhie5wsTOPUrmF_xXIZ-AP5vG44QPVNYXCwS35DJRYaj_eV_NQd9Pe1zXuzr9kVGvQk4NI_mfNxto_inDYwv-lyOEyNcnCLUdL0UXaaeegPPrMAUNVVBAfcijrngG5OnzMIAtOcfTtawiHv8JHrmJ-VJUNrXloYCeY8D2EP8dGMRb9GSDEgidN0qEfI4IjJiEMq1C4fmIyGQYg4IBeVVemaIDxBRrCp9YqluNpMEBud2Bs7kAK2vHBnmmLPr8enShe4irQOEezDBubm3pLPON7VWAIi7tQ2SupreaIQDX8LrRH9QWt0mmU5imotWAecK0bpZ54ovXGQpZIagsy_Hfka6IiWdmdel0jKlyyssjsh0YqlpBWvE_6sujB6Rzqhc1wAa3d_pTWDMnC_9Ox3jDk3_sw0FL7Av2_DYdXwuWv5x0Qiln_Ptw0eU5-KM_iSYfxDg8phIBTip9mKRwHrT9sUYuVyMDULd-nzQYmw2CIbvkczIxMfOFzTnzxc-gPjHtIAqtZrxr8yyc9bR1-7JYVrSu_65RwVepMJ3dZIW01DKYmJZEF1V6oKn-CTLXTiuT_l1F7x9oQkZRd3_8aSvKc3NvVQM6Qg8-fuIuWQ1wN3Rji7_Ae5aw6v18R9uYT59PJPGkS9h5bwMbjon9UgkjmjtoZp6iieO9RJZFSkYNrz1CVmB1EBdBNMdjPEKXTO0mr-VaLI1ystAu_ZixjG2UOY3JdvDyBV80T_oCvZvqWYG8DeXla5kNPlZqS8JN7q0UtuVo1YASVpyv_BdOOPAR6jl9lywf0U0z6xcTrKiEXEkkfuLy2gZeMh4S4XiQy9qKU4_nA7nLuxiRD1a14fCnbWwGABS8WrS2s8i0gtBnZ-AGAmlu_va2kBQqDRbfRE_ajinG0AJ9gAQdZlpC_0fyNgnpcvCiGF5Eco_2QwOmpvKEN0mBqDCPd47XSep-BgSAi8klPJqy45vznHXZXOSEaEH5C8c9xAkch4TlJCFW6qrt7BHu1GKHN78-UHhvGeAfHHlB2igwUiWyi8KDpNMLM-4tIvbRwc3cNHB3mNqQxEBbFhKWamHG-r5F34TM2oHrmxa7yfFnPqbXQynhuRQURaYzMtBrxpiKAv4vTZ2goo2kstCgv7HCjpJ8SI3lG4WHeVUCJ8fyaFq0uALR8voM4-QYc7-9bsU350ron4E0PIIyGaMyXaIgQB6_82mirNYskAwDVp0ouC9p4SmUVDMEoUz4cQIXjiqSnfV_SIORY-w48WTIxMoVO-Rzpa58He6KOTGtUB9A0Wo9tuCrqc2cM9fobPcv_IZ8v8RSe9ksvLxForvgCz3otfthyyXQdGnOEG0zrLr0cDMIfLk1IhdFzUxJI0xQa0CEMKbGwarY1fqGeuY4a04hH7KEoxeTIW3GL7wvV2_t2UojxlOzLK1ShH5rD3hnRDVls2jmleltP9dHs877wkjRrdsGS5sicehe3c9EzWmFZ4pn0hoa0nBIIgYz_HjWvj5vm63cJBjeRkSauPtrJmxFMXSA8dHpX6n-kMo8vR0HVEFOPqu4SYPbCe5AwGhnvAf6zcSMBOW57vasWg7KoFUUng_lok27061Y9-ZqXVEpNXJFXQFtv6gOM24DWbxs8cxhknIbttWId8wPvrAHI_2VwooddfwAluR9qvL-XH6mDMPHSen5PCtfr7IktZuw174eQKaBkUVJ2YCteAyBt8OgRHAQROK1aixafBbDHALyAxku6RJq_mpA_8TDX7Mylvjcaihzuqb8ZcF1DfaUjxw5JZ1gwMcPsyzFfJwo-Et_CoL4ZM3z2XyYLoBIInLGjLPSMHLGMuWTv57sx5vcdLXu1WHpWjSevRRuj3FQky5mE3vj4Horv8MxDIkBtkDfDaeYc8UeqFd6KXlWGwgiTUsdXc30egZkKuaEWJ2OaJ_tez8508XJWM39uZsHE18r0i7uXD99uHhHyUKgIhG12yeVM3YsM_jWaTc3Wgt8WJPkQ0s4jJQUxRpzuqc6kUVF_wYl----4QobH7tav8nYxbrn4s0gTivbww-9oPO0-otnMb0QCE-nHLxlr4RgS37Pw6ykEo4R_ycJROq1inNvFkL7iibodxQOmzGX6lFR1hYj39XURs5XcekanxP25WL0kwqO5UTIgaVr048eLqrGQYo0IYBVJGX2E7RnCbbdJVGo27VmaEm9RivLhZ4TitFRw78nyOGTBSl7vZoB82hMS6P_RmjEVJ8_AZMPEdndHBs5gFYNx0dJUjXc4qTJq94YZvirQ5uMp5dAChlX7PpbWP-D7Jsvg9NZlBg",
  "id": "rs_04a5618a74d61950016ab44feb787087d09478e875081be9ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.403,\"left_y\":-0.143,\"left_z\":0.025,\"left_yaw\":0.49},\"note\":\"After the rotation, the left bottle’s neck is still just left of center and the overhead view shows the gripper covering its cap end. I’m descending vertically to neck height without changing the lateral alignment.\"}",
  "call_id": "call_Y2QeJ57KpTjmdjsWiecfIkFi",
  "id": "fc_04a5618a74d61950016ab44fee02e887d0bc6953341071d9aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y2QeJ57KpTjmdjsWiecfIkFi",
  "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]: [-0.6682, 1.8175, 1.243, -0.6479, -0.9588, -1.1534, 0.9984, -0.0193, 0.7704, 0.5537, -0.3882, -0.0238, -0.0357, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1199 left_z=0.1241 left_yaw=0.651 left_pitch=-0.0094 left_roll=0.0103 left_gripper=0.9984 right_x=0.2859 right_y=0.0023 right_z=0.1617 right_yaw=0.0117 right_pitch=-0.0342 right_roll=-0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -9.0051, 7.6923, 0.8669, -0.735, -0.0562, -0.022, 0.0205, -1.7026, 7.0769, 2.0244, -0.0757, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0c916d24fc972e208d5efb4cffc809842dc5a36978fca815a0444bdb8c1b0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3eeb961acbfa99d6d8989af35b1f3927cbd7ccf64ec32cdc0dd3364459aadc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac81154ffd751f5630bb669b36e7d40c20816bc077f684a8ecfc69eb4fc8e1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.379 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3763, -0.0257, -0.0284, 0.9988, -0.0158, 0.7891, 0.6037, -0.3859, -0.0128, -0.025, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.183 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9988 right_x=0.2936 right_y=0.0012 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -1.4291, 9.7026, 1.7314, 0.0317, 0.1392, -0.1343, -1.0325, -1.2103, 10.4547, 1.8779, -0.0952, 0.1197, -0.1148]",
      "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]: [-0.6662, 1.7802, 1.1877, -0.4538, -0.8551, -0.9329, 0.9985, -0.0193, 0.7826, 0.5823, -0.3985, -0.0235, -0.033, 0.999]\nstate[eef_state]: left_x=0.4028 left_y=-0.1425 left_z=0.1224 left_yaw=0.4859 left_pitch=-0.0428 left_roll=-0.0036 left_gripper=0.9985 right_x=0.2888 right_y=0.0022 right_z=0.1694 right_yaw=0.0099 right_pitch=-0.0281 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -9.6205, 6.0103, 0.3785, -0.696, 0.0024, -0.0611, 0.0342, -1.6068, 6.7897, 1.9219, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6682, 1.8175, 1.243, -0.6479, -0.9588, -1.1534, 0.9984, -0.0193, 0.7704, 0.5537, -0.3882, -0.0238, -0.0357, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1199 left_z=0.1241 left_yaw=0.651 left_pitch=-0.0094 left_roll=0.0103 left_gripper=0.9984 right_x=0.2859 right_y=0.0023 right_z=0.1617 right_yaw=0.0117 right_pitch=-0.0342 right_roll=-0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -9.0051, 7.6923, 0.8669, -0.735, -0.0562, -0.022, 0.0205, -1.7026, 7.0769, 2.0244, -0.0757, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0c916d24fc972e208d5efb4cffc809842dc5a36978fca815a0444bdb8c1b0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3eeb961acbfa99d6d8989af35b1f3927cbd7ccf64ec32cdc0dd3364459aadc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac81154ffd751f5630bb669b36e7d40c20816bc077f684a8ecfc69eb4fc8e1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_zJlY7O5XS0KqzhaRcAzXIA4PhdGdo78W9ZeZDMZseV1wNok-zZVlrMadUbqzeb4NVqMPzx_C1mUDYaLecGAuZWeEjFvci-wPpUaazme5CCvciwBjZ3ieTWj1BRychwTU_RQwQ-VoemM7ySxIMa9qWZ45JaLE2og7hZI64aL0ZHe6UxJHOunuBCqsCK_ZrCmp7eohV9pv0GeUNrx1teKjW2yTGtdPYoepCEmRhYVLout0MKC2Qq8Hcrz5FJdl5ioo9VLmYbKw7bFPokZZTsCj0bf_EKcpQcB3Mo5n0mBc5prXqvB0Ha6M5OIGtjk7fr3Xnd1eMaEywBaCfhILT9nvssBlr7prSD9eaoAzQ5U1f3PLEjuuuA9TuIldjp298T4mT_U-SjRE138jN7ENanSZj8AT-eTlkEznO4PKqtD7h2MdQHQOgUF-AGTQS3XwHxWJlhlTp_oacMXZHZQ35Cm_iCYAxXS-BENg5UvRdUtaDhX_CChaHSBekAgT0Zj0XMa_KnolNZsnZyEAldcISzsyEbV-ymCqr8g7FLwI4BEG6MN14Jw14XqYKD-dJdoVKaTPrbLfcRzfHiuE2ozZJ_c50lnhnjZ3FGCWRA2nb-MrbLHdLtNaNL4bRYmkbpmfZXc01jvNxu-gPjtwVBwEQG2aM_8Qq5dCGc2-SSPROnsvGo9NK7PNNREayzGrrjozD7loHi2N7kholhpFBJxOvJFqD6ARpOTI7rrOFwxFwg1Z01Y8LoWwGNUvg2XFVHfyIy8eAytPAGgdd8HwcKdCyplo_dDUjv1oL8AY4lUHKbOAQdF1UPzJuUZwr8F6Swit2LJlC8CdDIuauYDTGYc9geE7tt4RtQYmRMEwJlpMUbXSeaUpt7Ymf67k1ertoK7urJmKll7am1yygOeb2UsiOkFQj9UoIrjL7xcO8xQRYX2mxmTiKj-pjKUL_62J8FQdgvNW8JUU47FivVfTKIxY44xG4Dcu4o65-BjumcBC3BRnQu7yi9ZrHv5iz9ACtxJdSdOeB6efBoOwPlJwjhYXZWB3xA0cw_QNv8eH7UkQOZa3wz9JWTbuAHGMV7ysgWqgeDa8UQgYw33JA1M40pkNZ8TlEYBCjtLKUihbeaU6tFG8kUDRilLVD3P8T87yc1JgwMsZJQ3BMTs3H8AMAhgHodQmyYvPrGO8KLOnMc-iLdjI_Q-dUJokgNqdOUSAgldiHjhxN7klQ0OJDgiiWDKaIDYnEndABKkULzz3uxbogeUW19pVemK0JEdC8Aw95O4o0t87a8Z6f-Gu2rz1gMGMM0DQGVI1Z-Qd_eqSo-2V3jebYPkVq2t4NMRdMGLAv22mZIaRmhYNBAA_8pFjcPLTpt85oUIuPFBsPgcCpCMjQe32PhOAew3oJl-nYz8_D6uiBMcOmBOAqqft4cA8rJRAbP9K7mbWmVZEBsgRoIgLmOPefA4c-ZZ3H3BY1_cVD3bRwWaNRtvnYej-DwYbYKwh2qxjXAdiV0wqB7TDfGZYSltiABo8XquVradYeMQuuAZ8YxDrVWDw-TtJXGYa3syyXcw-NJvJeXlXC5BtLIUvOCuWhMGXXLAQQvT6bcevLCFlTyYHxm_thnazfqsmymg8L9QCSUwt_Oye1Gu2SqXQ0PYm7FACz3kETHfL-QmbDjRdwOy2uZJZOAPdwny3nCN0cKww0jFxjrfOHtN-oYld2Rm_RQkbGZdxhUsifMOF5C9p74kByHkPV5KXcDDEupICU-uHXYrWMqu9ymj5zhCWSCtQNiTjQPqauko-xjC0xqOd2MOvgdq5QdqXAU4RGIERCPpwOTI1teDRZsOq-QOgP0mVj8PYUOW9cXwDfVvz4cK8BfoOu6aOdcZk393dJdCrkS4C3avyX1IgxCi1_eKl14uZJMsBBlgH56GG3OpzOGaTLm6o5gtuBS_owAIEm_WIOHD3EQw==",
  "id": "rs_04a5618a74d61950016ab44ff10b7087d0a726de5be2cda102",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.125,\"left_z\":0.04,\"left_yaw\":0.3},\"note\":\"The attempted descent stalled at 12 cm, indicating this reach-plus-yaw pose is kinematically awkward rather than in contact. I’m reducing the yaw while keeping the gripper over the same neck so the arm can descend.\"}",
  "call_id": "call_pJPrWXRtL0eK96f2LU6g3JLp",
  "id": "fc_04a5618a74d61950016ab44ff2973c87d086b4216c20e7b098",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pJPrWXRtL0eK96f2LU6g3JLp",
  "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]: [-0.6178, 1.7912, 0.9531, -0.3794, -0.8379, -0.9565, 0.9982, -0.0193, 0.7544, 0.5213, -0.3733, -0.028, -0.036, 0.999]\nstate[eef_state]: left_x=0.3645 left_y=-0.0935 left_z=0.0511 left_yaw=0.5523 left_pitch=-0.1245 left_roll=0.1289 left_gripper=0.9982 right_x=0.2828 right_y=0.0031 right_z=0.1542 right_yaw=0.0154 right_pitch=-0.0356 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [0.2667, -6.4205, 6.4889, -0.022, 0.6813, 1.1062, -0.0464, -0.0068, -1.7709, 6.8991, 2.0244, -0.0464, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83ba0f6b4db2c7db1f631d8cace56a34e4541f78a4b16339afa931d49b2aaf19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0d3f3e09e215a37fd09a645f56e9eeab914491cbd4a8e7100fb245953176a87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef642784c84f7a2a03eaae7076292b6bd63fe745d66b3f96a4589e77f23bdaf",
      "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 · 7.483 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]: [-0.4561, 1.4204, 0.7921, -0.0582, -0.3676, -0.2676, 0.9989, -0.0193, 0.7937, 0.6033, -0.4038, -0.0231, -0.0292, 0.999]\nstate[eef_state]: left_x=0.3848 left_y=-0.1141 left_z=0.1288 left_yaw=-0.0208 left_pitch=-0.0722 left_roll=0.0245 left_gripper=0.9989 right_x=0.2914 right_y=0.0021 right_z=0.1748 right_yaw=0.0075 right_pitch=-0.0235 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -6.2291, 9.3197, 1.746, -0.315, -0.0806, -0.1294, -0.1026, -1.6342, 6.9949, 1.917, 0.0562, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6682, 1.8175, 1.243, -0.6479, -0.9588, -1.1534, 0.9984, -0.0193, 0.7704, 0.5537, -0.3882, -0.0238, -0.0357, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1199 left_z=0.1241 left_yaw=0.651 left_pitch=-0.0094 left_roll=0.0103 left_gripper=0.9984 right_x=0.2859 right_y=0.0023 right_z=0.1617 right_yaw=0.0117 right_pitch=-0.0342 right_roll=-0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -9.0051, 7.6923, 0.8669, -0.735, -0.0562, -0.022, 0.0205, -1.7026, 7.0769, 2.0244, -0.0757, -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 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6178, 1.7912, 0.9531, -0.3794, -0.8379, -0.9565, 0.9982, -0.0193, 0.7544, 0.5213, -0.3733, -0.028, -0.036, 0.999]\nstate[eef_state]: left_x=0.3645 left_y=-0.0935 left_z=0.0511 left_yaw=0.5523 left_pitch=-0.1245 left_roll=0.1289 left_gripper=0.9982 right_x=0.2828 right_y=0.0031 right_z=0.1542 right_yaw=0.0154 right_pitch=-0.0356 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [0.2667, -6.4205, 6.4889, -0.022, 0.6813, 1.1062, -0.0464, -0.0068, -1.7709, 6.8991, 2.0244, -0.0464, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83ba0f6b4db2c7db1f631d8cace56a34e4541f78a4b16339afa931d49b2aaf19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0d3f3e09e215a37fd09a645f56e9eeab914491cbd4a8e7100fb245953176a87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef642784c84f7a2a03eaae7076292b6bd63fe745d66b3f96a4589e77f23bdaf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_2F5XfBkCRmKq4gKMg81Tfl2Lrwo63mdwqZNCEbaWpibPl_MOrhxYgoERm8ywVLUnPIPHYshRDlp84VaCoIdFWseCijVi0VyT1q_JE4q0kkV7fUu6HRNyFojZ96yv2SLsfaBZfIn0SqAzYwhYXUSxlZz8jpH45LvcUAcOlAqpuav9tEG6Jbp_dwHXxtfYRcAdqmKf889CsaG-fWhbUQLmKoJwGR2TkSV5e5plswCwAN9uOtbuAsEjB2vuPbFBKYTJ31NJCh6xak-DXNlgcJdYuGNtb3065L4TKwwosiFQzugOSsoXQZz9NIC9BZGdYtgyEB_EJLQ1PMEWriJcamO2KPEkF5NrDZZbvYamYIEDZ7hlfLW9q7O6CgwN8e_iBj6D-lzb1gU2i5GmzTRMJP-dQPzLBm3EWdhMnLfsnS0M1Kz7i9NMP18bvBuoXmZWzPR82trAnNIQNR_pOanCkV-_YMnQrgyNgsvG2oq2BekxcGA_j8pINe5RdYHfIsdmRD6uuF89sHkSo7M_qSaaIflKREagmufUMntuqZbc1MQZy1Oh1KE3NOZjR7mkJcoLI09eV4SbFJde7VORhT1slSv_2crhA42izhXj88fx0HDEV173kcLO4T4vOSqUNz8U70XGIKBdsphSDKh_kNzKMVNbMfkejwIyT0b_Ow5mtMO7NvggrPOJJf651pR02yMmPNRqbjqJFrgOHUKTL0ePbvrB0hGO8BNNMw8Uq0Lic8ZlBDC-b_luZxhv0RthkCr_BHUeZNZ95MI5NSiVCxahrtMO7dyw_7bCVc-VTFWpL9GVEyb7gwxwpqJaeCVWvl3KYvKtAPMPF23PNBmr1gK9jciNJHKpUkW7XMTYpb7pC9e0k8dFVNuLoVES88biMhl6IV4sZpfweAAHqJWLtBcfIgQrbgJmY676tYYONZQoyX519GsY5yl6lr3k1KOlPuq8vh8ICpIUljNcuWQeK_pwxlITrPa8mZf0JTcXvwrVlDqnXbMkcqgwRriyjL4QrkiXM4J_IKrjtytMEKL1vH86hV7kuzgMvxn8PNSgUwttkzmgD7OGu8SbtJmkONWDJz0G44WNTtM71cgnT9U-4cfsXejEbT2hUIW2Xj303K09rXwPopikCJYOWBFXQK3jAKYyTese86wNta9p1DsvmfTfx7sqaTyfGQ-2pQ4_H4j97cFfva1oTOMq7ePQXamMQ3g4AwUz84nQhknVKerbv9qvK1TPmKULhkrq7_9Ac5T1M87p4Ixu0OHISFMIxLe6lS4KOmSyLgwHeMlHyEgc35dRfUsgXV2pGlDDVEuLUCl6GVpqDVQWpSfV_70tNkrmYFitugQoq7kmS4c16VAZU6HIC7WnbxJN25z7Y1FROJjPIrwIhmdi8QB8BHBxpJFZtOM17QrKWSxsgevqDyBhv-264NgzdaJ0b_bRVJKZPebAwOHAksIsq1EcyF6mn7Hstlb7lKwS8vwqGhse-3rYxG3yGwYf57TH63PIdHugyvegnwpQXjTA0ydqRqYbo9-A6DzpBqyxWLAUoxAM16w_FTRCEg3bJGU9-e7eaeRO9eq29Le-ZiIU=",
  "id": "rs_04a5618a74d61950016ab44ff53ec487d0ad679a105a74af26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The arm has now descended to about 5 cm and the wrist view places the bottle’s cap/neck between the two jaws. I’m closing fully to test a neck grasp before lifting.\"}",
  "call_id": "call_q7G3fAECMxspSPcSHgUKnnRZ",
  "id": "fc_04a5618a74d61950016ab44ff6039c87d08e50c3a79aad1cb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q7G3fAECMxspSPcSHgUKnnRZ",
  "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]: [-0.6426, 1.7596, 0.812, -0.0837, -0.9211, -0.9672, 0.0136, -0.0193, 0.7372, 0.4862, -0.3584, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.3683 left_y=-0.0956 left_z=0.0557 left_yaw=0.5614 left_pitch=0.0155 left_roll=-0.0244 left_gripper=0.0136 right_x=0.2793 right_y=0.0036 right_z=0.1457 right_yaw=0.0173 right_pitch=-0.0386 right_roll=0.0016 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -7.7744, 4.465, 1.0134, -0.3443, 0.0611, 1.1697, -0.253, -1.7026, 7.2821, 1.9805, -0.0757, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f3271e1a753f4aa74ba4c39675cfe4ca4d4374f955a83f96e1d9d662555b443",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec4535341a752166e48abc5fa8ec7b8d9084e410f14bad3817f3deeb7a596ac1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe25769250eac2d20dfc653905d7e97ea553379251d6218877cd6ae005d5d81",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 4.008 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]: [-0.6662, 1.7802, 1.1877, -0.4538, -0.8551, -0.9329, 0.9985, -0.0193, 0.7826, 0.5823, -0.3985, -0.0235, -0.033, 0.999]\nstate[eef_state]: left_x=0.4028 left_y=-0.1425 left_z=0.1224 left_yaw=0.4859 left_pitch=-0.0428 left_roll=-0.0036 left_gripper=0.9985 right_x=0.2888 right_y=0.0022 right_z=0.1694 right_yaw=0.0099 right_pitch=-0.0281 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -9.6205, 6.0103, 0.3785, -0.696, 0.0024, -0.0611, 0.0342, -1.6068, 6.7897, 1.9219, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6178, 1.7912, 0.9531, -0.3794, -0.8379, -0.9565, 0.9982, -0.0193, 0.7544, 0.5213, -0.3733, -0.028, -0.036, 0.999]\nstate[eef_state]: left_x=0.3645 left_y=-0.0935 left_z=0.0511 left_yaw=0.5523 left_pitch=-0.1245 left_roll=0.1289 left_gripper=0.9982 right_x=0.2828 right_y=0.0031 right_z=0.1542 right_yaw=0.0154 right_pitch=-0.0356 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [0.2667, -6.4205, 6.4889, -0.022, 0.6813, 1.1062, -0.0464, -0.0068, -1.7709, 6.8991, 2.0244, -0.0464, -0.0171, -0.0171]\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]: [-0.6426, 1.7596, 0.812, -0.0837, -0.9211, -0.9672, 0.0136, -0.0193, 0.7372, 0.4862, -0.3584, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.3683 left_y=-0.0956 left_z=0.0557 left_yaw=0.5614 left_pitch=0.0155 left_roll=-0.0244 left_gripper=0.0136 right_x=0.2793 right_y=0.0036 right_z=0.1457 right_yaw=0.0173 right_pitch=-0.0386 right_roll=0.0016 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -7.7744, 4.465, 1.0134, -0.3443, 0.0611, 1.1697, -0.253, -1.7026, 7.2821, 1.9805, -0.0757, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f3271e1a753f4aa74ba4c39675cfe4ca4d4374f955a83f96e1d9d662555b443",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec4535341a752166e48abc5fa8ec7b8d9084e410f14bad3817f3deeb7a596ac1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe25769250eac2d20dfc653905d7e97ea553379251d6218877cd6ae005d5d81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_-s9OAv36EiPn7roV7IfiOCxKo6e6kTnvyqCLv3qmY-TRxaIVgpVqpWzWbzDJICYRmpwhr1q8psIlC66rGQ9yJ8wP3NMjkuVrr0N1CS8oyKTsvyIs_34oayrvTYId8yM0fHH5Xu2mW2vuL60eIGWtDdTIW4ode81ixPSlCYGpkFIRjrnEw_5_UwgKlh-YnuEfxiAMPyOQLfSRKlVANDU-UcX71ceyPgikEA9Wq_S7yCr-GvDozRYFrLJbDglhxk72gMJhWZCioZdsBb1rsVPd6l29mdvGl0tjzrV7gkBuJEaXaHItVWJKqWlYiS_A61CtI9BMFHU3_laZvamvbGB8cmaeDymvdWJ28xGWXb7iIrMSrHR4SrSHJDiR9o5eg0ZOUtmdzQVWZ4IMp9Tc0cOmbbCkimQfYgeJ4uDiBilN76S6T028e_46k-IsEywHdpMDfw-jxVaXtrip9VWVuAEhBm7YslF__kaM_RxxsfHgf4_7eOmqfTVYhF54N3lbl1Nu8Ztt7E9mWlsH0i_YgkBmXYQ8WFy5G4GbDfas3aMuM1i3ocRZNTM7o7eG4JdvDkGhZ0MemptRgTmzH4nKlUm7KoD8oyrgekekEXgapykfyAdvD1oxv3LTL_BnQeR8LfgfAeiCdTUDE4V1pBnA9ciQodhgh1kDlOgCvZXQVMOBGyBWG7eDW5YME9bg_pHvvyX7IEtKnUok_g353kWDmcFH-SFjyzWsbQ6pSmqePkdQbZzys3kRlBsVerFgT8y98JRl0CwPEN0jsuWouzE0G5te93IwMtBsdar5IxyCtSwLDvNEZfOB9-2aF9zdkeOhsBSqwcum740HHGQgN7689piRzKv2kDxySW96eg-auY_w1N5GlaRoC95XSM7O5XxdA1xM0t3wNuFFXXU2idO6tcDdm3hUj1JvxZJlmMDppAlQNCYLfbUMmhlfBQ1V75AdyeZLCTCNCDR7rhWEF4Zl6YOgL-o5jrgGhglLD8wXiaNLtttPah9cNGCx4kUZrCXkzyfpxj4Lq2lFeqU5vH2YS0n0XQYzU6tZ4FLGZmADcao7YqhVunJvMeQJ44K9aesT0GU4mytlcDSUyvmal828lvZjprjppeTZSk9KF3epkEf0b2v0aQetSJWVTknv1oi3EB4-HLD69Vc2511XpyNwY-ijnj_Fev827HHwEZHmKuSxnduICsomtzmkpo0iPfmAs9oEM4vbegBSjL7WSZlnxsXnVJEWw3VKGBDk7dpT4GWeqANAh6I8WHtJPHlScoNCUIdxBLw6wDPTVLaGUtHp8Wlp-WcGbQ5qsi3_I_m_uOOU_y1vV0vO_2TsKvoNwTSiMkFNvdAq9a4WzW86t58jcYfzndkAp8Ouy2XsaWaHstLqsR6jlNyD4NHpRzOPZRouiyq04AekK6TtLGqDNhZa8S0kdtEoYxnb7GmzXeXB-UE3lQWr_poh6d1HQuUhXa76d7fYul-AjyihFs0oRremBhjpqqJFg9_0hqAbKrWY9z5XyUukCQSXPCpVAYT0yX0yYSXEQ8yfcWmTzm2zr14E_0TTriO6Rt_QEmgpXYZ6kfNePVOp7dbEaSdAqRQEYM2garsrHsKTh8MNZYxBW2OBD_1kWmnBrfBXDeH5033cwbbQll7uMtcVmNjjgJlXLE_e37wbI0WHEQSWnEvAuUs_T3bs7FPYuN3RrS0O01A7CaFshlB7yXVNvZOaDtVgYAAqBl_uKN2PT1eKrovuoT-Ybbq--RQ2Qs-UFjjC0bymsi74XhYgdu8i-Uq97eTdIGWlP7cE4FvWaiDOCGNpOI5g6sw3K9IPbKI8SdrZ3oHRLcBQg8wXRKZ9iUVHXebDiKMbuNabna1U6-ZykOtUBVPhXXdra82EKY7_oCTIMYNMuzurFecgJvgJjAEShAXxC2DIsfPoHTBnQPpRDLXTxQ8QSX2OyS3sdmiDH0nm71f127G_73zL_J355hkbLAQ9efhR2B5daCU8kchYC_WYvmJLg7TrbwTGXvRLhQKkLC9apmP6gfH4HMs_TqD9z3z00enhONR9Mpkv1p8aWpvcwzMs7ejJOlxHXA3t9fQhTvq_2ARwpGuL0JveO50SK51rbwId028K6qn7wnpvkqKQ2_CAhfG2Xw051Wbc1vXiv2_XhX5iCPnz_Wy4LJGf_MBMt9VrcPF1qSrb2SzrHrP39ZdE98fwrhQgJb3SyK7hIW5ZptBinz0zetZh8ybn9Yfj9BMpMXs5-RUpXNzAO1NDOd9ZI61lWGZy_HDF8xoq24z6Hl0kmhXaGkwfs37HSqumfeSu5qPEG-V5TveyC3aItKLK6eU1Wb2TqqVdiLML8MbBmBJYabKBeKTyJ0od4f7f3nJ149NoIXTz4_2r8WTs1YBQ6g2Ie-3gBoFlXTexqgLvell-dkpDOmP4craW_Kl1O8zHXMyvwRJuUV4_nxWDFwYWft0ojZtQ4oiBULVfU_b1I7w_fKH0K6SGS2_i8RHzIw6VuNGpVBzv8KKrpvDLt7BQBwI-YwSg7bdYWRVBO9bg3xM1CSiWIhRqyXQ-DJmwjQuL0YEmRNLX8VWkdfi_Sg4SOQQ_bja4urI9jxFFkNRs01s4NUTCLQ8voZrIVMB9D1jIe_LVcmMst-YFBE8gEzmZo_TuVEinRDKy__CLYPPXTuOsIigyTetIeEhj_-tUI1LFJIWmpJdAmD4lsegC15WdHuWl8XQzjFx3h7maeaAHsexj8KUFJl_ryyJ93st_CbrmlBQGlQGrZ8IL2IEo4V87lNTNKUKpBaOyOAzi40jV2o2US3NqLyTOkZfyHjnY9uDVS1EjvzMI3AliwFSBE3MrA1ipsSdLdBc-XjqhIoxE0E3JWv4aGRhVQM5u1CHpCDZcxBaaMvityBBguslJqQ9JTEeAaNzn88RMOxliQviB66ykuNbFfMhL6JoiyMwvmmYMPrhvz6RnIFGmc2AZE0qbMshbolXU4Sl4eg1EtMYEBYjZRPWifi7ddiXo-mpY58q-u8_IpGZmHeDOn-Wc8f1fD3gQlJ1bHlOoiL31HDmucjCdxco5yFtB1drT146F0-nXZB534LGStTZCayY8nMFcaskx9aRUn4ulNM5GEO2FIELJ3XHI1zNqf3P1ntUGJisyML0jwUVWLXANNBO2K3fcMWldYCv1RIU76ZR__PkOVwPpZQSyzigqAVbUM25x-NkzxQQjd7lDhhrtCDmeaDTNw98MFIgJeJeXRSBri7EQ5TPuPB8h68fwgapShI1MX896I86rtU1SYlvS526pPXz17_e9zi8Srl1rzWULLXVs20C-Y8k1zNL8qWO_L8NQb4JxrdxWQVnBZ_BDG8tujNuu0HfFPVvjODAJzSLwt9X0KhYPw0gspAu9VZYtMIaBR21NaNS5josM-hPlIlOpF4WtN8vvswUVl1MMPzkGO1mbBX8dUFCW918JGQPoUQTlz-n_xwftCwONrDOsrGAJ7i1qdsuipuiNTSGL0ed2KbfvFgSalnnQCwtQ22DqA8S0FSLYwjY2VoSIxHEQqeEaHriJiMsL7yOL8aGh_bL7KAhrZ79Yru9jAjWYjhzkBtoqnaESJd8QLRtC_1XEnOQ6cw2E2XTK4MjAMmwWnzSVJC5_m0cebBMGXVG-WeDCdiOFfYIYaVexCiNfTsFArnpeHkOyTHw71dA==",
  "id": "rs_04a5618a74d61950016ab44ff9112887d09ef8047e0d37ab2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.096,\"left_z\":0.055,\"left_yaw\":0.0,\"left_gripper\":1.0},\"note\":\"The gripper closed empty, and the bottle was nudged so its neck now lies farther outward, nearly along the arm’s radial direction. I’m reopening, advancing about 3 cm toward that neck, and straightening the jaws to cross it cleanly.\"}",
  "call_id": "call_6bdSgLjlPD4mRFzaFmruzUbw",
  "id": "fc_04a5618a74d61950016ab44ffe091c87d089fd14ab2c53fdc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6bdSgLjlPD4mRFzaFmruzUbw",
  "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]: [-0.4019, 1.66, 0.5648, 0.416, -0.4305, -0.3191, 0.9948, -0.0193, 0.7166, 0.4515, -0.3428, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.3879 left_y=-0.0808 left_z=0.0399 left_yaw=0.1116 left_pitch=-0.0466 left_roll=0.0146 left_gripper=0.9948 right_x=0.2758 right_y=0.0036 right_z=0.1384 right_yaw=0.0173 right_pitch=-0.0371 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [0.3214, -8.6222, 4.8342, 1.8388, -0.0024, 0.1294, -0.2125, -0.335, -1.5248, 6.8581, 2.0195, -0.0562, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b39bd7441c5f0f867bb45fa3d6e3c0861366513ae0a34b15e8f1fe8a60b2931d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c895a1cd473533d83cc6b1532ea44538ae3026a4b9a46cfc65b9351023b6d541",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b54b6cc53460c2f95df6ec5c70f128ff644b5826b69bf7aa8d4b6789dca75a0b",
      "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 · 3.78 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]: [-0.6682, 1.8175, 1.243, -0.6479, -0.9588, -1.1534, 0.9984, -0.0193, 0.7704, 0.5537, -0.3882, -0.0238, -0.0357, 0.9991]\nstate[eef_state]: left_x=0.3911 left_y=-0.1199 left_z=0.1241 left_yaw=0.651 left_pitch=-0.0094 left_roll=0.0103 left_gripper=0.9984 right_x=0.2859 right_y=0.0023 right_z=0.1617 right_yaw=0.0117 right_pitch=-0.0342 right_roll=-0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -9.0051, 7.6923, 0.8669, -0.735, -0.0562, -0.022, 0.0205, -1.7026, 7.0769, 2.0244, -0.0757, -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 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6426, 1.7596, 0.812, -0.0837, -0.9211, -0.9672, 0.0136, -0.0193, 0.7372, 0.4862, -0.3584, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.3683 left_y=-0.0956 left_z=0.0557 left_yaw=0.5614 left_pitch=0.0155 left_roll=-0.0244 left_gripper=0.0136 right_x=0.2793 right_y=0.0036 right_z=0.1457 right_yaw=0.0173 right_pitch=-0.0386 right_roll=0.0016 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -7.7744, 4.465, 1.0134, -0.3443, 0.0611, 1.1697, -0.253, -1.7026, 7.2821, 1.9805, -0.0757, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4019, 1.66, 0.5648, 0.416, -0.4305, -0.3191, 0.9948, -0.0193, 0.7166, 0.4515, -0.3428, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.3879 left_y=-0.0808 left_z=0.0399 left_yaw=0.1116 left_pitch=-0.0466 left_roll=0.0146 left_gripper=0.9948 right_x=0.2758 right_y=0.0036 right_z=0.1384 right_yaw=0.0173 right_pitch=-0.0371 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [0.3214, -8.6222, 4.8342, 1.8388, -0.0024, 0.1294, -0.2125, -0.335, -1.5248, 6.8581, 2.0195, -0.0562, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b39bd7441c5f0f867bb45fa3d6e3c0861366513ae0a34b15e8f1fe8a60b2931d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c895a1cd473533d83cc6b1532ea44538ae3026a4b9a46cfc65b9351023b6d541",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b54b6cc53460c2f95df6ec5c70f128ff644b5826b69bf7aa8d4b6789dca75a0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFADcJFq4Te8HH1tvX2ZHs7bqaJVAb8nbRbEj5nAgu3xXeKuvLa7051GlBsEZV0yQnXdCjan456hyleEW2zW2vf0jP4lWMjGfLwAUXZybrRjvaOjQOvhimm7Lw4lu-YOkCFBAu3weyBOpi-c28dwNWQh7IB_owEbuym8Q04BiWJAc-Lf146b4S007GFytsWVwtUsO-R6UT84TBqjv-dZfEY46TJVnz4d0UHOz_Lxqv9gSgbObZ-wKf3z24gvbxcsmbjxNj_59BE83LnrOX_0Ecz__JYh3-dE-FHxz0uSJBG7_KSdk3ZQ--47OxXQgEfMJGkdMezioSvfyA6HBX2IO9Y2FoJPqJb_Yrw2Bgql86BoKLeT49vBzRS81zaicuFLmVd7Eaim16AO_nPJYKIMS_UnvJe6jHNnQLWBCrf2GRpG6PhyJDoqVOTJoBldbaYKAJ2zTPbq00wqrZrdo2XemkBwZQh3xeYs8Jystr8a6vN9Z7o-Nush51egMu6Hc77w1N_PBWTpCasyPHJzrv12fsY-LETd9wc-YxnHZv6Zc6xsxHV7DcD4RqsbrB16A26i3im1PKGdIbC915AUZp0bmoRJogLBGaFRaD0z9ibcaHIAZ2oDbHIohR-MKLSh9N7WrrKAdIClBJ9ImUsy6hnFXUm4dEUzT-6WvrmeF3PuMBzwWs8iiYHPt9ePKwwWLmyGlX80HzdpICxcwBO5ThkSbOeWVPEM9xh9qKL_6gTH8cRjN93WxOqDN_SKGMMYedNoSpugir9e3nfw8i7Wc0rMX9QGwi7dvTxlxfJbHzIxdZQWrprsgrz9B8BxrrK0rrSF2CNeLHb5zrKyGr6gprsr2p_HyRDKg-2kV5haFC189-1BEJW0lg9-Y8vcJdnqCRyQUft8HSG11_VW2S2SswtYiX4-C2V1f3XmxGg3xqX7VKP_FpG8Z_zTuudmAAjNx9RbdF7NZQRPz1jb3i3im27mhqGX06w6Xf8OZUe4ldASuFNIpjoemj1Lw3BBQUH_m6N06FXEnL4guLfX5Gi3jIRyD9RJPxcggXC1QOvn2JZuG0N6r6vCa9s1bNV6prh61hz0nmLYb_xH5Iz2zGYMDdqcqDC2h1Fqegxn_S18EFM-hGvko1HtlRuCTs35Pcv5GltdHM6aGVikBl9tQRm9Kk0rEFqaLUN8XufAMJ36IsYCWSV9xmCkpMsbt_5izpCTx5pEhgoJ0w0p_zrBueLT0ryWoCvGOYVFPyRMXTN6u_hFq9OBK6WYJidPOvUu73r2in9JaRErc8i_RaSU4_kvPRJd3qobs2b6QrUyYS2t29xy29JraNrSNztpi_iBZTE0KLQYyM3LTxcrNfBqxuipK-tSP2gSnbzClFJ06MaphMapBhp5KZsP4xy4R9K7rMvJWRU8MLqO8JIskQS6-xEAhZ_mepze8RypA_S2_Gk4b2BbU2wTfsTh2fTSEZ9EawD8lequrWINsjgcb5FLCG2M9O1VQUm1cGSbJscWYqSQVbLIGJdC_EPv5oBxZcHDGRs8Qpub6phF9qDHuoHLeLyg8vDfnqx-TMrFdAsV_JXVdkrk90r8NJ8tDwMBdv_Roe3IBtEu0El9dvVUIV5ihOXYU0ghVdS33nCRjE0kq8zA5b7VWaUtcChMyXayE5Nhx99mBQxng_Uo9KwDJsaIpqSL6RinpjDYDUSAU6PZBwJGm5iKJWUKJHyv9RcxgR_6bGUdXI6T8cuHMVt_REogaqVtb-jGrOxUHRy1Yi77Ua8TcX0fSOVIhrGBNvcgxralnxzqnCz5T7a5r7LKK4F83r4nQyPsn2tZaZSEG9uvvfU98Hu6kWzFRkTMTxm5AXeLpXJPUyCH_RjuY83A04kVqSrVQKEq0yPwvHfLB1UE8EvSbjiqMDScpcORvS88R-kq67n_k0AuJXVTeCdqjc7o3J9KLYTNftI1mEdSfWvOyn2YtE-uKCnLYRiqWAlMSmIx5h4Q1fmg3AtBQ9W18myxkjeHD4k8wN8m0bCFC0fiLXl29Z2uQHmFX2vazQNR2EFK2hmSJihQb_aI-jNJsSQNBT7QICszjjIFwFSKBlMLENhqzlPucJfctYn0-srOUh2gq5kBXxbH5AIe",
  "id": "rs_04a5618a74d61950016ab45000f6c487d0867791a096659a13",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.13,\"left_z\":0.055,\"left_yaw\":0.0},\"note\":\"The reopened wrist view clearly shows the bottle to the right of the jaw column and its cap still a little farther out. I’m shifting rightward in the left arm’s frame and advancing about 3 cm to center the neck between the open jaws.\"}",
  "call_id": "call_MP3WmbaIayluxCUD6GyTL82j",
  "id": "fc_04a5618a74d61950016ab45002f3e487d096c1012c49cf548b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MP3WmbaIayluxCUD6GyTL82j",
  "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]: [-0.4591, 1.7466, 0.6689, 0.4328, -0.4042, -0.2913, 0.9961, -0.0193, 0.6952, 0.4168, -0.3275, -0.0307, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4097 left_y=-0.121 left_z=0.0449 left_yaw=0.0177 left_pitch=-0.0245 left_roll=0.0071 left_gripper=0.9961 right_x=0.2723 right_y=0.0038 right_z=0.1311 right_yaw=0.0179 right_pitch=-0.0352 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -6.7897, 7.3231, 1.619, -0.1197, 0.1099, 0.1294, -0.335, -1.1419, 6.9675, 1.9853, -0.0611, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a66243cb3083b6a3d0fc9a7a6c723b08cd1d2b8e2755504d9b3bd58696bf8ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39f4b4d4c6ceb566f4cc5e83107a6dd3c6e5c99f0b23aa5acb94b7756a123cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:129b2b8a2a42e30d6878e954555f5fecb823d6dfa8e3ba1246b6e0fadaeea6d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.964 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]: [-0.6178, 1.7912, 0.9531, -0.3794, -0.8379, -0.9565, 0.9982, -0.0193, 0.7544, 0.5213, -0.3733, -0.028, -0.036, 0.999]\nstate[eef_state]: left_x=0.3645 left_y=-0.0935 left_z=0.0511 left_yaw=0.5523 left_pitch=-0.1245 left_roll=0.1289 left_gripper=0.9982 right_x=0.2828 right_y=0.0031 right_z=0.1542 right_yaw=0.0154 right_pitch=-0.0356 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [0.2667, -6.4205, 6.4889, -0.022, 0.6813, 1.1062, -0.0464, -0.0068, -1.7709, 6.8991, 2.0244, -0.0464, -0.0171, -0.0171]\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]: [-0.4019, 1.66, 0.5648, 0.416, -0.4305, -0.3191, 0.9948, -0.0193, 0.7166, 0.4515, -0.3428, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.3879 left_y=-0.0808 left_z=0.0399 left_yaw=0.1116 left_pitch=-0.0466 left_roll=0.0146 left_gripper=0.9948 right_x=0.2758 right_y=0.0036 right_z=0.1384 right_yaw=0.0173 right_pitch=-0.0371 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [0.3214, -8.6222, 4.8342, 1.8388, -0.0024, 0.1294, -0.2125, -0.335, -1.5248, 6.8581, 2.0195, -0.0562, -0.0464, -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 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4591, 1.7466, 0.6689, 0.4328, -0.4042, -0.2913, 0.9961, -0.0193, 0.6952, 0.4168, -0.3275, -0.0307, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4097 left_y=-0.121 left_z=0.0449 left_yaw=0.0177 left_pitch=-0.0245 left_roll=0.0071 left_gripper=0.9961 right_x=0.2723 right_y=0.0038 right_z=0.1311 right_yaw=0.0179 right_pitch=-0.0352 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -6.7897, 7.3231, 1.619, -0.1197, 0.1099, 0.1294, -0.335, -1.1419, 6.9675, 1.9853, -0.0611, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a66243cb3083b6a3d0fc9a7a6c723b08cd1d2b8e2755504d9b3bd58696bf8ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39f4b4d4c6ceb566f4cc5e83107a6dd3c6e5c99f0b23aa5acb94b7756a123cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:129b2b8a2a42e30d6878e954555f5fecb823d6dfa8e3ba1246b6e0fadaeea6d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAI4aA82gX3TVOWSeSnfR28OJT4Cx-ZuAmwUNjJMAtF_DvoRjmK1FvYtqFTqvlWAMYGugREb-_o6b505Vii4G_NrWOeJNgRjFpuwiIrfkxsvFiPVbx6yJkYBAAn1pzwh5FCa8BO_lQuQ_DGjLuXh7y8K0UnIWHUPJxAvI-X8SuGb9w9WgWRahgOAHgvUaIfUf9THd-jCjobTFynim57gYBTToOKpIVR9R4-nPfA52cUhpnHRUfdlU5B9jgwueSKTRanE0hrZiXdhAc9uMvDKAWIm6VdkWGo-5ncs4VuQiG1WVxpDAJ3oJyNkeqEwxpx7eS93OK_d13N4SOAP_HfCAx-Z6ro5HDRyeCHUAVbNSio48iC-hZQU62P9CvtwjVGG7-72wbLcrOrB7AAKJRPBQKJDcusK077Da7uo5liPReExhUk0VxJNRiJ7jmoX763T9Litbq7Hz4whYhQN_QZq01v9K_dBMhUfg17zfwykQiFfTc-cACQIhoQmPuQmdjbkQ0mcGvX0CC-v2jrQfvUxzbq8WX5ThBj0EI7aP0Ze2Ew_7VMseioLcJiqP7PEiXa7vFvntEBHMDuT-MXrvhsvaU1SeQnjLtjCfhDcycs4eS9dHbtW4aoDFcocTb_LRPEk-CpxVdShQnz7ja--kjOAXJhA3WSqFbwe1tkDpXbEGTDJzXMGBXcix0Ar252vIYismysoc9cgvrEOO7qKtxZLHrPDSurnr7_8rs6Sv11sToCKRSLQ_qJ4wj4vFMBHgyaro8iCtinaAJz7-12s2QYikhjWd7DJ0Eg-W6Li6e4qTiuQB1aStRcaC3V2Q0TrIeWhm9j3flxxpOL-J6uU0KyRPHGdQG4lm1_BcgaqmfEte8U1RUupnbfnxReV15r9bTftrac7WwRb9rBrj7T484BpqC0WEUEaT6YLZ_6W_HSmrZeHnL6s1w28tEdXoKPCGEzRKF4fiUkMZWPzNc1qE8bHkJEia0V7bVJjm8y4_CkEm7aRkGj1hk7sueTppFQxrakKUYQQtGfdhgcHZOG1PLFQkfOL5ENva-XaKheDTm9yUNcx36Dx29x1SjRDWV3QgpN1kV-315S_OzFP87WaqRtwSWQRCm8TZOxZ4DmocfKad4r0hIqoCrq1XPItFDT5zCF86t68q9Aoex_KnMcK6bIRTvEU9f7wh4TdUbnjcgjdhfXHyO2CB_CA0pdBpKrWwEedQZ-boJh-I6aP6FPS7TlTaeGx9YEGEnka5674rI-TgN6woOMdnX1VvCOYvV7tCxQfuo69Dex335UMwm4t_zNecucEKrCTRNaBSrFJ6Ludk52sKVZmnzLrxVFSxAKGYlmKtW0zpSGTCXxdDylS4hx4jh0D2hNQ4ucjqimRUuwNB5pvOgC3y5D_vWP--HcSzq5l1-w2uP1I0j-fSrh-X8TNJlBrFfptQE8VEblbHhH4xnammXCbV8E3MkYARa7IcBfEPmm1hsFzKzx7DiLaoFgea01gbNY7TnumPAtlsDOvbCo9GW_C0inBWuiCJGaplI0DRm5mKKQ_ZSWuDrC7surTkgIuR3N4dyZ28gQUlfRRDSivJ3srocubSZL63cehZJdWktmCWNtwbvWQRZp5uu4uo2it4d2lLNBEQSc0eBzB_8S2Q7I6ibfmmJKghzpS4HnQMvYAEear8WrglAGHmnC5ARkGMVEOkCA_7Dc7kkz_Ou3Li97NOcuK5fmWMt0sX3AAPFK7adpztnWjxLvJR2Ix-ms4M19UuNEZf9HjY2bv0c0rYL2RTs0Nybn04x-pgr83fQW-qy_KHe3EFcQkY01uhPX4vPjyPN1VI2IljD03Iz0xC4VwVdAqBAiORFAFM6HCiTVQIPL3--MmGmaqN-4IxUTH4ohKvA380yKJ7NLfscvwKDVcR6Fh35GeZ9Q5RBPjGlo1N670WjUNx_YADrJihwOHQ==",
  "id": "rs_04a5618a74d61950016ab45005550487d08bb9ec8c815e8cc1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.16,\"left_z\":0.05},\"note\":\"The bottle is closer but its neck remains distinctly to the right of the jaws in both views; the overhead also shows the cap just beyond the gripper. I’m making one more small outward-and-right correction before closing.\"}",
  "call_id": "call_wEzAXP9JbLYigodxKwpFnxfD",
  "id": "fc_04a5618a74d61950016ab45006fd1487d0b171137f85be178b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wEzAXP9JbLYigodxKwpFnxfD",
  "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]: [-0.4599, 1.7515, 0.6903, 0.4294, -0.4038, -0.2909, 0.9963, -0.0193, 0.6758, 0.3859, -0.3134, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4151 left_y=-0.1241 left_z=0.0499 left_yaw=0.0163 left_pitch=-0.0131 left_roll=0.0013 left_gripper=0.9963 right_x=0.2693 right_y=0.0038 right_z=0.1248 right_yaw=0.0176 right_pitch=-0.0325 right_roll=0.0016 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -7.2137, 6.9265, 1.6825, -0.1148, 0.0952, 0.0024, -0.253, -1.2376, 7.1453, 2.0098, -0.0757, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90dab2855559605c1e04dcf7ecc84c8e9870a268c72a1e96b1fd22342a1c290b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:345e1fba11948f73d07717b2617dc4b1a704c5a9ba0aea9649e7ab2d7413d6b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b875ae103b7c7bc17be57f946298c226e1a0086b0b021bbe176745bfb36a2a7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.682 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]: [-0.6426, 1.7596, 0.812, -0.0837, -0.9211, -0.9672, 0.0136, -0.0193, 0.7372, 0.4862, -0.3584, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.3683 left_y=-0.0956 left_z=0.0557 left_yaw=0.5614 left_pitch=0.0155 left_roll=-0.0244 left_gripper=0.0136 right_x=0.2793 right_y=0.0036 right_z=0.1457 right_yaw=0.0173 right_pitch=-0.0386 right_roll=0.0016 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -7.7744, 4.465, 1.0134, -0.3443, 0.0611, 1.1697, -0.253, -1.7026, 7.2821, 1.9805, -0.0757, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4591, 1.7466, 0.6689, 0.4328, -0.4042, -0.2913, 0.9961, -0.0193, 0.6952, 0.4168, -0.3275, -0.0307, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4097 left_y=-0.121 left_z=0.0449 left_yaw=0.0177 left_pitch=-0.0245 left_roll=0.0071 left_gripper=0.9961 right_x=0.2723 right_y=0.0038 right_z=0.1311 right_yaw=0.0179 right_pitch=-0.0352 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -6.7897, 7.3231, 1.619, -0.1197, 0.1099, 0.1294, -0.335, -1.1419, 6.9675, 1.9853, -0.0611, -0.0757, -0.0122]",
      "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]: [-0.4599, 1.7515, 0.6903, 0.4294, -0.4038, -0.2909, 0.9963, -0.0193, 0.6758, 0.3859, -0.3134, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4151 left_y=-0.1241 left_z=0.0499 left_yaw=0.0163 left_pitch=-0.0131 left_roll=0.0013 left_gripper=0.9963 right_x=0.2693 right_y=0.0038 right_z=0.1248 right_yaw=0.0176 right_pitch=-0.0325 right_roll=0.0016 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -7.2137, 6.9265, 1.6825, -0.1148, 0.0952, 0.0024, -0.253, -1.2376, 7.1453, 2.0098, -0.0757, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90dab2855559605c1e04dcf7ecc84c8e9870a268c72a1e96b1fd22342a1c290b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:345e1fba11948f73d07717b2617dc4b1a704c5a9ba0aea9649e7ab2d7413d6b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b875ae103b7c7bc17be57f946298c226e1a0086b0b021bbe176745bfb36a2a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFALhSf0P8x0inBMnz02H2BBTvsxH5Ndh4zZmBvpmepCtCPGT88k3SqruhyZoouJBzPWisKeeWiM7ty4TBDuMVP_dX28xy9ANjpO2iyvaOJWsOoKS-ik0L-sdyZe2AZxDv0SxcrfxcrHzTvusyW1WExb7SRlwTgD1iJw01FRzW0dozwgGnnmiBH3u75oVtuk8jS7PcABJLc_C9mjUdz-_iTKkk7hyMR68XO1Viz0jWt6-f4tMJLuuRaMCWn-Q4oOI8XsWE7FyRM_NroC8wmC7AMFB5sGanJ4Gc3VdZKwPX-zciU74OxE7wTrkoCejCjgL17IAzo1ZmB9IK2gboUTBm8E-ef_lwVn6FtEq7G1solNFufN9EcM9MOD9Z4AxayMb7SxO0QE3MgaGg1BNVBxSIhmpMIfVo3HPAQLQAQN3E_lxOJqlEd4rEGjNJRzptyw49RzJZLnTgsqKH88-DYJXTGZ79a4RinCM5SCkXi2c11ZpFgFAGxHQfgDPotXK8v4ZnTQ1MMCP-V5MU0Y_MIUO5QORVJSGlx24yWQ0cCK57lk1kOENxzxepfjW9PoEcJM_IoPUE9BHIC74HxsLGNwv7xKSRzOR7NlotOzAhZ0kOFmZ189ENkTOniuuTaJ3hAxV1j3eqwQYVRgcQYBsuN1ct0tgcrB1zzDcGoxI8POwr8mP7-4zwb--EcEqx4TYvGsJQd0xd5XCnUYRobOnOAjjA-yGkX6H0-PdaMhDGTqyowi8wt84EcgX9TwBpglri5N7DWoQEAiV6GmCgoi8oiarWHeU1JFJyF610ZSoWESA78pwBTukvQXmwy2M1yQBoCnJvRbhRgko5ZkpN3A6GwH-kdHZ0j8PyAr-TybvBLh8WjwR2QWJoA_xx7ZjhcCYNpTmANcGpVfenuHpAYB7dImKWlibZvtDUSBev_up3vAfwwWh9BIzINJO_0MoKf6AxwNmE-ODB-YSZ0w2zsMYVnLCjB9k_A5bCT0TBNfdLqynK2s1b4DdrnGbvWqJT3q4X_W8E63eV7S8DMYA3XmOdXQaB3dghjEs0E7tu0VUqAhhPsBbXi8SQjzSrsyjSG4UEGBHdIX1fytvY6SbuzthOR9FZIPGWxmZAfzGnip9BzQdlhOtSx6zTMIEYaSUJJIyWAwFjbmDfW6dx33LLUYN7E6DwTnEq_KFL7SHCMrySLeB0q7riRfZHjJdwyAs1PkPTATNuByrBPbdEMUCcrsladvN4K2Eoy64WLlCtyVbU9ZCEr6ZJLyyMccriCWZ2JmbKwN1pmlHW8UzqrrbT-_2LsdRsPri1hOrNpX_2qqUywGBm-651LnyI5d1dYXMPJHhBVWWMG_46Hz0oCIOc2LxhFGnOlEJr2lxIyf-brsLlOKLj9P3RrdabhkFuYrHHpUXKahfHnzt1sbjPjwtDUe5cSWN_uOwCzjeCLgM0S98YHKpeJkGnT3gM6KGOE-R-tx9vRLs4S_",
  "id": "rs_04a5618a74d61950016ab45009655487d08a8dd62bb5c37f14",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.17,\"left_z\":0.12},\"note\":\"The low lateral correction barely tracked, likely because the open fingers are dragging on the table or bottle. I’m lifting clear while moving to the corrected neck coordinates, then I’ll descend vertically.\"}",
  "call_id": "call_tuRm94uJwPEOixBdrUH3ADCK",
  "id": "fc_04a5618a74d61950016ab4500a2d4487d0acef400db2cbed56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tuRm94uJwPEOixBdrUH3ADCK",
  "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]: [-0.4599, 1.7515, 0.6903, 0.4294, -0.4038, -0.2909, 0.9963, -0.0193, 0.6567, 0.3569, -0.2981, -0.0303, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4151 left_y=-0.1241 left_z=0.0499 left_yaw=0.0163 left_pitch=-0.0131 left_roll=0.0013 left_gripper=0.9963 right_x=0.2668 right_y=0.0038 right_z=0.1194 right_yaw=0.0175 right_pitch=-0.0272 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -7.2, 6.9402, 1.6679, -0.0904, 0.0611, -0.0122, -0.335, -1.0735, 6.8718, 1.9316, -0.0317, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59221cfe272c4001db9b3fe24f3f727961a914c7cc55dc309f5acfa20fe52f4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:196cb96e6d25c4d84934373c85233682ca93f4d6741001c64d871ccf5710d4b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64bd252cec834edd3ae3f419cac22f3809c3590a6c01611acf884257764c7cdc",
      "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 · 3.386 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]: [-0.4019, 1.66, 0.5648, 0.416, -0.4305, -0.3191, 0.9948, -0.0193, 0.7166, 0.4515, -0.3428, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.3879 left_y=-0.0808 left_z=0.0399 left_yaw=0.1116 left_pitch=-0.0466 left_roll=0.0146 left_gripper=0.9948 right_x=0.2758 right_y=0.0036 right_z=0.1384 right_yaw=0.0173 right_pitch=-0.0371 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [0.3214, -8.6222, 4.8342, 1.8388, -0.0024, 0.1294, -0.2125, -0.335, -1.5248, 6.8581, 2.0195, -0.0562, -0.0464, -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 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4599, 1.7515, 0.6903, 0.4294, -0.4038, -0.2909, 0.9963, -0.0193, 0.6758, 0.3859, -0.3134, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4151 left_y=-0.1241 left_z=0.0499 left_yaw=0.0163 left_pitch=-0.0131 left_roll=0.0013 left_gripper=0.9963 right_x=0.2693 right_y=0.0038 right_z=0.1248 right_yaw=0.0176 right_pitch=-0.0325 right_roll=0.0016 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -7.2137, 6.9265, 1.6825, -0.1148, 0.0952, 0.0024, -0.253, -1.2376, 7.1453, 2.0098, -0.0757, -0.0171, -0.0073]",
      "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]: [-0.4599, 1.7515, 0.6903, 0.4294, -0.4038, -0.2909, 0.9963, -0.0193, 0.6567, 0.3569, -0.2981, -0.0303, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4151 left_y=-0.1241 left_z=0.0499 left_yaw=0.0163 left_pitch=-0.0131 left_roll=0.0013 left_gripper=0.9963 right_x=0.2668 right_y=0.0038 right_z=0.1194 right_yaw=0.0175 right_pitch=-0.0272 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -7.2, 6.9402, 1.6679, -0.0904, 0.0611, -0.0122, -0.335, -1.0735, 6.8718, 1.9316, -0.0317, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59221cfe272c4001db9b3fe24f3f727961a914c7cc55dc309f5acfa20fe52f4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:196cb96e6d25c4d84934373c85233682ca93f4d6741001c64d871ccf5710d4b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64bd252cec834edd3ae3f419cac22f3809c3590a6c01611acf884257764c7cdc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAOdM_ZtCiT1W9jwXUrJ-13QAUP7goInn380BYyUtrTYX9WlLa43UY2-Kga_aca0y296VbkGrtuqQ_mAphuIwqAspdHJEYWJowfvumGCXpysj0W_xmDsnYo16lJ7BZgJpAiMNkWGFTt0iyzlfW887n-V6evEcEAXK7eC9NfvZ8G1auh-FH01b9Y4Nepcj24P5DDQubbdCVRd6WVmczbNTqOtSxcLge1o5JTTGGqitkjDAufACXtB5hLx2Lr76Mfrz_sbSeQe0xvKEdu-ZAUBDrrUbEuHi7RoX5I5n-WT3Gb1rrdB87M-38djRMaIB-fILpqq0XNz3pIWN1PjDu7YnDVsodZYQn_2Vqo8b7RHfhrcUi7L8Kw5qNts3LqqXPqeNq-Nq7NmT70l7WEb2k7NU2fwn_ofdqauc9vqF7G_m3M0JkWXQHAd5IGfo-GWsL3UhNdXWuO61zRAfbJ2eS8iHPcPphcqfiRoZbgCJm2sJfYfBV_RCWp4mtL6TfXKHkK4ujNKLisIwj52UlQgA2PJ2As7ujFSw-5TaO5s2NbKSTfJPzzi3iO_e3uemo6F-9jSWY3E4N9i4dOAR4QdmA1WjgU0-I8YNQcwkFvCmAEwV_qaM2bfDMG4X942Hwr3YvZabcl0Xx0NnWy1OxrF3rCE-IvEymVtWM0PclVP36kfho10TV_ST3A4QAQgFmVb7_TsmtqgcrPzpebSN9LQv-ZtxwJ7EC_hql6xstZHbNvWjoWO1Z0kgqUn81vtGqlEdn9XTxr7P_7Paop4-b4Hj39eDuGNk-n9h6yPc6vX5I88TE98kMJ9ERT6wbH-lV7uYWshttRxA02K-IhUCPXQ_cg3e0eDBVDggQafHnvwpma5i19SfFAb04WTSOnmdksCVnMQtfnm3DI2U0g8EvhkjRHuIFuiWr880b-d_rM6nYGgh2eHY8GjcFql1nyu_EtGlyTwABBvHADaiUVvC1EI1nlwwUm05wsq2gfnJX_xIAV0Z4kQ_RV1DlMBvWCmrBTKV0vJrHm3TQmQjIzGQv2f9hm8vX0jAML2IswRBKcTr5W1SpLzyQXk_Ii5_vMYWyXCf_UhAZH0YzDDe9hejxcsoBS6fc1PWw54wBHrwCX5Phls0Y0ffMPbo8nSJXegblQI9NW3eF50bhwd4CWHS70dJfE49WeIbO7MuecZDQ9qgibT4SVAzvaFivvWZqnOvITgM5mkCerwWCmS88GHlpYXmiTikkWQKOXGM8PDoxMhRoMjnBZeysv5nm-POCTBtug3C96UQALdZPAGPUn2DpW_8qTvAAb_QRaRney8bKRhvEfUUdJ-tVrBv4-3UUW3SZP4poScqu314-BjtYaYI0Lk63fMd2aeJyxQulP_0MPlmZcnoijnZPUU5-Z2d9WySHtZETjuhtHEytniaCIYle5koIx9JsAW73qyL3DLGhvOh-A-3jeibnNe4IpoyWgcmnlgFE97Tn_",
  "id": "rs_04a5618a74d61950016ab4500d190887d09f16a4755264b449",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The combined retreat was held completely, so I’m trying a straight vertical lift at the current x-y to free the fingers from any table or bottle contact before translating.\"}",
  "call_id": "call_VfjuM1hwNZ44xnyLRyV7v2Gq",
  "id": "fc_04a5618a74d61950016ab4500d7c2887d08e63d5304920fdbd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VfjuM1hwNZ44xnyLRyV7v2Gq",
  "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]: [-0.4595, 1.5028, 0.9394, -0.0719, -0.4042, -0.2916, 0.9964, -0.0193, 0.6399, 0.329, -0.2905, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4165 left_y=-0.1246 left_z=0.1574 left_yaw=0.0174 left_pitch=-0.016 left_roll=0.0024 left_gripper=0.9964 right_x=0.2635 right_y=0.0039 right_z=0.1124 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -8.9231, 9.4291, 1.619, -0.2173, 0.0024, -0.0073, -0.253, -0.8137, 7.1726, 1.9414, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5023b6c987a7ac19d7966bea7bc629728a92a0531e2e9ae1dad82b3f262a9c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99f9d1fb3b32d3c16cf1113a247825b56694cbd2139cc0f68774cf5976fad9a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4639e4696cc5b77210b5689578d53dc6895f270750681113e9ac9655be1f8051",
      "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 · 3.209 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]: [-0.4591, 1.7466, 0.6689, 0.4328, -0.4042, -0.2913, 0.9961, -0.0193, 0.6952, 0.4168, -0.3275, -0.0307, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4097 left_y=-0.121 left_z=0.0449 left_yaw=0.0177 left_pitch=-0.0245 left_roll=0.0071 left_gripper=0.9961 right_x=0.2723 right_y=0.0038 right_z=0.1311 right_yaw=0.0179 right_pitch=-0.0352 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.6906, -6.7897, 7.3231, 1.619, -0.1197, 0.1099, 0.1294, -0.335, -1.1419, 6.9675, 1.9853, -0.0611, -0.0757, -0.0122]",
      "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]: [-0.4599, 1.7515, 0.6903, 0.4294, -0.4038, -0.2909, 0.9963, -0.0193, 0.6567, 0.3569, -0.2981, -0.0303, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4151 left_y=-0.1241 left_z=0.0499 left_yaw=0.0163 left_pitch=-0.0131 left_roll=0.0013 left_gripper=0.9963 right_x=0.2668 right_y=0.0038 right_z=0.1194 right_yaw=0.0175 right_pitch=-0.0272 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -7.2, 6.9402, 1.6679, -0.0904, 0.0611, -0.0122, -0.335, -1.0735, 6.8718, 1.9316, -0.0317, -0.0464, -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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4595, 1.5028, 0.9394, -0.0719, -0.4042, -0.2916, 0.9964, -0.0193, 0.6399, 0.329, -0.2905, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4165 left_y=-0.1246 left_z=0.1574 left_yaw=0.0174 left_pitch=-0.016 left_roll=0.0024 left_gripper=0.9964 right_x=0.2635 right_y=0.0039 right_z=0.1124 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -8.9231, 9.4291, 1.619, -0.2173, 0.0024, -0.0073, -0.253, -0.8137, 7.1726, 1.9414, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5023b6c987a7ac19d7966bea7bc629728a92a0531e2e9ae1dad82b3f262a9c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99f9d1fb3b32d3c16cf1113a247825b56694cbd2139cc0f68774cf5976fad9a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4639e4696cc5b77210b5689578d53dc6895f270750681113e9ac9655be1f8051",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFASPnKUy2eVwrpNisBnwwx-7L4BnFK3AFGqBezaQgMY-QRaqiNyWCBGGmXIsNoXdUEhtR2kEx3B_IaVeZdpIe0Ahrz_awrsiP6rnxuFZEY8iUr2NGIWKMcGLkBvuDzRs27dFCBKDyzKyAPJDm35yo-h_3oeC2jeRTZEyeOlzFZJlpnYyFDlgcg4_P761KbyPRkjkCBDVBYFmVdn2tFRqofNrIT86Ewr7MwpR3u-PJeaTfkNNAu7YNSUKYNYdms1O3FWoQlVRLqdcWRROfaB--22oXvRvCkO8HwcwQqHRJVc9ZV3gLx5wj3uLAEw-h5eUNgvpwLNpkPd1JIYTGnlkAY_pxvuR0d-U05B1BOQrX11YOMu4p0mXp0UujVd4LA1b4tlyhbC71C5YMp7GFj2et_QW6yTvAeguV6Gs8O0a7qMI9ao7pyzsYIfy0MuBcjAXldZ3LWgSDqOU-vqpYZKKjnP0zh4Mi-waKkfJKLFBtnsbffJVIy1pU8M9WGXgHhTkHZkWM7cRAaWxaW3Bk821d_ANpKv5_yBVc6rRWCTnW_LLWtP8aeCEoNqyclbkTyT8w_26jfGp-Pam9yFqzuI-725V4jaMpyI4U4WNZ9rgCFJB78BuiN5IU8d3DtxKLX5I5m7NDBa4_oRmYbcXn4OC9of5TdNkcCPycKKgMyVxiIGdz7plJ7-cAIwXEYN1HmCoUlJ5P0S8P7_CzZJWZMgwzGR4Y5azsh7GCe6LacL98DBla220T36UaqVXgxKbxexhZEKJok-S2FV6RfJIJDwuDonc8zp-11Q3wsnSjeGe_A89dHKzShkGFmMsyeyyZubWLACA0-EliBfRradfdA5eJWxpkuzyYEW_uQYQBTLVUCZCa6n9OGTdAMB7jcAa2VRPQDlE6Q5bzP_LWfK_OuIFW1ww8Q_RLdaraFX5WuaHRvdU8YIMbCUbJKtFSOxjH3_CK2yd1awDuc_wv1Lqin7Hdbtzk7K0jRrjLDUMEaQnZJFnj0XCFwL93RBhgYWEwpWo27AdTtl3rZsELN7ugUMiAX25A949FN_VFEXvROc5Ch4q-TjADIWocXuQ4yqukYx6HtSFN3Vp_pIkiUuIsaLwsszdYdMf7io0KHXXu9zOuBhdMgL57np2LaQdMyOklQ8VjmKW9Y2eE2GJr2GYGbkf6YIN9qU15yOEoMPY5-cZyc6K-RV999opuOf88kkdntX2S5AgTkB996it1nR48Hhj9eN5YSKdPXDqPze49zloIWkjlatD1JUViqO779f_So09laf7ryL4je7QeCgaKVqR6M-ttxF09OCbCpsvsc_p3Qvx2eVlNNkstJ4nmj73zJXzAcYp_n3wEJ2G4fJzuVBXnXiX4KTJZ4mhs8cSPaDW3gIfwgkwigLdPhVokZc2BJ3uiD0xPSe6QuYjcRCndIOptAfGXAIAXmLQxg7TyGpd5jD8J3eGFIQUZ1Y-G5nKlLBes9loSkjt-Q-92Y93GtAyv_LFkHSThqxC0KsxF6gT9M7_g726VxbTP6nxFKohcaf7lzlSmaVkn6lR3nVs4KTgUg4PnHzkbdxx3tKWt427MoR8Tfd7CoA-gfFCV0ZkacM97t2rs4sNKyWOPFGrjKSiGDugmKY_dXTL9AMigsBc_C9AHallw8nuYbISPdTmdb40BvYdp25HA5Bm8voJ4sOEDZ4wxsRSYMzpvvqwMPEJcl4Qr5yfLDa_ZDXDVKA7qPRrZHDMJuSifUaYd7f7g8SWk8N60SqXUFsw6Hta6-BqaDhYHYL_PEn8wSbc5MFZFBYq77jjkg51DRPM8ZJ3SbwCogNmOrfDsFRZ99LDXICv2dAP7Pi8LuA0QYlXV29svvmqLfyX0NF6CvHy6XFSxvp4zIHCGmgq-JO6ByGH8rTCSak9Q2ZqXuZeXgHIcxbn5cfd5Ye",
  "id": "rs_04a5618a74d61950016ab45010729087d0b83f3fbc16345b07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.16,\"left_z\":0.16},\"note\":\"The vertical retreat succeeded. From the higher wrist view, the left bottle’s neck is near the jaw column, and I’m now applying the modest rightward/outward correction in free space where it can track.\"}",
  "call_id": "call_WTkkO20fleRXt95rLsIf3iIx",
  "id": "fc_04a5618a74d61950016ab45011cb6c87d0abfc8b541ac19476",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WTkkO20fleRXt95rLsIf3iIx",
  "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]: [-0.5377, 1.6043, 0.9932, -0.102, -0.4454, -0.3328, 0.9964, -0.0193, 0.6209, 0.3019, -0.2836, -0.0303, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4167 left_y=-0.1557 left_z=0.1344 left_yaw=-0.004 left_pitch=-0.071 left_roll=0.0287 left_gripper=0.9964 right_x=0.2602 right_y=0.0039 right_z=0.1061 right_yaw=0.0175 right_pitch=-0.0318 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [0.212, -7.9248, 10.0171, 1.7558, -0.3248, 0.188, -0.0122, -0.335, -0.6906, 6.8855, 2.0098, -0.0024, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2948b3ab98bd541981ca20f5488f155ede440151786168874f76141735d8862",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ab6e54139ee24cfd7f07da0a7c6c1bab54eaaa9d8a397d0fa46751429aebec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:659c57551ab441fab5fbc0691bee2af4b57df6de8b9e3777b5fb729c8251bfc9",
      "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 12 attempt 0 · /responses · status 200 · 5.275 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]: [-0.4599, 1.7515, 0.6903, 0.4294, -0.4038, -0.2909, 0.9963, -0.0193, 0.6758, 0.3859, -0.3134, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4151 left_y=-0.1241 left_z=0.0499 left_yaw=0.0163 left_pitch=-0.0131 left_roll=0.0013 left_gripper=0.9963 right_x=0.2693 right_y=0.0038 right_z=0.1248 right_yaw=0.0176 right_pitch=-0.0325 right_roll=0.0016 right_gripper=0.999\nstate[joint_eff]: [-0.4581, -7.2137, 6.9265, 1.6825, -0.1148, 0.0952, 0.0024, -0.253, -1.2376, 7.1453, 2.0098, -0.0757, -0.0171, -0.0073]",
      "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]: [-0.4595, 1.5028, 0.9394, -0.0719, -0.4042, -0.2916, 0.9964, -0.0193, 0.6399, 0.329, -0.2905, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4165 left_y=-0.1246 left_z=0.1574 left_yaw=0.0174 left_pitch=-0.016 left_roll=0.0024 left_gripper=0.9964 right_x=0.2635 right_y=0.0039 right_z=0.1124 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -8.9231, 9.4291, 1.619, -0.2173, 0.0024, -0.0073, -0.253, -0.8137, 7.1726, 1.9414, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5377, 1.6043, 0.9932, -0.102, -0.4454, -0.3328, 0.9964, -0.0193, 0.6209, 0.3019, -0.2836, -0.0303, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4167 left_y=-0.1557 left_z=0.1344 left_yaw=-0.004 left_pitch=-0.071 left_roll=0.0287 left_gripper=0.9964 right_x=0.2602 right_y=0.0039 right_z=0.1061 right_yaw=0.0175 right_pitch=-0.0318 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [0.212, -7.9248, 10.0171, 1.7558, -0.3248, 0.188, -0.0122, -0.335, -0.6906, 6.8855, 2.0098, -0.0024, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2948b3ab98bd541981ca20f5488f155ede440151786168874f76141735d8862",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ab6e54139ee24cfd7f07da0a7c6c1bab54eaaa9d8a397d0fa46751429aebec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:659c57551ab441fab5fbc0691bee2af4b57df6de8b9e3777b5fb729c8251bfc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAWY-AFYJKsD3PM2BPU96WRAdjBwSbwq-OyOAKlCfAN3Me-5i-9fJFi4pqu-gJGc6IuXdY9OEWpPAAokL0gqho-vUOuvan8gM6-BE9rVcasYpe2-kfzto_j-i531ImvxnJ9yy_TGzLwwAbtEJXFYS__q9khqvxUKCV9Fxs5AdyBhUJtW7Zk31fdecRhJ-H313tmLnMNDlbhckiJ-utPOHr_yWtRGV4E2xgVBbZfWSQgj6gAsxqc_paOVmcVitjai7rID2JDP2_g7ZFyZrEigNG4TF-DsURmwNKUHFhwoFHhaKmNsSbznNb5NxH9k50L9FrAFlUaX7NIeD7kW-S27FjU9eeXTTtR3VipJyT_AqhwgsR2tNZzx6mvD_bERPqiPpUwB001hu-ehe-eFqv93XTgq-QkRYYodG8chm6Vyqy4aVKdazdnLGii8H6UK87V7ojU5zi2tiCgBAx7nrzW05XTvPussr8FeSEqt9Sn8EKrlMRq3Mu07MjYPwDzi5HxN5dwG5ceuToi9F0pqvIgTl-E7zXvPMousgEJC5Qe2xOHJYbHxeqqFqNrVuNh-w5rAWHUFf6PVbvoJLsKEvjBFIdbYHdbl1zPkSK5G1eAzF-6Pd3iKlN1VlrUTwFXSw9yDUfSQa193Hr7yJN6NdLuwg2Qo1h1h-L_qMtos65pXEBkltKljMl-ciSZ1HDGsQBLIws-tBwhaMaZszLa69atGsViQxlIE8SOV7kDc_P01PcPPkiHG2nEqEyOfKsfdkBSfJWFotf8GsgS9J1eWtDQBn7FRE5yfGXs7_5CBiDXY8qhpkJL_lEnjs_Dt-1rTCDb3ZWkHmJ0nEBHOaiU5jHb8y1px41IyrPdiLmB-Er3TSkTHN8r5u9tpkuXyj_8YhBaWkvVkvduc5XtjCLY_DWM1yTpudEwFA_H-ug_P5tz_yaCQyCICE6iD7nwX3F05gF3xYowNcL6wq3bMNzALPexvsQXLUkngZvW4wfw6Bqjaizx9vs4cXi9NUS_DuWip-CnlbzyDFKm2mtwflnKTxgoaCqtFKFMuoloGSgtFsCzTPv8XkMByAHt7zGXB5r5_xMmHZOgYNkkir_LYRrixY2IMVov0cPyxbsvtCW0BOtuPKUvaXiI9nkEkTjn4Mt9RqeHSM2sGR6KUe7lYai4GT80T467a1bTTTeA7dvue2LVXD2NgPkWWnCHzMAKixLVl0drTchkqdQGIk2W3JhMrbc4lxCYg5lfUl5RPcJx-85abmgVJa8BIUM9cp4UDJRO4stbSYRKUXZsznO0g0XBjgu0VWVzCjXV7mfU7kvX23Yy7LqImDG7WpCPFWw-OPewzv-vOinIMGqRu6vDWwe8aQw6wVkdfyoLBrDbWgjWuWjRE5kodf7czP-fuESSVZUQgkLxtyTyrb-ZUTIf0oN7N-rPxh7SHrekkduyu4XXjIQG8TOtdSoDOq4sB43OGO0nbji14NLpgjnbXe4WsjqbagGnJwpkydUioT10V5cVJE_RTc1uknlnu7QGOmdKWB8RoL5ArII11fUfKp8_a9ye69jCoRe1_FuDcuswgfxN4PLFhamDrbOuC-fLVGZSjINC4CiQItbIvGmr2o0md8WatjhCNas9gdBFvR64Zo_K2LVhN2pTX3MirO98PoeOJsFkV2G70g4Y3qsXEPrjm5Ry5OgB0_Xl71cd-3dTGg6-uXGDHXoVJR_dO3cnO8VOKsOvCRXVBuKgfb-eXUs1yPHn23T9o9zjLfcqUKmrtxPKFwocz_RKQ7640vaWTSFgdJerxCpZw4d8",
  "id": "rs_04a5618a74d61950016ab45014605087d092176ccce9c499ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.16,\"left_z\":0.15},\"note\":\"The lateral alignment is now good: the target neck sits almost exactly on the jaw column, but it is still forward of the fingertip row. I’m advancing about 4 cm at safe height to bring that neck under the grasp point.\"}",
  "call_id": "call_PNjPDon4r98ioWeX20Xh39cn",
  "id": "fc_04a5618a74d61950016ab450154eb887d0935d8cca11adb132",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PNjPDon4r98ioWeX20Xh39cn",
  "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]: [-0.5419, 1.6119, 1.0107, -0.1017, -0.4648, -0.3439, 0.9964, -0.0193, 0.6006, 0.2756, -0.2718, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4204 left_y=-0.1565 left_z=0.1395 left_yaw=0.0128 left_pitch=-0.0554 left_roll=0.0252 left_gripper=0.9964 right_x=0.2578 right_y=0.004 right_z=0.1014 right_yaw=0.0176 right_pitch=-0.0261 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [0.0615, -8.1162, 9.2103, 1.7949, -0.3101, 0.0269, -0.0073, -0.1026, -0.6496, 6.7897, 1.9072, -0.0464, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89dab444e600a6896e2210142914af90e61663b4076b93336079ecf5166170a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd85ee1102e24a2836cf914d36db3722149aea38f898a7e6ab19a7a74da1bd51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2acc991f3d72895f07b92f270f182f889c7fb17bf2480e5d25d3ab3254ac91b9",
      "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 13 attempt 0 · /responses · status 200 · 4.027 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]: [-0.4599, 1.7515, 0.6903, 0.4294, -0.4038, -0.2909, 0.9963, -0.0193, 0.6567, 0.3569, -0.2981, -0.0303, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4151 left_y=-0.1241 left_z=0.0499 left_yaw=0.0163 left_pitch=-0.0131 left_roll=0.0013 left_gripper=0.9963 right_x=0.2668 right_y=0.0038 right_z=0.1194 right_yaw=0.0175 right_pitch=-0.0272 right_roll=0.0009 right_gripper=0.999\nstate[joint_eff]: [-0.5265, -7.2, 6.9402, 1.6679, -0.0904, 0.0611, -0.0122, -0.335, -1.0735, 6.8718, 1.9316, -0.0317, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5377, 1.6043, 0.9932, -0.102, -0.4454, -0.3328, 0.9964, -0.0193, 0.6209, 0.3019, -0.2836, -0.0303, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4167 left_y=-0.1557 left_z=0.1344 left_yaw=-0.004 left_pitch=-0.071 left_roll=0.0287 left_gripper=0.9964 right_x=0.2602 right_y=0.0039 right_z=0.1061 right_yaw=0.0175 right_pitch=-0.0318 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [0.212, -7.9248, 10.0171, 1.7558, -0.3248, 0.188, -0.0122, -0.335, -0.6906, 6.8855, 2.0098, -0.0024, -0.0659, -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]: [-0.5419, 1.6119, 1.0107, -0.1017, -0.4648, -0.3439, 0.9964, -0.0193, 0.6006, 0.2756, -0.2718, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4204 left_y=-0.1565 left_z=0.1395 left_yaw=0.0128 left_pitch=-0.0554 left_roll=0.0252 left_gripper=0.9964 right_x=0.2578 right_y=0.004 right_z=0.1014 right_yaw=0.0176 right_pitch=-0.0261 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [0.0615, -8.1162, 9.2103, 1.7949, -0.3101, 0.0269, -0.0073, -0.1026, -0.6496, 6.7897, 1.9072, -0.0464, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89dab444e600a6896e2210142914af90e61663b4076b93336079ecf5166170a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd85ee1102e24a2836cf914d36db3722149aea38f898a7e6ab19a7a74da1bd51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2acc991f3d72895f07b92f270f182f889c7fb17bf2480e5d25d3ab3254ac91b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAbdCMx-eub-wxPihguIGcpQIU-Pq3iuQNxugmRzUaNelrT3Q-Dtx7UBvhLPkxJBNPr2P_gA_VWoZkpF4BK4hrt-vToRwBjYV0-9GQQUD5id2yj5sSN1YPF55cPTNIrCyvraAA3WxZ8kvMNYpV2LypXVkBhAGd_xsbTZkjzBglaJlT3Ftq7eOpHaXgIczOJqM5vawgqnL8S11qMXfs3ifTGF_Yl58Qmw9PP0RWLcdER0dT9aFUMLiOR9VTNdm90ilkB0pRAL6OnyNU9KiHyM2QpU64x_L9T-Mn_006ZlAmZbNDQRO5zDRbXBOKS2Ztz_dTjH4Cx-qGZzGAP6sGSKmHZYyDKQ1Sx5p9CSA1ss72QyqIAehuz8UYxTDWBqIqUxyrttgS6roqQeCMx3bn33ruSVCzz3zwSMPP0RWFqazce3qgDCtVCpl16hJuT2vQB4dY9IrnxTOCSqYlo3EI5tLUYknt-RBXGpXK7p-tpLdpc6Fx-K17sWGrLjWJNEdo-FYzfEl8IS19AmAKl3eE5UHsxuhVBwiaP96kPK1-BQQD9ce74zufJAB-YN_IHWXMVjYw4JLs67WQQjWCd_AVUaOlj2g-dUsutCrsgDL5y8G3aGM-em5gdw85hfV1WXU1NGh7aKVhLziHikDlnUbGcj3XcJCwFDc4ygzJa84EELcZnaP7T8ymNLOvtaQPdV4W8ELcjVK8vfHWk_qLrPfx1imCUv4RtqdH5QGPN-iBa_D_KREEM8bfPo5OBCBQ9qWQrJNEMF3QBheK_zABg4a5i8PAvCy7IkaKfz5VPevEfEaA6qrBcho6oFLfae8rQum9FaVRpmw_ypqLu_6fy8XhLoiW6wtEdSKfflHyPvKMmQJIRq9gtDny6H2NGzJdmh9OuVdogMll4zWgDFhNK1wa6DOhuO5RqabTRzeqXBrDxPTXV5yXaAjN0ej-Fw3wuzl73oLvzWVwiSSvFC58T6FSXQRp0hCJ81vyI-pmJ9-QhAMGoycggjRbaurlxAxFUsxvfX1_4AaxvxiP8XRuk6TdSUQAK6nhtjzIiJmMhp8FYt55e3iIrV3mluN5ryzRbpjso5Ej0zs6SxhZma54YcPeAWywLwSJz2yIw5IFH7PNGn6Lfa4fIqAU93KDwUrcQ0tzRN9AgKs5grrsqjXdubVUsCwXURlnbjZorHjR5EbKIiU8E3UVkuC9B40zeXZf_lU_NW2kSE6Y-XsJ7reI_F0ebX-GgOOy_x2wwVgntSVNzisrB5TiWnB4MtOucHO-aFTUazOL3m2DcT1m45Wv_7l7XI0NpVmcu2pEGP5FmZiPsWHF_IkMTZEOHc7fM5uD7FKI-lWnl2kc3UmO1Cf_fezwv0ZvEOxJL5gmnJc4xAAgFaL0BahGnh9k1jB647VCyOxVFSc3Wfw_Ib2jcWoRPcJK-gTxcaB36yiXSzV4zVTqnjSqdkDzsVcosqw0uzHO90Dx5lTahx6eqgAahtnYiPlvLSmSUNFuSJlqwikBG5pC2MpggRoWg2vJFuIMiOFFWqSrgADfTz25ieOEXIBNadmdGCauKXoNsagI2b4F-EBUhTHnxh8PhP_BiFYrDCnS2QIJ7NvEjiuHYei-9dAif5f2ae6rp6DW8v2Q1NGmTMbDt9rZnxnT12lwqB1iYE1YomCySL5AaeHUd6QztIjg2Fc7ISK3BT4bJkmMDCjrxLipqLCUthoDUMBELqPTGLf2gVhmsya35sH7IOmfJNJyNQc2C32IoPD2WQhFYUCB9WvY2WPZ2Ukpk3VDOeSWn0D17BZhHtNKLO3HhYkqM9bq4x8nmtqOtiOGoPmYsfsUvox1chXITxl_tftkJMUijQedthWTFbjuggovDEWDAmbRKYt8mesENZE-sWD3BF4RUGI1fQS6Y2KyEDlgi7QeepehLochJMCiDVLk6XcQLoU2sZCJM3GtzpfjRZnFtjXfQIh6WZQeEOZ3PhpeYKu_oK0llS_huGypFuEq-UF-fvC5DFS4V1YroPbNEEoQ2mqpt0hk62ZcbwXMMgL4aJBwtr5DtcxV_7hPXkFvKBIldutaodsIhzq0RRxCLVGuH5Td616uJQfIYL_VV2P-OCvEMMwbL8EaKEKDLTnxmsFu5OthIaDLgObB479RJJBCg-xJpaQBB3uGbgQMDBzzX3Ng1x6FdsVSbpz_vwKhu8C5UKg8wXoBtak7Ppzirgror4INEOZbsLTDr7akB-3OZ369q98rBIFAuXlUZmrEYpkj4fju1FSwlLQ-o2aEHqAyAshX7iVlcs6jpMOijg6kGYG1muJtCi4TmH8HgZHfxm8iX2c27b5RF5Bebunl96MsFo1m4-ZElq7cCsYtoY22f9GsL8VPDP2bahd--TWRM3qRhVso7iDQKj04D2fpvFexZZB3_p_Fy-HkFC9M1gtlfHdclZyGfADcxz8pcQZ3SVTPWsFj34YNMgi5t_qYYoQhPUx1XemL9bvsUBBc7a7e3q9aYixBMZz80oKOVnR58o7oK7FhBPxV90XnKY18iwXUuOoOOxUw7aKU5H78t_OhEKqOsSyXZfOhVt13UE52goARzS7sP5Ps3hsgBtIjBQrp7Pg1DA0WgiqeCMFYw6neBBomEIAkaCTIJxIEZyR9RAte3Pc0qrFDBU_lofXoYDUs63SspBwnG4r16s9Iy_SGQdLhuWFEtTeFwnOaqxaZNpErAYsq61M682iS-TAhmUm2pX3hoRhhjCPsv1tdnFgoM4YnTj4ldxzkQOjYKMqtvikFNat4zm8UkuJ4ZJsxs8Hwrd0I_eTFJYYLe1hlZYZ7DWEu7qUxkvE4XHngJ",
  "id": "rs_04a5618a74d61950016ab4501788cc87d097105e0551763732",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.16,\"left_z\":0.2},\"note\":\"The outward command stalled after only a few millimetres, so I’m raising the arm while extending; this should avoid the awkward low-reach configuration and place the wrist over the bottle’s cap end.\"}",
  "call_id": "call_PPVv8ji3gI8C6q0vrcPFZHxU",
  "id": "fc_04a5618a74d61950016ab4501ad03087d0818cc97f4e35e6d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PPVv8ji3gI8C6q0vrcPFZHxU",
  "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]: [-0.5419, 1.6119, 1.0107, -0.102, -0.4644, -0.3443, 0.9964, -0.0193, 0.5819, 0.255, -0.2676, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4204 left_y=-0.1565 left_z=0.1394 left_yaw=0.0127 left_pitch=-0.0558 left_roll=0.0249 left_gripper=0.9964 right_x=0.2553 right_y=0.004 right_z=0.0973 right_yaw=0.0173 right_pitch=-0.0238 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.1162, 9.388, 1.7705, -0.2906, -0.0122, -0.0122, -0.335, -0.3214, 6.735, 1.8974, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab5027859d97bf830263cf936f276ffe884213298e56e60184a0e5f89c096971",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7190eb47dc26f9d4725037ecc9b5ee20380ab91dac85dcc059f53e315814bd65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c97b962b6f22d820537d5f271e38762e190e8cd0b385634366eb0eeda97d94",
      "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 14 attempt 0 · /responses · status 200 · 2.842 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]: [-0.4595, 1.5028, 0.9394, -0.0719, -0.4042, -0.2916, 0.9964, -0.0193, 0.6399, 0.329, -0.2905, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4165 left_y=-0.1246 left_z=0.1574 left_yaw=0.0174 left_pitch=-0.016 left_roll=0.0024 left_gripper=0.9964 right_x=0.2635 right_y=0.0039 right_z=0.1124 right_yaw=0.0173 right_pitch=-0.0306 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -8.9231, 9.4291, 1.619, -0.2173, 0.0024, -0.0073, -0.253, -0.8137, 7.1726, 1.9414, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5419, 1.6119, 1.0107, -0.1017, -0.4648, -0.3439, 0.9964, -0.0193, 0.6006, 0.2756, -0.2718, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4204 left_y=-0.1565 left_z=0.1395 left_yaw=0.0128 left_pitch=-0.0554 left_roll=0.0252 left_gripper=0.9964 right_x=0.2578 right_y=0.004 right_z=0.1014 right_yaw=0.0176 right_pitch=-0.0261 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [0.0615, -8.1162, 9.2103, 1.7949, -0.3101, 0.0269, -0.0073, -0.1026, -0.6496, 6.7897, 1.9072, -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 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5419, 1.6119, 1.0107, -0.102, -0.4644, -0.3443, 0.9964, -0.0193, 0.5819, 0.255, -0.2676, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4204 left_y=-0.1565 left_z=0.1394 left_yaw=0.0127 left_pitch=-0.0558 left_roll=0.0249 left_gripper=0.9964 right_x=0.2553 right_y=0.004 right_z=0.0973 right_yaw=0.0173 right_pitch=-0.0238 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.1162, 9.388, 1.7705, -0.2906, -0.0122, -0.0122, -0.335, -0.3214, 6.735, 1.8974, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab5027859d97bf830263cf936f276ffe884213298e56e60184a0e5f89c096971",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7190eb47dc26f9d4725037ecc9b5ee20380ab91dac85dcc059f53e315814bd65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c97b962b6f22d820537d5f271e38762e190e8cd0b385634366eb0eeda97d94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_04a5618a74d61950016ab4501cff7487d083426a14a9fd7322",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"Further extension is being refused, but the overhead view shows the fingertips already over the upper half of the left bottle, above its center of mass. I’m descending there to take a body grasp that should still let the bottle hang vertically when lifted.\"}",
  "call_id": "call_czS1cqTBTc389joBWzWKKeHk",
  "id": "fc_04a5618a74d61950016ab4501f2c0c87d09c3edb638a8d6525",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_czS1cqTBTc389joBWzWKKeHk",
  "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]: [-0.5518, 1.8057, 0.7898, 0.3954, -0.4759, -0.3691, 0.9964, -0.0193, 0.5674, 0.2359, -0.2653, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4245 left_y=-0.1621 left_z=0.0602 left_yaw=0.0243 left_pitch=0.018 left_roll=-0.0343 left_gripper=0.9964 right_x=0.2528 right_y=0.0041 right_z=0.0924 right_yaw=0.0176 right_pitch=-0.0261 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [0.4308, -4.6291, 2.7829, 0.8962, -0.2027, 0.1978, -0.0024, -0.335, -0.5538, 6.7897, 1.9072, -0.0073, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:706f33bb2258b6842acd9903db006f096fffd155ab41363121d174e3dfd0b217",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9df74ebef85f9f72c28b0b3c8ae27a843697d18ba88412178cf6e5cb9b21ba4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25d9de536fc043a667f3f61a4c7d23f89ab29bf3a5b52939fab6974143ad8a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 3.987 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]: [-0.5377, 1.6043, 0.9932, -0.102, -0.4454, -0.3328, 0.9964, -0.0193, 0.6209, 0.3019, -0.2836, -0.0303, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4167 left_y=-0.1557 left_z=0.1344 left_yaw=-0.004 left_pitch=-0.071 left_roll=0.0287 left_gripper=0.9964 right_x=0.2602 right_y=0.0039 right_z=0.1061 right_yaw=0.0175 right_pitch=-0.0318 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [0.212, -7.9248, 10.0171, 1.7558, -0.3248, 0.188, -0.0122, -0.335, -0.6906, 6.8855, 2.0098, -0.0024, -0.0659, -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]: [-0.5419, 1.6119, 1.0107, -0.102, -0.4644, -0.3443, 0.9964, -0.0193, 0.5819, 0.255, -0.2676, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4204 left_y=-0.1565 left_z=0.1394 left_yaw=0.0127 left_pitch=-0.0558 left_roll=0.0249 left_gripper=0.9964 right_x=0.2553 right_y=0.004 right_z=0.0973 right_yaw=0.0173 right_pitch=-0.0238 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.1162, 9.388, 1.7705, -0.2906, -0.0122, -0.0122, -0.335, -0.3214, 6.735, 1.8974, -0.0513, -0.0562, -0.0122]",
      "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]: [-0.5518, 1.8057, 0.7898, 0.3954, -0.4759, -0.3691, 0.9964, -0.0193, 0.5674, 0.2359, -0.2653, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4245 left_y=-0.1621 left_z=0.0602 left_yaw=0.0243 left_pitch=0.018 left_roll=-0.0343 left_gripper=0.9964 right_x=0.2528 right_y=0.0041 right_z=0.0924 right_yaw=0.0176 right_pitch=-0.0261 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [0.4308, -4.6291, 2.7829, 0.8962, -0.2027, 0.1978, -0.0024, -0.335, -0.5538, 6.7897, 1.9072, -0.0073, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:706f33bb2258b6842acd9903db006f096fffd155ab41363121d174e3dfd0b217",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9df74ebef85f9f72c28b0b3c8ae27a843697d18ba88412178cf6e5cb9b21ba4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25d9de536fc043a667f3f61a4c7d23f89ab29bf3a5b52939fab6974143ad8a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAj85CfU_Q3KTrL6DrZKy5sEZcG4ozP_l98Maw3pEVndTEDZkpmIFe_hGbOwEAHkXTAPagByIYi2UyP5jyocImstf8zmNayIrO4yvhHwKt9ZX07gc2YHLYxkkaX1_ApX0hUAp0ITy6-gfIo5rJM2Y6GboqUIal0FimaMefJCDX6ZqiOTOTphaiuRetv8Fj_FbqKzPwjUDgbubiWCaXI7x6tN6QbZBz7VWr6CgtEFrZ8ci2p2da5hMboop2eSoxLVSZYVW10lcMPbBxmb7-DBqQLGR7gPOafLILNYU8SX-7Mub1kpVQ6aoVP9cr5vShXbqYuKzYDhPbZfDeKPP7ueUO8BGG7RjO60O2AFNsFy5cYN7ooVzsuophTxlb7yOFlMw8pZ8aUpsX0ePMc9jqdUblh8WgEgpDq1pKKoW2qoHY0eVZBe2l0aGIrcEhKtbphf3mZZZq6x6n6r0J-8L-MiPPoQMY4x1-1fZiikJ874rSAKMp8P8UgCW_ghN_Ub-wuLlFlJRrKGySFRUBtP7ax4fcDH0axonAeLolnXHriKUQz0cOTl20WygUe1GBkIsiYnh9kA5rck3JT-QXFHaWNlnpptNsmIMso-62FpSrpRdKt8721yTMdKNab6IL6qONFzQWwPvDNnDS-WYTTtPqG5ycjOpNvmJmdC1O6_BTVhq_EkvxOCPBIQG5ywbC5RAfvRxnVWk8U-Ko_jWu1Qm5d_zvzoR4RpZ9qr4aG77zDnDXQybDaYL7ZWufVgMjuE620sg2xr1N1nhHhcItWv2h8dl9m64A7H7AtHBM-B7hwenhSLYGAkTJn75EjuznjnIlCehpWLaE_buuk6WqGyviKtw6z1gzwhC2-UjN6DV3bJxAg-DUK3WKy6vuIKFIZ2RWE85ihm9Ina9KdR4Mek3d-11o62iIvOcuItwFImoOX4kQWCi6YefqbY0i2RNaXtSGeeQmGg2uHFSWBpJoomqADBOWn7xEpgMEy1BDkgKTJX67K0B-1gONUF_dm-JbKMO3GQeJBQ_YZtz71eMIDzOhfr84Qw5bjbrzmnJxnZRtgLryK9OG8Fnf3b3pxaVEY0bT5FgoM-qRQNcOnDb2uVf4Zd_dqAjoMQ_U7uLjVdtuhPEedGTW9mvil9REvk7kKnbB_wv3R4KuCG44A5Ua_fVjpsJd1GF-xTOivgo2xiv4opnulHtMXCtfz7Pg9jWxJwCaaEf8Z0SkfqGgPkHiHKEs1mP7stys0CbmIva0wHI33NAT4PJh4Tf2AgBFr5795vUtj2eBkVe50-jvq9FP6xieRTG5JKzssto80jbE6UlhG-huRvGqmDqQjPBdbhWiEpbvxpGVUy4gSyovlORymRsU83N4v6oufx2gVGOfS_dZ8w8s5kaVCxpqPzD7CIZUCooaNqqaR_x73GXjAbavmrat5LaKKq9yauQbFw9M_9Y3ynobjLoH6lDxu49TIQuubstjqKOAl",
  "id": "rs_04a5618a74d61950016ab45022428487d09dfa40c62fe08af6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At 6 cm height the left bottle’s upper body fills the space between the jaws and is centered well enough for a cylindrical body grasp. I’m closing now and will judge the grasp from the settled jaw opening.\"}",
  "call_id": "call_hi6LAZxJtSQwtYsCyO4weOFr",
  "id": "fc_04a5618a74d61950016ab45022d68c87d08aa01920260cea4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hi6LAZxJtSQwtYsCyO4weOFr",
  "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]: [-0.5613, 1.8153, 0.8074, 0.395, -0.4984, -0.3672, 0.0132, -0.0193, 0.5484, 0.215, -0.2638, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4276 left_y=-0.1649 left_z=0.0636 left_yaw=0.032 left_pitch=0.0315 left_roll=-0.026 left_gripper=0.0132 right_x=0.2501 right_y=0.0041 right_z=0.0876 right_yaw=0.0173 right_pitch=-0.0264 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [0.294, -9.1009, 6.0513, 1.0965, -0.1099, 0.1636, 1.2234, -0.1846, -0.335, 6.9675, 1.9121, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e197f926ae304648fa3e627ab492bf57763fa2c9faecef88a0bb31f92be6324c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1139feda368d9bd7107fda608e8e935eb7080bee5364160e0e47ddc971778376",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab8e2c54de501330f6e8bb7c2e83af78fdf1a95d3135aae774b9692470ac7fd6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 6.242 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]: [-0.5419, 1.6119, 1.0107, -0.1017, -0.4648, -0.3439, 0.9964, -0.0193, 0.6006, 0.2756, -0.2718, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4204 left_y=-0.1565 left_z=0.1395 left_yaw=0.0128 left_pitch=-0.0554 left_roll=0.0252 left_gripper=0.9964 right_x=0.2578 right_y=0.004 right_z=0.1014 right_yaw=0.0176 right_pitch=-0.0261 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [0.0615, -8.1162, 9.2103, 1.7949, -0.3101, 0.0269, -0.0073, -0.1026, -0.6496, 6.7897, 1.9072, -0.0464, -0.0171, -0.0073]",
      "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]: [-0.5518, 1.8057, 0.7898, 0.3954, -0.4759, -0.3691, 0.9964, -0.0193, 0.5674, 0.2359, -0.2653, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4245 left_y=-0.1621 left_z=0.0602 left_yaw=0.0243 left_pitch=0.018 left_roll=-0.0343 left_gripper=0.9964 right_x=0.2528 right_y=0.0041 right_z=0.0924 right_yaw=0.0176 right_pitch=-0.0261 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [0.4308, -4.6291, 2.7829, 0.8962, -0.2027, 0.1978, -0.0024, -0.335, -0.5538, 6.7897, 1.9072, -0.0073, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5613, 1.8153, 0.8074, 0.395, -0.4984, -0.3672, 0.0132, -0.0193, 0.5484, 0.215, -0.2638, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4276 left_y=-0.1649 left_z=0.0636 left_yaw=0.032 left_pitch=0.0315 left_roll=-0.026 left_gripper=0.0132 right_x=0.2501 right_y=0.0041 right_z=0.0876 right_yaw=0.0173 right_pitch=-0.0264 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [0.294, -9.1009, 6.0513, 1.0965, -0.1099, 0.1636, 1.2234, -0.1846, -0.335, 6.9675, 1.9121, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e197f926ae304648fa3e627ab492bf57763fa2c9faecef88a0bb31f92be6324c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1139feda368d9bd7107fda608e8e935eb7080bee5364160e0e47ddc971778376",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab8e2c54de501330f6e8bb7c2e83af78fdf1a95d3135aae774b9692470ac7fd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAoSPV9WwLwHoY9fgc24F0Xxsmq81Sz7tZMWxVpMV4qDC45rIOgWAZ879zJ7er0uCzFjWE2NKSlKuFL-yuiAoQjAnw2RMC52AeXyAV7E_dJR0qI4G80qZYkAxTOinLKt6vn6VebTSVi91j_31uVoZTvCADRxHvdpB1XBqVgRsRZM2wEqr48B-SqtH4KkR2nw--ZUnOyTvSRTFu76B6iEF0JX96oFnEDcbXjvLhJ-PDfrenVpygA8fSoWnh7zMVl0K3syUwJVnr_b4K65lBoleU5Ik_N-yxthVxRPZyBsM2RMyf0X303iRVZUFubZpTLgMKP9wyadF7z1N4iYjixloMYQ1KbP3Llx4khYCLQTkHd868ZN3-FAOu_-3xK_xEN5HL0M3flpO_xV951sx1QAbFAKg_bgrvgd1EJ8PrvpSm2Dwo-LVwlnOhrXp8bqQr6moJZleCG1TWuwHIcYBnL14ql6qaO-khrFd1a8j4XLgB04s35FCHS09nOHIuEqY3xCIT3PY2L3jV8ueXtE93VzbjP2GMiIcsEupzsryD-H4XzpXxLzR64bdXSe5xA0pHWUk5ykt6omiiGjSG7sfIa_dzsbRkP9aAShmJ3Y-6-RlInnKG5ajo1YV2RkLc5ffjjlSqA0ha5PLKf2RVfunzBz5XikkCT7SgqmudLnIWeGSS-GD1SZyNF2mwIl3S7IIwE3YQdl2_8bfEdB9fMaLLeN87v1sloRYGOIgeRgPyqP1ZXV0npqB_b6MMZRJpRM_6tY90acMmwY4O8nxfrcaEb1ZSW7qTdy2L6mrju0zm34Hx0MjRWL2wpvwmxpiZaZVaqWmBp0LxtlLom4CNxaoObulW7tJLUToXamobKVN2oJ-PzFjYH_46H5D3n4obzKJdGam_LpVsleyefuzU2y-aLAoXkypEkwOrSxKcTiTBQC8C-JPb_QLZw2zrRumZzfCJ0kZzafkwimaS9x3acdozDuoIgNFHVF0IHAj5ekwgIhp1DU7OwQMfINDeXdnBURp3yN3RgK9OgCs9F6KGAHgLeZ3AXnD_Fd65tkvwBmyPOgadzxwshLe5hca5UvXH8HzKS5QIf6VAifdodslrOaRz2iAa72VbEcvGRC2Jo2IGu1tRSPGDNR9VJWFwIpSu0_2h7cx4rDfkQZ4SoflAUZ0FuYPkD4QERoZzx78J4M19ioyVo_TeNLIqHP3tT5N--Yu7HAtxyH9TlPwMPVq1EQfOGr5oewVkfEpqZSAFrcQKbET8UdmPvYFSXb_72J5ToQv2lrjQwtvNT42ML42Bs0yuHHHXps5IhTbnHQ3-EHRpSAyMr20AyqQp4mkKBuu73jspV1zEuUC3fnhGGXT5nkAZB0Y28kV29L6f5bJ6NxuPloaB00cXfu8IqOB_cj8N_3-o6kz5XnfMq_GxfkhFngVaDyhmo7WxFuCn_G0pu6OXpTWJgX83zdjIk3WH-LGOy6UszG5RoQdcB6Hn9SEO03QCZwjLWBH6gW2FxXZmMPYSLsZ_FbrDVNt_6Y_9RAQVPRHqWuvRFAfnakRfXjBOQ25tetKjhtBkXguVNV7uHszPhHxOlu-kPocSPOZBdIxFjTY-Y7bAGSiSoq3KxOyMJdsWFYBhFIr1OLKDU3_aqxajz8_m2chTs0SI_9m-T-0mINAOApWGYvgjgVScDVCWnaxZ6ZhvUl3Hv_AJDX07Hs71QK2JdV2d-rFvbVhgv1cpJG-_FNgFP80924OVPGlSVm_a6SDA18hFGik8NXH_juispCIN4IERRGA1S0LUrV1hlr40mUuBkbvnqYVBpH18zKgk8L-hGUH4wIMVikW_KH6wbzkxQDWI11fQ7TjwwkS9zaMRjQkWpMdXx3yaFrh_DKwjYZAdAjS0vt2NIJt3fWMLltEMVrZsDHqervj0ZM8fRfz5ZtNayC0BnAuhwdrbio0qATdW_akzQ_PzuhqZftaazG-cvYhzuWSmI0QAJt4SZJhYKQlaRRNBR1p06kXfQLsNlAuCkSfUu0nuQT6z7ZbP-9l3prqoed3W20KcZ0fnnezd5PsywRhXj4axC-G41lolbBcqJ27To15Xu1tDHz5y_vzSJl4WALyCk-D9De7V-kwlc1Ho-1Hdvn74dGG7wzqlV26NSQNeM_agdcKkH11Pml-OAQe11ZSb8U7JMA3NNIMRvG-5elU3Il5mASXSSgltKEGZL3AwLuGz9Bkm-hR4N3X8KayQZZ3UdUcPsSizEh1KTSGeu",
  "id": "rs_04a5618a74d61950016ab45025a68487d0bd9637eb569ebfea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The jaws again closed empty; the close revealed that the target bottle is left of the jaw column, not between the fingers. I’m reopening and lifting straight up so I can correct laterally without dragging the bottle.\"}",
  "call_id": "call_kTsFV7azmT3U47ZqvmT5z3x0",
  "id": "fc_04a5618a74d61950016ab45027ac3087d08194306e79c1abf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kTsFV7azmT3U47ZqvmT5z3x0",
  "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]: [-0.5617, 1.652, 1.0142, -0.0494, -0.5053, -0.3748, 0.9945, -0.0193, 0.5289, 0.1932, -0.2623, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4264 left_y=-0.1631 left_z=0.1351 left_yaw=0.041 left_pitch=-0.0276 left_roll=0.0129 left_gripper=0.9945 right_x=0.2473 right_y=0.0042 right_z=0.0825 right_yaw=0.0176 right_pitch=-0.0272 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.253, -10.5504, 9.1009, 1.4579, -0.1929, 0.0757, -0.188, -0.1436, -0.294, 7.0085, 1.9072, -0.0757, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d54789c2db6cc3149631fe6a5329eaf0b3ea98307db5e3ec6bd7cfc06c2fd13a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80f607c488e0b624441ccee6c933ae71f009d561dcec53f2d76cae406011a090",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff02d80a10247688a6382deab2707356a55ee9c7fa0c6ab95f35cebd6c4f1b23",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.424 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5419, 1.6119, 1.0107, -0.102, -0.4644, -0.3443, 0.9964, -0.0193, 0.5819, 0.255, -0.2676, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4204 left_y=-0.1565 left_z=0.1394 left_yaw=0.0127 left_pitch=-0.0558 left_roll=0.0249 left_gripper=0.9964 right_x=0.2553 right_y=0.004 right_z=0.0973 right_yaw=0.0173 right_pitch=-0.0238 right_roll=0.001 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -8.1162, 9.388, 1.7705, -0.2906, -0.0122, -0.0122, -0.335, -0.3214, 6.735, 1.8974, -0.0513, -0.0562, -0.0122]",
      "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]: [-0.5613, 1.8153, 0.8074, 0.395, -0.4984, -0.3672, 0.0132, -0.0193, 0.5484, 0.215, -0.2638, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4276 left_y=-0.1649 left_z=0.0636 left_yaw=0.032 left_pitch=0.0315 left_roll=-0.026 left_gripper=0.0132 right_x=0.2501 right_y=0.0041 right_z=0.0876 right_yaw=0.0173 right_pitch=-0.0264 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [0.294, -9.1009, 6.0513, 1.0965, -0.1099, 0.1636, 1.2234, -0.1846, -0.335, 6.9675, 1.9121, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5617, 1.652, 1.0142, -0.0494, -0.5053, -0.3748, 0.9945, -0.0193, 0.5289, 0.1932, -0.2623, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4264 left_y=-0.1631 left_z=0.1351 left_yaw=0.041 left_pitch=-0.0276 left_roll=0.0129 left_gripper=0.9945 right_x=0.2473 right_y=0.0042 right_z=0.0825 right_yaw=0.0176 right_pitch=-0.0272 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.253, -10.5504, 9.1009, 1.4579, -0.1929, 0.0757, -0.188, -0.1436, -0.294, 7.0085, 1.9072, -0.0757, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d54789c2db6cc3149631fe6a5329eaf0b3ea98307db5e3ec6bd7cfc06c2fd13a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80f607c488e0b624441ccee6c933ae71f009d561dcec53f2d76cae406011a090",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff02d80a10247688a6382deab2707356a55ee9c7fa0c6ab95f35cebd6c4f1b23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_04a5618a74d61950016ab4502a63f487d0aa3679c352fe2634",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_z\":0.13},\"note\":\"From the lifted view, the bottle is laterally centered but its entire body remains in front of the fingertip row, explaining the empty closes. I’m commanding a more decisive outward move at the same safe height to put the grasp point over the upper body.\"}",
  "call_id": "call_bH3YSP0JNRiBsaZKWLchIf0F",
  "id": "fc_04a5618a74d61950016ab4502e94d487d09d703359983c9e20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bH3YSP0JNRiBsaZKWLchIf0F",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4908, 1.8076, 1.1091, -0.0078, -0.4702, -0.3603, 0.9961, -0.0193, 0.5076, 0.1699, -0.2623, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.464 left_y=-0.1531 left_z=0.1095 left_yaw=0.077 left_pitch=-0.0561 left_roll=0.0166 left_gripper=0.9961 right_x=0.2442 right_y=0.0043 right_z=0.0767 right_yaw=0.0176 right_pitch=-0.0291 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [0.1299, -8.9231, 9.1419, 1.8095, -0.0757, 0.3101, 0.149, -0.335, -0.2393, 6.8718, 1.9023, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e45c3695fe67be969f2625e3aecbfcdc2801923a8cb6106b278dca045f19fde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90037040df31a3dab0fe1320ab15690d3367e9f08ba94d9321347a88a68a75c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79cc0c9971652e70663cf2d952ef5edcf8fca7e77f24d9adea85b9b1e2cac2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 6.842 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5518, 1.8057, 0.7898, 0.3954, -0.4759, -0.3691, 0.9964, -0.0193, 0.5674, 0.2359, -0.2653, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4245 left_y=-0.1621 left_z=0.0602 left_yaw=0.0243 left_pitch=0.018 left_roll=-0.0343 left_gripper=0.9964 right_x=0.2528 right_y=0.0041 right_z=0.0924 right_yaw=0.0176 right_pitch=-0.0261 right_roll=0.0013 right_gripper=0.999\nstate[joint_eff]: [0.4308, -4.6291, 2.7829, 0.8962, -0.2027, 0.1978, -0.0024, -0.335, -0.5538, 6.7897, 1.9072, -0.0073, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5617, 1.652, 1.0142, -0.0494, -0.5053, -0.3748, 0.9945, -0.0193, 0.5289, 0.1932, -0.2623, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4264 left_y=-0.1631 left_z=0.1351 left_yaw=0.041 left_pitch=-0.0276 left_roll=0.0129 left_gripper=0.9945 right_x=0.2473 right_y=0.0042 right_z=0.0825 right_yaw=0.0176 right_pitch=-0.0272 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.253, -10.5504, 9.1009, 1.4579, -0.1929, 0.0757, -0.188, -0.1436, -0.294, 7.0085, 1.9072, -0.0757, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4908, 1.8076, 1.1091, -0.0078, -0.4702, -0.3603, 0.9961, -0.0193, 0.5076, 0.1699, -0.2623, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.464 left_y=-0.1531 left_z=0.1095 left_yaw=0.077 left_pitch=-0.0561 left_roll=0.0166 left_gripper=0.9961 right_x=0.2442 right_y=0.0043 right_z=0.0767 right_yaw=0.0176 right_pitch=-0.0291 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [0.1299, -8.9231, 9.1419, 1.8095, -0.0757, 0.3101, 0.149, -0.335, -0.2393, 6.8718, 1.9023, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e45c3695fe67be969f2625e3aecbfcdc2801923a8cb6106b278dca045f19fde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90037040df31a3dab0fe1320ab15690d3367e9f08ba94d9321347a88a68a75c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79cc0c9971652e70663cf2d952ef5edcf8fca7e77f24d9adea85b9b1e2cac2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFAyhTlGj0Au5FD0N5sUqDuUFpUVpIjV_v9QJWssUjWoxcRXr7GdYiWd6Pw4Tyt1y_qhyrOBCZsM6WolEAC-hRYI67i9LBq8ETT5kUbEoaGsOJL_G7FjNuao4iuBbdwc-3Ny_heM3b8rt4ZoSbrWHWvohY6prOHy8OpK0_NAVfVnhafKe8DZpkh-Re_VxhhlWCPHairs_eADyFrZ1oUAIBFis3vYoN9c39GwcOQwK7NJLaj7_TflmJYA4sAPnRrohVQ00h7Rh6L6wgKSy1uc911_1f1-_Qmvqcv4xlMrxQWpn9WZgoiAoHp1_ICELK6ze74-i8EqV0tvQ5pEjrftlGReJWcwtQCPKp4uuUmAH38AAcF4jB3UiBs7NAsrmK9KpTpXnKzfkMrsGHv2LCwG01yOyPVTKwJvo57pJhRHQPi1GzltY0VerRY-WGHyYMZzhvL4PEMWqcmrgD2026HiJ1K7yF5yiUGdgzQaxfdJ922nxxbqQpB6yEHzBIMlcxMDfUQ494OBTDzDkxrXo8LGZkU75YE9CmghdXFpKgslsK5cyGeKgMRrB7AsDg6t54063XFcCg-HCMrtB-k1XWIT09JEJNpfvQm7MP-R4ANIhirlAps8ReY_ppffDKbqCjCg6vI8BpbadAMF4AQ3PXMh5WiQnqlY0lDAWhxt1kciqc8_jNj_WHuS5RRjuyaXTp2CvfIb2tostMlbVJxhCNi26wfQStOZgzEAwC-HTO-Gm8Hp_6nxgpiILPfnOGPn8RxXBDxVzsFcUz2COZz-sD9JqVwwuQKKpfOcsBV3UK7dcm2HLHaaYGki76nMBpd3CTziibDRak9OBU1rC3U3RvaDJ5ohKHmnnBYLZzdV8QelGuwwHqVbL7hHbP2piQd_fbOqenKrvQttbCwpiz_x1D5kkm5PvQGp-qWAh92LT-YAXxFZb2Ode1-wo-QKqq1zqrx9A4Nus1kCaHCfhT6oQJDn8d-3pyPETQS7F9QMeBZUDoQf1nlsxRr4LKglZT0o2MRBWVAlSHW99ZLley0G6nEDsNQ6ydTkeZ2XDofBJeGh-gVnRs1OJVh8dFxVVbIu3JZ8jnvj_4cxWTKUBTWAodP-MjiRKthYxMSejHkwpyw3b5Pf4CqJn2c3sc3uQN9TQ9wZo4SIc3vn9_s17Hdd9dTuxEu-z9ubaZICQ-99JWNHlIiutteywlck1dMyeB73SUlJh59J6FUCJywrMvwa-eIrXLAOjPgyfI0Ufqe9rK0dbNCjgG2cmm-8iEWMdG81BRGTjBwjQdr_iGZUzUZ-qJhgRNiOctpE89yawhdnF0HQks5-K1q_H6UK-6puH9rYPx0Ssy6h5sZls59VYA_hBdvLETuFNeP3mWcskykW6zWfcb1wjhb-EQBzg5khdQptBijxP5YbmgnKrHn7rtZHXTvx1Bt8ao3g--6NOMdtGMFls0sx1Kw=",
  "id": "rs_04a5618a74d61950016ab4503134fc87d0bea33fbcd750d63a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The larger outward command tracked: the left bottle’s neck and upper body are now centered on the jaw column and much nearer the fingertip row. I’m descending vertically to body height for a fresh grasp.\"}",
  "call_id": "call_2QcQYbLPVE4MEunXDkWWtiYO",
  "id": "fc_04a5618a74d61950016ab45031ba9c87d0bd44df573af975c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2QcQYbLPVE4MEunXDkWWtiYO",
  "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]: [-0.4847, 1.8175, 1.1339, 0.0105, -0.4599, -0.3408, 0.9963, -0.0193, 0.4812, 0.1455, -0.2619, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4727 left_y=-0.1562 left_z=0.1176 left_yaw=0.0638 left_pitch=-0.0318 left_roll=0.0094 left_gripper=0.9963 right_x=0.2412 right_y=0.0043 right_z=0.0715 right_yaw=0.0173 right_pitch=-0.0268 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -9.1692, 8.841, 1.7851, -0.0904, 0.149, 0.0073, -0.3487, 0.0205, 6.9265, 1.9316, -0.022, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84eff202429623fc3cc9d5ee80727aeea8c2d5d0131e42701bc348f46bcfa56f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67ed4816babe440f6f8c75d2e02dc1c2261e78d9e6281d7122e9bae261c29afb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:766bb9d049b039edc8b4efdd33a3b29844a68f94f8df04c8f33d2f461a9e433a",
      "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 · 3.561 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5613, 1.8153, 0.8074, 0.395, -0.4984, -0.3672, 0.0132, -0.0193, 0.5484, 0.215, -0.2638, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4276 left_y=-0.1649 left_z=0.0636 left_yaw=0.032 left_pitch=0.0315 left_roll=-0.026 left_gripper=0.0132 right_x=0.2501 right_y=0.0041 right_z=0.0876 right_yaw=0.0173 right_pitch=-0.0264 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [0.294, -9.1009, 6.0513, 1.0965, -0.1099, 0.1636, 1.2234, -0.1846, -0.335, 6.9675, 1.9121, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4908, 1.8076, 1.1091, -0.0078, -0.4702, -0.3603, 0.9961, -0.0193, 0.5076, 0.1699, -0.2623, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.464 left_y=-0.1531 left_z=0.1095 left_yaw=0.077 left_pitch=-0.0561 left_roll=0.0166 left_gripper=0.9961 right_x=0.2442 right_y=0.0043 right_z=0.0767 right_yaw=0.0176 right_pitch=-0.0291 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [0.1299, -8.9231, 9.1419, 1.8095, -0.0757, 0.3101, 0.149, -0.335, -0.2393, 6.8718, 1.9023, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4847, 1.8175, 1.1339, 0.0105, -0.4599, -0.3408, 0.9963, -0.0193, 0.4812, 0.1455, -0.2619, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4727 left_y=-0.1562 left_z=0.1176 left_yaw=0.0638 left_pitch=-0.0318 left_roll=0.0094 left_gripper=0.9963 right_x=0.2412 right_y=0.0043 right_z=0.0715 right_yaw=0.0173 right_pitch=-0.0268 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -9.1692, 8.841, 1.7851, -0.0904, 0.149, 0.0073, -0.3487, 0.0205, 6.9265, 1.9316, -0.022, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84eff202429623fc3cc9d5ee80727aeea8c2d5d0131e42701bc348f46bcfa56f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67ed4816babe440f6f8c75d2e02dc1c2261e78d9e6281d7122e9bae261c29afb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:766bb9d049b039edc8b4efdd33a3b29844a68f94f8df04c8f33d2f461a9e433a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFA5WGyZ2iDWwyVzZFnEzoqa631eZh101XIyDA3ng-yPmNW-7Ha3iWiT6YfIHTObdwLOjypDO_B89gmGg9DXWFY4PvA9n06OpVpLkd-O5kB5fshjoDZbSnmN1kOcdVHGxlZasYJidFEoFf2qJSSr4tejraae2p_N5Rwp5LCkqdogm-DFm1vFfLB5DXGg_KVnsjm4FBhs1KePe49yH--sedIWlaJU0lOj1wnzFTQHhKwMcfD6gpRmNOHU1gtpy2uHN58aG5pYRiumJajZCG4F2WdJsyOQ4goIAzCO7O01AlPGVp5dAhQGkiTrjrt6aDJXb28lgsER-9QF7hMjfXGxRokA7_Q0PrdFBLhmjeG5SDPGM5OkJH_3p7YH9BI6rfBzy3NYi-GDt5CqVzSCSZc9w0JYys_keCBMyzBoPU9Zue4fSkO9WkdQwDIY3972c9HQyxzt4HsG6Y-s7bOmq8RreekLBtf7o03g74csd25BYYedEyti_TBZ20Nymmgau_wSMMezTs7zHLpVSzJUL7yF9QZL_ze60J2e3UWqFDg_8RK1NzOr1MOtSUCDGXLADDLEEiLGTzOFObzpFs3BEz79cLrIJghAl1CGPqgCyL2bFG7u0fZ8UUvAhh40Lme3lNdJwseYywQOB_k5gctWssvF5m3SGelpmWz1XLCv_4kiEn83jFOrcPCtzCVH_AH63Rvz--GYjZt-EJbm5PncT0HCmjG_34qkI_JIzQ33wTMdx7X-WTJT7syKh2NyZuu03fn7rd4JkpObDtos_q3Cu5Jbqt9AChm883jvD0dtXBDPNcK4FwfZidZKZLFCA17G9lEaZWG4404muYXamnC6FdfbkOyuUTsj8JwRkYwUCly9mvbATKhOpPbPt-XDNeAz1pmDrE51hAUQvjnic5BGPsipva24obs7ViLdeoE6GHOCbzgia5GMqTCJE6QdMGqXKZ-uHu6X-q8HNUEb0lxrtLQhF1Pix0AQipVTvMRGZdyGTMtqny7e_W-9tt0GbUZ11w74LR9Utk9DMMZl5yWF26h5TGsLmZ3ptCqbItfRBoBh0rzZf82lPTHgs4qMWjywYTPxxnH_FJSDWdnI4jEGR804GWokNih6_SZfOcKdzmHiRSOIluRwGg57sRhG3pkIlAVOJ0Kujau7hzAQP78NDjO8OQNHufdUN7-eiCJLmBhxjZ2p0Y4xfGHT3JxVQRT7AuWkFwa76oCIU4SKah7rUXqzn7x-5r8JT7cYY5F9DjODol9gMlEDMg4lnN2up5uZCxcWhGG3_4z7H8r8ynySv6tJiWALHt_nis6vhHk1H_Vfsaf8AOu9EOpLqR3b-eGy16ai70GTxcaZ00q1dLWxVEnj9XBdLttsdeYlYU6pOO9Vin6FfMN-dNRaMp0uXyQQZZ2OF73BAVvULV7lPKUYXCp-5vqsba5UVBVApe03ke2NEw_Xp28FgyRorarkFBhcr8LvMyw08M4EUOqBvaeEitu9TnLNWe-_VdVj9oz5E0J45-AXIZK4WfYI3H9UsKCcSZk-YErOf__7DFI_TO7i9C_gvacFWjB28TU-Q-Jz_O3BEyX2IthBIrlHfAwuxXKmxnDdZXZltM0CyVhQmoGwbJJC8iG5PpFl_DPjLf0HHzO3hrBljYl2ljwSn-Y7-85_ZKeY2tms-TD68wjh55XOpo3TrEx8bSD_gKIn4pDrAlaDl6QfqlC5R05H2QQGE32bM1xs-LUb7KvbY5NbUjBvIKRt1MxESfHxh_YgAWYCelAMUyDBikXdmQ8WRfMzK_lx1NdAy70bFusB5uGRpBhoxqH6spXntagIh5FXyl5Zv9qtnN_3nNjzy5w_umZxFiPGCrk8KJVydif-St11xNZeWU-nkIkDFRfodRCXRGDReQ8Dh2GSVUqvTPduol4Bhe0F7l8Wev0gdNHt5DH98jhblVvkFYi4SDhhG1u7n9rlZ8GlQoTJvUUwqOf9arwoJxLNTDHxi62qxOoQcnIeQ2p3kxUTEoAt-4xFhpYv3rm9oYlx5ODG9LDzK18KLYfzulIkSaBm5sh9Jnn_7b-GW7g-mHq_VJN8ImkclckzMIEbKmaxhBBKN7VWcRQay3HeuePNtIkj7zIAS7js9CgUZAKdoO83FXG3XepJLVIWVB0ENFJK0hpwZF69TnK86gzGh185d7M8N7vwkiX65ohEQQgHk4UrbDvqDjNngGSzs3pw1ka6KZCqjZqJ3zKYEB1loXX4q-rOsTmkIF130cgaSopZWeF5iwvdbSn9S3GYOieWGDLg-kcImfJvkXb4IMDLKm4M1UlhrSRMfNxo2ChyDKhGVQgj-RwvQD25q1StdmJ8zNMmPEZhsXuLeA2ywhq7zZmYYbeg-LSy--ajz_WeoPPHF4t1opZxIOqWGdHq1rjaSjMHmTfBO83srUPtVTkVB2rr4W4Z8Y5qAS8W2x96EEIFNGDlkYpV1zkCps5N4Q4Z5u04BtRlgABJKP3uAUtNER9G88DFOGwpdsXQO2iFP8pPaDEP7R-2dwY2NNj3VO2GjwqZGR3HDDsqAHHD1IJI9yA7ebBK7yP_-0JuqK3vP7ZgYH8M51Rzc20p8s19nQrb0X73wk63GeoAFAA-1r38aixTc5oDx-7NUBmPouDLbdasAnATDAOLQTw2Y6zQKSbuol_Krj1Oc8NbI8D-0omCx10pwbQuITypIt12wKt4GjjivowJxA2TTUZ-J-II0rMVWAFPXQv_oUyRFlzgT0OGqTz7Au9BALhw6BotNaPVRkUbGfP5hpdkMiR9i1IJ-AjB-YEe8qHZPMDLGrKytCLtYYah_TxENmfhKBKWjMbeNCTIPlHPwGAcYmLKduGfSggbnUMQqqf7fn8v8G3PO4j8GQ82CKFpovwTa8r733-VgOOBteUVA1FxZvsN3uXiRn_mF3MnTv0I7BJW69Uh59EzomO7VqAesRSvnPXpYdJ-ZG7KxUrtAp6dEyNxsV4YwyY2YXdLQ8d-lRYUPbzHYF3RLGGXiOnJR_W0j_xIsVfd_qsDflf0ZQFV1RpIpEAmk28MErOR4BW_Pv1uKFrJQWnSkav8jf4gNz10J1cfB1705H4IUDhfBSnwMyQAjZFF0bfCSr7z3kronon6TbYZVbn9oBqGRLaTaMI7FV5hyXUytJDEUDa63l2MtYs00JJVryUyTRyRAq5337S2b_8Y7EZXO8KD0xDFz8cos_IKYob9PRj6Ixbcta6yZsHgso-XLmvBH9_h02Y9LCW9XY4DIG9ptQ7Qf1U2ITTn_Y2fWneoFVsSDxvmnIHs2O-iYclJ6ebCiOAPzHys0DVn3i-W_AnH3hiw36ZrkKzikCHA2nHA6c4IH3OYZbJ3zLzHq67kFqf0GR_3nw2zdpc=",
  "id": "rs_04a5618a74d61950016ab450344a3087d09621b6b4460240bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.155,\"left_z\":0.035},\"note\":\"The straight descent at x=0.47 hit the arm’s low-reach limit rather than the bottle. I’m backing inward by about 2 cm while descending, aiming for the bottle’s upper shoulder, which remains above its center of mass.\"}",
  "call_id": "call_Z3zzNvavuCjZdFdEAN1RluLf",
  "id": "fc_04a5618a74d61950016ab4503896ac87d083c7962febc29eff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z3zzNvavuCjZdFdEAN1RluLf",
  "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]: [-0.4847, 1.8175, 1.1339, 0.0109, -0.4603, -0.3408, 0.9963, -0.0193, 0.4557, 0.1249, -0.2642, -0.0303, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4727 left_y=-0.1562 left_z=0.1176 left_yaw=0.0641 left_pitch=-0.0313 left_roll=0.0094 left_gripper=0.9963 right_x=0.2387 right_y=0.0043 right_z=0.0673 right_yaw=0.0175 right_pitch=-0.0242 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.294, -9.1692, 8.5538, 1.7167, -0.1099, 0.1636, -0.0024, -0.212, 0.1573, 6.7897, 1.9316, -0.0415, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a7ac732a85dcf8033fc554f8573b2d548262c8c27e0eab9c0b0a6d342d986ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3452c13f518179e2d9dd3573d86774737dca4f02aa104c56fe396938a38f9622",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fed0ba77a6fe16361c9f17c60fffab8d15d8be7e21ef63ae927615c525a59c86",
      "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 20 attempt 0 · /responses · status 200 · 4.106 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5617, 1.652, 1.0142, -0.0494, -0.5053, -0.3748, 0.9945, -0.0193, 0.5289, 0.1932, -0.2623, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4264 left_y=-0.1631 left_z=0.1351 left_yaw=0.041 left_pitch=-0.0276 left_roll=0.0129 left_gripper=0.9945 right_x=0.2473 right_y=0.0042 right_z=0.0825 right_yaw=0.0176 right_pitch=-0.0272 right_roll=0.0014 right_gripper=0.999\nstate[joint_eff]: [-0.253, -10.5504, 9.1009, 1.4579, -0.1929, 0.0757, -0.188, -0.1436, -0.294, 7.0085, 1.9072, -0.0757, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4847, 1.8175, 1.1339, 0.0105, -0.4599, -0.3408, 0.9963, -0.0193, 0.4812, 0.1455, -0.2619, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4727 left_y=-0.1562 left_z=0.1176 left_yaw=0.0638 left_pitch=-0.0318 left_roll=0.0094 left_gripper=0.9963 right_x=0.2412 right_y=0.0043 right_z=0.0715 right_yaw=0.0173 right_pitch=-0.0268 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -9.1692, 8.841, 1.7851, -0.0904, 0.149, 0.0073, -0.3487, 0.0205, 6.9265, 1.9316, -0.022, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4847, 1.8175, 1.1339, 0.0109, -0.4603, -0.3408, 0.9963, -0.0193, 0.4557, 0.1249, -0.2642, -0.0303, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4727 left_y=-0.1562 left_z=0.1176 left_yaw=0.0641 left_pitch=-0.0313 left_roll=0.0094 left_gripper=0.9963 right_x=0.2387 right_y=0.0043 right_z=0.0673 right_yaw=0.0175 right_pitch=-0.0242 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.294, -9.1692, 8.5538, 1.7167, -0.1099, 0.1636, -0.0024, -0.212, 0.1573, 6.7897, 1.9316, -0.0415, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a7ac732a85dcf8033fc554f8573b2d548262c8c27e0eab9c0b0a6d342d986ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3452c13f518179e2d9dd3573d86774737dca4f02aa104c56fe396938a38f9622",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fed0ba77a6fe16361c9f17c60fffab8d15d8be7e21ef63ae927615c525a59c86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFA9__oRHZ3aqxvY8qMMjCCHkmOJ8RFzEwuFCkxQqEgi2fc5Haqx3vnztNYb0lUctQ0y8rNHqGWBoShm9FBbCx8QJIXGO3nVpBMwylGbJidvz8VV8NwvPvmnVmAAmoS67EWwYoXCXj_-FxfH2VT4D2YYvYzgKRa-sLONfI344b60T_vC7lEB3RG5-jP3mUsVemHaFuk_0HBlQpjMj1F0-iGpBp2VdLT70Q2t8LFuOVSQKOBuabApipchJfXQG3i-8jPsUWZKeTFHQ9R3rsSIO1Xs0Vo8_eOVpm7cte4ylW2Pt-WIjvD_Li74ZsamaHCVB0Qqaki-6RdAKMpqgwXFHxfPYs0iectfLel82atVLDF4MDNWRtiXhEHY-Bi9VMoLd-IpCdVsXDsXu_270XBBfm9sJ_NE3HuhF4tTY8JKf2zfSGMHZCMuZIIP09Grg3vzSSP8c_XF2hlngOOC--9W0s3aHs0oRDPn_VT8GrfOeF6KGqQ_sYQ_LKw9mArB5VSmQCVe5BpbxhZt3EVA8oCuz9IYhAR2giXV_IO8ldX_M6PFPlCZMbvzlkbcRfYtPqX3O9XTWyJ9l13oY81S2UxhkGtft5UCpVOC3KowrVkSCEjnjvn-xYWLJpw-CnMSej8jbbnDl3fouh9QIC9MBEaORJqurwioHvQ0jLFrQr64IqYjKPs_wKeguVlFSH3v8nTtJ6qQV41agEAGoJGCJ4c_O2NYaQGsO1kMDXZcgJjy5HNUp0a3HeuXxDfOmmBBvnWEB0HfPko_1TgTMbvWPpgNMdYGrqdW2clok4wJDH4b-s68r_QF_3fPzQFJIZ6pk-Mw9gtEy79CW2A6bjYlcml1Sg32R_LIMffgmQ-LHIQw8Jn9HGBo6t4nsXjpKN5TWAyVEVea9DKaa7yCO4APnSHsXVCyvqw3_De1X2ExjtzOUs3Jg2ROE8VHlOYaYh4-xNB4U0whtd6ial0Jb5_1BboDz60khdIwZr614gv_xRNce8TJYxLW2Xw6eFF3WCa2XSJfBRMMVSEPHuzi3rTg2GCIBRrS6BCoQil9rI78qv3cs2kg6YAMKaVOkVkvumH_nAGe6LtFeJMv7CETevWrGciALEdCgr_iv2jsyChPNfjjrNwRBkeeaL4KYJKdwuXh2R9e51g8xoN9KMjTLx8FjF1GL3kf3dussrjjsGwEyHJgrpEOHA24rUrgXxHnEN91jtpTzdITBc40H1gPq847IbYFFKtzVBJI6VpUQr24u6vAuqRvuTSsTghaipAl1kow6c56Se6QNPPfqZP53gMS48FaDmZnT9Tzm6Ag2fenmjHYmEC7qKQXU66aGMaZxPhwn__GK9l9eb3uw8jB0IDbzVLjQ-qrMd8-_Gq8Dqv_iqRf2cQI0Zz046g7KESxLBWuSd8U1Tf8XnlH0ShMsXkqG_2H57qrww==",
  "id": "rs_04a5618a74d61950016ab4503c8ec887d09880805fcc9b7576",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_z\":0.18},\"note\":\"The diagonal descent was also held at the reach singularity. I’m retreating inward and upward to reset the arm configuration before choosing a more reachable grasp.\"}",
  "call_id": "call_IwtCWvHG1t0KlP5WBWUIS2b2",
  "id": "fc_04a5618a74d61950016ab4503d20e887d093e1534b89045f16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IwtCWvHG1t0KlP5WBWUIS2b2",
  "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]: [-0.5911, 1.5204, 1.013, -0.131, -0.5316, -0.4023, 0.9964, -0.0193, 0.4309, 0.1089, -0.2672, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4078 left_y=-0.1616 left_z=0.1767 left_yaw=0.047 left_pitch=0.0217 left_roll=-0.0255 left_gripper=0.9964 right_x=0.2369 right_y=0.0045 right_z=0.0648 right_yaw=0.0176 right_pitch=-0.0184 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.6496, -6.0786, 8.2667, 1.3797, -0.2173, 0.0024, -0.0073, -0.3624, 0.2256, 6.5983, 1.8974, -0.0708, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170e894b2ab187137f6ea4e4efa1cdf7357507f0d3b398090f13849103c569b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:279a9852115b198ad6113040f268c5c70b227e154abb535d391d427e2cb71395",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a985e3d2d14beec04dfe6a1bedf4b22560bf062958432ca637d92e567be81678",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 2.412 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4908, 1.8076, 1.1091, -0.0078, -0.4702, -0.3603, 0.9961, -0.0193, 0.5076, 0.1699, -0.2623, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.464 left_y=-0.1531 left_z=0.1095 left_yaw=0.077 left_pitch=-0.0561 left_roll=0.0166 left_gripper=0.9961 right_x=0.2442 right_y=0.0043 right_z=0.0767 right_yaw=0.0176 right_pitch=-0.0291 right_roll=0.0015 right_gripper=0.999\nstate[joint_eff]: [0.1299, -8.9231, 9.1419, 1.8095, -0.0757, 0.3101, 0.149, -0.335, -0.2393, 6.8718, 1.9023, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4847, 1.8175, 1.1339, 0.0109, -0.4603, -0.3408, 0.9963, -0.0193, 0.4557, 0.1249, -0.2642, -0.0303, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4727 left_y=-0.1562 left_z=0.1176 left_yaw=0.0641 left_pitch=-0.0313 left_roll=0.0094 left_gripper=0.9963 right_x=0.2387 right_y=0.0043 right_z=0.0673 right_yaw=0.0175 right_pitch=-0.0242 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.294, -9.1692, 8.5538, 1.7167, -0.1099, 0.1636, -0.0024, -0.212, 0.1573, 6.7897, 1.9316, -0.0415, -0.0611, -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 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5911, 1.5204, 1.013, -0.131, -0.5316, -0.4023, 0.9964, -0.0193, 0.4309, 0.1089, -0.2672, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4078 left_y=-0.1616 left_z=0.1767 left_yaw=0.047 left_pitch=0.0217 left_roll=-0.0255 left_gripper=0.9964 right_x=0.2369 right_y=0.0045 right_z=0.0648 right_yaw=0.0176 right_pitch=-0.0184 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.6496, -6.0786, 8.2667, 1.3797, -0.2173, 0.0024, -0.0073, -0.3624, 0.2256, 6.5983, 1.8974, -0.0708, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170e894b2ab187137f6ea4e4efa1cdf7357507f0d3b398090f13849103c569b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:279a9852115b198ad6113040f268c5c70b227e154abb535d391d427e2cb71395",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a985e3d2d14beec04dfe6a1bedf4b22560bf062958432ca637d92e567be81678",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBC14uap2eEhq8owNDgUDn1IqP5GLeaN_3TK5poTtLd9chRUROyicwseK7yUM4yW1XuMA83EZwdei-iuiOlu4ZK03HsIy_uF1Ad7KfYmtbuN5D46eyou7EyvFWI_0MH90YfsoVdXfZO_Q3rtGqXr1qthWQ7FYIqoerqNbN9Rg1zjnQbAVNP2gww7Hp3Esawdlh16SIb7v54-lUhz3FzM5RmVcJmd_-273RQRak3ffTVN9aDZx18ycLfchab5cqeTUv9TZMVfP6t0fd3mxOB7V-UIak0iLvKb27QmfncqaGUGCLymOZIdwQpCP7eV6mnhffxNtTpDR6bkysUUtB0r_Gs8W_1IbSmSjAPF_qN9PiiZ_KtTwwL8j7v2p1HEdZmjGGqdEwT6nL30ChQjIZI22njD9QcbjMka6WaUFKBtS7XqRHV2j-wy0eqoebbDJRtyx72CDU5tpAEI7cAacsofRPYqirwF23J6dYMucNXn3axtOOBSRJFoFnyQrBc8B5ooobziPBH8P8jHgoLtF7IrF8a05dbMcJDuLJtJIDXHviv3xjT2JSS8hVlpfei7Ng5ysHgq3_KFq_84Zoh7scQTA-ItxeumRnGPByRXsw0Nq05o1PMkA2WUn6mugvyrJYNxQZKuflalMgl1lWNiEeVthZq-8KPovSPsneIWK38u4yEnYpbTcxwCZdApr2sb1ZBeu1hd10Yz0gwABj128HkN7-VNTWJM6D-n6ddpGlVnTI4hyJP0arYQa0-vNsUmYPOSVzoWExAzRTTfsbp5QO4-BbmkYhIcJn_fzpE8G1PXxmZ4at_l7dPcP1MOwxr8_9SA1ixs58rz6SUK1-Z70FzxUPFS9e6thuZvSyCK1hqk34ePGyoyTsEDqPM6TDFu67pPLFKcBm_wT3ssIDikY6NkKJjJu2746gkoC-wVDL75TOc1xz5JIiX_GAYmL8dk6iUdQcWDsYMbPQUF-PQGH8ZhmOWst1xbWYV0bX_2SuVifuUD0QqyHPseLBmry38NTZR8viBkg-Ap8_t1t6lRYGNJ9fK_QG_9AyrWfPWK5gBeYVHXrnj9agJNFWRZImvd1nKDMe5w_ncdouMYTEEyiWa22HSM5OcL7woIDjzpMqIsgnf3CCFlRYO1_tda93CeC2fOq_u_0euDQCCU9lcHTmt3Ol5Z16b7PQu4Ifvkz48z8maOb-2lUhq0j5Rdz3JkECu9ucyxgGqjTlD92O5LMjZUEA62bdEOsoUKAXSGBRD58YftAd1th_NlkOCHIVF2qOXFDi5EV5kul1V3Ra22psO0rOJ7HVcROTt6YmIrXnBOwWacle48jqGh22cL2hK9XOV7Vxm1HijuTN8kr71J26RRFAPmlQz9B_uP04jH8hkBaUPj2e4_dfr06SK-frS5NYoD58g30RHw8vDggdTCYJacxBMnc6FnTBkSjgLDSukwAjpMqkJn9PdUsh6QtEqDqVJEUIvK0z8jTAPcCw9mRxmA3S6Ae9reHeSCMjm0RXSFsg2Qcj4jF6I00SFJpLMfqwGWnF-dfv3cJSKKOQPJ97eazzRe8zMilsd_8OB3PzKZsIRN7V8QmnuklyGfFrbXpvjOF59mETqMDpAZpV9KXAMf2PfJws1YpT2iwxGVi7c69O3Gh1xBIx-IuRDRie93ktPA71zdd3PYq0jvj_pxdXaJjQQDXJrrZBSSZ1wJf9rleUMRnYnvTLXK0EpzFcgWTtYKAz1KcAQpVf37NYa-1Sa85wUBzRLDuBJL-ZCGpgv0U5ksdM-PTku8t3cqmXgmw2T5-X960zN7aa1M2sAPU8IozZ3Ox4yrVzMI5382KI8Dp0cKrzf3cxZaZrfRRd9l1IoWLAjWrH-e2RlmYl5YFCqZw410oS4ax-7H9SXIVRrhzB5ZOLPcwNtS6cDku9IHuHc8FojgnIQauaJbhiwUcko-vx-BtX6apMuA5BU5j8aaPcC3yn0QyKjnbhMG1Zjxg-BBGvcj4j7V3XxG3f7gBWDHzkDBmd4VKvuJIBj8DWS3pSnVK8=",
  "id": "rs_04a5618a74d61950016ab4503f889487d0a962373a0154372d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.15,\"left_z\":0.05},\"note\":\"The reset succeeded and the high wrist view places the left bottle almost centered. I’m now approaching a slightly more reachable point on its upper shoulder in one clean diagonal move, rather than extending first and then trying to descend at the singularity.\"}",
  "call_id": "call_KgmnaSqbvgnZLaFMmgKdLKdp",
  "id": "fc_04a5618a74d61950016ab4504163ac87d099b898ab8ea4b948",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KgmnaSqbvgnZLaFMmgKdLKdp",
  "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]: [-0.5022, 1.869, 0.8848, 0.3134, -0.4717, -0.3592, 0.9964, -0.0193, 0.4137, 0.0978, -0.2684, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4448 left_y=-0.1486 left_z=0.0523 left_yaw=0.0654 left_pitch=-0.0257 left_roll=-0.0007 left_gripper=0.9964 right_x=0.2358 right_y=0.0044 right_z=0.0632 right_yaw=0.0173 right_pitch=-0.0135 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.6906, -8.1162, 4.8479, 1.4628, -0.1441, 0.2759, -0.0122, -0.294, 0.1436, 6.653, 1.8095, -0.0366, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aacc6e0af808e2ddc2d94cdedc4ffe141f88ea7afb2dbc09501c47cf657f67ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6545f3913633c6032abe59b0b22251e10f1405163d2927e5661db2c2ff71965",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42ea76dff594e68a5465c94c06308743c4c320fdf47cb3309ca3191151df421",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.954 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4847, 1.8175, 1.1339, 0.0105, -0.4599, -0.3408, 0.9963, -0.0193, 0.4812, 0.1455, -0.2619, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4727 left_y=-0.1562 left_z=0.1176 left_yaw=0.0638 left_pitch=-0.0318 left_roll=0.0094 left_gripper=0.9963 right_x=0.2412 right_y=0.0043 right_z=0.0715 right_yaw=0.0173 right_pitch=-0.0268 right_roll=0.0012 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -9.1692, 8.841, 1.7851, -0.0904, 0.149, 0.0073, -0.3487, 0.0205, 6.9265, 1.9316, -0.022, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5911, 1.5204, 1.013, -0.131, -0.5316, -0.4023, 0.9964, -0.0193, 0.4309, 0.1089, -0.2672, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4078 left_y=-0.1616 left_z=0.1767 left_yaw=0.047 left_pitch=0.0217 left_roll=-0.0255 left_gripper=0.9964 right_x=0.2369 right_y=0.0045 right_z=0.0648 right_yaw=0.0176 right_pitch=-0.0184 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.6496, -6.0786, 8.2667, 1.3797, -0.2173, 0.0024, -0.0073, -0.3624, 0.2256, 6.5983, 1.8974, -0.0708, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5022, 1.869, 0.8848, 0.3134, -0.4717, -0.3592, 0.9964, -0.0193, 0.4137, 0.0978, -0.2684, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4448 left_y=-0.1486 left_z=0.0523 left_yaw=0.0654 left_pitch=-0.0257 left_roll=-0.0007 left_gripper=0.9964 right_x=0.2358 right_y=0.0044 right_z=0.0632 right_yaw=0.0173 right_pitch=-0.0135 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.6906, -8.1162, 4.8479, 1.4628, -0.1441, 0.2759, -0.0122, -0.294, 0.1436, 6.653, 1.8095, -0.0366, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aacc6e0af808e2ddc2d94cdedc4ffe141f88ea7afb2dbc09501c47cf657f67ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6545f3913633c6032abe59b0b22251e10f1405163d2927e5661db2c2ff71965",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42ea76dff594e68a5465c94c06308743c4c320fdf47cb3309ca3191151df421",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBFY2_s2HfYUre18nrTW1Zy8PzF1FSSnagIcvP-kLAqbnqCfb1ic8cxFNcT835s_ZXIS5r_kJudtpgIb6Oi2kQod9ITvhSKPPTPMYfmI69PWB7888FhUQWqAx9GdCqZc8yk42Oodmh-msjwr7HwPfe15rdkMwVAg_UUlzOJx5OWAebBEs2AksvFL6GjEFaZTp61fSpy-sDfsOG0ZnzmbO-7uvz-IIcO1zU1jjj4RKAR2ZvsEnEmgcwO_Xr3SWPeoMYBzqzUISO2qJ9HjMcWdEQC9LfpVkHimw8nzT8AqOFyHEKeDMMVwvJjB5J57oVp_JOuSQM-CRLTMsgNx9-UTn1fbkQ4MRsrqLvaIFHzFpNFSGrTB2FJHx7GRtW9vdb5CMCtRgygu6BRsnNnTv5bqPm0xjiOYJqXNApDLNK1D1YPnsppXGeW9ridsqGlVbxdF-zKXRfM52dBlPMkj4zACOrT0SN89tHylqloIpRagnvpllmvgXal4O4NHdwpPf61EsbngooNGcNMLvmdGvu1qoAWLtPa-NUtTv57H7xd3kmSIkMECu28zWs0-BphRp49B2_oVpT1wJXOe_qNUR-7Crv7paHSF0OOBuWjM_KgfrJekxa8NqKGrbXNQif1jcdatxSH7cbKLNtEZK6WpjLWeuBvpfS-HL4kGrCg_9AU85C6g8u6rJ_x0MchpKrZ26dEG2U8x6tWuhEaieDLBZyhQKlo5gqOTvsHl5ATFu7zoVFhkIU-mRpz9Vh70ebt2QqkRhxZK3YzTnbpQbXduWaQ_d5yR1u0EGqlhbgZ0Eg9Nw-zWlfLTYvY1O9mSlRlLXW3CLTu8W-ZKEh03xVxyRzJKasnMbdtZfPz9dfb0LMrl_YfSK2iHrlwx6ZDify3RjYlCeIuNSpwtqsECFj5gH6ggLhSp97aaIK3k_rrl7iM3_NpKPdhf6M30ECcr3Qgy3zyMPFcMG2eV7Uh4LYLN3hcDeujT4Augg95k2NtiLFPvo5uD9VA-qgQzJVhuQVLIGwSesrxmUOVOUORA233sybMgaZZg15nqsuXLi1Ew0cy5jx6OrM8xQVk_ClM8Y7R9gNxyFy3AZAR8fsi5QaVEoh6yGOPpNflfN3TqKf8jSSMCu__17Lib-RIt1FEzf5g7ZNVtJjRTri3WgzSr26_DNbHJ6o6NkWfoq3qe6vnGlQRUt7qHCXfdPCSXP0dImHX2qCE-beXgzpCevW0Hkn7QxWk6CcE9OA7QOJVQkqSW-sdFqNRLG3hI5Rkp8LDTasrSxhRFfp2XKHtkRxthpqz0EKugxeR8vrQvezeOPkNLzWQp_z-VAfdEj8r6coKKSqdqarlfeo6bT6JyGmNFeNHmsd5afBASkfn63kCqrKmSKI60rLVPxU=",
  "id": "rs_04a5618a74d61950016ab45044669487d087946f71c5a68061",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"This diagonal approach reached 5 cm successfully, and the left bottle’s neck and upper body are now centered between the widely open fingers. I’m closing for the grasp.\"}",
  "call_id": "call_H5sb5J42DCcJT1VWF8femmbi",
  "id": "fc_04a5618a74d61950016ab45044e03887d0b79c88650b9a1198",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H5sb5J42DCcJT1VWF8femmbi",
  "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]: [-0.5068, 1.8793, 0.8757, 0.4191, -0.498, -0.35, 0.0134, -0.0193, 0.4034, 0.0925, -0.2687, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.454 left_y=-0.1514 left_z=0.065 left_yaw=0.0778 left_pitch=0.055 left_roll=-0.0269 left_gripper=0.0134 right_x=0.2354 right_y=0.0045 right_z=0.0629 right_yaw=0.0176 right_pitch=-0.0089 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.0205, -9.4427, 4.6838, 1.0965, -0.0513, -0.0122, 0.9646, -0.1846, 0.1299, 6.5846, 1.8291, -0.0757, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95187aefa10f304c6bc7c9638ab4a5636ff0359af91737c574098bfcca8f0392",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c0d863b4a06bb21cd682e8fe1d2a7c838eb209ec968f45040861ff698a1bb04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fe6e7245cc51be39ba339a45e749c250c9b08461682448cfa9ab3412cd43f01",
      "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 · 2.603 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4847, 1.8175, 1.1339, 0.0109, -0.4603, -0.3408, 0.9963, -0.0193, 0.4557, 0.1249, -0.2642, -0.0303, -0.0364, 0.999]\nstate[eef_state]: left_x=0.4727 left_y=-0.1562 left_z=0.1176 left_yaw=0.0641 left_pitch=-0.0313 left_roll=0.0094 left_gripper=0.9963 right_x=0.2387 right_y=0.0043 right_z=0.0673 right_yaw=0.0175 right_pitch=-0.0242 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.294, -9.1692, 8.5538, 1.7167, -0.1099, 0.1636, -0.0024, -0.212, 0.1573, 6.7897, 1.9316, -0.0415, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5022, 1.869, 0.8848, 0.3134, -0.4717, -0.3592, 0.9964, -0.0193, 0.4137, 0.0978, -0.2684, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4448 left_y=-0.1486 left_z=0.0523 left_yaw=0.0654 left_pitch=-0.0257 left_roll=-0.0007 left_gripper=0.9964 right_x=0.2358 right_y=0.0044 right_z=0.0632 right_yaw=0.0173 right_pitch=-0.0135 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.6906, -8.1162, 4.8479, 1.4628, -0.1441, 0.2759, -0.0122, -0.294, 0.1436, 6.653, 1.8095, -0.0366, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5068, 1.8793, 0.8757, 0.4191, -0.498, -0.35, 0.0134, -0.0193, 0.4034, 0.0925, -0.2687, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.454 left_y=-0.1514 left_z=0.065 left_yaw=0.0778 left_pitch=0.055 left_roll=-0.0269 left_gripper=0.0134 right_x=0.2354 right_y=0.0045 right_z=0.0629 right_yaw=0.0176 right_pitch=-0.0089 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.0205, -9.4427, 4.6838, 1.0965, -0.0513, -0.0122, 0.9646, -0.1846, 0.1299, 6.5846, 1.8291, -0.0757, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95187aefa10f304c6bc7c9638ab4a5636ff0359af91737c574098bfcca8f0392",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c0d863b4a06bb21cd682e8fe1d2a7c838eb209ec968f45040861ff698a1bb04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fe6e7245cc51be39ba339a45e749c250c9b08461682448cfa9ab3412cd43f01",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBLskEJkIO1T32tQGar0RVzva3lKeUfV5o2-jiacuj6R0AtzejKfhBK4ra3ut7hHsJ6wwZPjaETwIjsX0wBF34dkRNj5SsmI4BOJDsjYJ3gVakyS3X3N4TDE8dRme2tdadbOlOVE5bFxV-kQx98793RaHDYHEK8inbqk1ZOAzFlYcp0VdPTNVmenugBg5IOZJdkGhlIx6zzEl7gsjY8sd1FUO8IkAfazM2oMjGl5BMkHHRZVKSab5AANowgqi7UBc5NzLSR4bETq1Mxaone92kBdujvJvkYqAf35BfL-dxsz519W2uv1GkL-A7uzo4H7gR8Wj7nMkrfnHDDBuZbnJLfbg0ZsLi2PNMNRcXTMEJkORiJkHujwD5kWil5Mmtaw5gX19TO67CSap7Jw2cOcODeLWbCQnMhKja5F8ud8rjRZSXKqtF-v_HLwBR7arWBBkzIGWbAxPAHJEhgqeBNxNA5PaoCfvDHZ4xCezeXaZ-TyrgjB8kBlNrGLKMwNV3ZQMRMeoRils_cw_Vvy_FpA9UB4MhFi4OBO29v3b1oOKHKSyOaxz_QQ_dPrvmNTg0JWbqqmI5LZlypfMFrLPUtIZHRNYymp15FxcfJCavL8wLZFst9AhzOsNNrNCccIxu2NcG_yCzllT4JbwevlX6renruSrHIgvpi_yMBbrTx_NJyRYQrg6KG309XGeQiKFqOI0-g62ByGS4C5YPFfOSJ5BJ1cfjiIpdokWPdMLJ8b9vKHqzPES9RHnCNQu9tCW0E7WQBg-izXFHdbd1cjsUgf10D6QMC9uNZV01k1yOkvmU-gIEteVrZvjz8IOq-VUz5it4kOWv5vfWEafxvJ2XEbv-TyKEjomsdcFxLZAkKun3E6qGrslieYOU-8QLUWF9fZgOwz3WZs9NyU618ER1dtyJiAPQjaV6MCN9tCO9PuOKtDgdP3ec4VZBPw-qp9zDFWbMty1ls35kQShbmXWTGsa7F6VnDhEBq-2tFJdD-eLc-PAdxqJe9QYmwCRIUjJKtn0xjgpRZeBNtSCiAGLZLQi5rjEbu3Z2_UEaU2Vd58NiAwx8gcO4AeimDiAOE5WLW6ShocsLLEtIfmHcgH4yWJ0h7UJ4MOEfpdl5exA4vF4vZ7UuHziY8YNnlHzniQimODwzb8G86_qFu5fH_jj1eG1UPLt3lp_DlDpEL9QmWn-F_OaAPOEIjBo5cunvpYoUyBMHBz2EpEpl4xFF7gEpXD6FMPfun_1f5YrXFPPWSSwScEEFCU7VXj1YjER_QrD2iBzsmfw-RPSKw7aMfSaW6ENGfHO0EwrUU_qAjO-QYzDeQngcHcK0JvHr9bqHDueSjtCCh_aU_gm9FcJ9IgIEdOANpejPxU2GbtzfWCSDM-FqylVJkjTkSghylUtq3ZOJXX71EHenJvBHimja5NN28EuVADHjqTRPnzNr4Ta3CVRFNUbbXxjc0HYc9KDd_352JlSShM-lVKwwpe_ghAvE-twv3rcb9klR-IH7HBI7XAF2X54Q7_EITgpRorNgUOZRd5Ju3cryfaO1n6xOShuzTKCEOgGqXVBtD7D_uniFvfDutyw3Ng1gosjc09_uGcyvmP1ordbqFLzVUSFE_DPqRAjlG5WUKjCRkGIQchCxPHGVgcehaJpWSslZ7BJKGRyVClLVzzKuhfjRR-OrjSmjNlWybawEmws2RnRExIZa7ahHVB1by3QNq-LBYqLssuQpkmsFSN3VcXTy-OaOvtk9RupD7droippsEApOfYcvRehOWfL8qJVkED1p2ec2hjGhZMD8VonSyfhqijxS0c2wSmcnA_MZTmzkc-FqaWfRuE7ixeDZ2dFR6ddwQSO-H-NLt2GzKmEuxAnuqJTQdTSCOaRh0tEP90PFJdQfWJ3fyQVZkmUVh7DdcUNUkscTKisanLJXqMnsjlQ3WOIIMDL3ATRpM_MVrFPIa9NFxGhRgn4k-8Jv5RZyju1E13l70bQA4KsBBNfM9n9FPm0wtxIk_b6eKrHZtjNPNSYEPZPc043cg4T1zS_EEkWc-VeLLITGErhrDSJEyjQwTeoPo4VpEwhuXNXshull7D3Ey1SxQkDGrfkiwfqmesQA2bzLPY9pdwF6vlunjyTHy8FCa23QHrPr33la6dRxe4el9-UoV44swyuwc5kbb56WoeL0VwsSwpzqO02C1PW_iR4tKGQkhe0qacEEWb51StofKDWjmkNtW7Y66Bd1Ybb_O-2PqasQvKTOhKGwFrUTAszFr4-hPJO9M43wlQY3RBYPrdl15I9i2vU4aNCOl5SCnlj3_N0pMIZ9P7970FVQnzv1VlIy3fcx2MFUeyx64sWkqmNs87PfuqArx8cKxjeh6Nz7yvFHihEcqXQk1CZbg_otgYAWpbEE-xJG4bWmyaJdrOhWJqg3e8ATMMDZ7JCm_ZP-04vq0FQaD",
  "id": "rs_04a5618a74d61950016ab45047f2b887d08cd1c6f213f5b622",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.005,\"left_gripper\":1.0},\"note\":\"Despite perfect image centering, the settled jaws are empty, so the finger tips were still above the bottle rather than laterally misaligned. I’m reopening and lowering nearly to table level at the same x-y.\"}",
  "call_id": "call_REMzARs9I367GaA6NagwuxYU",
  "id": "fc_04a5618a74d61950016ab4504a84e487d09afd9e4ea99036a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_REMzARs9I367GaA6NagwuxYU",
  "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]: [-0.5022, 2.009, 0.8917, 0.5735, -0.5098, -0.3706, 0.9951, -0.0193, 0.4004, 0.0921, -0.2695, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4687 left_y=-0.1549 left_z=0.0412 left_yaw=0.1046 left_pitch=0.092 left_roll=-0.0629 left_gripper=0.9951 right_x=0.2354 right_y=0.0044 right_z=0.0632 right_yaw=0.0173 right_pitch=-0.007 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -5.9009, 3.3436, 1.033, 0.022, 0.1148, -0.188, -0.3077, 0.0479, 6.5846, 1.7607, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec0ccf5629821672a993affcf6e8b46a6f529886965b74e2a2d9218f93b961b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d345476fc737a63db5dc8dac7d6b168519bdf3c901f34c0a8525a5fbac737ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e7c134a86c9b661d369f5bfdab744c5f4a5c82f34b8b3a182ecacf18a169823",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.742 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5911, 1.5204, 1.013, -0.131, -0.5316, -0.4023, 0.9964, -0.0193, 0.4309, 0.1089, -0.2672, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4078 left_y=-0.1616 left_z=0.1767 left_yaw=0.047 left_pitch=0.0217 left_roll=-0.0255 left_gripper=0.9964 right_x=0.2369 right_y=0.0045 right_z=0.0648 right_yaw=0.0176 right_pitch=-0.0184 right_roll=0.0011 right_gripper=0.999\nstate[joint_eff]: [-0.6496, -6.0786, 8.2667, 1.3797, -0.2173, 0.0024, -0.0073, -0.3624, 0.2256, 6.5983, 1.8974, -0.0708, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5068, 1.8793, 0.8757, 0.4191, -0.498, -0.35, 0.0134, -0.0193, 0.4034, 0.0925, -0.2687, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.454 left_y=-0.1514 left_z=0.065 left_yaw=0.0778 left_pitch=0.055 left_roll=-0.0269 left_gripper=0.0134 right_x=0.2354 right_y=0.0045 right_z=0.0629 right_yaw=0.0176 right_pitch=-0.0089 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.0205, -9.4427, 4.6838, 1.0965, -0.0513, -0.0122, 0.9646, -0.1846, 0.1299, 6.5846, 1.8291, -0.0757, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5022, 2.009, 0.8917, 0.5735, -0.5098, -0.3706, 0.9951, -0.0193, 0.4004, 0.0921, -0.2695, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4687 left_y=-0.1549 left_z=0.0412 left_yaw=0.1046 left_pitch=0.092 left_roll=-0.0629 left_gripper=0.9951 right_x=0.2354 right_y=0.0044 right_z=0.0632 right_yaw=0.0173 right_pitch=-0.007 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -5.9009, 3.3436, 1.033, 0.022, 0.1148, -0.188, -0.3077, 0.0479, 6.5846, 1.7607, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec0ccf5629821672a993affcf6e8b46a6f529886965b74e2a2d9218f93b961b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d345476fc737a63db5dc8dac7d6b168519bdf3c901f34c0a8525a5fbac737ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e7c134a86c9b661d369f5bfdab744c5f4a5c82f34b8b3a182ecacf18a169823",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBP0jDXwvlnoD6XrTQINdJb2BGRCrKNjKnnTcXG5ti5RTug8hiOSCf1sApw4kRbGMns5mWCVvQwkyNN0_SLMFfYCVYsgGPBaLRhhoZXWTAh8gtQ59TmJzxHLCCsdCfzFkAEM123qHmotgqIRbB9sKXCdoH38kizgyJcXFJpusIyoqFm2XrqrPH3XhfsW6ofHQ-QDNZTEZLR-lg3UF0oiFA4gAomTwCVrO_umweP9TbjjLbjVDamXcX6qQlmNJI9poXr353WJljld-E14hJWVPYtlFDfaGBkxB_VAPFKIHKClsI3OLgraxC35yI9WWsWsBKgo3D906xE_5V-A-JobZQ2JCO2SuPZglSrEL49IIwzEBmYjloySIRQU1KUxWnxWFcdCcRuod4KwO0xKaVVss0PeNI_1hROfM-gxU6ShUymWlbm7Y5wrHQDdMdLCxAb1EnixWk32360qniv5EujE1kKjO8qWJXd-jaTWf9uGRyh1Yb6YfS2lp3wVf_uPpSW3DNyccp0NuL6cAHtFs50Jh6tIEq2wFHizhZAJgVuoFC8s-JPcTd7llL5iolVJfFPKX87knrle45J5kGEIaiiuV5LV8LX8JWOH6revVeUKXqOX2ECrnFiJuMq64vTCaRp_IZUgfVeYX4MF-xQxQ-ekvFla-PpLcrOnUgw-4dOCAFgbOxQZA6IRI9Vr5EZsDSjSeR4OjE88-LhumdtR1nh_9sZKbjDhYJBHN4-maZpH8Q16RRg-DsUXunQbs3Ce02JiicSM0WvjHmqw72vTFJzg0LTddsUBe5YIqgZHxc7XxHszgkH9SseEqiAHHoxqK65G4ZIPm7GTqKFdrUsHnbW9Sxc6N1pIaJdzLcU58BZEjbgsGj-5_pG73_1ZjlfdWuPOxathymoqFHBvbN2t5sn09Gp5CKWpb_6B9uojwin1fn2nXAfxnxftBs5h1VaaniTqUmIbBzh-IN0zbdlyiufXEu3IpvLPIx4oG7INN88Pzv8br4hz4sS_KwDswD9Or-2iPbMBNllDUhk9KuQCJKPwgyxGOpWSiAjmpgap6DhsoEwWqnvw-3IZ4abFZ4HICvlPMnx_ovfEg41eVH4rK5cL58JcakoYPhp9vtaELvSQctyfOTh-M3GLuhvoX7alLk58WvS-Sdvon7kCo29rvOs73PBp6jTi5vLXAslSN3PW0pEUfxL5aEWyEzfwGmDjpf7pHa5NO_2_C3rHjJvhRtshLrOs-vaH5SpXCFmN6SdaJ-5sz9_o7SFOeNYytENE_uVfAcmVU9OhIVSOc4v3e7-cxx5eQ==",
  "id": "rs_04a5618a74d61950016ab4504df96887d09aec6eb98bc48b32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The gripper is now at about 4 cm and the bottle body is centered between the open fingers at its widest section. I’m closing again at this lower height.\"}",
  "call_id": "call_zInZMVICitGR5lFygU1msE0s",
  "id": "fc_04a5618a74d61950016ab4504e3e9487d0ac0d83175d058463",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zInZMVICitGR5lFygU1msE0s",
  "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]: [-0.5041, 1.9865, 0.9707, 0.4179, -0.5247, -0.3935, 0.384, -0.0193, 0.4004, 0.0921, -0.2714, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4745 left_y=-0.1566 left_z=0.0515 left_yaw=0.1247 left_pitch=0.052 left_roll=-0.0451 left_gripper=0.384 right_x=0.2352 right_y=0.0044 right_z=0.0628 right_yaw=0.0173 right_pitch=-0.0089 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -9.812, 5.9419, 1.0232, -0.1001, 0.1245, 0.4567, -0.1709, 0.2256, 6.5846, 1.7851, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc70ce3151aa001da49d2ff91cec1d49cee64f6af179d6618cb29b9bb21fa6f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1c61669eb90e3c87fca7a9453717db462fd30af0833ec190058452f76cdea6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0abe3bdf63330e705fcd45e54d3b450cef51fec77ca01e03339ca1032000fe9a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 5.59 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5022, 1.869, 0.8848, 0.3134, -0.4717, -0.3592, 0.9964, -0.0193, 0.4137, 0.0978, -0.2684, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4448 left_y=-0.1486 left_z=0.0523 left_yaw=0.0654 left_pitch=-0.0257 left_roll=-0.0007 left_gripper=0.9964 right_x=0.2358 right_y=0.0044 right_z=0.0632 right_yaw=0.0173 right_pitch=-0.0135 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.6906, -8.1162, 4.8479, 1.4628, -0.1441, 0.2759, -0.0122, -0.294, 0.1436, 6.653, 1.8095, -0.0366, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5022, 2.009, 0.8917, 0.5735, -0.5098, -0.3706, 0.9951, -0.0193, 0.4004, 0.0921, -0.2695, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4687 left_y=-0.1549 left_z=0.0412 left_yaw=0.1046 left_pitch=0.092 left_roll=-0.0629 left_gripper=0.9951 right_x=0.2354 right_y=0.0044 right_z=0.0632 right_yaw=0.0173 right_pitch=-0.007 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -5.9009, 3.3436, 1.033, 0.022, 0.1148, -0.188, -0.3077, 0.0479, 6.5846, 1.7607, -0.0317, -0.0611, -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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 1.9865, 0.9707, 0.4179, -0.5247, -0.3935, 0.384, -0.0193, 0.4004, 0.0921, -0.2714, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4745 left_y=-0.1566 left_z=0.0515 left_yaw=0.1247 left_pitch=0.052 left_roll=-0.0451 left_gripper=0.384 right_x=0.2352 right_y=0.0044 right_z=0.0628 right_yaw=0.0173 right_pitch=-0.0089 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -9.812, 5.9419, 1.0232, -0.1001, 0.1245, 0.4567, -0.1709, 0.2256, 6.5846, 1.7851, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc70ce3151aa001da49d2ff91cec1d49cee64f6af179d6618cb29b9bb21fa6f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1c61669eb90e3c87fca7a9453717db462fd30af0833ec190058452f76cdea6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0abe3bdf63330e705fcd45e54d3b450cef51fec77ca01e03339ca1032000fe9a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBSUqtBfRdGuoTuUBZwSxube8Pg3LBT8fj3PbAdQdChICQV0CGA_EFuclNZo8-9GkOekr8Xny1rOwBcm80qaFfVkWdGLi0c2ro6pVWO8gidNXAQ7DveYX2s5fW-cQGk_usIPEnlgnVfyeZgG5zXxbjIUFe7MwCIRIgaZ86_k6AQ0iwGk14nhpsT5LVLnqZXl2kgHBbNdP6OrcBUnUVhGj9MYrzGqfxTdrAneVeRlwtZjQf3-AZBIkCku3q3CgVr160wC9oKtcODgcHxiW4L6On4UUMWolv3gd_I4BH4nl0YvR6dfY1v7X8R67frdFTw2dhf0WSxjuJql1Hs1PlyOwyCIuxufWdgRKRX4neJ-ifbQJ9xVE0DxkHlVnOMtSVrPBCWB025m2OEatwHZRmkXwiYSxcl-wnizBHKyM_7gB_ZvUQAgOokWWKmeVREaWbLx10a8376fhiK8JXjZoo9roDps39my5Ooy0ZKkv-u54HtjuR0x-jrWdOjWPV26CXrNwfZ_W2ILesoFPDGSsXvxu3E8UvxtDWcH1H_Xe0PqQT6dksaS7pJLysPljWU5eQrJ--wN1lo8uDjvD0ap8nNddiaNc53ez7McXGUboOPoEVDr7_SJMP5GP8bQ6wEb2G3sP4V5YiXv3H5QXp80fgE0uOWXeZUW1B-hBzafL_rrci-3gv29adsKga0Bby6_95MIYpaUbq2CnC7JQMHM6kNYKsNvZu-q6b33NKKyK8s6xlslpDCooVxOA47lQhxW9SpRC7_Rs5_isU-wqwa2NexLqpeqpNyY-5m8wBZXEeyippBfFsbU3GMYBRxmwUKC6w-nl4VYebimU-8K0g7sSx7GYupK1M0XDIYN3_74JCIdlXlAB-A-89ek6JkZbtdz9P_zWlxiIuLM0x9KJFwdW-HnJtLpt4Bu0bYL1Up-9NbQdPLJgeQnp2CBOfyl1N4Q7lry_p6U3eo0BDS4g7TAnNUBN32LFS8YpxhN3uIrptuXCOnNcJly1G-SwRfP8U494PMQY5KmJWRZHn6PLlzjyyKwxJfDKQqMe5JYe8OShb-1IFQekg-aNYPpNv2pWpnbXXRK-Xqe3NfBP5-OvSXwlNX6r1wxFvo0ap4ND3Aly2031sBklLA0-faEOf0Q4JFlmbkN2Cod4vRU6f-SeIpM1BkN80-A81Mi5xqdognyKjjk66cuZURg9JyYgfQI-IBPPotjjLBJcjzv9f1nYl4c53Du0mhVVGof-CHx75Cf7vpXbAyGOqzYZ-lCy1cyZGI6TCAYpDHPSydu8XyIH_EMquKqk04IuZ_iHh-iDwgRpIAno8JXOCqNFVr5DT914rN5rgRWZhJ9QCtlr4VFTaXtB1YoxL5y0PdiAuvp9YQRepTTXjyNnHKqCvrL0KM25PimPF4IY35Nm7mzV-3ptMRjRyVS8VOJFLYW5O6H3tIsGJda9-uO1cOpT1Hy-rnTI2iqu6uqvmn",
  "id": "rs_04a5618a74d61950016ab45051286887d0b049ff072294d2ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.22},\"note\":\"This close settled at 0.384, confirming a real roughly 3.6 cm grasp on the bottle rather than an empty close. I’m lifting high enough for the bottle to swing under gravity into a vertical hanging orientation.\"}",
  "call_id": "call_PDrztVu8LGqvarJ8qMlHwfxN",
  "id": "fc_04a5618a74d61950016ab45051f1f087d0bd6a201ba1eca454",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PDrztVu8LGqvarJ8qMlHwfxN",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 1.787, 1.3899, -0.3004, -0.5388, -0.3977, 0.3835, -0.0193, 0.3969, 0.0921, -0.2718, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4796 left_y=-0.157 left_z=0.1882 left_yaw=0.1373 left_pitch=-0.0231 left_roll=0.0172 left_gripper=0.3835 right_x=0.2353 right_y=0.0045 right_z=0.0635 right_yaw=0.0176 right_pitch=-0.0058 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -13.3402, 9.2239, 1.4188, -0.1245, 0.0269, -0.0562, -0.3077, 0.0479, 6.4342, 1.7998, -0.0562, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:645d5ca7e6a3ab6baf523cf34589cefc38bc26049f4ea59fed7c1f7e49114f3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d470c6bbe5dcf25b3bdf7be970cf064d8de3106560482dde663353c52cca5c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:900f8d1e7b9b2ac0383160b669908e7e9ad376a5c2f535c0646c3ba88d31afda",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 2.268 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5068, 1.8793, 0.8757, 0.4191, -0.498, -0.35, 0.0134, -0.0193, 0.4034, 0.0925, -0.2687, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.454 left_y=-0.1514 left_z=0.065 left_yaw=0.0778 left_pitch=0.055 left_roll=-0.0269 left_gripper=0.0134 right_x=0.2354 right_y=0.0045 right_z=0.0629 right_yaw=0.0176 right_pitch=-0.0089 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [0.0205, -9.4427, 4.6838, 1.0965, -0.0513, -0.0122, 0.9646, -0.1846, 0.1299, 6.5846, 1.8291, -0.0757, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 1.9865, 0.9707, 0.4179, -0.5247, -0.3935, 0.384, -0.0193, 0.4004, 0.0921, -0.2714, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4745 left_y=-0.1566 left_z=0.0515 left_yaw=0.1247 left_pitch=0.052 left_roll=-0.0451 left_gripper=0.384 right_x=0.2352 right_y=0.0044 right_z=0.0628 right_yaw=0.0173 right_pitch=-0.0089 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -9.812, 5.9419, 1.0232, -0.1001, 0.1245, 0.4567, -0.1709, 0.2256, 6.5846, 1.7851, -0.0366, -0.0611, -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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 1.787, 1.3899, -0.3004, -0.5388, -0.3977, 0.3835, -0.0193, 0.3969, 0.0921, -0.2718, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4796 left_y=-0.157 left_z=0.1882 left_yaw=0.1373 left_pitch=-0.0231 left_roll=0.0172 left_gripper=0.3835 right_x=0.2353 right_y=0.0045 right_z=0.0635 right_yaw=0.0176 right_pitch=-0.0058 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -13.3402, 9.2239, 1.4188, -0.1245, 0.0269, -0.0562, -0.3077, 0.0479, 6.4342, 1.7998, -0.0562, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:645d5ca7e6a3ab6baf523cf34589cefc38bc26049f4ea59fed7c1f7e49114f3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d470c6bbe5dcf25b3bdf7be970cf064d8de3106560482dde663353c52cca5c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:900f8d1e7b9b2ac0383160b669908e7e9ad376a5c2f535c0646c3ba88d31afda",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_04a5618a74d61950016ab45054fee887d0821a352d67c0d47c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The grasp remains secure after lifting, and the overhead silhouette has shortened, consistent with the bottle hanging nearly vertical. I’m lowering a few centimetres so its base settles on the tabletop before release.\"}",
  "call_id": "call_4M6SZGsFJIEd4vaayo5bOcIV",
  "id": "fc_04a5618a74d61950016ab45058825087d0ba3d5513fcc8078e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4M6SZGsFJIEd4vaayo5bOcIV",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 1.7683, 1.3266, -0.2455, -0.5392, -0.3973, 0.3835, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4749 left_y=-0.1543 left_z=0.1799 left_yaw=0.1372 left_pitch=-0.0147 left_roll=0.0116 left_gripper=0.3835 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0171 right_pitch=-0.0059 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -7.0359, 6.1333, 1.4969, -0.2564, -0.0269, -0.0122, -0.2667, 0.1436, 6.6667, 1.7851, -0.0562, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:285299abee5dc0a4f0d4a8178b9fd32cc3c8eb8c29ea2ecadb838bab57efece0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8838ccd540e3d3ea7f495744a967cb91dd53d50fbc96895865bc345e7140d89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c461adf7065c6db1339489e72f1a94c837b7d1750a1bb65e01da367b883d0c82",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.043 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5022, 2.009, 0.8917, 0.5735, -0.5098, -0.3706, 0.9951, -0.0193, 0.4004, 0.0921, -0.2695, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4687 left_y=-0.1549 left_z=0.0412 left_yaw=0.1046 left_pitch=0.092 left_roll=-0.0629 left_gripper=0.9951 right_x=0.2354 right_y=0.0044 right_z=0.0632 right_yaw=0.0173 right_pitch=-0.007 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -5.9009, 3.3436, 1.033, 0.022, 0.1148, -0.188, -0.3077, 0.0479, 6.5846, 1.7607, -0.0317, -0.0611, -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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 1.787, 1.3899, -0.3004, -0.5388, -0.3977, 0.3835, -0.0193, 0.3969, 0.0921, -0.2718, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4796 left_y=-0.157 left_z=0.1882 left_yaw=0.1373 left_pitch=-0.0231 left_roll=0.0172 left_gripper=0.3835 right_x=0.2353 right_y=0.0045 right_z=0.0635 right_yaw=0.0176 right_pitch=-0.0058 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -13.3402, 9.2239, 1.4188, -0.1245, 0.0269, -0.0562, -0.3077, 0.0479, 6.4342, 1.7998, -0.0562, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 1.7683, 1.3266, -0.2455, -0.5392, -0.3973, 0.3835, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4749 left_y=-0.1543 left_z=0.1799 left_yaw=0.1372 left_pitch=-0.0147 left_roll=0.0116 left_gripper=0.3835 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0171 right_pitch=-0.0059 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -7.0359, 6.1333, 1.4969, -0.2564, -0.0269, -0.0122, -0.2667, 0.1436, 6.6667, 1.7851, -0.0562, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:285299abee5dc0a4f0d4a8178b9fd32cc3c8eb8c29ea2ecadb838bab57efece0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8838ccd540e3d3ea7f495744a967cb91dd53d50fbc96895865bc345e7140d89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c461adf7065c6db1339489e72f1a94c837b7d1750a1bb65e01da367b883d0c82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBbeUzuTNg08IajkeeO5lPGQpJOCCr5IsOXZQpR6SZFFuY9tLH8mDIbNkXg8Nhd-5r1tWYcH7H4wXOmvlDwJL7k8opPwuPe-QRfX9LisoBe3A5lGaKgCbHjbnhpJxiJfKmF5pUoTag2xBFSgDKVM1jBlCNh-wWweKKHRUZlpgArXnN7_EtHlaE50eciKF4JeN1S-_eDdxJnWlYLHcJ_eJGKUwj0jX9tAYelZEmT3WTD5N1ymE9wtyMb3Mx7-KJ6v59cnmxcFjagX7LQDLAcZbGRARbq0AC2DnW-8jrmvbzyjEY6cwphpMLBlKxPTVNIv-gQHTLo88r5JNj2e6NsaSa5yRlXVhBrE_H5YJCCQ9R1CLZTq4DlMN44lEUYCJIVF2i3mhkUSTG1EepCgqw6xd3eO26qZt4bXnJlQzT4Xz4kfUpNxozUJi3iNarsI1HkB7vUvQ4QV891AKzc5YqkuDsvZcQc2tDxL6Eau_uJCXnuJvQe4G8qcBU2lEn13IUZo9SjN6xJ7ggSIt5swFhhA6gUKl1iuJ1FB6X_PTGjcQwo0GI8jPl22CGvRwG322So9aId0SDhbn4KwCaQBh8-FQgUi8xQvi1qmIX25VWJXXS3923UtuTIHU-4UFRukmJi0MDYZldM1PJNI7a8XMXZzGobejOLcjwIgOMwkzJ2aJxkEUHzJUloV7PXiwx8KmHmvmfScZA3Iss-nLz89hqXgewJW1oh_Evw5JnEXm2gG73XPl5001tkAHxUX5XyyOaLbOJX5ieKgtxkbsu-hPBmoUrcJMAC9szDAebC5VFHK-OcaMUCvBIUbeE6y8kNFkU_ilTYyRqkNyEJH0KRxDCmy-gr1T1QLkshzw1jMogJ60yBMAFoYrY_x-69fvxVQhTGRQpYK85y3_4ok87Up2PqoINs2wtU5PiZau1dT5lzEu87zctRjkSzEo_BmFbwEwVDRBwLrPyfEseBZqokpLLiewqXaLsPsb-LoL2BLjiO_nxrRVfI9wDD-IVbbAxdj9aJ2afobxbH9Pw-aPIo0wb7uqEb0ioxRY-QomUEmjQ8MB3n60Fqvkc0k6LIKf6iVEmKK_0a2_JKSnkEEIXD75pmX7FhadDfTaNET2QAV8wIXqOlJVKsdFH8ExdnUKUqYDjxZNKr0Xd4bb1mfeRhe97MRqcz_U95I4Q_i2wPhID3xYsNxpZbI8rmXoecOT8Z9DfpgAZAUFIcr4vLvmJvCP4RPnL0XLaIbfvrF9kj8fNb8-hVAho=",
  "id": "rs_04a5618a74d61950016ab4505ac51887d091ae8159ee727f47",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The lowering command stopped after less than a centimetre, which indicates the hanging bottle’s base has contacted the table. I’m opening the gripper to leave it standing.\"}",
  "call_id": "call_sOfsySxgn81rLvUyfZsb99Dm",
  "id": "fc_04a5618a74d61950016ab4505af03087d09ebd4a4de0ab4ee7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sOfsySxgn81rLvUyfZsb99Dm",
  "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]: [-0.5041, 1.8, 1.2743, -0.2169, -0.5388, -0.4007, 0.9953, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4706 left_y=-0.152 left_z=0.1483 left_yaw=0.14 left_pitch=-0.059 left_roll=0.0417 left_gripper=0.9953 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0173 right_pitch=-0.0059 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -12.6017, 9.2513, 1.5507, -0.2808, -0.022, -0.1001, -0.3077, 0.1436, 6.653, 1.7265, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3820e65c7d91539280d9c0c513f5ffd558849e860e27b2bc1b20fe1c7739c35f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af67198eeefec533b20841bfe1667398c955c31830dfb678a8bcf60cce8c8d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5904cdc3bfa1b0780701a079cf5ca009ba50e8b176f54248f202838a2831b8ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 7.242 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 1.9865, 0.9707, 0.4179, -0.5247, -0.3935, 0.384, -0.0193, 0.4004, 0.0921, -0.2714, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4745 left_y=-0.1566 left_z=0.0515 left_yaw=0.1247 left_pitch=0.052 left_roll=-0.0451 left_gripper=0.384 right_x=0.2352 right_y=0.0044 right_z=0.0628 right_yaw=0.0173 right_pitch=-0.0089 right_roll=0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -9.812, 5.9419, 1.0232, -0.1001, 0.1245, 0.4567, -0.1709, 0.2256, 6.5846, 1.7851, -0.0366, -0.0611, -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 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 1.7683, 1.3266, -0.2455, -0.5392, -0.3973, 0.3835, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4749 left_y=-0.1543 left_z=0.1799 left_yaw=0.1372 left_pitch=-0.0147 left_roll=0.0116 left_gripper=0.3835 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0171 right_pitch=-0.0059 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -7.0359, 6.1333, 1.4969, -0.2564, -0.0269, -0.0122, -0.2667, 0.1436, 6.6667, 1.7851, -0.0562, 0.0171, -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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 1.8, 1.2743, -0.2169, -0.5388, -0.4007, 0.9953, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4706 left_y=-0.152 left_z=0.1483 left_yaw=0.14 left_pitch=-0.059 left_roll=0.0417 left_gripper=0.9953 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0173 right_pitch=-0.0059 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -12.6017, 9.2513, 1.5507, -0.2808, -0.022, -0.1001, -0.3077, 0.1436, 6.653, 1.7265, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3820e65c7d91539280d9c0c513f5ffd558849e860e27b2bc1b20fe1c7739c35f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af67198eeefec533b20841bfe1667398c955c31830dfb678a8bcf60cce8c8d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5904cdc3bfa1b0780701a079cf5ca009ba50e8b176f54248f202838a2831b8ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBfhGZ4p5HbP2kciYL8ggsEdfj6wycP4MOzaDdHr25rjbu3tlvQ9wlsFfKxBnBGqtCAQjD6J4kLq6WHkLVnMDOaBBoEIVQ-kRd92XHc_GP8hKOj7SNrY_KxD7UvIDpUpoj3MnxPFgDKdFyXtomb0l1iXW4-AxA759aUdUYVtzoAjdqo8chxEQ1OqTJSvA9j7_xvrR_uU-4a9Mv4LobokhHveKIdgch3bq3J5aeEs7C2XN74qCgw5NuIrmgOleO2crrTu9fiScKnGkowutYkLI4jrkbtM4uwe8nNJhEi86H_GG0PXXOtjMB3EhIglGNZ6XWrX6PdngeObGvFRxuvi3nLJVs9TxvzVdkZX4O79TbV3s8Yb6sZbBVqxJwNd4ycubnQbE_AqwQN2h77nhUj6jRpqrw6ZClbntf36ExiaM3fVwMlwDbwAr31vzgQkCNwq4TeOZfeHyKJoM3RXwqeDtiu3Krt1I_3TMhv1qU5ATqDN2sBHK4xeLJ_IWlPKCadiiawmI25umayATLnQ6vrXNdVgaChyJgRhmcQ3zKn_cXoFEH2v0FxpXS1RFBPe0uVJzofGZB7fd24RxlkyQZQJBWMM5qbsxwzTgHeGzAP6Q228OGw2oGooJUE-fkkwTjwKFdhXgsKnqVjsSuqIcKzSMUq2HcZ6Dw8vv5SFH4t4mmSKRE1G--EKyH5yYJtuZMiasZyQucBoMc7N2QY0El4kl-gVnfK1_Pqgv5yTT2Xy5usvuAB7VpbKlFYlts8d_--iJKshJg2CPNn5TK-yRO9JpyZ007bDNJcfKk1QKtV7VuxJ3EI9zWSvkNiJPVmNvBU_NOjOpBfMULwauBKfoa55n8C_mGzVd86ZjYLiNGec4EhKFiwKgeCrl-gn7DWyuHwC7UCFxtu2hqJKgcq-VF8n1G71RGglvCXWlzoCCVlWghmhDY2RHqXM9tvIpM_ZLA0tb6ALkWn-joTajjWmCKPAOm_DQ6PbC9oRbEimnMCq44_PjOHD0zW-p8rI1wceLcx84CQRRV8Zy2beX7t_6JHCvr6q_1ahnBNpFZarvY2ua69Kw320fFvrGg_6FJj7JQm001RQZ_wRSt2Tm3qmHCDWyPECSmT09ofb0ute4cAGtNm0ausstQw-2IZLTKiKi-kQ3WDtJ4VOj91BeF8AMYh6P3OTth2BzJ70w5bffepc3lf4hrgFHfrUao0Mp6N_Tnwxpv3-THz-_U0Kxg2AodeEJRA3PjFvPwbfreYG4EkbjpCzUuYqsk-YmCjlcP2OQNqpE471zJjWLn3zbWbRQ-snyJLiyOz7jMkqOIHzcd_DyYoncX1RYjOrl32NH9zolJy4NLZggHvH54AK6AGi1Im8Tgy8dudTPL7YJPoYHKDX0Diz_5NiBVAa2my6didFmib3hwR5-yFwjqMs0TXGCL-kBHppVqOwVC2fWQfckArY-94_-Y=",
  "id": "rs_04a5618a74d61950016ab4505e28b487d081c4acaca84ad1c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.1,\"left_z\":0.2},\"note\":\"The bottle has been released; the arm still occludes its posture in the overhead view. I’m retreating inward and up to verify that it remains upright and clear the workspace for the next bottle.\"}",
  "call_id": "call_8OMOO8bxcFoYwLCwQqL2NBTZ",
  "id": "fc_04a5618a74d61950016ab4505ebe2487d09773f21f701c78d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8OMOO8bxcFoYwLCwQqL2NBTZ",
  "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]: [-0.556, 1.2652, 0.9096, -0.3168, -0.5667, -0.4282, 0.9962, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.0357, 0.999]\nstate[eef_state]: left_x=0.36 left_y=-0.1078 left_z=0.1984 left_yaw=0.1232 left_pitch=0.0079 left_roll=-0.01 left_gripper=0.9962 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0171 right_pitch=-0.0059 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -5.559, 6.6393, 1.6923, -0.3834, -0.1929, 0.0904, -0.294, 0.6496, 6.7214, 1.7656, -0.0269, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ddebd578c15f16fac82b8ad22e46c916e4bd74088fd1f08ab9e2f73cb18c742",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45a134a5982fa0e7beb0ba979b8522423059b68c48336b0c41e75dc7009bf162",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69e1546c4defd3243e291aab11c418b9a32eb31bc5939653ebac0d5c26ac89e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 6.834 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 1.787, 1.3899, -0.3004, -0.5388, -0.3977, 0.3835, -0.0193, 0.3969, 0.0921, -0.2718, -0.0307, -0.036, 0.999]\nstate[eef_state]: left_x=0.4796 left_y=-0.157 left_z=0.1882 left_yaw=0.1373 left_pitch=-0.0231 left_roll=0.0172 left_gripper=0.3835 right_x=0.2353 right_y=0.0045 right_z=0.0635 right_yaw=0.0176 right_pitch=-0.0058 right_roll=0.0006 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -13.3402, 9.2239, 1.4188, -0.1245, 0.0269, -0.0562, -0.3077, 0.0479, 6.4342, 1.7998, -0.0562, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 1.8, 1.2743, -0.2169, -0.5388, -0.4007, 0.9953, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4706 left_y=-0.152 left_z=0.1483 left_yaw=0.14 left_pitch=-0.059 left_roll=0.0417 left_gripper=0.9953 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0173 right_pitch=-0.0059 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -12.6017, 9.2513, 1.5507, -0.2808, -0.022, -0.1001, -0.3077, 0.1436, 6.653, 1.7265, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.556, 1.2652, 0.9096, -0.3168, -0.5667, -0.4282, 0.9962, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.0357, 0.999]\nstate[eef_state]: left_x=0.36 left_y=-0.1078 left_z=0.1984 left_yaw=0.1232 left_pitch=0.0079 left_roll=-0.01 left_gripper=0.9962 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0171 right_pitch=-0.0059 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -5.559, 6.6393, 1.6923, -0.3834, -0.1929, 0.0904, -0.294, 0.6496, 6.7214, 1.7656, -0.0269, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ddebd578c15f16fac82b8ad22e46c916e4bd74088fd1f08ab9e2f73cb18c742",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45a134a5982fa0e7beb0ba979b8522423059b68c48336b0c41e75dc7009bf162",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69e1546c4defd3243e291aab11c418b9a32eb31bc5939653ebac0d5c26ac89e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBnET7vLRorXepz6xA8NMgVyKurU9R8oNe_d_rNYPWYR9ejRbvSjFaU1gnY2rsytDSmhHqM69PDeoL9kj4A0jXPM8ulPV-f_CVbr6nHOY-nz04Rrz7v9kgp1Cls8xJpncnGzZVmFWjAbSpcXSvhgH7ZcRwScSnp3NLQdxFTjJ6DTH7yEpO94JPLKfxKBnL8bil6fBjhWmXzZ1ZTspW72cpRwKiKcBmvTY9qlvOtQSV9mzmhAk-oXo9MYIOPUGwz176VupTfA4sDlO_AdMCajlcOoT8dJwBX9oNnv5kylJ0QFxRkZx0VyF9Kyl9A-ILlNmKJ2eXzoM-GqfPEm7DTD6LzM77LeyK_BjiMe2kg1GxIDB7Nt1SEPYLxFNhZAvtsa167ylcGJrz7agzl73IlxMoLQS8kvPg3DXyX4iRErCpleOUxDHyb3joEZLnrbZQNvcB8K8q4OExsBMI8wA4kXgTt_4-_o9_vLZyimIu7A1F43B8dh9f4hjqRz3yaD08Mf97Dkfu7RBDX-lbt1ridU9FQvXl15bOEBovD9bwzGeMnTm35J28cr-WdlHQnlYsueYa8ynD7Is7CzxzucdSjTNEd9okt7SM3pZXxfafXtPrgkRhhqFKGfQekpKy2xTfzbUR4w5YqxnFcu3I-PzsowsrLiy0xRdHxIUunSLViE0Pf0A9O7tk6JlT2b0Xwj1M-ZI3mWPbL5iSyB_ZkoP7JafBmwTX8UgdUM45Jc9Bk-k6KDv1OnmtQWYWuRMmoMz30Si5ePCqH8uctwZF7yyCK4k_Ko3jDd3XICF2wNg6L9B3r8OxQPrbzcCAVR5j3A6FJAL1q63_3SUqqjWzWuq1XGwTFQCdy_t-AIukb1SM7PHdmxK4lROeY-FCiodhO29QDGj4UZNzcEXwe_q0HOTeyqwadesIlIb-ucOCQHsuwVl9vALk1jCfcI-dNBT5idhi_6IGIK88pNNWvVaDuuS-NlsKlRVTFbfGcIcwbRTRMVErbqH-F-182WrWNRff-kapaOKGCjaHD0gOrHWo7tdvCsen3r5-8gNRIpuZOIk3moDozdWWawzLHJ7M5ZURJFZeff1ACtig3XtAvb3_mwCXRzk7LZpTuivVUeRCdqla10Sfw6Ub2J_OG7HL0zWz3CJmk2tFckUwqEm8RpXHAw0OSaJz0CGO0CzYq2DuWMGviDrDyOOOLPGGxdGm1j2KebQ4ugJTgBjCx-6-4vu7tryNFfv71X2NoYrRoB6cv4eOgQL49y2QzkfYvu-g2Wq1T9y3wsEkptdmdeWVPflLVwgPVYIiP3nmImrhU4HTXjze_cfDlWHrtdjHsW_7nFE6vaSAzG5YSBT1YYNGAcTC6JvJG8d8hhry6mNNQpr1meP3-Xt4T4DHMy-YXD7YbTjvALKd3ivY23GntfVMEzfFARYEQ-pPvwTeNHglEIdbZkbTPrvRLhgiRwCuZ4wbj9gGJcZFLs2SD_IsVs3ldb1B8NEWpcUfp0GaIPGLVigh4C2oynBHpJeNG0w9RFZR3gxiWJda1oeSoRRKMZyGvIFaVHm4zYGaSI8_zl5WHmXa42HdrNMVrY2lwFGk3Rp_ybJdla5zWP6LSaIlcUESZC3fIoe3AFr0jWxF4d4OLbtU4U2t7fLkM0avhdCzKuCIOMPWjry21XA6NfKDUUjY-1mF8vMunFR2-KUiU5IjXgAOtR6kRG0DfQ96J7DNuVmPp77FPwp9Sy0BlbN8aPfNF5I8GMSHS4vtAZ21_krMGLyLbIXX0KXOHvMSEgRYMHxu1JhKvM7x3k2TAbNZwD1fhmgtuiaapjwL3oRSYitiCCiL_S173c8N2uO2BbvuP-hhVR2wivOPVqwGPbqZEF7QkDugf5zmkuDZOORhBTN-jnUKqKRCuv5E-n8gynm_V2vmMigU5U_abEiR3hz2EcAJhJtw0yDnpBYKhPRfuJJ6yaRqsKnzixNzd5cXINHHiVWloq8Na4rXeuAiH4j6sHZXexwq1DCmdH6yuwBjF33i0nlu8i3Bg9A6-j001Cc5F8BTQ6UWn9u3umFiOjIT0e5uW7NdpKlZtaf4mRgRX2p_tEIt2jSciN-Gf4JSumU9sXxcaUv_AUUjJ_E2PDER7MzaQxMP1LcPIl-rVHujGTcL30zjESnwFe6g5UCVmUWWJkehNYnbwruPsnil-foo6U4_GGg2tnitK2_EyHaqdtM03Z718NFfZfVjQM2IPeSML2YmlFR06gheb5cnFKElVtBDYbPUKe9rwhcFGQb20z__QdbTZXmB2vfJA1B6OgmN3WessfOzzng-5Ve_RiGqKo2WmhGW3jlvLZFvyL2cyww9MewnxAvxg8UgTDiSuejdMxvmet0h3cCK0hsJ5OsIcc-LIz_fnoxTANHN4MBmhR54Je8aWfkOnpF9x5RjCzRz5BXjruXL4YzloEYg8UwHLqXcpf9zrRB4Uvjeyw2-AcaYvRBkwZbz_oKZTPcnCGq8yKIiLR0aJ-1qbh6k0w4WqsyHGECiTKtFC5H7ot6Q7JevM2ukKhxjbF46RBXuxKOrc4THZKbREOf37-oBoOy7tubyx8B2MRs6ZxhK2LBx_KIPzUL895GNFXkKYAZ9ZbniEt1SVhPyD03XddF5QRLQa-JOU7zrJZccOaw9ldAit4_U2geq5G7NzBq8W3zC3aaCVfe2Jdh8tq3MOS7HsIJi41TWMCfuWtof3Yn0q1xi5SauPbr-At21x7HxaOjLAWWoSR5e57KKVTSbjPzCXzd2c3kJ1ABxWtUT4wMTPktE7dt9Do5CPBLnseT_VafRX1GX4HiASaRRk2tJedpM7QQqNxuHJjfuJYarWX8A8NbukBvCaMMSZLncSe9NJmiNApav-cQZ5XVBDzHfpJxACNa44fmvkT6NH6700iojIvceGS9Mcj1nbI8oC6NReV54RwmK4FkYoVtj8dIi3BaqlSa0sbVj9qs3I6deRyP5Te2S8C2uAHtYzSl0TWzNQ5IxPSNRIQbMXP1l2zHmt8aWb4148Km2BYLPWGFbiaj440fNfsn_QGgweLdhL7ATgciyfM6A87Wvg0kib3m2uAYN7UQDV35M3Ku3CCoVitBZ7Co9K8Wx05NF6CqunYBJCQHLJ7DzIvEHGHW4HBOUH5h8JDw_Pa3I1uMnL0PQ3WS2xDxjbsTG2FYJgpDdBmqI0cyAUupjetr6i2uIIVsvMJ4Vk85-1F4CSTo3KMGADlSb5Cbw9CVtKwKZOvXosRzWm_vWmCREA3w08oOOri9sIow_B5E-oNtLi_GW2pdFcsscY73asWpnQZrwZhRgAWrqwFrxVqzZuJWzU8k4AMH0ptp2xwjYurGNn96yHHAiUfnXrXRJSKXETy-PLTzpV1Beonsi_z5iL_u1nQ4jW26uugyrpcbxX8MkPysgAr-O8I5Mi8XRFIvOC5qtZRt2MY5IMcHK7zzxenFBTLmp7Rl2qDy0v3LGZjNZI18gf_498YbhSv-YmT-GDTmgz8WYIEzNEgHEnThostJ4RdtEVdZbgnopf9SEjIF6nLidSKluFg7udmtwdWAouH2xFwWmQYeBglZGt7OBx-J2_lzm-eoB864_U_8KIKYpK76nEqb5YZMlpteeQd2mW3mMkl6NaiRr650Ut3HAbqKX9mLskuanWjrZjQffFuffvD--1yVj7kImtbDKscnuijHZqk1BHj-uVOtD7cdpnQfEQ69Pv9wM55vKRVvYvljfmtqYgPQCipcc-vVbzororIxA3GCNRYjy5GIrptB8CWwbO2ieSHVHyYEGj7msAfd_FC6h8Pz-nnrJB_KD7LUty4BG9f3WfLEHp6ReNNAOmS8tI0WPbFvbITk9AZWshJCDIZFWzRCcQyTkTyI_weEK_Dt-GTiK4KrNW9oSqQeXKb8WoGMY6zC_ZWx3enPa32hkIcN7hoVQ5i8TgICHBH1v65AVpbnXzBsjd2gI=",
  "id": "rs_04a5618a74d61950016ab45061b39887d0b5409c342f00d1b9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFBnGpaoIDBcDCQJYdbRL7EFHquTBlzrFq-g-JbGHZkfkGZQ3T7IjQD2hHGDrMF-dYdvryF50Z4YrYfhwWtx4qUw4ehOl_w9kjXiv7IjwppckvR7i03vDaF28sYif6XvEVM_LQKkgz00BWkqLQRKenUBcNdRI-PP2iDTGxFfz6CpeKn0kSIO2K_ExBFb83frlKgCV5f3HTifS8wzgz1J3VUjKFW7Uo-VF0YoRvJ-MZ5paUZIX9dm--UQEC2fKQIGcfRrY-kJTdF4bp0_LCEy4ltUYg6VFg7kSjgSI3_evQUXsnpTVnU_cvAtg95ebmZBJesdgIC2l40QwdwHqcLHXcfrbfe7Zo1EUSkdK2UVfk0iJCznT9S5kUqWn2ZN8-myaIHSWtviV5Y8y76gScJZ34G5MNOQ7tldu8q-0QeuqdUYUsUSKay3H0-Ywt-GFL6Lk2ikM446wN8bKhrtR-n-vKXHvvA3zAGgYwxhXLOE2RfyeYyh3dYDZ5cUigYFHNJY3jJ5gZ6P_w62RtfbC7k6hNxnJNujJduJov7v0fMXL6AOr3DcS5cSbiTUx5AGss_438jL2nm9ly7S9rinqpTAJNU-IXF18n_8ghSy382wyOr3RBNeujQ9KEnf8JpcOwpCsjQ7hFX_KZXCCTP64mJFd2HsAwe_dB9uzGbCm-zh7QtohOVTFmYG9kObCFhtgEOCX19LBOusIaXVfdx1lxvrmCrSS9VohC2ONB4fe747zgfil6RZne_o0q3Wf_wsHjBWGPyBqpLDq-14f4Pae1xAY3cCLTzp35ORb0sS-deIeKj4IOfChzFUxMgrc4JFJNw3k67x2Vh_go7dvbWTo6nfz2WzSgM-g1P_BY5ORVuEO-vxHU2xTmVv9z-Bjl7KBvGXt3PmfhRP6ZgCMF-37_JHLEt3hK4AbeLiUiL8coS9cuENUCGodMrjQID0Y1y5XsJiKHUxiz6cN1JA2YVduQemup9ERbJOMzLygHYP8dlVR1pGPOKIfRg8AOkkF32833dptAXsIHO_Q_baOvdU6QwoJRCm4PfcYdP3rafQpVwsliqfn_5ei3qr8OpTgFsvUZ_HUpYNZwusEC2tTcn8s1TRGVD_tPqb4bcGEzyRIzPnlRg9zR-I3K0nVOhb1SGPYgD3WABFC5SaxPmsnKqsNtBXZ0cW0c7xWZxUEVC39-mIZpx8y25YXtNweDccxcgoB52d91ZMxxjTIy9INIL8ee4LDp0BJA==",
  "id": "rs_04a5618a74d61950016ab45066a2fc87d08a756384b855c3df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.15,\"right_z\":0.2,\"right_gripper\":1.0},\"note\":\"The first bottle is visibly standing at the left of the pair. I’m resetting the right arm high above its side of the table so both arms can approach the two remaining, well-separated bottles from opposite sides.\"}",
  "call_id": "call_QPyLzblnadXAijH7qHSMLHjD",
  "id": "fc_04a5618a74d61950016ab45066e29c87d09657e467e54c3aff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QPyLzblnadXAijH7qHSMLHjD",
  "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]: [-0.5568, 1.2774, 0.9077, -0.347, -0.5659, -0.4274, 0.9964, 0.6106, 1.2579, 0.8684, -0.3161, 0.4561, 0.3012, 0.9991]\nstate[eef_state]: left_x=0.3569 left_y=-0.1063 left_z=0.1883 left_yaw=0.1217 left_pitch=-0.0268 left_roll=0.018 left_gripper=0.9964 right_x=0.3394 right_y=0.1469 right_z=0.1775 right_yaw=0.0609 right_pitch=-0.0513 right_roll=-0.0333 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -5.3538, 7.8838, 1.6239, -0.2955, -0.0415, 0.0073, 0.4855, -4.7521, 9.5111, 1.6142, 0.4274, 0.2369, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9633dd96b1e46a42eb77ef2d754aae86a516c5b275443b388080fb2159c38358",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29c065d15582b77f23d32423b2db866f418f12f10ccc2aa65278bb8842d0f10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a075dbc79588473df93e9d55df936dc996de2090689e425692cd905bcde524b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 3.449 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 121 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 1.7683, 1.3266, -0.2455, -0.5392, -0.3973, 0.3835, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4749 left_y=-0.1543 left_z=0.1799 left_yaw=0.1372 left_pitch=-0.0147 left_roll=0.0116 left_gripper=0.3835 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0171 right_pitch=-0.0059 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -7.0359, 6.1333, 1.4969, -0.2564, -0.0269, -0.0122, -0.2667, 0.1436, 6.6667, 1.7851, -0.0562, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.556, 1.2652, 0.9096, -0.3168, -0.5667, -0.4282, 0.9962, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.0357, 0.999]\nstate[eef_state]: left_x=0.36 left_y=-0.1078 left_z=0.1984 left_yaw=0.1232 left_pitch=0.0079 left_roll=-0.01 left_gripper=0.9962 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0171 right_pitch=-0.0059 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -5.559, 6.6393, 1.6923, -0.3834, -0.1929, 0.0904, -0.294, 0.6496, 6.7214, 1.7656, -0.0269, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5568, 1.2774, 0.9077, -0.347, -0.5659, -0.4274, 0.9964, 0.6106, 1.2579, 0.8684, -0.3161, 0.4561, 0.3012, 0.9991]\nstate[eef_state]: left_x=0.3569 left_y=-0.1063 left_z=0.1883 left_yaw=0.1217 left_pitch=-0.0268 left_roll=0.018 left_gripper=0.9964 right_x=0.3394 right_y=0.1469 right_z=0.1775 right_yaw=0.0609 right_pitch=-0.0513 right_roll=-0.0333 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -5.3538, 7.8838, 1.6239, -0.2955, -0.0415, 0.0073, 0.4855, -4.7521, 9.5111, 1.6142, 0.4274, 0.2369, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9633dd96b1e46a42eb77ef2d754aae86a516c5b275443b388080fb2159c38358",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29c065d15582b77f23d32423b2db866f418f12f10ccc2aa65278bb8842d0f10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a075dbc79588473df93e9d55df936dc996de2090689e425692cd905bcde524b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFBv3-zAch9n3KoCzFQrqDLs6HoBTqyKcEirApoaPOZctC6dYzVpf-oLzTFb3lMkVK72ouRBvXTZ0JAADBv-VmE0LprnFOX8kMvLx3svKyxQTTWaVnNBabq0tLq38NG4LJFs4Sn3s3c6FF41gDdgJfkCgUXs80HMqQT8SdkF2JArIG0vGzfZ5Z-fNThJ7IrPiC8Y8kOASR5JxmkjNdJBfEnRwzecJ1L0Xl5kOOX0VS97GxwGerM3fsfnS5yUKgLBjX-aB_AR5Vg2xe_Fi4O9ov1ykYqo6SGqXQCLVqhEFdIjf2UhR9FGLd9WExjjmviLaMwRa2LRRzAs78sEFEwZn-N9tfZBiBXdAdpCrtjCE-HdcIm4GtDb5PVliwG6G2ybVDOK3SueBKLW5BD9p208vTMpSpc5r9Onld7MMabnvLHPjJOir-7sIoUL4RhbohSgVHNHN3-52s4Pl2tYboisYbN-ALwpS5hClyK3qU29wBy7iFYtTk5wrvip1xnwlIVZeaCjo3NNmgup7-nF7ZX6XIHZB1_2A65Zh4y0wpsp_Y_NtTZoU3iPNJjdi73jskJvsnqvna9Zjk3hl1gv2C2RISyP_6D23BVYTpJEnBwAXOcxmLI-Nt6bgulW5cF-etHusnJNFssJepDTokqLo9L4nsCBTzWXIJg6Anux51peqfKudey6Bb8k-yN-XKqsAdQUNsTZI4ILQuo3OhPkw5VYthIkBlAF1XnnMtU468lzQ38XBSKeCtjN73KCKzrfUoEx412pfcwo6vqIOLytDa-6KGXB0P47bnVRpdwew_LpCCoEnqvNBkSSZ8Pdjt4pG2pknxhyIOeMmqnoxkiIgD22WG1MLj_FvgfBQP9f-fjG6-j65wbJ8vsVJ_IeaO6yhfdPLIy_ulu-LuoZhF309kD3byUrWF62TukIUXaXUv0rrcb9rRP-928spR8aFdyAL9AybcKqlqW0CJ3bT_89xMrFqt2IfYeTvZC_Zllsp06-Uzss_phw-1U0Q52UZ100vRRoFO1Ahsbjxnp6gq1oPtfTohuowbOcp2KdKtiP2mm-Y0xK-LTAkICW4TMiRQbPfE0TFWtobh-om53bFzJWWyHCT6jmDjj5v7NPlAq9HcLMcGgk7lZ0ZcQrh-aMMtbvB6LPJuGQfShKj6bIM97mdILJhHZRBXfvTh3lr9r4tPSYAOXn1qXyf21FlHiyKdcyeNw0CsTVEmZgU0WfmR0Gfd-z11V9MOtEIJk24ganPeQlzl7WHwraE38iyf_qzlOeMBYIBXEca6awVsVgVVxP9WUz1mfUpk0i-n4h1f-8pbnxZcB4TduDHvh0r9txyrF-8XDBSb9vNYq95spx4aI8EL9qDmuh47N9y0FpshEQtUzRejNkbF2ZLiWCG4L1pjVVZt8KeyOiP950t3j9x-jhLMdYeReWoxCwd83AQAvStXDO8J41tumvwJaOH3Slv1ljBT_6LVstBBnGxqwqkzlBpW6D33_f_W9KedpeOjzDUpfuhJS7nAcB5ZYqAxIlUOXhdmYY3GfpxLlGffvri02mdZdkVRnwvW79vhsBjiAQQZ1AacfmS1U5RfHfHbkw-jBj18844jpGf2JCUP069CLaxWn1ESFJTF32PKPEiP0IPzb59HO9fm9U8WV3annEvTWZ_DiQOc6nnD7kTccPTCnDdvhZMElXOf-l1bm5F1IdmbU4ZF19d14K-RoI2-GQdMuPh0heOMV4ZgVs4bju9Ui-eE4m089X8NdL28O2e41hvPqnbL2hzYaQErJ0WbFajjHtLJnq3AwW5w-Lpi7S9aGltZhn2AMKm0xgjecDiY-Rz0sIfJZuUqs4AWPIVm-9iIdGkw_xNOE9vR4KhKJeYEZ7QpO_K9HZ7evWRYIL3GxyLHeUmXAOG_gCSCqF48TS8ARPrPSbTtpB8k8sW4HJNtz_-Xr9rtN7hv4o8DTZtpc5BZl2OSajqN_1C8rqzs37MwL7eVjP5K29BbQtvVFkWMXXi0tfLr5ObrPCQ3XkQa_lB1V9YYMhIrOmTi_Zw0q--NYw7GMJ7oM5ZAnQywLcN2RHfbaupnxdW193GcDvzkF3O8nmQJkFrww3ylKCWgnE2weaZpQPgEfs4B8EtCQtw-6kp0F0zjaQaV5tTm9xuXZpnQ3FjbhYv-AnhUu9tECPQ4VusDxmyNM4Z6GkxWr8nGmTfm-WsIMwlfwkHf7I7Qetj0jBBjWZkp_FbcGPAmL7WKVfCcdxAvJZc_qnc-KhtEwjYJsPaAQqPaAYD1HLXt2oajphzhbg_22o4Czqv5wgalbqizz0GDxpEKuAzpar_c8HJlbFKIIv-xQY1GPjG2SwACJTJg7Ab11gKMzIYSYFFbQTSmyGPaoNtyXtay-xCoVblLqsnIlI97vnawEQ9KlyK-XaSFZNy7tWpZP_AixtCfYWdU23DqG4g5yUEvLD7-CdPfvN6-1aEWNOnVUy-eHtuOWFRKiLAQFyBdnOlj4WCkHONYzbGWJlIXcQ91QV2CgZ_cgwAvhjgJIZVNL7m1descKvmIJqar5bNUjBv3YI06qXIOWP8mqJ8Nk3AuGpkUZYfbAyrloarMbREZ4s3xk02q2JSouEL08zOliqCX4CDu1YJJwWbALBeA4y0SNpSdtt5N7mjIw9tmC9A6RU9ANVGPrCTk3-paLR4Bmdu7kaRG6DKkphYk3TXCDR11oZ3-pgh4dUDfpIt_W1dc99oEDXkETWo1FGG0TXF4akry2jN0lzpsYiZZHaEh7nHwqtQKfvRdLEdJ_HISjlz1ZumED76cz2O_ah-VS8Hbhkh995Ew-TLd5Uidcoc5-T2UkirqiEPabSuXmwz9IG7rr2fG0ycVnL-PiL0A_5TG9t1dXrrBrwAksH5_1jxE3tqGS4_gAGqfIXPtl_kKq2XlV5GzX-zTBWO-HMucbkL0Edrum3RKcbQfdGk8fIi0nVtcEbTgHSd7KcCXkUNAF8cDcM3gjQisvWqIMy2tgkDySrLERQTykgA2MnxBwcBPCulj3jeo_BeoEBP4aCAw==",
  "id": "rs_04a5618a74d61950016ab4506acb0487d0a59596a21d5a9ba0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.18,\"left_z\":0.04,\"left_yaw\":0.0,\"right_x\":0.45,\"right_y\":0.2,\"right_z\":0.04,\"right_yaw\":0.0},\"note\":\"Each wrist view shows one remaining bottle on its inner side: the middle bottle is right of the left jaws and the right bottle is left of the right jaws. I’m making matched diagonal approaches to their upper bodies, keeping the arms on their own sides and the grasp points separated.\"}",
  "call_id": "call_GbnIIp6LObw4pnJHwhGAzX2S",
  "id": "fc_04a5618a74d61950016ab4506e894c87d08bdaefef6add3036",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GbnIIp6LObw4pnJHwhGAzX2S",
  "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]: [-0.556, 1.9125, 0.886, 0.326, -0.4946, -0.366, 0.9964, 0.5877, 1.9213, 0.9466, 0.3363, 0.4694, 0.3115, 0.999]\nstate[eef_state]: left_x=0.4362 left_y=-0.1681 left_z=0.0369 left_yaw=0.0339 left_pitch=-0.0426 left_roll=0.022 left_gripper=0.9964 right_x=0.4424 right_y=0.203 right_z=0.0554 right_yaw=0.0226 right_pitch=0.0101 right_roll=0.0037 right_gripper=0.999\nstate[joint_eff]: [0.1026, -7.3504, 6.2564, 1.4042, -0.022, 0.2711, -0.0073, -1.0598, -6.6256, 6.0103, 0.9695, 0.1783, 0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb36c368477acab1827e8eb2c41aa9e454a3db1558dcedf9f7ec6bba70015e51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d983f85b56454bd5dc0743d93516572b73f3bb9c3cf68a9312c25270c9f4ace",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aff1df9f738770f5a95f0e1393a8b60691b6ab7d8a33604e46f704cefb6ea00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 2.725 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 121 changed as sent

message 125 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 1.8, 1.2743, -0.2169, -0.5388, -0.4007, 0.9953, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.036, 0.999]\nstate[eef_state]: left_x=0.4706 left_y=-0.152 left_z=0.1483 left_yaw=0.14 left_pitch=-0.059 left_roll=0.0417 left_gripper=0.9953 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0173 right_pitch=-0.0059 right_roll=0.0004 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -12.6017, 9.2513, 1.5507, -0.2808, -0.022, -0.1001, -0.3077, 0.1436, 6.653, 1.7265, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5568, 1.2774, 0.9077, -0.347, -0.5659, -0.4274, 0.9964, 0.6106, 1.2579, 0.8684, -0.3161, 0.4561, 0.3012, 0.9991]\nstate[eef_state]: left_x=0.3569 left_y=-0.1063 left_z=0.1883 left_yaw=0.1217 left_pitch=-0.0268 left_roll=0.018 left_gripper=0.9964 right_x=0.3394 right_y=0.1469 right_z=0.1775 right_yaw=0.0609 right_pitch=-0.0513 right_roll=-0.0333 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -5.3538, 7.8838, 1.6239, -0.2955, -0.0415, 0.0073, 0.4855, -4.7521, 9.5111, 1.6142, 0.4274, 0.2369, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.556, 1.9125, 0.886, 0.326, -0.4946, -0.366, 0.9964, 0.5877, 1.9213, 0.9466, 0.3363, 0.4694, 0.3115, 0.999]\nstate[eef_state]: left_x=0.4362 left_y=-0.1681 left_z=0.0369 left_yaw=0.0339 left_pitch=-0.0426 left_roll=0.022 left_gripper=0.9964 right_x=0.4424 right_y=0.203 right_z=0.0554 right_yaw=0.0226 right_pitch=0.0101 right_roll=0.0037 right_gripper=0.999\nstate[joint_eff]: [0.1026, -7.3504, 6.2564, 1.4042, -0.022, 0.2711, -0.0073, -1.0598, -6.6256, 6.0103, 0.9695, 0.1783, 0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb36c368477acab1827e8eb2c41aa9e454a3db1558dcedf9f7ec6bba70015e51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d983f85b56454bd5dc0743d93516572b73f3bb9c3cf68a9312c25270c9f4ace",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aff1df9f738770f5a95f0e1393a8b60691b6ab7d8a33604e46f704cefb6ea00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFB0MwBo-XN4aPNXlWS_77RHhoyQLhz4_cIxgsbtAAhPkgIHWyhz_ug-IpvTuRP_-RFDVGCCDSTJTZBWOys0wyTrUMEkyNoa0L7HR7C37U1ojCddGs0Jd3bp-UryI9ma8Yw1kqONW3YwUzXpNxyg1zXYmQhaDQmE1StZ1CxiBNeJaC89oLyB9d--pggcKYO05v8XRok9Lz2Ai6iCJMqiGCOLDLjtDn7AshIC0SH1l3g9724C8-A9y6LZBveObCbfgCMXbXnkPM0fICbBqC1VF3xra7UcR9p02NU8VDbURN6kvZP_To-jLXGu_SI-YjLMseAkArEVzJun79C3tysxmWk0GbWS8I5PuuEGDvOE4bqKiYkEcr8U-JwFLvj4UadTrdUl5JJVtPD2lKRGBsDSiPonzrq86JmJS5P47di3evgpPHaVh6o4V6Jx_P2GCG-zJXqXAYre6CCw6139Emi0w84DgtpLstiuwlrhuH18ewANcncPeeX3q5JGeU4btnBWEi2AXqZnbpEsKkOMF276Xz0UL1p-bNT8pU9XBQoJRYhfHoMeN3aOUlq4u6TSg_Pr4dUvTF3R1o4Ab8dosFhSJ1a5covBpdM54otvMfPxI_pBFYjp3ULmHPVagLG_ixZ4VLqgSdQVUc6uAerePgNCj5Rh-vUTPwfwZFw2crOUWLzpunJMhwDPC_31SYZL7p2M2KGoFBm-YGtGWl0RevaFUn50ieLnJ0JBcVRsS7F2p85uIGXvrdUEpaFfYlINT7FxtIEgEiQToVnPRbFhdzmVernHe01wn1a6--YqtFfUjHgo4eigCRYvHqhlNrwDRbsWmo7NzBkekdTv_X29Kt7ZNIgPKY62cf4Tr2s39shuBlkvS-YL_0xwrCL6RDWoToqiKMzfmvktUKG-A_X5rWVyG_F9Xtr-toHiZ1qBiRGYMGRvl4mtz4JA-tKQN4fSeF6hnkCCdrk6SvePcruuIZJde9YCdWkjbnpj4BvyWrAv7coBWQhKtC_VUCK9128jHakkAzFyNKOT4Brte_rRzN3HSK8WuA7ZfzMcYyb_sOkxuP2TOBlo-rTxahUsRbmI9nOAPAPV-FllQkcRufrGha5VQdK1mK6j14-f0IjX-dTcYbtZDQd-E_8CXPGHpgOFnJV7RjRtydA9JmNAUmunH_2m_yZDdbfxMBxl5ixMxqsgAuv3-346dO1R9_Oy8TYrvYifCp02R73JYhbn5LhQWshgkXcB7i2NgmbhE7EOAQsxPhlIWy_-S44cPKOnRs5x6m7-WijLulS5QcL-JU8pCmuWq7rn2MDgFC1LMj2JXw9GeqLMHWuBNiIFH8AL8ofxCnykl-8FeVwzmP9lwZ9r91YugQZejzQUjJS3sTexkvOUvDGaaxXohY92CKSP895Dv_ynDhGl-aUaIG5ZhAzHf3XBuLyzc3vATtGKFhiWSUltxTWwaDDnbMnfERsh62UlLapwQrCcEnhSAeY5jAtTURVxCp3TjlMbafu_tUO1cEvkQ84RB1fiSJzLfwVWOHZBsjNbo5UHDCCP19o04isyMaQyzp05nflWUJlFTb6celyTlV9hN1qjbIjAnPEQSYxCFKCZyGCja_rPJDmg-jJNXBKgP4TChZQLApGGjPHNFLYjzUT5ZWwABP6-UFB_Hvf81lQistssIXjlktQH60oH98SqhDZ1F4ME29-s37lwU-IaFNEacv21769PpJ9FYk2mkJwGygrIWYgI33y66KXEPs2rZHLaJVV6HuWU1IEi6w_7sm9fOS8K2JIYB18NtgI8rcGbs1W91ymEqJ9-xIsW_XPArm3LB3eQCpkDJH8uZNCG0fqUCeQG0JYg5yvYHamCXWzgLQlWtJhIbYL_481Q0hVhxBnfrA==",
  "id": "rs_04a5618a74d61950016ab45071cf2887d0bdfffd60fe72d19c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.23,\"right_z\":0.035},\"note\":\"The left jaws are well centered on the middle bottle at table height. The right bottle is still slightly left of the right jaw column, so I’m making a small leftward correction and lowering the right grasp to match before closing both.\"}",
  "call_id": "call_IWJkSAxKjpOdStYCzajOHXkW",
  "id": "fc_04a5618a74d61950016ab450731bac87d0ab9ddbb5776aac23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IWJkSAxKjpOdStYCzajOHXkW",
  "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]: [-0.5568, 1.9339, 0.8658, 0.4438, -0.4961, -0.3672, 0.9964, 0.6315, 1.9835, 1.0008, 0.3786, 0.4942, 0.3359, 0.999]\nstate[eef_state]: left_x=0.4432 left_y=-0.1726 left_z=0.0414 left_yaw=0.0345 left_pitch=0.0213 left_roll=-0.0207 left_gripper=0.9964 right_x=0.4489 right_y=0.229 right_z=0.0553 right_yaw=0.0329 right_pitch=0.0465 right_roll=0.0315 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -10.2769, 3.7812, 1.3016, -0.2125, 0.0122, -0.0122, 0.0752, -7.2547, 6.2427, 1.1893, 0.3394, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa029896eb28ddbc135e9ff852a7ee913f172cc3d752184fa1667de4c84b344",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534910ed684337b62c714b79551b7d92622ac197466560549c19214c501d6021",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4eca5131a7021c9f0b2b9dbc11ef1ab97ea14a0cc910c74a785ddde86fe3277",
      "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 32 attempt 0 · /responses · status 200 · 5.129 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 125 changed as sent

message 129 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.556, 1.2652, 0.9096, -0.3168, -0.5667, -0.4282, 0.9962, -0.0193, 0.3969, 0.0921, -0.2718, -0.0303, -0.0357, 0.999]\nstate[eef_state]: left_x=0.36 left_y=-0.1078 left_z=0.1984 left_yaw=0.1232 left_pitch=0.0079 left_roll=-0.01 left_gripper=0.9962 right_x=0.2353 right_y=0.0044 right_z=0.0635 right_yaw=0.0171 right_pitch=-0.0059 right_roll=0.0007 right_gripper=0.999\nstate[joint_eff]: [-0.2393, -5.559, 6.6393, 1.6923, -0.3834, -0.1929, 0.0904, -0.294, 0.6496, 6.7214, 1.7656, -0.0269, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.556, 1.9125, 0.886, 0.326, -0.4946, -0.366, 0.9964, 0.5877, 1.9213, 0.9466, 0.3363, 0.4694, 0.3115, 0.999]\nstate[eef_state]: left_x=0.4362 left_y=-0.1681 left_z=0.0369 left_yaw=0.0339 left_pitch=-0.0426 left_roll=0.022 left_gripper=0.9964 right_x=0.4424 right_y=0.203 right_z=0.0554 right_yaw=0.0226 right_pitch=0.0101 right_roll=0.0037 right_gripper=0.999\nstate[joint_eff]: [0.1026, -7.3504, 6.2564, 1.4042, -0.022, 0.2711, -0.0073, -1.0598, -6.6256, 6.0103, 0.9695, 0.1783, 0.0366, -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 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5568, 1.9339, 0.8658, 0.4438, -0.4961, -0.3672, 0.9964, 0.6315, 1.9835, 1.0008, 0.3786, 0.4942, 0.3359, 0.999]\nstate[eef_state]: left_x=0.4432 left_y=-0.1726 left_z=0.0414 left_yaw=0.0345 left_pitch=0.0213 left_roll=-0.0207 left_gripper=0.9964 right_x=0.4489 right_y=0.229 right_z=0.0553 right_yaw=0.0329 right_pitch=0.0465 right_roll=0.0315 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -10.2769, 3.7812, 1.3016, -0.2125, 0.0122, -0.0122, 0.0752, -7.2547, 6.2427, 1.1893, 0.3394, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa029896eb28ddbc135e9ff852a7ee913f172cc3d752184fa1667de4c84b344",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534910ed684337b62c714b79551b7d92622ac197466560549c19214c501d6021",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4eca5131a7021c9f0b2b9dbc11ef1ab97ea14a0cc910c74a785ddde86fe3277",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFB3VqeXHJNxuInFBMAeYFnw7qCQJnjAkoqHNgxDq3d81xMWgj0yBT3YP_KZoFSm6EIBjvvkJUrKc36jFdnx3YRIH01HEDW1sBG1AfOnRyTzOm0IESvGdrq-yxda0-cuq43S3qxXuqeuLSSg3PWzBj7X4PNx52WmJW5E2HQV_D5mzxdAjg0C5e6RY0ppUHcFJERncH92PTI5uZlXfqmFrusb1LyT0U8MjcEKhcL5Abr1Ss80yvK4pbgdk2UbXkrqyalgXsf9jOqXxzAlsbCRX1QOEfhUzYizKEu3tD_BCzlJMjkv4bfJygTm-dfFdW1R_yj39T98dYOyaTqo6UuFZbshb0YaVJWESgDyHOZOefoRc3AfoFYMKi4Nz1kQzi9qaxkALwLTPF2OVbf-1yQr3cjDaWH6oXvk083KoMy0kbgNDWI5zUR_VRBuKQbILkcYBz6vLGVkft83UhVteFGBQJGTeYKCyuoG4cqDzxUSJ85XfpB_us-LsuIIQ9y4QAw03dNgTtnjOeM6MCtqZKolRX9kkyce7lriv1SgaqsASm866P9BzDmJ462-FKeIq92nfHY2dZINc-pteVdOFRnxkbhirvsw3iC-LfCOEdP-GuRtZzbB9yp68-AFBPU9PG1sfV5eQ_3XN7qJnSNu3gvKzmUg1F4SiMEQaQN2apiRv486I8zUvNOcw2r6xvZ-kBN2ZxCbzZjMj-4zLgRnFEJdLeRXTS2tOlwdbdATexh6aDmZtn_Vkbo3YI60e0a6yW0hwAcFOBML9WlD4hYLBG8jzC9Hi3ad-OKlL-9NDbYxrCHUwweMFxhboq5YJgJ-qvGLxINXQunw_d7sR659xjFwCO2ABGjMpgTNBPb1EkvdDUtbT-yaq8hyJl_bQRBNJaaY7CAT6BL98XebwmUAZVErS1rzRL0ms2piZ8UIu92Iw-aIPuXmvMb3ONj83So4v8TZmrDP_tcI3UzK3ZvbO2V8OAO53iCJDCHxaCjlb0OUGuiR5xuPCa6x8O91DjK__iIFKRV1BSH5lNd_EFNtGCP7ZOTQ2pOlA0cu0iY7By_xz-SkxEUt620aVjeKmxGEYGPJpZkVobdUBWmhfcsSlxInxjd_0k4xCMjKj1m-xZSRLEWT2QlxrDs3oJxqYk62zvnNQ9SSjXAAf5EmflBLKFLfx8QAvol6drC3eiNEAhr7cN6JfHNruUiQn3yjEsnPtOJ2AVvh1udQGchAQuhsfy3UZH3mcvolQdVfbKHAlsqg8DntlMpvLOhW8eUl3_qeJT-rJ9qyHSJrztunA0Ku09ATNAA8fBkkD34FRlcPIiu2QprO-3IOmBxyEWcLsJKv4Sro1nk1omPP-RIbXnF-7Xy-0J7RDrNl6GP5tSKx9E8ZLeOeA1e5G1C3Wmi4k-1zTR5wbWFo",
  "id": "rs_04a5618a74d61950016ab45075cc7087d0a5dd4bec3af4f247",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0,\"right_gripper\":0.0},\"note\":\"Both remaining bottles now lie between their respective open fingers at 4–5 cm height; the right one is a little off-center but well within the jaw span. I’m closing both grippers and will use the settled openings to confirm each grasp.\"}",
  "call_id": "call_pDcRecg7ztbpYAElHcycJsNE",
  "id": "fc_04a5618a74d61950016ab45076112887d0bc2fe03c8ac1e510",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pDcRecg7ztbpYAElHcycJsNE",
  "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]: [-0.5568, 1.9224, 0.8906, 0.4675, -0.5316, -0.3679, 0.0139, 0.6487, 2.0022, 1.0214, 0.3904, 0.4976, 0.3359, 0.0142]\nstate[eef_state]: left_x=0.4535 left_y=-0.1726 left_z=0.0616 left_yaw=0.0653 left_pitch=0.0818 left_roll=-0.0392 left_gripper=0.0139 right_x=0.4503 right_y=0.2401 right_z=0.0564 right_yaw=0.0469 right_pitch=0.0589 right_roll=0.0376 right_gripper=0.0142\nstate[joint_eff]: [-0.2667, -8.6906, 5.4085, 0.906, 0.1392, -0.0317, 1.1893, -0.759, -8.0205, 5.6, 1.2234, 0.3394, 0.2125, 1.2186]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0a08c795e0891b4a5634fc11612086d2badb362cb367410fdd9f0a0a040aa3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3fdeede0b13799c58b9aebe74387b81047861d6dd3e984595a7e6a5bca30fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58836ce6b1f436fac6f98d8cba53698a8ac0dfd6ea349914c4da89a44bf28d67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 2.548 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5568, 1.2774, 0.9077, -0.347, -0.5659, -0.4274, 0.9964, 0.6106, 1.2579, 0.8684, -0.3161, 0.4561, 0.3012, 0.9991]\nstate[eef_state]: left_x=0.3569 left_y=-0.1063 left_z=0.1883 left_yaw=0.1217 left_pitch=-0.0268 left_roll=0.018 left_gripper=0.9964 right_x=0.3394 right_y=0.1469 right_z=0.1775 right_yaw=0.0609 right_pitch=-0.0513 right_roll=-0.0333 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -5.3538, 7.8838, 1.6239, -0.2955, -0.0415, 0.0073, 0.4855, -4.7521, 9.5111, 1.6142, 0.4274, 0.2369, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5568, 1.9339, 0.8658, 0.4438, -0.4961, -0.3672, 0.9964, 0.6315, 1.9835, 1.0008, 0.3786, 0.4942, 0.3359, 0.999]\nstate[eef_state]: left_x=0.4432 left_y=-0.1726 left_z=0.0414 left_yaw=0.0345 left_pitch=0.0213 left_roll=-0.0207 left_gripper=0.9964 right_x=0.4489 right_y=0.229 right_z=0.0553 right_yaw=0.0329 right_pitch=0.0465 right_roll=0.0315 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -10.2769, 3.7812, 1.3016, -0.2125, 0.0122, -0.0122, 0.0752, -7.2547, 6.2427, 1.1893, 0.3394, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5568, 1.9224, 0.8906, 0.4675, -0.5316, -0.3679, 0.0139, 0.6487, 2.0022, 1.0214, 0.3904, 0.4976, 0.3359, 0.0142]\nstate[eef_state]: left_x=0.4535 left_y=-0.1726 left_z=0.0616 left_yaw=0.0653 left_pitch=0.0818 left_roll=-0.0392 left_gripper=0.0139 right_x=0.4503 right_y=0.2401 right_z=0.0564 right_yaw=0.0469 right_pitch=0.0589 right_roll=0.0376 right_gripper=0.0142\nstate[joint_eff]: [-0.2667, -8.6906, 5.4085, 0.906, 0.1392, -0.0317, 1.1893, -0.759, -8.0205, 5.6, 1.2234, 0.3394, 0.2125, 1.2186]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0a08c795e0891b4a5634fc11612086d2badb362cb367410fdd9f0a0a040aa3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3fdeede0b13799c58b9aebe74387b81047861d6dd3e984595a7e6a5bca30fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58836ce6b1f436fac6f98d8cba53698a8ac0dfd6ea349914c4da89a44bf28d67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFB90Ytz7Fc1nBVRGJq0D77dnHGDDQxeXBBiubT_er9Q-gM8z0oPjMX7UYnSaVrWazN03JZtNc_PyibQI7arGXXOpONFl1a1iuKiDDxb60XtGr03L-pjBvZ-lTNRsrH5yt4RYCRvXUWfArD-SMcwCW-P-jlMF7bgMxtazhKHroAWvbMPWPB2g8XueUe3qMHvGGOMsZKJak8Q1sJAO4Lqko90yTkb7r5kGgI_MtFn4T3ICoOiys-ap6SpsnB72px13XjyDq2oc-hGhXXLgovUkIDfrMJLjQiu0DF5Zpc1P3p0CIt3RtDtj3TKIlDyMnuqBFBsz4tP_3cdhRc6Td06iImyKei0n0ajKzIiITYhPktW1QX6J4w-zKcaqLgrMN7BJxau1XObXi_dtFofc5VEoLXvbx-8o80GLv7tW1uhsibEp1vC4qHlVmGNc7KEtNHNE0ppdYydb4PfXrOQbWPvjf2y9M_7ckoLujP57Yb0uKXKycJMdYYGPLS19PVTP2mP0eLrtehTrMGH3DvpNclsJ17Sof3XmNgEhAflAHV9LK8qIc5A_uNPrbiyfLGxzKr92ZTJrk7mZ0E_kxpb-34M1GfkHOnZ5bbv5TK0w5negVl3LH46wKk6Rc4hnG79L69ZfsjsTgPc9SmMvB5iSjaR9fp6wbDrfIA4nyGNNo3C-BV04UGpIpaM1ABe9sEVZC-UP5txSEup4BCW-UCMUBIU5sU4fVMC-fWf1YVn89HcXJwlqX6cpg01pfpUSmCwJTTgt_DuhHzx-Woa1jFa-XLbwblpYRSFh4fj20pT3Y2n3taUiuqTSu6py8PGJFIMVbxcOlxNuJhb6znwPUlwX7Wsp0ELNTT7uVTNRL1x8p4WlokXqf-oLBcakS7R8DsgdR7KGz1YjSjlCuoP4uNukD__bn4Fsr4eB8FjFaLlEcEeXEIIzVa1swwQOYrY0xZrT-FQYokdjMyzsZaq25iRIhWTUeWdxl6osTV7qb368RHQJU24YxB3puhgfO0DuvHkXc72D3kaOOD2shBAPbMTjB2jGPBFOMNL1jJXLlPVhWpKm0KOQ9OltRAPgaw3hFOBgs2YNGi2PiF9edTwcsfx_SW8y5pZLenllHjqMQr12DZJQoWpkLP_Xsi0q0m6WM0i0WbM1S6on43_HwJ1fx_ayqqvqh2Gck0NDgpTEdoGeCCE36OyxzzNDh3T8vQK4WQjC_cISYAaAaJtw0oHD7-fjB6bUATxTfjOna5n5OxV1pDpU13DtvFPDKVsdcZqvTtfr9fVhDzeKC0Oxgqk4JpuKbUupzBYeijD6v_JU2AcpUrlmZ9jvYiChjuC_AhwvBZ5alS8iYQ8KT_JWn2xHsrsI0vWrtEj-5TieeuplPWRCP2ex_8sGzONmHdBKwAkMcymfQotVNRocjwcBHu6JGFi41GkPwVI6lPHkEbqS6mMGbpLAcGybsuCt3BKszvbY55vhAYMFtVx1edpCm9JCt54sTZRvkzSjjq7aVQ81KPW077kyRB87NqvxC8X4PACrvOcGyPDa4KCyt1-IwyTEHTu9VXpEt99jXlHai84BLecO471925IN_gUpNZj3p6bceQxPnqpAIIuRVKNhYRzUmdUFIORuZeA9QPko7UU5F3iNPhlj8FIXGBJh70L8Tm7fMKS1dTtyGMUxPYgvEGbGo0IrvRF93pVZaxja7cey5DyMpww-oNXezddlNuNwxhQ4KuMjG5cZysyf-8Qm3osYgosnvetFRSAw46FANvz1bPF0uLEreFtaRqeewP4m8aUnxYibjJRO0CAeSXSWRX9QZYB399LTWJgZIMMUdfL9OKFf5DIhwm1KllqFMvFekAsjDMpd1WB9v_Ioof1kNVFYpkLn_AN_SoYzMxHxg6atJzqVZnswJDhUs7lo397SCV7qcZ7MEAoq0bjXei5JN6_rllLNtvadD1orV-qmlfUAyEmQFrNOHNpAJrCnd-NKGEXInwQvfr9HuZbHfjdIbx7J7Hc70QyvUaH1ID_VfBvSihQ7pz7QBben-dICQJNUyjVjRlawMLNhrQvKljvaAVebwFFrD-5weptjqW-qdDtEH61KzXBl_XiW_ttf6oY30Kr6tGTAe1HcO-JXuGvXyIiuQabsKDmE64O6aaiW4OmC7i2hgNNpq74gmuqFNi6FykJE-4EZRqDZa2rKcF-X79vuB-ts1AaKnz0LyTmPzBReY0l-FPVIAe0fG77oXwvxbOAojH08piQZ3OFk3AvDD0XMXxljPQmPIqQYPLlRDtgpOoQwPIwffAqpk6roX4IANSek-w4y0gVAbakUV7aiz1YufFZtr6x-A-US_mh-HOe3PhmRLSmhjLyH5-STUOvJFdWv1_lUYfd5o3PKl-0kGQVC8T3LL9p7q08Ae5eTEQoExVrHMlwrpc-Txy3IyC0IyBgLhPz_oqsuizwdJL0z5RjroCBegYUXE_8RQclE921nCLjAGaluihfBvGR9wyIQbVujoXVNo__znDB0Yx889_WzPp4wZ98lsPVyZ9pPAK7cB5A5gP1zxv9EJnoeR-m_ttPKBGXsBQFhv-ZumhYBTO94jYDdeh8iuB0MtmxPpkfsTkV5ClwtpNsvNlDvf1OYwoVJy-MoUOFAtO26QzZ9O58GODD6cVPQXmziJxP2kcnuekopf-_ltbfDPIiGpmEmwaaoSMeRD_2dY0-aU23Jexa-4kS1pdaYBtk6Ce8OHnu4fZL4RY-YQPggDZwtqA6RC_yQKYhqDBUdZzl8me9fYs5cXedr9t1igENQr9fx5Wyo8S3sFPZo--JjOM=",
  "id": "rs_04a5618a74d61950016ab450796ac887d096896efe18c2cf70",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.005,\"left_gripper\":1.0,\"right_z\":0.005,\"right_gripper\":1.0},\"note\":\"Both closes settled empty; as with the first bottle, the fingertips rode a few centimetres too high despite good image centering. I’m reopening and pressing both grasp points down to near table level without changing their lateral alignment.\"}",
  "call_id": "call_AOi6E2lqwdePQcIbrZPVDPcT",
  "id": "fc_04a5618a74d61950016ab4507c299487d0b35523ef12161f94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AOi6E2lqwdePQcIbrZPVDPcT",
  "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]: [-0.5564, 2.0335, 0.936, 0.5335, -0.543, -0.3931, 0.9953, 0.6476, 2.1185, 1.0416, 0.4007, 0.4942, 0.3325, 0.995]\nstate[eef_state]: left_x=0.4663 left_y=-0.1783 left_z=0.0394 left_yaw=0.0884 left_pitch=0.0853 left_roll=-0.0569 left_gripper=0.9953 right_x=0.4492 right_y=0.2392 right_z=0.0091 right_yaw=0.0515 right_pitch=-0.0131 right_roll=-0.012 right_gripper=0.995\nstate[joint_eff]: [0.294, -6.9265, 3.494, 1.1795, -0.0171, 0.0611, -0.1441, -0.1846, -9.5385, 4.7385, 1.9121, 0.1392, -0.0317, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df95f987dadddfa4196c53c4eefb9196c2989ded856e5ba5d161132fce151178",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bae3d793c0ea9b8f2ee8315b51ca76aa5d3081d3fb8f68f049946a62f885772",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4ee9b50c0db073646c0e460f5e414e4e942f96450520722737d6c1322a5baf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.342 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.556, 1.9125, 0.886, 0.326, -0.4946, -0.366, 0.9964, 0.5877, 1.9213, 0.9466, 0.3363, 0.4694, 0.3115, 0.999]\nstate[eef_state]: left_x=0.4362 left_y=-0.1681 left_z=0.0369 left_yaw=0.0339 left_pitch=-0.0426 left_roll=0.022 left_gripper=0.9964 right_x=0.4424 right_y=0.203 right_z=0.0554 right_yaw=0.0226 right_pitch=0.0101 right_roll=0.0037 right_gripper=0.999\nstate[joint_eff]: [0.1026, -7.3504, 6.2564, 1.4042, -0.022, 0.2711, -0.0073, -1.0598, -6.6256, 6.0103, 0.9695, 0.1783, 0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5568, 1.9224, 0.8906, 0.4675, -0.5316, -0.3679, 0.0139, 0.6487, 2.0022, 1.0214, 0.3904, 0.4976, 0.3359, 0.0142]\nstate[eef_state]: left_x=0.4535 left_y=-0.1726 left_z=0.0616 left_yaw=0.0653 left_pitch=0.0818 left_roll=-0.0392 left_gripper=0.0139 right_x=0.4503 right_y=0.2401 right_z=0.0564 right_yaw=0.0469 right_pitch=0.0589 right_roll=0.0376 right_gripper=0.0142\nstate[joint_eff]: [-0.2667, -8.6906, 5.4085, 0.906, 0.1392, -0.0317, 1.1893, -0.759, -8.0205, 5.6, 1.2234, 0.3394, 0.2125, 1.2186]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5564, 2.0335, 0.936, 0.5335, -0.543, -0.3931, 0.9953, 0.6476, 2.1185, 1.0416, 0.4007, 0.4942, 0.3325, 0.995]\nstate[eef_state]: left_x=0.4663 left_y=-0.1783 left_z=0.0394 left_yaw=0.0884 left_pitch=0.0853 left_roll=-0.0569 left_gripper=0.9953 right_x=0.4492 right_y=0.2392 right_z=0.0091 right_yaw=0.0515 right_pitch=-0.0131 right_roll=-0.012 right_gripper=0.995\nstate[joint_eff]: [0.294, -6.9265, 3.494, 1.1795, -0.0171, 0.0611, -0.1441, -0.1846, -9.5385, 4.7385, 1.9121, 0.1392, -0.0317, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df95f987dadddfa4196c53c4eefb9196c2989ded856e5ba5d161132fce151178",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bae3d793c0ea9b8f2ee8315b51ca76aa5d3081d3fb8f68f049946a62f885772",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4ee9b50c0db073646c0e460f5e414e4e942f96450520722737d6c1322a5baf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFCACWMSRwZIdSDzYPcC19Jns6isLbhwYn9m9_WSJH6x4eOZhfCLo_8_688zTmLx2SlWbHfLeo-htsPdzCcZ-9coIMb2yXVw6TvdRDycOBtyokp_CT7k_UVjk8kZ7iPigohqK0xiQVOFhbDpNqCTn8y5w7sLZ2jCcTduQDElZYOQ1bO6Eg-MQbZz88ZqASVj9w-T822q5TkyC8FLx_18uBqtCueXp41BmQzZ9cK6OBfkyqAYZ4MYckmvrA41htKC-KFBn_v6JlzC_EQFs70qvbHy9m826rpAMTnADxUCyM3aRq8SwMjSez6VmuAAhaWIbWBJnP9tZfUy3GZFnnE7JhRMI0BQaiAoTFsRwrAtvHFA_9BL7ZIBXxME5aUyCNCp17MHu49wQ_ev7vZ7gNpTCDO5O1w0YqV1gJf_BGTvy45MSK-BzHzj0MbBoVFNpHPK9j_-JAVtO4sDbvIpNajUaan8MawpBmFr5RyYO1uHxNGzYQu1as1cFps3KU90SlWQLnOSiCmxuvmkjqJwbau78fiGBYFEFhXktDENiKF7hJn0SGggVAlitkOzzflmiGsca73Gd-6jrMgQ7ziwf6IJxNiBFO606-D7wO1rzFJydbC4sz_0I_a43mNIUK254rMd5V39zyJsJgcIIfYECxth_Pxg0n2AZ1PPgHw9jbuYEMbX_HyTSvYWvggzy9KCsnNUd-M1RKvCPyRRKqx5DQdIA_owTeatics9Ehzoh6OVIBJa1gUyvv9m6McvDwDUuHMFXkHxgHUwqQHrFFkLcYEoRlhQ0_eFr8KrGs-LNEtePd_ChOIpZXbGeG5o46RWBRKZmYYRE9G4mkzPRygxai2SudREoM3P1iw0QltF3CXllrOHnqOjUBFvjd0yn5ZzPJOquSVpRU2oD4u8biDPXSQfBZEhaf3MjWhf4YTw4U8VpSfpDIkEJZCGl6eXBKOtu8fRlyaQAkYxeuO3N3zh7krh0UW7eRVgZNMsNZReShdwynEbCCFFqwweOM3B1ElaLVUd5sf7vi3D1T7hZ6tV7WHpScADq9ZQD-UKMKzuNe8wLPcYd-8en-uvIuYEsvQQAeo3-dW17b1gwXbk0jh1Kwb0QthHs_TtZI_PGq7hreYiLEcy0U6luE5K_UGVOyZ5Mm4t576P-QHFMlTV0jkcBsQ6Y1MOGwoqNSFWu96JyyEKg8OtGAP_kdEfmXMKZLXm1iFbtTQCJfut6ZtKNvHyi_4O_vRJ8m8n1YCTxByQM3eV9Ym-ymjbsXzRUu03f3uTB6G4VXYDDdgZS07cQAlw3oVAgTdE2xTbn9mQ3NdofaOt84ucJFg=",
  "id": "rs_04a5618a74d61950016ab4507f6e2087d0ba22aadf51633b4f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0,\"right_gripper\":0.0},\"note\":\"Both bottles are now visibly centered between the fingers at much lower grasp heights; the right grasp point reached 1 cm and the left reached 4 cm. I’m closing both again.\"}",
  "call_id": "call_K6IqjxdJad61BGqKB3lxZX0j",
  "id": "fc_04a5618a74d61950016ab4507f9f1c87d0887034f3e9b98321",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K6IqjxdJad61BGqKB3lxZX0j",
  "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]: [-0.556, 2.0041, 1.0183, 0.4133, -0.5774, -0.4, 0.0135, 0.6479, 2.1269, 1.0321, 0.424, 0.4904, 0.3283, 0.5386]\nstate[eef_state]: left_x=0.4772 left_y=-0.1788 left_z=0.0625 left_yaw=0.1196 left_pitch=0.0899 left_roll=-0.0432 left_gripper=0.0135 right_x=0.4483 right_y=0.2395 right_z=0.0057 right_yaw=0.0571 right_pitch=-0.01 right_roll=-0.0106 right_gripper=0.5386\nstate[joint_eff]: [-0.1026, -9.3607, 5.3675, 0.7937, 0.188, 0.0073, 1.1746, -0.335, -11.2205, 4.8342, 1.6972, 0.1832, 0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:886874a175641149444e480fdb0d054dca5156970a210a7b20c8eb5bb05122c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2803eb2f53a50e8af9529641bc70a726d699589719c4dc69ba40e4e32de064e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a717a85b1cd916deeddd8890d1270c4d14c200459f37d3f99bf17d26c689e383",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 3.398 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5568, 1.9339, 0.8658, 0.4438, -0.4961, -0.3672, 0.9964, 0.6315, 1.9835, 1.0008, 0.3786, 0.4942, 0.3359, 0.999]\nstate[eef_state]: left_x=0.4432 left_y=-0.1726 left_z=0.0414 left_yaw=0.0345 left_pitch=0.0213 left_roll=-0.0207 left_gripper=0.9964 right_x=0.4489 right_y=0.229 right_z=0.0553 right_yaw=0.0329 right_pitch=0.0465 right_roll=0.0315 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -10.2769, 3.7812, 1.3016, -0.2125, 0.0122, -0.0122, 0.0752, -7.2547, 6.2427, 1.1893, 0.3394, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5564, 2.0335, 0.936, 0.5335, -0.543, -0.3931, 0.9953, 0.6476, 2.1185, 1.0416, 0.4007, 0.4942, 0.3325, 0.995]\nstate[eef_state]: left_x=0.4663 left_y=-0.1783 left_z=0.0394 left_yaw=0.0884 left_pitch=0.0853 left_roll=-0.0569 left_gripper=0.9953 right_x=0.4492 right_y=0.2392 right_z=0.0091 right_yaw=0.0515 right_pitch=-0.0131 right_roll=-0.012 right_gripper=0.995\nstate[joint_eff]: [0.294, -6.9265, 3.494, 1.1795, -0.0171, 0.0611, -0.1441, -0.1846, -9.5385, 4.7385, 1.9121, 0.1392, -0.0317, -0.2271]\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 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.556, 2.0041, 1.0183, 0.4133, -0.5774, -0.4, 0.0135, 0.6479, 2.1269, 1.0321, 0.424, 0.4904, 0.3283, 0.5386]\nstate[eef_state]: left_x=0.4772 left_y=-0.1788 left_z=0.0625 left_yaw=0.1196 left_pitch=0.0899 left_roll=-0.0432 left_gripper=0.0135 right_x=0.4483 right_y=0.2395 right_z=0.0057 right_yaw=0.0571 right_pitch=-0.01 right_roll=-0.0106 right_gripper=0.5386\nstate[joint_eff]: [-0.1026, -9.3607, 5.3675, 0.7937, 0.188, 0.0073, 1.1746, -0.335, -11.2205, 4.8342, 1.6972, 0.1832, 0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:886874a175641149444e480fdb0d054dca5156970a210a7b20c8eb5bb05122c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2803eb2f53a50e8af9529641bc70a726d699589719c4dc69ba40e4e32de064e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a717a85b1cd916deeddd8890d1270c4d14c200459f37d3f99bf17d26c689e383",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFCEJowzyM9LUKqqe0LmsQdKjDgNmUzAI5bISiEPw28W08zvXgwmyQPfd9tNj4WaPxnOvxw6qEPbMdjhD5_T8jgsrHQSayOcwMRX2U_VgV1YFSjR_P9wr_Bcxn0oOGEczyPPkdc8rApfyW0wZEKy4qIRKnKu0tO1GGgBJCdrIyJdFRAdlbWKntYZMkEiPq6zLRCbHwuDwZhyV0KCw1f8rg25GWRdD7LeoG5HjywR0-aZ5pOtuykeXou8UbmogWTKz5AkgXbucRax7A0dbBisoV-SegdBROE3cCWYUSRpk-FatJzXUbaFus-uaExbCTaJCHlxf2eP7LGLaJcllD9rAJyk21hLKnCjfqtDYM5_VA3eqGS6pADxVs9nRpUTU2I2y7XdbuevySrsCnwdSr-4eZzohG0Hb7g9HszreR4NgXpU1TNV8pET69wL7Gpww4TBWTKpwXyw6wieMWJ81GZizgkEg54IeKK-oPrkNJ7Qa1Rw1uGIvHQ0gJzOBgqRTxQ5-PC1CmQGujen1TWljn4zyy-vAM_ApfpA1zszeFMQNRnBxA_8lLzYvunVDvH1xeH2QGzUL_LaZy72aDA0e8LtaKBLUN31PpXlwTxifWutGJiO8hQpT6q_Ir0xVNhHyeg-n05Tk7J2mkPNcSWMt7YMX-UdSxm_LQ3gAWXNbkbueeNeKJWadOnDGF_gF1bM6u2sDE5B8cIN_11KEFMZ9TB6TsYTQAbSS_GwpqqrwVwSMG1iExYZ4zMHS9iHz3yPKtcbUOekdDx8TS72Ql1a97BGDjoBMF3t7LJ2eSS3wT6AYYYnFRJF-5NTJzrRgcVN_L08Os2VQ0hJbRBF-lJWthqwqqLwYDj9lTnf-GKBE636Zy58rpcstt9DkE3kgu_F451AMptvIYrP7ZDbt17SNjuBFxMBMCYGk_zRb-iXhu55Cy1gvWR5ONPik7dTPlr9LnFHt0u_cfZwt_9FnRDXHRohNDLM933tTEB2g68kWI0bsy54tqSzCQTk_oYbrwdrds_T2ypPtSE6AakTZQBk-0WB6sEkaKuMTuKXjE9yldjLduiVXz4KYf-UoFIMacu97PSYs5smc2rTU75gKU_Uc-kUX8YP0ozlYKJrU4RlTRJ08Z2grGXI4PKh5WxLuwQrb_7tYQdo1BSUTPUbun5PLmXyIm55VVeIu5qL2XTejBIlMJLQybThHJ0HxDMzE5mJYg4c2DcgfIPbcQ8JYOU99G9RrNuqI_6V3JD0m5F5VSA7chq6JZRjAjft5UvlDlM3WE3EB-uLH0ABiPw41TBdHcSXQaYY3Gh8RK86NKiewDw7mCWfj1VoWo6_FsIZOnDhrYKLMoKtI_aphiqIB-5K7a0mDgatoBmdKl1Q-9HdV5yb-b05iLqGjNl86U1RaZlrdwRWGlcthU6dbZUTIJIYHOW6DK-kba8fcFXZ30hnWV20fNrIfm_EWOwZ75Gh_C_BJLGWkWItSOwZYSzi261sJeQcDmpA5hBe0G32ey5MnvBQGzVGxu7ESKrFjrafDWgUv1rxtkewPgQfddvT-6FQk8vZ06w1IRlxAij8oadC62-6Po0CQJiOk4xT0VCaAvmRJKfGsFFdHcWre_Tx8-JZQgHMk0ky6ec4Mr0atjpZksiRymfZAOO0cmJY6ioKbwoLqfjADj9XKpeKgtJsbOWAUc31xbogoLAQxD8EP5jf-tZnnGUNDI_5bndT1QPRgVjoUw35YMNJU0j2MNkOIZ_22-VGv13IfQ==",
  "id": "rs_04a5618a74d61950016ab45082d41087d0a621cc04dbe95a0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.22,\"left_z\":-0.015,\"left_gripper\":1.0},\"note\":\"The right jaw settled at 0.54, confirming a solid body grasp, while the left jaw is still empty. I’m lifting the right bottle to let it hang vertical while reopening and lowering the left gripper for one final table-level attempt.\"}",
  "call_id": "call_n7zxeAF0dBBr58fG5TZ945rt",
  "id": "fc_04a5618a74d61950016ab45083dda487d09e7fdd3e2d5df841",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n7zxeAF0dBBr58fG5TZ945rt",
  "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]: [-0.5503, 2.146, 1.0752, 0.5606, -0.5995, -0.4259, 0.9964, 0.6487, 1.8568, 1.3796, -0.4328, 0.4389, 0.3088, 0.5427]\nstate[eef_state]: left_x=0.4992 left_y=-0.1851 left_z=0.042 left_yaw=0.1619 left_pitch=0.1442 left_roll=-0.098 left_gripper=0.9964 right_x=0.4264 right_y=0.2335 right_z=0.1246 right_yaw=0.093 right_pitch=-0.2317 right_roll=-0.1251 right_gripper=0.5427\nstate[joint_eff]: [-0.3077, -5.9829, 2.8786, 0.6862, 0.2222, 0.0757, 0.0317, -0.4855, -17.1692, 12.8205, 2.5568, 0.6325, 0.1441, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ba764e673a928bfaf4ea70580f7ee1f2e9866156917b6b5ffa187271852e24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b12550fc3cddca1fd0c4249cf90c56b04f0d491a4f069c923239f1d4dac00e7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d078d0400a64522e443b22d4c0794e862a9633fee1020e42cc5aa89a0d8f759c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 4.005 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5568, 1.9224, 0.8906, 0.4675, -0.5316, -0.3679, 0.0139, 0.6487, 2.0022, 1.0214, 0.3904, 0.4976, 0.3359, 0.0142]\nstate[eef_state]: left_x=0.4535 left_y=-0.1726 left_z=0.0616 left_yaw=0.0653 left_pitch=0.0818 left_roll=-0.0392 left_gripper=0.0139 right_x=0.4503 right_y=0.2401 right_z=0.0564 right_yaw=0.0469 right_pitch=0.0589 right_roll=0.0376 right_gripper=0.0142\nstate[joint_eff]: [-0.2667, -8.6906, 5.4085, 0.906, 0.1392, -0.0317, 1.1893, -0.759, -8.0205, 5.6, 1.2234, 0.3394, 0.2125, 1.2186]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.556, 2.0041, 1.0183, 0.4133, -0.5774, -0.4, 0.0135, 0.6479, 2.1269, 1.0321, 0.424, 0.4904, 0.3283, 0.5386]\nstate[eef_state]: left_x=0.4772 left_y=-0.1788 left_z=0.0625 left_yaw=0.1196 left_pitch=0.0899 left_roll=-0.0432 left_gripper=0.0135 right_x=0.4483 right_y=0.2395 right_z=0.0057 right_yaw=0.0571 right_pitch=-0.01 right_roll=-0.0106 right_gripper=0.5386\nstate[joint_eff]: [-0.1026, -9.3607, 5.3675, 0.7937, 0.188, 0.0073, 1.1746, -0.335, -11.2205, 4.8342, 1.6972, 0.1832, 0.0122, 1.0281]\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 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5503, 2.146, 1.0752, 0.5606, -0.5995, -0.4259, 0.9964, 0.6487, 1.8568, 1.3796, -0.4328, 0.4389, 0.3088, 0.5427]\nstate[eef_state]: left_x=0.4992 left_y=-0.1851 left_z=0.042 left_yaw=0.1619 left_pitch=0.1442 left_roll=-0.098 left_gripper=0.9964 right_x=0.4264 right_y=0.2335 right_z=0.1246 right_yaw=0.093 right_pitch=-0.2317 right_roll=-0.1251 right_gripper=0.5427\nstate[joint_eff]: [-0.3077, -5.9829, 2.8786, 0.6862, 0.2222, 0.0757, 0.0317, -0.4855, -17.1692, 12.8205, 2.5568, 0.6325, 0.1441, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ba764e673a928bfaf4ea70580f7ee1f2e9866156917b6b5ffa187271852e24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b12550fc3cddca1fd0c4249cf90c56b04f0d491a4f069c923239f1d4dac00e7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d078d0400a64522e443b22d4c0794e862a9633fee1020e42cc5aa89a0d8f759c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFCJsMOiclXN72BfD8792-D68Jxhco-E9V4fsqU4AuAsMd3_XbiXw9I--8yINci1ox0dxQQfCK8ctw4RlLDudZVW1N15dvKDl1UQPhbTRqAWIhny4myEx23IcqeF338bVMeq7e_HxAHo-bQK2mzcsFlN7ESeQBsTB9DGHloudqsdIk66iahzDrow0zRIo4CAZnHovfaWbzAYvDE2oharX16VqyJdvASj1_VfQsz7wsvhuQ8Sp4KkHMXEXv9OtT9mJTQl4dhiEXqRrCIspoqiN25sUkzQUSbBzMn80foIN8bc9nkhDqV2TIZDH-ThuyDdmqRtfRZgwazjgAjbbCcHKPsyM3u4Wvq7Ct8eNoWlUwbpmcfj8eoWGxKZPEGJ9z-kOGwGqyCKGZ6MEJsXLEXLwYPjpJrUv-DHcf47ohxnc-RrfghXIt8KWZN67xPIuvEZ4LA1_ZgqAmvDHnIxL9IGnqV9VNI4aWRnvyl57c_FBT6u6MbYJhhLSNAVu47KzlhEZScFNnubAZxB388n4jEohozc0bOO50cCypfnjjOWeAuzqXkAdVL0BgTeAetWm3_7yQ14FAgRwd_wledSi9MMqfZOCY9RnlDgSWisEe_Ml8st0608EAEY3W1RorRq8XA008b2jvtpN8Jxw8ZZbYG9zJ5NdXpCe2Sp6WnhFFZRZzDtkv-VoQ6aJ90KatCy7V-kmDM4AcEclZfBGH7jQBmNJPnvTQKpt6Md7QbE8fHLh-Km8SfAgz3f1bZLM-zYTRddgaGKzr4gUf7dQS_GBueUCy4islas8TR7IfWlzrnJjAjO2UWkl2oVH64DvDs4JXDol7KgQm_NhrRrlb7LKIq49IQOi6nvNQbKXCs2LH7H5CqISm_Co6n21RQwlUy4DQZV6eT_4oDlFrledawEJfr89JXbGspRY0W-AZ-0ZfBY46VZGfik_qcuSirfX7KKAdexF1Ud1EseshgqLakGpXp28rRaeH7jHNctJV__Avjvn412OKnE5tHBrmPfTJEGpy53qj1wdTc9gYijTGcd90MgkILEhatf2orvtzMUWHr-OrF8iLFN43-nkbgXgljoWYkfUhfGI0U5QlmA4Ac6QoTY2UuHSiRkRqTtKXAuCgvYord0E9EHATS28BfLdMHL8vDq-mUKJ5KI-2eUYbSD6G2qClWRdUURQHRqN1YblOIBDEQh2sqMltwk0YzeGE3N3zd0cYUd918WqaXXNBEQN6eDUJh-sUjlD2sRSIcFQx6RPcpjqAsLmR2phyJgQPThMeYiHupd617i9NwumdCfx6-iQNrCAAeYo0V0m-Mp2vMgQRakzCViugDRR9zsd1VKWURFICqmKiLqN6Sslc75OOUfx4wj1nIDoW10p72zA82XTCztNXyig3NkVXv4OZMa0wh3rzcVURgKpBfNnBT9E1HJtb21wGrbBxubityviemGQbQf10Cu7c0pIwPIUzMit32DpUKBhzu6pQ7Dk3caEZmeJuekFjYJB91jfsYuYxDSd3tCkJgXgrTowwseHA2DiJrHcW18Ft5aW1U5MnhMA3YpWkzn2nGfb1xXy-xFNd4h0iY9x8vIu2li1onCDdq3TGlajZSJ0-axMfLwjAe7OHSMPNuslTOOvhLq_oOBMjRvjW1hQCyAqrtkB4keCLVyJnpJkXIW1H_gK1qhLBcGGqhckGK3QgRhDCPn7RFo2iGPka2aaQ69uIvts_xeYoDLU9xGKJNl3fb_b1FcIpNcSQN0LfAPkwW-WsJepGSo1VxwICwrbbwrqUimxe-tNRIRz2VKv5SKjqTfddLxh2t7xcmFCSvVQPDxEObjho1eoO5TkEmxPRxdPTUPilwLazE4MVppDK_xDzaCmayn1fF-ruoNohzYlLo7qalk4K5__xAvXbDxzto=",
  "id": "rs_04a5618a74d61950016ab450877fc887d0a9981490026de014",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0,\"right_z\":0.25},\"note\":\"The left gripper is now pressed to 4 cm at the bottle’s widest section and perfectly centered, while the right bottle remains securely held but needs more clearance to hang. I’m closing the left and continuing the right lift.\"}",
  "call_id": "call_mv5x6GFCFdwOfNcLUgzGC5LF",
  "id": "fc_04a5618a74d61950016ab450889b7487d08bdba56824312d6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mv5x6GFCFdwOfNcLUgzGC5LF",
  "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]: [-0.5491, 2.1147, 1.2182, 0.2981, -0.63, -0.45, 0.0137, 0.6617, 1.7435, 1.3922, -0.5461, 0.4149, 0.2977, 0.5427]\nstate[eef_state]: left_x=0.5103 left_y=-0.1861 left_z=0.0643 left_yaw=0.1936 left_pitch=0.0884 left_roll=-0.0488 left_gripper=0.0137 right_x=0.405 right_y=0.2297 right_z=0.1631 right_yaw=0.1323 right_pitch=-0.2314 right_roll=-0.1097 right_gripper=0.5427\nstate[joint_eff]: [-0.0342, -10.6598, 5.5179, 0.7204, 0.1538, -0.0122, 1.2088, -0.6222, -14.653, 12.7111, 2.674, 0.6569, 0.105, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8fe48c071a2af80c29ac1b7f897ae8edd377141e35fad973abac68045a6eccd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2fe2559d7497d7b65075d0d08e94986e1d2e5bb76554e7ad944580024ffe0d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edb96d967981eb3779f9e71da7fcfaf82aef86e33696aedb68bc1cfbadefac76",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 13.96 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5564, 2.0335, 0.936, 0.5335, -0.543, -0.3931, 0.9953, 0.6476, 2.1185, 1.0416, 0.4007, 0.4942, 0.3325, 0.995]\nstate[eef_state]: left_x=0.4663 left_y=-0.1783 left_z=0.0394 left_yaw=0.0884 left_pitch=0.0853 left_roll=-0.0569 left_gripper=0.9953 right_x=0.4492 right_y=0.2392 right_z=0.0091 right_yaw=0.0515 right_pitch=-0.0131 right_roll=-0.012 right_gripper=0.995\nstate[joint_eff]: [0.294, -6.9265, 3.494, 1.1795, -0.0171, 0.0611, -0.1441, -0.1846, -9.5385, 4.7385, 1.9121, 0.1392, -0.0317, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5503, 2.146, 1.0752, 0.5606, -0.5995, -0.4259, 0.9964, 0.6487, 1.8568, 1.3796, -0.4328, 0.4389, 0.3088, 0.5427]\nstate[eef_state]: left_x=0.4992 left_y=-0.1851 left_z=0.042 left_yaw=0.1619 left_pitch=0.1442 left_roll=-0.098 left_gripper=0.9964 right_x=0.4264 right_y=0.2335 right_z=0.1246 right_yaw=0.093 right_pitch=-0.2317 right_roll=-0.1251 right_gripper=0.5427\nstate[joint_eff]: [-0.3077, -5.9829, 2.8786, 0.6862, 0.2222, 0.0757, 0.0317, -0.4855, -17.1692, 12.8205, 2.5568, 0.6325, 0.1441, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5491, 2.1147, 1.2182, 0.2981, -0.63, -0.45, 0.0137, 0.6617, 1.7435, 1.3922, -0.5461, 0.4149, 0.2977, 0.5427]\nstate[eef_state]: left_x=0.5103 left_y=-0.1861 left_z=0.0643 left_yaw=0.1936 left_pitch=0.0884 left_roll=-0.0488 left_gripper=0.0137 right_x=0.405 right_y=0.2297 right_z=0.1631 right_yaw=0.1323 right_pitch=-0.2314 right_roll=-0.1097 right_gripper=0.5427\nstate[joint_eff]: [-0.0342, -10.6598, 5.5179, 0.7204, 0.1538, -0.0122, 1.2088, -0.6222, -14.653, 12.7111, 2.674, 0.6569, 0.105, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8fe48c071a2af80c29ac1b7f897ae8edd377141e35fad973abac68045a6eccd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2fe2559d7497d7b65075d0d08e94986e1d2e5bb76554e7ad944580024ffe0d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edb96d967981eb3779f9e71da7fcfaf82aef86e33696aedb68bc1cfbadefac76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFCO7VsBuCuvDKuNklT6UTvako869WexC1V0MxghhPGGDuZ1gXfnkPZOGqotSqgM75gPEuk0eQYRb7d8uhQZbhoQSQGjsRNbm7hHBetthlHFx-Wp6aCGT2_Zjo0XnkhUZIfh5k59O0OBWxw2LlqXkvnpYgmui9ZkMq-tI3By7n8gjWoDQQKiC-GN2O1yBeoy-ce-EgXMgt3urxhoHv1m5E9I5S8HM4EHWQjjjID-RB2JyJ2-eLy8bFVK8uUS4LExkackHdT2jPA_eXF7e3CBIbadA4ZnnWOh07u4oTyHEZChDxiKVcZc9_Z4jL3rS7JradyZEUtgFyNpujEEb1spLEizfDFuvoc10U4x_-NoPyUKEPy_zxr9HwSZQX9Ui_aC3CbeT81JIwWA1qvLYC825yVk2Xv7Fb8_gfPG8H06Rd3eLVN1l14c6xqiqZqSLAkdqljuH_ZqEAe_i5bWLILjhP912yzDESmUmcGGruEhZ3cYlTnOj6zRgH6j-aiUCaCmc2tvWuQje7QCeO8pLoEA_-Ir__Mh-s3Rz8qvm41Vl6JF74SF1RtXwgAOAb5lL925v0Pa6LYKis9jfVkABfC2UgUeQzzdLZPa1yGcJJo32Wygu3qGAB_ikCAG6ljk7AgQXDgEylPDXrjlWqAbzO-1bp1p8GCMX6F9kYEvb9h9b7O91rdEwqnUY42rWiw7I2H2AwjSJkmi44_Z8cRkuEGK7_-RwAd6W607YXGV1jMEKYy4e2jJd4LOgGssF80ZeMKuQ3wm4TCuXc8cRLDkrEsHgEZlojvDv6Gl44kPezJ4-j-jX-pvAdr9Ojo7P5YEVXILCEn7hwKvpvxLM7zJncEK78rgLfvX8QKJu7ZccYN4Vm6WsLz83vRWz2Vs_k0evabaTQFRNO34ABQGYUZFv7nZY3mDcHNdBBuAfkf7rgbM2G0PeFtdwJA6HRCB7F1sRUa_6xw1TpsB4HuXI1HUhoicdw0LLTxHAZGj9wAfhw3wnLykSWS6iygoaNwr7mKSoSxCAZ3yRyAY0WX99yz4hIf8u19hfMQvkO58MeDzm7cqD7-SKXsQ7tKXGZfHZHeuzR1f6TINLhx192KhRI8Bo5tLTsyw4EZ61zicA9eMxUo-HFiqueNsNeKemV-b98SFT6olwP0ySsbjqpyZFtP_iZ9xI3GwTpSTLdQcervKfQp2soUJnFIRv-qW16ckr3h5qXmdHLKFAmMDKX9AeR3-C7Xk92Ctz5heBsQ7gW0CvND5eMbg7yxOg_T5Vb1Ve3OmBvog27cAWx4t-Qkb0856W9iFKO_n7IJNwyzC3SVTMhlFsI-q2SAFxL8KjK7pArQWPzozMDD0gCK25cJe6Hjxu0pIiNlQ6hNVxczipbRmnZblSAvVDdUkfpaJDU7Ypw6xtdzQaiwbelfwnyp5PDM84V66Wsadk2trHz3wqnwHTTS2pZVV_UP9KyZStbkpaxwuS6yuq_Ti2x88TUwCfYr34qDGmATQ9h5tT58NJX9WJJKnj5IO271wSDW4aFrk_BDCcyZFeE3ms2xzJY2k4_0ZOm91MgonByrrU1rpM8zkvGrLMsczolFIZ_fGjyxQQztpQEhMvvUm5vCSyEGq6xWHb-gT6wKDAjcTkVIOli_ln5GV81Q-97Jsx-BFs1oR5XWJnTEuPQE6VYlmcfebZfMMRu57VmcKd_THK3egqSh2eIfue6nd05-kuNLNDnNyliZaXeKTzUUB-XDuU_kXjgHj73ZVYKwB-tHTSd1Ew6pHJMwLCk142svv5o2UcelzxzkYePR1XUX676u4lVL9j30atj0Dvq-oQ8-trv0Etp9pxzHL60JM_ngw76lbXPwnKxgjCj3qFgTYtFjgLagIYCk2ngLv7yhRqO162veiwWFLM93z_Rv1w9R28PmBPnAYAQa6gXjv2_KWqDSbRC3fJa-IX7aIFnx6VJ4SOQ3GEVynUJ4QRLB9PEBeT51KU_TynoxKK_G6floIQSBpLqKkvOJWXBQQ6m6UJmXb7YoQRDPUbkBVhWhHmJ75WmnvYRbSSxAgaUzjEzZatnEvskxvl7jHZzSRM81H2FZz0LDu4pNaw8mCD1lq1RTx8K6PjLd3bkNt5tZED18CzpDWqcEqiCTxTVUDdK5mywBaNqsgIoSTKRNM16v8j_7WyEpoDL0fQ2Ii-gPymmvHBh0NaAx33X8yDJ5u3pz10x5vwT8Dv0FWdLML2V9SUUmYFHE5Q0oWQITayYr9EglnCwl5qWDLUV3tCQhQ0-1p1QA0AGu6UaZTQ5YtIsXBhqK0TrTCqBsUx5ByYX9M6trtdtEcf71aoOTVHON0YEfKId9kiL_1UPKA0at_Gh3UEe-sbxpy-bpB_Mnvs7E7JeycyInsx5jOxgra7tvu7QBg6Gtw93HOCynxrkNtc_plHCKzEGl2fF7NU0WLVvpde4yXOhzmwHI8kWiSk6jQVLFWusvThGrSynHr_eK37CYYAtBpjuFZoqPN2RhnBeOuGV9k",
  "id": "rs_04a5618a74d61950016ab4508bbfa887d0aadca5014005a5b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"left_x\":0.35,\"left_y\":-0.1,\"left_z\":0.2,\"left_gripper\":1.0},\"note\":\"The left arm cannot close on the middle bottle at this far reach, but the right bottle is still firmly held and appears nearly vertical. I’m settling the right bottle’s base while retreating the unsuccessful left arm clear.\"}",
  "call_id": "call_kiBrc0GqdZDKzx4V8cqclOdx",
  "id": "fc_04a5618a74d61950016ab4508dc52887d0ad11348312285e68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kiBrc0GqdZDKzx4V8cqclOdx",
  "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]: [-0.5816, 1.298, 0.939, -0.3244, -0.6296, -0.503, 0.9962, 0.6739, 1.7042, 0.9619, -0.0761, 0.3996, 0.2829, 0.5427]\nstate[eef_state]: left_x=0.3637 left_y=-0.1103 left_z=0.2021 left_yaw=0.1858 left_pitch=0.0255 left_roll=-0.0371 left_gripper=0.9962 right_x=0.3809 right_y=0.2208 right_z=0.0824 right_yaw=0.1726 right_pitch=-0.1691 right_roll=-0.0706 right_gripper=0.5427\nstate[joint_eff]: [-0.1846, -5.7504, 5.8051, 1.5849, -0.3541, 0.0464, 0.0366, -0.2803, -8.8137, 7.1453, 2.8107, 0.5934, 0.0952, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d3da308cfa76b88b3222146cc38248e11cdb750cead1394fdecfb3984832a99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f3a950b39d23e091fceadae7a7ba91f0e1ce67b6449603b8e9138c6c0fdd01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eafa851ca19ac91307c5565b244ce0ab6b1084ae1aa119a494b7387da948c02b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 5.954 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.556, 2.0041, 1.0183, 0.4133, -0.5774, -0.4, 0.0135, 0.6479, 2.1269, 1.0321, 0.424, 0.4904, 0.3283, 0.5386]\nstate[eef_state]: left_x=0.4772 left_y=-0.1788 left_z=0.0625 left_yaw=0.1196 left_pitch=0.0899 left_roll=-0.0432 left_gripper=0.0135 right_x=0.4483 right_y=0.2395 right_z=0.0057 right_yaw=0.0571 right_pitch=-0.01 right_roll=-0.0106 right_gripper=0.5386\nstate[joint_eff]: [-0.1026, -9.3607, 5.3675, 0.7937, 0.188, 0.0073, 1.1746, -0.335, -11.2205, 4.8342, 1.6972, 0.1832, 0.0122, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5491, 2.1147, 1.2182, 0.2981, -0.63, -0.45, 0.0137, 0.6617, 1.7435, 1.3922, -0.5461, 0.4149, 0.2977, 0.5427]\nstate[eef_state]: left_x=0.5103 left_y=-0.1861 left_z=0.0643 left_yaw=0.1936 left_pitch=0.0884 left_roll=-0.0488 left_gripper=0.0137 right_x=0.405 right_y=0.2297 right_z=0.1631 right_yaw=0.1323 right_pitch=-0.2314 right_roll=-0.1097 right_gripper=0.5427\nstate[joint_eff]: [-0.0342, -10.6598, 5.5179, 0.7204, 0.1538, -0.0122, 1.2088, -0.6222, -14.653, 12.7111, 2.674, 0.6569, 0.105, 1.0281]\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 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5816, 1.298, 0.939, -0.3244, -0.6296, -0.503, 0.9962, 0.6739, 1.7042, 0.9619, -0.0761, 0.3996, 0.2829, 0.5427]\nstate[eef_state]: left_x=0.3637 left_y=-0.1103 left_z=0.2021 left_yaw=0.1858 left_pitch=0.0255 left_roll=-0.0371 left_gripper=0.9962 right_x=0.3809 right_y=0.2208 right_z=0.0824 right_yaw=0.1726 right_pitch=-0.1691 right_roll=-0.0706 right_gripper=0.5427\nstate[joint_eff]: [-0.1846, -5.7504, 5.8051, 1.5849, -0.3541, 0.0464, 0.0366, -0.2803, -8.8137, 7.1453, 2.8107, 0.5934, 0.0952, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d3da308cfa76b88b3222146cc38248e11cdb750cead1394fdecfb3984832a99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f3a950b39d23e091fceadae7a7ba91f0e1ce67b6449603b8e9138c6c0fdd01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eafa851ca19ac91307c5565b244ce0ab6b1084ae1aa119a494b7387da948c02b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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  "id": "rs_04a5618a74d61950016ab450915fdc87d0ba16efda1d42be49",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_04a5618a74d61950016ab450967d5c87d09d3e9f66333e0d0f",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFCd8QwAVhqNjv9dHpmwLIhjYyNmq0ByyHBITszZFZb7X5P0fXgStKt63LBO3nFkMaKMZs94EuxTBtGsuMd0nBz0gwvysSAugU65sXCjCOee423hhgDb4ny7wQNSmQ-L5nbWYp9IIQlw8PDaAMlRN3MGSxf0HT70JQ_85JfeU2DUHyj4JC07Oas92UqLPd19J6cGPVTlfYc9LSyTkjFuxo1Ww0QOl99zaNYCKX-0WJRXwkWVNzTknWZMH2juYm6sEzdRY5Q3C6ypU1op0s8AQSSi-XtD1Uc2-DvuxpRVDs_qdux4yIpJrLcG4taQc3FIKj40O1NkLjeQ8evrEw8IM0vKbBF6hnsj5pslGFkGVS6HRY6U3G3DbRgM9O4QDszbr48QBH4aB-ayosycNkrzXAvny0umjqbTc8vtWJZvBPwZtgd5g1M5Z00M0uIB9_Q14epA3TSnc6aIZIjIaKFNJULg8lNr-tsH3xI8KfdCaWW_pxvMjMGfQVtFPaV5PeGsa1hHETVVKof5mn8hlps9RQXeBt1m76n4kKhtjL3RoG_Us68ImKL-jpUDWqbALEBN0OF_Zw_PuenvTUtC9t5AmRB-dzQwwRUMvmcrXictBy8Soq_wyKPTTOMo41WP3AphWghC_qOz7_eV3NxF3nfTnFSie5FSjG2MNoT-ptwTEUbcBJcUmoxmLnfU88fX4EoxuZAzQJ6HrUvQLE6wdajBP9iSl7C8PdnLVMTPd4QXArV0AtM3Bhgwlf_IY0bN96tPoA4Qy9-SyNOo9KUsLZy68w66vctXzIq_fFgyNjRKLpPndnqt4u_9sZBxJWmTi9Yx1cB4JBN_eZ5zxhX-mO5RklZOwOE05SK1ua2bZJN2H56NTAqBkLVWy7QMQekfdTj3OKNh3KW7jMsdAFUU7HCklU2lX6N5PsTxS_PaOE20-dfy2DnDCNVLAroB0WHUSUG5LFYERN5SN06h1IlWey9Fg4-jZYSq4ysJowmNkx_4MJmFXkH2fAB9LZoFV8bJYxOV9qID0U1A6SAhcXl1XXb3CraDdL-gV4o8pTVPdbmlEQqGiBkoW3WX_0NHu9KvqbKBXZiwc5ouoJOdPsC83udXd4-c9QDpAHs-zZw0QYerRd7mVU-vGcBLStDZWzkPkJ0RXtc98xhAMq31jMNSzCYJ9pnOR7ps9GjvlXHerfBk1Le2lvXvD7BWi1d-Xr1_T-jvPbBkxhWnEHcR7YD6ssaSyoS3z6_N_ErNmTtELjmklVYIDp9tcRQ-6r8OgcZ13jH3NdNVzbykxNdyDKTe1U4IQt6uEFJax9MHbAcgALVsBBxy_hkyOt49h3Mv8n7DF1DGCNxAukvd4t9lbP1zakIzZ_YbrdaGeOhoS-d_rzZIZGd2M-t1QwRCGggcbKIxzkMLiPIJCHLd6Sh0OF2cWu4kdL6zGRg0WBI4P4Yol9HTtuFrpAh96pAAy25XijHTO-9vAMw61xG-D4vrCgu_RdF-24vcn6exP9Lj5r-iZNr0pVfKwOoukb0Ldwpf2QYEkqIOZDA-",
  "id": "rs_04a5618a74d61950016ab4509c318087d0a082456dc25ff521",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The right bottle’s base has stopped the descent and the grasp remains secure, so it is settled on the table. I’m releasing it upright before addressing the middle bottle with the right arm, which has the better reach to that point.\"}",
  "call_id": "call_v1PKW9jCLGWQ7sVWx60pQar4",
  "id": "fc_04a5618a74d61950016ab4509cbf0087d0a0e3c8c942cdb09f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v1PKW9jCLGWQ7sVWx60pQar4",
  "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]: [-0.5831, 1.3277, 0.9489, -0.3943, -0.6365, -0.5022, 0.9969, 0.6819, 1.7008, 0.7666, 0.2047, 0.4072, 0.2718, 0.9952]\nstate[eef_state]: left_x=0.3588 left_y=-0.1066 left_z=0.1854 left_yaw=0.1894 left_pitch=-0.0357 left_roll=0.0293 left_gripper=0.9969 right_x=0.369 right_y=0.214 right_z=0.0577 right_yaw=0.186 right_pitch=-0.0888 right_roll=-0.041 right_gripper=0.9952\nstate[joint_eff]: [-0.1983, -5.8051, 9.1419, 1.6435, -0.3248, 0.0122, 0.0659, 0.253, -8.9915, 6.8171, 1.8877, 0.2857, 0.0366, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0960bea85642feda253544c00aebf3c2fd648f4a3b0ea75da6dbc50aa10034cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:988097e0fadb663dc29fc0b52ad51a073cbfc261f70364078051d8a4cd9c3701",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e1d8fba9650368e88a6f900e02141f27fc9fb9a886e19a44d7fed0308f83043",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 2.059 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 153 changed as sent

message 159 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5503, 2.146, 1.0752, 0.5606, -0.5995, -0.4259, 0.9964, 0.6487, 1.8568, 1.3796, -0.4328, 0.4389, 0.3088, 0.5427]\nstate[eef_state]: left_x=0.4992 left_y=-0.1851 left_z=0.042 left_yaw=0.1619 left_pitch=0.1442 left_roll=-0.098 left_gripper=0.9964 right_x=0.4264 right_y=0.2335 right_z=0.1246 right_yaw=0.093 right_pitch=-0.2317 right_roll=-0.1251 right_gripper=0.5427\nstate[joint_eff]: [-0.3077, -5.9829, 2.8786, 0.6862, 0.2222, 0.0757, 0.0317, -0.4855, -17.1692, 12.8205, 2.5568, 0.6325, 0.1441, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5816, 1.298, 0.939, -0.3244, -0.6296, -0.503, 0.9962, 0.6739, 1.7042, 0.9619, -0.0761, 0.3996, 0.2829, 0.5427]\nstate[eef_state]: left_x=0.3637 left_y=-0.1103 left_z=0.2021 left_yaw=0.1858 left_pitch=0.0255 left_roll=-0.0371 left_gripper=0.9962 right_x=0.3809 right_y=0.2208 right_z=0.0824 right_yaw=0.1726 right_pitch=-0.1691 right_roll=-0.0706 right_gripper=0.5427\nstate[joint_eff]: [-0.1846, -5.7504, 5.8051, 1.5849, -0.3541, 0.0464, 0.0366, -0.2803, -8.8137, 7.1453, 2.8107, 0.5934, 0.0952, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 159 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5831, 1.3277, 0.9489, -0.3943, -0.6365, -0.5022, 0.9969, 0.6819, 1.7008, 0.7666, 0.2047, 0.4072, 0.2718, 0.9952]\nstate[eef_state]: left_x=0.3588 left_y=-0.1066 left_z=0.1854 left_yaw=0.1894 left_pitch=-0.0357 left_roll=0.0293 left_gripper=0.9969 right_x=0.369 right_y=0.214 right_z=0.0577 right_yaw=0.186 right_pitch=-0.0888 right_roll=-0.041 right_gripper=0.9952\nstate[joint_eff]: [-0.1983, -5.8051, 9.1419, 1.6435, -0.3248, 0.0122, 0.0659, 0.253, -8.9915, 6.8171, 1.8877, 0.2857, 0.0366, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0960bea85642feda253544c00aebf3c2fd648f4a3b0ea75da6dbc50aa10034cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:988097e0fadb663dc29fc0b52ad51a073cbfc261f70364078051d8a4cd9c3701",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e1d8fba9650368e88a6f900e02141f27fc9fb9a886e19a44d7fed0308f83043",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_04a5618a74d61950016ab4509febf087d0a9947d4760a3c1a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.31,\"right_z\":0.005,\"right_gripper\":1.0},\"note\":\"After release, the right wrist view shows the remaining middle bottle ahead and slightly left of the jaw column; the newly placed right bottle is hidden under/behind the wrist. I’m advancing and shifting left to bring the middle bottle’s upper body into a table-level grasp.\"}",
  "call_id": "call_ot4ULzTUAzlcCxiuVB3a81ZN",
  "id": "fc_04a5618a74d61950016ab450a30c8887d09d02890cdbd6efe6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ot4ULzTUAzlcCxiuVB3a81ZN",
  "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]: [-0.5831, 1.3163, 0.9062, -0.3313, -0.6369, -0.5026, 0.997, 0.72, 2.1738, 1.2114, 0.4217, 0.477, 0.2554, 0.9989]\nstate[eef_state]: left_x=0.3592 left_y=-0.1068 left_z=0.1818 left_yaw=0.1893 left_pitch=-0.0129 left_roll=0.007 left_gripper=0.997 right_x=0.4674 right_y=0.3069 right_z=0.046 right_yaw=0.1764 right_pitch=0.0955 right_roll=0.0028 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -6.0103, 6.5299, 1.5165, -0.3492, -0.022, -0.0024, 0.5265, -7.3641, 5.0803, 1.1258, -0.1978, 0.3785, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0afe47655e27414553f32bfd1ef1a9d23d72c22d2eb682853c84fefcfe9ad9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea9e335ce29dd3297bd51395c5ad754a46b2af85d893e65c1de39a4c8e6f7438",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94485e2a630a22f7b58026bf849139c1f0bbba8157c8178f073b76972bed6d23",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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