adhoc - adhoc_8c96a745.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-5.6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 256.3 s
total steps: 408

success_at_end

scenes

trials

errored

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

Goal: Stand all three bottles upright.

Raw transcript

system

user

Goal: Stand all three bottles upright.

step 0

assistant

agent noteThree bottles lie near the center; the rightmost bottle is almost radial, with its blue cap at the far end around the upper-center of the overhead image. I’ll bring the right gripper above that cap, keeping ample height for visual alignment.

move_to

right_x0.4800right_y0.2900right_z0.1300right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0227, -0.0288, 0.9985, -0.0158, 0.7891, 0.6041, -0.3862, -0.0238, -0.0353, 0.9998] state[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1826 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0032 right_z=0.1801 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4171, -1.4838, 9.7299, 1.7851, -0.0562, 0.1294, -0.1734, -0.9641, -1.0325, 10.3863, 1.8828, -0.0122, 0.2173, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.48,"right_y":0.29,"right_z":0.13,"right_gripper":1},"note":"Three bottles lie near the center; the rightmost bottle is almost radial, with its blue cap at the far end around the upper-center of the overhead image. I’ll bring the right gripper above that cap, keeping ample height for visual alignment."})

tool

executing move_to over 24 steps (2.4s)

step 24

assistant

agent noteThe right wrist view shows the intended cap slightly to the camera’s right and still ahead of the fingertip point; the neighboring cap is well left. I’ll shift about 2 cm right in the arm frame and advance toward the intended cap while descending partway.

move_to

right_x0.4900right_y0.2700right_z0.0800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3836, -0.0227, -0.0292, 0.9983, 0.709, 2.0377, 1.4597, -0.1726, 0.5308, 0.3683, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4654 right_y=0.2861 right_z=0.1126 right_yaw=0.049 right_pitch=-0.0586 right_roll=-0.0433 right_gripper=0.9998 state[joint_eff]: [-0.3761, -1.6205, 6.8444, 1.7363, -0.0269, -0.0513, -0.0269, -0.212, -11.1248, 9.1282, 1.6581, 0.5397, 0.3199, -0.0317] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.49,"right_y":0.27,"right_z":0.08},"note":"The right wrist view shows the intended cap slightly to the camera’s right and still ahead of the fingertip point; the neighboring cap is well left. I’ll shift about 2 cm right in the arm frame and advance toward the intended cap while descending partway."})

tool

executing move_to over 3 steps (0.3s)

step 27

assistant

agent noteThe selected cap is now isolated near the jaw column but remains about 1–2 cm to the right and above the grasp point. I’ll make the final lateral correction and descend to cap height, relying on the lower pose to gain the remaining forward reach.

move_to

right_x0.4900right_y0.2550right_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0292, 0.9983, 0.6651, 2.0777, 1.3609, -0.0193, 0.498, 0.3386, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4742 right_y=0.2693 right_z=0.076 right_yaw=0.0469 right_pitch=-0.0606 right_roll=-0.0409 right_gripper=0.9998 state[joint_eff]: [-0.3761, -1.5795, 6.735, 1.79, -0.0366, -0.0269, -0.022, -0.5812, -10.3863, 6.735, 2.0684, 0.2076, -0.0317, -0.0073] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.49,"right_y":0.255,"right_z":0.035},"note":"The selected cap is now isolated near the jaw column but remains about 1–2 cm to the right and above the grasp point. I’ll make the final lateral correction and descend to cap height, relying on the lower pose to gain the remaining forward reach."})

tool

executing move_to over 3 steps (0.3s)

step 30

assistant

agent noteThe cap itself is beyond this arm’s low-height diagonal reach, while the bottle body is currently between the jaws. I’ll grasp the body instead so I can lift and rotate the bottle in the table plane, bringing its cap inward for a later tipping lift.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0292, 0.9981, 0.6476, 2.101, 1.269, 0.1139, 0.4706, 0.3134, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9981 right_x=0.4723 right_y=0.2613 right_z=0.0495 right_yaw=0.065 right_pitch=-0.0564 right_roll=-0.036 right_gripper=0.9998 state[joint_eff]: [-0.294, -1.5385, 6.5846, 1.7949, -0.0415, -0.0513, -0.0366, -0.1573, -11.6855, 6.8034, 2.1221, 0.2613, 0.0611, -0.0073] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The cap itself is beyond this arm’s low-height diagonal reach, while the bottle body is currently between the jaws. I’ll grasp the body instead so I can lift and rotate the bottle in the table plane, bringing its cap inward for a later tipping lift."})

tool

executing move_to over 10 steps (1.0s)

step 40

assistant

agent noteThe fully closed reading confirms the first body grasp was empty; the wrist view shows the bottle still a little right of the jaw center, and the grasp point was also high. I’ll reopen, shift laterally toward the bottle, and descend near its mid-height before retrying.

move_to

right_x0.4900right_y0.2450right_z0.0250right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0227, -0.0292, 0.9979, 0.654, 2.0991, 1.2377, 0.2451, 0.4774, 0.3092, 0.0184] state[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9979 right_x=0.4786 right_y=0.2691 right_z=0.0622 right_yaw=0.069 right_pitch=0.031 right_roll=0.0131 right_gripper=0.0184 state[joint_eff]: [-0.1026, -1.265, 6.5846, 1.8877, -0.0317, -0.0611, -0.0269, -0.8, -11.535, 4.506, 1.0623, 0.0611, 0.0513, 0.7595] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.49,"right_y":0.245,"right_z":0.025,"right_gripper":1},"note":"The fully closed reading confirms the first body grasp was empty; the wrist view shows the bottle still a little right of the jaw center, and the grasp point was also high. I’ll reopen, shift laterally toward the bottle, and descend near its mid-height before retrying."})

tool

executing move_to over 10 steps (1.0s)

step 50

assistant

agent noteThe bottle is now centered between the open jaws at low height, with its body filling the lower wrist view. I’ll close on the body and use the settled jaw width to verify capture.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9978, 0.598, 2.1414, 1.2087, 0.3, 0.421, 0.2703, 0.9956] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4877 right_y=0.2492 right_z=0.0365 right_yaw=0.0794 right_pitch=0.0003 right_roll=-0.0005 right_gripper=0.9956 state[joint_eff]: [0.0205, -1.5658, 6.5846, 1.7851, -0.0366, -0.0757, -0.0171, -0.6769, -9.0735, 5.2171, 1.8877, 0.105, 0.022, -0.0806] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The bottle is now centered between the open jaws at low height, with its body filling the lower wrist view. I’ll close on the body and use the settled jaw width to verify capture."})

tool

executing move_to over 10 steps (1.0s)

step 60

assistant

agent noteThe gripper settled at 0.48, consistent with a secure ~4.5 cm bottle-body grasp. I’ll lift it well clear of the table before rotating, and verify the bottle moves with the right gripper.

move_to

right_z0.1600

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9978, 0.5972, 2.1441, 1.2057, 0.3389, 0.4103, 0.2642, 0.4769] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4909 right_y=0.2529 right_z=0.0409 right_yaw=0.0904 right_pitch=0.0262 right_roll=0.016 right_gripper=0.4769 state[joint_eff]: [-0.3624, -1.4427, 6.5983, 1.7705, -0.0415, -0.0513, -0.0073, -0.253, -11.7402, 6.0376, 1.2967, 0.188, 0.0366, 0.7937] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.16},"note":"The gripper settled at 0.48, consistent with a secure ~4.5 cm bottle-body grasp. I’ll lift it well clear of the table before rotating, and verify the bottle moves with the right gripper."})

tool

executing move_to over 8 steps (0.8s)

step 68

assistant

agent noteThe overhead view confirms the right bottle lifted with the gripper. I’ll raise a little more and rotate it nearly 180° in the horizontal plane so its cap becomes the inward, reachable end.

move_to

right_yaw3.0000right_z0.1800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9978, 0.601, 1.9881, 1.4082, -0.1165, 0.3912, 0.2497, 0.4771] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4847 right_y=0.255 right_z=0.1198 right_yaw=0.1166 right_pitch=-0.0644 right_roll=-0.032 right_gripper=0.4771 state[joint_eff]: [-0.212, -1.5795, 6.8581, 1.7802, -0.0562, -0.0513, -0.0122, -0.1983, -13.9829, 9.306, 1.7216, 0.3053, 0.1538, 0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_yaw":3.0,"right_z":0.18},"note":"The overhead view confirms the right bottle lifted with the gripper. I’ll raise a little more and rotate it nearly 180° in the horizontal plane so its cap becomes the inward, reachable end."})

tool

executing move_to over 19 steps (1.9s)

step 87

assistant

agent noteThe large wrist rotation caused severe Cartesian drift into a folded pose, although the bottle remains held. I’ll recover by moving to a central, high pose while keeping the reversed yaw, where the arm has better leverage and the bottle can clear the table.

move_to

right_x0.3000right_y0.2000right_z0.2200right_yaw3.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3862, -0.0227, -0.0292, 0.9978, 0.9051, 2.4493, 2.0083, -1.5311, -0.8536, -2.0773, 0.4772] state[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1813 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9978 right_x=0.1379 right_y=0.3969 right_z=0.0591 right_yaw=2.7778 right_pitch=-0.08 right_roll=0.0202 right_gripper=0.4772 state[joint_eff]: [-0.0479, -1.2103, 6.5983, 1.873, -0.022, -0.0659, -0.0122, -1.0598, -16.6769, 5.2444, -0.5641, -0.3346, -0.1148, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.2,"right_z":0.22,"right_yaw":3.0},"note":"The large wrist rotation caused severe Cartesian drift into a folded pose, although the bottle remains held. I’ll recover by moving to a central, high pose while keeping the reversed yaw, where the arm has better leverage and the bottle can clear the table."})

tool

executing move_to over 17 steps (1.7s)

step 104

assistant

agent noteThe arm is still folded near its base and did not reach the central target, but the bottle remains secure. Following the rig’s folded-pose recovery behavior, I’ll first raise substantially at small x before attempting to extend again.

move_to

right_x0.1200right_y0.3000right_z0.3500right_yaw3.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6098, -0.3866, -0.0231, -0.0292, 0.9978, 1.0275, 1.9934, 1.5669, -1.5539, -0.8673, -2.0888, 0.4773] state[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1801 left_yaw=0.0005 left_pitch=-0.0126 left_roll=0.0001 left_gripper=0.9978 right_x=0.038 right_y=0.3304 right_z=0.1372 right_yaw=2.9013 right_pitch=-0.0652 right_roll=0.0152 right_gripper=0.4773 state[joint_eff]: [-0.2667, -1.4974, 6.5026, 1.8584, -0.0611, -0.0366, -0.0122, 0.4855, -11.6718, 4.8479, -0.4908, -0.4567, -0.1099, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.12,"right_y":0.3,"right_z":0.35,"right_yaw":3.0},"note":"The arm is still folded near its base and did not reach the central target, but the bottle remains secure. Following the rig’s folded-pose recovery behavior, I’ll first raise substantially at small x before attempting to extend again."})

tool

executing move_to over 14 steps (1.4s)

step 118

assistant

agent noteAt yaw near π the right arm’s IK branch remains folded and even reports x behind the nominal workspace. I’ll unwind halfway while commanding a high, modest-forward pose; a 90° bottle reorientation is sufficient to make the cap reachable from the side.

move_to

right_x0.1500right_y0.3000right_z0.3000right_yaw1.5000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.5991, -0.3862, -0.0231, -0.0292, 0.9978, 1.2076, 1.8362, 1.5436, -1.5513, -0.9382, -1.9343, 0.4773] state[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1759 left_yaw=0.0005 left_pitch=-0.0206 left_roll=0.0003 left_gripper=0.9978 right_x=-0.0321 right_y=0.3265 right_z=0.1857 right_yaw=2.9663 right_pitch=-0.0353 right_roll=-0.0078 right_gripper=0.4773 state[joint_eff]: [-0.3624, -1.7573, 6.8718, 1.8681, -0.0415, -0.0806, -0.0122, 0.6496, -11.453, 7.5829, -0.3687, -0.7204, 0.1685, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.15,"right_y":0.3,"right_z":0.3,"right_yaw":1.5},"note":"At yaw near π the right arm’s IK branch remains folded and even reports x behind the nominal workspace. I’ll unwind halfway while commanding a high, modest-forward pose; a 90° bottle reorientation is sufficient to make the cap reachable from the side."})

tool

executing move_to over 15 steps (1.5s)

step 133

assistant

agent noteThe arm has recovered at the 90° yaw, and the held bottle is visibly elevated near the gripper. I’ll move it to a clear area on the right side of the table, away from the two untouched bottles, before setting it down in its new orientation.

move_to

right_x0.3200right_y0.1500right_z0.2000right_yaw1.5000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7891, 0.5819, -0.3748, -0.0227, -0.0292, 0.9978, 0.8036, 1.1877, 1.2465, -0.8577, -0.6498, -0.5743, 0.4777] state[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.1723 left_yaw=0.0002 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9978 right_x=0.1353 right_y=0.2994 right_z=0.2803 right_yaw=1.6186 right_pitch=-0.0369 right_roll=0.0014 right_gripper=0.4777 state[joint_eff]: [-0.2667, -1.812, 6.7761, 1.8926, -0.0269, -0.0562, -0.0122, -0.253, -4.9436, 9.1556, 1.6581, -0.2808, 0.1343, 0.0269] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.32,"right_y":0.15,"right_z":0.2,"right_yaw":1.5},"note":"The arm has recovered at the 90° yaw, and the held bottle is visibly elevated near the gripper. I’ll move it to a clear area on the right side of the table, away from the two untouched bottles, before setting it down in its new orientation."})

tool

executing move_to over 15 steps (1.5s)

step 148

assistant

agent noteAll three bottle silhouettes remain visible, so the held status is visually ambiguous despite the stable 0.48 jaw reading. I’ll lower the gripper at this clear side location before opening, ensuring that anything actually held is supported rather than dropped.

move_to

right_z0.0400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7841, 0.5671, -0.3721, -0.0227, -0.0292, 0.9978, 0.0105, 1.6711, 1.3811, -1.1828, -0.9604, -1.4433, 0.4778] state[eef_state]: left_x=0.2906 left_y=0.0018 left_z=0.1674 left_yaw=0.0002 left_pitch=-0.0267 left_roll=0.0002 left_gripper=0.9978 right_x=0.3134 right_y=0.1516 right_z=0.1918 right_yaw=1.4856 right_pitch=-0.0372 right_roll=0.0227 right_gripper=0.4778 state[joint_eff]: [-0.3214, -1.894, 6.6667, 1.9267, -0.0366, -0.0366, -0.0122, -0.5128, -6.6803, 8.2393, 0.2955, -0.8718, 0.0513, -0.0024] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.04},"note":"All three bottle silhouettes remain visible, so the held status is visually ambiguous despite the stable 0.48 jaw reading. I’ll lower the gripper at this clear side location before opening, ensuring that anything actually held is supported rather than dropped."})

tool

executing move_to over 10 steps (1.0s)

step 158

assistant

agent noteAt table height the overhead view shows the gripper beside, not around, any bottle; the partial closure was therefore not a transported bottle. I’ll reopen and unwind the wrist while lifting clear, then use a simpler cap-lift strategy from reachable ends.

move_to

right_gripper1.0000right_z0.1600right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7719, 0.548, -0.3557, -0.0231, -0.0292, 0.9978, -0.0059, 1.8534, 0.9649, -0.6098, -0.9813, -1.4677, 0.4778] state[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1653 left_yaw=0.0005 left_pitch=-0.0172 left_roll=0.0002 left_gripper=0.9978 right_x=0.3076 right_y=0.1486 right_z=0.0456 right_yaw=1.4849 right_pitch=-0.018 right_roll=0.0298 right_gripper=0.4778 state[joint_eff]: [-0.3761, -1.5795, 6.4205, 1.9463, -0.0269, -0.0513, -0.0122, 0.0752, -7.2274, 4.8205, 0.4908, -0.7009, 0.0513, -0.0122] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_z":0.16,"right_yaw":0},"note":"At table height the overhead view shows the gripper beside, not around, any bottle; the partial closure was therefore not a transported bottle. I’ll reopen and unwind the wrist while lifting clear, then use a simpler cap-lift strategy from reachable ends."})

tool

executing move_to over 10 steps (1.0s)

step 168

assistant

agent noteWith the wrist reset, the rightmost bottle lies just forward-left of the right gripper; its body center is reachable even though its far cap is not. I’ll position directly above the body center, intending to drag the bottle inward without rotating the wrist.

move_to

right_x0.3500right_y0.2400right_z0.1300right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7624, 0.5354, -0.3485, -0.0231, -0.0292, 0.9978, 0.704, 1.1496, 0.6468, -0.1741, 0.2993, 0.2039, 0.9971] state[eef_state]: left_x=0.2885 left_y=0.0019 left_z=0.1636 left_yaw=0.0005 left_pitch=-0.013 left_roll=0.0001 left_gripper=0.9978 right_x=0.2921 right_y=0.1844 right_z=0.138 right_yaw=0.3196 right_pitch=-0.0713 right_roll=-0.0077 right_gripper=0.9971 state[joint_eff]: [-0.3624, -1.265, 6.6667, 1.8535, -0.0366, -0.0464, -0.0122, -0.9641, -3.9726, 8.6496, 1.6777, 0.3883, 0.1978, -0.149] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.24,"right_z":0.13,"right_yaw":0},"note":"With the wrist reset, the rightmost bottle lies just forward-left of the right gripper; its body center is reachable even though its far cap is not. I’ll position directly above the body center, intending to drag the bottle inward without rotating the wrist."})

tool

executing move_to over 5 steps (0.5s)

step 173

assistant

agent noteThe arm did not track the direct diagonal command after unwinding, remaining near x=0.30, y=0.16. I’ll first move it to a higher central pose with the yaw fully neutral, then extend from a stable configuration.

move_to

right_x0.3000right_y0.2500right_z0.2000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7616, 0.5316, -0.3485, -0.0227, -0.0292, 0.9978, 0.6739, 1.1564, 0.5766, -0.0948, 0.3595, 0.2291, 0.999] state[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.162 left_yaw=0.0002 left_pitch=-0.016 left_roll=0.0 left_gripper=0.9978 right_x=0.2987 right_y=0.1636 right_z=0.1227 right_yaw=0.2267 right_pitch=-0.054 right_roll=-0.021 right_gripper=0.999 state[joint_eff]: [-0.3077, -1.7436, 6.4889, 1.8828, -0.0415, -0.0659, -0.0122, -0.1436, -4.2325, 7.0496, 2.0244, 0.0513, -0.0904, 0.188] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.25,"right_z":0.2,"right_yaw":0},"note":"The arm did not track the direct diagonal command after unwinding, remaining near x=0.30, y=0.16. I’ll first move it to a higher central pose with the yaw fully neutral, then extend from a stable configuration."})

tool

executing move_to over 8 steps (0.8s)

step 181

assistant

agent noteThe right arm is still failing to track height and lateral targets after the extreme yaw, so I won’t force it near the bottles. I’ll return it to its known home pose and switch to the left arm for the central workspace.

move_to

right_x0.2940right_y0.0030right_z0.1800right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7578, 0.5179, -0.3458, -0.0227, -0.0288, 0.9978, 0.7929, 1.2743, 0.6891, -0.181, 0.4488, 0.2996, 0.9993] state[eef_state]: left_x=0.2863 left_y=0.0019 left_z=0.1573 left_yaw=0.0 left_pitch=-0.0233 left_roll=0.0005 left_gripper=0.9978 right_x=0.2945 right_y=0.1949 right_z=0.1204 right_yaw=0.2327 right_pitch=-0.105 right_roll=-0.0606 right_gripper=0.9993 state[joint_eff]: [0.0615, -1.1419, 7.0222, 1.9316, -0.022, -0.0513, -0.0122, 0.1162, -5.5453, 8.0615, 1.3553, 0.442, 0.232, 0.022] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.294,"right_y":0.003,"right_z":0.18,"right_yaw":0,"right_gripper":1},"note":"The right arm is still failing to track height and lateral targets after the extreme yaw, so I won’t force it near the bottles. I’ll return it to its known home pose and switch to the left arm for the central workspace."})

tool

executing move_to over 16 steps (1.6s)

step 197

assistant

agent noteThe leftmost bottle’s blue cap is around image (52, 88), placing it near x≈0.46, y≈−0.13 in the left-arm frame and within comfortable reach. I’ll bring the open left gripper above that cap for a direct tipping lift.

move_to

left_x0.4600left_y-0.1300left_z0.1300left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7494, 0.5014, -0.3302, -0.0231, -0.0296, 0.9978, 0.0093, 0.8055, 0.5552, -0.3954, 0.0227, -0.0139, 0.9997] state[eef_state]: left_x=0.2858 left_y=0.0019 left_z=0.1552 left_yaw=0.0007 left_pitch=-0.0156 left_roll=-0.0001 left_gripper=0.9978 right_x=0.2865 right_y=0.0023 right_z=0.1516 right_yaw=-0.0253 right_pitch=-0.075 right_roll=-0.0095 right_gripper=0.9997 state[joint_eff]: [-0.3761, -1.2513, 6.6393, 1.8877, -0.0317, -0.0757, -0.0122, -0.1299, -2.2632, 10.5368, 1.9756, 0.022, 0.0171, -0.0415] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.46,"left_y":-0.13,"left_z":0.13,"left_gripper":1},"note":"The leftmost bottle’s blue cap is around image (52, 88), placing it near x≈0.46, y≈−0.13 in the left-arm frame and within comfortable reach. I’ll bring the open left gripper above that cap for a direct tipping lift."})

tool

executing move_to over 14 steps (1.4s)

step 211

assistant

agent noteThe left wrist clearly shows the intended cap about 7 cm to the camera’s right and still forward of the fingertip point. I’ll shift the gripper rightward in its frame, advance a few centimetres, and descend partway while keeping the jaws open.

move_to

left_x0.4900left_y-0.1900left_z0.0800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4034, 1.6737, 0.9569, 0.0631, -0.3328, -0.2447, 0.9985, 0.0006, 0.7563, 0.4736, -0.3401, -0.001, -0.0284, 0.9997] state[eef_state]: left_x=0.4467 left_y=-0.124 left_z=0.1149 left_yaw=-0.0075 left_pitch=-0.0501 left_roll=0.012 left_gripper=0.9985 right_x=0.2805 right_y=0.0039 right_z=0.1387 right_yaw=-0.0063 right_pitch=-0.0524 right_roll=-0.0067 right_gripper=0.9997 state[joint_eff]: [-0.4171, -8.1026, 8.4444, 1.7118, -0.2759, -0.0562, -0.1783, -0.0205, -1.5795, 7.5556, 2.0342, 0.1441, 0.1392, -0.0122] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.49,"left_y":-0.19,"left_z":0.08},"note":"The left wrist clearly shows the intended cap about 7 cm to the camera’s right and still forward of the fingertip point. I’ll shift the gripper rightward in its frame, advance a few centimetres, and descend partway while keeping the jaws open."})

tool

executing move_to over 6 steps (0.6s)

step 217

assistant

agent noteThe cap dominating the wrist view is actually the middle bottle; the intended left cap is hidden directly beneath the gripper in the overhead view. The gripper is about 5 cm too far right of that hidden cap, so I’ll shift back left and descend to cap height.

move_to

left_x0.4700left_y-0.1300left_z0.0300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5098, 1.9518, 1.1019, 0.1692, -0.4141, -0.3023, 0.9982, -0.0006, 0.7242, 0.4225, -0.3115, -0.0044, -0.0322, 0.9997] state[eef_state]: left_x=0.4774 left_y=-0.1814 left_z=0.0669 left_yaw=-0.0165 left_pitch=-0.052 left_roll=0.0219 left_gripper=0.9982 right_x=0.2759 right_y=0.0042 right_z=0.1296 right_yaw=-0.0024 right_pitch=-0.0428 right_roll=-0.0078 right_gripper=0.9997 state[joint_eff]: [-0.7043, -9.5521, 7.8564, 1.6581, -0.3053, -0.0659, -0.0415, -0.5128, -1.4291, 7.0632, 2.0537, -0.0513, 0.0269, -0.0122] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.47,"left_y":-0.13,"left_z":0.03},"note":"The cap dominating the wrist view is actually the middle bottle; the intended left cap is hidden directly beneath the gripper in the overhead view. The gripper is about 5 cm too far right of that hidden cap, so I’ll shift back left and descend to cap height."})

tool

executing move_to over 5 steps (0.5s)

step 222

assistant

agent noteThe intended cap is no longer visible in the wrist camera and is occluded beneath the low left gripper overhead, which is the expected grasp geometry. I’ll close on it and verify by the settled jaw width.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4011, 1.9553, 0.9005, 0.4858, -0.363, -0.2352, 0.9979, -0.0013, 0.6991, 0.3805, -0.2897, -0.0048, -0.0357, 0.9997] state[eef_state]: left_x=0.4774 left_y=-0.1304 left_z=0.0467 left_yaw=0.0142 left_pitch=0.0345 left_roll=0.0025 left_gripper=0.9979 right_x=0.272 right_y=0.0041 right_z=0.1213 right_yaw=-0.001 right_pitch=-0.0378 right_roll=-0.0104 right_gripper=0.9997 state[joint_eff]: [0.3897, -8.2256, 4.2051, 1.4335, 0.1343, -0.0855, -0.0415, -0.5675, -1.265, 7.0496, 2.0195, -0.1197, 0.0024, -0.0122] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The intended cap is no longer visible in the wrist camera and is occluded beneath the low left gripper overhead, which is the expected grasp geometry. I’ll close on it and verify by the settled jaw width."})

tool

executing move_to over 10 steps (1.0s)

step 232

assistant

agent noteThe empty close reveals I had mistaken the label/neck region for the cap; all blue caps are actually aligned near the far row of the table. I’ll instead open over the left bottle’s wider body, about 9 cm inward and slightly right, so I can drag the whole bottle closer.

move_to

left_x0.3800left_y-0.1600left_z0.0350left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3931, 1.9633, 0.9062, 0.4126, -0.3485, -0.2428, 0.0177, -0.0021, 0.6777, 0.3447, -0.2707, -0.009, -0.036, 0.9997] state[eef_state]: left_x=0.4702 left_y=-0.1258 left_z=0.0303 left_yaw=0.0144 left_pitch=-0.038 left_roll=0.0187 left_gripper=0.0177 right_x=0.2688 right_y=0.0046 right_z=0.1142 right_yaw=0.0019 right_pitch=-0.0333 right_roll=-0.0083 right_gripper=0.9997 state[joint_eff]: [-0.6496, -10.9607, 7.3094, 1.6874, -0.1099, -0.0464, 0.9109, -0.6222, -1.265, 7.1316, 1.956, -0.1392, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.16,"left_z":0.035,"left_gripper":1},"note":"The empty close reveals I had mistaken the label/neck region for the cap; all blue caps are actually aligned near the far row of the table. I’ll instead open over the left bottle’s wider body, about 9 cm inward and slightly right, so I can drag the whole bottle closer."})

tool

executing move_to over 10 steps (1.0s)

step 242

assistant

agent noteAt body height, the left bottle appears just outside the right jaw in the wrist view, while radial alignment is good. I’ll shift the gripper about 4 cm to the right so the bottle lies between the fingers.

move_to

left_y-0.2000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6167, 1.7977, 0.6357, 0.4931, -0.5102, -0.3744, 0.9949, -0.0021, 0.659, 0.313, -0.2615, -0.009, -0.0357, 0.9997] state[eef_state]: left_x=0.3847 left_y=-0.1626 left_z=0.0294 left_yaw=-0.0083 left_pitch=-0.0096 left_roll=0.0071 left_gripper=0.9949 right_x=0.2648 right_y=0.0046 right_z=0.1063 right_yaw=0.0017 right_pitch=-0.0371 right_roll=-0.008 right_gripper=0.9997 state[joint_eff]: [-0.4171, -9.4564, 4.5197, 1.3993, -0.2076, -0.0806, -0.0952, -0.6906, -0.8137, 7.0222, 2.0049, -0.1197, 0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.2},"note":"At body height, the left bottle appears just outside the right jaw in the wrist view, while radial alignment is good. I’ll shift the gripper about 4 cm to the right so the bottle lies between the fingers."})

tool

executing move_to over 4 steps (0.4s)

step 246

assistant

agent noteThe bottle moved only slightly toward the jaw opening and remains outside the right fingertip. I’ll continue the same lateral correction by another 5 cm before closing.

move_to

left_y-0.2500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7036, 1.8507, 0.7013, 0.4595, -0.572, -0.4278, 0.9958, -0.0021, 0.6346, 0.2794, -0.2447, -0.009, -0.036, 0.9997] state[eef_state]: left_x=0.3819 left_y=-0.1939 left_z=0.0277 left_yaw=-0.0185 left_pitch=-0.0024 left_roll=0.0057 left_gripper=0.9958 right_x=0.2618 right_y=0.0046 right_z=0.1005 right_yaw=0.0019 right_pitch=-0.0294 right_roll=-0.0084 right_gripper=0.9997 state[joint_eff]: [-0.5128, -6.9812, 7.0085, 1.5604, -0.2857, -0.1929, 0.0855, -0.6222, -0.8, 6.9538, 1.9512, -0.1783, -0.0024, -0.0122] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.25},"note":"The bottle moved only slightly toward the jaw opening and remains outside the right fingertip. I’ll continue the same lateral correction by another 5 cm before closing."})

tool

executing move_to over 5 steps (0.5s)

step 251

assistant

agent noteThe bottle body now overlaps the right fingertip in the wrist view and is directly under the low gripper overhead. I’ll close on the wide body; a successful grasp should settle near 0.45–0.55 rather than nearly zero.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.815, 1.9404, 0.844, 0.3584, -0.6563, -0.5106, 0.9959, -0.0021, 0.6147, 0.255, -0.239, -0.009, -0.036, 0.9997] state[eef_state]: left_x=0.3802 left_y=-0.241 left_z=0.0265 left_yaw=-0.0219 left_pitch=0.0001 left_roll=0.0089 left_gripper=0.9959 right_x=0.2587 right_y=0.0046 right_z=0.0953 right_yaw=0.0019 right_pitch=-0.0283 right_roll=-0.0084 right_gripper=0.9997 state[joint_eff]: [-0.6085, -7.9658, 6.9402, 1.409, -0.1245, -0.105, -0.0024, -0.759, -0.5402, 6.735, 1.956, -0.1392, -0.0171, -0.0122] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The bottle body now overlaps the right fingertip in the wrist view and is directly under the low gripper overhead. I’ll close on the wide body; a successful grasp should settle near 0.45–0.55 rather than nearly zero."})

tool

executing move_to over 10 steps (1.0s)

step 261

assistant

agent noteThe second empty close shows the issue is radial, not merely lateral: the bottle remains visible ahead of the fingertip point at the bottom-right of the wrist view. I’ll reopen and advance 5 cm along the bottle body while preserving the lateral alignment.

move_to

left_x0.4300left_y-0.2400left_z0.0250left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8177, 1.948, 0.8459, 0.3618, -0.659, -0.5243, 0.0213, -0.0021, 0.5991, 0.2306, -0.2302, -0.0093, -0.0357, 0.9997] state[eef_state]: left_x=0.38 left_y=-0.2419 left_z=0.0247 left_yaw=-0.0153 left_pitch=-0.0001 left_roll=0.0002 left_gripper=0.0213 right_x=0.2561 right_y=0.0047 right_z=0.0897 right_yaw=0.0021 right_pitch=-0.0283 right_roll=-0.0078 right_gripper=0.9997 state[joint_eff]: [0.1573, -9.6205, 4.6974, 1.5214, -0.1587, 0.0855, 0.9597, -0.9368, -0.759, 6.9402, 1.956, -0.1636, 0.0024, -0.0122] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.24,"left_z":0.025,"left_gripper":1},"note":"The second empty close shows the issue is radial, not merely lateral: the bottle remains visible ahead of the fingertip point at the bottom-right of the wrist view. I’ll reopen and advance 5 cm along the bottle body while preserving the lateral alignment."})

tool

executing move_to over 10 steps (1.0s)

step 271

assistant

agent noteAfter advancing, the bottle body is visibly between both fingertips at the bottom of the left wrist view. I’ll close now and check for the expected bottle-width jaw reading.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7181, 2.0361, 0.9558, 0.3553, -0.6056, -0.4709, 0.9946, -0.0021, 0.5804, 0.2096, -0.2199, -0.009, -0.036, 0.9997] state[eef_state]: left_x=0.421 left_y=-0.2295 left_z=0.0174 left_yaw=0.0158 left_pitch=-0.0144 left_roll=0.0088 left_gripper=0.9946 right_x=0.2544 right_y=0.0046 right_z=0.0867 right_yaw=0.0019 right_pitch=-0.0203 right_roll=-0.0084 right_gripper=0.9997 state[joint_eff]: [0.1846, -9.1829, 8.1709, 1.5702, -0.0317, 0.2564, -0.0806, -0.6632, -0.3761, 6.6256, 1.917, -0.1392, -0.0171, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). 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},"note":"After advancing, the bottle body is visibly between both fingertips at the bottom of the left wrist view. I’ll close now and check for the expected bottle-width jaw reading."})

tool

executing move_to over 10 steps (1.0s)

step 281

assistant

agent noteThe cylindrical bottle is likely ejecting because it sits far to the right of the jaw center in the wrist view, despite overhead overlap. I’ll reopen and make a decisive rightward correction, nearly to the left arm’s crossover limit, while staying at body height.

move_to

left_x0.4400left_y-0.3800left_z0.0300left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7136, 2.0422, 0.947, 0.3695, -0.6102, -0.4728, 0.0173, -0.0021, 0.5682, 0.1936, -0.2188, -0.009, -0.0357, 0.9997] state[eef_state]: left_x=0.4211 left_y=-0.2259 left_z=0.0144 left_yaw=0.0249 left_pitch=-0.0129 left_roll=0.01 left_gripper=0.0173 right_x=0.2521 right_y=0.0046 right_z=0.0825 right_yaw=0.0017 right_pitch=-0.023 right_roll=-0.0081 right_gripper=0.9997 state[joint_eff]: [-0.5538, -10.2496, 4.6564, 1.7118, -0.2076, -0.0269, 0.7937, -0.6359, -0.2803, 7.1043, 1.9121, -0.1636, -0.0073, -0.0122] 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":{"left_x":0.44,"left_y":-0.38,"left_z":0.03,"left_gripper":1},"note":"The cylindrical bottle is likely ejecting because it sits far to the right of the jaw center in the wrist view, despite overhead overlap. I’ll reopen and make a decisive rightward correction, nearly to the left arm’s crossover limit, while staying at body height."})

tool

executing move_to over 14 steps (1.4s)

step 295

assistant

agent noteThis correction moved the left arm over the rightmost bottle, whose body now lies between the jaws but still slightly to their right. I’ll use the remaining lateral travel and close in one motion to capture this bottle body.

move_to

left_y-0.4000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9203, 2.365, 1.6073, -0.0677, -0.7612, -0.6674, 0.9963, -0.0021, 0.5541, 0.1764, -0.2184, -0.009, -0.036, 0.9997] state[eef_state]: left_x=0.4401 left_y=-0.3712 left_z=0.0269 left_yaw=0.031 left_pitch=0.0014 left_roll=-0.0095 left_gripper=0.9963 right_x=0.2497 right_y=0.0046 right_z=0.078 right_yaw=0.0019 right_pitch=-0.0256 right_roll=-0.0084 right_gripper=0.9997 state[joint_eff]: [-0.8, -12.7385, 8.335, 1.1306, -0.3883, -0.0073, 0.0513, -0.9368, -0.5128, 6.694, 1.9121, -0.1343, -0.0171, -0.0122] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.4,"left_gripper":0},"note":"This correction moved the left arm over the rightmost bottle, whose body now lies between the jaws but still slightly to their right. I’ll use the remaining lateral travel and close in one motion to capture this bottle body."})

tool

executing move_to over 10 steps (1.0s)

step 305

assistant

agent noteThe left arm has reached its crossover bound and cannot center this rightmost bottle, so repeated closes there will fail. I’ll park it and simultaneously send the recovered right arm to the rightmost bottle body from its natural side.

move_to

left_x0.2900left_y0.0000left_z0.1800left_gripper1.0000right_x0.4000right_y0.2800right_z0.0400right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9497, 2.4405, 1.747, -0.1776, -0.7795, -0.7109, 0.0179, -0.0021, 0.5354, 0.1558, -0.2157, -0.0093, -0.036, 0.9997] state[eef_state]: left_x=0.4383 left_y=-0.3929 left_z=0.0222 left_yaw=0.0372 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.0179 right_x=0.2472 right_y=0.0047 right_z=0.0735 right_yaw=0.0023 right_pitch=-0.0249 right_roll=-0.0082 right_gripper=0.9997 state[joint_eff]: [-0.7863, -12.4239, 8.9641, 1.243, -0.4029, 0.1099, 0.8718, -0.9641, -0.3214, 6.7624, 1.9414, -0.1441, -0.022, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.18,"left_gripper":1,"right_x":0.4,"right_y":0.28,"right_z":0.04,"right_gripper":1},"note":"The left arm has reached its crossover bound and cannot center this rightmost bottle, so repeated closes there will fail. I’ll park it and simultaneously send the recovered right arm to the rightmost bottle body from its natural side."})

tool

executing move_to over 35 steps (3.5s)

step 340

assistant

agent noteThe right wrist shows the bottle body ahead and to the camera’s right, outside the jaws. I’ll advance 5 cm and shift about 8 cm toward the arm’s right so the body enters the jaw opening.

move_to

right_x0.4400right_y0.1900right_z0.0300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0982, 0.7822, 0.5804, -0.3515, -0.1703, -0.1333, 0.9975, 0.8249, 1.9995, 1.0096, 0.2008, 0.627, 0.4671, 0.9997] state[eef_state]: left_x=0.2946 left_y=0.0047 left_z=0.1796 left_yaw=0.1022 left_pitch=0.0179 left_roll=-0.0123 left_gripper=0.9975 right_x=0.3887 right_y=0.2733 right_z=0.0291 right_yaw=0.0386 right_pitch=-0.042 right_roll=-0.0385 right_gripper=0.9997 state[joint_eff]: [0.0342, -1.4427, 8.0752, 1.7167, 0.0757, 0.0562, -0.2076, 0.1299, -8.8957, 7.9658, 1.6581, 0.5397, 0.2808, -0.0415] camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.19,"right_z":0.03},"note":"The right wrist shows the bottle body ahead and to the camera’s right, outside the jaws. I’ll advance 5 cm and shift about 8 cm toward the arm’s right so the body enters the jaw opening."})

tool

executing move_to over 7 steps (0.7s)

step 347

assistant

agent noteThe bottle now reaches the fingertip row but is still pressed against the right side of the opening. I’ll make one final 5 cm rightward correction and a small forward move to center the rounded body before closing.

move_to

right_x0.4600right_y0.1400right_z0.0200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1051, 0.8021, 0.5808, -0.3824, -0.1734, -0.1307, 0.9973, 0.5766, 1.9999, 0.873, 0.4, 0.4347, 0.2867, 0.9997] state[eef_state]: left_x=0.2917 left_y=0.0035 left_z=0.1681 left_yaw=0.0965 left_pitch=-0.0311 left_roll=0.0016 left_gripper=0.9973 right_x=0.4254 right_y=0.1922 right_z=0.0037 right_yaw=0.0364 right_pitch=-0.0767 right_roll=-0.0421 right_gripper=0.9997 state[joint_eff]: [-0.0752, -1.7299, 8.5128, 1.7411, -0.1978, 0.0024, -0.0366, -0.9231, -12.547, 5.135, 1.956, 0.1734, 0.0757, -0.0122] camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.46,"right_y":0.14,"right_z":0.02},"note":"The bottle now reaches the fingertip row but is still pressed against the right side of the opening. I’ll make one final 5 cm rightward correction and a small forward move to center the rounded body before closing."})

tool

executing move_to over 5 steps (0.5s)

step 352

assistant

agent noteThe bottle is now at the fingertip depth but remains right of center, which would eject it during closure. I’ll shift another 5 cm right so its body crosses the jaw centerline.

move_to

right_y0.0900

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1051, 0.7891, 0.5533, -0.3618, -0.173, -0.131, 0.9972, 0.4149, 2.0003, 0.8158, 0.5243, 0.3031, 0.1883, 0.9997] state[eef_state]: left_x=0.2902 left_y=0.0036 left_z=0.1633 left_yaw=0.0964 left_pitch=-0.0251 left_roll=-0.0001 left_gripper=0.9972 right_x=0.4467 right_y=0.143 right_z=0.0015 right_yaw=0.0362 right_pitch=-0.0548 right_roll=-0.0162 right_gripper=0.9997 state[joint_eff]: [-0.294, -1.935, 6.7077, 1.9365, -0.188, -0.0269, -0.0171, -0.6359, -10.4957, 6.2838, 1.9023, 0.149, 0.0366, -0.0122] camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.09},"note":"The bottle is now at the fingertip depth but remains right of center, which would eject it during closure. I’ll shift another 5 cm right so its body crosses the jaw centerline."})

tool

executing move_to over 5 steps (0.5s)

step 357

assistant

agent noteThe lateral move stopped early as the fingertips contacted the bottle, and its body now straddles the jaw centerline. I’ll close carefully on the body and verify the jaw width.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.7784, 0.5327, -0.3477, -0.173, -0.131, 0.9972, 0.3912, 2.0003, 0.7589, 0.6296, 0.2825, 0.1665, 0.9997] state[eef_state]: left_x=0.2887 left_y=0.0036 left_z=0.1597 left_yaw=0.096 left_pitch=-0.021 left_roll=-0.0009 left_gripper=0.9972 right_x=0.4448 right_y=0.1341 right_z=0.0021 right_yaw=0.0419 right_pitch=-0.0138 right_roll=-0.0055 right_gripper=0.9997 state[joint_eff]: [-0.4991, -1.7436, 6.6803, 1.8974, -0.1343, -0.022, -0.0122, -0.5949, -8.1299, 4.5197, 2.0195, 0.0269, -0.0415, -0.0122] camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The lateral move stopped early as the fingertips contacted the bottle, and its body now straddles the jaw centerline. I’ll close carefully on the body and verify the jaw width."})

tool

executing move_to over 10 steps (1.0s)

step 367

assistant

agent noteThe close was empty because the rounded bottle rolled to the right of the gripper; overhead now shows its near end about 10 cm to the arm’s right. I’ll lift, reopen, and approach from directly above that shifted end to avoid pushing it sideways at table height.

move_to

right_x0.4700right_y0.0300right_z0.1000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.7719, 0.5159, -0.3367, -0.173, -0.131, 0.9972, 0.3916, 2.0003, 0.7525, 0.6296, 0.2825, 0.1661, 0.0169] state[eef_state]: left_x=0.2876 left_y=0.0037 left_z=0.156 left_yaw=0.096 left_pitch=-0.0203 left_roll=-0.0011 left_gripper=0.9972 right_x=0.4427 right_y=0.1334 right_z=-0.0 right_yaw=0.0424 right_pitch=-0.0199 right_roll=-0.008 right_gripper=0.0169 state[joint_eff]: [-0.4581, -1.5521, 6.7487, 1.9219, -0.1832, -0.0464, -0.0122, -0.2256, -8.5949, 4.2188, 2.0342, 0.1197, -0.0171, 0.7497] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.47,"right_y":0.03,"right_z":0.1,"right_gripper":1},"note":"The close was empty because the rounded bottle rolled to the right of the gripper; overhead now shows its near end about 10 cm to the arm’s right. I’ll lift, reopen, and approach from directly above that shifted end to avoid pushing it sideways at table height."})

tool

executing move_to over 10 steps (1.0s)

step 377

assistant

agent noteFrom above, the shifted bottle is now centered on the right wrist’s jaw column, only about 1–2 cm to the right. I’ll make that small correction and descend vertically to its body center without further radial pushing.

move_to

right_x0.4600right_y0.0150right_z0.0300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.7662, 0.5026, -0.326, -0.173, -0.131, 0.9972, 0.0738, 1.7351, 0.8238, 0.2852, 0.0227, -0.0139, 0.9956] state[eef_state]: left_x=0.287 left_y=0.0038 left_z=0.1536 left_yaw=0.096 left_pitch=-0.0173 left_roll=-0.0017 left_gripper=0.9972 right_x=0.4595 right_y=0.0336 right_z=0.0712 right_yaw=0.0392 right_pitch=-0.0556 right_roll=-0.0089 right_gripper=0.9956 state[joint_eff]: [-0.4034, -1.7299, 6.5846, 1.8681, -0.1392, -0.0171, -0.0122, -0.3214, -9.9077, 8.8547, 2.0195, -0.0073, 0.0171, -0.0952] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.46,"right_y":0.015,"right_z":0.03},"note":"From above, the shifted bottle is now centered on the right wrist’s jaw column, only about 1–2 cm to the right. I’ll make that small correction and descend vertically to its body center without further radial pushing."})

tool

executing move_to over 3 steps (0.3s)

step 380

assistant

agent noteThe bottle body is now squarely between both fingertips in the low wrist view. I’ll close on it and check for a nonzero settled width.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.762, 0.498, -0.3218, -0.173, -0.131, 0.9972, 0.0246, 1.8462, 0.7334, 0.4728, -0.0177, -0.036, 0.9956] state[eef_state]: left_x=0.2867 left_y=0.0038 left_z=0.1535 left_yaw=0.0959 left_pitch=-0.0135 left_roll=-0.0025 left_gripper=0.9972 right_x=0.4516 right_y=0.0178 right_z=0.0257 right_yaw=0.0361 right_pitch=-0.0695 right_roll=-0.0029 right_gripper=0.9956 state[joint_eff]: [-0.6496, -1.6479, 6.0513, 1.873, -0.1636, 0.0073, -0.0122, -0.253, -8.8137, 5.7641, 2.3468, -0.149, -0.0415, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The bottle body is now squarely between both fingertips in the low wrist view. I’ll close on it and check for a nonzero settled width."})

tool

executing move_to over 10 steps (1.0s)

step 390

assistant

agent noteThe 0.58 jaw reading confirms a secure grasp around the bottle’s near body/base end. I’ll lift it slightly and pull the whole bottle about 15 cm inward, making its cap reachable for the final upright tipping grasp.

move_to

right_x0.3000right_z0.0900

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.7624, 0.498, -0.3183, -0.1734, -0.131, 0.9972, 0.0204, 1.8858, 0.6815, 0.5888, -0.0299, -0.0433, 0.5837] state[eef_state]: left_x=0.2872 left_y=0.0038 left_z=0.1541 left_yaw=0.0963 left_pitch=-0.0105 left_roll=-0.0029 left_gripper=0.9972 right_x=0.4468 right_y=0.018 right_z=0.0135 right_yaw=0.046 right_pitch=-0.0449 right_roll=-0.0021 right_gripper=0.5837 state[joint_eff]: [-0.4718, -1.812, 6.1197, 1.8242, -0.1832, -0.0269, -0.0122, -0.0615, -9.4427, 4.465, 2.0195, 0.0513, 0.0562, 0.9011] camera 'top_cam' (step 390): [image omitted: streamed camera frame] camera 'left_cam' (step 390): [image omitted: streamed camera frame] camera 'right_cam' (step 390): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_z":0.09},"note":"The 0.58 jaw reading confirms a secure grasp around the bottle’s near body/base end. I’ll lift it slightly and pull the whole bottle about 15 cm inward, making its cap reachable for the final upright tipping grasp."})

tool

executing move_to over 12 steps (1.2s)

step 402

assistant

agent noteThe bottle moved inward with the gripper and is now much closer to the base, while the other two remain undisturbed. I’ll lower and release it onto the table in this reachable position so its cap can be grasped next.

move_to

right_z0.0250right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1051, 0.7605, 0.498, -0.3164, -0.173, -0.131, 0.9972, 0.0334, 0.992, 0.2588, 0.0483, -0.0269, -0.0429, 0.5865] state[eef_state]: left_x=0.2874 left_y=0.0039 left_z=0.155 left_yaw=0.0963 left_pitch=-0.0068 left_roll=-0.0038 left_gripper=0.9972 right_x=0.2885 right_y=0.018 right_z=0.0577 right_yaw=0.0564 right_pitch=-0.1143 right_roll=-0.0019 right_gripper=0.5865 state[joint_eff]: [-0.3761, -1.1145, 6.2427, 1.8828, -0.1343, -0.0562, -0.0122, 0.3077, -3.0427, 8.253, 2.9963, 0.0464, 0.0513, 0.6129] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 402): [image omitted: streamed camera frame] camera 'left_cam' (step 402): [image omitted: streamed camera frame] camera 'right_cam' (step 402): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.025,"right_gripper":1},"note":"The bottle moved inward with the gripper and is now much closer to the base, while the other two remain undisturbed. I’ll lower and release it onto the table in this reachable position so its cap can be grasped next."})

tool

executing move_to over 5 steps (0.5s)

step 407

assistant

agent noteI could not complete the task within the remaining control-call budget. I successfully grasped and pulled one bottle inward, but all three are still lying down; completing the required cap grasps and tipping placements needs additional motions.

give_up

hindsightThe blue caps were at the far aligned ends near the top of the overhead view, not at the nearer label/neck features I initially targeted. For these bottles, first grasp the wide body only after centering it precisely in the wrist view (the successful right-arm grasp was at approximately x=0.45, y=0.02, z=0.025 with a settled gripper reading of 0.58), drag the bottle inward, release, then grasp its now-reachable cap and lift while translating toward the base end to tip it upright. Avoid large wrist-yaw rotations: yaw near pi folded the right arm and caused severe Cartesian drift.

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1055, 0.7605, 0.498, -0.3187, -0.173, -0.131, 0.9972, 0.0326, 1.2034, 0.0647, 0.4522, -0.0307, -0.0441, 0.9956] state[eef_state]: left_x=0.2871 left_y=0.0038 left_z=0.1545 left_yaw=0.0959 left_pitch=-0.0091 left_roll=-0.0034 left_gripper=0.9972 right_x=0.2727 right_y=0.0179 right_z=0.0049 right_yaw=0.0595 right_pitch=-0.1158 right_roll=-0.0004 right_gripper=0.9956 state[joint_eff]: [-0.6222, -1.347, 6.5709, 1.79, -0.1197, -0.0415, -0.0122, -0.2667, -2.4, 4.3282, 1.9951, -0.0513, 0.0659, -0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 407): [image omitted: streamed camera frame] camera 'left_cam' (step 407): [image omitted: streamed camera frame] camera 'right_cam' (step 407): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not complete the task within the remaining control-call budget. I successfully grasped and pulled one bottle inward, but all three are still lying down; completing the required cap grasps and tipping placements needs additional motions.","hindsight":"The blue caps were at the far aligned ends near the top of the overhead view, not at the nearer label/neck features I initially targeted. For these bottles, first grasp the wide body only after centering it precisely in the wrist view (the successful right-arm grasp was at approximately x=0.45, y=0.02, z=0.025 with a settled gripper reading of 0.58), drag the bottle inward, release, then grasp its now-reachable cap and lift while translating toward the base end to tip it upright. Avoid large wrist-yaw rotations: yaw near pi folded the right arm and caused severe Cartesian drift."})

tool

give_up: I could not complete the task within the remaining control-call budget. I successfully grasped and pulled one bottle inward, but all three are still lying down; completing the required cap grasps and tipping placements needs additional motions.

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 · 12.41 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0227, -0.0288, 0.9985, -0.0158, 0.7891, 0.6041, -0.3862, -0.0238, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1826 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0032 right_z=0.1801 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4838, 9.7299, 1.7851, -0.0562, 0.1294, -0.1734, -0.9641, -1.0325, 10.3863, 1.8828, -0.0122, 0.2173, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b817a6aae8aab2b684daccd8aca8ceffc193196d2dbe9479e4d9f1627fbb03d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:176bf6ef10f1d72de44780f2198d7816832e81abcb8c998403d5b04d93ebabee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:635545175096d465f2e1da307ac432a551c94172abf86ab071063b49591942c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 7.007 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAb0TVZ85GQOcTHPd8mCcdn_NkRlsaUNNX1D2t7JP9hoAoQll0rESTZqFXwGLdt0_jrB-97darxIhSSq6soCUOOc-zInOMN6ggYDAcixaAeXE4XmMLRkZuhqY-9SqLBUE89nVkEstEgv0vOYdpCjWjxvmCLgKoO1W9tkdxtycMDwokv0zZw0WbLiYxqz3UstHHANifYKiSrU0rOFVRbVwsUjyDK1NkRd0pNnocwFyvwyUV2GA835GeIiDV8UBgVf4cGYSZu_LVeJ8H4OAqYUMYUWFdb842U1xl5w2Dlucl1R7AA8Wk8OCOTtrhLTvhMhtg04HgEcrkHuGZrdMQ97MHml9RYL007gJ6uTO6nFInxA2BIQENHKI13UMObDALT_0pn3OuNPYhAdHu_X5Y5ndjQX1Qc4JCpiiBBRmC1K0uE8qfi6qAdW2F-CA29nKIEPNYCEi2z-Wis9HivIwBwaSolijzCom-MPViVnANFEhHubcFe6QvH-sjYqlHv8DbGTgjIrSWz7F3AbM4fV6D4DFU-QfboLpTt6-G2ZanQ0lPqL2IUVw811RXznndH8zoeMwKcu95Fzgeb4axyex9Wly6-cVAlDQKLddNCIuq3tVb0cxIEUei86RDXEo9sxEMtO-FkVHbWcUP4uThoQcxESyutm6OpvGgmXD75lY1pg72BHJ05UhpuL3LkApp-1E2c5omyjsTEQZJSCSxB9VDD4w8oOqWSG-DUd3AeeJClpqH-TIStcchEmB2d5sd9G4AVSju65YM2-xV2-9GKJhzUeCkakfY11LwZLldBG1HaxfbTb-d8ZhaqUNwMdFcfUNPMXadngPtLSZnCtWJB6PYgdBmBkFpMs06jAWCfProtHqSEzMJ67r-9XpauAUBCHbTPkWlQr3VD4sbXwhLQG4NptB7TYZPhbdSfjPVr__J0qKSzezKWnnMMJ8AYJRarBTM9DF6YtnCjx-3MEHGiNvO3CnZrLZbc0teBL69CwC-6U1_RCTKB2Tm7X_RlWxBsOAs-haUDiSxDmrurfUtQlhCRSNSuPq8mHzK_Vd81n9YxLcZvwc60eMTP76ASZA4Igkce7PsPioMG2_qMx8bO-MAVObWN47_fzH6iGx4C6c9Jfdx1UP19DGB0S2_A_7SraVQa_k6Gw3rdSkGFG3aRu3sU2l3S9VyBTqFOgUwD4W9Vz1v8wWv3r8HHU5nGixpqssDo1dcWyu8Nrh2JA9z1o10hBagmv2dCRg2-VHBy4j0L0EY5tsnbOjREZgUb5xWjNvrGDjGyVNrqU5MLPob2_9WLnahxWjmULzsP0YhhKETJosyno4ygM6sNbvIYfTjVMHPX5OhmpBk2GCH9qPzRrcoH00DDAIQB4ef_KgRgx6eVUzsMGZEDYEWqChd2Fd9AFZw4xTSPb6yaw4VXgBtV7X1AUS0lQmyWpThHx_M8woJVQPpTRt1RWCuWBLr-TSm0Ct50IuELMGpdBuki2mijOfqAlkegRyaCxA5bUSyn5YBNeI2LPUBH3ioH8rCj_NlltTX5sEYIedmdHxlReIEO7b_GUkaw86VK9xuQ2P_13ABOWoOPMq4ESX1FobJwQ_IjAL42-3tUhoZYYLrSd5sMEPI8VcfDyLYTV8mswHAHg3mO_2KDagiWmx5OGh1GPTPxR0wE3ECuAXTLSnPQtEC8h66k115ThNY-lxIGzOAhkJQB8LUh-3Yk4RWZeTS_SLOs0iPL1jHqNPXFCAxHG49XRWjg7J-aLdPq7c6jYCz2srjkvF8l-f7ygeSb-Qi72M-bnqC5TdAHcxQzzSYXfFvC1PUjckiuDuoDcP75q7sB1PCeNvdRbXE4POg_xFRohFuebPLeQMIcZX4-Ptf7UosJjZzXWd86Gd1ZUDDsS6OOP7R4QxOuXlw5vKqIirk5T8jQGFLB5MsV6yrHIWfH6Rai2y8ViXXVRc8d6UzSPPaNJBKBzq605D46B03HLjhDQfst2vu4boS6mDS8o-Nj8knuU3RFm6Sw457vijv-0c6A38iMaotW8CdlBH2WuQwqNe6KbIePQKg0cOCzBxENny9sbhbYqYoDTuvC55HPL-KwTsKrLr3poI1JvKCKNB-wtQbugxp9TYNnVTEusp7MN_uZnPuvZvZ7zh_60rAxOXucusnEBK3q-kPk85SQxmdnziuHqJLN_fJsIdpTsmfyTu7_g9oZfsA2xCLb2bUvy_DXQ829-WpcdlKDvSWe8TFoIJsUmJKn_zIGFAywJRLFL0STTFRIjb3NBCIXXBwRmpnezTnF3E0McwUzAqaHGjK-QkT-2h52X11bPsASlLRJ6VNa-i0sOruahLD4KbBZzR7ttRApaABPZF9BmiL1YOgU90MZG3PPmXo21OiQV_ZLhl7ykCrVxxw9AHs0P7Qhsj9-cOa9swxSXDddo37dgIsYHqDSNVu9CBSPxPEPkYHoVAlXzgMhu7ZIkXyVrpfflgtAXJjgNPPde6IIAtwnYgmuRal-QP79N7Sl3Ktj_CCyfyZhjFCyMx0Zqrw8Q2AmArYjL3fCu8k-SbxeMQtMwM4p21bN-eqZ7py7rq7jE-POgcXARfdDx4nCHglsjciLdy7VTRoTSFk8YMhuCJPrpQsWYYBGSoGfq2IFxMI9TTuR2NcujNIjLXSmBggjyXnQXMo7sC3fXzKoPGyQVLC8ioN7soUtDjV7-L1I-lZN36I9BD0XXTmgSsQc8oGIcS74wM0mMMxJjS8Bu-24l5EIcdjRKlZs8_d3w6nTGI2y2-wFmNEaSd_28RSSc7NtiAp0aLqeo82UCRvkAvJLws6OAzu4oApaD7ZKcQB7DMlLtayA0xWwc5kPBNWTCbH0SIS-ct2zM_4z9ng_XT2qt8GoMW96WSR5YSnbjU2i9eztmJq9RPv4KZoBu4SVqRoLpNU144b7h7v2HiMCgJ4sef9NuNEvpXxRHZeVqsr-6XH7MHKFmvsCfUdVK320UPnuzLivKMgws0gMcrS6jhkMqqt0ZBmWi8s8zGB2fWTzS7n5mhVju8ECRrWvxP3FN0Edsd1JjWcPluJ1vz0StFopKFWhe6di0QKUd65K7OzzWh36fNnAHAgAaZejAi-EIAjIiKKB3zh8T8qJXUy2lptB_hG8AwL7hCKl6ukV9h-jiu1W3jtInbLqjV-1pu41eP9iSot2pIItAKyl01Kwh6dRFP1xxPyJWFjmXmvFAXWjzSqPXHV6t1nZTu9l-IYx3SmZeEwsspalAdA54buE5bwTPT3wzKaHe0C9uJQOGkt6BlNWhMnQSkADc3Bcxqi3i39626EwcIouuonv7BqNFc1eULOIWd2yh0aLkKArNl3iB7ZPs0_wuPfnftkJgVS3AWy5JW3qDJqhhcCX6zDrN12BeRJf0KSQPpYV_rkREQwhx8HVcagBmo5FdBqmKhR8qIxiXvGqFks45PiTdpTLGr76yDUPENyjp3pFv0mya-rKVNa6waaO1BGZ2sfh_KEmgJmpwf8xIWq0zCgkg2iUvTZWiJWCRGBiMeU5A4tTxgPTlIJRcG6f260FMJ236gSIaqWFikEohnxuhzTXARUD3xhCcAzGQkDzCF506AqxbSl3Ydfx3qSFUKoPhLPxV5CCayS9xOQTcumXi7odFSLE2pXbf3CFmjACVrEk7BfdApjT0PHUwz8GnlDU2fhRUDNbli8-eU47N2xBBE-vE_0X5WENr1EBmUOelkl_FHUazWSHXbmM_9WG2hKu132gA4VkOTlI3rfcsgM3WsDM4079KKAc6WtDllL6XkCwbytiP1rYT8NDNEx0Fx8AHaLHxeXWS0VXPVVvZ_zf7ynHuYkLPv-fTcV4DphNz2KAIFs-tAqcRvfFyBdZ8KQxgGWGlWoq_s_yzJwXCEcayJrLnnBL5HpG7qWooej_3ItQ8AiwC8XwXeAn0gKj2rKTnFWAp5OcftoDZAmxIYYJBZEdcaCAAaX3566OUgjy-61i1HeyQjBEqVYqiYM-8wuukPZw4TXvmS8Enzh21NfJJFc_qaEu9mPC96mSqxaCmljDTv70RzKPH1kLkPiFkc9QIs8-RsqstQ==",
  "id": "rs_064f03d89bc1b210016ab4401071a087d0affd590120608157",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAbZkgELtLVM2EHkJgbs2dGLds3JYaGlqm4Jwm0-JcFP73buleADWSZqlclf3zKJtlZeWdXeHBC7Q2utd4tB8F1orpVM4OXbqpvjvLRIz8Kt48_4OFBlM5DKPPRE5Wf3ae1hIqA7ncOBylUutavRFj_pzpsX0x9UDJAP5ucK0Z5sxHIwRmNTDyP2mbkyWZuN-p8EHjj31_h8cuWjW-OXoAFUQDET4vVBrJWvNIlD9f9KCebjTrp8T2Ahx1mEjgtA1kKUko4J6n141ZEU7jL9jaUzG4XnrQb3Eq5DqdHGrsv1E9oyyHquDPShKvv-sle2-djijuLpVFnH7AuaPjZ_jivR52rQcKOyvAo9X84QwRQw3EWtZipjZnpFv8XwTMTz4lV80uf-XhqPZoQwTZtfH91XBQuIM7xbZuBNoqvjxyZzQ4a1oqCcyWFF7WH9Sb4Kha_TWKeniAqgcbXd5FO3en13VBK8fcYD-dVVo9SFzYZFsCOakdvTcva3CalUuLGb9ebG6mVmN2sNFJ3S-j6a_0tK5RVfBDIUuIX6wG12DWS1WswKK_U2ufbKyjjK54BDxGOwKlIrGRuoFC-qrBruPWg0hTJEY8cpFVo_ksfjxL6ySImfq3H3490Keee9Pvio4uFNPfAxA2OpdH4LT-9dMmGel23f9DnPbExIyNlVAAJq2bsRIsAWLG2vMbbyiWx1XHOkA60At0YqNjxO3oi0skNA6A6riphLDVo8XAgLZE3hjGj_yoPOOQCYGjdb7uHRBajQnSGF5a-ymkoMvuZ_77YO6_ewZA80C7lduQkHUA_Mv-MRQcXbiWDcs7h0t6jcuoxXUTe6WYr3mezBBXgENmcJF-sZ3kii5_3SOQyMYAvaokkc7iM_mJZCHQKfcbemOMD9m44ly5F5VJEMIJ7Uzh4P58f0m855nIr3zW7OugdL490pBWO-rQ1fP128zIeDZjldtxqqbAYwMbhWDDc-PmGY2PBjDIE86dwVvU2vkq6_VnLSN6gGgR_6eZG5ITt96wa6O4HuT_F2rNwHS6KmDOgQtlzn-DaAfiRCph5kQlnIxC10p51pRyxOKe4Yjr1doCmy-XfNDnZ8s4QznuHZixB_FqClOUlSiSP3E30f6HTaUWqjQySHalp58I4g_t5jQ7Qf4PzrgxCbAjeNQCF0-kqnwUpJpOjNkH0hSxW7NfUwY5JOLBwgC9hb-G10ZV0yAKlupWOjn05xCKzd0_-uKOoGvJk0-_AHDO3vyBNmPKn7mujKttITKEUGE6vDO9vIMHWpAZ4sgw0yspUahBcc4vmo9ez9QemL-zvm-ZJMSv5BU-P1o_ukbXuKp-4zypiQxNL0eEjBeYEDxDySqSKlkRBDbNV8FC8plapkhDZkSw0b4EGmIJ-br18E1ZfYHyOkFcHZoCHv61uUBD-BdmI5qzNRIGBBzEIBxa6LqIs2G7zfQ50ksF8OWbvtWIaX-vfwR8lBNN1qP1JaoO1uKgO5WzQLiwZTS3Bh5w11Ky32-Z3Kadytjnsj2Hnpz3te38hzb4VpcMcaGNo-AWztzzHahOIeDg089Ek15Sxw_C0ik9rlGahTbarfBSzKxMK09Ua521bn5B4Pac7O5QmafxJAECwwPyIMg0Pu7xMqsQNNXGVQRqxYXipeqADh9vrXr0HA6W85rmkWUWdKYgIaAhiES1gk7tbpyDhNF4Xs38bb0-j6GrTdfsnJ61r3K5ly2Tj4mlIZ9VDU5RmAGTa-onkQeThsMP2bQPU2INQO6PsThmMYsBml2jEsxuXFtQi1xrRlZWApJNkkeOvdKOTHGO9jbrRc4EYzUPHTFFHII_Acu2eA8zhdnMJPRbLLG9mBqDqi0R0jOaeV-WEnnK3tDv1hUBQGp9LK3MsdgGDcZ5MLNZMXx8x9lOTv-f1TArGM11offPLhPfcYqZi1sK2cAnCjUZfo8IvAnBR1_lCNz-JMfjZEDMs_XX8aeE3_DbTVdQS0lvSTyL77-v24XcyvOMwsJi8yRNununedA-AuFtsn-r4Te1w8FopP14i1879DqonUwIQ6eIBsJaucgnx8HSxkl8cTbJa3i72mbCWhVqSBE3_aD-MPMQBcdjSJIk_UM7WV82HOQSGgA7IYiEDAWMnnp0IZatCfZrLxx7y-lfA1osw9kxjay5_XuqAoSLVXkUP0IyTa2s8TKknVP0yqlzRfHbqdvcVloztXjAE_8RNXgUwV5-RxrfYZAufMtxGuDh7R8FLCRgzb2_n9Bkd7bhAsAux5Hwc6TfKEXwKp_tSiI3XuY9RMZ1GJrl3ylMuu4OivIfLt-0bSUFbbjzsdfSlUvwIKFbn2ZEKHRxric2NrGgmd3gEY9lEU9xmqKGqt5wzjsGZSUjrPZYVjr4m3iCwzsQ-jQok79v_grHQa0SdNgtDnko9y3T2UJQ_uYLuy0lz49MHfRbzy6wMa3snU-3c0Y8JlOVd1gBITtQ4D9BNvb9JmB8os4D7Xp6jKkNZOpw_CPVO9OceB_sB-2ivfhqhsDL9KXKuVxrpbDOOsi6SjkYpq96EHKC3HBUUQSbn4t2sUKCysJs0BAmFiJ94XD54OCV4Lm25m0Nnt4b9My3KzwluU1siufB9D1mUr4Rmzhac92Dg5zw5q4bLBY61NWywV5uGwYayIztEZnJ5iauJ9PrLbzWsQ5u3ETbMq27fQXhOgPilcNlAygJknyxdS8BwBck9VpcwQLSWh6j8Q4MHCEP3ksEmVIwpqHKdrKxY6yAZYsc0FO531Tzldz3VmkwqNX3l42JiDipNa-DyqZP97s8rG-T5dixQ4cvhhepQPaJiMHD33hf24OSQ8JA2Oigj6FhFKoh9_fhCeqAz9kYBuRvKgji5I3MLBfo9nOsKpQfeb9i1HE-EfZgWIiuAjbGhtOPV4cMJVIOYd0PNFYjPdo9oFA47SJoGBE4RilOeg-tq9uF_CkbKCB_3cc9fivalMauzsXVfPyfAMgsu2aH7IwuPEXgFH1kb7x4l3z7AIVFDfBeATT5K9f2ZFI1wM6Krsk6QMAVwfgct5BDlafrlZYKyyVbmZ9lIa3QWX7IuhCte-kV6ethXh9s4vad9miRsHblRqaFJakj5SJOJwfNeFgp1fZxAbvQWtbc3qy79veZgHbTCYLqejn1lMff_KJSxbvYKgnLKyUbbSLMLl6CRHh6VJMVdqamOy-16gtX-qZxZdPgUKiDgL6HEYJeFYfh5GwxNWvXsuwBIjIoFNmzi2chS3XX5ZhONy8Cm1BmB7Y28QPCuF8B0IS-iiDsVGoHAdnJkeeWwhRXLpqFyS1cYxYFYlUzSnuctJawGdZw_Swa-qyh7qnECAhSqppBWdUe3uZ9K7TjeCRP2fBsHOQBUHUp14_pdUrpTtE6sud5eb49XJgKwnXvXK1rtIbg1BEK6CKPcyw==",
  "id": "rs_064f03d89bc1b210016ab4401609bc87d0b96fc324c075fd33",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.29,\"right_z\":0.13,\"right_gripper\":1},\"note\":\"Three bottles lie near the center; the rightmost bottle is almost radial, with its blue cap at the far end around the upper-center of the overhead image. I’ll bring the right gripper above that cap, keeping ample height for visual alignment.\"}",
  "call_id": "call_SqJq6yLm7UP33z8GuwjYPBol",
  "id": "fc_064f03d89bc1b210016ab4401a898487d0a608e12b0813be9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SqJq6yLm7UP33z8GuwjYPBol",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3836, -0.0227, -0.0292, 0.9983, 0.709, 2.0377, 1.4597, -0.1726, 0.5308, 0.3683, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4654 right_y=0.2861 right_z=0.1126 right_yaw=0.049 right_pitch=-0.0586 right_roll=-0.0433 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.6205, 6.8444, 1.7363, -0.0269, -0.0513, -0.0269, -0.212, -11.1248, 9.1282, 1.6581, 0.5397, 0.3199, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2dcc7f3d1b2926a93205972da573b4c782e37bd7bf5033172b68eedadd9b6b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a486f1d77e3818534af2f31fb422647f06e63bab49208a8173f242a025e97cdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3d4a10dea19618bc2f568b6cd98988a1c7436d5f2e6ced263e1465e677f8957",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 3.844 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, 0.7933, 0.6079, -0.3767, -0.0227, -0.0288, 0.9985, -0.0158, 0.7891, 0.6041, -0.3862, -0.0238, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1826 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0032 right_z=0.1801 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4838, 9.7299, 1.7851, -0.0562, 0.1294, -0.1734, -0.9641, -1.0325, 10.3863, 1.8828, -0.0122, 0.2173, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3836, -0.0227, -0.0292, 0.9983, 0.709, 2.0377, 1.4597, -0.1726, 0.5308, 0.3683, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4654 right_y=0.2861 right_z=0.1126 right_yaw=0.049 right_pitch=-0.0586 right_roll=-0.0433 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.6205, 6.8444, 1.7363, -0.0269, -0.0513, -0.0269, -0.212, -11.1248, 9.1282, 1.6581, 0.5397, 0.3199, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2dcc7f3d1b2926a93205972da573b4c782e37bd7bf5033172b68eedadd9b6b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a486f1d77e3818534af2f31fb422647f06e63bab49208a8173f242a025e97cdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3d4a10dea19618bc2f568b6cd98988a1c7436d5f2e6ced263e1465e677f8957",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAkEFDhVroku8hXMl4ZHM9zHG9BvX6mTRlwqrf9_00lhCx6YAEXYcPpnFatEZzM72DOZH3frDvodvlXtJPxZaU-yGig4pvppgIPtSVNMOHTkVrjan3gVC7gz0IUIj6AKD-Fjd-2TR4zN_9gYiHoY7Af9NijP_6MlkvdhDkh1MvngR5On-ngUtnNpiQw8n9Xs7ITJs3-e5k1K7un79FoPrzCv6k96jUpVNx-2tdtFhDX-t6sUPy2w5wBfi4V6WBm5GoGGEUa6f9uvzjLkQkw8DWoIFtDzA-Xmb12LYKAXSSAaj69IWCdzqEYYI1_g_2nKlSNI6vj4al9bn9fqm4J1OnLbK1t47nNUc6b2_2B23b4wRpKkFMEC2ha03EOB3ZE2wlaCL2geUhmefij_7n-Y3lOkfJzemKmBgQonXfuP9DFvet7TmLqKX7JocgglF0vNnqPhGl2I24CP71KHUvivRVsJ2oqvSHEyG44iymwPKsX6X2nmB84Xk98AR9fdAiEzvnuiTgBycFzn8dNmlUCj2TH2qoyz2UmfdzhJU8palQpowxYScV3PW8sXcFaeudx0L7joQW8Bf9Yw7TMgrZgXf5Iczl5QMe4vQot4ocqcH9x84wiQqtN_FUvUu7-7Ww2iqiCUVe_Ku79eDjNOw6WzVL0p7cGHeYKblLzyhQaUqEUd5xapdoFLfBn6_nbO7eRcuj8dJDq7md4wPi6iT-ShQIhklfQXR6qqrmKkJHiqtyh-Pr30arS8QLLWY8OdmxRifi73h7Ed-j3qa2a4axRhSYojvYUssEQ4viODrgrW3LUgmbxpopFqjcTX-rX8tSPlRE61HJHZcnTCg371rXBrVsCGEcl64_Q6lPerkAvGC2T0W-zoggrpmc9yMsCLV8XiGrjjWv7P6_y01Hd6PChZZHFKsCtCvnb1qq4vBQy0bb-wXsTm1UI4VYegAJuN1aWGfx3NAWXnW3PpUyd5EZ5VAK1v-4s7hiXTSEsGr1iio-5HynxCxHqLw8z7O-iYPQfpTWWHp2gBLaEa9FFVfECyym1AUTTrVcBJjyaY0VqtjwkhrHF9HklSGQT8NbGZQxvSl6H9bK_VbWcM-oM_pgr5N7zUTopN07Ofel8_NyfDpX5TXAnXE_A7fJY8FSS2Ih0Mdq0w2yB0ZGZxoI8qkXOTIrqFTmhmgylH0cdmx-yiUQZogO09h5FXgByDHWqXzb2sae9ff_TQmWJsWh9h4wgMrcVmONqfiI9z-iXkpN_E-2_Gu2wjJDSJm9aqZUzFM7pAdBWcMJgZue7wXtGJUSu0-IZFPPCmCg7DL2slwJdqysuLggDnb1t2Gv8qK-f9R-jH23NETBHWuia3agBVkMi535Z5SR7l2-1gFjrL0QKsm5IHrfjqmLfzdsoZ4QvWcvqRTZXSmz7kh0iwJAa9cKWKUgnFHB8kzCZEKonBr1hGJpBdHsnLLcPIokBNqQK7myihPNZLuwSJJHYL9H_Q6a54M1xSwApvJ4bz2J32yzj6YUW5KOort90LEGZ9n3VsEu8l0SsfmMut-qo4kOEa98zpgJBPM9PgPWBl6c6RgeolqFzZhFP-qqFshhm-IMc7SIRb5Gaek5XOL8P0R-AQlI9eAZjKcH0jc6YButTpFoGlrY5TO0T-Uddi2djX84d7Zr_fQu2eD0MWNl76NHzBOIFV7qrrvigP_ls95Ll-kdEzLj7413uETJ0JEFqLF61Q6Y1VLbhYatEEKpuFPTNjoBbGfyHa4w4Sh6CgsBLXrGztfzVZIm9DHo_XuTSAHhNif2vBOfEWlT38y9h3OfPkBjWlkgkvjI4bXavvPApiFlCC1a0DVipn32Lu1kgj109VqwCfK6Mp-M3sXG3BZ6NKYUnEv-AvfeXAAXfXBTigWdWZ6Sh5eI8F05eJAB45KZAZY1NN02IJQRE6aus3RPsm71z4rr80lA3a91-5dnxIkpejYG5plpAkmgu5Ixm8L0WtNfBiCoaKbsaIQ5DUV3VbSSZ5hSMQEAaK-m1iC0H1r_PyHn6qmOR0FSmTl9WPV2NO6TJqFtE6bd9BhU5CBwd3UQuLYphLpi7SkaeuVZTDg9h44xFGw_hGmnXk8WHJh_stpq0MunekyDxZxEKJHo4IsanAAI5xu8IJ02P6KvvUtFIcy_SdUXIxBk0LzX7nPdp0Rn708hk8XuxYExrw-SYkEwJ819BcuPDq1frhomPY9T49krIrMZ2ZZ6SVYrEdE9Ct6fnLPo26xkbnWmLKp4imyGz8IWg9vQQbG4G65652ZPDJwBf-Ubj68NyXnw-dt-ytCgfVaSmeSWefVE28-LwlaC0BhqN-oJLpQmnKbg-0e0OYePLpEfuC5ddXe-AiMbxXnvQJnwAKTQwtyfAuziMffhmEsCFHZp6WcwVcb7IMYrhUaPM5PO-L6ZDTytsBQwTf94N0ehlxGn9wI5WGnCAD9tQwf7KABz_FFSIrBsN8GYzBFFaMe17RmhXdZMnKLvY7CZmUbyp77zwYno_spvEkzpwGYXvg3g_-cN-hCwjuSIwtVLXhbFB-LRs4xUrQQO6MDcdgqmgpXogUMFcIxpxXRijrRsYSRt0fTAtCa88a5BH9EWVYuGOQqZ3X59B2wwHaz57SYD9HKYCwQBnIVWegS2oMzj-bkbNdmaGsLWRfK4Ze1vWQQMR2Ig2jsLxjQdFQMDODYiR3Jy6bJcXH9N_kzsv_IZ7YaUFhliF3-462IfuHMkcS0erTfSfPpbZclRn1UhPa2HVK9SGzcLGp1WiOsgFpum0deRWZRnzTB3e8-wjrel2lwqqQsp-fbfbwlzym6bCZpMC_BmZqrfp5NweI86HZCGZjgmTcv-AgNGiY0Xt6lFWuKEINcQz4UtXVSsxIlmZTx_a-V4vWMl6h9s6KOFi83QAt-ZtVWEAEy7b1su_6HsYS9nMn_j4s8AjYRHBdU_kYDbTMTAXQl_-5eXKhoc3CJGIK0iK8GNyYGHlS03RkOnFa5bw2BiL35kyUV_pyDE7cxRmXUY5AzXTU5aGPKQ-EiwhpZuBI-4CESjioY85zpqdDB061FSP39V9UDYEVWxIAshPpyrR0rjgjhQC1_yViaGH0LawmvEzWtOW1cjHBfF57hUugonFlaceKG15q0UUoXKwKMerETytXY4i7gRuX5AMU-boGkZ9VBJpciG4n5PMASrZQHXw1EVzxHae1NgbfeQZ",
  "id": "rs_064f03d89bc1b210016ab4401f409087d0a23ebdacf56f4e87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.27,\"right_z\":0.08},\"note\":\"The right wrist view shows the intended cap slightly to the camera’s right and still ahead of the fingertip point; the neighboring cap is well left. I’ll shift about 2 cm right in the arm frame and advance toward the intended cap while descending partway.\"}",
  "call_id": "call_FiTH6thO4YO0Q8Zhh2sMeuqJ",
  "id": "fc_064f03d89bc1b210016ab44023f01887d0a71a8fbe0a1256db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FiTH6thO4YO0Q8Zhh2sMeuqJ",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0292, 0.9983, 0.6651, 2.0777, 1.3609, -0.0193, 0.498, 0.3386, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4742 right_y=0.2693 right_z=0.076 right_yaw=0.0469 right_pitch=-0.0606 right_roll=-0.0409 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.5795, 6.735, 1.79, -0.0366, -0.0269, -0.022, -0.5812, -10.3863, 6.735, 2.0684, 0.2076, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73139156d128ad6c2ed35ef1b45cc5481aac2e4552793a608d035bed16a31511",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79c69e4fa5a620ce4934f67e0a5630bf6c24fc05d0f4895a4ce96b457bf1995f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ffc920adc3ef2c7848eebac15bebe484cdeb5921c56d9d543b17b06ec385357",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 10.3 s

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

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3836, -0.0227, -0.0292, 0.9983, 0.709, 2.0377, 1.4597, -0.1726, 0.5308, 0.3683, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4654 right_y=0.2861 right_z=0.1126 right_yaw=0.049 right_pitch=-0.0586 right_roll=-0.0433 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.6205, 6.8444, 1.7363, -0.0269, -0.0513, -0.0269, -0.212, -11.1248, 9.1282, 1.6581, 0.5397, 0.3199, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0292, 0.9983, 0.6651, 2.0777, 1.3609, -0.0193, 0.498, 0.3386, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4742 right_y=0.2693 right_z=0.076 right_yaw=0.0469 right_pitch=-0.0606 right_roll=-0.0409 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.5795, 6.735, 1.79, -0.0366, -0.0269, -0.022, -0.5812, -10.3863, 6.735, 2.0684, 0.2076, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73139156d128ad6c2ed35ef1b45cc5481aac2e4552793a608d035bed16a31511",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79c69e4fa5a620ce4934f67e0a5630bf6c24fc05d0f4895a4ce96b457bf1995f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ffc920adc3ef2c7848eebac15bebe484cdeb5921c56d9d543b17b06ec385357",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAoWbvuYmF0Dr7tM5pSawrMftq3JGQ7C7Jj6bgVdEAjO-oQaaba9i7JkAK188Uk_QJj1ENpc7EQC34Q9W5iG0uBv32utFrIaH7rVhJJ7hKUQJ7biy9VZqHlJsoXmnhVD8jNhvJwaS6MC9BB1AHnANV2npkixnRgdzSg1mo8PNOBfdOn5VNQdm0tPiOkeE8nlx33dPT7EfPNEs3Maqk_xyQhl3jL2N_VSwrLzxG4AfxB6a5aI0kqzVE2TSzttV--y8ewi32Ihed4WVKVF5Rgu1IR378fiDWHBTdTpvpxtnsikWqLENrIso_hIWs9UWD_jenx80hN00Ug02Lbf-DAbQqy3JTn9f0JZ_MqY4pieVH752sxgv-WE15ftKrys9scZSqmocHBuVs5AB43Wi-F1fUvk3u_P-oAeVzOejpars0CUgNPVwNpR1jaAYTUsx3imz4W3n2sIl0NDSEOzljo9tl7SuXZhVrZe3QX8pXkgR5lOx7LNXY_2ddOyTK-4LzOfClQua7tUMqc4F9EId1rMJ56TgVgGv-AcAaSYh4p3k6xRam0DV5lg3mnlHHcVmAmHosHiG2rEuMRi5xHRO_eRr4oRO5bzqghszJ9DJIkR94-WOt7uWQRYD-IOx2wLCjiT3B5SQT8ZRJ_O7hY6Ir1NYgjYVK6uKD9mDUprghmU-kmOJiwvJEp6huhjvQQmE22pJLkIgaUPtkwDIJ5q7e8KZLvssMfVrdkj6hCr-N_wEcC7JQb6R8_HVeTUWH2aAos6fFFyRLTmy6nspIVC221M1Fs4kJ2atPLzkzYlqUuMOm3aRRuGvxNkV9axX1fvqJUr3z4AjuTJC2ctNTrwRD2U_rjGHZSkpXbuYbG7ekYs2adyg7bmyMb2AE4XgbcUkUjdox9_GzMBz0HKlHmE6lnRVQZeWQst38-nfHF66codkMA1E92U2N2AnRv1yfvHrcsfDOJr20vM_kxB7ZHMpRvBHCSeTuRSDoBnDfLwAXvNd47cmPgMV2CPIL_z68CnXRtZypkK2Q9PXepV0BzqyzenX4Qla_yuOsdoXBjE2JJwK9j1l1WNonupKiZmMvXN_dbarlgDnc8Qo9dCOQPUuGrcxRKLhBAklqO6UZ3RJDG-psk8-UnwttBhjFtIGHKTPW4jvab-tB8zyqdrwRZ02JZw9uZil2sCT8dDfbpT5iJU-BOX-lt7ETIY98z6fMxCU9YVl8KR_ZQohZd8GkzIJcdiomm0VqjfYcFeKPjOqQjnqQFBVwjtnlbsMMyEYk-SX8PIFyGyyPisbkwxRyIsSXo4aAY34kJDqLhwbLkYt0VKS4fp11LfpkhALlRnCCfaNlL2aeRRZGPNtXWH7pGgRUwldDYv_XnAqMkUJl7u6eWs767tqIJLzvCh9_4snlCiaDJloIFHLD13b_s_8QqUNjR9srZdn-uIVu_X7wtWt8DjgBB-SOQFv1nDCEJgs9EZdPfrQaJ96Q8k6cZ6DSm_JS6soIANmqLpiZGtMdV2Tl0pD8xYa2u77E3EsrxFLWEwcy2O6CdMaZTWhw87_jf6RSH8G-8vlaXCnnn3n4sedu_0lsKV9evAkYNQSxaDKnP_MRdLEqwRifth-rlXx8YXSzpL8oIVKhgMb4UODrR0xixgjK5hEuahwaPKbGsY7BngPuv7-PEanPGWA8zWnBb96Zm7CSm5D59pGMu95WLaJxmwWu1L-byTZ_9dxUaI3YMHzINBGyzo2w695Y9hgMTNcn916XVVL-p7X3cIQ8_UGjkuRh0NeB2vv6Qq0PfvMC-cmBxNgzHMvpwQOMVYoThyAelexyFwV5ICuXsUeaEtcOv6X7U6kyX0rJsNcTnGh-lBm6W-ZTNKEuLYECVr2LH0_1q2DnvwJ9J7JmD0FtRCUA7GjS7P30T5LkKojIL-V7ialnXvav8BjhWyuGIbuYhBusm9W11hv9vMjbUBtOzCPj0NaiSabU=",
  "id": "rs_064f03d89bc1b210016ab4402604d487d086242aec9a69ebf9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.255,\"right_z\":0.035},\"note\":\"The selected cap is now isolated near the jaw column but remains about 1–2 cm to the right and above the grasp point. I’ll make the final lateral correction and descend to cap height, relying on the lower pose to gain the remaining forward reach.\"}",
  "call_id": "call_82d15XaMkhelxa3ZmFf09WZp",
  "id": "fc_064f03d89bc1b210016ab44027f0c087d0b558e294a22cf58e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_82d15XaMkhelxa3ZmFf09WZp",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0292, 0.9981, 0.6476, 2.101, 1.269, 0.1139, 0.4706, 0.3134, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9981 right_x=0.4723 right_y=0.2613 right_z=0.0495 right_yaw=0.065 right_pitch=-0.0564 right_roll=-0.036 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.5385, 6.5846, 1.7949, -0.0415, -0.0513, -0.0366, -0.1573, -11.6855, 6.8034, 2.1221, 0.2613, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:542238eb51d9bff20907c816deebaabe0161ae62cdc9c0a0d394d05b2ade4926",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fd5d8d51ac4f483a72bdbe7a748c741bfa8e8d3d938ee02964a5f7a0b852bf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26737bb8879e645819b3f0c05decd063d90c89737381c2a1245747318efb29e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 7.583 s

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

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0227, -0.0288, 0.9985, -0.0158, 0.7891, 0.6041, -0.3862, -0.0238, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1826 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0032 right_z=0.1801 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4838, 9.7299, 1.7851, -0.0562, 0.1294, -0.1734, -0.9641, -1.0325, 10.3863, 1.8828, -0.0122, 0.2173, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0292, 0.9983, 0.6651, 2.0777, 1.3609, -0.0193, 0.498, 0.3386, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4742 right_y=0.2693 right_z=0.076 right_yaw=0.0469 right_pitch=-0.0606 right_roll=-0.0409 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.5795, 6.735, 1.79, -0.0366, -0.0269, -0.022, -0.5812, -10.3863, 6.735, 2.0684, 0.2076, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0292, 0.9981, 0.6476, 2.101, 1.269, 0.1139, 0.4706, 0.3134, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9981 right_x=0.4723 right_y=0.2613 right_z=0.0495 right_yaw=0.065 right_pitch=-0.0564 right_roll=-0.036 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.5385, 6.5846, 1.7949, -0.0415, -0.0513, -0.0366, -0.1573, -11.6855, 6.8034, 2.1221, 0.2613, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:542238eb51d9bff20907c816deebaabe0161ae62cdc9c0a0d394d05b2ade4926",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fd5d8d51ac4f483a72bdbe7a748c741bfa8e8d3d938ee02964a5f7a0b852bf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26737bb8879e645819b3f0c05decd063d90c89737381c2a1245747318efb29e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAzx766smEHYNnaV5jK1KJaAYkEx-ojt1wqvfFlGR7OazQgEEs5lDtq2xxu8C9DkStRIkyjUQaD6f3tYY4YTLdKn1qGhiZy-cC3y1gLq9_eSX4N0OlNiaLT4rpoOFRtbzwbBmdAJF9mtvGrIN8U-wfahajc3bQFOWkIqj7zDa84ycMZqsJCRK8XgY-myPCczLxmFzKCD2p1A4uRU5qnvnzKvgUbaJiZd1bGc6SWvry3t8bWm9cCXQISCwjA0EM5Qu_qhh5roFKWLHlpj7GMig3G_MxIzfI7M6UMA0vz551VoYarHmw2g4TJ95Vddl4qrVxPgt6mqszhaic0Nbu3EBuGf0dW8nf5VE2AiI3kvHXLHWwQiTIM_whBTMN0xu5jymOzV7zm_KarxyH9afFxDN4WPeYzE02QXZIdx7ymoK_bK1-5bqSNR5qxhCXRXQoVzr012EbRLTpGHIHbx0dFwECL4WMSuPW8aJxU0D-4bDgzxrDg11g-rHsSbl4pXnk39AjJln08PqH-4XKN4vnBP-Yj8PQdEf0uDPowFcEdX3quM0YUhWF0zYpdOklfX02oPZ0rTo1Zv_NCortzqh0kzFHie6BMnc5kV5CRkKBEptFWDeuVI76AKWpEWsSdGCmJu6NMIEPs2krqR4wHCI2tHkpNzd2onvGGOibVhpEjOCTfX4_v32UnPEgK6_ZVwbWYZXPV42zmHsjtoU3reu0TJMYfdt7J4RTU-8WfWSFf5p43jDySIDc3VWqlZ-MyMxCMtAZkcQY-xba1O2B-TJ9ytPbuFnKL5XVrq8-DMpuOT1LWNW6nui7mhZsCFlrdDqCX4q8j4n6QVaWY7o4Ya7HcKv6n7B6J-H6VqDORPGx1oaxXTW-HVfzyjiJUMlwIdMtTT4Am0DYbDZujh03aQ96iLHaYYuLGW2FWNH_EVh6AwhkSkoEoxmx6RdRmT_heMxaLZnIanCOZZhJtJBQySqFee1E4GCC6ZAAA3YuQM_UoIGyFv5ZSpf3mKPMPSaCOcywzfvpX3XdH2TzL--Bfuu4rJmlYcVb-MLxQ6HlaRncRbEXtZ2VEIbyCO33cBKfd-O0TuqOLq46ePp3e83b79rKBrH0mWNNlbbXuaaQJiAoWzo29ZWNiSTNiCgwpq-OEs2gDGMl-SiSB02bb0H_FC7j0zIVqG52LO1zVaIGABWsVvA_XASqqBa0zYvEE1LTFKMdW1ayfs56jhS7YAAhi6qa6SebItHr7-wti_MXl9lF45Hrx_ZRWKgLcu2AzPjpif9cyc_OvZD7dnfZkvrBDh41LqTMq0nT0JOgJ2uUU1-TvPKmKYn4-TU9vhnHBN2W5LQjpn_0S4T5AepjOEwE_TJrjzVXXjF3nr0AKv4Yee14Wys3_FkHFv2QNfMDPzO1_ZwhMj9E2Hmyg8iSHBkPPDxOd-p19--iDPydJqIlmXlPUpYJr_0JhEoyuWUrz-dg0alK14NEgkoRgaRJaueL-W4ya8-LarMfHg6GwkW314PLyJRBzzCfJg-Pm6Bft5_xwWaa6zCYLGyg6mtUUaGdKIH0vzmEMptYq9aI14vQwih0tK8TihEc9lULAhUmJuGvTxlslmmDj-NhjdUxGElLOrBOM1BJhVw7NCj52pVgf0DjcD20NFizlBg1qdbDyoX4Ftd5Tv6NSoDUlm1_kZ4dGVyS71ZryNnyDQMyfxWJEeZaQ0kaBa-tVUl0sHWo6p5uFN0hvxydekq9JYd9ldtnwvpq04AMXJAUl6p38ReooIJX6AnBV61LlAvmQawipp681vhGZb3bYff5L9Xg31YmK60yB-n2odpolVRYigCyjau9611FB6ozYa8C6ALf2go_GL4-uz0NOXrptc_VVELdhU3FC6PP2yQecC88gAXHrAr_xCe0i4878lTqQv0OLzXSFHr_RXZ6mhsy4jzgbw3h944XkjKZqzcR_KFFndbuu596SiUbXzprwtB0mIL5hv5Of24uV5LjTgrRA_JbYYyvnp6Q5-7sPIv53ExpQvj10CCwXqHuFoD6pACMW11pnJxLFmguP-ZPwx_JMi8-wOm4WdAM_Zwmg81E4MtqNOfa3bjLS3i_F3ckfY_iKWHz_OrKmDxwVKWk5zphOTxocXmm9RVyvnwWvZ8B3CnvgySu3VP-oax6TupZ4fHkRs-Zyf-gLMvuucu3hbokHY5VZ3k4a4tnh9RNcMsinSFCT7EqJKc7x7AFRSVvvcSTEmEkrwHpiyvRjTQY-dTii8yfGsLFFjlH1ppnVbWHOlnRdvp5B4DJcZeqRvsV-Tbm29OzoTlh00q5htbZaktJ-pnLMG7FtNqLxJRYGhLgng_V8tD5x9VFPbvvUKIrVgi2VLhox45fGqaa4Dbu6Lk_2izmrFyvdiZ4Oy2mH3rCusz2FOG6wSnevZyMZlV_-dUzqXCVnSkXL4gx827e7m1ZGvE9KNeV936RRhV6GgZzpwibFAV4KTM8YfOR_A0CaLZpXQToK0CdQ1Yr9CRyOW13QtgRiepjuBc6r72v5LtHdpgtAnmqURHAgt2K3M0LQJuqXrNKjUI7JhHQrGaigkAN0i6cROprxBecRqGfPV__AufkoG6MGJqaQZZbpTMTDmYw27KvPS7QGuhkgTQDKTL8uIAK_NArKE4XTIzDcWZbK8iTXKz4S-gdqWZReEYXTsMyFMUZCNofpBA2oo2mMlUYhFi5hx4_2SfXSyAkr4gCnWiVqzcN8q1GnWOaqiOqwjJUtkB5gsqf8YsMESsYRaFkfFV-tQvlgKYZyE0NIBFwf_dudxCFZ8crd_On9F0gJKmFEWAHFWUnXOs1hF8-hDfW_TN0rePedmdk_6XmM2M2h1jZhOFPhnBYHHHsgleIoaPPw0SJ0lppasYmXxiapwBa2aM5O4gyAsgrJ5aynvsFcsw-FxI2eUcN4ERl0fMNdTVpGqjAznIBdAX_pJAj73PIv-unRjZkhK-Zgw4qmtT6aGKvM6qrVhGGU_JqmDsiaEWzZ0gF601B3df79BTAW5qoW99HGXXOvHw-43frE5XXcvMNax2atWk46gDgkiOIIlp8ZVSnBTEZ_KzQW_6eNR40D-I9QmrMTPBQ8culS-P_ZIXi1YcI7fh5GwVGF0S2xpgEa72LmPnSthrfs1b8284pdORovcqN0tt1tcoC29N_8yg7fOlsfNhxDkYDcCEF9a27lvIHJTpXppKwCT-zDIhFwsRKqHQ2WZN477lfk3sWzaka29mS5eycyuxms52cI_EbS2lzipzRY-ZmXhX0q6L_LSBuofQ9UbE1J6oMUGMLn0xwScQThTZJMOi7bkhNtbZZ5Kw1DwuxeicOpf4gNwZpiLINgAkSNRkQAD0HoSRCMKf6Bjgf3wUISwG3UA77HrxVxZBsodEG56knbS1UQqorLtpL4CxUwkOjdog_xkPFib0sZV6OYPPBajNds8FyxY9pXtn_hoP1rCy_qTTX7ruXQieqWS7KRFMEMz2KNTuQY2GJCBGmSrHXXD_TcVmcdUZlDEai955RX6q_5VBG4avyGYP447_VZF-By0N7ycOsGeM_13LM3wCPrisr6h4eVrwE7coc2Sd5x8P0qK3tz139qcqu6oqklqpnqTOGNe-BO4JtX2KvYUnUA1ptk52wUOqCt9KPpuncjHK47czDSrqSgCkp9vSgJbnS3M1IrzeY9dvRYPGIGrSjVKMHTosBsWLFyUjPOQSIyoAokolTWeYUT4GlyS0CuvFLPBxPthp8s3mCh-mH7jNMKHj31-ZMmVo6vaQg9y9Ha1f6e2_UYspM4hjQeLsObr0GjIlDkkQNEbI61xNwWFjBlsypAKi0LvL1oa9X3e9U7j_wRFqyfhgKRq0SJmOvZY_CrFhYUjQwLEIeOj3HqmnY9N2yggyKebFFaaOr6MyFb1FWDpYy4V3CtdTN2EkbgLeEr5syy7mLsT_Y935ripzgKbwvYZeSLy9RGxmgzBc0D_6d5bWmc7bTJKYwGC7FVUG99DkoR91ZFpa0Hz5zerOaAhYVeL35-gQeOMH880_RnthhKauOaYAACv9grHSQUZhnCPvSf9TOd7X0YBuEtYmPvnizjb3REbbpNUJx5zQbDVrSLr2HpdC0n_N_fbWSDysdQzSObYyygDxt_CWog-BC7r8ir_knQb0_4yju5uhmjQWkxmUWwnADREXDxiMcLOgdETW6bYcJvM3D-bg33307PC8BONwod8ly-KsR3Hm-sWlmxFFJ1j6ZlBU5CaSiLrhY-Ex0SpJ4kP_Ok0qwz4XxyD9p0dkc_lTGOWymvfdlt_DUQCyDi",
  "id": "rs_064f03d89bc1b210016ab4402a8acc87d0911eff23323c6fe6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEAzj5aHACzvsUDzELq7wC26peu8SGJ_ekw_3UBgxtstF006-E0JSHdKcAlm92DP5oXGD7Ny0C-uE84hWHv007j-rU7PkKjYFAv4I7UymzLDIojBETurpaGLsUabHLeLvEs24BfermuPjBBlNP-bYYqffm60QONhHkbhR4VE3ViXBX10JeSi9qf7kRykTEDF5mjT2kh9gPAUM4MNMJTMv4EhlSMyoxra7el_ACdRDQ0LuHOCjfmblgkgIcqRM4r2MPmDK8IGaiMCO8NzxnORWtZNVDjaNMnnQuEXaYL-OlIDJsXzr5wWyhThvY9-YRXMvKRPPNokYmOygs7JaqIfiPQt_7cjagUUXjSWxd655pvIkFHXo-ChYvtoykBDU6kZS9P4UvzzmQ0we-G3tJPXKO8VL8OV2Su6O1dLD5RGNaD8cocoH2ShidWLAp6LP_8HGRRm0QHUCG0zbcjaEdG2a1dje2dhAEdqwJ9Q09iYYo0Un8vGHJ1ziLjBuz1Z2wNV3lWXu4I9P8Dqb6jOzT2dwFQkubhogJZ8Sul_E4skp1PSiRFwD9V8Sjvpnxnp7d737ObONWtBh0lUZvhAQFGWNbyuZIqkQquHGIy1zf4nOkHo7tcb4s8WH0ZFVg6NxwNiXjIYdX-OGnOaFX7AGKdRz8S5wohjJRL0UEwjofCKcryxiPZSLwHRLNCXUdzHVh038zktexk7N7sQcwvn_sDFCm-qvIHzeMB1FrOdEvlQoLPA3KqFQK5iEqCqsGrBG0GqOzehbpkTQWKswGzjhhTeY3oQxwgdbf2qvHmULMDJeUiEz_bAgI5VbWLGwn5W3Wk10l_fCJ2AIAQ96yAUegxCHN42ahlWGpPi1rUJ33iz9kJy7APQH4cVShgArfNjdEkG97LlAHRRfmC65Bs2mK-RlWkoPbAtDuP2wlTViLSd92J2WQasMOjAoF79E5pScNAide65ORdo4N_tUeO3UXDIjiLYvBLTjcVlvxXPgGnp-1vKYboDp_kUNbYQfKyStYfze6Zy4sCDIgjABlExPN6IZlPV2D5ssaTNHB7d7KMDK5LU_5pRs5Cz6K3i14ddIrEMqOq0h_DDEU44Cjej6mOfLj088irlJtmRzL7EHqghkIBrfWr_CpkIg6qRIZ55LuYZmmWSv2fpU2NZJ12CuA7azfm-uUUXXMzwruIprFzQvYcJjVblqwsXE7Cjb20rhOy1IhsWFn64iwhX-n6cMar4q6oXzqS9fmOKlIusk_PitH99WfrObXI4HhNVAdkiaI4ynJOjd0E2TU2mXPM57lNEOMGAZaHFEPp4k96XaG0Pt4cBXteWOq3fukAWY9Ha_uZKVbi3RVmRmNFFMhGLo7tfmYmTf6T9h6oIjEAXQW6TpaVubgu5h1BnGWZXHrJFUPjVFqbTyVWV6fok_Hydxo3nAlhfCiD0RDXSDZNCxRW56tQuF8i-nhXYrQ6lGUmHI32mB9mcypVMC5xxibNZUWJxIejrThaDW6b71wSd-kHbM369Xn8KQCDcNWpLWNUhmHiucAl_yEO-B-LwDeifmWVbj7k9BRi-WOkXFAl0rm9s8LP4RKoBaOELhgikLM1DyJlGuVCl2S0EF3HPpJXKhMwMPEWtPDQcMS0y6fjSWHiUn99JhEiS5oimtKSrTiIn3LTa8KcyXJ2MsvYgw62AIOUcJ5v22jA8cU-bw7h3D9bON3WOq4wkD9L_BjZA6LhR2k22KruMhR9NKBhuOR1fLB9P9JpcsL9LhHhr0DLkBXowI4qBq3CG1MkpfqjhPOLHRbylWkTedwcQlimhNyqiVvHytJu26ePWtPKdTW2JnXwiutt3AMD-1LSoNU-lsSNz-z4G9w8ds7QNVElQWxxPbW7tXGLjLrd2SI1rLtNJjY9vIiBxiWqMd-NwQQ-f9VDwc4GaM2VOAoCPl1EPo3JNDWZPfSLrDGA28Ai7-98ciAOLKQbgd5OMHc5kHo8MracJn8b6N2pERJG5epKHXN3K3JqFHdKD_2HquArro5t1tV0FLq_lvoexA427mvD2L7N-aa6spfJNLTNdN5H-JIL9LpZ0-AHxL8gbO7QMyATlH1VtDlqy7K31HvlknffZlO5dXhs8iHCMBimCgGCMKBHBjYKHvEWR2pDieujLliW09xga7eUW0kLc6cxPIiwNiCcHO4NQeD34pSjMvwps6Il3zQ8UR7ziE5W8cgZOLkNa3R9HDN0N5guPTYHQ_rJKyiGyAIsi0R_yGifq97zdoyQ4bQYBOliuZFKfi7a46qifNBFZjKjWcsxsfrKMxSFkCwgh3Ycoe3bbzePudLqTiYBG_QR3we4dcw94xxhGt25Y3ylomqy2OTXUs7b3szzFErd3lHBJaqKb6b_2HYjcKQ9zBrlZUm2hi1xFo-wgbMm23HAu_0uxB4AagIdaS_DMWaLF_E6tLGx4N7aSXt7KZWocBwZRZO0Q8gXviAS0IOkWb_WaVeFne2bn3UFOjstpwk3ensvrclgbVTKoAwSKlS4CGbObROj0VfBG8lq92xEeiy9sy1LbIhHsVPsQRllW7RP9cUNMgjay61LUPtIHBgQy-AwumL_XlJe2vuxmHqBoXbV1Xeu_lupUfkfo9N1WJC6KLqfLXGisl3-VTfcjKjZlJvDevrC76xbvxmGGB8EEOTdndn3ASNPP6FDW0avZshC3IZHBtEgHDrnQ1uaaI7HyRnLWWbv23WNVFfHVoQkiX49KlAgrgmjXy1O-W8dO7s1Wm8260i2Sy9Uai2Upqdpx7dFcoyHsu-w6iAn7X3LX8il_HBuYXufSxkh_g8hdnOAgXgRToZqY7VIkhkUA8KVWzeyT5BYvS8YP7QIWvg0BXY6_EuMaAqvpLWo-tfk5bvMt_CtK7xwdJR7KMY4Y0ZINfFzQyArHcjZMieuYQQcJKFipMk30XZ-9iQpiKPNKok60rAPv3qpU",
  "id": "rs_064f03d89bc1b210016ab4402fb68887d0980001c469d0eb1a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cap itself is beyond this arm’s low-height diagonal reach, while the bottle body is currently between the jaws. I’ll grasp the body instead so I can lift and rotate the bottle in the table plane, bringing its cap inward for a later tipping lift.\"}",
  "call_id": "call_VAcDGiCca75BVPUzBgVGXI3E",
  "id": "fc_064f03d89bc1b210016ab44032849c87d09ebf8437f111c58b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VAcDGiCca75BVPUzBgVGXI3E",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0227, -0.0292, 0.9979, 0.654, 2.0991, 1.2377, 0.2451, 0.4774, 0.3092, 0.0184]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9979 right_x=0.4786 right_y=0.2691 right_z=0.0622 right_yaw=0.069 right_pitch=0.031 right_roll=0.0131 right_gripper=0.0184\nstate[joint_eff]: [-0.1026, -1.265, 6.5846, 1.8877, -0.0317, -0.0611, -0.0269, -0.8, -11.535, 4.506, 1.0623, 0.0611, 0.0513, 0.7595]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43424b458004dfb617f306b834068b6bd57efee96bd2bd821edb08399bbf085d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbe7cb6dd4942a9506f73b7669e38745841e241cf0682854e5d074ba4d16649f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e99b65ea337754e945d3d1497b14e28474459db9c40762fb1fbf8ae0318a1a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 3.716 s

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

message 7 changed as sent

message 15 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]: [-0.02, 0.7982, 0.614, -0.3836, -0.0227, -0.0292, 0.9983, 0.709, 2.0377, 1.4597, -0.1726, 0.5308, 0.3683, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1827 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4654 right_y=0.2861 right_z=0.1126 right_yaw=0.049 right_pitch=-0.0586 right_roll=-0.0433 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.6205, 6.8444, 1.7363, -0.0269, -0.0513, -0.0269, -0.212, -11.1248, 9.1282, 1.6581, 0.5397, 0.3199, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0292, 0.9981, 0.6476, 2.101, 1.269, 0.1139, 0.4706, 0.3134, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9981 right_x=0.4723 right_y=0.2613 right_z=0.0495 right_yaw=0.065 right_pitch=-0.0564 right_roll=-0.036 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.5385, 6.5846, 1.7949, -0.0415, -0.0513, -0.0366, -0.1573, -11.6855, 6.8034, 2.1221, 0.2613, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0227, -0.0292, 0.9979, 0.654, 2.0991, 1.2377, 0.2451, 0.4774, 0.3092, 0.0184]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9979 right_x=0.4786 right_y=0.2691 right_z=0.0622 right_yaw=0.069 right_pitch=0.031 right_roll=0.0131 right_gripper=0.0184\nstate[joint_eff]: [-0.1026, -1.265, 6.5846, 1.8877, -0.0317, -0.0611, -0.0269, -0.8, -11.535, 4.506, 1.0623, 0.0611, 0.0513, 0.7595]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43424b458004dfb617f306b834068b6bd57efee96bd2bd821edb08399bbf085d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbe7cb6dd4942a9506f73b7669e38745841e241cf0682854e5d074ba4d16649f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e99b65ea337754e945d3d1497b14e28474459db9c40762fb1fbf8ae0318a1a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEA7pBPIomIdLcrmceT7KVv6pIE0FjoswjtIgzJ555zVXlNkbX4PnMZRZqu6z4ucb7ujdKIVRBcLGZxk2Aw3fn0KS2z-bFMjeZkGlEfQ04dBGB2OWeYwBOUxLUS5B0vTtjhMMGatTMX16Wk_LTOLMt6-XHMbsbAof48FI9CimTgFs2nxIyAGJByc8zM5WHwoWHNPoIPMSJfqwNavIF3vCCdkbDf8_EI0kyrUKpyx5xb8nuQmrEPcvt6QFu_VZd3jzzo94eLI50Eq6pDsGdgpi24Do66Igy4JabuT2hiN4iE7CHbMg7ZUQkqfDkXPd68w_cinrQrKa10k5-CaA0irQ4D22Z0B4KltmYuvQ2laJBb8EiCHMfuM1uxoQeTOVp_xg1iEmT8t6zeAwVA-sfEQiKicn6I30iFCzzuXVThcs6SwMjNHamRgm0DGcGKjbKDJs3MiHG-bhl9srOOGCtGELhfjDzdF1F88FjNYpgqzIFsOA9z_E1tT-iH-lUPxSeLTO3iRiTfQxgHsGOseMXkoquKw9qXjsX2MkDmnHqRYCUIK9PGDo-7tifpGPw7_25O6BeoLcFTnmdCSLkitbzUjcfFj_iHHajDSFDqFmqdRwebHmO1pH6wxJkNYLXQt90FGg5j-QHgyaOeRun2jiQBNj1xFfGZneFWIvudtPuvmuAg7MYnSDwRaJ0iZSGrA68bMImmAaHKkBN2djTk24gm9SwEA3FHofYztH7g1rmmTNc5jqH1HwL1z8ww1kRHZJBp9HQ8Po_qjko-aIP7KQiwlmDrxuZCiXrKY2Sxn8wwclhi_n4Ofc_k1bncSxczraH-i_vs-cXnqRYzkbSbU0H6ajJ8oI6TfdC0Z7zfHNyCVJ1OCmjsXLb-tm_JZJf2F-klU7h4EqEevg5i11jJU4rC6c8Yxe99X1DCsvuMycW27Ankw-uhN_wjrq8vbMlGd69u40LXzPFTuSb4Btg-cK71zLVMWf-S_eaXWcKY9hcKGPA9y61rbyP7NqUKPNjg1SXJjk1TZwjxrGGtPhs5gLxjcFR4kRFrsi1JBd4UIUOvffJ_jUXD8dE74XmFj0m2soObmoJyb38K9TlZx2x-yMm0qQDCMVgbZDYQfFsOXIbzoSttiCUMYFaad8vIV23QFGTJ42iqt06L6_4JnkpUhcg6LqZVJJwiKV8a9QhuOlcsVK5PA1HOlJvMbsrDtUTMabBYIi2G2LQAH8KfUkS0XLpr8TsFNIFSSBCvOFwsHKPX4DnTftgw7u8UyMHTVm4mAEf_rKdNS7u2ew7R8y7psl-mRV5AltWoTBVdzSDGJj_Z2gNDUXTqkP8Qpc4Ed_CNk1h-sSq8gxyxP4nZ8ixhBen6NdYVRpVeYp_LLQZuDMJwe7DeQ0D3u2YO5979dv0ISN8QFz5_ZLUxofBKjJSjtaNIoz4dy-zbDZR9dCXBr4y5pEv77_ySZ05mjHp6-mqla7-81vaiwQAHTZxFYTwyb0Mp-Bbz1WyW_LUu6O9IUHi04Co4hKTxClgb-wt0896vezAmf2makmR2HeQb_7Apq8k7MxC2Y2l8gDPcOKmqTsiUfkQKpMLyC2INiVs1CQtOwBnexQM2hzHLTuFO4qREYz9FjSODN8jTzZrqRmgsN4hot9oe7mRkAi-LwkXeTZxu2rF013FnelJRP6IHsNiz4Vl7tliwDLSiUAtlHs6qK2wHdLuHYVnOze638410IhCkCYoK_iODW31pbO37gOyvhxTbyXIzSX383fu9DfGDtst2-Xk93MBXZ6U5y6m3BMjnZxUxFhUNNInzMXO6bD-xcsuk359ZllpKBcqCNU902xdpbFgR4b2Zwq6k3gEDQ9SkYIR1oCMT4fasDGb3MXtuHfyq_Wc7k3lzngfYYfyD9BRwdvtnpTgtehayVL1V_7_i5YPMiCfT2Br0FBE64AGp4WGMjhw-LDdCKVZQ5JPCEGguhUH3O2GfYNUAmUon8PJ_cdmLWsX5FJBACZIdLSydZkYlBARg25LIeGJi9XLNPIPLV_dDmuFXGxoTcmmGm-T7Zf6_2S48SoNxnvJBewEVQ3Jw8QBwLotOzxKdbLISKhHEyjmwxtcFtScGU7BnN912ufUAe4l2iXkJttsPrWCQVRrQpySl56jqPpOt8sOGoCsBInhfXLFzB4nHwSiWDTNVGPzyzTv44Saz5uTWiJb7Ut4PngC-oAPxLmsxEjS5cfx6FMM7qAW0jM07nwlL7XDZC04K0_wLv5LVpMlFDXKt4AOLV_NaTPyNQkOLdl9xZToFd36FAadaXxvzMDyX-6dQysNgkz4gIa0fcQ8V3VTiWwgqTomTTdDd8zIc7UVT8queHr__bo9X9ftyLVL8oGWW7JQ05ofDD5KMhVlpxY_WHb-GV8j3N-r4Tfdf8MsUxkrxYNwK3W4-hVSz1g_CDUJ3urmnrWfAYg61yqUqiinKGOlmdtqUHx-Vfy3bdryXdQkfEjyj68l6uWIRpwhqRVzuhs0i98m6OXRMP8YMhuMdI3L0zmnJ2GWtE0pZSYPzs0fGHyoNV19NKEj10vSX_Ivp1aICDBcONL4SmOGjcl2pga6jIIQLr417AbRfJCk2pe73dTfy1amqpGgnB2EXDWoudSJj_xLDcLDOpM2ZSfijW6mnSRViZI5S_Gi-WRK_Q_D3ixRWfVbpDJhJXo79_TXly_k7iZpHDp2xN4b67VOqWvXkh5dm7RuoJH9dpE5b0ralH4wn7-hc1ntldfpChSaaIfwQ1FE98Oc7QONlpZcw1if0Y7sx4lDgOkLpJvD8WV5HWWkWrbqaxcNoMIe1OOH12-f2GL0GtG7y9QJyVXTLDtrCDVvJ3iB0hmtQ9mfN5RAHwRb6OJHRxVI3Kar8qpLHCJCbcjJIsuFaLVufPoVOvPzBNofm3VkBP-oPtaejBrt7BVKyMrDYchm8DHR1Oi9XNMXhLqktt-OAW6ZiBbhlWqma4lbG19M_emqJ9sFLz2QaXH7PVsSdPWtqCF3YYea1kxl09BJ6YGfCe9e6C1bPkQm9WlqNvweliaTv4S6sKres6KjJLRvD64qXESgVQICY2ILZ1dzF0D86G7fi3jMRIO6eBoboHIxlNrv4-Hb-p9ydMqPgpiVIj4hE8GpEKNW49PjT-2_XF0SHVJH4J4EGVV68io1CSn9QdNvyeqdu4GHl_k7KxwmoDKsUdUxDkiCNScL4E9sH7O1rei-rCA_vku8c07fmZVGQWNw0TTI5dkeeIHzrMEkYXhoHnhk-UO078hAnf0QEntYOg11bN-8BHVmd7C-wr9EF8Q7OQVDWRsGLb9jn7S_6POBGJmuCTjJHnBHAlOmWefF212lCPBbtP2oybTD2HcrI0p1e55uxKMx7iJYyOu4KjLY79_8BY7FlkqRbRgaB2wQcPF0nCwoD2KDivJEQcIELzxqQHjb30cU9AgQEq91A5faPsDw1xrnaSBL0ayzhEEgu-NCC6dJAV9POH_idM7J_QSr-LXvgCqxz3GKPoqMpec6OQ2h953FJksDfRqT7GDUGqjFfJs4XG6EqB06ceQNtbfBE_lBiH6XnG6XWG4Bs5DAgeu5v7ZfnABonZss-X6itQ9hctEP3SZBn2_C4ZclwDFoO4LkJRFhSpbzKVMLc5GapBiiU41NaGuXkQO7T8C2uwff8fx9GYvAglQXFNX4m_giWwgxTiykgaGf4xHSklBR6JRBsOywXFotI69f_WgxW_FD_OvheA_VZAmyA3DI5SdAjW29zr6BQ_iS5gaPy-vk7YcP8ggGdR5psuT3O8qRt5f4PhfmMglzeTgfSUbzBzDcEEr8IiefXdsI3m0ki8FwVB16FKMKFCTairaXDaALdo9x3EwXW4_q6OsG-ZZ730_t3k0W8dNBgXWqI-pYLELarn8nlmdR-QrnHOIWipMN4CDdRx5zqOeGMVJkbUN9h1fkc2R3zXjd2AuGyMJEvVn6fwFXQIBn-sSXo26T2ATnceRFNZ7ttrGJDHyb9A8MfnkLNOzXI4zP4rYiGTZqSTOoVd1A8YaA2aBQUc57rh6ffR9X_wLgbRvyO3DjSEUOl1EFb4d_nM6DRYyH-Pt6hg4-ibMcC7FfXYiEt2psOG5viVFXX54pgOEMO1UVd0ghFzwfwRYp2PmQ8lafDOC6k7IhcqYMCRRkP_uVSALQVbiTkWiRp2LCJ5TIgTdHJMWUStP0HZa-4RwP-RNS2ooI3NKvW2NmOYjTAKY2fvPr14hxDJZqr4NACMIfzwczvyrg==",
  "id": "rs_064f03d89bc1b210016ab440358e4887d0b7ca244c6b430a46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.245,\"right_z\":0.025,\"right_gripper\":1},\"note\":\"The fully closed reading confirms the first body grasp was empty; the wrist view shows the bottle still a little right of the jaw center, and the grasp point was also high. I’ll reopen, shift laterally toward the bottle, and descend near its mid-height before retrying.\"}",
  "call_id": "call_ads5P4q23r6iHLCpNmLByT38",
  "id": "fc_064f03d89bc1b210016ab4403ae1a487d0abbfc570cfcbd0de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ads5P4q23r6iHLCpNmLByT38",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9978, 0.598, 2.1414, 1.2087, 0.3, 0.421, 0.2703, 0.9956]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4877 right_y=0.2492 right_z=0.0365 right_yaw=0.0794 right_pitch=0.0003 right_roll=-0.0005 right_gripper=0.9956\nstate[joint_eff]: [0.0205, -1.5658, 6.5846, 1.7851, -0.0366, -0.0757, -0.0171, -0.6769, -9.0735, 5.2171, 1.8877, 0.105, 0.022, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8112488985ae5539109983857057c5daaaf65beec99707a7fa47818018d0e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e9077744873e676593dd1f0e3ef1bbec66a2b63ea3d1564a5f05c514b96dde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425e492f2af3aed506ee1a3b1fe69a342c8d272d56df8e8eccceef3650e53ff6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 2.674 s

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

message 11 changed as sent

message 20 changed as sent

message 24 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0292, 0.9983, 0.6651, 2.0777, 1.3609, -0.0193, 0.498, 0.3386, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4742 right_y=0.2693 right_z=0.076 right_yaw=0.0469 right_pitch=-0.0606 right_roll=-0.0409 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.5795, 6.735, 1.79, -0.0366, -0.0269, -0.022, -0.5812, -10.3863, 6.735, 2.0684, 0.2076, -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]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0227, -0.0292, 0.9979, 0.654, 2.0991, 1.2377, 0.2451, 0.4774, 0.3092, 0.0184]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9979 right_x=0.4786 right_y=0.2691 right_z=0.0622 right_yaw=0.069 right_pitch=0.031 right_roll=0.0131 right_gripper=0.0184\nstate[joint_eff]: [-0.1026, -1.265, 6.5846, 1.8877, -0.0317, -0.0611, -0.0269, -0.8, -11.535, 4.506, 1.0623, 0.0611, 0.0513, 0.7595]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9978, 0.598, 2.1414, 1.2087, 0.3, 0.421, 0.2703, 0.9956]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4877 right_y=0.2492 right_z=0.0365 right_yaw=0.0794 right_pitch=0.0003 right_roll=-0.0005 right_gripper=0.9956\nstate[joint_eff]: [0.0205, -1.5658, 6.5846, 1.7851, -0.0366, -0.0757, -0.0171, -0.6769, -9.0735, 5.2171, 1.8877, 0.105, 0.022, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8112488985ae5539109983857057c5daaaf65beec99707a7fa47818018d0e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e9077744873e676593dd1f0e3ef1bbec66a2b63ea3d1564a5f05c514b96dde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425e492f2af3aed506ee1a3b1fe69a342c8d272d56df8e8eccceef3650e53ff6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBArLCxJcVc9fyavkQlQ_J6IeChDTgAP10wUYlqRYihOuRlaO3s4IOlK-2kMt-2yJqfKmgb4LpbVovGLROM6sKHZIwn-c2r9dWbS5TpiwskuyxwP86WpTs-4h2YF03DD3vQNGGlXwjEAb0JgkPTxKZdHBPC06NgE6bSbYX0hl1M_vC_QQMUm4TiT001BFZxsDZcY2uV162DTxuxUx3IyTqyZv1K4l3NSJ2XgCw5OQTi17q872X0FULPr9dHy8GqsW86MawmI8p6I3Er-7WVtAFzIFT_TVwPy8rS84RzyiqhwIa1vpPWxMrsVAj3sHh0ZWqe1yRrhQbb7rbHXyiAAyzcsEr6L9-E_SrYmGWsz5rgc63FviPwgvaVewcXqWwHnyunq0H3YgicAI60OcSCPd80IOC5Q2Ke6VRArM3IrYfnSYEv1cyi7BFUG2wstj0Fegn9ftWe8tN6RIfzQecMDoyWs0IEkRdB647fqi3wOvfO4Jheg6AE4z2VJoO24lMYMFQlFjqvnyE2NHzoymCFuRZHwVPVmFnHQ3c6GcRsS-NEmb30qsszHsMKDwiTwgSMwN8M-6jmv1Bc3zl6ot-7sXAMV0646wPgN6svyVLyvaeBugWjoul9PnT3ScLuVQ5jj8_LGlwl_wYjBOxUPruCr23jrlZO8Lbej2pZtp8KtN1eTIawhgDd2pIf30VIesgbvSI28oI57XKVQREAB8Cy3nHF_SokbUz_JHkBeRpy4MKQaFPd8rp54zQmrMPDeEob1D9KOyu2bULUMYeokngiKssGtyiq1hcA3Vdlaj6tL4fYM_TyjA4u07tCaAqXjwFlTfFyQpu6jV2_-e4pEmlj_kfepu1NtzrAMpQNQQq8VklZVHQnjKr3RmO1C37xbCuPIOIx9tGRY4R_O5C6vtVAgOxmEnTkg9A98YZBLOAXmMxI4Zj5ciLYmGHuV7b2Jr3BdBZ-rrUEXJnUg_sOhR85BtKfo5qzcl6TZ5BU6LsFNnjvjo-FVJhM7wL012_biBTbEBhP1olLyHaZscGKawPfpAL7pdqPdjypZPgTj3DTHrSHBP3I37mnHcqv7a7lwYXfrnGdJw3xx96p_bK-ihVND5ir5suv-7enOmNCXtkRXxGf9FETRuGPGANq539lj0pI_zfT33jTtdHPHJ6pdDyk3hmr-KcLGf-ilLcloy0e3kPoUhGQ1Qsh6w66bDGFMnCQ3tOkz3EkluBxvF17kf7_4Bpj-0mXHL1dlU9UL1RmUllgUW_4ySZYYAKLZdkaITAfXSUg_vgEf_f5bINZV5w9zJhttYQBUgPYDqFReVrpSG9t1GbJJjIOgzyQ7696_EPVVlGnE1kZRdVq7PH1jetTN33277M9ifWveRYh288pAhAfChSBttqVHaIP5-FiL_8BR1W89fdkoAKNZ-8DYJsgUIRCARbMbIQ3jizkt5Rsujhi-rmJKkWr7ASTRITRVJXiVLAW87iIbaUPGjFkVokR1fzt7kB76IjPFlgu9aUmavQ7vnYdQVKKiFZeLp2ltBm1dngBiMOpHCwa8X5iaKikLSSghA==",
  "id": "rs_064f03d89bc1b210016ab4403eb68887d0ae17666983c01dbc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle is now centered between the open jaws at low height, with its body filling the lower wrist view. I’ll close on the body and use the settled jaw width to verify capture.\"}",
  "call_id": "call_eCiHMogqPwrojoLVLfTivZn0",
  "id": "fc_064f03d89bc1b210016ab4403f4b0c87d099244fbf6085bce4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eCiHMogqPwrojoLVLfTivZn0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9978, 0.5972, 2.1441, 1.2057, 0.3389, 0.4103, 0.2642, 0.4769]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4909 right_y=0.2529 right_z=0.0409 right_yaw=0.0904 right_pitch=0.0262 right_roll=0.016 right_gripper=0.4769\nstate[joint_eff]: [-0.3624, -1.4427, 6.5983, 1.7705, -0.0415, -0.0513, -0.0073, -0.253, -11.7402, 6.0376, 1.2967, 0.188, 0.0366, 0.7937]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331be7dd3046a2daa0d2e290d442b721136b2f220b96d30e3e56df528c177f1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:442d35d554a9daaf05507a4356729a1150cddf28d400a1bc9638793d9c02c0ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3066c2c21c674922f65aa2de1873f14e5c5e8c4061f4520dfbbcb27f5b4d7163",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 4.005 s

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

message 15 changed as sent

message 24 changed as sent

message 28 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.614, -0.3836, -0.0227, -0.0292, 0.9981, 0.6476, 2.101, 1.269, 0.1139, 0.4706, 0.3134, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9981 right_x=0.4723 right_y=0.2613 right_z=0.0495 right_yaw=0.065 right_pitch=-0.0564 right_roll=-0.036 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.5385, 6.5846, 1.7949, -0.0415, -0.0513, -0.0366, -0.1573, -11.6855, 6.8034, 2.1221, 0.2613, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9978, 0.598, 2.1414, 1.2087, 0.3, 0.421, 0.2703, 0.9956]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4877 right_y=0.2492 right_z=0.0365 right_yaw=0.0794 right_pitch=0.0003 right_roll=-0.0005 right_gripper=0.9956\nstate[joint_eff]: [0.0205, -1.5658, 6.5846, 1.7851, -0.0366, -0.0757, -0.0171, -0.6769, -9.0735, 5.2171, 1.8877, 0.105, 0.022, -0.0806]\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 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9978, 0.5972, 2.1441, 1.2057, 0.3389, 0.4103, 0.2642, 0.4769]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4909 right_y=0.2529 right_z=0.0409 right_yaw=0.0904 right_pitch=0.0262 right_roll=0.016 right_gripper=0.4769\nstate[joint_eff]: [-0.3624, -1.4427, 6.5983, 1.7705, -0.0415, -0.0513, -0.0073, -0.253, -11.7402, 6.0376, 1.2967, 0.188, 0.0366, 0.7937]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331be7dd3046a2daa0d2e290d442b721136b2f220b96d30e3e56df528c177f1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:442d35d554a9daaf05507a4356729a1150cddf28d400a1bc9638793d9c02c0ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3066c2c21c674922f65aa2de1873f14e5c5e8c4061f4520dfbbcb27f5b4d7163",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBEvqFGwHDvzzSHt_xQlVFdyjzXO3eKvr30p2aI7LCzeYPnwPeM1cCblSXimCEHKjVrTKRpscUKp-Sflq5XMXp8AiY67Mkim3tAGkvknRDcNBa38DGjou27m_Yt30t8MKa06vkYTXJgp4Tzu7yQAxK3ETlmIF-Qj-JEKUxo3jnl7iD94aUzIQHmusYVRDXUovxWDt_NOyWOxlfIfoJ8rE4w-wP0XPPZz288INaCQDe-efW9psdJJE7e-IgdEusr6CcQvF6cxWnjG1jLJyD5fOWqNICK2k_S0Ojsv-rT3ydoUTD9hRANumn8AdOe8zUgEW6_tU2teO7ThNKYJZ5vt0Mve3PZhNabEr1AzJxytH5IL8uACCzRfB0TUQ_iVhj_EAV3MzQc6Z7PIEUWvHWzIjbps1_eVWMOeuCGwrOzTKhK9aySEU9DKUuhyIE0P5wbR_mNmPciJL7Ps-n0bHnlT-Ao7KkAr-1VI-NrfUMNqFyJTbfmahsQidxehBwJL9nrNQECGyei7zlT9wxDq-1wBjiSH5OCdwshx9YbAphYU3uEDLqz7UOmXhYyLO2ymCQI_jd-Ae4A6INT3LLvcHaV2DeZlTJqBO2Z4NuoqobhgN1qT7cP_QYsQTxyc5vpYx4QCNEbwVYyjsjFbCcuW5Xb8eTgOKhhPK7dQKFlSQodgPqchVUqccgf1GRKPztT0q1J0Qvjf6a3SRyjUG1GfNJqMeJ7AUFfuLzPtAfiLii8kOAy6JaudMWZjNlbfNSEdySbbpPWIGshpL0LubH29t6Oj-FUBu-FcYUTySsXe5csN5Luvg2sP9wgztCpUM-UNsraAB8rJDNJO2Leggp89KNBR-w8LDHD2k7l3CXHFRz611cjNE-othbd8_mBpyM2MP2qxA1q1TSYmaWkon_-st3HCLocZF_aRoqF5PGa0yd6CceGlN1TzolHuLI-66V8q1DASoK2lBeIx6S5bEDR01JAxbV5PyOSoiIUB5zqzTzjELWmmuMKMVDPshBJB8_V5xoM62cHJ3G_OufabWoL2BAJUjGSbkZwRiojQNy31l8HrDmhd0j0Yvr0zPTFGP8ux5T9uOEDF92thnrXRQQth-qplxlkIpG3LqEHy2LtzZaCvqFhWz5mfkqX8mNXng95A2OLodNtStbA56hS3zmcrgRFr5amYH0EHEtrq-AIq1AdtKn1N52-6pJM0DErGTVDQoLMCHF8WQ4ytcQ7WkExN5ydSdGRmgqZdnBqcpLnMcKd1L3RjRLBQ65m2zGG1RmN9aYCvEqTmuJO5JWglo9ZUCSk-PUZrXoSh78lebUb32Ko9_nt76MwpwirbEwJcycEgJ1yG8bE7C1D69ZG9acOycSKGhKFTX0Yb1JDq3Kf1x0ZZjq8n-Zje2Feag_3giS1Apor5raceWZ7LwrzPToD9M9F39xO03rnTskf4BMuO3CC9k5clyqOvOll1_YBIwKHkCYoh3japtZD8O_4X0RBWvjwp_K_rJTjuUmaZ-jGLcr5YBo4U7gRmqDj4byFwn3NSXfiahYOwYtYMq39UwrolmCHbJi9P_WlKmXw-_p-pBu-8WnPnwfiOspGoOVcOWLP1AF4fmrB8o6FkBE0I1w9gwdaNg5GXA==",
  "id": "rs_064f03d89bc1b210016ab44042811887d0adb75e4c1f16ff50",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The gripper settled at 0.48, consistent with a secure ~4.5 cm bottle-body grasp. I’ll lift it well clear of the table before rotating, and verify the bottle moves with the right gripper.\"}",
  "call_id": "call_37VMqpzE7HJ7Dml1vfaR483b",
  "id": "fc_064f03d89bc1b210016ab44043770087d09f940bea87d763b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_37VMqpzE7HJ7Dml1vfaR483b",
  "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]: [-0.02, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9978, 0.601, 1.9881, 1.4082, -0.1165, 0.3912, 0.2497, 0.4771]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4847 right_y=0.255 right_z=0.1198 right_yaw=0.1166 right_pitch=-0.0644 right_roll=-0.032 right_gripper=0.4771\nstate[joint_eff]: [-0.212, -1.5795, 6.8581, 1.7802, -0.0562, -0.0513, -0.0122, -0.1983, -13.9829, 9.306, 1.7216, 0.3053, 0.1538, 0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd0853f3cd9867a2b75c8fafbf44d4af938fd0aeb7cd11dd96aaea87152e0505",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a6bcef8922516d933a5195b1f437d9b07d1ef8163b200f9e5da15f561d14956",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c10a84fcf4b50c64c9d1b4588473819ecd9f5f04d4b907e83621d97a5067f4e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 4.183 s

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

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3828, -0.0227, -0.0292, 0.9979, 0.654, 2.0991, 1.2377, 0.2451, 0.4774, 0.3092, 0.0184]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9979 right_x=0.4786 right_y=0.2691 right_z=0.0622 right_yaw=0.069 right_pitch=0.031 right_roll=0.0131 right_gripper=0.0184\nstate[joint_eff]: [-0.1026, -1.265, 6.5846, 1.8877, -0.0317, -0.0611, -0.0269, -0.8, -11.535, 4.506, 1.0623, 0.0611, 0.0513, 0.7595]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9978, 0.5972, 2.1441, 1.2057, 0.3389, 0.4103, 0.2642, 0.4769]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4909 right_y=0.2529 right_z=0.0409 right_yaw=0.0904 right_pitch=0.0262 right_roll=0.016 right_gripper=0.4769\nstate[joint_eff]: [-0.3624, -1.4427, 6.5983, 1.7705, -0.0415, -0.0513, -0.0073, -0.253, -11.7402, 6.0376, 1.2967, 0.188, 0.0366, 0.7937]\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]: [-0.02, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9978, 0.601, 1.9881, 1.4082, -0.1165, 0.3912, 0.2497, 0.4771]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4847 right_y=0.255 right_z=0.1198 right_yaw=0.1166 right_pitch=-0.0644 right_roll=-0.032 right_gripper=0.4771\nstate[joint_eff]: [-0.212, -1.5795, 6.8581, 1.7802, -0.0562, -0.0513, -0.0122, -0.1983, -13.9829, 9.306, 1.7216, 0.3053, 0.1538, 0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd0853f3cd9867a2b75c8fafbf44d4af938fd0aeb7cd11dd96aaea87152e0505",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a6bcef8922516d933a5195b1f437d9b07d1ef8163b200f9e5da15f561d14956",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c10a84fcf4b50c64c9d1b4588473819ecd9f5f04d4b907e83621d97a5067f4e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtEBIydQVoBq1QUiZkk4r2F57XN7ZZ4pxWfp7GP6d5NHjm75fXJ8jE2qipc1o2zSpE7MCRya6UFmUuRqKfBaxSronhCpriR64t3RqaFngOS9oCwLuo7PDY9uiEdVEzAnmajAPc0lBajLVSRpzZpdjdTezhcupXiqQHQbTZrupn_nIJh4LVrwdu5DkXPLUdUgXEBeiXn_FRambyf0cDHHlt25UZJGKk-BKZ27vegV79MwOWsc1nDt5_u7voMwf2Na4-xYC1PTGSvU85xWTkbYYm1uwWvWTGMNxQoiIzXEatLFAAE5vuyTXJ24COPuS6OYB5RLsRDZS4ESWPcecGkgJBJ-at2sY4b__9OB8GMZgHhIBccKgF4_9REySDURovAYF7pStEubaPgMuF1Luc8aByXDs4hafd8P6wKrzJtwFWypjRUrZWF--csvZRZBQxSjygOFbD90jrfGaBYaC3pb5XM09NoQLY_UV48SlWaDxnGVaYeG03V7R5E1ZfvB6PoC_45zHZkl9p-vuRktLCh_rjgBo749OI2Rjv2DQAli9TOJtV-ctl7vCSlE74d1gYEyTDf-U7kBG0Yj7bJe3CUKUVmarm90CZjxIL97cueguV7ja5KSebBklUNi7fbRfQqWgG5GTocK8vhZXOSVGZ23AbCQDEhujuBhE_GokRXHDWDOKdZBrsODSfxT6e_joEevMUh_q98X66oy9IdMuIzrjHF1Coq3bnfeBRnGHzZRdEAVUuXYN1n1BoAJOBUn2XScMXax0TdndhjkJBW2zBwOFbCr_dsobNZfb8-z90PHxhp6q-gtNh2RirILKEImFq_tRjCvaxRFPA4Mv2z9Sq_3DN9LENTpF0uj5NPzO5EHBgYnIc-3qL0YlJuKq74LFupG6HhMeRedLaVQCg3povA5MsjNIzKnFtT5Cz9N22bnkEb4GvlZiVyRzd8-ES_Z6_b3cXE1O0OR7fz0Ez9nBpC618nSY0a0cOzkF1F1R7O0UUX8hHN-pxjf_tATijQA3r66dnMQdU6N7YFIqAPUGhHRFxp0JOtEwSkkauwzJ4z8TPvIoOZcEwDCPa_VbpajquCXrYJsp9ayDfAk3e-6dj0t8xFf-aol51-haTzerQ2x3uhD9_1G-Z4KGOhXP7KdG0VgN7fOBCCA-UoRnZ988LcgL5Q4ny57QdMeBEMxMmCildMzQhvSHX1qnysiK0dz7UNt01ECxDRdHf9e8yVb_Dcrzyj1emsVKXwTzSxvd5UsxBiOOQ2YZUk1SJJugH34CPWtUc3VYpxOlfQIGiDOiJRL5wPRf469Ue0WxEJ7g91-OdDubWGemdz6xpD7dY4SdiuVLF7191aYMdFQxCzjK4JzE37RiPrXXrY1YzIHiKSn8WflU995Mjd1JVaxI3L5y61LfGX4Cdk26LytEb2tJWAcO1gMIQhRictdvcnNO4yqabdwEZZm4CQab9i_SfZtUp-KbanvtVXJEByOt8ZkWucqyNOrGmTkPigAmKL5PqETkEpy1s9c69H0peDvgpq17vJTFb6yr2Ur6BH6h1fSmF87B_bqIn6gpryKyTOWe45CmUK9cOtoSi_gtbnJY0XV0uDBJO1zwGiEglYkE9TN1WOcGT6GHGwFajQ4zffsC2OFzbSKqGCnStCz_-EPZDr9j5ndyySDWeDIhCy7OyZKUb7idsRS66kYSU9-jM3GHXE9ZpiqJR4totUg2BrvWYMaFkKlcWtbkUdXyFxEcbRXZ4Vj0McDajUssfltGpFdmKDRzsZ8-ud3NFRcpQQRCw0TW-ipJG1YXTbMtNjGMGI1uRMAu7gqrG0O_yBcXeRx53Xu1ZY5Nhr_oyqd-qiQovAlcDlh_iAITzJ2ozv3_Tr6kXqShNBghLYLtmVIcLgcokw5jtwQ-9f7wYVptxL7EoiO19Z1LRTzGdvNpvqwW9UR5FgtlnyJ6olBibAaQC-KzXtJ8kfydX39Z4vGEEZTv8viZilvE3TRL",
  "id": "rs_064f03d89bc1b210016ab440461b0c87d0bc32188c464ae63b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_yaw\":3.0,\"right_z\":0.18},\"note\":\"The overhead view confirms the right bottle lifted with the gripper. I’ll raise a little more and rotate it nearly 180° in the horizontal plane so its cap becomes the inward, reachable end.\"}",
  "call_id": "call_W3F8pPxBKOpEJ0ThksMdfyEV",
  "id": "fc_064f03d89bc1b210016ab4404802ac87d0b673889a8de7a936",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W3F8pPxBKOpEJ0ThksMdfyEV",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3862, -0.0227, -0.0292, 0.9978, 0.9051, 2.4493, 2.0083, -1.5311, -0.8536, -2.0773, 0.4772]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1813 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9978 right_x=0.1379 right_y=0.3969 right_z=0.0591 right_yaw=2.7778 right_pitch=-0.08 right_roll=0.0202 right_gripper=0.4772\nstate[joint_eff]: [-0.0479, -1.2103, 6.5983, 1.873, -0.022, -0.0659, -0.0122, -1.0598, -16.6769, 5.2444, -0.5641, -0.3346, -0.1148, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58d0ccbbaaf68b89267df525efb14f9abe367476232213c2c3650ebf290c5d2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96598eeea12c762be0f1991bd897732853f0fd6a510dc5a4f4d835df44d8ebed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88c422ee939eca7b41102447afff9eb59fcec076819c3156821872d49bdb454c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 3.116 s

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

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3832, -0.0231, -0.0296, 0.9978, 0.598, 2.1414, 1.2087, 0.3, 0.421, 0.2703, 0.9956]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1826 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9978 right_x=0.4877 right_y=0.2492 right_z=0.0365 right_yaw=0.0794 right_pitch=0.0003 right_roll=-0.0005 right_gripper=0.9956\nstate[joint_eff]: [0.0205, -1.5658, 6.5846, 1.7851, -0.0366, -0.0757, -0.0171, -0.6769, -9.0735, 5.2171, 1.8877, 0.105, 0.022, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9978, 0.601, 1.9881, 1.4082, -0.1165, 0.3912, 0.2497, 0.4771]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4847 right_y=0.255 right_z=0.1198 right_yaw=0.1166 right_pitch=-0.0644 right_roll=-0.032 right_gripper=0.4771\nstate[joint_eff]: [-0.212, -1.5795, 6.8581, 1.7802, -0.0562, -0.0513, -0.0122, -0.1983, -13.9829, 9.306, 1.7216, 0.3053, 0.1538, 0.0073]\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 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3862, -0.0227, -0.0292, 0.9978, 0.9051, 2.4493, 2.0083, -1.5311, -0.8536, -2.0773, 0.4772]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1813 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9978 right_x=0.1379 right_y=0.3969 right_z=0.0591 right_yaw=2.7778 right_pitch=-0.08 right_roll=0.0202 right_gripper=0.4772\nstate[joint_eff]: [-0.0479, -1.2103, 6.5983, 1.873, -0.022, -0.0659, -0.0122, -1.0598, -16.6769, 5.2444, -0.5641, -0.3346, -0.1148, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58d0ccbbaaf68b89267df525efb14f9abe367476232213c2c3650ebf290c5d2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96598eeea12c762be0f1991bd897732853f0fd6a510dc5a4f4d835df44d8ebed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88c422ee939eca7b41102447afff9eb59fcec076819c3156821872d49bdb454c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_064f03d89bc1b210016ab4404be6bc87d0870158a91285c351",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.2,\"right_z\":0.22,\"right_yaw\":3.0},\"note\":\"The large wrist rotation caused severe Cartesian drift into a folded pose, although the bottle remains held. I’ll recover by moving to a central, high pose while keeping the reversed yaw, where the arm has better leverage and the bottle can clear the table.\"}",
  "call_id": "call_2Vhbj7mUrMJlpgIthTxZ8CXK",
  "id": "fc_064f03d89bc1b210016ab4404de31c87d08523f468dc160961",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2Vhbj7mUrMJlpgIthTxZ8CXK",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6098, -0.3866, -0.0231, -0.0292, 0.9978, 1.0275, 1.9934, 1.5669, -1.5539, -0.8673, -2.0888, 0.4773]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1801 left_yaw=0.0005 left_pitch=-0.0126 left_roll=0.0001 left_gripper=0.9978 right_x=0.038 right_y=0.3304 right_z=0.1372 right_yaw=2.9013 right_pitch=-0.0652 right_roll=0.0152 right_gripper=0.4773\nstate[joint_eff]: [-0.2667, -1.4974, 6.5026, 1.8584, -0.0611, -0.0366, -0.0122, 0.4855, -11.6718, 4.8479, -0.4908, -0.4567, -0.1099, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d16b0e69bf89728e8f7012be24ca44821901c7627b2ec36f2fe58e4304a7b83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b2e9e23896346c17cffedcf916fa7d27e0f5255fe6f4c33afb19c63067552e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:651e1c3ec3d76a27489af21df87d54c30cc39b35a2eda3a7bcdbc4e385d3f15f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 4.619 s

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

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9978, 0.5972, 2.1441, 1.2057, 0.3389, 0.4103, 0.2642, 0.4769]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4909 right_y=0.2529 right_z=0.0409 right_yaw=0.0904 right_pitch=0.0262 right_roll=0.016 right_gripper=0.4769\nstate[joint_eff]: [-0.3624, -1.4427, 6.5983, 1.7705, -0.0415, -0.0513, -0.0073, -0.253, -11.7402, 6.0376, 1.2967, 0.188, 0.0366, 0.7937]\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]: [-0.02, 0.8005, 0.6136, -0.3862, -0.0227, -0.0292, 0.9978, 0.9051, 2.4493, 2.0083, -1.5311, -0.8536, -2.0773, 0.4772]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1813 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9978 right_x=0.1379 right_y=0.3969 right_z=0.0591 right_yaw=2.7778 right_pitch=-0.08 right_roll=0.0202 right_gripper=0.4772\nstate[joint_eff]: [-0.0479, -1.2103, 6.5983, 1.873, -0.022, -0.0659, -0.0122, -1.0598, -16.6769, 5.2444, -0.5641, -0.3346, -0.1148, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6098, -0.3866, -0.0231, -0.0292, 0.9978, 1.0275, 1.9934, 1.5669, -1.5539, -0.8673, -2.0888, 0.4773]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1801 left_yaw=0.0005 left_pitch=-0.0126 left_roll=0.0001 left_gripper=0.9978 right_x=0.038 right_y=0.3304 right_z=0.1372 right_yaw=2.9013 right_pitch=-0.0652 right_roll=0.0152 right_gripper=0.4773\nstate[joint_eff]: [-0.2667, -1.4974, 6.5026, 1.8584, -0.0611, -0.0366, -0.0122, 0.4855, -11.6718, 4.8479, -0.4908, -0.4567, -0.1099, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d16b0e69bf89728e8f7012be24ca44821901c7627b2ec36f2fe58e4304a7b83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b2e9e23896346c17cffedcf916fa7d27e0f5255fe6f4c33afb19c63067552e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:651e1c3ec3d76a27489af21df87d54c30cc39b35a2eda3a7bcdbc4e385d3f15f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBTfAlm1KABVwuvSmw4tCRjYsY8g3fv1rKWD_-qo3lvFCP5MnI_vN1FonG9miQx1ZHHE3a7QVWp13RoM49sC_NA5QwPYMVb4JpDMDmprOKyMu6p-DWB_WqhJGvcopL52N7631tKvqcFy3ZTCmBlNxi_WPXOELxGw0sb8iu3rzR0tYDcl4nAARGbwk7Kro5RNFszSNEX_7UHEYwQKaqY64ChCd3jyLO3cqI1W6tfccIsjLOwvomAuk_CnT9zdbb6Lbz45Uuz6rweEKxIVzK3gssdUHeqAvw2eA5ezQZlOsbFwE-zPRuQK5iAcRHwc1kJZMbjwGKhs1k-O_qGsIaXfAkb2ATJHy90AQSv5zW5N_u7yfYEZ4ZQRJtqQL08BA4NBXa5B4IgDNY4royYj1JUCwS548XnH5KNlW-F7aW7e-TgP6KOC7iPi8FO22mb1hR8Lknhfq_uWDK13h2a6vomF18nhtuXbfd3Z5OXrnRX0VqGsCH4l07lxqtLS4e5mc2k_OBkE_Bozv8x6m6ZkvimPMQpRntQJ8ckCfx_mtqXVv-Kl6ClkFAolzb82rxQsIqI6MnpOM8Soc63dgqnYZQnj0zMLrAHUC8wHice3SZqERyvXFgVcdSqvxEm_W6AQM5fLwazMbMBeeVrF9X8hi2BdHYIADLOiN2yV1L2MmSdmVoTWAPNxPtRQ--fw7np3e1eR1pU9q1aHEVjXOBkNZybauS2PaiZFBcn1KLh-lpu_DBOXAxqXCp9YLm6k_28RdRojzZP21OKgVRNKQUynayqy21eOkZm6DESGPRotMay2t3enO4w_hTGd3XHTrU14_zvN4t75_zBICvaaafBFDVuS8dPrhzjC3FsZPAqHiPp4qFmfFM4drQtLQ5PBGEQsnfZoxjYU1IP6xrXlbnu8_N_mpQhaE55yQqz6aOAjC0_IAZs86mm7yNx2IaIFrAk4NMnp6tOWKx8QkV6GIZYFFmeQR9AKwz5jZdVoaJFGrYpgvDg3Wc1avAjYgbCqJho6ZDZNEthC8Lj5q2o6ifOctqAi288cIVw5DIb0Uo6jXmtITZKteZVULw5wSaJXKmN3vlZVzmkuvdNOPgyOwr969JcgR0kE4QTyu_WVZ0WxV_CqgVk29I6Clp-NRUN2prYsxZQRlLiMsCH6sjysgjBj1z9I_7oBGy7ymBplGUZWeOLktLUs3l70YPgaoFjOdS71BHNJ-6swflg173u4R41aPMDWNyGV__De4neXBMpP4cYYIU9uTa0ZkBT6MFP9rEYoxdcAN3SoolTIbv_jEtCzS_ONWJwbd8kUDc6vTIOw3rP4j-g4UQM3Zjnzl0yKDgpQnzOlKBNHRMNaioh0h-IiI8KSUdm-9RN-0piwxWgucu_5Gwd0hjBbIXb81SsxNA95_zC1qfpuvmq6m5m5sdcmrWx1GCE0g6_vaVDWSC1QrEcikFwSgH15BPotb5Bda95xKZRbAkX0oIlclj7yiJ9QMxJrKvW5mX1Aqy3R-DF-qvofFA19pc2rFJpXK9EJu4EOgPHkJWk2G3qDGzNA1EEwRr9XhxdWG7uIqPXpF-4r55usIaPVlgbXpYcyDB9ORUWHXo4n7wIWPrX5yteuxG4-fCcWhDFjZI0f5qXGn9pu-NR4mBaSoDlrrvLFh0W7sSs77673J2l",
  "id": "rs_064f03d89bc1b210016ab44051d03087d08c108abc65439ca9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.12,\"right_y\":0.3,\"right_z\":0.35,\"right_yaw\":3.0},\"note\":\"The arm is still folded near its base and did not reach the central target, but the bottle remains secure. Following the rig’s folded-pose recovery behavior, I’ll first raise substantially at small x before attempting to extend again.\"}",
  "call_id": "call_0GdQ9PMrU8jE88utI4JHeKIl",
  "id": "fc_064f03d89bc1b210016ab44052d11487d0baa084dc73154110",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0GdQ9PMrU8jE88utI4JHeKIl",
  "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]: [-0.02, 0.7959, 0.5991, -0.3862, -0.0231, -0.0292, 0.9978, 1.2076, 1.8362, 1.5436, -1.5513, -0.9382, -1.9343, 0.4773]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1759 left_yaw=0.0005 left_pitch=-0.0206 left_roll=0.0003 left_gripper=0.9978 right_x=-0.0321 right_y=0.3265 right_z=0.1857 right_yaw=2.9663 right_pitch=-0.0353 right_roll=-0.0078 right_gripper=0.4773\nstate[joint_eff]: [-0.3624, -1.7573, 6.8718, 1.8681, -0.0415, -0.0806, -0.0122, 0.6496, -11.453, 7.5829, -0.3687, -0.7204, 0.1685, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd57ca8089f11bee2c5eabf8e49e6d7abb35ea45939340a0612f294846c1cdd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:712b268496f461bb102109118c8d5f268cf0f491a0cfc87297401a36da482920",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c87457379158f8efeccd6253dcc2f52c2b8a65671a6f9f73d657f08ab1dcc8c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 6.705 s

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

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6136, -0.3832, -0.0227, -0.0292, 0.9978, 0.601, 1.9881, 1.4082, -0.1165, 0.3912, 0.2497, 0.4771]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0057 left_roll=-0.0002 left_gripper=0.9978 right_x=0.4847 right_y=0.255 right_z=0.1198 right_yaw=0.1166 right_pitch=-0.0644 right_roll=-0.032 right_gripper=0.4771\nstate[joint_eff]: [-0.212, -1.5795, 6.8581, 1.7802, -0.0562, -0.0513, -0.0122, -0.1983, -13.9829, 9.306, 1.7216, 0.3053, 0.1538, 0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6098, -0.3866, -0.0231, -0.0292, 0.9978, 1.0275, 1.9934, 1.5669, -1.5539, -0.8673, -2.0888, 0.4773]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1801 left_yaw=0.0005 left_pitch=-0.0126 left_roll=0.0001 left_gripper=0.9978 right_x=0.038 right_y=0.3304 right_z=0.1372 right_yaw=2.9013 right_pitch=-0.0652 right_roll=0.0152 right_gripper=0.4773\nstate[joint_eff]: [-0.2667, -1.4974, 6.5026, 1.8584, -0.0611, -0.0366, -0.0122, 0.4855, -11.6718, 4.8479, -0.4908, -0.4567, -0.1099, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.5991, -0.3862, -0.0231, -0.0292, 0.9978, 1.2076, 1.8362, 1.5436, -1.5513, -0.9382, -1.9343, 0.4773]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1759 left_yaw=0.0005 left_pitch=-0.0206 left_roll=0.0003 left_gripper=0.9978 right_x=-0.0321 right_y=0.3265 right_z=0.1857 right_yaw=2.9663 right_pitch=-0.0353 right_roll=-0.0078 right_gripper=0.4773\nstate[joint_eff]: [-0.3624, -1.7573, 6.8718, 1.8681, -0.0415, -0.0806, -0.0122, 0.6496, -11.453, 7.5829, -0.3687, -0.7204, 0.1685, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd57ca8089f11bee2c5eabf8e49e6d7abb35ea45939340a0612f294846c1cdd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:712b268496f461bb102109118c8d5f268cf0f491a0cfc87297401a36da482920",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c87457379158f8efeccd6253dcc2f52c2b8a65671a6f9f73d657f08ab1dcc8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBZyMzNcnIZajSoISchk4r53XtP95ocZ5ubVfOu4Tq3u39Fy8pyIK5VPH6R0ojM3UGDtK1VdFhfzpFIdcoLk93MOrH6QO5FYZGe1D2Yt0cH6BSOVD0iLhK0lHR5MTGMVbGaM-ILvv5Esbx0xfWFxKuRNXEXFrqM-cjh3dtzrRORpBp8XL0Gtj_IR5P-CeS1zNR8uV1FrrARc5vIqZn5KVDKxA4ld9laBLTW-zoto_cB9nFadTTuUtcP44CAU-HsCHVV_kykkzXBDjK9LELqU381JIwHWog1BXnHNnZoik902J9wJBeQ0WfTRW4LfoC5NSkpH7qxKnmPZ68OLGUthHdIpyOaPPOUW7PufCDtA1YGQunNHR5Yza7X7W1_UuGX82puhLx7Sq_D0KwBMSLY3YfqEXHjzbuQmGnkBSgxaQ4noWyiznv70YqIw1mM04IqSmsp1kkvkdc1aVu8BL7U9oNo5-O78ZzT3GpJ--Eyo7S4R44jIVQ8pYlfEIOdb4GgngBXHjAMtPfb_ViEJJDhujaNNUCMyD-qr0Oq67QukPU_MUxrnHDyKDkSOOer43sXv9w0p_oaH9eh9xHmDc-PNtixn6YkVrUPEKCWDx5frSH_n_IJOmliF1RG5WasmqNisYfdLN2Ci-xF3n47DsTtq0cY3erITkXOrwQZjSMcqxNTxfH36Wd4l4_V3_N4DBbM0EBbHrjRXLIdu9TToJA7cJ2zZ1Ty1StmzESNNttKk3LBsen8Zb2mmNdeN68jFIMsHyo9smMsz4_QWCGBhqG8sP2AG3oZaYfYJKJKLqG17LGyL8k5JNbE6yfqXm9DPdknj5veEQVNh_Jn_5H3F-S5bMrjruZ4vKs-wUQWasevqS03HjJNRrVI4AwyzGRMcgzyuCcz7x-6GhdLkXzyw8WHolBHEv7mcAii4Y9_KNK46q5YL9Knyxlld1gd3vpeUMkxVdGBYdvhvgrJdrEG0QE8NiVQ-s7nV_0xKX2bHEHHXa30u2mhGVFctFNkgoSKKQ8WGqFpD-m0Esjpa39fxpTwS_YCxWVabT3CHSnxu8xOrLYlVwGEmYSiumhAXNUN2s7khRggpMToPoSlBRSmtSn4KG4P7CkkbSDY0NEP5xHAF3uxKbARBSjCP7zmwU-ijgMMmYcbUY-on7NNgb4eXxGUs6hHMnmLHbUHwUa2dRR5UF-SWBFmf35_oPtYHH7CY3HGI3gh5D_13xKhL_fh2DBBzByHc9KBcU2XYMHaw8LK39OseJgJA2CaCZkljHctHj-RtHUvUAw7uOAWeG3b2ppgvTYRdExYVJASxgntDllFVUUiudYmHtCFkm9Nbvy2Q48XJgrZuGHdj1JMLuihCTwGqK3KDRETA68a6-1en2Uooas2YDstRlGDbg4ylmZrMivbHIs_8IQuIqAQ76LRmJGjxQ_k5-U_n30slEQi5L8E2HoZAsbVKkcE8EcZVYJmSrBHWYQ6bfL_4A2epDOd0k_gcH1dHL3o1C1LWIuvPmFa9TtAWXeVUN8QTL4nbZoVqsa8E3xpztp56H1rTJUPW770rdqe21zu9_G6FlGVTEBMHChez3o-n7u8ljNAEyy4KHYILisLhVWnTUISe85vCuBAmfKTGL-PsVLjQLE7Ig1ND4Ry1NBmW9eHagzaASTt_O3Ab_pdY1RYrx1_7pX0CIKBEygLgceLFbyTdxNWnw4NIS1bT5wNCno5z8b4rBKsrUrQ2SHfdli-3dN0rRrAJnJOQDEr6pmDIXs58pirPG_GyznYyj4xGThGc3V_5n0THFIHKWuZgp_-XJIUOf6IxDecgulA9JcHL_Fp5yqbSJ9H6-FQFyfCB1Oa2YP2JhVXG-Ck6GtnwdWY2keB0USKaXSiRRcyyoOLWb-dUEWa5P3KPMabbsk7XrAsdz7bBMycPCehEH4J6QIYW_bVb-AV40B-B8PECI_KWPirDelavvC1M1BeaQ3cnXmgAen8tRaHhiMH89uydRWWEgD-EKog66m0WB6J1A==",
  "id": "rs_064f03d89bc1b210016ab44057181887d081a08f799243801f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.15,\"right_y\":0.3,\"right_z\":0.3,\"right_yaw\":1.5},\"note\":\"At yaw near π the right arm’s IK branch remains folded and even reports x behind the nominal workspace. I’ll unwind halfway while commanding a high, modest-forward pose; a 90° bottle reorientation is sufficient to make the cap reachable from the side.\"}",
  "call_id": "call_ZuYm7Cty7AhgIg5W8cdxufZq",
  "id": "fc_064f03d89bc1b210016ab44058787487d08c0c503e794e42c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZuYm7Cty7AhgIg5W8cdxufZq",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5819, -0.3748, -0.0227, -0.0292, 0.9978, 0.8036, 1.1877, 1.2465, -0.8577, -0.6498, -0.5743, 0.4777]\nstate[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.1723 left_yaw=0.0002 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9978 right_x=0.1353 right_y=0.2994 right_z=0.2803 right_yaw=1.6186 right_pitch=-0.0369 right_roll=0.0014 right_gripper=0.4777\nstate[joint_eff]: [-0.2667, -1.812, 6.7761, 1.8926, -0.0269, -0.0562, -0.0122, -0.253, -4.9436, 9.1556, 1.6581, -0.2808, 0.1343, 0.0269]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c190a80dc4cd440696405096a19339a11913a48316097cdb2100ee36c85b41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4304561f727365f2b42e4022e2542d6080dd00039b10356ff2fb542e213c2a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10c1742d08a9fa0d08a6203bdddc6249aefcc9015a7cd00f2842447552516852",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 9.614 s

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

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3862, -0.0227, -0.0292, 0.9978, 0.9051, 2.4493, 2.0083, -1.5311, -0.8536, -2.0773, 0.4772]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1813 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9978 right_x=0.1379 right_y=0.3969 right_z=0.0591 right_yaw=2.7778 right_pitch=-0.08 right_roll=0.0202 right_gripper=0.4772\nstate[joint_eff]: [-0.0479, -1.2103, 6.5983, 1.873, -0.022, -0.0659, -0.0122, -1.0598, -16.6769, 5.2444, -0.5641, -0.3346, -0.1148, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.5991, -0.3862, -0.0231, -0.0292, 0.9978, 1.2076, 1.8362, 1.5436, -1.5513, -0.9382, -1.9343, 0.4773]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1759 left_yaw=0.0005 left_pitch=-0.0206 left_roll=0.0003 left_gripper=0.9978 right_x=-0.0321 right_y=0.3265 right_z=0.1857 right_yaw=2.9663 right_pitch=-0.0353 right_roll=-0.0078 right_gripper=0.4773\nstate[joint_eff]: [-0.3624, -1.7573, 6.8718, 1.8681, -0.0415, -0.0806, -0.0122, 0.6496, -11.453, 7.5829, -0.3687, -0.7204, 0.1685, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5819, -0.3748, -0.0227, -0.0292, 0.9978, 0.8036, 1.1877, 1.2465, -0.8577, -0.6498, -0.5743, 0.4777]\nstate[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.1723 left_yaw=0.0002 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9978 right_x=0.1353 right_y=0.2994 right_z=0.2803 right_yaw=1.6186 right_pitch=-0.0369 right_roll=0.0014 right_gripper=0.4777\nstate[joint_eff]: [-0.2667, -1.812, 6.7761, 1.8926, -0.0269, -0.0562, -0.0122, -0.253, -4.9436, 9.1556, 1.6581, -0.2808, 0.1343, 0.0269]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c190a80dc4cd440696405096a19339a11913a48316097cdb2100ee36c85b41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4304561f727365f2b42e4022e2542d6080dd00039b10356ff2fb542e213c2a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10c1742d08a9fa0d08a6203bdddc6249aefcc9015a7cd00f2842447552516852",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_064f03d89bc1b210016ab4405c261487d08cb6cb4aadb0e54d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.15,\"right_z\":0.2,\"right_yaw\":1.5},\"note\":\"The arm has recovered at the 90° yaw, and the held bottle is visibly elevated near the gripper. I’ll move it to a clear area on the right side of the table, away from the two untouched bottles, before setting it down in its new orientation.\"}",
  "call_id": "call_WEJfiaogm4GFsMzjUMcZuLAF",
  "id": "fc_064f03d89bc1b210016ab44060be3487d09e506f3cacda35d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WEJfiaogm4GFsMzjUMcZuLAF",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7841, 0.5671, -0.3721, -0.0227, -0.0292, 0.9978, 0.0105, 1.6711, 1.3811, -1.1828, -0.9604, -1.4433, 0.4778]\nstate[eef_state]: left_x=0.2906 left_y=0.0018 left_z=0.1674 left_yaw=0.0002 left_pitch=-0.0267 left_roll=0.0002 left_gripper=0.9978 right_x=0.3134 right_y=0.1516 right_z=0.1918 right_yaw=1.4856 right_pitch=-0.0372 right_roll=0.0227 right_gripper=0.4778\nstate[joint_eff]: [-0.3214, -1.894, 6.6667, 1.9267, -0.0366, -0.0366, -0.0122, -0.5128, -6.6803, 8.2393, 0.2955, -0.8718, 0.0513, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40f67eb4704b33e964a721ea2b64f26700054f840ecd8ba4169166075f613b8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99bbf3ece52143f3008d3e4b6c85d2b5a793c6161a1e67f36e6c321254129eda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def910e5a0f3460eb691b067e4f41b788b2d8f9837d47aa692f14b50522abd6f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 3.458 s

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

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6098, -0.3866, -0.0231, -0.0292, 0.9978, 1.0275, 1.9934, 1.5669, -1.5539, -0.8673, -2.0888, 0.4773]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1801 left_yaw=0.0005 left_pitch=-0.0126 left_roll=0.0001 left_gripper=0.9978 right_x=0.038 right_y=0.3304 right_z=0.1372 right_yaw=2.9013 right_pitch=-0.0652 right_roll=0.0152 right_gripper=0.4773\nstate[joint_eff]: [-0.2667, -1.4974, 6.5026, 1.8584, -0.0611, -0.0366, -0.0122, 0.4855, -11.6718, 4.8479, -0.4908, -0.4567, -0.1099, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5819, -0.3748, -0.0227, -0.0292, 0.9978, 0.8036, 1.1877, 1.2465, -0.8577, -0.6498, -0.5743, 0.4777]\nstate[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.1723 left_yaw=0.0002 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9978 right_x=0.1353 right_y=0.2994 right_z=0.2803 right_yaw=1.6186 right_pitch=-0.0369 right_roll=0.0014 right_gripper=0.4777\nstate[joint_eff]: [-0.2667, -1.812, 6.7761, 1.8926, -0.0269, -0.0562, -0.0122, -0.253, -4.9436, 9.1556, 1.6581, -0.2808, 0.1343, 0.0269]\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 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7841, 0.5671, -0.3721, -0.0227, -0.0292, 0.9978, 0.0105, 1.6711, 1.3811, -1.1828, -0.9604, -1.4433, 0.4778]\nstate[eef_state]: left_x=0.2906 left_y=0.0018 left_z=0.1674 left_yaw=0.0002 left_pitch=-0.0267 left_roll=0.0002 left_gripper=0.9978 right_x=0.3134 right_y=0.1516 right_z=0.1918 right_yaw=1.4856 right_pitch=-0.0372 right_roll=0.0227 right_gripper=0.4778\nstate[joint_eff]: [-0.3214, -1.894, 6.6667, 1.9267, -0.0366, -0.0366, -0.0122, -0.5128, -6.6803, 8.2393, 0.2955, -0.8718, 0.0513, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40f67eb4704b33e964a721ea2b64f26700054f840ecd8ba4169166075f613b8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99bbf3ece52143f3008d3e4b6c85d2b5a793c6161a1e67f36e6c321254129eda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def910e5a0f3460eb691b067e4f41b788b2d8f9837d47aa692f14b50522abd6f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBs1db-4LZrD5QPFDdwZHGCIimtUPwaZBTIk1w_TnjkV-yAYp1BnQm7uSlhUThgchG1DEbMcnfF9Gk5qcuaOYGPI0uq5RfKqlkF0hvL0zTlttP7xKA9TT7yjQ8BAUQONIE8oyDySrr3FGWSNu0fIsHUqctKqMBqv3B3oOftdJEKMDXXkwpUSKrf_vTqhbUgd4unKUlEGxKON1W1ubYu9ewR70yCBwcJ48JIRl1Urm_iScCzq-gPloc0UGs3HRR8fL2kY-XNPkU2aGiAd7GCkTQynkJA8gEywHeE4xY8Jt81bOLQ30lIYmSSrv7B1RFmlSWDYyIxNdr7UsWGKBWlk7p3je0UmMul1QA6hXtTlXuHrAglxVgrEJzSgiLfXuMuk9jq-XG52OvqMVVkOkwPOQmeDY-Qqpbk2XjeDk2A2vFxBh6Qgi4iUwJNgTN-G286JzzRfNNWKUDCXXT8h5dRhdUNLsD0tL_zdMWlh11e7oCpdxMwKDRmi1qT9b4KNRv1-9qftmBqQPrIbY8HMbrfDT13Md5xbhM72qYM3yoAMnSXjiEXBUKIhUuH84YfDlvMzOVK88MNR4ygUvdPu3H8lAFy0CHCwfBdzrtr0373FurrCmd16_CnfO7oYM2mT5S2wVaUnJLPPG7xPyUHX5VH8NdigX1qqknRXrPsKnHI_0q2uC4-fnkpWYnm1RzHlcONFRNNlcldyLjqJTGm7ylzL4ADlO1oDh7lxyzu_ZYXOpsXLViiz0oFYbbXIxGkAL7wpcuThhxdmujH5lwXQRCwHeGb8wrm15RnqD15OcsuTbjKzgg5mCKtO0UfepHfMkNi4kQZ55NVGr8JAyrzCzkmjsf_D6HPry7gSwe3vYIy_Q3jnq3W2el0riU9rD2UEKIQwoOlwYWSqj0VfiSBFe1x_yn9k9FF4PQKwlC0MR8xdM0EdSBCCLaQG10XYppTyGG1v_Bc0OpYk-CEP4n0NT2iz5aDq_iARAIcHAOhF5I80Tq1yMe935JqK_9aaceaGu-J9tRGabAkFwok8_QwJfRjoQVkwtNE2Ud_vm-W-2pVNyrrWIHG56ndV6YCDn8HExx4sViwIAnWaRpPcMu1q6d-z2pTU8KtF4P8k9KDTsnlwGMbOqyK9ngtbdPv5TruzP4Ws0xGpnHQFtvvDbZfY7_H21E9URPwMmQsy6fSqew9U2andBmJ4WZdtY18JPlGANo2l8XBCifOKljFh4NEij7uEwSnA5NpxRZqg6OzDj5PGhwI84boMw9hH1gGd_7jWJlTFBMTEZd5NY22VUhKiHjvlsmsQXuwEhEKv_IZtjuoLpeU1OsNQyTqRZL0UU9WyVmIpbD8i2QbQZOs-7iNeC2R1KEdPb-fmLlTo2cbR9GmhppN_nv1LzRImwryIQcMM7LMpxu1sVQXpQYxgwJZMX5xA3FT9kAQE5s63Jauv4gh4gltYl5WywXRsME7h_c-CpHsHk5KUdKlDu7Rg2CXHz6Ks0VyfcmfzR57pKjY_M4JqrULM3VZvVh76oNJML3WNiO9eKvVjP13yPOFHr4hDnEUVndjtYX0EVI8-rRFQCP2iXG91J1e3ECv3nYV8UP0YtjweNij_LlfS_LsCa0J9JhrBWs6jGZCM3xZjDhLZBLmc4Q36mKknwupI3yHTHOKoqeFh8uhtlLAQTWjdCSD9YwjVuZDyu3i3HMoRjIB7ffO9_EMuE3uxbheBoK6zi9o8tPtAkhr9ECSorSak4OS1KeTetKD24thbgBkCrcbWShmNxi8-iu18oJPohkH-2eO3jBy2iIRPsVhTxAiTR0A0KNuD-15XKO6QUC-jvOj_WZ8PSIOWtqsbEYe8fbjosQQNyCV6oJw9b-bmeFl6jS4n103MEMLCJps7y0jOG_BUEzDjBuO8kIv_Zx6sfh2tsenyNWa7wNIrJ6SRlnWT4Hiy5xDtyuKL4vlM_oj0K6XGTzMIdEcXxZf30dZubAQ3XJcxGkiUatJcRtjLmto5XH8imdChn8GSk-GGJh_8oDRxF3FzIJO0OVzpLpHmPqQvkSASnZy5HLonxeexvVivuIhcVmjf1m1UBPUMiaoKs6VCSneLJtXPBFh7cHslwOBnqyAnYCdAR5Lco066BHXdnGFRFRbugA1MtSk0Dp-Dk8PkLsfXdjuaLc5tRQktsXORENxuBFOL3ygLjUzgufvEdaBEw3cp1RnskOKEllhUjVSzNuYCQ9qbDVPEAKYrkjH_yLzCxGKaso0pSMfhr6vooS002QCGWaJM-kLMnyVb1yo_8wh_tQ4dufEJqUIU813YvzScR5WGUU4rsI9Wh6eu4ts1p28T2A6RTeBF7nf1c-9SUa-Cv8P08KB796IJueranqK78U3nEWrHmFNLJ9HqmmpH8gVC1wxCHOsLgY_qCzkKHaNmz-7WXW5ntZNM0180lz6Wixu32uFARqZBnJ76Z_i0wp4OjGOAx_mpcNQd2ZmRnO7JqFdKAWQSLqu4FlNhJy4vXSx9-BA40D99byhlsCnWSNHgcZD6I41XsfCO0wg7Kh65vmuCyKfUYqxOjx93sLrsaVyidcyH7KKu8Xfa9eAa4TTNRieC-2Z909xjRBdt6EfTFaxHO-4lf_-2cxqE70SDPaiqqAirE0ljJgyPPJYmvba9-tWCJYKQb-pxdRB4BQmuZRsLGBGSYOcYaniK1t1p33WkWoXMRaP6He5Zsd6qNDpBjuLR7svuKpgBw229i7-TO2uLiLp3MCH-J3uSX7se3n4HYhNs4rUzvhX7p51Lb4Q0GA-5v2aAp0dhai_1ER6pH98vHwV-jgXkO-_ratsRwFoXb9r6gCjVOU8sb8gsU7rXqQRDU8TrHUkTYXWOUQx_iaF2Aw73omq2yLlGetJzwl4fXGYzN41UNxwztvKCOCQtV3-U_hxVL-X2JaTU_8CsSZsYIxYS4tQSfWIWKCzE2hyIYmAu_CZysVUCxtZOe5MmA8MtQv49wQirND_i85OgS-e_2D-oP1bGoyTlCDkgIZCz_Lqdrog1RQ6NgswwEQ1CvuBga5s-nOC_Km0zq26ipRloMnM3GiT8hveuNvvEH4CMkcyfXFt20QYQaQ1ioPnVOC3sjves5POVonVd6BX-ibuDNGkYlCtzwjTu_tZAToH-l7PgMFpyM24D2V9Ows0ES4JiSmxrVY11zb6pmFa3k_0mLQdPVGBjiN2k_GevAJ5Rs_kSEB_sKBIa24KYel40e0Re5jsyNR6Dc-T-ancFgLnAOS9eEbx73Qo4BKVZp8cXDKqSMbI80D_ISU8HZ_L5_6JyYM3e9a5kp1qoAMLFz65zTJdxnZP2htmuF7lkdOw9BRj760sQoyIXaLGkNHqPFc1MNOocK1pgKKbk-4TAmmceKK-FS8k6QaHqyWNU5WxpgnHmAJiuBIRyCUdTDwbF0vl-KR1M9Bf6ZmOGv6q6Wa2_qFVmvgbjhyDltflGJYYbw3kv7Oc89HEEA6ezZrRAn7tdak1bVtp34bmesm0O2-notiA8CgJgKKtPIkEPh7BQUZcs1J7oNBdh8GNIrJGEvLQiXxok8DnNKm_5_s_hDeX_o2xwYnuLcGtKEtelY-ZgzCiSaEObpQAhPHTc-27tk4WnGOOeBSrwC1hoOMglpju1SSWxV24RlgqFJ4ljfOknGgWN8nu9VxMeyl2f3mbCB_QL_lHekjUhEJYSx1qfkEJWJiAvdTjyQjRVBjWo-4XXZ9okfKWgyOqjLm6GkP4OESpv6O4Yk9ENnNay-0EcUvgWK2LyC4hdDGb4DqRsR_PVt_XM4CX6jS9ytbdKykVM7PAB698Jpq4da8FjYOL20FwpBJcyhYRqP5aEW53Av8h0_L701aF9NO0OIDEGYZQ1jJP_7_GaKbVyRPj7POCKjxT2ZxaOBnQscyUm68AsWv5XOM_3CFrnPVpGIfL7CSvwJCQl1jO7li8ynxuJddHE-aB6k-knzxIFIT8xb5Kcso8JSOfI4bGW1CbNsThBU1XOQpsCnBKRCloNvsiiRaKG7FXRfZCv_4l9k4E5ncYnjWqMU5LbTlH-2D-MYW6IfvcjqOLb9JKYECHrT5VSuNWcdYUksYKLBCozMcYFL4m6VzGUV5C0c04OYrmiOYbyqCvCGCx2GSD0vgups4ZiPHX_vvMnmlZl2M6a7yQeHIebyTfP5h9FxSDC20-ybb5cuoT0um-oG7FNxDBZPupszakWsE50LqEsT0bnkyNn9qi5PzZhKcKz7h7MpWpqyBje934Z0ilVgAziwPKGKqfUyAGgMS5c9g6WrGFdD_GKDpE30DY4OibgXrqY4uM0wNYR9nty4zyzw==",
  "id": "rs_064f03d89bc1b210016ab44064c47887d0b806ff0c21446853",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBsXvGRacGbi_uI6ZpOab5AKdayx6o6JusAeB_AfKni27lqlpZGIerXKxO29Lf5gJ_IAYC6Qp2MWH1G35o7pHhA_czZ1dZKkj57nMXnUOONI2iqTPfZO77N6VBIH3Oz4_8e2WJL4mRrkrSHSLWEJQYd84nRt1EEt9rzOBDmADBH-wB3rJRpRL9-6KjIcemK6GtGXd9CjzRCw603MjNE3T2QLeGoRuPqaRBUaY8Z2P14BjAnG0lVgaxc079t_Dsk90TXJx5rrdykk_fjPGB9pjZRQ1G1Ytf8_KiJieQGzKKuoZoQ2CSEi082_MywRc1hkN0rEHyxmyWKBgJuqeqA6yvc_mTNC38yqquX-KfS1fcNzZ2o_IzrBQso4EfzujQdDH2MuSqwjen6FFytqhtvJN6AUx3XEVnbuEBxKIOvBwCFzUlF-EWqV0MwWugvopr-lC_lBYORhvKxq-xiCa9ulnFFpKihg6tt6Tan6mETQpMTHOQtq2zMf1GDHQID9Tl84VIt3WOOJ5vLzCFy8Paq9Zbe24j8BDjv07XowV7skMk2XLBKiQwlbefo4dDz7r3J5kCY7DgYcpVUhw7Ck5So2W_PZ-KgM1INLC2wCP6cB2tFemSWBcMoomw3zNnXlBfiZL2_ESuiFrVz01iQNE7flVzuRbxC9kKXbXsdi2tTUA3d1PKrhDT2Wi3kiDZz-W4LVGLCt0Hb9i7uThq2bfqPOMeS-aO1bPLO9FARPRSacUHHHv8TkEB8HSQH8j_WxsNLeuFbxOEnu9MYwUkILpNQzK07lmU65wZwmNb5256Z3wMcg1ewMRB7V3LS_z1LqDLrLfWMxYnfUzXGpl3MSsAoagcpGpfUP4qWM5ExAOK4tssldaxNq2Jn4XbGDHrX-kxIJCmjxrNspEF0ACMhKi3MJEzvk_Lhq0EJnRlwHFzTDirS3HqR8kkYvQdVEEp48DyWOfCClw1J_50sd48K2UTymQcp410CeF0DEi8MOfkhmNHLL09Ad5gFHZIUlThxCARFFOWQ_zrBJknBl_T5IdqBY-XIF3RFCecgVHgUbFyi8yGt4ufkp6EOo_vUw7rjFSl83Js1b0396yGk1ucpJRt7kTcm96e4Em629WXjL3mfXW4W4JTIZojw2emS94x7Xs1-nL8B1f-mBvXNwNtkbV9QGh3uvDTNhx-9jAWDDKX9nU7a5lZLOirE0h766cAZTmt3BboiWPaAy6j04Ie-iWRiPT_-RzFQBmkFo91t2idEnF_cagS_B6QJTFnhdkoKFAkcjUq54MviwAyLm1UzomXdQgrCl9a4Mxx-XQvGHov8MHECiOwY19bGP2QactcD8c86NwMCTocL19V3uW_q5_DucLoNzIFVzPelvgFgizDG6yyH-uA-mHQGLndew9yh_oPhGFlVFyTkhA93zYA60RYaK2aCwocPY0sPJKGfTCxD72cKsUxzIHF8zr_199V0q8yRSjcsgszP1PfDbWk1-qYXtsRtmsm6T0wLWzjKrCSyB6A4ns0vFPUe-CsBV6kMk_jCcAqmRdGAAZ0gLsIBwhX5z2OZiGcW2FubCTFWSCpfZySFI58J12oXLGyFLBRFfvdJu-wyx-hLguGW5S4syJ8g7iqUiAd5UyE7OVl04xHhomfn2Tg6juweIX2AG9xIYFwKeEI5WKZm48X6v0b5a_K7aKnQDFgiamBtOApuYhYBeDwzL627BKA_P7XmKJrht3sOt3Hy8djXhCxW5l5n9srvLXoVBQCh8IpoZBMy-JzZMgopvNyTSGq0xPTIAYHhTUXZCFR2z2SNBHU3Mk8lX-7Z7qNob6CGo_bA017OYyKzUc-PTnByPbjvOtK4LSGj1cL1jbZXJGIZV1DrkCXB1Q33yoXnMUFRRs56VAzRYEdSGHdOyBloe7OUv-RkxSvw0htAMPNJZPuxqo_iKlcts-7JWvz_1HeWl8GCVc3jfhmzgkfw5BQawReDTuotUpIdGdl-GwFb3zaqRg5Y3EGZh2BMBGIRz-8uN9NoMqU7WPSfWQA6PTyK4tn2FZjTGJU90pQNpEJQV1fdZmYOinwfEHOyVQcyhjmJ7jmHgCbVVKDiz-I1vr138NS9M1xg0jFwCZVWO-0_2pC9EfsuAqKbAFsT0cMJO7traJITLGuH1E-Y5T4_EjoMNAZ1BwcIEYg3UGhGhKz_0u7ZdvmqjUfnmivTSCYTDoSDBIdh6SZ7zAHFlMV4l6Z56VdY6oa04rUSVyXjTP2zFl72o7DbujeepAYRClsoU0acPtP39_97DTisnu25n4VX3V5id-baFAPGa6AJJDS-IhwuRCBgYsQd4KNLtDCnihuT8y8xERsh3IbG0HYpLD8ujLkXVO-Vi8micZP79ood1jOwfCHyKfSTrQyIKUdIU_4zjrlgrw7e7IyuC6KP452ewVjpXBrU0IAaTE2aQfTg4Hp19kj0s5fJaFA1xrGCoQ==",
  "id": "rs_064f03d89bc1b210016ab44069c84887d08bb4c18f17dadefe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"All three bottle silhouettes remain visible, so the held status is visually ambiguous despite the stable 0.48 jaw reading. I’ll lower the gripper at this clear side location before opening, ensuring that anything actually held is supported rather than dropped.\"}",
  "call_id": "call_JnrYlGnmgRU9mGUsYdYx1Tye",
  "id": "fc_064f03d89bc1b210016ab4406bf15087d09c2b9d0ed82cfab2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JnrYlGnmgRU9mGUsYdYx1Tye",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7719, 0.548, -0.3557, -0.0231, -0.0292, 0.9978, -0.0059, 1.8534, 0.9649, -0.6098, -0.9813, -1.4677, 0.4778]\nstate[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1653 left_yaw=0.0005 left_pitch=-0.0172 left_roll=0.0002 left_gripper=0.9978 right_x=0.3076 right_y=0.1486 right_z=0.0456 right_yaw=1.4849 right_pitch=-0.018 right_roll=0.0298 right_gripper=0.4778\nstate[joint_eff]: [-0.3761, -1.5795, 6.4205, 1.9463, -0.0269, -0.0513, -0.0122, 0.0752, -7.2274, 4.8205, 0.4908, -0.7009, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b07e1720472d293469e1eac6af2b0ffbb08d667512bb4ad38c27746fee8afda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80409b763db88aff1cb24ad9b97d204311c21bf9230623b0338690b38ff1fb5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3445b5f571268365a6d046afd34d6a874c46553e18bcb9a3574c51376aa63d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 6.47 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 57 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.5991, -0.3862, -0.0231, -0.0292, 0.9978, 1.2076, 1.8362, 1.5436, -1.5513, -0.9382, -1.9343, 0.4773]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1759 left_yaw=0.0005 left_pitch=-0.0206 left_roll=0.0003 left_gripper=0.9978 right_x=-0.0321 right_y=0.3265 right_z=0.1857 right_yaw=2.9663 right_pitch=-0.0353 right_roll=-0.0078 right_gripper=0.4773\nstate[joint_eff]: [-0.3624, -1.7573, 6.8718, 1.8681, -0.0415, -0.0806, -0.0122, 0.6496, -11.453, 7.5829, -0.3687, -0.7204, 0.1685, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7841, 0.5671, -0.3721, -0.0227, -0.0292, 0.9978, 0.0105, 1.6711, 1.3811, -1.1828, -0.9604, -1.4433, 0.4778]\nstate[eef_state]: left_x=0.2906 left_y=0.0018 left_z=0.1674 left_yaw=0.0002 left_pitch=-0.0267 left_roll=0.0002 left_gripper=0.9978 right_x=0.3134 right_y=0.1516 right_z=0.1918 right_yaw=1.4856 right_pitch=-0.0372 right_roll=0.0227 right_gripper=0.4778\nstate[joint_eff]: [-0.3214, -1.894, 6.6667, 1.9267, -0.0366, -0.0366, -0.0122, -0.5128, -6.6803, 8.2393, 0.2955, -0.8718, 0.0513, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7719, 0.548, -0.3557, -0.0231, -0.0292, 0.9978, -0.0059, 1.8534, 0.9649, -0.6098, -0.9813, -1.4677, 0.4778]\nstate[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1653 left_yaw=0.0005 left_pitch=-0.0172 left_roll=0.0002 left_gripper=0.9978 right_x=0.3076 right_y=0.1486 right_z=0.0456 right_yaw=1.4849 right_pitch=-0.018 right_roll=0.0298 right_gripper=0.4778\nstate[joint_eff]: [-0.3761, -1.5795, 6.4205, 1.9463, -0.0269, -0.0513, -0.0122, 0.0752, -7.2274, 4.8205, 0.4908, -0.7009, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b07e1720472d293469e1eac6af2b0ffbb08d667512bb4ad38c27746fee8afda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80409b763db88aff1cb24ad9b97d204311c21bf9230623b0338690b38ff1fb5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3445b5f571268365a6d046afd34d6a874c46553e18bcb9a3574c51376aa63d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEBx3mR5U51GQYMrIMBhCayAPktuxHiOZuDXvm6S1lcn2Qb2QQtediMxdH2skm-N3jr47sTehYgF_lc03tLnohMRf1UPxMUfIzgCi5EBr43BJqz_BmAcFNCQUSx5slab81bvqyoAtjyU4GDj3kTs_DaNbj1-EYdLF408MfMB9O1nkFWthrpHF7XLmUxoCKDwwlf1VbuEvwF2mGNmTWrPMDc9u5IucPkEQmHozDvz9KuCbGEARNPzcvRpODu98XXNlzpg7N1QDIQbUiUyJ_q9svCsUyAmM5cYLYrlz2dGlYLIyvIZoI3LkGPEnDwe3Blzl7O56PJ0ajDh4t4jpOIbPQPiDkLQHwlkIk-sgxIX-aeDm1J1ksjtxSdL8AsGCqmuJzs7bMF8-66dKMvTKDjAPXc2nbqiQFrd8t-X40sV-SWjWWcJZ8_tGD0WpVmlVzKM-w7fJO2rgPvQccbPxPmmBXVkh1vpVe8jhmEzM2_D3pj6KhcPLMklgDfsm9T0Zm5HqbBhTkviegsvC8B8_fUpJeuzS_iJvrtP1wSPH2OFrLE7jR6LSvlm4-YvmC7D_WV0WvnRgA1aIHMP9nw-nrw8cvFHn7ozjD16U0xviOLjQpNkC52AYV-0fkqOdaDMCkb43k9IqfXhxzdkHy3W1BeHN1t-oY5RYtrePPwM4badgL9QSeaplj9voSNnyFpqnIFqaMPw8jSsgtvxkfDZnaP53y0Yj4BVFUhirnPCf6E-tShLF1x1E_XOQ2yGT0V5WtQOZSMHPSoRuDLFoRFhv-o2Z__XWKwMxPVHEfdGkogDmmCoiezzYUs0evE6uYNypTxMhJZb59tK2Wn8p78y9OFU1A38aUsemuYDYhh_uXoFEeRukD8yL36fcqPxP3XkjBjPvPGIC-BZCiJIr7qvbl3JFDUGNgdfnYpWJDL5hfz7FwqB6g0FXQk4AKVzWnK5Q0uU0hSB2fMNoTBQhtCTa7rpvkZYhCohZ9r_RfHg5eqIbjcCeKybn-RSqwq5FjH3sQWqOvpzu5Ze2e_nPyun-HOkY7yEen1oqWVmXk0Wzjhb3pqBC7KL67b1_26PS-HgKpKcXCkvFb6-qCOJr8am7OZalCLyYqNnDjwg0kWc6naEsgxPvVJib6FcipoqocQFc_8GBSDJLswxAfm6cJC_BAdylXeXNdAGHAojQM9mcouT-iPfwQhmUbVHZw2KGsN0EaL1wDj1fb1Rwm_ABR27mpecYxyOQFGI9PtTFQ_ogG-8IXh7u9qQuD3ZacaRxCJ7hJi2ODUZB9lDW3syyQ8oDV0rkZAuNtIYnox5fg-FEH89cxxEPfwbBkaQEn0bSGwOsJ6fyIrsLkZA4Uu_Dt3H4huPwVk-OQd7RNyYFKBJnFeUE4aiRkn403eCVup4ebvt0QR1_AitUNVDwcgvXxTQvy4oEuCsDZhIci6qmMOA0gGnT-2zD_7srRCq4AhKhDf2rkOj6XyU1P1GWP3OKFu4qbK778z9tK_6kA-B3PFFKIGJSdTp3oP9mfoJXYxeZkXkj4mPY5ySBN4nANKMsjRSY-gs37BSL0S5Z3IIsliJOa3X-5aPQ8M-srAHrJOfpU2b62XUGrt362yKX2HffDwgCYUU0vepxXm0rQ8CQ5oJ3ucsbtZ86BV6gRLIDbzjPECprCRYMPaV_D9OoC8GCR4ZsUQv_wRo5eiW4FDiVL9LZPZoYxbgImH5dor1irnTZWb__cRt2AzcSzgEeV90epKQeFXwZXokkJfR3_5ZcyQwBEI42uYZBn0isVa0ECiMZmDU-ihyUlLNnN8MND58ekiIp3x4nAze9Q==",
  "id": "rs_064f03d89bc1b210016ab4406edf2087d0b3f872f1facb174c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.16,\"right_yaw\":0},\"note\":\"At table height the overhead view shows the gripper beside, not around, any bottle; the partial closure was therefore not a transported bottle. I’ll reopen and unwind the wrist while lifting clear, then use a simpler cap-lift strategy from reachable ends.\"}",
  "call_id": "call_9oiU8snvce9S3avxsGbcl5BO",
  "id": "fc_064f03d89bc1b210016ab440703ca887d0900ac82268554c7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9oiU8snvce9S3avxsGbcl5BO",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7624, 0.5354, -0.3485, -0.0231, -0.0292, 0.9978, 0.704, 1.1496, 0.6468, -0.1741, 0.2993, 0.2039, 0.9971]\nstate[eef_state]: left_x=0.2885 left_y=0.0019 left_z=0.1636 left_yaw=0.0005 left_pitch=-0.013 left_roll=0.0001 left_gripper=0.9978 right_x=0.2921 right_y=0.1844 right_z=0.138 right_yaw=0.3196 right_pitch=-0.0713 right_roll=-0.0077 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -1.265, 6.6667, 1.8535, -0.0366, -0.0464, -0.0122, -0.9641, -3.9726, 8.6496, 1.6777, 0.3883, 0.1978, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f19eafb4b88877e61132d909e0180acd9a3ef3dc5bd242d22c8438e5ad1c4756",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca83eb50535e59ae1613a2fd6c882412ae9af658205d6ddfcd0be369dafb875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8071fe215a20e943182b4b5ed87de6029aef9e427481697b4331aa4abf4da3b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 3.088 s

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

message 48 changed as sent

message 57 changed as sent

message 61 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5819, -0.3748, -0.0227, -0.0292, 0.9978, 0.8036, 1.1877, 1.2465, -0.8577, -0.6498, -0.5743, 0.4777]\nstate[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.1723 left_yaw=0.0002 left_pitch=-0.0194 left_roll=0.0001 left_gripper=0.9978 right_x=0.1353 right_y=0.2994 right_z=0.2803 right_yaw=1.6186 right_pitch=-0.0369 right_roll=0.0014 right_gripper=0.4777\nstate[joint_eff]: [-0.2667, -1.812, 6.7761, 1.8926, -0.0269, -0.0562, -0.0122, -0.253, -4.9436, 9.1556, 1.6581, -0.2808, 0.1343, 0.0269]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7719, 0.548, -0.3557, -0.0231, -0.0292, 0.9978, -0.0059, 1.8534, 0.9649, -0.6098, -0.9813, -1.4677, 0.4778]\nstate[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1653 left_yaw=0.0005 left_pitch=-0.0172 left_roll=0.0002 left_gripper=0.9978 right_x=0.3076 right_y=0.1486 right_z=0.0456 right_yaw=1.4849 right_pitch=-0.018 right_roll=0.0298 right_gripper=0.4778\nstate[joint_eff]: [-0.3761, -1.5795, 6.4205, 1.9463, -0.0269, -0.0513, -0.0122, 0.0752, -7.2274, 4.8205, 0.4908, -0.7009, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7624, 0.5354, -0.3485, -0.0231, -0.0292, 0.9978, 0.704, 1.1496, 0.6468, -0.1741, 0.2993, 0.2039, 0.9971]\nstate[eef_state]: left_x=0.2885 left_y=0.0019 left_z=0.1636 left_yaw=0.0005 left_pitch=-0.013 left_roll=0.0001 left_gripper=0.9978 right_x=0.2921 right_y=0.1844 right_z=0.138 right_yaw=0.3196 right_pitch=-0.0713 right_roll=-0.0077 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -1.265, 6.6667, 1.8535, -0.0366, -0.0464, -0.0122, -0.9641, -3.9726, 8.6496, 1.6777, 0.3883, 0.1978, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f19eafb4b88877e61132d909e0180acd9a3ef3dc5bd242d22c8438e5ad1c4756",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca83eb50535e59ae1613a2fd6c882412ae9af658205d6ddfcd0be369dafb875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8071fe215a20e943182b4b5ed87de6029aef9e427481697b4331aa4abf4da3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEB4dOcNwn3CUof1c3sBiDLlMQoTZgVbtrrzgTLGafqldGzu1SM1IOZf4kuT03_kr9BjX2Sif6c_nGJuKdW-eHBoUl2KC9n_YvV88O8ckp7T4Q6RuKulnggV1yxN8WE5VFFFUtqwk7GxlUt80--FOxxnJ1evo-y9gX-bBzLNzUM7e44FjAp0JX1B5unQz2vlFM3t4ieVAnCnkWpgqZoYEcFXDrdHO5ENr0YqYZ0LAxOIIHrq813Qr34VKhwC8R7eXIqO-xLtNNKwvmm8wZPWwJfoSn2cI7aoxILAokcS-YvJYZuhb3BxkD4LuiplVizDaPTv5Jx79d8C0saox4Ma6pgFdCG9mIFV4cDE2lImsnSFlcVC_mymjlpC17Vbt3Ja8c9ES1KwQhWsWBPntrcEUGBzmq6cyG1hvC2i5tczCPfMRWb8EXUZWtrfpCmujjAoiNSpQSENW_eumpXR8dmPfYsaBbl2IrHzVD1m_qfJdzqAuanxOXjsGzA_l-tjKkuW2E1WdVUWGNyEECAVhukyktpaPfZx8pVXJYJ_1V8rIunKbwCYEWYfxuY5_PyN35-HWPnl0SrXeBRLMAVGMsZLM2hTcVywOLwGbDgbtB8e8k4W4cZT4K9COToaJb6hNyndGzkhVZrtlav8yfQmp4lxznlblqtsOCQaNsux1A6mn_RLcwq-TH_dWH4Q6t0SyUpN8IFQVXtJynJgiOeVM2JmrUBFpV1KEuSFJFbPVT30HpIzQWysNAVUPXZ_mtkYRixUGX2G1E6o-GHUDniBMVxVIq53f-ZiEggkMEGUWphPoeIeWr4b0C-v-L29KgNtvTTZYmEIruA7_D8w4mp3UvV3AJTdgq6EAmxQcxEJxM3FLPACyo1-ZMepvLm18P7zrqbqrJjZMHLFYzKbxLI4XycSTmGPGia3MyMiWkVfSrked3ekY8SjoVohtmCdiCzXMIxN01A_rCB7z7mTAZQLeuYygjLpVAiH-_rv8BkGG1DjTGX-FNrlRsFRMvORmogfvWRv0rBphpa-o9ClzmpzFED_z896o0PBJyQ96tcN6SRUr5KMSmBrbCLFex6r5akAhwMsGvLKBZuHCD29stKgvSVVZgyDJfKW3OahlXYYB5nXvr0zsgN_wt6rMmZNkTYHyAapmci7zvooczC1kLIQOu2Bl97jZ9YR_iMIiJ42mH5Q_Pmtao1div-eXKntGDmiYg5hYx6tbDLl7bDN2n9k76Ch-pWpjtOWqv96ROced5HKW-z_c9fVI3bGgFE1Q3fVhN6nQIlnC7UOoZkudO2og_OI68TD7_JZvCNkkmMOum6RmDFd2s58W70c2oAbpsU_VyrmYDyaiT2-F2ZaXorIcK1brqWqW9lpU_eu5hpJmoMBowqjdgl_-2NaqMTkqoYb7uuX7_3eweqoBKXZvisvm3l88oEifJYx0UoDzJVMdnUkEZQbH8XGOYdwXzj_QZtzNIEpzV0Ige_EPAnc_YkQSz7dG6KQDT46GxjEHsFxYVVV1WMIlkWoKqhXLLESLAD5I5ti1B_LjTm4TFg-a0jRhJqNPyOCzyHL5eUzNSaKpm5iX5CLk0EXUuAvzm7Y7mY1QqN1pdlz6fX3OzEuyRh_Z6f2ZNtv3xCsvpxyNjHTDcubWNAwLsZQxpAYG3OEjlxK7SudYMpNrSTtR20u0Ja7-7gJCvgxeyYRwF1pQ-hf_NMg766FTmge7q9lEKI_lS4-Ik9RciXGEQdh9m4LFxB2CIWlyffU4LYHjhQxdlaahR3_time98hVx-243-NuKAkUG9TkdbJPMVn7r1vwvmTJUIJsJSLzaE-vaWmZgjFEy302BE1graTFxpWwr4Fq_LqTIeUREaCu-zN4oEEVOnDZTBkYhrmQxTo6-IJgeWW0cNIf8EB8Egxe8ru2UwKxccxBuD0nfNttxrcBOIbaID6wC8X9bVDXtMBQKeW_QXW4fwBQUK-isULmNgUwP1wQZ5YsK1vaaWd7mDZoATCUCzTksm3GNIKQ2kZ_qoISHMz1VPpAMbJItHPl6QGCH8fslhYA-T1aORbV2bln9jW42-b4nscjEuuc_w5mAMQ4-rF-rhkHpU_p10GaV5cc-59smoZE6h40y_staKQIn69OF4b6Q6Yt5ZUWh3t8KnyEH1tNqsmF43IgZLi57MFyi6wxk4H7caIkH_w5SBV2C2e64AZnNNly0H3ccp9_V5ApfLJjYE44OWzEqUm_j7f2BDr4I5RvXNEAHDTt7O3xAWf6jT6py-PP9rZLAcb6ROB6bXsjt6617rwjRQvpXyvdK1P5fe9aKCu15_KZfC6wMK3TcD-OjBSut2SpzAztxk7swnrDzdKJ2m8DfAYY-ZDjI8srsqYa_JNiFfdGkC16RA14UIE31kcbIQd5a84Lh9icSyjQmb8ggTkNPiLQCLQ30Iz7CZU86qBo8GorSaH9fHvoz4qZHtCeXYMHRsvNBMGHd89GRDq9c7ul2b9Hipt7Cdjvwtxr4JGq0ZrBPJWEfhuYGmdfBkzQ-yeiPYcdQQSlz8PbQS9oghsVOEZ0u1LnrHAc43QZCBg3V0ayg2pQufCseTv_5eUmQHa1V1aAUWRa0WEdsB-3uAZ31dXXO8VpLR-Fl87JM3skMDrxi-u7JbURgMY3Z3R0lKQo9c7e0JFA66adAWmKVsoqQX6ryteyM7-Sfx30pfTxNRc8T5gF5seNAY0K52YZccURwZFV-wLYK2Q0XVigVQYP1TL056qkKoPHlJVqnzTDXBEO4r61Sa_Jnx7qLxC-b7dt3xF0ra7gTKcSNFni-UbzibPVcTnZhyhZI7_mq566Fyy-49FNtDQp5xRCPiRiNj9pCGW-ACxVdi60u7Mr0ZosZyE09u6CY0bUPJmtr9B7iTdVXaV1PG7qWx-JZpu-Ov2JMtL1mcogf26UAZPFNqbC_gcE4NB3-teIWl0hUpPA8boTHWRSk3-sQEITYB5d8sHW_4ha7boseOLBLuvdV7_uLsDuz6ThwF8APvQ3pOxGPxXXPSIBBdTJ_uOV_B-pLWMBeiilWgQ5mRf3k-_cB1BxXhSCjH6y54zRzuqQ2y_JHAvwsVLG5vrq3uKtlp-Hlwv0S0fqP3p4vUIWDERVyzvI7jfSjmjy8TWoGsHZXEO1RKUNMo-BxWi7UskVGNT746Pocg==",
  "id": "rs_064f03d89bc1b210016ab44073640487d09e5c60284d775973",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.24,\"right_z\":0.13,\"right_yaw\":0},\"note\":\"With the wrist reset, the rightmost bottle lies just forward-left of the right gripper; its body center is reachable even though its far cap is not. I’ll position directly above the body center, intending to drag the bottle inward without rotating the wrist.\"}",
  "call_id": "call_GsqCWeKXl27v3SV8sJefaN8C",
  "id": "fc_064f03d89bc1b210016ab44076f62487d08eb72effc70714e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GsqCWeKXl27v3SV8sJefaN8C",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7616, 0.5316, -0.3485, -0.0227, -0.0292, 0.9978, 0.6739, 1.1564, 0.5766, -0.0948, 0.3595, 0.2291, 0.999]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.162 left_yaw=0.0002 left_pitch=-0.016 left_roll=0.0 left_gripper=0.9978 right_x=0.2987 right_y=0.1636 right_z=0.1227 right_yaw=0.2267 right_pitch=-0.054 right_roll=-0.021 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.7436, 6.4889, 1.8828, -0.0415, -0.0659, -0.0122, -0.1436, -4.2325, 7.0496, 2.0244, 0.0513, -0.0904, 0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12faa1923126b75fd7f434f6c52ad020584397e7836438de167f713da9f7ecf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b0475ce700492f2a6ce7e89d86fbb0f9a5336de071c75114c6dd2775c7d0357",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12f58635ef466b8062925b8813f85014c1b67baca88228b7f4d959926e4a384d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 3.076 s

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

message 52 changed as sent

message 61 changed as sent

message 65 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7841, 0.5671, -0.3721, -0.0227, -0.0292, 0.9978, 0.0105, 1.6711, 1.3811, -1.1828, -0.9604, -1.4433, 0.4778]\nstate[eef_state]: left_x=0.2906 left_y=0.0018 left_z=0.1674 left_yaw=0.0002 left_pitch=-0.0267 left_roll=0.0002 left_gripper=0.9978 right_x=0.3134 right_y=0.1516 right_z=0.1918 right_yaw=1.4856 right_pitch=-0.0372 right_roll=0.0227 right_gripper=0.4778\nstate[joint_eff]: [-0.3214, -1.894, 6.6667, 1.9267, -0.0366, -0.0366, -0.0122, -0.5128, -6.6803, 8.2393, 0.2955, -0.8718, 0.0513, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7624, 0.5354, -0.3485, -0.0231, -0.0292, 0.9978, 0.704, 1.1496, 0.6468, -0.1741, 0.2993, 0.2039, 0.9971]\nstate[eef_state]: left_x=0.2885 left_y=0.0019 left_z=0.1636 left_yaw=0.0005 left_pitch=-0.013 left_roll=0.0001 left_gripper=0.9978 right_x=0.2921 right_y=0.1844 right_z=0.138 right_yaw=0.3196 right_pitch=-0.0713 right_roll=-0.0077 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -1.265, 6.6667, 1.8535, -0.0366, -0.0464, -0.0122, -0.9641, -3.9726, 8.6496, 1.6777, 0.3883, 0.1978, -0.149]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7616, 0.5316, -0.3485, -0.0227, -0.0292, 0.9978, 0.6739, 1.1564, 0.5766, -0.0948, 0.3595, 0.2291, 0.999]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.162 left_yaw=0.0002 left_pitch=-0.016 left_roll=0.0 left_gripper=0.9978 right_x=0.2987 right_y=0.1636 right_z=0.1227 right_yaw=0.2267 right_pitch=-0.054 right_roll=-0.021 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.7436, 6.4889, 1.8828, -0.0415, -0.0659, -0.0122, -0.1436, -4.2325, 7.0496, 2.0244, 0.0513, -0.0904, 0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12faa1923126b75fd7f434f6c52ad020584397e7836438de167f713da9f7ecf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b0475ce700492f2a6ce7e89d86fbb0f9a5336de071c75114c6dd2775c7d0357",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12f58635ef466b8062925b8813f85014c1b67baca88228b7f4d959926e4a384d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_064f03d89bc1b210016ab44079fc0087d0ba978dc54e358691",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.25,\"right_z\":0.2,\"right_yaw\":0},\"note\":\"The arm did not track the direct diagonal command after unwinding, remaining near x=0.30, y=0.16. I’ll first move it to a higher central pose with the yaw fully neutral, then extend from a stable configuration.\"}",
  "call_id": "call_nd83NQBj3i5Jn6bd5fcoMgVK",
  "id": "fc_064f03d89bc1b210016ab4407b268487d0b5038edb222911e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nd83NQBj3i5Jn6bd5fcoMgVK",
  "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]: [-0.02, 0.7578, 0.5179, -0.3458, -0.0227, -0.0288, 0.9978, 0.7929, 1.2743, 0.6891, -0.181, 0.4488, 0.2996, 0.9993]\nstate[eef_state]: left_x=0.2863 left_y=0.0019 left_z=0.1573 left_yaw=0.0 left_pitch=-0.0233 left_roll=0.0005 left_gripper=0.9978 right_x=0.2945 right_y=0.1949 right_z=0.1204 right_yaw=0.2327 right_pitch=-0.105 right_roll=-0.0606 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -1.1419, 7.0222, 1.9316, -0.022, -0.0513, -0.0122, 0.1162, -5.5453, 8.0615, 1.3553, 0.442, 0.232, 0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b031cab6296c3aa261e49684c670f7d437500ba4205192c8359f3d7827aa10c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0176605a93e7ab0b1eadb55ecec1c7b2e7cec8c2288929ebfc5d488d229ae2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7230291f8887d8c217715a43a573a377a46d30d9b42e5396d546aa85a165a7e5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 5.925 s

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

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7719, 0.548, -0.3557, -0.0231, -0.0292, 0.9978, -0.0059, 1.8534, 0.9649, -0.6098, -0.9813, -1.4677, 0.4778]\nstate[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1653 left_yaw=0.0005 left_pitch=-0.0172 left_roll=0.0002 left_gripper=0.9978 right_x=0.3076 right_y=0.1486 right_z=0.0456 right_yaw=1.4849 right_pitch=-0.018 right_roll=0.0298 right_gripper=0.4778\nstate[joint_eff]: [-0.3761, -1.5795, 6.4205, 1.9463, -0.0269, -0.0513, -0.0122, 0.0752, -7.2274, 4.8205, 0.4908, -0.7009, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7616, 0.5316, -0.3485, -0.0227, -0.0292, 0.9978, 0.6739, 1.1564, 0.5766, -0.0948, 0.3595, 0.2291, 0.999]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.162 left_yaw=0.0002 left_pitch=-0.016 left_roll=0.0 left_gripper=0.9978 right_x=0.2987 right_y=0.1636 right_z=0.1227 right_yaw=0.2267 right_pitch=-0.054 right_roll=-0.021 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.7436, 6.4889, 1.8828, -0.0415, -0.0659, -0.0122, -0.1436, -4.2325, 7.0496, 2.0244, 0.0513, -0.0904, 0.188]\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 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7578, 0.5179, -0.3458, -0.0227, -0.0288, 0.9978, 0.7929, 1.2743, 0.6891, -0.181, 0.4488, 0.2996, 0.9993]\nstate[eef_state]: left_x=0.2863 left_y=0.0019 left_z=0.1573 left_yaw=0.0 left_pitch=-0.0233 left_roll=0.0005 left_gripper=0.9978 right_x=0.2945 right_y=0.1949 right_z=0.1204 right_yaw=0.2327 right_pitch=-0.105 right_roll=-0.0606 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -1.1419, 7.0222, 1.9316, -0.022, -0.0513, -0.0122, 0.1162, -5.5453, 8.0615, 1.3553, 0.442, 0.232, 0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b031cab6296c3aa261e49684c670f7d437500ba4205192c8359f3d7827aa10c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0176605a93e7ab0b1eadb55ecec1c7b2e7cec8c2288929ebfc5d488d229ae2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7230291f8887d8c217715a43a573a377a46d30d9b42e5396d546aa85a165a7e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEB_VZR1hNHq8lH-CgQ_32InS5l42Z9kIgbTv7ZH_GTTW5uPgvemqqBcf2wOADUGBVVzWprBDJz-VEg1iBLH1cpM-FWsdMylpy4i46IAewB10nZ1BRp5kjUDut12s2v4gTEQEwH2uW4Y1xd2fq0lgcvzDQfMdYFddO7px2p8et_G1m-SWUQFDfTwA49vZ6UY45z8GSWQzW8ZG7C2UL0afXPwYoDwLHYS1E-3lI2v5XucbxxxQRiQdHE2psLa2Zen_A4lv0J-83om6fsZ0Vya8Dw_YoOBNZkm0XZN_AtTzXkZrtzcuo5vA8O3KUSm5xMfTS98XMV8uejNeVM5NPnVlHwwpY_wRTy6OQCG6NwCk1vakTwtUxxND8M1ofC8gbp0pXf9X_vlg-B4SrS2RXQn6zDNQlgpUKjPwPO8wwggAH1Z8SNdOygAapXsZgYkqWQjQOZBKRnBkdTQnOrp140T4OTfy727t0I9GgDriykc8Jxxc3AUnE2qFvuJhnqEmuR3d5kf68Xl6id5IMkPTtL7zizYSnPickpgig7xkK1pk7hhQ3qnxCulzwg33Np8glysKVfl1RZtKbmQSosStFx-A-7EqFgmpoIv8ATPa6SKnux-RRDc21BGKYPxYT5SS7rc3jGNQC0PJBMPUxLDhjNeCkNGuu-MN1XvxlmpcYwV8_RWvt0m0kaGi-V8LHD2Kk_fy6xmCuXtuYdf4Eg5sCwlff28CYU6Ew7CB-S2NArsxQjS8XNB0zAThiJSY_Ba1g2AE8jzmJMXBRBOa55APc5N3YEeWdpyXVNUHQfmLgynT9YIhdkTJ4JOkZvG7kkUMbTnwVwi2zoYHw_P0lvA5GHqldJ4pYDxcwnhl00MbYtz9zf9aw5wPwhnz7k7X6ptFoPz4J3JzTUSPMFcvaeF-g8w0PORXyX7ivTkjhiYy3BPxAimyYia5xD11D_oRrqQKYiyBzz0iDCd2wOYRzCyUOfqDQEUFaIrfSX8qd-IejvlBr3hIjzUZgXN5SgIyLg9y5i33hxOexxT9OYd1VYCmREutEbNB91chc3EhMr3_dhLNIrZVKl52GjgoGi8eJZtAF78ZYk-axOD87FIQF2r3TacrDEeWy_q_9GtQagGe2J49JAZgfTE0BW0JsJjCMS2rLLPnAuHBZ-c0zHBQbXGapwH9NFSAtWdhBN1frfYDfSM4KO-mMe8lxbgVgo_KVuYCS5AFa41IerzPlC2s7V5GeivwvSKiQws3rVISKdzeOgi7WKu-ZEzlXRcaD0nbRmQ5jhAdu5SrWTKiot9QK7zkSogoWM1adoRBuW6m5mOsfT2Ly6KDJs7BsSQLRfoS-OOIxHDipqHcyOg5Z-8LuHMgtqLEzv465DCx2dlb4XF321ZUw3di4-s-P47r_52FtBswLf5In5HDEBUCXz835_TcO_Z0-oKaZ6wODXswmdwr2OyeFuj0UiOQMw3C6uybWGxM0XHod0yOy8l1a2m7GlOrLe9wm5qKEWYuAq9XoFFYg2l_5GK_J_x7KButX7nJyoxnywHyVJmogiaqLFvHkGa3FrGDF3ncmLODVV5XfPXzK2HFfDU-CqhsJsU1OzwgIsux5Ed_zfcgv4jqJDz3k6tSwe0hutfxupYrFXqmR7BHQUvoRk_1r7YUfneKaaHgVyBNbsdDWvC",
  "id": "rs_064f03d89bc1b210016ab4407e11f087d0b9103c129f8546a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.18,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The right arm is still failing to track height and lateral targets after the extreme yaw, so I won’t force it near the bottles. I’ll return it to its known home pose and switch to the left arm for the central workspace.\"}",
  "call_id": "call_drLPY7SooavORdqymp68iSQW",
  "id": "fc_064f03d89bc1b210016ab4407ef39887d0b544f2716bf6cd02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_drLPY7SooavORdqymp68iSQW",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7494, 0.5014, -0.3302, -0.0231, -0.0296, 0.9978, 0.0093, 0.8055, 0.5552, -0.3954, 0.0227, -0.0139, 0.9997]\nstate[eef_state]: left_x=0.2858 left_y=0.0019 left_z=0.1552 left_yaw=0.0007 left_pitch=-0.0156 left_roll=-0.0001 left_gripper=0.9978 right_x=0.2865 right_y=0.0023 right_z=0.1516 right_yaw=-0.0253 right_pitch=-0.075 right_roll=-0.0095 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.2513, 6.6393, 1.8877, -0.0317, -0.0757, -0.0122, -0.1299, -2.2632, 10.5368, 1.9756, 0.022, 0.0171, -0.0415]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5f93b6046ae7473d0fdedd8406acf019d9948172f2da3401f2e1747556c84ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4edd548a599b369f82416ede9cc432e172f2d6f9d1b12b5d8cec465587ded8cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66892da43fbfae0fc2f4b1cbd10699f916720137327f4ebea913bc5114f78492",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 3.743 s

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

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7624, 0.5354, -0.3485, -0.0231, -0.0292, 0.9978, 0.704, 1.1496, 0.6468, -0.1741, 0.2993, 0.2039, 0.9971]\nstate[eef_state]: left_x=0.2885 left_y=0.0019 left_z=0.1636 left_yaw=0.0005 left_pitch=-0.013 left_roll=0.0001 left_gripper=0.9978 right_x=0.2921 right_y=0.1844 right_z=0.138 right_yaw=0.3196 right_pitch=-0.0713 right_roll=-0.0077 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -1.265, 6.6667, 1.8535, -0.0366, -0.0464, -0.0122, -0.9641, -3.9726, 8.6496, 1.6777, 0.3883, 0.1978, -0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7578, 0.5179, -0.3458, -0.0227, -0.0288, 0.9978, 0.7929, 1.2743, 0.6891, -0.181, 0.4488, 0.2996, 0.9993]\nstate[eef_state]: left_x=0.2863 left_y=0.0019 left_z=0.1573 left_yaw=0.0 left_pitch=-0.0233 left_roll=0.0005 left_gripper=0.9978 right_x=0.2945 right_y=0.1949 right_z=0.1204 right_yaw=0.2327 right_pitch=-0.105 right_roll=-0.0606 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -1.1419, 7.0222, 1.9316, -0.022, -0.0513, -0.0122, 0.1162, -5.5453, 8.0615, 1.3553, 0.442, 0.232, 0.022]\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 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7494, 0.5014, -0.3302, -0.0231, -0.0296, 0.9978, 0.0093, 0.8055, 0.5552, -0.3954, 0.0227, -0.0139, 0.9997]\nstate[eef_state]: left_x=0.2858 left_y=0.0019 left_z=0.1552 left_yaw=0.0007 left_pitch=-0.0156 left_roll=-0.0001 left_gripper=0.9978 right_x=0.2865 right_y=0.0023 right_z=0.1516 right_yaw=-0.0253 right_pitch=-0.075 right_roll=-0.0095 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.2513, 6.6393, 1.8877, -0.0317, -0.0757, -0.0122, -0.1299, -2.2632, 10.5368, 1.9756, 0.022, 0.0171, -0.0415]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5f93b6046ae7473d0fdedd8406acf019d9948172f2da3401f2e1747556c84ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4edd548a599b369f82416ede9cc432e172f2d6f9d1b12b5d8cec465587ded8cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66892da43fbfae0fc2f4b1cbd10699f916720137327f4ebea913bc5114f78492",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_064f03d89bc1b210016ab44082746487d0aa70b1bb878dc941",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.13,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"The leftmost bottle’s blue cap is around image (52, 88), placing it near x≈0.46, y≈−0.13 in the left-arm frame and within comfortable reach. I’ll bring the open left gripper above that cap for a direct tipping lift.\"}",
  "call_id": "call_unAXtul7KJX2qQA5CNNE4E3f",
  "id": "fc_064f03d89bc1b210016ab44086677087d0992423e305dcfce5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_unAXtul7KJX2qQA5CNNE4E3f",
  "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]: [-0.4034, 1.6737, 0.9569, 0.0631, -0.3328, -0.2447, 0.9985, 0.0006, 0.7563, 0.4736, -0.3401, -0.001, -0.0284, 0.9997]\nstate[eef_state]: left_x=0.4467 left_y=-0.124 left_z=0.1149 left_yaw=-0.0075 left_pitch=-0.0501 left_roll=0.012 left_gripper=0.9985 right_x=0.2805 right_y=0.0039 right_z=0.1387 right_yaw=-0.0063 right_pitch=-0.0524 right_roll=-0.0067 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -8.1026, 8.4444, 1.7118, -0.2759, -0.0562, -0.1783, -0.0205, -1.5795, 7.5556, 2.0342, 0.1441, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86556364b06e25d41e4057aa649e46216524b677015fdbcc3601e590f36a92d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53527ab2f66e96555733b95336e7f2e35a4080b21c84e285ffbe9f9442d43998",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a68b7d335e9b504b1466e111d087c81d7c2b1bfaa1808b98384233e4fa60c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 12.74 s

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

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7616, 0.5316, -0.3485, -0.0227, -0.0292, 0.9978, 0.6739, 1.1564, 0.5766, -0.0948, 0.3595, 0.2291, 0.999]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.162 left_yaw=0.0002 left_pitch=-0.016 left_roll=0.0 left_gripper=0.9978 right_x=0.2987 right_y=0.1636 right_z=0.1227 right_yaw=0.2267 right_pitch=-0.054 right_roll=-0.021 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.7436, 6.4889, 1.8828, -0.0415, -0.0659, -0.0122, -0.1436, -4.2325, 7.0496, 2.0244, 0.0513, -0.0904, 0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7494, 0.5014, -0.3302, -0.0231, -0.0296, 0.9978, 0.0093, 0.8055, 0.5552, -0.3954, 0.0227, -0.0139, 0.9997]\nstate[eef_state]: left_x=0.2858 left_y=0.0019 left_z=0.1552 left_yaw=0.0007 left_pitch=-0.0156 left_roll=-0.0001 left_gripper=0.9978 right_x=0.2865 right_y=0.0023 right_z=0.1516 right_yaw=-0.0253 right_pitch=-0.075 right_roll=-0.0095 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.2513, 6.6393, 1.8877, -0.0317, -0.0757, -0.0122, -0.1299, -2.2632, 10.5368, 1.9756, 0.022, 0.0171, -0.0415]\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 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4034, 1.6737, 0.9569, 0.0631, -0.3328, -0.2447, 0.9985, 0.0006, 0.7563, 0.4736, -0.3401, -0.001, -0.0284, 0.9997]\nstate[eef_state]: left_x=0.4467 left_y=-0.124 left_z=0.1149 left_yaw=-0.0075 left_pitch=-0.0501 left_roll=0.012 left_gripper=0.9985 right_x=0.2805 right_y=0.0039 right_z=0.1387 right_yaw=-0.0063 right_pitch=-0.0524 right_roll=-0.0067 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -8.1026, 8.4444, 1.7118, -0.2759, -0.0562, -0.1783, -0.0205, -1.5795, 7.5556, 2.0342, 0.1441, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86556364b06e25d41e4057aa649e46216524b677015fdbcc3601e590f36a92d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53527ab2f66e96555733b95336e7f2e35a4080b21c84e285ffbe9f9442d43998",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a68b7d335e9b504b1466e111d087c81d7c2b1bfaa1808b98384233e4fa60c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtECM1ee9_i6d9LzvJ17Geyn4pEL8IZjgTjqhWntcj254D1IN6ketGFaQtGM3UxEY4RejywStxwI35Jk0e7WSt2xAzHmrGjyA0B4WzXnvpzWYUfDl_BxHXxlegY_RaU7onss-PYz6PKb_qIVJi6bDS90Ii8fVNsZ4oEo2WJwdD9ZkqBIoDCP9c7k53P6_zQwO5U8cGGzF5S9nKnpo9zLRzpYzRIEnNe4HZXHbj1EO0eVKQBGS3pgN2Tm9eXQoRVDXppzYpZknZbP42gEAw-19HIDihnq8bCjnITCkygvR4nMqTlbeKTXrS8WqWRuyigicgL8i_UoQPyFlIrCC6R2ZsGWqIhLJzVpxxjxdh5j4ihb9XemE3EEwArGv60eGl5_tBbX3MiyJ8qS2Pnoij2ImCcO6Sb1NRKwGyrmOTMih5blKO9nwMa4j2ye60vNF-EIy-njx0Yq0Fu5pMYAUMNvd3ehvHUkIgRwHhTMaVXMhtAsYyvFAeuRUWw89PJ9Kb0eYWIKnTWhKQ-REXEwOZJ78Gh8GQtMQ_eb3uN3E3At6UN8i4n1iF7dtwVZm7ix6fyc7Xe_Zp8ANPctjLO94SOdyPSUTIv-wT55txLEbhSAzmHAjp4j-8-J2tjN3QqOpCM8NPSXr7Gq03LKXPf4HD_ohhjFQNx5Gu_SXckpYXZeQ1jWWm80U112ENGbPPa5DqBWk24n7ta8tqbmz2kbVmMayeSULcwT7PFY1Co-cXyJ29_ev9xPVt-m_h6mGJq2B9NBeXYrEQWa3ZwkwkztxtVKv8zC6VO8SJjAqb2-BO62EpbAi_HLfegs59I42Het4NYs8vbNV4G6AVk9Xe-KQouRbsaJ1TQMAcEHvr7V2Hta_gMabgCODKtUjAD3C4h0pvqJFc9BOIuGOWQciQ-Q-_9A9s9sUUAIQdimw6Fsv5zK0mbpCmU80xNf4qksmTLWdn1jFBFwJYZL7Bnw8l3EzQzGN2tmP-bDY_LGWxMJo1pFjJZ47SgDKh7o3E2uF-YHLyn3kVhVgbQzKiXDdR82geYQeQdcudTQEzYscj46fA4vvGKUceRBgk2vxCmsvemj-WOZByy9DN_6PWbRgXhdSiL3OdRLDwVJXVW947WI3cXooT83lF8yJ5j0uNdYndDdI2k8-p2ttqMfxG1kLTOhQLoqyfv2SPFAW6snBogM41roeW3k0PhuJbJ1MIIarS7b_Vl4WTOwhls-nnaIBRTaM8vQ6lswgILE6_YfuMf-8SJHe_qO1J6s3V7S2e7Unee2CTpINKFIxtJRwbfW-y8tApSJlbk2fCHRVGOgDX4qQWKCerxA6bT0_1jYa3ULpxfF-azxeKQjEsdSH6F70sxEGlb0yYMCRMoZvRzla0j4afaGf67sOj0w-O5jQ1ccXGnn6R7mBlb7CUab7lUybLbkTfMFHd5ospc9vjQWtYZb3zqa620CVjpfF_WnE_e9d79R7wyQG28558z6QCGidHlvHdKwUT47Y1KH7X0uNbge7Fw11WsYE3_niloZqeu1aQy42MJaay3ExkcQOkt3biZKQRz8dJZzMhubKAgCpvGXSpdaFKPacabSUH9ipMvppIY9VaeGDSqGyOyQRJZmI-9NrYmnKy36Nr60ODmUJiq_Z_68BZtLh06FZVbRrH8Pn9aflMnZjD1_8p-Ql4ehlHCI3i-LJbizdVopTRnn2EVGSMS4vOSfQ_6Ia8wcWcAwDTy3_DqOFsozC83rEh9I7yRYmHHCJtlHLaWBxFathZJlWcOE8ojpxZ8twnEYVYISsEB5ESaoFv1tGW6IgzeTrzomTqjQ1yRITTx7392KJZee7wj3pnN6YLvA2fHC_aMWiEc7Pc_JxIaQZH7p_HfmLedJClLHl6Cywx2ABc9fA378Bp_iL7CzvCkvxmqffqILKe5XgAnW8x0pvtxmxVXMDDB4SGBpxZd-0rMWxFkd0_A1t-IbktmP41MlbrjxM_da9duoSAZyvQvrDFgNFQcOkUpND8TIlKpCDLPWKev2QCMuAhBfuHxRUYHU=",
  "id": "rs_064f03d89bc1b210016ab44089dea087d0a7e1ce2a06d60132",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.19,\"left_z\":0.08},\"note\":\"The left wrist clearly shows the intended cap about 7 cm to the camera’s right and still forward of the fingertip point. I’ll shift the gripper rightward in its frame, advance a few centimetres, and descend partway while keeping the jaws open.\"}",
  "call_id": "call_nK8E0h00qi8TcyTL4FtmTGZ0",
  "id": "fc_064f03d89bc1b210016ab4408b721887d083142e2b0770988f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nK8E0h00qi8TcyTL4FtmTGZ0",
  "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]: [-0.5098, 1.9518, 1.1019, 0.1692, -0.4141, -0.3023, 0.9982, -0.0006, 0.7242, 0.4225, -0.3115, -0.0044, -0.0322, 0.9997]\nstate[eef_state]: left_x=0.4774 left_y=-0.1814 left_z=0.0669 left_yaw=-0.0165 left_pitch=-0.052 left_roll=0.0219 left_gripper=0.9982 right_x=0.2759 right_y=0.0042 right_z=0.1296 right_yaw=-0.0024 right_pitch=-0.0428 right_roll=-0.0078 right_gripper=0.9997\nstate[joint_eff]: [-0.7043, -9.5521, 7.8564, 1.6581, -0.3053, -0.0659, -0.0415, -0.5128, -1.4291, 7.0632, 2.0537, -0.0513, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca20a257c3f3a6c4977e8111d4ec0a2b1d87920da399cc974bc8d7ac56631fa7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8350f410b6ad242b99c7e8a5e7fbff1a0c4c3df7137187ab545b8779596557b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6d3537102454dc806a7d7ead74755c1b297396ecc3d333ff18d84b8a54b83af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 2.604 s

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

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7578, 0.5179, -0.3458, -0.0227, -0.0288, 0.9978, 0.7929, 1.2743, 0.6891, -0.181, 0.4488, 0.2996, 0.9993]\nstate[eef_state]: left_x=0.2863 left_y=0.0019 left_z=0.1573 left_yaw=0.0 left_pitch=-0.0233 left_roll=0.0005 left_gripper=0.9978 right_x=0.2945 right_y=0.1949 right_z=0.1204 right_yaw=0.2327 right_pitch=-0.105 right_roll=-0.0606 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -1.1419, 7.0222, 1.9316, -0.022, -0.0513, -0.0122, 0.1162, -5.5453, 8.0615, 1.3553, 0.442, 0.232, 0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4034, 1.6737, 0.9569, 0.0631, -0.3328, -0.2447, 0.9985, 0.0006, 0.7563, 0.4736, -0.3401, -0.001, -0.0284, 0.9997]\nstate[eef_state]: left_x=0.4467 left_y=-0.124 left_z=0.1149 left_yaw=-0.0075 left_pitch=-0.0501 left_roll=0.012 left_gripper=0.9985 right_x=0.2805 right_y=0.0039 right_z=0.1387 right_yaw=-0.0063 right_pitch=-0.0524 right_roll=-0.0067 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -8.1026, 8.4444, 1.7118, -0.2759, -0.0562, -0.1783, -0.0205, -1.5795, 7.5556, 2.0342, 0.1441, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5098, 1.9518, 1.1019, 0.1692, -0.4141, -0.3023, 0.9982, -0.0006, 0.7242, 0.4225, -0.3115, -0.0044, -0.0322, 0.9997]\nstate[eef_state]: left_x=0.4774 left_y=-0.1814 left_z=0.0669 left_yaw=-0.0165 left_pitch=-0.052 left_roll=0.0219 left_gripper=0.9982 right_x=0.2759 right_y=0.0042 right_z=0.1296 right_yaw=-0.0024 right_pitch=-0.0428 right_roll=-0.0078 right_gripper=0.9997\nstate[joint_eff]: [-0.7043, -9.5521, 7.8564, 1.6581, -0.3053, -0.0659, -0.0415, -0.5128, -1.4291, 7.0632, 2.0537, -0.0513, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca20a257c3f3a6c4977e8111d4ec0a2b1d87920da399cc974bc8d7ac56631fa7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8350f410b6ad242b99c7e8a5e7fbff1a0c4c3df7137187ab545b8779596557b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6d3537102454dc806a7d7ead74755c1b297396ecc3d333ff18d84b8a54b83af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtECZLThG916DyA_RjPL4VHjyiFc6TjKvTBipQF75MSseL6yvG25MbUdxCO-9ROqBhe5ll7X4QoVTSDlh5CqyP4Ekuud39W6y1oYLJFul2sphhdQz74ivPAtxgq2i3Ti-56l3XiZoEvwkGCRC3faTm4SVyABDbItadU_WfheWYKx_j7MjGLaNtHTunbu0QHXlYnGtoKxlrBGkPJ_-B51RcgEMQO2wR1cePPq8GTa0awgPBjLBzz-nKxM3ndz8c2PwuJ9Yywy454RJiFnfGBTyy-BPju4a5RJqokuSH8GnSnIMvZEKu98-UJ09hdWu4gm8kf4yu1n-w1zxh7-AGCqBvGTO-80WX8vWnKYrftBtBL4SGhVFOhS3P76Owp9Gb_eFGEqOijrpe_ZYpyQUbzJRwh2gkwRH5bQNvsh2RkPHxu_sQM9wSJ6-PVqkej_u2v1zKw-K7MzcKl_IUNt0yYnPZ0V7SUl9MzhxYt0VtkaN5eE1yPhWJJ2AI-uczUfbCrNr2-gUcE9qWk41rE_bI0h1Vg4Uz623nYU2_3Z2mJo85eISHZYFm4XUWfrlinVs6zlwFeS_H4gXJBH6ik6U66vDk48xy9x69_Wy1nIJeKFOPh4t9N20CNMeinHruE-t3iGhPuZ0Mra381-qhPeyW-VqZoMB9fkf8rnL9K2IzzXTQFHPWOMWVRN9LuS3K98G88a0GZMNOfjdFH6ejb3N4wdE7B8HTc5tAITanhePBJhBBO_G9hQxteNHQ8s7HOR16zHAa_NhY_t37pUhbHoLWryXbyn8GSGuWSJJht_si2p81xtKvkMkyuFDhPUjTrz5Tbj-ZKzzR4YZ-xMXuCMXDlHlY6hRpFxnxDXYzJ4EAJHuUKFXLBk1OR0QvKnvQRV3x5iDEw4T4c_gjRG7SlJdzweC1OPuD33xtcGLFNR-rGqTqXTsht-savdFh0BY-YzVQSXwPr0iV-clv9AAOJfqeA5nTMMdS0aIQUJqKfpx6TtOMIUgfL5FsRPBJ1kf9cgksM5Vohe_EEtgrCCXHSJRatJNJPlO6eyMVpa7pqBZaic-B75oxQIj6lFVF_NqLIYvvIpztcF2G6odVJZ4p5UmrEKE81kEQvYtcq8pg1zwv4WreQLgPRY8Oih1Ei4atiQ2XLIOQrZyILqph3JA8xk1GimfOujPqP21KipRgf2LwJ5xMS7pSqaQUC9zjwYoy4rD17El-GgUclRnM2aYOC6Dsv8qKOIiio1vhSb-n8p0oZTTfxnKh95Zv9oauClKMG6HJ1kcAjlPRtxwfTiUJfZO5L22QNLpME3Yru455YtoIWVYwQBNM_kE4D9tv_VkI3J0W-RDasXpvhiaUygLuCD-f6MVoSaQjpyO3TJgCsG4Z96Fea4zuykVLwi5juVU5Y9kZqTxK_d2xC7urKfcoJ8kMVRcU7td-8dxeBxEX_nrOq3a7OCB0wPypp88ZsX4csKLfICe_slDmqhWQgUWnLG48KEdwriyPFHX-riMG6g-UthlAd53WF5xt3PAewkhi2UuG1k2EQfNWT_qO_FSZ92lEdxCTaX6R5yD84xEJ5uuF5h_HVI0D957WX0WVQNNE-spn56AtQwLe-kXMsP2U9CnjxXjuPwiXzI6rBrSgwhQJmTALdduAjCTq9bSpxKH_7jXpwJZBK7XkoYzq-en26jSZE6uxktFN0u23ZHi6OXFKwCx1tsVgOKeT6_FJpnODV6eb8Y2lj1Chru5raLiLLdiCvJGEuUeN9AAG1rfK4OmgIfGNh4tLis9y7aJrCpL2VSFuDL4_Vpd87EboLiMo3qrxpE5kboyPG4zzUQ8ug9Iqo9n_b67DUzCErAVcrwi129kotzs10EpHy4JCrEYWX7l6wktd4g3Dib7Hlc4j_aPHsSUxXE2KcEv7cEC6pP_6L1UaKn_mpbJahBvAjbnBVxCBaJ3BO5ucPP_NIk21Zn04bfKovhPWN1Hh7F2DF_Lq7R7btMDH6ml5bXMXZ5kJlP80_6sF2e_X8u2AoiEgKaqsK8ICxNaqugiLkJ5PzonzzQeKZy9hGcwOxoUbxZe_jVnbwYgI4Rq-Gl5_t5-ZZdH-E023js1F14d9lbrNSJO6IE6hEMz85xOFVGZ7zJD6gO43FgDdQFHB_d6DQqDmQOgek0hbT9kzrPXA2ALBbJ4ED7jNLb0b03HizmwCN6nvrullJo8qeSpCddz8dMgn4uRwpN3dhm2gz2PVXsMuDawM7Mj8DtS0eDUA0caC2pWIarlKf94cujgetnEpfszpRUU4CcpdQSAIFen1J5XNL4Sq49QyqpEFnvVet1Sf8Gv7xqpIOT7PrpQOicIvCMXNqE2UoMI1LvCUqiPKbbS4L3UNeB9Y0_r6JVzrH90U70sB21-RLNyvd2Y30jII7RiPQSPco8hrCy5Apzih-zs5rRxCKBsX-XIPYGI4Kpa198RH74yz311DhDtdYFDl2LrC5HeOO98dNtQQxVT_uX4G62nd-D4Xo6crenU9Vh_jRteW9hyY_fFWOr_RiH-Ia5om9Qh-3oUjvHwchwhETFvH6YMFvRHa1MSW14Yfdp8EMS37PduhzO7T0DPBm436uXgo5ET_n5YJ0Swzyhmvbs8T1WxbFsiBXZ0PL1ZOmDm385KZ-MZIfdx0XSW3rPoFQU9KuF8nkU9d5Xn8SlMCkkjWnymBRw1H96XcBBGBWUcayz7i6z4IGGfzMzo5bI33JirBUepj-KkYT9_OvkGG5-UCLuUiQXI70fQCwjGoxarnKIsUVd29yW1KxIuEEQILHrY25l1Cto6hdiMr_1-0eSzN5WzmuFrVsvllcIjLGibeO_zY_EM3mEVCfaOnusvhjsFH3VePka6lBONA5axFY_V-skwrN3hDIogYRp1mCtjoIaa-eSFg4rN2pnPI3H9YvpqbGBODmG1SRHh4dpbTZnNrYCMHjQj9Pg3xItT9-F8mU8pIG7VEfMs9Kh3FO52a0M4LvS7JtMI-1tM63UAYXHfNmVSGWLWTVKOl47v9Ziscu6ZeS_OkLgTUZUcQeDvT2j3mm6dxqjYeNNG-HB7NrjkVS9kOyV6BvZUBtJyicGXhTmFgBTIIOd8nC7GapCDi6HoNM8FzI4gZ6Z0fzRe7by3czoMC3gtDuODGq6jWa0L5bqOtnyNvgSANlGgU9HF7ujw5ie6XKgL9TY1iwhK3lfgpwhvAMzDQ35CBkd3WwnOG07EebplptuQL8FfMwt_UW6zSpLZOtAWK5Hqjfo_2CVUc6Ycus2h4By6rcBcMzv0J9t2COQp0mmHAXnYZrvE3Pp429zUsHvH4KwU8wAAQ0qk9Y6KzszOFNcalAxM5VBBdRrtUIMfyKkoILg6ckXc9kq-d1aeOiEa7jcg1iEh6C9qUvHeYQC2fkJ9aLaPONmG0CsndSxUa6Pu-ELKE70v0yhCn6q5y3lJJU-dsqcl3oVkzyX17b8P5RoWm3dfkU-O7sJfBxl89ASsCEHOGkUt-VjLF0HN5WzZwL69blUuqJ9WC7cZ6jssxS7XmQudQUqo2XcP-is4T_oiBRTjHgSZNhT0zlbm6u0V-QyNOnZYLgdGFjki5GFCfZOwYmoqbvQUBaQqsvyw6dcDQcayvAEMA37Mhlh9t8kI8IAcA6CT5Cd42AjILWCy97VcIYFxpoJWIMU320W721dD5kwhbjRUCruSKq_iLJwMvYJNPLNMxrWmqLn8MoQcRkBkNKnewYOPJhc13UC-YNIXaWRz8N7MPaLr1HFBmPtOAUAX5_hdmomL-wLrzzctH5ADkEqoaMxHCfccDVv5R_r9tKVD4W8TEc1OOztEYR_EfojhCU_jo_uAFaukA4udvptNsXiKSwbWAAbEkcAjDYgyzCvJ2AqjnA6Hl45kVxo1pYw3IVhyTr1_l0uRIjm-y8jpguGDUF76hCIl3lkgHn1Hkpervg3LJv5XWQmvcNVnN56WIkZVWvjsdfWQoLeORYB7TsmWjEL6kwhmc9GToTgWBOJPCQ==",
  "id": "rs_064f03d89bc1b210016ab4408e329087d0aaff27653bba425b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtECZEhyPg6bH3HgAryveWri7FWIZaDLiEIRziR-lsK_CDmgXOZuIYiiWVQlGl8xBA7n9wzxCGygQfsSBfzvH0tTw1tLrBCKfGBnKiCyrrSL3boQAn0DT2p9aBalTMSjEBJGnp4r3UH3tbrbxKmRteVvOUzEdmCCuA6PeQwRf1WHs4nvoh3aZ1h5xNWfGV0EaZAmU5JOuskfkDTVSqcoPlLLicKjL_9Wz-b-slp6nHWB70VIY5eJI7mr1OI7QYqmzke8uQDm6xestsjRXkVa8eFCaAZ4dgFJVMM-LAq84uUbQcp8U0tETsoRoPsnVIjRRYu1fZr8TU7XNtMg5GbHs-QN_-XUL7xF5Hrx7OScLAqB-Z-jdIeQAKOoasuEMZU_PeHWS1x93iZQJ4tLZ4VFAYVSjV8jolN04iTxKQA2zjxQ3NqhXiLDMAHeSnH4WyaSmHRbqSksE8P6YsFBlIV9G6a2PsxFyE0jNmintWSdMzkDLpNclba0NBoVshrMA-Yj3KlqrMUOdKYW_Mdlx0CtHH3eg0Lzo0J9A2C1tDiGsLaGGUfd5fMC_1spoMPdiPBvq6iFfY9GmtY1Tj4_aFxgDC5gbyfihVG9SSDNVjeMR0dkjwyz6A8YtI1E_OoOJjSJh-PXPM86bPDB2Aar5MjpEh6dKqpAa39NmV3D26irpDs2tyiQS6lWuiKT0yBAkKg7ZwcZ8wVyRP1of58-kFtlKFAvp_nFG-0hlZvnJTDp9SkP1qwWS95FLCpYckH7cnAMEYt9DHFF8yulgL_nkPZNGQE_T-IG-h3KZJgyHd5Q-n-XpiMfYZWIO2xjAhBaPwuJFhGp9yDELHUnycQsKSg1eTGm00K8HkTI8eXAwlrzGaFSP1XqeF8mEgtoZxKxLiKbV4xcfMfapmrawON2zldjuAwW3QwpODkvu0LjGIFLq6htnGbEMfJkYuxPbay83KfoErKihTFIPIo4HoX_VPuXm0c9ZsKN9XeCJA49Q2mEVuM5Buhlo_BN6JC59FSqFwmjcaK3GR3WAdbD6cEa3ho85CmszBMvMno_WxDohmCANuBQOK_bl1K604GYR-4lTSX8o51M03p257uo8DcZ03vxKsAdM0n8pjc_y6gFNhybCLbKcyELZ6Ow-fjrkrT5C2gT9gwyO_k-rTSOUiUxybjeKHS4wjn4JwNZXbZllUIXodtCCQiFhbjqgWe3lsr8_rm2Fes-Rl3cRDG1oQ6w63qi0Ihk_kG4xBTgMjv8oLXp_G50Sykcgr-MjtgHQe6I3dFTrjhonZHsFgv9HAt0gZdumjS-9-zLBb-gKfuhCebG1czbNBPaOvSUOzOB7TCPMftvjfmg0YY7BXlnx0YsyTnLQlRFORa3MOInI35SbuV0Uvc9SMiX35ALuKuJoGg1SIAMBk9mDy_LJm4zdRvKJbE7YI2sMbGrltGM_EATL7iylrUZkHK55ejSCaLIV-v2NuP8rsCoCQO5Yc_T3O8f92iYqIb5B9xH7aDYXmF7jqnH6Tgv7OCSGedPpZa5VHJWt3fqfiSCV-MrjDixA2U_x-ZUAqC2ybiFWaRtzNh3QYCnnQV2Atk-_Qik-Wd7BcniTvr3vMY746tTSKUcfr5ZoObWaWWTwAWDUYXMtooH40p0CXVjeKXL9m-0m9ZZ7YYac4qgGuxgILBXQBQ4GCoclLp9mGklZzWRpLHJi9z0p3iGSQ4bwGW5jnWHcNUzqF97I1v7gQOEHK0m3ckKMNkE4gelQsUej6bH5becYcKccRaFsZYKJa-EJ4VSYGMmpikmO1rOmU0ZSowLXy6s3gRmqQ9s8wWQWPYPTu5wVBfLt3UYLKa1guzZdQfHpFKi_f1OXDPxMyZ-5kxwRTtM8Ig-HaC-nBqJLmxonVZ5mHsdmoKY230FGrAkx_Bc5xnC61wvYNp1OXWToz9bB31UiGfrnsGxZfpy2ZU6OhUSIDaPuxAdlXo8hhfvNrhM9jyoc3EjnAJ5b0WaNsZi-LdyeHjUavGgC2Cl8k35JRfskJZ8-Ic3RJcZXn6Zg0nck4wBZ8QLZdrAImoIkt-cB2mxDLK_Q2ahkEhfGp3C40zvfuCpAnneRk4jYZ2Cu1fVCJyE594i_XCnt2dpY_vTn4OcIJAzBWy-A6l1845cQwnIJjdLk6GVw7tAMzi6vCaIY-tc0NMY_QIc4O4akX3O8fvEc8uPp6Em-JTx7lpVEcW837GPVY8wBOvzlcaewWNZa47cnwRZKF96la4-uDAizuBSJwImBx3BwImNugyrp6P4WJFKErDaBgYB1gFfVCjUEVbvEJM_I01MjlK4TJsOYOnlj_2VLBh8zTfQBAQeAi18B2z-ShA77vTRMnjpqsGZKkn0LzOVPUYPNMR2sv4mmkSNUFgj55MVPeN7AZCgjEzKVQzQ3ylBqr8Z9zQIGs4y_OrjKN8c4wVBpZYa29AiKXJkgrjd4t270VTygqcLlQ8U3eOkmI9_nF7IOtP9O9_ShwrRL9XuIw4SFW6H8cVTjWuojR4EqqrzP3504LCmSah3ZuI4B5bu7f74rhHjcqgiLQKPP6lq0zDi-DV2L_Z-Xd3VcA2HaJHeC5Of346WPbUyvThBJICpS0wcreDNotyu7N9aa0Jhm6O1PxBYruDIJms1qjSuTlC2Ao1WEhSVeqTyN87wuJvGIaPJIh1tCoCQdE45cf48Q02fS51E-v4X60WQFs0gJbg9HXpRW4-dLw9RtoZrhsys2LGkKRq1yD1b3AtJwFolErPWKRGIvl8TIjEIpGOvw_Cfl6IxOrr5tPZc07CJeppIkig1XhWh_oRPCVCcb4DmUnJiV2nS2ybCgTKJyJg70qZXKuGRnO12Cnduwa_3LPi4Jf3utrvGSG3EBh_57ilDY0uFQ1Tsvp9eR6DdgX4zGFvSJIIsetDrykRBVWvDk-UEUT7VjO8TFyCHHfjd1aUsgVNbBCOPahZzZGnH98MZVhi8vxtebx_Sd5Uy6gRy2wB8IbC55j8sq0YgO1h1Runhwg35FIDvtLF9l6yapXj02nCMkcL1xj6F5mDc_9ZHd7eLHvQ3eCV-MC-OAUO8FD6ifJHg9mymIdn38_wgBdE629xvo_nwDDV1zSfw2oD44m_4wa6dUxyl-CwYZaiVPb82FLD2CXUm33hJ3rNPdKM5HN0DCvdsYnW6NiOGnaVzTMl0rqUxlMISod3NWax5ZFXM5XCRBqW8M",
  "id": "rs_064f03d89bc1b210016ab440943b8487d08895a47e36b7398d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.13,\"left_z\":0.03},\"note\":\"The cap dominating the wrist view is actually the middle bottle; the intended left cap is hidden directly beneath the gripper in the overhead view. The gripper is about 5 cm too far right of that hidden cap, so I’ll shift back left and descend to cap height.\"}",
  "call_id": "call_WcOpKRUvRQa0QIJysqcXIeZl",
  "id": "fc_064f03d89bc1b210016ab44098981887d0a7ebf2eabfb59327",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WcOpKRUvRQa0QIJysqcXIeZl",
  "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]: [-0.4011, 1.9553, 0.9005, 0.4858, -0.363, -0.2352, 0.9979, -0.0013, 0.6991, 0.3805, -0.2897, -0.0048, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.4774 left_y=-0.1304 left_z=0.0467 left_yaw=0.0142 left_pitch=0.0345 left_roll=0.0025 left_gripper=0.9979 right_x=0.272 right_y=0.0041 right_z=0.1213 right_yaw=-0.001 right_pitch=-0.0378 right_roll=-0.0104 right_gripper=0.9997\nstate[joint_eff]: [0.3897, -8.2256, 4.2051, 1.4335, 0.1343, -0.0855, -0.0415, -0.5675, -1.265, 7.0496, 2.0195, -0.1197, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d687bc687bbecc7e002bbc0345251a93bb92e8f32be74af061cf0c0b1e5d160",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11f6ed4bdf15ce387fe21a21fe36289f8bf32e66280c201fb9d1e5afd637e04e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef6e6f0979b11c119b09489b4c3074bcc5022b60dffbed061aafe61a9b9ebf2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 6.59 s

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

message 73 changed as sent

message 81 changed as sent

message 86 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7494, 0.5014, -0.3302, -0.0231, -0.0296, 0.9978, 0.0093, 0.8055, 0.5552, -0.3954, 0.0227, -0.0139, 0.9997]\nstate[eef_state]: left_x=0.2858 left_y=0.0019 left_z=0.1552 left_yaw=0.0007 left_pitch=-0.0156 left_roll=-0.0001 left_gripper=0.9978 right_x=0.2865 right_y=0.0023 right_z=0.1516 right_yaw=-0.0253 right_pitch=-0.075 right_roll=-0.0095 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.2513, 6.6393, 1.8877, -0.0317, -0.0757, -0.0122, -0.1299, -2.2632, 10.5368, 1.9756, 0.022, 0.0171, -0.0415]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5098, 1.9518, 1.1019, 0.1692, -0.4141, -0.3023, 0.9982, -0.0006, 0.7242, 0.4225, -0.3115, -0.0044, -0.0322, 0.9997]\nstate[eef_state]: left_x=0.4774 left_y=-0.1814 left_z=0.0669 left_yaw=-0.0165 left_pitch=-0.052 left_roll=0.0219 left_gripper=0.9982 right_x=0.2759 right_y=0.0042 right_z=0.1296 right_yaw=-0.0024 right_pitch=-0.0428 right_roll=-0.0078 right_gripper=0.9997\nstate[joint_eff]: [-0.7043, -9.5521, 7.8564, 1.6581, -0.3053, -0.0659, -0.0415, -0.5128, -1.4291, 7.0632, 2.0537, -0.0513, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4011, 1.9553, 0.9005, 0.4858, -0.363, -0.2352, 0.9979, -0.0013, 0.6991, 0.3805, -0.2897, -0.0048, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.4774 left_y=-0.1304 left_z=0.0467 left_yaw=0.0142 left_pitch=0.0345 left_roll=0.0025 left_gripper=0.9979 right_x=0.272 right_y=0.0041 right_z=0.1213 right_yaw=-0.001 right_pitch=-0.0378 right_roll=-0.0104 right_gripper=0.9997\nstate[joint_eff]: [0.3897, -8.2256, 4.2051, 1.4335, 0.1343, -0.0855, -0.0415, -0.5675, -1.265, 7.0496, 2.0195, -0.1197, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d687bc687bbecc7e002bbc0345251a93bb92e8f32be74af061cf0c0b1e5d160",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11f6ed4bdf15ce387fe21a21fe36289f8bf32e66280c201fb9d1e5afd637e04e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef6e6f0979b11c119b09489b4c3074bcc5022b60dffbed061aafe61a9b9ebf2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtECchKARKxaUK6yAz2KuUzvCmxHKCzNzNa5fq8mh0pSM6amNuuNUDGCmj7yS_YzD4g3YEhlZl1-hpJJwfcQN8fNTdixLnyYwWlCCWJTSK9skzVPka_nSGypZMkncgPSPb8fwrrm568vMNVwvUCn3y09JHnilDBmJGLRuvkYf5-MLLyPIareAhVlmOzBYqT2tVqDUYIiaNlb2KVqqQuuJ9lN3NwVKnjV48GopP8hz1cxabXBIjSDq1xt8Fnbs2DlRPVnS1qEXlNl4sDoOxYfhVhfqS1wgclllZttNtV50OteuVhjyF7Kezz4wnlQS5wn0KXZV0Vt2FvZC5O0w4-HSQq-ijw-eOcb_IciAYpeMLWv70CFYvHfgWi1S8irFEc9EWYjv8_VSYhEbt64DZ8ke3Uuqfy3SypkqOcPaoTPgJXvtmOqlt9OV66pqi_BdBUvEkHIwWvmKfhI3B1v4J3y3b5Hu7Lqy9p-SAmt7BIK2-6gXbd3O6HL5Gwabs125QSdV5PlH7IiJayKTeD7jHJ1CD_fdjiqnkD6Tzcu6Ysuiuu-d1aRB4Xw_1kBG8um9f9FfpDP7dwWO27A9fDiA7PJ-hjJQ-bSvF6mIXpfI8A9cNZx7FyiRhatxiqBEAFuhcaMNXSw0rBsjeRMGJErcmb-ELmBURbolUlxNyWKG1We3SRTlzUa-_fggFXhuBH7HbUD_YB3S-WmCgr9GPPDkCqUdT1gCNA-5U0tzcH0q6tB9M8y81jv0xkRStWgOOachTeNXcTi5vFjhcaoBhnU2X77d7k556k389OuthxYRbu5Zc9uGnMZmhZ3YbxKwYsKZNZqWV_PbO7CuN7shxv0paPzQ71PvXmq-xqwTLVFO9Rv7lcThPaB3BJXRaiCQB5-iOOhIOFv4Nvbobk8Du2aE5SF_ZVDwFgqhMH9cSH1pBoQL0A8wHzP94QuYmXBF5N081Z4wLN61zeqvMgVyWdgfTqUIwpSnNu_DLRf6FRxvYxKjS5jN6RpykmT13HPjeh3AQNrUEKSQxYaY_SVxHgmKHM7jvIZHuWpmo0pKb8nq_f7ye4S6OhYDzZJ27lv0K1QrZN4iV_WsNx2bf_Dg6aJgSB-CJ7iSMH4f88ZgfwIZEf3dYPUUrzrLtYofeBBXeBXcY7yoiJXCfFEaKbPXJd37VOu9Y2KsQbp8NUYRrn9EGECWH0iYbwCKjnoiLsLXDGNOLbqrxx3k2eeUm9fpf4AUEEkPj8mdiAmmdNIxsRDtbbMfdJhKmKE9bpHpBVNETxfbZLViMSEIMatj95HQTJ5VHScJ1HctkJkQVSozLXLEMeYvDE7J8eAGeyHN5yWvmfSLiGuigtW5epKf7fU29HSrQ9gP3p-SRRNK0rk5D0W2Y_DvxuxyF6OXveaDHoel4KQZFxee4TxH7Js5zD1SLhovozlhIdey4CPnzAYZdFijmHPGWsJsP7DQ1RzKOAO5ARGxQ7k-lpMjvBq74EbOubRx3XUrpWmkqpMAjH7d9e2gx3VFvo8XTLuKXbML-ZJqfrSeLz0BR8fTkl4tdtzU5jEoiQAibi2PcxI7vJUdE0oFxTKUdnsLcpn7ze0lt3FFVNVMYMtcl7dn",
  "id": "rs_064f03d89bc1b210016ab4409b294487d098b04c7b39511b03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The intended cap is no longer visible in the wrist camera and is occluded beneath the low left gripper overhead, which is the expected grasp geometry. I’ll close on it and verify by the settled jaw width.\"}",
  "call_id": "call_JS0tkgM46sX8NknuFAUWwkjn",
  "id": "fc_064f03d89bc1b210016ab4409c297487d08f9cfa806abbec52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JS0tkgM46sX8NknuFAUWwkjn",
  "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]: [-0.3931, 1.9633, 0.9062, 0.4126, -0.3485, -0.2428, 0.0177, -0.0021, 0.6777, 0.3447, -0.2707, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.4702 left_y=-0.1258 left_z=0.0303 left_yaw=0.0144 left_pitch=-0.038 left_roll=0.0187 left_gripper=0.0177 right_x=0.2688 right_y=0.0046 right_z=0.1142 right_yaw=0.0019 right_pitch=-0.0333 right_roll=-0.0083 right_gripper=0.9997\nstate[joint_eff]: [-0.6496, -10.9607, 7.3094, 1.6874, -0.1099, -0.0464, 0.9109, -0.6222, -1.265, 7.1316, 1.956, -0.1392, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7b88a5baf30de7d9d0db14280f16a172bff8d871986cba7e8712c9167310e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1e923927d72058a8fcf3391927b3176776b784b8e0b2e6ff7ed6fc9cef8e01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9ba9bed836aadc86e142028d9c04b6c56872227f9b9bec11ef3145536067773",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 4.267 s

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

message 77 changed as sent

message 86 changed as sent

message 90 changed as sent

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4034, 1.6737, 0.9569, 0.0631, -0.3328, -0.2447, 0.9985, 0.0006, 0.7563, 0.4736, -0.3401, -0.001, -0.0284, 0.9997]\nstate[eef_state]: left_x=0.4467 left_y=-0.124 left_z=0.1149 left_yaw=-0.0075 left_pitch=-0.0501 left_roll=0.012 left_gripper=0.9985 right_x=0.2805 right_y=0.0039 right_z=0.1387 right_yaw=-0.0063 right_pitch=-0.0524 right_roll=-0.0067 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -8.1026, 8.4444, 1.7118, -0.2759, -0.0562, -0.1783, -0.0205, -1.5795, 7.5556, 2.0342, 0.1441, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4011, 1.9553, 0.9005, 0.4858, -0.363, -0.2352, 0.9979, -0.0013, 0.6991, 0.3805, -0.2897, -0.0048, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.4774 left_y=-0.1304 left_z=0.0467 left_yaw=0.0142 left_pitch=0.0345 left_roll=0.0025 left_gripper=0.9979 right_x=0.272 right_y=0.0041 right_z=0.1213 right_yaw=-0.001 right_pitch=-0.0378 right_roll=-0.0104 right_gripper=0.9997\nstate[joint_eff]: [0.3897, -8.2256, 4.2051, 1.4335, 0.1343, -0.0855, -0.0415, -0.5675, -1.265, 7.0496, 2.0195, -0.1197, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3931, 1.9633, 0.9062, 0.4126, -0.3485, -0.2428, 0.0177, -0.0021, 0.6777, 0.3447, -0.2707, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.4702 left_y=-0.1258 left_z=0.0303 left_yaw=0.0144 left_pitch=-0.038 left_roll=0.0187 left_gripper=0.0177 right_x=0.2688 right_y=0.0046 right_z=0.1142 right_yaw=0.0019 right_pitch=-0.0333 right_roll=-0.0083 right_gripper=0.9997\nstate[joint_eff]: [-0.6496, -10.9607, 7.3094, 1.6874, -0.1099, -0.0464, 0.9109, -0.6222, -1.265, 7.1316, 1.956, -0.1392, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7b88a5baf30de7d9d0db14280f16a172bff8d871986cba7e8712c9167310e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1e923927d72058a8fcf3391927b3176776b784b8e0b2e6ff7ed6fc9cef8e01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9ba9bed836aadc86e142028d9c04b6c56872227f9b9bec11ef3145536067773",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_064f03d89bc1b210016ab4409ec97087d0a7ba9ea7b6de710a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.16,\"left_z\":0.035,\"left_gripper\":1},\"note\":\"The empty close reveals I had mistaken the label/neck region for the cap; all blue caps are actually aligned near the far row of the table. I’ll instead open over the left bottle’s wider body, about 9 cm inward and slightly right, so I can drag the whole bottle closer.\"}",
  "call_id": "call_rvX7Oq5MnNcqPZAoU1cbb4v8",
  "id": "fc_064f03d89bc1b210016ab440a32b2487d0b663fa1206338eb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rvX7Oq5MnNcqPZAoU1cbb4v8",
  "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]: [-0.6167, 1.7977, 0.6357, 0.4931, -0.5102, -0.3744, 0.9949, -0.0021, 0.659, 0.313, -0.2615, -0.009, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.3847 left_y=-0.1626 left_z=0.0294 left_yaw=-0.0083 left_pitch=-0.0096 left_roll=0.0071 left_gripper=0.9949 right_x=0.2648 right_y=0.0046 right_z=0.1063 right_yaw=0.0017 right_pitch=-0.0371 right_roll=-0.008 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -9.4564, 4.5197, 1.3993, -0.2076, -0.0806, -0.0952, -0.6906, -0.8137, 7.0222, 2.0049, -0.1197, 0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec52faa4a651ded29654d194563ce54e4d41a11f56d45d6ae59df109ef0a3916",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e6bc6474d3835204fc60e4940eabecddbc08f63c979a14628cfc6e42d470ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ed1c07799a2b112ee70c3c71c4d54ba15c1ad1448235037178a81987a377d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.524 s

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

message 81 changed as sent

message 90 changed as sent

message 94 changed as sent

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5098, 1.9518, 1.1019, 0.1692, -0.4141, -0.3023, 0.9982, -0.0006, 0.7242, 0.4225, -0.3115, -0.0044, -0.0322, 0.9997]\nstate[eef_state]: left_x=0.4774 left_y=-0.1814 left_z=0.0669 left_yaw=-0.0165 left_pitch=-0.052 left_roll=0.0219 left_gripper=0.9982 right_x=0.2759 right_y=0.0042 right_z=0.1296 right_yaw=-0.0024 right_pitch=-0.0428 right_roll=-0.0078 right_gripper=0.9997\nstate[joint_eff]: [-0.7043, -9.5521, 7.8564, 1.6581, -0.3053, -0.0659, -0.0415, -0.5128, -1.4291, 7.0632, 2.0537, -0.0513, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3931, 1.9633, 0.9062, 0.4126, -0.3485, -0.2428, 0.0177, -0.0021, 0.6777, 0.3447, -0.2707, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.4702 left_y=-0.1258 left_z=0.0303 left_yaw=0.0144 left_pitch=-0.038 left_roll=0.0187 left_gripper=0.0177 right_x=0.2688 right_y=0.0046 right_z=0.1142 right_yaw=0.0019 right_pitch=-0.0333 right_roll=-0.0083 right_gripper=0.9997\nstate[joint_eff]: [-0.6496, -10.9607, 7.3094, 1.6874, -0.1099, -0.0464, 0.9109, -0.6222, -1.265, 7.1316, 1.956, -0.1392, -0.0366, -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 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6167, 1.7977, 0.6357, 0.4931, -0.5102, -0.3744, 0.9949, -0.0021, 0.659, 0.313, -0.2615, -0.009, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.3847 left_y=-0.1626 left_z=0.0294 left_yaw=-0.0083 left_pitch=-0.0096 left_roll=0.0071 left_gripper=0.9949 right_x=0.2648 right_y=0.0046 right_z=0.1063 right_yaw=0.0017 right_pitch=-0.0371 right_roll=-0.008 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -9.4564, 4.5197, 1.3993, -0.2076, -0.0806, -0.0952, -0.6906, -0.8137, 7.0222, 2.0049, -0.1197, 0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec52faa4a651ded29654d194563ce54e4d41a11f56d45d6ae59df109ef0a3916",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e6bc6474d3835204fc60e4940eabecddbc08f63c979a14628cfc6e42d470ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ed1c07799a2b112ee70c3c71c4d54ba15c1ad1448235037178a81987a377d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtECp6X6AowfOUWqs-ZagJyWGUD4v_wVRsl-acwldNUQ1paRUUAUnK3xV_WlR9zZjM8LZuYqsa-J04ZvanWXMaDzyBtNpX5dMWFfm88OYg-YEep_R-wdPwLpGiKBwNb7IjZ-ekkbLYlKgYHE1yKhV_dIBqlEdUjtYcPPhJTFLl6pvdcS5ZeSCrzaF9hearL5VpSjw5HaO11FcF7LvL9jUUguN03JDCSKafLvWIN-0pcbTRF0coQrZoJ14CMHDKJ_v8pY46TThF1vXKIl2LxwszxuaC-VNrR8QVf1ry4FgZ415nM3yyAEKskdyRSNLih7Sr9iEAIPvUebSdrx7s0RQGBLJ1KR4vQEY8uZjBhPZmqeQnLyF2sW17M41V70zojcecEmc8C7rqEaaAF2g_xnKGOny_FxGxVmPEGL2f0GaDrgIL-PoF2OSiAMDDtR5YcOdh01Vsj4OZULfsJ4Wzl5tKZZ1i-Ye2OT1qN2lOHLikddWM68FAcif5fFP364ia8YE7kNk7DQ8dVPaCKkMwz37thLucbLp2FdO6XvKdfiQZXs1POS_gpl8exp3Gwajv6u4qDnomNzlFT5RfR9jO6NZl_yNtfj-Uv5-ov7n899j6I5UZNtetbsRC4taWAdKiIagiXfhX_hNaUe1ezSmVQUDTgDKQTfp4bf8LXohYbFmwRvqely9alWmMcfAfU0PEwsBTWQg3kBjJm3ZpsazKp1xYxEfmcfBrWN4xrjds8GHQFonRqxr7iBhv9mc8kGn_oiPOk_3ZZsmvcJSiBCizUjNGeCqqz7rYkV6EcVWASM3qSMCYsuc2fE-abwNVq4-DiTcr16ZofrlOD9hf5o5j65QFA9w9565lrMdkqA5i1DsT-e49HvpoG7L4Iefwm8EUzDxddCdc21xyH-TntPB_wjOaIVXasnVkXGS97y_LrxntAu-KCXEY8WzhbhptvbyNzi_yJHY0wRXuPnGF14EMMyxCVugFL6l_EU1w2JaCk_ohDJCeJXQeu_eaivTtfe6LUWn8-YG9sASxoKdAzEyLoyb6ADyBhWWJELju4x0GopKAWQ4srt7A8VDxZMZlQwI5kBrx-oGQ5aR7C6QBwp9F4V0gi1zMfbIU6xpGnaPXu3Amm6Zl8muJMU6hWe4LhJBQwXthcgheTBaKkUYSQSOB-_ev8Cw3fd77Aw-B2sGzH1mG7ur_Cox7LHO1MuJcCFUddoZj9-y-fTrVqCVhVsD9JGVKIrHpOhtGp2ZEAipe16VSk3xfU--wKdGV8iZ_gSkfoxR-ddrGS0CJL8hEn04aAEHy4IiFv_Qx_3b8nYAs6HK6dy0AQSnox24vf0UD0XWIICLxw4NyszfobM6F-Uq6RPjcemefTvtOikgiHi9JCI_B7u2avXszaS5mx_fj9rcCj93zs4sMaUxMXnZ9IC9a5wIj6Max1lheJllhyMMfvAtx6wLp6RFQdIAkh1vxlNbbdMfVL_a-YOsqorhyHa8pbkJ9J5wqKBk2mgpCsWCUhGTPnQExyCQRn8IIFWo1qruP6nG1DD9LKQnPW5JuBwC83x5tpJZbTNsDHf2XEao4jHrbFpZHQHMFsh0xWxYGX1nNzLoS2n23GOS5UjgMCbQwGy0GRZ6A42aqam6owXrJ4vyOTbDy4JVcy-qR2e_Xjn84BIAutl103-5jUPR9Tg0sJFGegpJxJ_M00IwcRotvjzbNJyNVXE_wcj5MxJWFcr8T-mn9Wm0-TH-dNnpOE_hioud7KPagTYCV93bpC4Hj-p2rDBjI6iAVlVtgPxvUzMBLWs1cewxYXoZW6Ukw1Cp_A8q2LHZ9DMJ4uKvbQGIRVCeCTqWuqNtPKX5El4SPUyn8ndhf7mfL912hWcWjS7EAPo_SoF6jlKtCkt5B3iGmxIN5jRqsHF6orvzmxfDcuKX9YugLvz1tw-u1XbH5d59JIjImcyidt0B3f9wZaWiZcIbkIuRnx_WfXsPmdOO0nhLbybHyDxR-GctuECU5U1az9ceXbv3mru13i687I6z4C5_C5nfUp5oX7EKrZkiy84pIEaipwS80g39yOkJZIgEUJMP9eABsRgUjmawWAZdJi8vNBCi3kPZTnkPGJOr6b80yg22Uh67_IqiokoeU-tRYxSPICyTWAePeKZNruUzbtV8SyNLleO5NP_FyB9gK_KKhH1wh4KSR-B_KMeQWE2r5owJBh2GaypobIVffKPO5yfH79sabuS-7H3GrkVpAJnTiYFTzyBINZ0gviIXEIjlSJYvIGx2YVTW9Hl1ZUc4DS2Mjwp3o-Rxav4TDB1Sqr0ytH0UBBT02k4sSYVc1IpTVgtO9QoM7El5gkvJrAFBQhFcdFmx5G-f_LGES-l6Fgir1pXJn2t8x5fgl2YwWvuLQGCATEpvspNB9eZgnASqVS-JwcwgmloDCFkvavbNRKHjByMn1Xs_pzrX3ZWSWr9yKvD-Zkexo99ix9LlrmKBdg64ZcCh-XhjKRKC3uga2HQhIKg7Ig0JnDzhf1ChZiHK6lYcYI3A708LXmQ98DQz-pl2LDv3S7JMhJ_DNHTh1Uul3hh-nNnd5aWwDbVqmiKpnVVd3esSdqhxFl7wcvpQuvGQNqUfhwM=",
  "id": "rs_064f03d89bc1b210016ab440a6268887d0929e16b309f0cc42",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.2},\"note\":\"At body height, the left bottle appears just outside the right jaw in the wrist view, while radial alignment is good. I’ll shift the gripper about 4 cm to the right so the bottle lies between the fingers.\"}",
  "call_id": "call_eivJZZhG8RuQO2TQcF9dhg6G",
  "id": "fc_064f03d89bc1b210016ab440a8ba0087d0979b2340ff88283a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eivJZZhG8RuQO2TQcF9dhg6G",
  "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]: [-0.7036, 1.8507, 0.7013, 0.4595, -0.572, -0.4278, 0.9958, -0.0021, 0.6346, 0.2794, -0.2447, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.3819 left_y=-0.1939 left_z=0.0277 left_yaw=-0.0185 left_pitch=-0.0024 left_roll=0.0057 left_gripper=0.9958 right_x=0.2618 right_y=0.0046 right_z=0.1005 right_yaw=0.0019 right_pitch=-0.0294 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -6.9812, 7.0085, 1.5604, -0.2857, -0.1929, 0.0855, -0.6222, -0.8, 6.9538, 1.9512, -0.1783, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452bfeb44b197e1233e1fb56dbc7eb213142526e061368f01d00e29bfaf3dbb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ba1a0f520a38d5ad82bc04e2c76cdc1f51c2c8b1570160ac44b86ef8b82c87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d573ed240d0efc0768da9384b884a2428aad79516b8b40fcbdfe162db9952cc0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 4.038 s

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

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4011, 1.9553, 0.9005, 0.4858, -0.363, -0.2352, 0.9979, -0.0013, 0.6991, 0.3805, -0.2897, -0.0048, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.4774 left_y=-0.1304 left_z=0.0467 left_yaw=0.0142 left_pitch=0.0345 left_roll=0.0025 left_gripper=0.9979 right_x=0.272 right_y=0.0041 right_z=0.1213 right_yaw=-0.001 right_pitch=-0.0378 right_roll=-0.0104 right_gripper=0.9997\nstate[joint_eff]: [0.3897, -8.2256, 4.2051, 1.4335, 0.1343, -0.0855, -0.0415, -0.5675, -1.265, 7.0496, 2.0195, -0.1197, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6167, 1.7977, 0.6357, 0.4931, -0.5102, -0.3744, 0.9949, -0.0021, 0.659, 0.313, -0.2615, -0.009, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.3847 left_y=-0.1626 left_z=0.0294 left_yaw=-0.0083 left_pitch=-0.0096 left_roll=0.0071 left_gripper=0.9949 right_x=0.2648 right_y=0.0046 right_z=0.1063 right_yaw=0.0017 right_pitch=-0.0371 right_roll=-0.008 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -9.4564, 4.5197, 1.3993, -0.2076, -0.0806, -0.0952, -0.6906, -0.8137, 7.0222, 2.0049, -0.1197, 0.0171, -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 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7036, 1.8507, 0.7013, 0.4595, -0.572, -0.4278, 0.9958, -0.0021, 0.6346, 0.2794, -0.2447, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.3819 left_y=-0.1939 left_z=0.0277 left_yaw=-0.0185 left_pitch=-0.0024 left_roll=0.0057 left_gripper=0.9958 right_x=0.2618 right_y=0.0046 right_z=0.1005 right_yaw=0.0019 right_pitch=-0.0294 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -6.9812, 7.0085, 1.5604, -0.2857, -0.1929, 0.0855, -0.6222, -0.8, 6.9538, 1.9512, -0.1783, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452bfeb44b197e1233e1fb56dbc7eb213142526e061368f01d00e29bfaf3dbb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ba1a0f520a38d5ad82bc04e2c76cdc1f51c2c8b1570160ac44b86ef8b82c87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d573ed240d0efc0768da9384b884a2428aad79516b8b40fcbdfe162db9952cc0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtECtlvqj0JTkG3ySWlNXHv1uFIKI77_AVYaLrAKOWbzPEc8yPtGTgEPhFSS6NOv8laMsQ8EpSzNUtHXhfAbbXZavOji7NDgTCgmbJmM_ZZ8XhBqVzPkvMf45PyOQ0F7EPTqkhlIiqxqcA_N_LvyOnGLnjQew-7jT6Cm3h1xD26QXjZUFgZMVfEs5jbNwxGzWeMQWCgtQyk2Q76CiY9UB0AfosrLbV4ESBGnq6h4rLVpWCI31Do5rH2EGfLscpRG8MdTiqiCVq2YNIgKy0f7Wwh1D2wkuXspGZSuBnkpRTHPiRxU2mhsIBUMVvyScwoMh0gHSUE9qqfBiq6_9S3bpPfd-YJnPkEgcAOzFa5rEvXNBhAL17QNOnISEcQALC92aVXuTVK3Q9MgFhJltRBDI4Mkd8RqsVmrMOR9jjKteWRAdXA73vjnnbSdROf5yO-_8UGOy-ROvd5R5pbS_b8pVbaTkT-Ry_Tbnjru_filNNDWJSRiWDXOObEtL0e-QHiXDZAdc_QBz67W4-SOIp6bkJ1baOVQRghUf5BpDaiKLgkFFTNtUDVtyPb7ZZRegu_pJOAU2aldAX6YnJ8CE8kn_RZl6tBaq8PBXpYG-Z9qxfBkHAHHsCKwgcoOeNCyL9x3zDu9MlIKwLztSWV7LR3KjRrJV6FVPMKZMbQFM5Fu2wcNpcAU7aWJAg_bJg4nRnf1-goG-uFuEvxj5QLIkG_FSwAHPcSW1sCzkVw2LApWuii4Ahf6t4TRwA0EbRnUCx2JhLIfkSA5sS2zCB8fpQegjORiel2IecOUrWqLm3uRDsYsVLt-30I-E4umKWJfFpTZIPt-qP0HyDNPPaFQkF4r435FIlWYpz0rDG1aQuu2Xkp0UaLd2rexTaYdTMVzIJHb8A9MZXTRp9gJB37pRb-rNLtURxGeOqAWb6oBSCNjOF-MIHFX_P57odLEGuM2rUQv0D2ul5SvEyNzxToAYZW8dZeMSOsNxDkvcV1u3I6DmDlUaMePGp6FVatgTr3bR228kgtYrs_R2g5SG6I1a6oraNXOhoqlkWlgo_hG91STi16j9K5C7R6_7x0WpzIk6Vyb0qj-BW3o645xno2icRMQatZzcaFVoCZ_DtTBEvBPhqBIxI1yiMVuNFRPc7F4qXV1km58C5QkEYTMn4U7bY6zK7ppxqd9ZYmTBmafDXCcitrlkFI5txwsTiF7IgQj1grCXIkw4lEcGptq5Lt4xmQPrps13KjDbN8hrUYgNxfbhhy9GuCifDJHfAZa40A5z5yzivQLdI5rxGzxhMpxLN6wowBKUhg61ea6WoAoElrFiuJ6n1senHuHGC4mnm7xdggyqMCAkt88d1pF0kgEx4GgvAZ-qmg==",
  "id": "rs_064f03d89bc1b210016ab440abab3087d08f614667a2a0bde7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.25},\"note\":\"The bottle moved only slightly toward the jaw opening and remains outside the right fingertip. I’ll continue the same lateral correction by another 5 cm before closing.\"}",
  "call_id": "call_Y5iRiCIatxpzuED1YGJdRHcY",
  "id": "fc_064f03d89bc1b210016ab440ac390087d084340309c66d7b5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y5iRiCIatxpzuED1YGJdRHcY",
  "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]: [-0.815, 1.9404, 0.844, 0.3584, -0.6563, -0.5106, 0.9959, -0.0021, 0.6147, 0.255, -0.239, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.3802 left_y=-0.241 left_z=0.0265 left_yaw=-0.0219 left_pitch=0.0001 left_roll=0.0089 left_gripper=0.9959 right_x=0.2587 right_y=0.0046 right_z=0.0953 right_yaw=0.0019 right_pitch=-0.0283 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [-0.6085, -7.9658, 6.9402, 1.409, -0.1245, -0.105, -0.0024, -0.759, -0.5402, 6.735, 1.956, -0.1392, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca892d262e379c1952d2b6e134d6849620f56ebc6922c878c26f646aec4174b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:796bec4adccf0c970c638d31b7533c599118c62d3173bef0e7bc0d147e8fb399",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c399d186bd0129927ae24a17c3f24e33b1b11b8d5ccd2166e92f92da8889d45f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 4.334 s

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

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3931, 1.9633, 0.9062, 0.4126, -0.3485, -0.2428, 0.0177, -0.0021, 0.6777, 0.3447, -0.2707, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.4702 left_y=-0.1258 left_z=0.0303 left_yaw=0.0144 left_pitch=-0.038 left_roll=0.0187 left_gripper=0.0177 right_x=0.2688 right_y=0.0046 right_z=0.1142 right_yaw=0.0019 right_pitch=-0.0333 right_roll=-0.0083 right_gripper=0.9997\nstate[joint_eff]: [-0.6496, -10.9607, 7.3094, 1.6874, -0.1099, -0.0464, 0.9109, -0.6222, -1.265, 7.1316, 1.956, -0.1392, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7036, 1.8507, 0.7013, 0.4595, -0.572, -0.4278, 0.9958, -0.0021, 0.6346, 0.2794, -0.2447, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.3819 left_y=-0.1939 left_z=0.0277 left_yaw=-0.0185 left_pitch=-0.0024 left_roll=0.0057 left_gripper=0.9958 right_x=0.2618 right_y=0.0046 right_z=0.1005 right_yaw=0.0019 right_pitch=-0.0294 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -6.9812, 7.0085, 1.5604, -0.2857, -0.1929, 0.0855, -0.6222, -0.8, 6.9538, 1.9512, -0.1783, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.815, 1.9404, 0.844, 0.3584, -0.6563, -0.5106, 0.9959, -0.0021, 0.6147, 0.255, -0.239, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.3802 left_y=-0.241 left_z=0.0265 left_yaw=-0.0219 left_pitch=0.0001 left_roll=0.0089 left_gripper=0.9959 right_x=0.2587 right_y=0.0046 right_z=0.0953 right_yaw=0.0019 right_pitch=-0.0283 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [-0.6085, -7.9658, 6.9402, 1.409, -0.1245, -0.105, -0.0024, -0.759, -0.5402, 6.735, 1.956, -0.1392, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca892d262e379c1952d2b6e134d6849620f56ebc6922c878c26f646aec4174b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:796bec4adccf0c970c638d31b7533c599118c62d3173bef0e7bc0d147e8fb399",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c399d186bd0129927ae24a17c3f24e33b1b11b8d5ccd2166e92f92da8889d45f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtECx6ms8yb4LTIbAuzZpbwhuQQ_iQNOsFSeVbJZNhCFP7y3SVFhJEXpUUYuMnqpBC_q4erSATFXH1UmyKfpyEFBXIjJuL1sJJ1qHZwdTYRQUBJQT25TEK6HRvsCzYgqNNzhWEolcblSAiVmMvec5t_dGIDnx6vNygQvEYGrXGlGs8hbJlH8a3a9USTn3phCMF9JlTKrIasQWRbtNvsR4tzm7ygWf1aj5rUa2le0C5VXEj-zh92_1QPWUhR1TrexmoPYGn1NBFK2j4YCiDa3per1WmIy2lcI9ipJX9y0cJO1DKKjJaXcrBT5jbArbDOFbK1d0f9qdLT6CxeKyRJUhTApMSAvXlqg96M_UayIlbs2iPiyic259g4tIGdYGA23vtAO8sf-YMlGtAm21mYTajq4YCsQauhoLZ-zjhgQ3qQvQKb19Yhcy8MvEzbH9NEgc7-nbCxjof9k5hW2ttuJZN9gpC-JZHQBqstK6Lp6C3V_Cy0Qk_0dfJKy0kE_VsX3bTvzRNS_a185WTFQUIFPRt94lEhBabyqsUkAD6aCSLdh18NPnVbUzNkTwC0G1sLCmCsAdZhmLN19RfFduTyfMhOt6DUmup1oR9EGI_iQ-Tqkd5XQngWPjWMWZSlDa_jAkGrzUfDB88rYz0vJVWsTN6jUC6Fgnpv5YrUFJ79LQRPm2NK8fi-ZndaCc8s8-sSwDJPd5mpWwlfgvNn1Kwegy0JknPlckh-V9ueteHZy_MTdYTXggAmxGev-KiRfMlzM-MwuTNkLAkcPMfHpM-Y0cyX_fdeAy4GJZJdwG7UEJRQE3dMBt68Vr0aRBrIc_66W3xnc4SkIkyWmfEnMtePZKzn9o1pwI4bPtEr4nBKcA_bfRmRSc0VjFgetE2Xqb3aE4BYNj_hfO5FGXClUVBO7HVkesCquVNEut_ocaAWcfXzga0xNFVBwk6W4McAiK9sXs2fRoPyQvy1AeT0KcZVja4s4XLGGKCzVl5dgGhyKWE5fdNELQNkXrYoK4DSUduf9tuMpCE1hWM52-aLy8Kk1kp-I5-64PX0jjmn5nyieVbBolxGbDa1MKOsdgma2dqjfVVt4nqU4mjmj2pmKeCnLdHVQI0pwyHC1RLJkYCN0UcSof7fsk1M9uxysJhPvFBumbsoA3M6wfIWTG1sgXs_MrwgAx-gX9xVMfatBBsDRhblFwyMeNQH5NxenewrOJJTr10kPHkFbqjVYLvpEa8Oee0l_KzAbYC6fURGAnnblytN4izI9QdoUNxk6k-BhlP3giKvq63TpNRJ7iW9Upa-5iR0FTVdfYuDNmmqcj34vVhpzMnEE9GKJX2c9bbEi36xkiaWpyWiqbvxNrMCOZ0-obwzGWbOF-6upDSJn7cZHqtgckHeOfjXMyRNfThQwJCq5VPSzir5h4NNsqH0LhRCkyKCqiW2L02kKVK70Xz4pXYOGZD_1jxk7JWbCLdHG6SiUyKF6Q",
  "id": "rs_064f03d89bc1b210016ab440af561c87d095996a25444aa796",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle body now overlaps the right fingertip in the wrist view and is directly under the low gripper overhead. I’ll close on the wide body; a successful grasp should settle near 0.45–0.55 rather than nearly zero.\"}",
  "call_id": "call_pwd7uitBaZus11lSeCgcXlSS",
  "id": "fc_064f03d89bc1b210016ab440b0a6c487d094b62ce5d9f50135",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pwd7uitBaZus11lSeCgcXlSS",
  "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]: [-0.8177, 1.948, 0.8459, 0.3618, -0.659, -0.5243, 0.0213, -0.0021, 0.5991, 0.2306, -0.2302, -0.0093, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.38 left_y=-0.2419 left_z=0.0247 left_yaw=-0.0153 left_pitch=-0.0001 left_roll=0.0002 left_gripper=0.0213 right_x=0.2561 right_y=0.0047 right_z=0.0897 right_yaw=0.0021 right_pitch=-0.0283 right_roll=-0.0078 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -9.6205, 4.6974, 1.5214, -0.1587, 0.0855, 0.9597, -0.9368, -0.759, 6.9402, 1.956, -0.1636, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf35c18201b5d2b22f291679ee8cf04bb5749cec9b29150ef99a8e6b834d8c33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf2e174616f7e1af5de943815a7a864be9ab7523cd460fb4c886525786d8affd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7f2b0c49375d0330c0d47888f17e9247c2253e55819fa4124020fb18f7c839b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 2.427 s

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

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6167, 1.7977, 0.6357, 0.4931, -0.5102, -0.3744, 0.9949, -0.0021, 0.659, 0.313, -0.2615, -0.009, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.3847 left_y=-0.1626 left_z=0.0294 left_yaw=-0.0083 left_pitch=-0.0096 left_roll=0.0071 left_gripper=0.9949 right_x=0.2648 right_y=0.0046 right_z=0.1063 right_yaw=0.0017 right_pitch=-0.0371 right_roll=-0.008 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -9.4564, 4.5197, 1.3993, -0.2076, -0.0806, -0.0952, -0.6906, -0.8137, 7.0222, 2.0049, -0.1197, 0.0171, -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 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.815, 1.9404, 0.844, 0.3584, -0.6563, -0.5106, 0.9959, -0.0021, 0.6147, 0.255, -0.239, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.3802 left_y=-0.241 left_z=0.0265 left_yaw=-0.0219 left_pitch=0.0001 left_roll=0.0089 left_gripper=0.9959 right_x=0.2587 right_y=0.0046 right_z=0.0953 right_yaw=0.0019 right_pitch=-0.0283 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [-0.6085, -7.9658, 6.9402, 1.409, -0.1245, -0.105, -0.0024, -0.759, -0.5402, 6.735, 1.956, -0.1392, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8177, 1.948, 0.8459, 0.3618, -0.659, -0.5243, 0.0213, -0.0021, 0.5991, 0.2306, -0.2302, -0.0093, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.38 left_y=-0.2419 left_z=0.0247 left_yaw=-0.0153 left_pitch=-0.0001 left_roll=0.0002 left_gripper=0.0213 right_x=0.2561 right_y=0.0047 right_z=0.0897 right_yaw=0.0021 right_pitch=-0.0283 right_roll=-0.0078 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -9.6205, 4.6974, 1.5214, -0.1587, 0.0855, 0.9597, -0.9368, -0.759, 6.9402, 1.956, -0.1636, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf35c18201b5d2b22f291679ee8cf04bb5749cec9b29150ef99a8e6b834d8c33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf2e174616f7e1af5de943815a7a864be9ab7523cd460fb4c886525786d8affd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7f2b0c49375d0330c0d47888f17e9247c2253e55819fa4124020fb18f7c839b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEC3uET8r7yepxNhwC62oKjBQpiFQo6z7Ivm0mXQ0SvvHTOsCUf7wIAaaxB5P6HAvDyc0NRk424k49ZfEkBhweYi_c-eCEdfPqp2zov18W9EDnwIuAZxe-V-Im4MOZP5cocRdpXf96B1vVGeEuOv9pWxNBb0CYjmOv75zgO1E9LcR0fpiXB2VkNH29OHVdtq1G0tg_8YVP6Xs2OBfacBcLDrfTNs_pUvT_MYzGaDg-gWxCEeZuZw1XJZUONO0s6C5FTcg8Ifr4R-MekqUiAAFCVpJnzdxUyqxUJmOS2pTA3y2y0rJ8x8oHrxFgTgdoTxGFgFz9QpFt4KTAWrd9fgkpps15uzRfayP2rywW5z94N94Saq0afaXhSr-hKDCVxr76B8aEl0zrcjL1W7Zps6d5lnuSIG6c8qZaSAOYv0QBnBC67OBt0k2U9iSme62nkbYthsMtpEfeGAyJLvJSwks45O6dE14yfF8jGCJ9C6tfV907ruVTOqqmlrvvwsQ6qjT1ayXqXJKOORR1Bf-iCjYV_Ta3eBN1trBkuAGfsN_ykK4dOdnef71zieo4TLE4vzSJ-gn6yajUkhjFlQjexm0bBT0kdgYbSLcVHLQSE_zlZz4yPpppxOkfGsMobi0_OQIBw_zhiUtj0gVsj1RixPRnXQ8U0WLgfbkegiYSIRT6mh4JXrWat25tNCCYaNUFxBJlGTCB3Y1XYo24mwdQnkfPj42z51Hu_WfqxQKxBSADwxMhuBtaBIxq9i3pm1SLYn2plzbWhZRWXLG6g-rnbTTQ1UZIvyb6uVPbg_Mlw9ZZ3rvCF3h8WFaAmAzqG6klVdWW8vFr9EDzdBhsq_Pqx0bXZe7fw-5i7avxXJnegf1QBwDGUiiGuc7fGFgB6bL0lgKDQ6-BB20TnrMCoF1EAb9Xi5I4zjOadOxT-9KkJW2_i4yRzkj_bP59IonrV2UyaktZqh44Ii-g5yrc5Ul4-H3M8iq2LUjA0Eve4l2ZVPkcuKvo7T-NRRvPi6DR4oQ1D3foYdZn0hVNLZeV6RPdMMDC_4ApPjUvUtXUavNCK5UTRAzOtusFLCzbYRM-6h9QhpEEIkB1qsVim2kcZe7j7o2TangRIGflNwHCiWhFHyyes4EkQ7nSJCK7bh5ASZeXkGIHzHMH-Ao7kihHyh0VfIa1okJ2rfSXRSoIMMlPMveYIusS3I0mISGeSxIDjoN3lKW91h6XM98uqAdtZDoJXsbdf-aY1Hbr08wKLmNAdPTWcqZ55XRBK_GLBhj3VXNyYG7qPF-P7Yb5S3-hANHLZp8WFgXRtKyk3wMyIYSAWIoTQkAmZzHfxJ3cqx_Up15kvouIKrN0Sp3GUBysxEixRX2393zmEbbbELN-Kn8-b4K0zb8sG29H-uo0Z89frOUH2xcX6GxVVzdklA--SS56mTIHLxwjzpN6uCz4BzTmaS0Acmpr71b3vW9byzqA3KUyI_cOvYzYlY4mSvqQGrbW8oT1DmseZZEJcZDjN5SidZ7WFw38DaTyYGIKtoNL4Sk7c0mOXlMtcHTQvmyFatNjnyrdr8EDpUnkXXZXZvZ2siw3cUJjFG4JRUN6bUz_sod013XpNsjmh8TocN5elmy_MMA69VmLJWwjEFpBPVhDuoWvZ_9YneK6826h1OohZRkQ9YW8IjWAo2wXU-Wial8kKO7yNICP-ME-o7H9MDkZOlngfiKbDDpQY_t-mg16Oy5L1gyHKEH-_EbmlqHq1k9OqJ8WR0qbcwOrNefviuyZRh8m7t3k6uHoB8GV98bLLXMs5GliFhBb2qhlQn836X-FMq7c4UJEjLgnaNd7hPuPLAHjafnht36uYcPS6BxBENpWwTOtAA6E-I7XiyiFoWsRfnGbpE6ve7OWWprK5sk-wzZZQwvxTOs6Yrzxcbfi9PHbiRXb-jBdO0cgVbYzs8ApnOznttTus4xk9DUfri7eMJG9wQwQQDZO4398Bh8q5x-cjTiJ2J1thaXA3ORwXRJZBLh37zLUY0eOv5fSEYfLUq8WAQMf-jVQcN3xgTkzN1D_og5LifQpL_LiSi8MD6gfzATsR_-1TYc_HrBjG2hmom4NQ9v0UHDtYLsRak2IxzRu-Y4U2_Umd71NhjLsZK6YpnHP9soTmxvjKj0rg0cvbk2BOtKb8o6OldTZoHYCmoODgn9ms1Qbc9Q7uZ0XoIN30cmTJ0y3zUZ4I-Sh9_K0-D5vgDsAiX_Gorvd5PPjidshiDt7hBwq9RcPIKz2xVNOUBOYlZQsE9f0yLIzPXVoq9cS2TndolmINl4hn6xd0NduFRN4Mo3R7_WkV5MmUPRugbVE-6sUeoHrXN1129ZnQqgLzdh4bFdpn9yPk7FF0hA6SrlCqN3xveM0LkOmzpyCM1vdAAbvFcgRT27oaCpbtooXUz4r4=",
  "id": "rs_064f03d89bc1b210016ab440b3b11087d0ab0f428c251d2257",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.24,\"left_z\":0.025,\"left_gripper\":1},\"note\":\"The second empty close shows the issue is radial, not merely lateral: the bottle remains visible ahead of the fingertip point at the bottom-right of the wrist view. I’ll reopen and advance 5 cm along the bottle body while preserving the lateral alignment.\"}",
  "call_id": "call_eusocqasrmQsjHM35GJoxJPj",
  "id": "fc_064f03d89bc1b210016ab440b6393087d084b45498fe6a5b84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eusocqasrmQsjHM35GJoxJPj",
  "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]: [-0.7181, 2.0361, 0.9558, 0.3553, -0.6056, -0.4709, 0.9946, -0.0021, 0.5804, 0.2096, -0.2199, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.421 left_y=-0.2295 left_z=0.0174 left_yaw=0.0158 left_pitch=-0.0144 left_roll=0.0088 left_gripper=0.9946 right_x=0.2544 right_y=0.0046 right_z=0.0867 right_yaw=0.0019 right_pitch=-0.0203 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -9.1829, 8.1709, 1.5702, -0.0317, 0.2564, -0.0806, -0.6632, -0.3761, 6.6256, 1.917, -0.1392, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1977b795b5c45202f63849c9e83128fe73d472f6f32a75b877bb2fa2fca87ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b355152f1de1bd8818f631a188d8712ee6bbf1a7f10e030a84c2349fe1fa8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea6ac411a52e9c36d6d4c90e41ad54684cf5ee8d727cd082940891f8aa427cf0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 9.494 s

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

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7036, 1.8507, 0.7013, 0.4595, -0.572, -0.4278, 0.9958, -0.0021, 0.6346, 0.2794, -0.2447, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.3819 left_y=-0.1939 left_z=0.0277 left_yaw=-0.0185 left_pitch=-0.0024 left_roll=0.0057 left_gripper=0.9958 right_x=0.2618 right_y=0.0046 right_z=0.1005 right_yaw=0.0019 right_pitch=-0.0294 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -6.9812, 7.0085, 1.5604, -0.2857, -0.1929, 0.0855, -0.6222, -0.8, 6.9538, 1.9512, -0.1783, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8177, 1.948, 0.8459, 0.3618, -0.659, -0.5243, 0.0213, -0.0021, 0.5991, 0.2306, -0.2302, -0.0093, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.38 left_y=-0.2419 left_z=0.0247 left_yaw=-0.0153 left_pitch=-0.0001 left_roll=0.0002 left_gripper=0.0213 right_x=0.2561 right_y=0.0047 right_z=0.0897 right_yaw=0.0021 right_pitch=-0.0283 right_roll=-0.0078 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -9.6205, 4.6974, 1.5214, -0.1587, 0.0855, 0.9597, -0.9368, -0.759, 6.9402, 1.956, -0.1636, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7181, 2.0361, 0.9558, 0.3553, -0.6056, -0.4709, 0.9946, -0.0021, 0.5804, 0.2096, -0.2199, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.421 left_y=-0.2295 left_z=0.0174 left_yaw=0.0158 left_pitch=-0.0144 left_roll=0.0088 left_gripper=0.9946 right_x=0.2544 right_y=0.0046 right_z=0.0867 right_yaw=0.0019 right_pitch=-0.0203 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -9.1829, 8.1709, 1.5702, -0.0317, 0.2564, -0.0806, -0.6632, -0.3761, 6.6256, 1.917, -0.1392, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1977b795b5c45202f63849c9e83128fe73d472f6f32a75b877bb2fa2fca87ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b355152f1de1bd8818f631a188d8712ee6bbf1a7f10e030a84c2349fe1fa8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea6ac411a52e9c36d6d4c90e41ad54684cf5ee8d727cd082940891f8aa427cf0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtEC6Fb5gO9TJYJYzHxOKPnnAcSbvGoK9-iDkoyeLco7Eem45s4MAI06Ptsuj7Byy3oigj6edSaQovPR31FAh3qhqMN_29y2F-INTfWzWatRS1ANwtX05nbP_F4QDSHtopla_W0dkkzijwXfaDhEwyyDkGgLWGpANq0jBLAxXGLwBPKQ1nX8sA3hicD6AFIIdD12anM8_T7mUpzz9fOXGSql6clxXx1ru8jwVOX1JjG3M4q3U0xA7-HBEknDcpyrL5i7JcTmZuhxQZLYTyOQLuNs1Aid02Jw9ltwhZKJp8bu57UOJCATHLmSJgjTb8BaWOAU2i86IB6Lm6qFGimqFSiPAi3iGz1Qr9__czB3eUbXY1pQo62npCH48-ETzuQBrBU9n-NxWK4xEWGJs1DlYu6Du36paZZuJeuaHFM-2r5-ucY1mp2IPQS_u2a9e_9GTmnmZk9eRsStLCa7lV30WQMsL4gZ4MMYOmZRPKkj3Dt_WWtfNuM-PhJvqqGyAWXoEr-nCA9ehlRmmbtzN7siNfALp-c1Cw95TFMcDbZXnot2OZWF_ZSCYSOJJzOpPaHmXSZXnIRrjw41UDtW0DUrBssCXNrnrPpsp9BGe9T2xZcOfb0k3vAz3OdQcTCjjkSW0akUtd5gKg0eIPHQNoIECth2e6-lSFurxYufinCDsJqPK5Q9D0qpBDxIPVOStRxiD7I05CdOgwnMMWtJzXXoW9rpeOnMtq1qafm5PxfnUeOqaIU1o6NlmiACOND_ro09QGh1Ec_Z9EhM9VdiONhYHmdW6Lg-6yy1Ih6QhdWMOMWaarKozi_CvjhzaliW3l2-AafJPczGzJDtUR9Eg2G_KYQkLNMXn3TH9JhkOm7u8fjtcDtchHtRYc2dilSYpMuXsrUKs-6GY_KcHZil_ABqqusvQIuytEPeHsrcR5RlqH8rbcB1dnH-Trj8U4uZHizizlZL2gTDaFy0vLrAzoVvomhaLGKfbSuxRXD8d1sN1kxaIV3xZGgo_Cm1ZhUw5qBOmf74v2bCPyk4HJnfkgpD6qlJ_pK9u4Wfi7BO2xzmZLTxAO91GffTyYtZFA1RJNE0MS6t6hKX923HdTtSP3oCY6sSS29NP_4_-MthUz3fNkD6N-L24rEAks02gmJfdyq04u9Lb0uMry3Y3Ofh_whiUSZzyLP2LRLh0fTwqGKkJ1E8wEcnMp6qmNYW2r5p6n1mtS6IaQ1qZLWtwhjQxu1ZA85dTzLmCj9YxsCJjD-msZInoSiAOy58QLyutp_OOnI1L7ya-pjULdKwqGXHU_qzhXkgGdKvCcaobWK6XII6V2zwtLK0=",
  "id": "rs_064f03d89bc1b210016ab440b9215c87d09054d94b89728294",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After advancing, the bottle body is visibly between both fingertips at the bottom of the left wrist view. I’ll close now and check for the expected bottle-width jaw reading.\"}",
  "call_id": "call_5FwM4S5gDZw2DZJ8mAY9uz2B",
  "id": "fc_064f03d89bc1b210016ab440b9787087d0a9281e3be03e0c8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5FwM4S5gDZw2DZJ8mAY9uz2B",
  "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]: [-0.7136, 2.0422, 0.947, 0.3695, -0.6102, -0.4728, 0.0173, -0.0021, 0.5682, 0.1936, -0.2188, -0.009, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.4211 left_y=-0.2259 left_z=0.0144 left_yaw=0.0249 left_pitch=-0.0129 left_roll=0.01 left_gripper=0.0173 right_x=0.2521 right_y=0.0046 right_z=0.0825 right_yaw=0.0017 right_pitch=-0.023 right_roll=-0.0081 right_gripper=0.9997\nstate[joint_eff]: [-0.5538, -10.2496, 4.6564, 1.7118, -0.2076, -0.0269, 0.7937, -0.6359, -0.2803, 7.1043, 1.9121, -0.1636, -0.0073, -0.0122]\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,$blob:b62bd003299e83099f875dbcb33b99ad1ddbd1b838e81bfecab0280d9f7f8081",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b464b24caf5766521f903d213568067e9915d9b97e3af3287732f044ae5f1615",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ce0273798c76cf437c0622396035ee80aa241b99cb759a8825d0bb2da2bd86",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.956 s

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

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.815, 1.9404, 0.844, 0.3584, -0.6563, -0.5106, 0.9959, -0.0021, 0.6147, 0.255, -0.239, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.3802 left_y=-0.241 left_z=0.0265 left_yaw=-0.0219 left_pitch=0.0001 left_roll=0.0089 left_gripper=0.9959 right_x=0.2587 right_y=0.0046 right_z=0.0953 right_yaw=0.0019 right_pitch=-0.0283 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [-0.6085, -7.9658, 6.9402, 1.409, -0.1245, -0.105, -0.0024, -0.759, -0.5402, 6.735, 1.956, -0.1392, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7181, 2.0361, 0.9558, 0.3553, -0.6056, -0.4709, 0.9946, -0.0021, 0.5804, 0.2096, -0.2199, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.421 left_y=-0.2295 left_z=0.0174 left_yaw=0.0158 left_pitch=-0.0144 left_roll=0.0088 left_gripper=0.9946 right_x=0.2544 right_y=0.0046 right_z=0.0867 right_yaw=0.0019 right_pitch=-0.0203 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -9.1829, 8.1709, 1.5702, -0.0317, 0.2564, -0.0806, -0.6632, -0.3761, 6.6256, 1.917, -0.1392, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7136, 2.0422, 0.947, 0.3695, -0.6102, -0.4728, 0.0173, -0.0021, 0.5682, 0.1936, -0.2188, -0.009, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.4211 left_y=-0.2259 left_z=0.0144 left_yaw=0.0249 left_pitch=-0.0129 left_roll=0.01 left_gripper=0.0173 right_x=0.2521 right_y=0.0046 right_z=0.0825 right_yaw=0.0017 right_pitch=-0.023 right_roll=-0.0081 right_gripper=0.9997\nstate[joint_eff]: [-0.5538, -10.2496, 4.6564, 1.7118, -0.2076, -0.0269, 0.7937, -0.6359, -0.2803, 7.1043, 1.9121, -0.1636, -0.0073, -0.0122]\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,$blob:b62bd003299e83099f875dbcb33b99ad1ddbd1b838e81bfecab0280d9f7f8081",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b464b24caf5766521f903d213568067e9915d9b97e3af3287732f044ae5f1615",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ce0273798c76cf437c0622396035ee80aa241b99cb759a8825d0bb2da2bd86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_064f03d89bc1b210016ab440bd96b487d0bc8441a44de53afc",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEDEIlaVvnNXGuQ6GFsxNHAMja-x-dOju2483ML-NiKLUa3LEjZTeuDulm1AxssmgQg32b4IuQa2pkBTk_lsMA-LyYGFspwGyv-_WzGRcpike_qlO7R6RXUusqmp6U75164_T8eihCdjEaVLir6_FZK2x_Co2p5jKnNBk7wylLoIDHPGYFllwfmKcqDNulK1oqwDr-AJ8ojToMH_tbBPToaaABtBaZDcGaToQzEAdPl5JuHHiEAq6ycH0xTgmGyiC5rv6KP9PiRmFdOsoQI1q36tL7So429Ydhf5GUjPFTFg17dIFH5G8XAH_N2K1OpSBlumVNFq1cMs0DkQkX6SNZFOyZZnqlkaSgFI8ozGYqgxFMV0Y7CWC2zfJCubtEfTIS1mKXK5dv4lRYpIUUlKT7n-u8VYhnBRvlZ5s_amUCUlOLK5446ZgFHHDohvodqv8QuvJhTtkoVJ1qVPg6vpVjffzL2AvusRgzdj_MK1K5X5FUEpYTLZfRgk8FVGb-sbo7NDgBbygbUCr1Cwg0V9qzGuvK-BErGEEEOi4E-FuiGsfCWgn869cOsjFPh4MXwCMCMa1LKDkw7dV4KkTwUphMe-4954-jri0HyC2nlkb4ahhvl1n9fP1Z1mFI_uib8vCLvvXlczanzwbxNisgyFtMqPDws5epdii5DGf9T4NpgDhTchCYZhoXGCvJQeXK6R-szJxr-tqrhbksqk2zYpmWaws5_0un76l2_dP3Qtw4_UHdFPynjYirendDmYVhIvVoN92v0tcS6dc66xDVEhjamkHo063caDq3nbQhzQ-Fva7sKinZxWEL7Uk08b9GC2feNv5KW10h2fKjk3k0YL13n8pAS72nkwO6zHSrkWwm4tG3ARZfWLIdUFUpCVHZMUEkTZFg5CsTajteJb14NRsGoK-LSzUteXaA5AZKMAHeV1Ca77M7CKg-1kyv5UkrjQicCtUCNZT3uLlWMJ5E9z40H-vQXpC0CFlkFbubQJUfsV2zakI6svC1SNlm8lCCO00K11EZJ65ry1Q1ict_shjY0nB9n0GpAbG7g8FLFlc4iuBapkzjKeyLENbmJjFrcEm0HycHJJH2Yq0BNTSRlJnvNxuVJc_fybyR-nTNvisMTZWzOdAPkof9UyM_RlIQLgLARhMtbntoB3Q58mUh0kl-aptW1fTzzJwhDXbfmUlQuMJz3hlRihgxA8qj7yS8q-1j9nnnJl2HeRoZuerW8mt1ZHMviJ5nrxoeRwdgfAfuImt92z2qwhj3manO3BSmmlkXwOteop9Pq6aeu2vQRHMNE-Ow2jHFS2y8AXLR7GtmaPjLGuEbmDpqU_IyzsS5-u7tKUeYbb_xOJ66XYs9V_erTGN84iPx218b7Gpr7DFrA9DXBjkBGnmL4V0nVId1rBl9UjMlvoJyFnNGC7Iz4tEwimLEXrE1FGNsw26bVygMAyxzYei6McTmHQjJRSoMitQcfXYUmHdrepdc2Xnml4LXWA3ZXdTjMKzFKTkevECYoe_bbrzMYLh0Cu3YoswWMW7lr5Lw5D7hSjeYSRx6Z6xB0ZBqOZGj1LtSV92MjhX5qHtu0FlFY5LPQn6lvFWSmgKJqXX2ZqV3tgVVo6OvyztLQrruca0FhqZ-ombnTZMfmR1PyCgz1mNGd9j2lNOK8sINOUZ9bXYrkF5G56KBbup5-wCkd8gwHrlfxDEAnMOrqy1ue5mY1hm8D__qUCC55DMVQOL9jze5rT4rq24aNkugQnga6aMI-88mL6_9DbrmTF9zrZRpUs8oWk4ixAabsUeROEAcX5PM_vn1wcxwa2SAY22mfU8g0NHdMjnTvnnqF28voFxAZLUsKZqodCCkmm7g5cAIVQG4ZUKwPXE0_2-5w3Ac5BXDGoglK6arC2YHn4r5alKU78G689IQbsUUUiUy6126jfNbEESIQvMzwk1cJ8lw==",
  "id": "rs_064f03d89bc1b210016ab440c2492087d09af87dabef8eb8a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.38,\"left_z\":0.03,\"left_gripper\":1},\"note\":\"The cylindrical bottle is likely ejecting because it sits far to the right of the jaw center in the wrist view, despite overhead overlap. I’ll reopen and make a decisive rightward correction, nearly to the left arm’s crossover limit, while staying at body height.\"}",
  "call_id": "call_fm7SgSu2vjy1k7HphNMdpV2Y",
  "id": "fc_064f03d89bc1b210016ab440c3bd2c87d0ad4f598947975e25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fm7SgSu2vjy1k7HphNMdpV2Y",
  "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]: [-0.9203, 2.365, 1.6073, -0.0677, -0.7612, -0.6674, 0.9963, -0.0021, 0.5541, 0.1764, -0.2184, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.4401 left_y=-0.3712 left_z=0.0269 left_yaw=0.031 left_pitch=0.0014 left_roll=-0.0095 left_gripper=0.9963 right_x=0.2497 right_y=0.0046 right_z=0.078 right_yaw=0.0019 right_pitch=-0.0256 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [-0.8, -12.7385, 8.335, 1.1306, -0.3883, -0.0073, 0.0513, -0.9368, -0.5128, 6.694, 1.9121, -0.1343, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd134ebe82a3296ccc4700f5543f18f5f295203326a5cffe51cc072c0f7e2f82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd2b990da7b84b5344fef4663a6044941e12c8c95f9ccfbcce6d3f4951aba2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0222cbe182e7fb39ec247e1d00879b38cab6aa8435abd41c8131abfb359f0c35",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 4.571 s

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

message 106 changed as sent

message 114 changed as sent

message 119 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8177, 1.948, 0.8459, 0.3618, -0.659, -0.5243, 0.0213, -0.0021, 0.5991, 0.2306, -0.2302, -0.0093, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.38 left_y=-0.2419 left_z=0.0247 left_yaw=-0.0153 left_pitch=-0.0001 left_roll=0.0002 left_gripper=0.0213 right_x=0.2561 right_y=0.0047 right_z=0.0897 right_yaw=0.0021 right_pitch=-0.0283 right_roll=-0.0078 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -9.6205, 4.6974, 1.5214, -0.1587, 0.0855, 0.9597, -0.9368, -0.759, 6.9402, 1.956, -0.1636, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7136, 2.0422, 0.947, 0.3695, -0.6102, -0.4728, 0.0173, -0.0021, 0.5682, 0.1936, -0.2188, -0.009, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.4211 left_y=-0.2259 left_z=0.0144 left_yaw=0.0249 left_pitch=-0.0129 left_roll=0.01 left_gripper=0.0173 right_x=0.2521 right_y=0.0046 right_z=0.0825 right_yaw=0.0017 right_pitch=-0.023 right_roll=-0.0081 right_gripper=0.9997\nstate[joint_eff]: [-0.5538, -10.2496, 4.6564, 1.7118, -0.2076, -0.0269, 0.7937, -0.6359, -0.2803, 7.1043, 1.9121, -0.1636, -0.0073, -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 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9203, 2.365, 1.6073, -0.0677, -0.7612, -0.6674, 0.9963, -0.0021, 0.5541, 0.1764, -0.2184, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.4401 left_y=-0.3712 left_z=0.0269 left_yaw=0.031 left_pitch=0.0014 left_roll=-0.0095 left_gripper=0.9963 right_x=0.2497 right_y=0.0046 right_z=0.078 right_yaw=0.0019 right_pitch=-0.0256 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [-0.8, -12.7385, 8.335, 1.1306, -0.3883, -0.0073, 0.0513, -0.9368, -0.5128, 6.694, 1.9121, -0.1343, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd134ebe82a3296ccc4700f5543f18f5f295203326a5cffe51cc072c0f7e2f82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd2b990da7b84b5344fef4663a6044941e12c8c95f9ccfbcce6d3f4951aba2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0222cbe182e7fb39ec247e1d00879b38cab6aa8435abd41c8131abfb359f0c35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEDK4o0cigExkPL82ypqbKcBqOa-sGneR0nL2s8xkC8OYcD62BIgcONrf_AOo5G01IgecJLD89FDor6cSk8GbJdx0PQbn8_lZanMNpT9iTEVMZNaxc3EM7oSy3cgya3Y4w5pX-YICBB1cWonxuwYOxzIGxAVadBTDb22Xayfa1hFoDbMV_Ja-mUKNz80iy-y-uH7TbSUNbHc1wzeVdzs_RTPwkKOhEUf4lNs51JObh_LSg5azw8Fw1wm87uMwfM2Z0JvVpgbwOunGqUjTeq99U-XONoInBl3XZhcQ4LrWH_2eLXoa5up2frpYYBOeYeMgVniSfkEmBuPSxA5ySp4Z7pE6wJTyAkhg5Uw-aIK4lm9TdvK6AoQIsV2vsvsZs4eRczYIeIfes7o3LvlvX2tCUvFPp_VaRXdxRIZtwtR5mIR-kec04s8w5UtTxaVcuzdLMCV3Jzu-LXLFvlbthBBvjRlzetm1exDhaIT7cqN4tF20nZwBfp5hqOHfsO5UCKD6GANEK_yW6JDSUmq1FxWpmVmMSeiAe_9ModNsbqCkghLast3snuyPqpBnFu_W22t0njiiTgMS6nl72GrSvwh15lX8hau0TZ91VA9XtaVIEtpEbgsmsFQOHeNittcLIaN_VvJyvkQZ3EYu0NnqQvp5SIdQtx8gUDDMNq7EoLGjde0jJEEQBNkD4Cy3ryzytfdIwlNsm3AUeJqKqiA2D-hbR6BO1ruMUIrnk61MDUWedn7zawZDW3MVMhzRULNIAfZxUIKgDQhLFbCvFSvx3LpNBbLovcrE26LVSzssItc02s5Vr7zvSD6nnbsRCskum5QT3uBbcQUCfzLALNDeCPyOd24-MblkcXKo2xRvrznl9WjbE6PwXXOybVmys5c-fvWFzaxNLNdqXgl-DXWpqtzFahuIBovtRRwozijiCS2eG4BuyLjuPv2YVVSZ28ttA-o0hLXD_QwV9xIzJm3clhF3gtC7gVgmVWqjTg3BuGqpkYYoFqSTRz4xB_pYYNtF3fdST1VZFB8UbEWDgnjhPqiIanCdqLj1pHMWb8pHV47gkIPEhsWD4F_4Fn6b6-OXvwjHWx7X-l9T50EoSZ-7o0TfMdKEL8D366w4rbg29lPtEadac4jfeM-okZf-pzYGSzSkMiTgGLL19zWrnO1GIyfRDm_pu20AEQ_mU1LJESM2av2GoHgNHdDI9ixD2TwYElwViZwtJjVXZxDh633o6Vbv38KtGtD8zFnur_18n-0YwnxG1mmgbUhRA_mZ2zERhKrqSagBy9c89aBdQ7yhGlXQPSOE_m6i6CHqP-tkW0YQjuf_Sa7y07Sv2m_FOEjSNhyETwkrz18U9YO1MpNUcbfzKcfKJgs0Y3qS5yRlloQHkmyuR7ykmqax_atvl-BmbiNI4u6nvKKX1ovfFLjTAnh1mXjtZ0fLHe6w-vk3SP2lqE_MNn5fj_vVbj12F7qf9WOx7bKVy66StvSey1hVkAYFwlkfD-QNyknloP7LFFpJrshOeNoZ09R_X618ON1SvJo9mmTwvcvE23i7gqKd7vUMa7bh7leXinhP3aWhbtYbtS79b_EDPO5vm1LZ-ftpSf-5k78bmhyGqQ5o8tFhzaH0Wso7PpFcpk7Mdz06krkhUzIZClTacq6iXUi4JWUGDtlt84wOV6EGfv64k_0UlVyP5fyoxCghkLHatv8qOjRb_avU7j00szolgALlZ-r-mt3mZ189N5Pxauvhk6OSi2qmPu2G7TwzsBbGhTSScSPunNILwPMIaipQ9zq9XFpUDHnvwV7i15ZDtrdaUr0nNuOCYvYcDml8nDGk9iEm7XmQl3TeOcPNO11blQc9BCa9KdVBKEVfxwZkQou1L_McowGEVORRiEAUh4r0OmiqzshegRl-zKJUSBgXy3xOAzYEtktVreO4BRvMTsevy_s419oX9ts8Q==",
  "id": "rs_064f03d89bc1b210016ab440c7941487d0a890313c7c6a8995",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.4,\"left_gripper\":0},\"note\":\"This correction moved the left arm over the rightmost bottle, whose body now lies between the jaws but still slightly to their right. I’ll use the remaining lateral travel and close in one motion to capture this bottle body.\"}",
  "call_id": "call_SqLCT8caAx3h9zQvlOpu1Rej",
  "id": "fc_064f03d89bc1b210016ab440c9123c87d08c4022c9d7407c1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SqLCT8caAx3h9zQvlOpu1Rej",
  "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]: [-0.9497, 2.4405, 1.747, -0.1776, -0.7795, -0.7109, 0.0179, -0.0021, 0.5354, 0.1558, -0.2157, -0.0093, -0.036, 0.9997]\nstate[eef_state]: left_x=0.4383 left_y=-0.3929 left_z=0.0222 left_yaw=0.0372 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.0179 right_x=0.2472 right_y=0.0047 right_z=0.0735 right_yaw=0.0023 right_pitch=-0.0249 right_roll=-0.0082 right_gripper=0.9997\nstate[joint_eff]: [-0.7863, -12.4239, 8.9641, 1.243, -0.4029, 0.1099, 0.8718, -0.9641, -0.3214, 6.7624, 1.9414, -0.1441, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fad6f7c263a4ec916140e0ae5aa106af7ef25afc5515e9b47b37cac2e077124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d838e7eb53595e2f2e33fdacbb1dfb7bf43b31de5da717fd976d04b550abd5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a26113d1dc2a08aa2b0b17c733d17c00aa14cbf53e10fc2acdecc952e0051b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 2.587 s

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

message 110 changed as sent

message 119 changed as sent

message 123 changed as sent

message 110 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7181, 2.0361, 0.9558, 0.3553, -0.6056, -0.4709, 0.9946, -0.0021, 0.5804, 0.2096, -0.2199, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.421 left_y=-0.2295 left_z=0.0174 left_yaw=0.0158 left_pitch=-0.0144 left_roll=0.0088 left_gripper=0.9946 right_x=0.2544 right_y=0.0046 right_z=0.0867 right_yaw=0.0019 right_pitch=-0.0203 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -9.1829, 8.1709, 1.5702, -0.0317, 0.2564, -0.0806, -0.6632, -0.3761, 6.6256, 1.917, -0.1392, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9203, 2.365, 1.6073, -0.0677, -0.7612, -0.6674, 0.9963, -0.0021, 0.5541, 0.1764, -0.2184, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.4401 left_y=-0.3712 left_z=0.0269 left_yaw=0.031 left_pitch=0.0014 left_roll=-0.0095 left_gripper=0.9963 right_x=0.2497 right_y=0.0046 right_z=0.078 right_yaw=0.0019 right_pitch=-0.0256 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [-0.8, -12.7385, 8.335, 1.1306, -0.3883, -0.0073, 0.0513, -0.9368, -0.5128, 6.694, 1.9121, -0.1343, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9497, 2.4405, 1.747, -0.1776, -0.7795, -0.7109, 0.0179, -0.0021, 0.5354, 0.1558, -0.2157, -0.0093, -0.036, 0.9997]\nstate[eef_state]: left_x=0.4383 left_y=-0.3929 left_z=0.0222 left_yaw=0.0372 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.0179 right_x=0.2472 right_y=0.0047 right_z=0.0735 right_yaw=0.0023 right_pitch=-0.0249 right_roll=-0.0082 right_gripper=0.9997\nstate[joint_eff]: [-0.7863, -12.4239, 8.9641, 1.243, -0.4029, 0.1099, 0.8718, -0.9641, -0.3214, 6.7624, 1.9414, -0.1441, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fad6f7c263a4ec916140e0ae5aa106af7ef25afc5515e9b47b37cac2e077124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d838e7eb53595e2f2e33fdacbb1dfb7bf43b31de5da717fd976d04b550abd5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a26113d1dc2a08aa2b0b17c733d17c00aa14cbf53e10fc2acdecc952e0051b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_064f03d89bc1b210016ab440cc3afc87d0a7a1fda46f5ad948",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.4,\"right_y\":0.28,\"right_z\":0.04,\"right_gripper\":1},\"note\":\"The left arm has reached its crossover bound and cannot center this rightmost bottle, so repeated closes there will fail. I’ll park it and simultaneously send the recovered right arm to the rightmost bottle body from its natural side.\"}",
  "call_id": "call_47M2LZTWCPrFqykMqd7GLxYd",
  "id": "fc_064f03d89bc1b210016ab440ce367c87d08de76a6e45059630",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_47M2LZTWCPrFqykMqd7GLxYd",
  "output": [
    {
      "text": "executing move_to over 35 steps (3.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0982, 0.7822, 0.5804, -0.3515, -0.1703, -0.1333, 0.9975, 0.8249, 1.9995, 1.0096, 0.2008, 0.627, 0.4671, 0.9997]\nstate[eef_state]: left_x=0.2946 left_y=0.0047 left_z=0.1796 left_yaw=0.1022 left_pitch=0.0179 left_roll=-0.0123 left_gripper=0.9975 right_x=0.3887 right_y=0.2733 right_z=0.0291 right_yaw=0.0386 right_pitch=-0.042 right_roll=-0.0385 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -1.4427, 8.0752, 1.7167, 0.0757, 0.0562, -0.2076, 0.1299, -8.8957, 7.9658, 1.6581, 0.5397, 0.2808, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ba66a95c686ebf199175f146a321731d3350dfb3f9da39cd0d03248c85cd4ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a716d9b780468da1937c99cadd9a33afd63a06e75a8171a0f709b98dc3ee56a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3aba456606cc7dc4f7e0988474be74ba3a5d619509056f45072571115d0e5c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 2.659 s

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

message 114 changed as sent

message 123 changed as sent

message 127 changed as sent

message 114 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7136, 2.0422, 0.947, 0.3695, -0.6102, -0.4728, 0.0173, -0.0021, 0.5682, 0.1936, -0.2188, -0.009, -0.0357, 0.9997]\nstate[eef_state]: left_x=0.4211 left_y=-0.2259 left_z=0.0144 left_yaw=0.0249 left_pitch=-0.0129 left_roll=0.01 left_gripper=0.0173 right_x=0.2521 right_y=0.0046 right_z=0.0825 right_yaw=0.0017 right_pitch=-0.023 right_roll=-0.0081 right_gripper=0.9997\nstate[joint_eff]: [-0.5538, -10.2496, 4.6564, 1.7118, -0.2076, -0.0269, 0.7937, -0.6359, -0.2803, 7.1043, 1.9121, -0.1636, -0.0073, -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 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9497, 2.4405, 1.747, -0.1776, -0.7795, -0.7109, 0.0179, -0.0021, 0.5354, 0.1558, -0.2157, -0.0093, -0.036, 0.9997]\nstate[eef_state]: left_x=0.4383 left_y=-0.3929 left_z=0.0222 left_yaw=0.0372 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.0179 right_x=0.2472 right_y=0.0047 right_z=0.0735 right_yaw=0.0023 right_pitch=-0.0249 right_roll=-0.0082 right_gripper=0.9997\nstate[joint_eff]: [-0.7863, -12.4239, 8.9641, 1.243, -0.4029, 0.1099, 0.8718, -0.9641, -0.3214, 6.7624, 1.9414, -0.1441, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0982, 0.7822, 0.5804, -0.3515, -0.1703, -0.1333, 0.9975, 0.8249, 1.9995, 1.0096, 0.2008, 0.627, 0.4671, 0.9997]\nstate[eef_state]: left_x=0.2946 left_y=0.0047 left_z=0.1796 left_yaw=0.1022 left_pitch=0.0179 left_roll=-0.0123 left_gripper=0.9975 right_x=0.3887 right_y=0.2733 right_z=0.0291 right_yaw=0.0386 right_pitch=-0.042 right_roll=-0.0385 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -1.4427, 8.0752, 1.7167, 0.0757, 0.0562, -0.2076, 0.1299, -8.8957, 7.9658, 1.6581, 0.5397, 0.2808, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ba66a95c686ebf199175f146a321731d3350dfb3f9da39cd0d03248c85cd4ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a716d9b780468da1937c99cadd9a33afd63a06e75a8171a0f709b98dc3ee56a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3aba456606cc7dc4f7e0988474be74ba3a5d619509056f45072571115d0e5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEDVWfLOvVK8BRVormaggnSVNQcJwTh7KgiDUI7lxST73P052lJWAQ4o4J5YN7p8fo0ib2GhPJRGfmVnhAK-Unly3hTUHhYV4KxmNlhE_YhS5hMahJ-0VvfH8bRrETRVadXu5KoV-Z9p9pioUufiN-PV5q4g46oySG1saIBljOCVQKg98VMjQtbbaiRs_nzXtzDayfrLIA5TR1yUqkID7RYO5r8llz0H5M2jT7Vq_V5yrlyZpoyYP--3gYNESf4tLeOiQMF-ZP-_cEoh2wYkvLn3t6jbfFUmfqdpDjy8UwmR1JbJUJHK2UQLweZW8txvg-91ZTSUUpZPA2g_dylAgXVA6j4EMqHS9pGiei_JHJjLJ-JlK-NNxHtEnx3Pp_iBtkQ1upajIMY3TN2UwaFdhmlq6cCGdElUtio2loWCZLM0imipYHJkzqmi2VOqDzvZIOdajJPYYmX-jog3LKuTyO83cIgbHgHB5KNTR8vFo4cq5feTHET13FfArPSHf49MoYIKgcg3UAu075hBSUTWuneVRMg-Uz4i3CkebCZUbTRkU2fS9lTQYPUeWqSsj3oPNkibX1oR2TAcPVU981_xNML1do5TVNxbdCFxQfNS7DqSNxhnHViTqpJax2fGn4FmCHVwMCcB33TV5AqEKYBYHtiieLg9XXAtPBg3oeH9pKt4wsK-P0k0erHRh5GBU5AR-lvhcvCFfMCrZcLBMqRUBiIes8Kk1TDedUS7yeoSJ0GneOALQ_Ey0kSH5fJP7FocSIC9N-BjPA7sxA3iIFWYfxmVDyg1zY61VVO4r2DY1n8B99Yh9VG1UQx73q7hf8vQOdNJdr1j14UqCLT7DeC7uDClbhNZaf56HudsXwcSonkyglESjn8ZaBvF0xeq433yLseFqY7kF5-8IpiqnRSCXedCwuwuqWwMIBAsFU24w9Q0DD1Gm39k59kwc53MRzOsyTbe03Q1wzPb_zvZXPUMgUrU3sk_gXpF-GLGcKTvHyMpgKHM0v9kVXZKqbeogPaTjyIiMJEW8FxNhYlWT9m0Z-s6bQnDmR1Yb0m4HPXhsyydsNEVYSoZm4grFkhXUoMlDyyshCG26K-bwe1MUrrv5DshRjSZSHfk2GXzZ0NmQyHFJQA2lc-VmGl-g0eRJth-X-PHWPjh3ShjHYnwSau-3Xnec-C02Qjh3UsqYieumGpiVJP-_r_WXsTG6ji_wshFCCwHN6RF4mRi18l5bRoo5IkL7-vxUZLWgpxxUMVtRhLLvSpjrDmVHWrBUBcCnHLq0z1hn3ENpIA6ALPm8vPSGv3evhMBiHC7Ok0jWntOHPhH1iSo9FhfzX4tMdyea-CNeKqwRtspQ7yLW36Secijqv_eWp_kUczx0XWZVXjQTZkLQESF6EQvfF4aweA_jl3qFxjfcJN2tdPPP4aYHEk-CVpslNC8dKkilZBD6-wS8UkEY6xLNHbE35rgXTNspnxT8rFL1qccNpRuLWlO6mS3-fH5M0jnso23uLbr7vHJEl-k_QZ5Tc3-0qL00Vdznrfo2lIARcf8bHjawSRiM42hnSPNAyJgPLyUJ0U1pOOGcZ4lXPDyjXTwwaezG20UjiiAUeKyPDGq-bZLy6w4QfRYEeGt4g==",
  "id": "rs_064f03d89bc1b210016ab440d413fc87d097bea4b9c815e90e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.19,\"right_z\":0.03},\"note\":\"The right wrist shows the bottle body ahead and to the camera’s right, outside the jaws. I’ll advance 5 cm and shift about 8 cm toward the arm’s right so the body enters the jaw opening.\"}",
  "call_id": "call_Jav4gKV0sTm9QxbY3yyCyOhs",
  "id": "fc_064f03d89bc1b210016ab440d4e45887d0aa9868377f1a92e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Jav4gKV0sTm9QxbY3yyCyOhs",
  "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]: [-0.1051, 0.8021, 0.5808, -0.3824, -0.1734, -0.1307, 0.9973, 0.5766, 1.9999, 0.873, 0.4, 0.4347, 0.2867, 0.9997]\nstate[eef_state]: left_x=0.2917 left_y=0.0035 left_z=0.1681 left_yaw=0.0965 left_pitch=-0.0311 left_roll=0.0016 left_gripper=0.9973 right_x=0.4254 right_y=0.1922 right_z=0.0037 right_yaw=0.0364 right_pitch=-0.0767 right_roll=-0.0421 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.7299, 8.5128, 1.7411, -0.1978, 0.0024, -0.0366, -0.9231, -12.547, 5.135, 1.956, 0.1734, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de56a0d3b1ad1de85c27b813071d278e1ec77bccc3c34a6aee4768b8a6fe196",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a251cf79e6e2d40d325b7e0b0122c73bb6610389f7d216f909c90e06d9f942ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7843a78c864c93db142c3f0312a1f36421c5bfdcce7a4191bb28954b1b49582",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 3.968 s

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

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9203, 2.365, 1.6073, -0.0677, -0.7612, -0.6674, 0.9963, -0.0021, 0.5541, 0.1764, -0.2184, -0.009, -0.036, 0.9997]\nstate[eef_state]: left_x=0.4401 left_y=-0.3712 left_z=0.0269 left_yaw=0.031 left_pitch=0.0014 left_roll=-0.0095 left_gripper=0.9963 right_x=0.2497 right_y=0.0046 right_z=0.078 right_yaw=0.0019 right_pitch=-0.0256 right_roll=-0.0084 right_gripper=0.9997\nstate[joint_eff]: [-0.8, -12.7385, 8.335, 1.1306, -0.3883, -0.0073, 0.0513, -0.9368, -0.5128, 6.694, 1.9121, -0.1343, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0982, 0.7822, 0.5804, -0.3515, -0.1703, -0.1333, 0.9975, 0.8249, 1.9995, 1.0096, 0.2008, 0.627, 0.4671, 0.9997]\nstate[eef_state]: left_x=0.2946 left_y=0.0047 left_z=0.1796 left_yaw=0.1022 left_pitch=0.0179 left_roll=-0.0123 left_gripper=0.9975 right_x=0.3887 right_y=0.2733 right_z=0.0291 right_yaw=0.0386 right_pitch=-0.042 right_roll=-0.0385 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -1.4427, 8.0752, 1.7167, 0.0757, 0.0562, -0.2076, 0.1299, -8.8957, 7.9658, 1.6581, 0.5397, 0.2808, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 0.8021, 0.5808, -0.3824, -0.1734, -0.1307, 0.9973, 0.5766, 1.9999, 0.873, 0.4, 0.4347, 0.2867, 0.9997]\nstate[eef_state]: left_x=0.2917 left_y=0.0035 left_z=0.1681 left_yaw=0.0965 left_pitch=-0.0311 left_roll=0.0016 left_gripper=0.9973 right_x=0.4254 right_y=0.1922 right_z=0.0037 right_yaw=0.0364 right_pitch=-0.0767 right_roll=-0.0421 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.7299, 8.5128, 1.7411, -0.1978, 0.0024, -0.0366, -0.9231, -12.547, 5.135, 1.956, 0.1734, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de56a0d3b1ad1de85c27b813071d278e1ec77bccc3c34a6aee4768b8a6fe196",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a251cf79e6e2d40d325b7e0b0122c73bb6610389f7d216f909c90e06d9f942ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7843a78c864c93db142c3f0312a1f36421c5bfdcce7a4191bb28954b1b49582",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_064f03d89bc1b210016ab440d7471487d0869c9ccdc500e5f4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.14,\"right_z\":0.02},\"note\":\"The bottle now reaches the fingertip row but is still pressed against the right side of the opening. I’ll make one final 5 cm rightward correction and a small forward move to center the rounded body before closing.\"}",
  "call_id": "call_ZmBrAgLK5zSEga8WrwzRhYBP",
  "id": "fc_064f03d89bc1b210016ab440d7a49487d083deb392c95311ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZmBrAgLK5zSEga8WrwzRhYBP",
  "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]: [-0.1051, 0.7891, 0.5533, -0.3618, -0.173, -0.131, 0.9972, 0.4149, 2.0003, 0.8158, 0.5243, 0.3031, 0.1883, 0.9997]\nstate[eef_state]: left_x=0.2902 left_y=0.0036 left_z=0.1633 left_yaw=0.0964 left_pitch=-0.0251 left_roll=-0.0001 left_gripper=0.9972 right_x=0.4467 right_y=0.143 right_z=0.0015 right_yaw=0.0362 right_pitch=-0.0548 right_roll=-0.0162 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -1.935, 6.7077, 1.9365, -0.188, -0.0269, -0.0171, -0.6359, -10.4957, 6.2838, 1.9023, 0.149, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d846b7c960757ca4b89972331c0da8b58f6216545723f2b2b79267758c28d05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82352825d43c0d15cfaac5e32d528da39c2f24a6a80005317fb090c16b67608a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ed1ab472fe70e15a472d7f51efc68c7b18abf01bd134ecf51f5dac06076075",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 2.827 s

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

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9497, 2.4405, 1.747, -0.1776, -0.7795, -0.7109, 0.0179, -0.0021, 0.5354, 0.1558, -0.2157, -0.0093, -0.036, 0.9997]\nstate[eef_state]: left_x=0.4383 left_y=-0.3929 left_z=0.0222 left_yaw=0.0372 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.0179 right_x=0.2472 right_y=0.0047 right_z=0.0735 right_yaw=0.0023 right_pitch=-0.0249 right_roll=-0.0082 right_gripper=0.9997\nstate[joint_eff]: [-0.7863, -12.4239, 8.9641, 1.243, -0.4029, 0.1099, 0.8718, -0.9641, -0.3214, 6.7624, 1.9414, -0.1441, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 0.8021, 0.5808, -0.3824, -0.1734, -0.1307, 0.9973, 0.5766, 1.9999, 0.873, 0.4, 0.4347, 0.2867, 0.9997]\nstate[eef_state]: left_x=0.2917 left_y=0.0035 left_z=0.1681 left_yaw=0.0965 left_pitch=-0.0311 left_roll=0.0016 left_gripper=0.9973 right_x=0.4254 right_y=0.1922 right_z=0.0037 right_yaw=0.0364 right_pitch=-0.0767 right_roll=-0.0421 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.7299, 8.5128, 1.7411, -0.1978, 0.0024, -0.0366, -0.9231, -12.547, 5.135, 1.956, 0.1734, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 0.7891, 0.5533, -0.3618, -0.173, -0.131, 0.9972, 0.4149, 2.0003, 0.8158, 0.5243, 0.3031, 0.1883, 0.9997]\nstate[eef_state]: left_x=0.2902 left_y=0.0036 left_z=0.1633 left_yaw=0.0964 left_pitch=-0.0251 left_roll=-0.0001 left_gripper=0.9972 right_x=0.4467 right_y=0.143 right_z=0.0015 right_yaw=0.0362 right_pitch=-0.0548 right_roll=-0.0162 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -1.935, 6.7077, 1.9365, -0.188, -0.0269, -0.0171, -0.6359, -10.4957, 6.2838, 1.9023, 0.149, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d846b7c960757ca4b89972331c0da8b58f6216545723f2b2b79267758c28d05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82352825d43c0d15cfaac5e32d528da39c2f24a6a80005317fb090c16b67608a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ed1ab472fe70e15a472d7f51efc68c7b18abf01bd134ecf51f5dac06076075",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtEDd7sCjjz3GqXJv9HRAbqXWyM5okYI0KUpMf1wSGNKHjc5pIbRxYRPCXvWtOtcYXZuaoJHt3YL4dma9YXvL1jaakJxHs910kKrKPB8B5zrcIQHVG5roM67R_xol4U1Qx0ejVH_DcfbyigRnokWSBLI0rD23ph_iLzP7kNlx2bvaJK8tprqk2sj4i-ckpWQraxJqKoSeroRmfIwRN7r_0MQkQEkaa_Vm49pw0tCafw8d8bqYECZJdN3wR8DjjEmFLsLPfZK8ZPFhMv3zEjXu5nSj33ZGKgp8Y_gFhAgvuACkgsj3BZNoJnwd18HDP-RP3wY_Qm1CMLAFZB6l_hgXdv5iJNPZ4rPRIhImTRqZnVaPaptD6323_Rviym6QpUuhopdtB8y-HIlegESDNXdZHP2ZHjDki9QgXbyEgMzZm3FBI-P-OlDSAMY1uZnERsdiuu5XWMhgLOla8PamVpkzue3mCUEDEbzTW6uVrxuNE0FyJz3xpoumAWGvCMTrVpRMSplZdvI6kKR_V9OeJNpwqkbtnNRd-q7v1pxNTZWOmDVRypL5MIDKzThtZY5aGbGZinoTcjcc5qyUncmLbVm-XzpL_vT2hyp0ypFFrHHQR7EaP-xhTy__gH9W_nX9y90CsKXOFsMoKExIWuMDuzT6AB3I_w7P4rOC0NekpIFCkZeEitM_YneQOicdxNjME0PXQ2FYoSHDg9dSwSamc83F0360AqXVRMi9hiCY6RNIN7npMskuwBBmQ43P5As-t0Ojo5I14r0YEPWlk7CUkSaEn0QoAD20LTpIa7bJuhoNJj8EOXdfuLvFhiH6jzN3g-yO8Ooxo2MTH0i4u-FOXnR910OVvBKtSZM5oca6_ImxbxkdfzfaaMs46lKDPt20EIZgm5dDE4tEBohc7kvfqjDqSDjC-eJ3fIkY3xr8lgDcF0Aq6vAZJcq7z30ntoZ5rXd43VK43Y5n6CHeG_iz8-mxLQeWgh4R3nftYZ7H_XpZfS9KQqnj-5xhzfxcj_KxMGqQiUTUPVy-tge60W0QPQ53e-_9usvqhBNIvM9qTBwmCe6rGJKbKTPJ67NKx1Q0qHL9poiHvXTZcrilKoniLf57X-evF5lvD-gYhO-DGOtglko5ggAAlCF7Q28ocGo8K8nbmv7PWoGWtpeusLnywWUZcUt7tEAtFRriGA9k41RPfJs2n4Pkij5QnxBJPVUCbzjHNn7_7sDH6i752SZfhnHc4ohFjLh41psVj3XNZDtFQDgKRjwyPPe_bacIurEIIbaIAZDmCkUat6X-vpxGQic1KrDhnBV0OedyGXHCY2C6RB4yIj8lirKlJWU-k5bogiKe3mODLTGSUJ-wIEyYHp78WlFnK61RP4NtJRBOSek-aI8ZCXLSKhHln8XeuzZjQttoNk_PM0c4Rg5wKDz18VmrngTp5Hw5ZaHLpNHw0tTwzjj1ga6GOl3OQXXF_IQIb5ZFRmfY4iq8TUAsAofBBJg1Vu1ipfgawGmlMUZ8RgfnptfmDDxmXMmWmc2Gva2fIEEgM7GwRDHlUieCHtwdutY01SR3Oa1R-8_9TjdFtvKPGoBK0Lb1wUsuSojTEVmOxsHE0wclGgWU0zPeaRmiEx2tqjs8geyOJKPsb7bI8ZnyqtpL6htznF8v6kR3fl9wF_DTy4B9VzDhuZE1_gu4ZfqFWBsVk8BetNbevWxer-kNpPVmbxHM4jk12KZeOig4JlVLzPY_oGrEPkwbDx_zxzOEANZKPvsdX8QylianPAPloNfA2_ujMcubl4VqKHT_-8Xma_2w",
  "id": "rs_064f03d89bc1b210016ab440db3e7487d09da9f63a9b54fe4d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.09},\"note\":\"The bottle is now at the fingertip depth but remains right of center, which would eject it during closure. I’ll shift another 5 cm right so its body crosses the jaw centerline.\"}",
  "call_id": "call_pO4hWvjvaiHUMF1igu44M9Fo",
  "id": "fc_064f03d89bc1b210016ab440dc715487d0b1ee2b392666d1fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pO4hWvjvaiHUMF1igu44M9Fo",
  "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]: [-0.1055, 0.7784, 0.5327, -0.3477, -0.173, -0.131, 0.9972, 0.3912, 2.0003, 0.7589, 0.6296, 0.2825, 0.1665, 0.9997]\nstate[eef_state]: left_x=0.2887 left_y=0.0036 left_z=0.1597 left_yaw=0.096 left_pitch=-0.021 left_roll=-0.0009 left_gripper=0.9972 right_x=0.4448 right_y=0.1341 right_z=0.0021 right_yaw=0.0419 right_pitch=-0.0138 right_roll=-0.0055 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -1.7436, 6.6803, 1.8974, -0.1343, -0.022, -0.0122, -0.5949, -8.1299, 4.5197, 2.0195, 0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7a41889ebb7afa691b3ebd2ac951b34ad45d642fbb766f73fb50a7b55bf894",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:489d4a49df85e1e95587879d7574cf4e3f427ead03b4e0228201d8a37697337b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6747698b03144a1e52cc050f63489b6ccca482cc8d45e978af5f8849487349",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 7.567 s

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

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0982, 0.7822, 0.5804, -0.3515, -0.1703, -0.1333, 0.9975, 0.8249, 1.9995, 1.0096, 0.2008, 0.627, 0.4671, 0.9997]\nstate[eef_state]: left_x=0.2946 left_y=0.0047 left_z=0.1796 left_yaw=0.1022 left_pitch=0.0179 left_roll=-0.0123 left_gripper=0.9975 right_x=0.3887 right_y=0.2733 right_z=0.0291 right_yaw=0.0386 right_pitch=-0.042 right_roll=-0.0385 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -1.4427, 8.0752, 1.7167, 0.0757, 0.0562, -0.2076, 0.1299, -8.8957, 7.9658, 1.6581, 0.5397, 0.2808, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 0.7891, 0.5533, -0.3618, -0.173, -0.131, 0.9972, 0.4149, 2.0003, 0.8158, 0.5243, 0.3031, 0.1883, 0.9997]\nstate[eef_state]: left_x=0.2902 left_y=0.0036 left_z=0.1633 left_yaw=0.0964 left_pitch=-0.0251 left_roll=-0.0001 left_gripper=0.9972 right_x=0.4467 right_y=0.143 right_z=0.0015 right_yaw=0.0362 right_pitch=-0.0548 right_roll=-0.0162 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -1.935, 6.7077, 1.9365, -0.188, -0.0269, -0.0171, -0.6359, -10.4957, 6.2838, 1.9023, 0.149, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.7784, 0.5327, -0.3477, -0.173, -0.131, 0.9972, 0.3912, 2.0003, 0.7589, 0.6296, 0.2825, 0.1665, 0.9997]\nstate[eef_state]: left_x=0.2887 left_y=0.0036 left_z=0.1597 left_yaw=0.096 left_pitch=-0.021 left_roll=-0.0009 left_gripper=0.9972 right_x=0.4448 right_y=0.1341 right_z=0.0021 right_yaw=0.0419 right_pitch=-0.0138 right_roll=-0.0055 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -1.7436, 6.6803, 1.8974, -0.1343, -0.022, -0.0122, -0.5949, -8.1299, 4.5197, 2.0195, 0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7a41889ebb7afa691b3ebd2ac951b34ad45d642fbb766f73fb50a7b55bf894",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:489d4a49df85e1e95587879d7574cf4e3f427ead03b4e0228201d8a37697337b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6747698b03144a1e52cc050f63489b6ccca482cc8d45e978af5f8849487349",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEDgiRiDt12NIobU19Q67gddUTsoDafYmssGNV8bKWOR2scpkBXfqpDeGzDIok2lZoLmkQIGsmxjnIwZ0LVcsCZOpKL_xLyFGq7zClVtC6Iflz2yIcwuVYUPxKcPw5h3ZzYbNHrkBw8ynNjLhnOJYWUTTy8PC884w73XASjVPV1KZ1lQPuX9Fbnly0_MsOnqMzVrOBubUFmwaBpEu94wTjiY770Pf5UjSXcvclNRLkbJKqGL_huqUYFR-PYs_5HV6PJxShhL324UKZ0Re9q5KjjXvNrX5j-E8SPKofwVyufRaxw8c5fnKycy6KxtW23SY4l4IfYlV16wjT0TsvXGnP00YmSDIAQ8_TnzueJ-P8TBTN5J2J8OqeWKe8H23XlmpdWW6rLo6l8WQ0FSSd4Obo5jTsF_UU_sLqpZPEPbXrw5eY2VIibXZ6PDljg9B-588FWvqhkfyn_rJt9ITiH9vjnciQ0X3NtxZ-DwftrsE73xI5u8pI0ggneAZ4F1Ky7EJgv6I-WMqOd2hPzuwcCCbz84KcTaDwUJPvAzVRxI8fSBC6nbQvR-2XJFjvUaz-4in-XQPpKQD4PS0byE-uuX9Jzv9pQsPFV4xBWSDwYhK8nvj_D2RIa6O-ck2JNDlipOyZYZD8naYptQYVACQXk2KVCDhZbUueYDwe7-a9v1JAte6zUQzaI072LWqR9Q7CfkXedsYXh7R1nnCnE_y8asL8Sz7lbk_LPJttYW7TXVjQamcMtpdBotb6Zjv2MqzbqhzO4w14jsoXuqS_pIjJ_dG52BmuE1A8irFkvHEeuuOO3lYSGiFysRUehcWY2ICNCaSQHGqDrqq5aAAfDmH6wqHzV41ZzYgGBuTWrqYPPWusgWOCo8jOL6na8WWBpKTKKWBSm2WkrXWLjjnbuNyV_sp98eNUYwCYt2vHxL0-0X2Lectrz4nyfyBvGc6Se19vjZA6CSySqjJrYK-Syo-Us9fjzAb_fV2D1GU6qEmSrGc37y96fHqlxlx9kvvUZS8pcPYOXauXDj0iVrnnyBFZq6c3s2EL_SZcE-VVJikQT0upgVMiq14mnW5tVawmMAAOeR8A1myjY1a5hq1snSbBAuVp1VnwmL5Kig_8D31kTfVyEDx1ydRDdzK9XTI_OpXBr6o8wZs7OkgOUrK1D6q83gyNDw0iRITKlzHUU66ibKn5LY46hA3_9G6pKI3l334L8qod2a5sHjLzp2C94N8JmX6znG3TgGwsJ1DkA9QU36wm6h7rlESpvO6JJo2yc3eJKxneJ83FlyOFIZZ3UBo4sTICzNsjoQ3MRP5WrULGjHklKxvkQ8ZckD6SMtoVzLCwJ8YrxCdvWHNavddkObaWqTOe6RaGZ_wJqaJBdAmB5UmmovMVA=",
  "id": "rs_064f03d89bc1b210016ab440df880887d0a3f4356b31682924",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The lateral move stopped early as the fingertips contacted the bottle, and its body now straddles the jaw centerline. I’ll close carefully on the body and verify the jaw width.\"}",
  "call_id": "call_wZwFGxjox4KIo2VGoO5UQ00V",
  "id": "fc_064f03d89bc1b210016ab440dfc3a487d099797c93beb76c71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wZwFGxjox4KIo2VGoO5UQ00V",
  "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]: [-0.1055, 0.7719, 0.5159, -0.3367, -0.173, -0.131, 0.9972, 0.3916, 2.0003, 0.7525, 0.6296, 0.2825, 0.1661, 0.0169]\nstate[eef_state]: left_x=0.2876 left_y=0.0037 left_z=0.156 left_yaw=0.096 left_pitch=-0.0203 left_roll=-0.0011 left_gripper=0.9972 right_x=0.4427 right_y=0.1334 right_z=-0.0 right_yaw=0.0424 right_pitch=-0.0199 right_roll=-0.008 right_gripper=0.0169\nstate[joint_eff]: [-0.4581, -1.5521, 6.7487, 1.9219, -0.1832, -0.0464, -0.0122, -0.2256, -8.5949, 4.2188, 2.0342, 0.1197, -0.0171, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e336c812a7a7e45ffa2d7e2b1c866975393ad527184a91c40a19bffdc070e737",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ce3a851ac7df4f883fffe3daeb4ab6daf56d2adab95364b508314ad55479a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d735bbc3e71b3fc43f24e29db02966f8878dbb9b895224435cc2ca84daf46d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 2.981 s

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

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 0.8021, 0.5808, -0.3824, -0.1734, -0.1307, 0.9973, 0.5766, 1.9999, 0.873, 0.4, 0.4347, 0.2867, 0.9997]\nstate[eef_state]: left_x=0.2917 left_y=0.0035 left_z=0.1681 left_yaw=0.0965 left_pitch=-0.0311 left_roll=0.0016 left_gripper=0.9973 right_x=0.4254 right_y=0.1922 right_z=0.0037 right_yaw=0.0364 right_pitch=-0.0767 right_roll=-0.0421 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.7299, 8.5128, 1.7411, -0.1978, 0.0024, -0.0366, -0.9231, -12.547, 5.135, 1.956, 0.1734, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.7784, 0.5327, -0.3477, -0.173, -0.131, 0.9972, 0.3912, 2.0003, 0.7589, 0.6296, 0.2825, 0.1665, 0.9997]\nstate[eef_state]: left_x=0.2887 left_y=0.0036 left_z=0.1597 left_yaw=0.096 left_pitch=-0.021 left_roll=-0.0009 left_gripper=0.9972 right_x=0.4448 right_y=0.1341 right_z=0.0021 right_yaw=0.0419 right_pitch=-0.0138 right_roll=-0.0055 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -1.7436, 6.6803, 1.8974, -0.1343, -0.022, -0.0122, -0.5949, -8.1299, 4.5197, 2.0195, 0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.7719, 0.5159, -0.3367, -0.173, -0.131, 0.9972, 0.3916, 2.0003, 0.7525, 0.6296, 0.2825, 0.1661, 0.0169]\nstate[eef_state]: left_x=0.2876 left_y=0.0037 left_z=0.156 left_yaw=0.096 left_pitch=-0.0203 left_roll=-0.0011 left_gripper=0.9972 right_x=0.4427 right_y=0.1334 right_z=-0.0 right_yaw=0.0424 right_pitch=-0.0199 right_roll=-0.008 right_gripper=0.0169\nstate[joint_eff]: [-0.4581, -1.5521, 6.7487, 1.9219, -0.1832, -0.0464, -0.0122, -0.2256, -8.5949, 4.2188, 2.0342, 0.1197, -0.0171, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e336c812a7a7e45ffa2d7e2b1c866975393ad527184a91c40a19bffdc070e737",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ce3a851ac7df4f883fffe3daeb4ab6daf56d2adab95364b508314ad55479a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d735bbc3e71b3fc43f24e29db02966f8878dbb9b895224435cc2ca84daf46d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtEDo0Pgjwz769otQpb9fq45hnvT9LDyHGX1bwdLCVIYdkc0qGexhFebE6o_B6S6QmV4X_P-8JHVeOvnRYbYgjpPmnkBZudoCkA3-98zIn61PvRg8igbJ6EHIkbN0BRkG6qFknIl9MTc2VTizQx5p-oFKrw0_gpoPx5woqC8JzVmpMprIeFisMYXgwb7qg6TEh6C8LH4AFBteEdqMXhUaTevfUVb67_KFF7u0Q1xO31vPCQTIbU265v4kX9E5oVKxNZN7AudbXphefSrSzXfDke8t8JhKHF9pKn_HM2mg8ro2MzAJttAPdKTmsu5kgdfn7UnPQ9dORrwa1_wBl0R9ANHPouNpdSjPO3JwK2I5jSHA1fo35zmCVIqHLBNZVupdzbGgK8svUQhPQ9uIfapB6_eSn_tUdHBw-2332HolCkw8hBT5Lzs4s5KbL2QuHi1v9ucv1E95ktocCD1-hqZGwdKtOcxGOgElyKXBN_pcgRpjmVqtm3Uf2eg2ckdx_octrXy4IJDeBBedpaUa7M7Ck7VXBJBEZurM8emlXHJFgElEjqfMj0fgY0x4IMM65OWTtEAtJW3d1uBLoi0By1iMx6UJGPZHbR5w-4FOCKHKLJnPOd3WEr0nn9i5R1sXwyx9MMUpA6dasaWQoRPD_Jx1gxkpKe7pxzhfQ-8NY7WJw4nvzBEeUMRprWtwWnq3I-MmLa8eCjLHJ_tpKSAzmkE59VU1CyamcK5uw7P28z4vQ-Csx_cbjXSop6t0nxrNcv8IdLjBhoTBnpVx_afnordvC0RhGnDT8Mo2TOJeadqHfvPl9O_AKfjSEMoF_MKj_6GxprGVwUkcqQ3CQZlOIJ4FuOLxDGLu4twI4EgyocW0Cq-EVeNCI1LtJrGtjCamNaP2PSTDKdUQa56PQ73DGVICLKVZY8vhn-JpCm6r1gv1-yszpGW1mZwKARAkj4_vzFKcATkrdTcJY4brLj-lg1kGhorgfn6kHiGqFRlwnMP-eH2XErUMVxOJ2yaKpWSVU3IuCfZcZe5XFhlnYDB7FKLo3E3UzLBMFq_SudePFwqpHm0dHc_7fVTsblR76liB3-1NOcQyLVR3TZFf3Co3gjLFHVO1P6G-jaiyL1L024-yXceYhT9s9T_ca21WmdsnskbPEcX6bOhQ_otsWWh7he98C_Pob8eNm1fnQtwERhxzRNiyP0uJAe_l593NheBsH0kjoIYmMi-KbHnmutjhzm5l6JhSH6tYh3qNvqzvuqP_B-AY1AWYwIV4qF7nWavL1mzRnsur2yCfoUmgNdNHC71dc4fjfP4ORZqF4JAjqrAeZOe36fahvjoJ1C-4k1yveSl7p6Mrxk8bX6KA3Dnqt_P-SxnjykVi-naO6pUmBRdNCay-8aJ_0KNsujx0YZn_9uT_ZHcrO02GXAhnu6QNdKnP2BTcQ72BOe-4f-xsi-ExIJCqdyMAlk9tGtjEazPwSXlK09vUPWaJe7GENYmempJfmi_3FxL6Ggm4aDwOdDUFls5d1bC7n0ZzNsggfw2uXPYQO-asZ9bwNyXr4_2NE3qCJpeTLjJK0nF4ayVb9SOitLksPRBSLo8Rm0_5HJIR50R4bW_DsQle802xTH924L3UY-f1V43jto3u9xMWO6P3tjyrIf6FRsv_ktb4ZIREUyGZpPiX4QDxplLzxjO7cAGNkk1W35NQ0w4ozMNwdQjdBDexB_8YBN1Xcm2TXptS8GB2bwdE--QOMPAF7MPtIrU9Lavf71RDyc7qDJxbcrjLIHLJXV1OZqkcX-4hHMFa0J3KxMs7PBW2pc1s7RfLaR8ZIDHz5rEJXyLvu5Yr3zFZ27YDzvmahY7FcCm4yql9hlJ50oGRyWnoyhBktG3RG4V53UMiqYT_LMCHKfkCY9v__xBrv2Uii4UvI8-yfK7LioFqqPhRBF6hyBmttApJ_5ksVZmy5SYTwotq-VwDNRcLvwmS5DjjTf7tgbofR-Q7TJiBf1ACfXu6tqSUf-T1kUopZ4B4uIk-pvCyymtHl03AN8RL7gqPT49wjHRgpLSMv2gYXItGwgMnXX2pJfqrxRiPbsaB7K5hgPccn2NqYzJ1hFGzbAgsejIplMfXOi2i9CYE6YLSf2qJW8uFI67iZwyeVZD_Eo_E-1Ew5Go_WAAEj2AeMb4D8yGQ2lFEAmtm4v5dQhy8W_hKXiPAhcdaWQELeLDtjd6EKfwOXZa1iwyUliSvcKqXmhWmFJpv03sTHZYxS7PgQsQo4RXpz3naksbmV7CItQXgAzmlAqx6gDFWZzwZXfsS8Nr3yrr8ItaMlP2tGavVI4yokSXc-qMaiiEXDgBG_kN7GFSTAtTbqoNBjfGvXe2oQqjJm_d03M8o9Gh_gD_sQBmpI_Z2kzuaS8xvLWpHGdZ8FhWFzukP3Yefx4lv9X0BnLZCiQd_hyLOppyUUrl61v2XQg-ckFqAZflX0SjJA1mHAFTCMpTJEouIuWmWgWHntAM-84O5szxq-OyEFqZKFODXLBGiMAt9dDb0ZqVzkochPP5jDdTXItld8xNmQSuPfR1re33EUnr21cls95hPMhTgugbJaqgohYZEUiCfvGvBsm1_LL-4fE8MqD4_qDenQinCimYbZqwwGx5bGxd1uVa8USPQziKrthwFUAdnaczI0fXYxRq0-Po9U9EaD34sY7evLZQeGGdRitwnAWkso3PvaaHs-tT__NYsVclWTMabYI1KzCNvcLuG_7WgGyGnuphbwmjcaxPsSQZbm-UO_Z-CEYcBGMUvhwi5e0iMhJ0bTQwDb84o_sbaxEoOfYOLXwtHVevYWnHRX2FhShT52_oHvgfhAY2bHEo5RB1xTh49AMgQDCnC8Hy4mR7WflQVwKWJEoGZcu3OJ4SP09a-bsCUwklhpGDgXNsq-IiIK3D6bR0jc3p1LuIEB4h-5bnk9wjblyHKbckmnAbKKpugic3UZ7PB0m-HmMOc-XzMGf7W9SdMaWE4XHClSIGToTrj9yJJonS2he3hZq-h5S6sEG-viMu6oCGiUbG01g0gordnK5LdMBI1sJunpZ-pwRGHKKo5rp0FzuLVKXmBYNn2-VTgP5PfucBOE9sYoi30uN_AZj3UXsXKRE6TDem6RbqwScHoAupqFvnZPPcJ5WrYYL0HeLHmv18j-rpez-LSG50w7FhY0Y3GQbYO73W4yfbMbKh3596Ersh3zzgHo_FLO-CBsDMtXlY_L6vpQTgjQbcJw2_Qv4hBlSuHxTbB_z2Xt4rdY-q_Uptaitx1j42d1BB0j-U6Ww4fhK-eeffFFFVVdqXf3xKv_As_jx_hes15xletW1iCd7dqlRcqz2iKMscDD150nIx4cNguyC3LLTWNBLNZd49BSkUI-BWa4fvoZbaWRGrnqJa_Zz29PZhngHnVQZ0GBVGoW472up9Kk5e1KeFQzEWHjVvg5h7kmB-9cmbv4p1_Xfpaz0fz4abxD6JAYhYoD0-BiSdGF8Quxgoeemzxxr9i7PnF_H_wN5o596PlBoXTVdRujcwdhBbwQ2V5JXOrY18B_O8RGyuWLPjHhqQmwpNVnA5SdBwJBrMh7E4iRQUBctXlDcOpOwLX2URq3QWj3naJvH1HL98CKCcbbKBlNbdHax5ZYXRCpG4pbLoG_zuKRXh76aS6fhC2m2HxEA9mhGFQUoPAYpiHs7LDEAzEQ0doFPGJLAp8e7d6B72pILBlYRCUYzm0tR7Psmltr9gYcyoKC0toDNO6Z45B8GpNyTY2nwsskysYpg0_KkSKWxIRB0BuIixaryGd1UzBmbIPWX5lL3WATqZPgAO58l9OCyQ9HHoy7AmJepOv2_i9P62PTVIJMQsWziPs",
  "id": "rs_064f03d89bc1b210016ab440e2a80887d0a327eb704ea7b71d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEDoiCnA1OqQiF1Fsy2RcrZ2tmN5ctWY8OctfmhMVO0ll54wq-DD8c_Yw9l_1EnCiy3zaep6NU6znjgV79IYmtLdSlm2p8bo7vWuYS-7tnhGIlaLKdyfjLKIFE4cZtGzEy0AjzYTeJv3_6ko6Thy52Xqq-nj4KuerhNIUZ9cQlbTTGQT2pWpae1reTl6ITBLoTrr_puwt5ay_M1CGb4nY5lYXJn1aot1OCZY7qdPN-UWLqKMYJolEM2rP9VyZd27Wtp_K2N239J_W1BfrQpaly8zuBVcyB4Bwum68TSUEcG8-aUxkbQNpJvBMspH6r5FSM25Gt7IqeJYAx0pQBqax0KWRgm_zwOaPf57UqE1oaSgh9Tu2haPee7nt3VPDhXqH_m5QqMwkqlrZAv1_KBx9aFTK7X3OleIyPu-e4rS3E5bjQq-Izo_Izh9_4u0IHGfj-GjMg4FTv9TYCu9ylN4_kAVGj9dq2MNU9hToCkrSPNOJdWa1onL3nME7fBK15Rhbcf4jdxdLZ-1kljwVZz6M5l8ohLDRZf5tub3p3HEE6PMcDWQBaOBtxFQU2B4F4CMptRfSRQQYVFIuJI9aX1qOhjrLsyBZ-fq9_Ed4--8eEjBk_WlKXBrz3lvX60GOuy3nnobHSGm0vn5L_5HDXuSWoTbUW5gT_wEy9hWqZuYGHhqcnLVuY9_Z0iifojqmmkQOSOz3fLtItk0locmecjrDjYOSNzobevAe1JDw8SuVHddxABLHqyW0znJLMfaOXcz9ETMbgRyacJRfAricOw5FjY9r7wtPnhZes3zFn1U4e7l11rznwc-zJsUXvVJqiTaU72yEvcIIP8pgOO0QvMi2ywEDRf3l2MaUu8_QhA9iW0ZdpON2YNdA58Gt7Y-GhLEyC23R2xT7mF7nNBu4zCvd9xEh23eOoMzQE4rVPQuXrCiJ-WLs2WFPFbMQXlBK-dMeun4BDA9cYYwUnwYC7k7KUOMOZpaNXyUqa58fFK1wNUYkndjexKMxZgmk-vyaZvT0xoEI_UweRuzWPBBKi66Iv-bkgrYgB94M7Ic8konw0tlJl-KFWy9Fd2kXS91SXlZ6nNFLwYyex_tHsyhn1hbXVbczQ0Dil0EWjwVz8777X2z3gb5cveHegfln7QvRI8A1KwEqiDWy3jE1QIRExCi4otQzSrtKt5s-DIYuVbadkMQIAY=",
  "id": "rs_064f03d89bc1b210016ab440e7c58487d0b3e22ba913890b03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.03,\"right_z\":0.1,\"right_gripper\":1},\"note\":\"The close was empty because the rounded bottle rolled to the right of the gripper; overhead now shows its near end about 10 cm to the arm’s right. I’ll lift, reopen, and approach from directly above that shifted end to avoid pushing it sideways at table height.\"}",
  "call_id": "call_8E1C6kTnJNyqs05V7CwrJpV1",
  "id": "fc_064f03d89bc1b210016ab440e7eed087d0a9e2e2d6606aff85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8E1C6kTnJNyqs05V7CwrJpV1",
  "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]: [-0.1055, 0.7662, 0.5026, -0.326, -0.173, -0.131, 0.9972, 0.0738, 1.7351, 0.8238, 0.2852, 0.0227, -0.0139, 0.9956]\nstate[eef_state]: left_x=0.287 left_y=0.0038 left_z=0.1536 left_yaw=0.096 left_pitch=-0.0173 left_roll=-0.0017 left_gripper=0.9972 right_x=0.4595 right_y=0.0336 right_z=0.0712 right_yaw=0.0392 right_pitch=-0.0556 right_roll=-0.0089 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -1.7299, 6.5846, 1.8681, -0.1392, -0.0171, -0.0122, -0.3214, -9.9077, 8.8547, 2.0195, -0.0073, 0.0171, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef722c05c5fbab355dbd7311f3c144dee70b1d2bd2c6a8df6f9c25d9126c4e11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6382557dfc50cb2a02847213accf6cfbe92af7a39609d789285dedd12f2849cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a90e2a7e2d33e7955b556520da4e0d2538be72e9e13d2f15e04b0acd024ed6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 2.846 s

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

message 135 changed as sent

message 143 changed as sent

message 148 changed as sent

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 0.7891, 0.5533, -0.3618, -0.173, -0.131, 0.9972, 0.4149, 2.0003, 0.8158, 0.5243, 0.3031, 0.1883, 0.9997]\nstate[eef_state]: left_x=0.2902 left_y=0.0036 left_z=0.1633 left_yaw=0.0964 left_pitch=-0.0251 left_roll=-0.0001 left_gripper=0.9972 right_x=0.4467 right_y=0.143 right_z=0.0015 right_yaw=0.0362 right_pitch=-0.0548 right_roll=-0.0162 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -1.935, 6.7077, 1.9365, -0.188, -0.0269, -0.0171, -0.6359, -10.4957, 6.2838, 1.9023, 0.149, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.7719, 0.5159, -0.3367, -0.173, -0.131, 0.9972, 0.3916, 2.0003, 0.7525, 0.6296, 0.2825, 0.1661, 0.0169]\nstate[eef_state]: left_x=0.2876 left_y=0.0037 left_z=0.156 left_yaw=0.096 left_pitch=-0.0203 left_roll=-0.0011 left_gripper=0.9972 right_x=0.4427 right_y=0.1334 right_z=-0.0 right_yaw=0.0424 right_pitch=-0.0199 right_roll=-0.008 right_gripper=0.0169\nstate[joint_eff]: [-0.4581, -1.5521, 6.7487, 1.9219, -0.1832, -0.0464, -0.0122, -0.2256, -8.5949, 4.2188, 2.0342, 0.1197, -0.0171, 0.7497]\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 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.7662, 0.5026, -0.326, -0.173, -0.131, 0.9972, 0.0738, 1.7351, 0.8238, 0.2852, 0.0227, -0.0139, 0.9956]\nstate[eef_state]: left_x=0.287 left_y=0.0038 left_z=0.1536 left_yaw=0.096 left_pitch=-0.0173 left_roll=-0.0017 left_gripper=0.9972 right_x=0.4595 right_y=0.0336 right_z=0.0712 right_yaw=0.0392 right_pitch=-0.0556 right_roll=-0.0089 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -1.7299, 6.5846, 1.8681, -0.1392, -0.0171, -0.0122, -0.3214, -9.9077, 8.8547, 2.0195, -0.0073, 0.0171, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef722c05c5fbab355dbd7311f3c144dee70b1d2bd2c6a8df6f9c25d9126c4e11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6382557dfc50cb2a02847213accf6cfbe92af7a39609d789285dedd12f2849cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a90e2a7e2d33e7955b556520da4e0d2538be72e9e13d2f15e04b0acd024ed6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEDs9j9zRVKhkKtFv6VTYHrkjcY6aABQQPdSRbB9dfFI2UQ8eVCsNCmyNM0T0q_9DMoi2K5h3uTEyJnw6AjIdtt8XjOSoPidqty34m9wINx-jJG-EJD2vYDWQTbSXEkDRqPsvDXwZCrL48X6JwK0sTvrQa0q0yaUJYLHWq4URy98rAfri9Ss046093yenk5ZfVD2A5TY5jTKId_q2yrufBVukD88NSdRI3zv7uM-Qy2OH1NKc3pH4AlZSIVtopLHqOYL5x11bYbhmjypfnkpq5nOgr5FMdhBlHfP5If4ZRSOmE_F2aLzKw_yII7onsFwOCbWFcwATBIKRa_iCPFoxLVzlUAVuu1qEHZIO1GYHAZ1nJxzNVV5BPsQdMpPYwdRw_OQzQRRYsebItvjd8_BJlUpXgiYxbvuhfwGrtk667zY3ABjq5LAhgi12WrBxNaMmk0OXKBHU3ik_lYNNI37SA-9ccN6iuyEN-byhm6Ub21a9PhNyalFFE6_bs85EnODR_qYhM05KmVc3boxQpfYI4_2_P5LCKtmv8tfRWFDVBeSGg7MQq0GfYtnAlKlWxP4QbhQ_LYVrm1oCGNXah1AahMR0NS5llU_rVFntvKn1WdZOsh_SdiUjyiIyJ-1raQVEvscua4JGNLIs4sVC5OA277gsqoJlpdM8SACtghNO7uJ6VHo3YsTBLzVPBD5hBOJf5780cgW5q3XGqwXdb0x7HV19t9T6cLMzgXz8sosvIRE0FgVkOA2tcuOtR-3wWtYLNFcj9zf5QMljPwnYXMpuLZMef8bAIoFYIQbo_C7XMZbnslAFug1GJiBhr2aMCm4vDnVz66MSu75j_Y85MTdo1auEB0K7T-osw6-LvW2kTcZnVXPPJ2mLybdUG0FtUDqm3H-Z05I7jHI7_BkbIY3Mlhm1FoQeKk9jum7ejQDIRGjgo1lXjfp67bdIFL9SmM1wEyBkIBOfwN2gyQ4VBV2NZedUYNxhn1SPfWmDWeTRJlPno4_MP0kl75sbAByDsNGVlgoPWho4QSWyYgrsQ4tFNSPiM7rrGjlD3AxIZUdaik57zayIZ4jhJgz-GbtOPdFtEP56dfdFYAB2-uE4JVeKYVBLTNptuWJsTNiQellc6krXDElV4NLpp5q0Cml1Z_x3j7mRNl1F2bEwvbXbOzSgCvsZmR5zJYOImbu2dgOeokiVgM8is8wAE9uLHYcarvtUwclZE_gfQ32hjQ0fYAzDqL_hnWSrGuMIKAGAQsGrQhWg8c5yzqxTIVjDxCDBa3euCsW2I9HTU2JHwQMTrue1d49KOj4XlQjzCH9uOW0DM2y2KnDV8Kf1KncJq9PvkG-94VZua6DZRMZbqqF_NqedIUrNeN7Mmsyyq0pRz1lt4-IJH0kS3Tu4BA9fuI8gvu_IjzjsZpgJMuKd6uZPpvPwNzUT98EwhPZAc5xfEpaVGHOartuRDFDp8zVqIOG3_F4eMFfRmfq_3DVtPKBNPedC8lM5JIuc3NZ1zdPK0Z8jP9v0dhytJcUopdLmVdXBTkSWq9FHudRZpgykhoCUPNNH8ZhyDenl_p9fdNZJmwpdIwWWsY=",
  "id": "rs_064f03d89bc1b210016ab440eb197487d0ae524edd7b04709e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.015,\"right_z\":0.03},\"note\":\"From above, the shifted bottle is now centered on the right wrist’s jaw column, only about 1–2 cm to the right. I’ll make that small correction and descend vertically to its body center without further radial pushing.\"}",
  "call_id": "call_JSipFgqDyxqaE8jCQ2uXzxZi",
  "id": "fc_064f03d89bc1b210016ab440ebfc3487d0b427ae64f909e89d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JSipFgqDyxqaE8jCQ2uXzxZi",
  "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]: [-0.1055, 0.762, 0.498, -0.3218, -0.173, -0.131, 0.9972, 0.0246, 1.8462, 0.7334, 0.4728, -0.0177, -0.036, 0.9956]\nstate[eef_state]: left_x=0.2867 left_y=0.0038 left_z=0.1535 left_yaw=0.0959 left_pitch=-0.0135 left_roll=-0.0025 left_gripper=0.9972 right_x=0.4516 right_y=0.0178 right_z=0.0257 right_yaw=0.0361 right_pitch=-0.0695 right_roll=-0.0029 right_gripper=0.9956\nstate[joint_eff]: [-0.6496, -1.6479, 6.0513, 1.873, -0.1636, 0.0073, -0.0122, -0.253, -8.8137, 5.7641, 2.3468, -0.149, -0.0415, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a3ac0deee1febb3f5f4acaae8e782304621857cca902261747856afecea3894",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79ebd85d33c477c17ab6cff16ba2c09c43d18dfb15becd3565b75e9e8059c7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64b372fe7081497f6b2642b1c983d40b2ca1fe5e19320263aef11b3f045a9d1e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 5.717 s

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

message 139 changed as sent

message 148 changed as sent

message 152 changed as sent

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.7784, 0.5327, -0.3477, -0.173, -0.131, 0.9972, 0.3912, 2.0003, 0.7589, 0.6296, 0.2825, 0.1665, 0.9997]\nstate[eef_state]: left_x=0.2887 left_y=0.0036 left_z=0.1597 left_yaw=0.096 left_pitch=-0.021 left_roll=-0.0009 left_gripper=0.9972 right_x=0.4448 right_y=0.1341 right_z=0.0021 right_yaw=0.0419 right_pitch=-0.0138 right_roll=-0.0055 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -1.7436, 6.6803, 1.8974, -0.1343, -0.022, -0.0122, -0.5949, -8.1299, 4.5197, 2.0195, 0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.7662, 0.5026, -0.326, -0.173, -0.131, 0.9972, 0.0738, 1.7351, 0.8238, 0.2852, 0.0227, -0.0139, 0.9956]\nstate[eef_state]: left_x=0.287 left_y=0.0038 left_z=0.1536 left_yaw=0.096 left_pitch=-0.0173 left_roll=-0.0017 left_gripper=0.9972 right_x=0.4595 right_y=0.0336 right_z=0.0712 right_yaw=0.0392 right_pitch=-0.0556 right_roll=-0.0089 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -1.7299, 6.5846, 1.8681, -0.1392, -0.0171, -0.0122, -0.3214, -9.9077, 8.8547, 2.0195, -0.0073, 0.0171, -0.0952]\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 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.762, 0.498, -0.3218, -0.173, -0.131, 0.9972, 0.0246, 1.8462, 0.7334, 0.4728, -0.0177, -0.036, 0.9956]\nstate[eef_state]: left_x=0.2867 left_y=0.0038 left_z=0.1535 left_yaw=0.0959 left_pitch=-0.0135 left_roll=-0.0025 left_gripper=0.9972 right_x=0.4516 right_y=0.0178 right_z=0.0257 right_yaw=0.0361 right_pitch=-0.0695 right_roll=-0.0029 right_gripper=0.9956\nstate[joint_eff]: [-0.6496, -1.6479, 6.0513, 1.873, -0.1636, 0.0073, -0.0122, -0.253, -8.8137, 5.7641, 2.3468, -0.149, -0.0415, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a3ac0deee1febb3f5f4acaae8e782304621857cca902261747856afecea3894",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79ebd85d33c477c17ab6cff16ba2c09c43d18dfb15becd3565b75e9e8059c7e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64b372fe7081497f6b2642b1c983d40b2ca1fe5e19320263aef11b3f045a9d1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEDvnIxF78hJe9HutTfhfxC_l6oTmiszhzTGh3c-vAp_px-dKNABwY36kBAj0OYDxiORS0-HrdccGNDmyZYtwWpVlEnaPER886UoCiyFAJXoIO3L7kUamVI_tICRzZ15S1YHbpgOu9FqRJWfhl2e7fKBPkyCly0PXEpmTU_gOtl9SJ118yWTTYbh1QVERq3u1R83RvGzLWOrC6OaZJ_e1KJEpqBAIX-e3z5zpgdeQ-J6AK8qrPXI_sDcFm8yjtFdeL2thCUh2eDQOfPgw4QjhoL7Jq8MtzkQFkKUoXlmMVlc3EhuTaLRkGhbmD6oL1FCe8eQD9-HOloHJLkSK_qMwxPk4tQ1DjD1tzBNyOWmD3oMTpwN2JZChu2yqZ3Q0BwDz3yqHXn15qgvpvWfEcm90eBuJPkSgZYeK0OE3MI8zsnvcp_jPuf3YbAuDOPXtU6cW7lFBZf7vhR4re0QnTT_ZpKLqSwJtAoFGiZt87RN-2oPPlScvWHaQh4ErsvkCcgB4Csn-4_bBPPLP2nsD744edRyC4kt8FF4uAnkBh93rMKTbUASGrGQ-Mh_DsqC_0W0tSIX8CI4kHgjKFnc8dy-MxmaWGm8sOcYRqy0urqB2RWs7CGr3M6mA1gSdvlNAtoEhv1YFTpx-hntnzyc0nZAoUQsfqSxQ9akhF43_x8CLQyjG6ZZR_BLYyJ9J2BmCK_olJ0f2pxc3qioNs_cRvVCEjWJrbbuTSnCWbG-s_ttM1_Z09CpDrpJ4l_8LL4ECephHgnSQXulZo49pgE0JdpqdrPp0vFvLzGAdh-AXl0MrEDBHuceXTtBtDYvI0bqwgdtOB-QQaS556CwTvwCzTunskHiCl0p7PFFOMxAtaZjdj1gE0_Kwq2vauxclKkzyRDEnsaZdLjmAN0HGGuyA0VZ4_8aWU6Gr7hhnatLsk9ujkKlg-IZi8MO3e-EnnbtWO-3Tqs3Kdd1qt9B15JL6qNprQ6IRmbs6N2UCl6XOX3y85oYRWeC6hUWtsXO8-klCayN9rhGODIRBDbvz0kxgyiNnFIC_TGhggfJGmvjBM638NbTE7RlmEiGQrDlxV9MxL0X4E62oNOG0OHvCwP0KXLyAJ6xFUDNQOqvQvdgQRAnyWCNRS0n-tW8lJtRO02uYNcHbUqOWsDYcSQh8-rSnVGQXOlNwaVwQrUbMo4Qt6u1Y9Nhu1jQwCQG_TkuBJYEDr-GtguB7gCme4oqonb7DyA-NgfY0pcQASYXpAarJwES9Nf5vpc=",
  "id": "rs_064f03d89bc1b210016ab440ef38e887d0ae05c284bc512f2f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle body is now squarely between both fingertips in the low wrist view. I’ll close on it and check for a nonzero settled width.\"}",
  "call_id": "call_XKU1hsi86SSFiSVr9A1cUdej",
  "id": "fc_064f03d89bc1b210016ab440ef47c087d0927b5f17c5365697",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XKU1hsi86SSFiSVr9A1cUdej",
  "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]: [-0.1055, 0.7624, 0.498, -0.3183, -0.1734, -0.131, 0.9972, 0.0204, 1.8858, 0.6815, 0.5888, -0.0299, -0.0433, 0.5837]\nstate[eef_state]: left_x=0.2872 left_y=0.0038 left_z=0.1541 left_yaw=0.0963 left_pitch=-0.0105 left_roll=-0.0029 left_gripper=0.9972 right_x=0.4468 right_y=0.018 right_z=0.0135 right_yaw=0.046 right_pitch=-0.0449 right_roll=-0.0021 right_gripper=0.5837\nstate[joint_eff]: [-0.4718, -1.812, 6.1197, 1.8242, -0.1832, -0.0269, -0.0122, -0.0615, -9.4427, 4.465, 2.0195, 0.0513, 0.0562, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ce4893e6c7ab1c7f7ef628f1e8416fd11715bed86fdc570d32b1fd2964cea1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96eb3a82bf628047b4256a26f899e2ebec53e62d0732219c9a07495baf6bcef7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c28e20f99cb97a484fc3534e0dd46d21ccbcf1f43067e48aed6acdd90ce6d4cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 2.667 s

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

message 143 changed as sent

message 152 changed as sent

message 156 changed as sent

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.7719, 0.5159, -0.3367, -0.173, -0.131, 0.9972, 0.3916, 2.0003, 0.7525, 0.6296, 0.2825, 0.1661, 0.0169]\nstate[eef_state]: left_x=0.2876 left_y=0.0037 left_z=0.156 left_yaw=0.096 left_pitch=-0.0203 left_roll=-0.0011 left_gripper=0.9972 right_x=0.4427 right_y=0.1334 right_z=-0.0 right_yaw=0.0424 right_pitch=-0.0199 right_roll=-0.008 right_gripper=0.0169\nstate[joint_eff]: [-0.4581, -1.5521, 6.7487, 1.9219, -0.1832, -0.0464, -0.0122, -0.2256, -8.5949, 4.2188, 2.0342, 0.1197, -0.0171, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 152 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.762, 0.498, -0.3218, -0.173, -0.131, 0.9972, 0.0246, 1.8462, 0.7334, 0.4728, -0.0177, -0.036, 0.9956]\nstate[eef_state]: left_x=0.2867 left_y=0.0038 left_z=0.1535 left_yaw=0.0959 left_pitch=-0.0135 left_roll=-0.0025 left_gripper=0.9972 right_x=0.4516 right_y=0.0178 right_z=0.0257 right_yaw=0.0361 right_pitch=-0.0695 right_roll=-0.0029 right_gripper=0.9956\nstate[joint_eff]: [-0.6496, -1.6479, 6.0513, 1.873, -0.1636, 0.0073, -0.0122, -0.253, -8.8137, 5.7641, 2.3468, -0.149, -0.0415, -0.022]\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 156 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.7624, 0.498, -0.3183, -0.1734, -0.131, 0.9972, 0.0204, 1.8858, 0.6815, 0.5888, -0.0299, -0.0433, 0.5837]\nstate[eef_state]: left_x=0.2872 left_y=0.0038 left_z=0.1541 left_yaw=0.0963 left_pitch=-0.0105 left_roll=-0.0029 left_gripper=0.9972 right_x=0.4468 right_y=0.018 right_z=0.0135 right_yaw=0.046 right_pitch=-0.0449 right_roll=-0.0021 right_gripper=0.5837\nstate[joint_eff]: [-0.4718, -1.812, 6.1197, 1.8242, -0.1832, -0.0269, -0.0122, -0.0615, -9.4427, 4.465, 2.0195, 0.0513, 0.0562, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ce4893e6c7ab1c7f7ef628f1e8416fd11715bed86fdc570d32b1fd2964cea1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96eb3a82bf628047b4256a26f899e2ebec53e62d0732219c9a07495baf6bcef7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c28e20f99cb97a484fc3534e0dd46d21ccbcf1f43067e48aed6acdd90ce6d4cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtED2a4XTR08wYPHfm0BY6o3MTu6yrttg0EmcuGE1OVykUTZYQCtrVqm4tKr6fcEOiy5cL2BaZNvRWYnCxNcSUGs5t0xthGgTRb8s9QLqYevqlaaqQExNv3597wH4NFmaFnXuwpiCKniQnTd4E2SZzdwQJHLgD1mf6myKgRjNrG1_Ih0n66Mo2AlwqiCNyqaqyFX2Exz7BRjJImU_0PUbTWCS0TiGNc_lO-1USGzBnIxsmOZQQivqWWkbftfl0htgaR34TIciThjMmZaUlU0csgQK1Qn11UMhqgYS5YeBDe1f8AbB0VqXhDd_hbWbsMDbSJPDb29IS7yvxJrvdpwilgimtRTzhnM8uzVhvDVRvKd23JdGx8sJMW7ZavBuksIfaV1h0aJtskHoDHoYWF42eL__qAX-hMw1U5_8lG7JR8L-QMrFDj1SMAgo_tFD-QOuIwktuWq533gxruzL4tVs0ofdZYkYGagwwrXgrSuXu74ZtQucyBGGxytCjSqk9B-zdzFPv446quC0l6AVy_pbL8dtFnwpPn_3LCFUcNZSXoK5oXlkLRZqpcbipldRA77gVnYrNhQFX9ahZIwK1NVmHTemEdWIyr4qJxphV53nzGwlii6Z1bfgiI4dcJivZfxBll8I3GMfCLgrf6fgK8YQmlbI-I-io6RxDcwL9hqLzvWi8yLlO3ykwThL860iP1nsbUNunMT39p2y99xM0qbQMxq1UBUrf-SXC1JUKN21FNcQ3B4ydCZtb55NVlardCfJwCVfOaAHvR_ffn4eQhFOsLs3sCXNpxkkEqgkyAu7HSjkODSvcYTRCrm7-aFdSyB4Q2eaK9LKAc3tGBrCqwVH66wLKEHtIcPS4clpcnuNGkoQReDN14L2G9fNmYtGWCyc-Hh_oV9UVo5yNIwOEdM4cAVYr-FGEfTj4C-EvQegDeGl-IkpsO_YgLPLMJE2VmzLsX7NUBa7ynbJx7F3ItbrUahR2FIeL6WF0BJB1rWHVpuH27v220zpZo5M84oEwFNM5UYAe7zBUxw82LAUJiAIAWUZ9ZnTgXSCRr5AUOZ8HsCUcsrCVruu5U43ImcqjP9gvTqhqNWqSSLWl0RdC4YwkH9JsHNYuLDo7Jh8-7TS1s8gSxw2iubVGjV7xbaYfwmkg8Ulqdz2Sjg_GhyP3FtEVuoTotacHUIUDGyiMYGdVsXhOlBIZbVwhR5DpgzjuqxHMETFxMOF_TpJFh0Pwq_NntfV2RReYfKALoikRtICXSf3iHj298xj4MMxKQx9g-4gNhKQCaPkxuU0hdjHw25ESCR5aT-G4_f02-vE8zdGKDjpe2Rzx0zuHmFPYIQrGx8u0AhKyAT59PMnOxmcxYpZNygTkQLZdkXJt0h6rREtcSI4YISQemspuDRXURg4l7UGjuaoekW7MShDDAO6MMclPPAKxZUIxdu9GkPp5IEhIBBXAJADQt0cyQZXveZD8-NcR-t5vzB3nQtKEuxaTnOYxk90XGA9urBsVDGXL-oHBXFzADqQYYyTrSxI6atduvaCg7rFr4K3cHKaimgwRLT95YxoLsku2jg59dNvNb_5aWQYkO3APdpELltW-4k7iZhNI_Oye5VkEgrM-L4V07UygV-S_n6JIeVfKpzfn5xhJPTpaCeJbzxRVFqik-09yN_O9KMrdV9L6AnYC59DD9KZjLquQg5J6UlmH4w50q2qE2M86QOWpa5pNDJqNP-R4Wd6DhoOMpqwIwUHqZK98bAuVubn66sO4sWEl-298NSCAyUThnS9Gxya8G22NiuoapXINaBTJj3Y0zbrYatga7_eKaFe_vRjl38dHNiwYapSFj_Qx9mTwpNmEjNkD8LWUK0GjVTaGR3GBwW0w9rbVv35XyomUmD_kJRlkkRmy_VAPKqUBDhw231Xzp3JfpQeJh0qnSAKCc59wjaKXTBQjxEpZxKTReb9p8Zu7o1ssTcx-jFETMNOY6uukpuURnhVeilTk0t41WdE-ubjNliA3-5zWEBzwowcY_HT7pT8vseoOOl47bVfIfZMwTI-k9NZo5qCitNw0GILG4It77A7-szG6aF3i7zse7tGBH1vuBECpzh2Fkx-M27E5C7ua1FDTu9Oq15jBx4x4vpKkKXJd0X_HkJKSNQxtYAQHt3vn_I-W0eah2EpP68DehLSPXHHtdbg9XD8J-P8xpP4_bWrsKSmowALXJKXpYIFxQhBw2Ha0FNtJD91-_VXBuFd0z8v2vL0Y3CYJruhrHmwAV78R9ys2jni1R73fEFDPSXFnjrjOHpu7joU2DmVGj3QdSyexcMDQ2e2vTHkYldyb1QFLJsTOyPQHWzqXiMq9H_yTm8-Ci2N7e9-VmeC8ybZtl_XaCLclt8TsxvGx3Iwwg1J4cnGyc_7SAjBh7luP55IUmnrPuPQdqStM9a20DKlmcFE65bXzk58AsrpmHuCLqRL-w8lblgssL8Rjxch9M-HLW81I6yv_A5jtGb5G1pKE9l5syM3z0iwcldu0Akzp-M7Vr3mbh5IXYHOumH-W-Z6ev2hdqz3LRVWaXb8oAsYPMCF9QCsmyn2w4jGwIlk8ep8XK77L1PtUGawuy2tEW8cNVHYc-RfXWBVVfhCh_Z91yPWsfI6cyi9tUX48QAYXgGgvVWRWIBazVN0-nTw-y0HYh4Ybk7H4pXrtN8u0c4lBTF-YTf_9__cgLHxOZig44L148pan5lc6HQkjly7Bs0A4t-sgrjo1pWHMMn9ZBuopsi4_2iiDHj75nzusefNAHTT2GvEicKuQ_sXjvjx0kN0IddP7__3G3r5ZqXtEtCwGzeemJsFCQw4J6g0tA2-ZnkuAGzQMjKSIgaSm8c9AON7KT0hEmUhbKYDjBzw6cHLFpzIJlDzEODAFR_DusjvD4SEFOFt9J4fYYFxCdvXE7pDv_nKi_klgyBFkrUi_w9e6XCUrZGkVwUFPwcPPdYtboibPSco0dy07Q==",
  "id": "rs_064f03d89bc1b210016ab440f2284c87d0bb52353c47e0982d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_z\":0.09},\"note\":\"The 0.58 jaw reading confirms a secure grasp around the bottle’s near body/base end. I’ll lift it slightly and pull the whole bottle about 15 cm inward, making its cap reachable for the final upright tipping grasp.\"}",
  "call_id": "call_IUas9la8Q9h4enRXc2BjnkyE",
  "id": "fc_064f03d89bc1b210016ab440f5ab6887d0a3832a1dbe61c3eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IUas9la8Q9h4enRXc2BjnkyE",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 0.7605, 0.498, -0.3164, -0.173, -0.131, 0.9972, 0.0334, 0.992, 0.2588, 0.0483, -0.0269, -0.0429, 0.5865]\nstate[eef_state]: left_x=0.2874 left_y=0.0039 left_z=0.155 left_yaw=0.0963 left_pitch=-0.0068 left_roll=-0.0038 left_gripper=0.9972 right_x=0.2885 right_y=0.018 right_z=0.0577 right_yaw=0.0564 right_pitch=-0.1143 right_roll=-0.0019 right_gripper=0.5865\nstate[joint_eff]: [-0.3761, -1.1145, 6.2427, 1.8828, -0.1343, -0.0562, -0.0122, 0.3077, -3.0427, 8.253, 2.9963, 0.0464, 0.0513, 0.6129]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c60a5794b0b37ee497844a6c5c57777e5b3cd79051865c125c63611fbc44b167",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa4e06d6bbec26973f07af22aa94465ab3817dc80567f103f62a4961241e06b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf828845f99a6cb51a896680ce072f077466f6e8daafdd246ec22ee616761c96",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 12.54 s

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

message 148 changed as sent

message 156 changed as sent

message 160 changed as sent

message 148 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.7662, 0.5026, -0.326, -0.173, -0.131, 0.9972, 0.0738, 1.7351, 0.8238, 0.2852, 0.0227, -0.0139, 0.9956]\nstate[eef_state]: left_x=0.287 left_y=0.0038 left_z=0.1536 left_yaw=0.096 left_pitch=-0.0173 left_roll=-0.0017 left_gripper=0.9972 right_x=0.4595 right_y=0.0336 right_z=0.0712 right_yaw=0.0392 right_pitch=-0.0556 right_roll=-0.0089 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -1.7299, 6.5846, 1.8681, -0.1392, -0.0171, -0.0122, -0.3214, -9.9077, 8.8547, 2.0195, -0.0073, 0.0171, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 156 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1055, 0.7624, 0.498, -0.3183, -0.1734, -0.131, 0.9972, 0.0204, 1.8858, 0.6815, 0.5888, -0.0299, -0.0433, 0.5837]\nstate[eef_state]: left_x=0.2872 left_y=0.0038 left_z=0.1541 left_yaw=0.0963 left_pitch=-0.0105 left_roll=-0.0029 left_gripper=0.9972 right_x=0.4468 right_y=0.018 right_z=0.0135 right_yaw=0.046 right_pitch=-0.0449 right_roll=-0.0021 right_gripper=0.5837\nstate[joint_eff]: [-0.4718, -1.812, 6.1197, 1.8242, -0.1832, -0.0269, -0.0122, -0.0615, -9.4427, 4.465, 2.0195, 0.0513, 0.0562, 0.9011]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 160 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1051, 0.7605, 0.498, -0.3164, -0.173, -0.131, 0.9972, 0.0334, 0.992, 0.2588, 0.0483, -0.0269, -0.0429, 0.5865]\nstate[eef_state]: left_x=0.2874 left_y=0.0039 left_z=0.155 left_yaw=0.0963 left_pitch=-0.0068 left_roll=-0.0038 left_gripper=0.9972 right_x=0.2885 right_y=0.018 right_z=0.0577 right_yaw=0.0564 right_pitch=-0.1143 right_roll=-0.0019 right_gripper=0.5865\nstate[joint_eff]: [-0.3761, -1.1145, 6.2427, 1.8828, -0.1343, -0.0562, -0.0122, 0.3077, -3.0427, 8.253, 2.9963, 0.0464, 0.0513, 0.6129]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c60a5794b0b37ee497844a6c5c57777e5b3cd79051865c125c63611fbc44b167",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa4e06d6bbec26973f07af22aa94465ab3817dc80567f103f62a4961241e06b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf828845f99a6cb51a896680ce072f077466f6e8daafdd246ec22ee616761c96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtED6pXQsCVxiydCLE8susmvdIcjUfXbbkx1YC2AQP-b6PAL4-w3VBfrwrLjOo_qceerwSxHMgUMKzL4nH0buUM6SmXmHzJCpWoGS05a-POBuVizg1OX_IUqlr9n8I2VkLketaUYlDx2dQel4VeLk3K1vSq5Y86vXuMnron9bnnN6TKJh3O6zeUudjXQWvU9CKtk0yy9QHeeQf1zoCSwnL_ra0MhLWNJZmyhcghkWD7285Q1E0_gXOuvsb3LnGgkO2GAd5VPCPgmkq-8iesV55GoLOuMSp8k1AUb7iXexIpoRvF0EfRU7WFMS-1fOSFXfy6Jpit5-6vjk0N36jAt3xGCWRRFB1wkyCywAxVJ68rRi_hPyupOlYAmIeDhMOgQ4erv_KXP_wyLieboqR77-ptkjXSVpu258rGSfoYtnFmn7B6GO8AhrT4P-eUOSdB1Ur4C2GpbESxtKlrQ7CcJMFN4_hx58jJjGnrwWtVdl4CSZ3k3nD1TanMI8RD8WjPlE5iKRsiRpHcgzRtUbYprwmdBwOI-uwIV-kmTxjsuU-LLDs79gmDN0aZJ4YelOyaFwsKlYrYA-RvsFrc2l0r5YoIt2cUM53y4UObKaYnOQrMjfWINZlhZtaaWQ47Yswq4XR6WWrS35ByqL1GIQnA4fCdTfHzX95OdTmskG2RZuqHFoDlWK6DMDiPypAamfIBA5k_xzUvc8qHAFtE_qM3lmniqFIzO7NHWPebeAh8Rs-GKxFrBcyVGyEAWmW_toh00IfAKo_oFAfWuuOxNWvarGsDiiwQM8oyq6i7qSraj92-Q87PtNguz7LNHCakfiQyBxD1MPVrYCgTHtpe9FyGSp72YbpoPepBGpE468gIAY6uvS65ZH9DCrf6erbE58EsI8qMF5GbTo29eEEH-chM-51lSsivEevQ4P3iNPW9QftwxEd33ljpfTW-p2N7mnFXeW-gfZJJYilae86TlwDFTR7eS4BUg2bh73vcgtFu83M5qh-_VrEMTGFFjDzFz4GkocSTv2ZhsgcJ8T2XknxDIssN4k6PV0Sj_Rs7THAV3GVrEyrv94S7spi7H1D6F1plpsEmRh-YrBmKjjM945ek5yJktBLeK2aIXWFYxCJve8d15JgxlN3hgc_228UYXdlHneMd8qBXHI7UCl6gYqhfKqnTFU_qRxG4iZM6CyM2LHHjyfFRoaY-z9zMykKsURYh0hCfBBJ0d0fqfAGea4BBSXaKyZsMccDgKOhz8C1k1plmeAn1gnrsbz6tRfnPJEw6IKhzCxkyhNTFjvHz3v56twfMVFosZfC4_wWrrh9QZ3wsgB0zLzEbUNQLP7N4Pnjzc2kXX1xx-j-W0TqEm9y67d2gct7RmosilRKu1Ai1J4qwPWof5m4tgjh6At7Dzw2PAo3IW2CvYHRpLVEXV6xKT8IGPLdkw6GtgwZfqEV4hl2yFDJIEKEO_vmhxCfOo94UunyciA",
  "id": "rs_064f03d89bc1b210016ab440f907cc87d0a600d32079045a8f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.025,\"right_gripper\":1},\"note\":\"The bottle moved inward with the gripper and is now much closer to the base, while the other two remain undisturbed. I’ll lower and release it onto the table in this reachable position so its cap can be grasped next.\"}",
  "call_id": "call_qARBzz50fv4784GcCUZMjUQm",
  "id": "fc_064f03d89bc1b210016ab440f979f087d09daa4d6f248248b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qARBzz50fv4784GcCUZMjUQm",
  "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]: [-0.1055, 0.7605, 0.498, -0.3187, -0.173, -0.131, 0.9972, 0.0326, 1.2034, 0.0647, 0.4522, -0.0307, -0.0441, 0.9956]\nstate[eef_state]: left_x=0.2871 left_y=0.0038 left_z=0.1545 left_yaw=0.0959 left_pitch=-0.0091 left_roll=-0.0034 left_gripper=0.9972 right_x=0.2727 right_y=0.0179 right_z=0.0049 right_yaw=0.0595 right_pitch=-0.1158 right_roll=-0.0004 right_gripper=0.9956\nstate[joint_eff]: [-0.6222, -1.347, 6.5709, 1.79, -0.1197, -0.0415, -0.0122, -0.2667, -2.4, 4.3282, 1.9951, -0.0513, 0.0659, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf42892b01e2226cd316af4c7ca47655a8636ecf8f0ab161f67c48c65ad22604",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b230ffcf7b466786c500609ff38ee6842ceefffd8fad9b0ee8db118824230344",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ec7216971bdd3b9925ff9c8582bec7d5149739b3350290e0712f5b35aa2582",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]