adhoc - adhoc_8d7116b1.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-5.6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 233.9 s
total steps: 242

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 noteAll three bottles are lying flat with their blue caps toward the far side; I’ll start with the rightmost bottle and approach its cap from above using the right arm.

move_to

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

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0204, 0.794, 0.6083, -0.3767, -0.0189, -0.0284, 0.9987, -0.0158, 0.7895, 0.6037, -0.3832, -0.0166, -0.0349, 0.9999] state[eef_state]: left_x=0.2957 left_y=0.0009 left_z=0.1826 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.294 right_y=0.0019 right_z=0.1804 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9999 state[joint_eff]: [-0.5675, -1.4291, 9.7573, 1.7558, -0.0611, 0.149, -0.149, -1.0325, -1.1829, 10.4821, 1.8584, -0.0952, 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":0.44,"right_y":0.15,"right_z":0.15,"right_yaw":0,"right_gripper":1},"note":"All three bottles are lying flat with their blue caps toward the far side; I’ll start with the rightmost bottle and approach its cap from above using the right arm."})

tool

executing move_to over 13 steps (1.3s)

step 13

assistant

agent noteThe right wrist view shows the right bottle centered radially but about 2–3 cm left of the jaw column, with its cap still several centimetres beyond the fingertips. I’ll shift left in the arm frame and farther forward while remaining safely above it.

move_to

right_x0.4700right_y0.1800right_z0.1600right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3874, -0.0185, -0.0292, 0.9984, 0.4599, 1.6035, 0.9691, -0.0639, 0.3458, 0.2005, 0.9998] state[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4216 right_y=0.146 right_z=0.1272 right_yaw=0.0446 right_pitch=-0.0819 right_roll=-0.0422 right_gripper=0.9998 state[joint_eff]: [-0.3487, -1.5658, 6.612, 1.79, -0.0171, -0.0366, -0.0415, -0.1299, -7.7744, 9.1419, 1.8095, 0.3834, 0.2711, -0.0317] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.47,"right_y":0.18,"right_z":0.16,"right_yaw":0,"right_gripper":1},"note":"The right wrist view shows the right bottle centered radially but about 2–3 cm left of the jaw column, with its cap still several centimetres beyond the fingertips. I’ll shift left in the arm frame and farther forward while remaining safely above it."})

tool

executing move_to over 4 steps (0.4s)

step 17

assistant

agent noteThe target cap is now nearly on the jaw column but remains ahead of the grasp point; the bottle’s body is still visible between the open fingers. I’ll advance about 4 cm and make a small leftward correction before descending.

move_to

right_x0.5000right_y0.1900right_z0.1600right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0189, -0.0292, 0.9983, 0.4995, 1.7462, 1.1431, -0.0914, 0.3756, 0.2249, 0.9999] state[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4525 right_y=0.1772 right_z=0.1325 right_yaw=0.0471 right_pitch=-0.07 right_roll=-0.0384 right_gripper=0.9999 state[joint_eff]: [-0.1436, -1.5248, 6.3385, 1.8388, -0.0171, -0.022, -0.0171, -0.1709, -9.1009, 9.7299, 1.6288, 0.4127, 0.1832, -0.0317] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.5,"right_y":0.19,"right_z":0.16,"right_yaw":0,"right_gripper":1},"note":"The target cap is now nearly on the jaw column but remains ahead of the grasp point; the bottle’s body is still visible between the open fingers. I’ll advance about 4 cm and make a small leftward correction before descending."})

tool

executing move_to over 4 steps (0.4s)

step 21

assistant

agent noteThe cap is aligned with the centre between the fingers, and the forward target is now reach-limited around x=0.46 at this height. Lowering should both bring the jaws around the cap and improve forward reach, so I’ll descend to cap height without closing.

move_to

right_x0.4900right_y0.1900right_z0.0200right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.5037, 1.7596, 1.1908, -0.1081, 0.3927, 0.2359, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4602 right_y=0.1806 right_z=0.1439 right_yaw=0.0319 right_pitch=-0.0492 right_roll=-0.0313 right_gripper=0.9998 state[joint_eff]: [-0.2667, -1.6889, 6.5026, 1.7949, -0.0513, -0.0611, -0.0122, -0.5538, -8.9778, 8.9778, 1.8437, 0.2711, 0.1538, -0.0317] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.49,"right_y":0.19,"right_z":0.02,"right_yaw":0,"right_gripper":1},"note":"The cap is aligned with the centre between the fingers, and the forward target is now reach-limited around x=0.46 at this height. Lowering should both bring the jaws around the cap and improve forward reach, so I’ll descend to cap height without closing."})

tool

executing move_to over 8 steps (0.8s)

step 29

assistant

agent noteThe arm stopped high at z=0.117 rather than following the descent, indicating an awkward near-full-extension pose rather than table contact. I’ll retract several centimetres while lowering, then approach the cap again from a lower, better-conditioned posture.

move_to

right_x0.4200right_y0.1900right_z0.0700right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7952, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5037, 1.8324, 1.1484, 0.0284, 0.4007, 0.2363, 0.9999] state[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9983 right_x=0.47 right_y=0.1845 right_z=0.117 right_yaw=0.0256 right_pitch=-0.028 right_roll=-0.0256 right_gripper=0.9999 state[joint_eff]: [-0.2256, -1.388, 6.4068, 1.8046, -0.0513, -0.0611, -0.0122, -0.5402, -4.1231, 2.8513, 0.7155, 0.0562, 0.1294, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.19,"right_z":0.07,"right_yaw":0,"right_gripper":1},"note":"The arm stopped high at z=0.117 rather than following the descent, indicating an awkward near-full-extension pose rather than table contact. I’ll retract several centimetres while lowering, then approach the cap again from a lower, better-conditioned posture."})

tool

executing move_to over 4 steps (0.4s)

step 33

assistant

agent noteAfter retracting, the arm reached the intended low posture; the right bottle’s cap is precisely on the jaw column in the wrist view. I’ll now advance low so the open jaws surround the cap at roughly its mid-height.

move_to

right_x0.4800right_y0.1900right_z0.0250right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5941, 1.8114, 0.9005, 0.2211, 0.4507, 0.2924, 0.9999] state[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.42 right_y=0.1952 right_z=0.0659 right_yaw=0.0452 right_pitch=-0.042 right_roll=-0.0234 right_gripper=0.9999 state[joint_eff]: [-0.0889, -1.4427, 6.6803, 1.8486, -0.0513, -0.0513, -0.0122, -0.5538, -8.6359, 4.9573, 1.5507, 0.442, 0.1245, -0.0317] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.48,"right_y":0.19,"right_z":0.025,"right_yaw":0,"right_gripper":1},"note":"After retracting, the arm reached the intended low posture; the right bottle’s cap is precisely on the jaw column in the wrist view. I’ll now advance low so the open jaws surround the cap at roughly its mid-height."})

tool

executing move_to over 5 steps (0.5s)

step 38

assistant

agent noteThe low approach is aligned, but the cap is still just ahead of the fingertip grasp point. I’ll use the remaining 2 cm of practical table-level reach and lower slightly so the cap lies between the jaws.

move_to

right_x0.4900right_y0.1900right_z0.0200right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0185, -0.0292, 0.9983, 0.5175, 2.0361, 1.0103, 0.3729, 0.4297, 0.2569, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0072 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4693 right_y=0.1866 right_z=0.0296 right_yaw=0.005 right_pitch=-0.017 right_roll=-0.0228 right_gripper=0.9998 state[joint_eff]: [-0.0889, -1.6752, 6.3795, 1.8046, -0.0415, -0.0806, -0.0122, -0.4581, -7.9658, 6.188, 1.6825, 0.0708, 0.105, -0.0317] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.49,"right_y":0.19,"right_z":0.02,"right_yaw":0,"right_gripper":1},"note":"The low approach is aligned, but the cap is still just ahead of the fingertip grasp point. I’ll use the remaining 2 cm of practical table-level reach and lower slightly so the cap lies between the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 40

assistant

agent noteThe cap itself lies just beyond comfortable table-level reach, but the open jaws are now straddling the upper body/neck immediately behind it. I’ll grasp there; this still leaves enough bottle length below the grasp to pivot the base onto the table.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0193, -0.0292, 0.9983, 0.5133, 2.075, 1.0458, 0.4004, 0.4141, 0.2535, 0.9999] state[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4799 right_y=0.193 right_z=0.0279 right_yaw=0.0153 right_pitch=-0.0005 right_roll=-0.0058 right_gripper=0.9999 state[joint_eff]: [-0.3897, -1.6615, 6.5709, 1.8193, -0.0122, -0.0611, -0.0122, -1.3333, -7.241, 7.5556, 1.6532, 0.0659, -0.0317, -0.0317] 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_gripper":0},"note":"The cap itself lies just beyond comfortable table-level reach, but the open jaws are now straddling the upper body/neck immediately behind it. I’ll grasp there; this still leaves enough bottle length below the grasp to pivot the base onto the table."})

tool

executing move_to over 10 steps (1.0s)

step 50

assistant

agent noteThe gripper settled at 0.39, confirming a firm grasp around the bottle’s neck/upper body. I’ll begin the pivot with a short inward-and-upward arc, keeping the bottle’s bottom in contact with the tabletop.

move_to

right_x0.4700right_y0.2000right_z0.0900right_yaw0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5095, 2.0872, 1.076, 0.4843, 0.3927, 0.2527, 0.3883] state[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4966 right_y=0.2041 right_z=0.0486 right_yaw=0.0274 right_pitch=0.0839 right_roll=0.0518 right_gripper=0.3883 state[joint_eff]: [-0.0479, -1.6205, 6.694, 1.8193, -0.0464, -0.0464, -0.0122, -1.2103, -8.253, 6.2427, 1.0379, 0.2369, -0.0122, 0.5348] 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_x":0.47,"right_y":0.2,"right_z":0.09,"right_yaw":0,"right_gripper":0},"note":"The gripper settled at 0.39, confirming a firm grasp around the bottle’s neck/upper body. I’ll begin the pivot with a short inward-and-upward arc, keeping the bottle’s bottom in contact with the tabletop."})

tool

executing move_to over 4 steps (0.4s)

step 54

assistant

agent noteThe gripper reading dropped to 0.015 during the first arc, so the smooth bottle slipped from the fully closing jaws. It remains aligned beneath the right arm; I’ll reopen and regrasp the wider body with a diameter-limited closure rather than squeezing all the way.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.5446, 1.9545, 1.1042, 0.2352, 0.4232, 0.2684, 0.0146] state[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4758 right_y=0.2075 right_z=0.0791 right_yaw=0.0311 right_pitch=0.014 right_roll=0.0088 right_gripper=0.0146 state[joint_eff]: [-0.2803, -1.2786, 6.5709, 1.8291, -0.0562, -0.0464, -0.0122, -0.0068, -12.5333, 6.5436, 1.8926, 0.4322, 0.1148, 1.0525] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The gripper reading dropped to 0.015 during the first arc, so the smooth bottle slipped from the fully closing jaws. It remains aligned beneath the right arm; I’ll reopen and regrasp the wider body with a diameter-limited closure rather than squeezing all the way."})

tool

executing move_to over 10 steps (1.0s)

step 64

assistant

agent noteWith the jaws open, the bottle’s broad cylindrical body is centred between them in the wrist view. I’ll descend in place to put the fingers around the body rather than the narrower neck.

move_to

right_x0.4650right_y0.2050right_z0.0300right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5488, 1.9438, 1.1042, 0.165, 0.4179, 0.2581, 0.9957] state[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4667 right_y=0.2055 right_z=0.0711 right_yaw=0.0448 right_pitch=-0.0396 right_roll=-0.026 right_gripper=0.9957 state[joint_eff]: [-0.2667, -1.5795, 6.4068, 1.8095, -0.0611, -0.0415, -0.0122, -0.5128, -8.9641, 7.4872, 1.9023, 0.1343, 0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.465,"right_y":0.205,"right_z":0.03,"right_yaw":0,"right_gripper":1},"note":"With the jaws open, the bottle’s broad cylindrical body is centred between them in the wrist view. I’ll descend in place to put the fingers around the body rather than the narrower neck."})

tool

executing move_to over 3 steps (0.3s)

step 67

assistant

agent noteThe fingers are now down alongside the bottle’s broad label section and symmetric about its centreline. I’ll close only to 50% stroke, enough to hold the roughly 5–6 cm body without forcing the rounded bottle sideways.

move_to

right_gripper0.5000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.556, 2.0182, 1.0405, 0.308, 0.44, 0.2783, 0.9997] state[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4636 right_y=0.2037 right_z=0.0378 right_yaw=0.0235 right_pitch=-0.0282 right_roll=-0.0189 right_gripper=0.9997 state[joint_eff]: [-0.253, -1.7026, 6.3795, 1.7998, -0.0317, -0.0464, -0.0122, 0.6632, -9.3333, 5.2991, 1.7998, 0.1148, 0.1099, -0.0464] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.5},"note":"The fingers are now down alongside the bottle’s broad label section and symmetric about its centreline. I’ll close only to 50% stroke, enough to hold the roughly 5–6 cm body without forcing the rounded bottle sideways."})

tool

executing move_to over 5 steps (0.5s)

step 72

assistant

agent noteThe jaws are evenly contacting the label section at a 0.51 opening without over-squeezing. I’ll lift 5 cm straight up to verify the bottle remains captured before attempting another controlled pivot.

move_to

right_x0.4650right_y0.2050right_z0.0900right_yaw0.0000right_gripper0.5000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5591, 2.0262, 1.0275, 0.3912, 0.4419, 0.268, 0.5083] state[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4688 right_y=0.2084 right_z=0.0446 right_yaw=0.0306 right_pitch=0.026 right_roll=0.0029 right_gripper=0.5083 state[joint_eff]: [-0.2256, -1.7026, 6.4068, 1.8095, -0.0171, -0.0171, -0.0122, -0.6359, -10.5778, 4.4376, 1.4969, 0.1343, 0.0415, 0.3492] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.465,"right_y":0.205,"right_z":0.09,"right_yaw":0,"right_gripper":0.5},"note":"The jaws are evenly contacting the label section at a 0.51 opening without over-squeezing. I’ll lift 5 cm straight up to verify the bottle remains captured before attempting another controlled pivot."})

tool

executing move_to over 3 steps (0.3s)

step 75

assistant

agent noteThe straight lift stopped low because the bottle’s bottom is still bearing on the table, while the 0.50 jaw opening stayed stable—evidence the body is captured. I’ll now move inward and upward together so the bottle rotates about its bottom rather than being dragged.

move_to

right_x0.4400right_y0.2050right_z0.0900right_yaw0.0000right_gripper0.5000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5648, 1.9606, 1.0603, 0.2367, 0.4442, 0.276, 0.5006] state[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4615 right_y=0.2068 right_z=0.0603 right_yaw=0.0303 right_pitch=-0.0217 right_roll=-0.0199 right_gripper=0.5006 state[joint_eff]: [-0.294, -1.6479, 6.4068, 1.8681, -0.0513, -0.0513, -0.0122, 0.0615, -12.588, 9.4974, 1.7656, 0.2906, 0.1294, 0.0415] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.205,"right_z":0.09,"right_yaw":0,"right_gripper":0.5},"note":"The straight lift stopped low because the bottle’s bottom is still bearing on the table, while the 0.50 jaw opening stayed stable—evidence the body is captured. I’ll now move inward and upward together so the bottle rotates about its bottom rather than being dragged."})

tool

executing move_to over 2 steps (0.2s)

step 77

assistant

agent noteThe inward step moved the grasp point while the bottle remained centred and the jaw opening stayed fixed; the low z readback shows the base is still acting as a pivot. I’ll continue the arc farther inward and higher to bring the bottle through a steeper angle.

move_to

right_x0.4100right_y0.2050right_z0.1200right_yaw0.0000right_gripper0.5000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.5804, 1.8984, 1.034, 0.1524, 0.4614, 0.2993, 0.5006] state[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4447 right_y=0.2018 right_z=0.0655 right_yaw=0.0188 right_pitch=-0.0571 right_roll=-0.0354 right_gripper=0.5006 state[joint_eff]: [-0.2256, -1.1556, 6.4205, 1.8584, -0.0513, -0.0708, -0.0122, 0.7316, -12.1504, 6.6393, 1.9365, 0.3004, 0.0757, 0.0513] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.41,"right_y":0.205,"right_z":0.12,"right_yaw":0,"right_gripper":0.5},"note":"The inward step moved the grasp point while the bottle remained centred and the jaw opening stayed fixed; the low z readback shows the base is still acting as a pivot. I’ll continue the arc farther inward and higher to bring the bottle through a steeper angle."})

tool

executing move_to over 4 steps (0.4s)

step 81

assistant

agent noteThe broad-body grip is not allowing the bottle to rotate freely—the commanded rise is being blocked while the body stays horizontal. I’ll use this secure grip to slide the entire bottle inward several centimetres, making its cap reachable for a narrower pivoting grasp.

move_to

right_x0.3800right_y0.2050right_z0.0700right_yaw0.0000right_gripper0.5000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.6064, 1.8652, 1.0145, 0.1497, 0.4717, 0.3107, 0.5006] state[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4358 right_y=0.2089 right_z=0.0735 right_yaw=0.0307 right_pitch=-0.044 right_roll=-0.0257 right_gripper=0.5006 state[joint_eff]: [-0.1436, -1.7162, 6.5709, 1.8339, -0.0415, -0.0562, -0.0122, -0.4855, -11.6034, 5.9556, 1.6923, 0.3443, 0.1343, 0.0513] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.205,"right_z":0.07,"right_yaw":0,"right_gripper":0.5},"note":"The broad-body grip is not allowing the bottle to rotate freely—the commanded rise is being blocked while the body stays horizontal. I’ll use this secure grip to slide the entire bottle inward several centimetres, making its cap reachable for a narrower pivoting grasp."})

tool

executing move_to over 5 steps (0.5s)

step 86

assistant

agent noteThe bottle and tabletop are fully blocking further inward motion, so dragging it while clamped is not viable. I’ll release this body grip and switch to a cap/neck grasp, which can rotate within the jaws during the standing motion.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0185, -0.0292, 0.9983, 0.6064, 1.8652, 1.0145, 0.1497, 0.4713, 0.3107, 0.5006] state[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4358 right_y=0.209 right_z=0.0735 right_yaw=0.031 right_pitch=-0.0442 right_roll=-0.0255 right_gripper=0.5006 state[joint_eff]: [-0.212, -1.6889, 6.5983, 1.8828, -0.0513, -0.0317, -0.0122, -0.7179, -11.4256, 5.9419, 1.7167, 0.3394, 0.0952, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The bottle and tabletop are fully blocking further inward motion, so dragging it while clamped is not viable. I’ll release this body grip and switch to a cap/neck grasp, which can rotate within the jaws during the standing motion."})

tool

executing move_to over 5 steps (0.5s)

step 91

assistant

agent noteReleased, the bottle is centred along the jaw column with its blue cap at the far end. I’ll advance low to the cap now that the body no longer constrains the arm, keeping the same lateral alignment.

move_to

right_x0.5000right_y0.2050right_z0.0250right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.6067, 1.8652, 0.9676, 0.2047, 0.4686, 0.3061, 0.9957] state[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4308 right_y=0.2063 right_z=0.0652 right_yaw=0.0361 right_pitch=-0.0384 right_roll=-0.0235 right_gripper=0.9957 state[joint_eff]: [-0.212, -1.6205, 6.4889, 1.8046, -0.0415, -0.0562, -0.0122, -0.1026, -9.2513, 5.8051, 1.9316, 0.188, -0.0366, -0.1099] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.5,"right_y":0.205,"right_z":0.025,"right_yaw":0,"right_gripper":1},"note":"Released, the bottle is centred along the jaw column with its blue cap at the far end. I’ll advance low to the cap now that the body no longer constrains the arm, keeping the same lateral alignment."})

tool

executing move_to over 6 steps (0.6s)

step 97

assistant

agent noteAt x=0.49 the arm is still tracking and the cap remains just forward of the finger tips, with good lateral centring. I’ll test a small additional forward step at the same low height to reach the cap rather than settling for another body grasp.

move_to

right_x0.5300right_y0.2050right_z0.0300right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0185, -0.0292, 0.9983, 0.5358, 2.1002, 1.1343, 0.3447, 0.4332, 0.2604, 0.9996] state[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4913 right_y=0.2096 right_z=0.0385 right_yaw=0.0187 right_pitch=0.0116 right_roll=-0.0061 right_gripper=0.9996 state[joint_eff]: [-0.3214, -1.6342, 6.6256, 1.8046, -0.0122, -0.0659, -0.0171, -1.4974, -8.0342, 6.7077, 1.4579, 0.0415, 0.105, -0.0464] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.53,"right_y":0.205,"right_z":0.03,"right_yaw":0,"right_gripper":1},"note":"At x=0.49 the arm is still tracking and the cap remains just forward of the finger tips, with good lateral centring. I’ll test a small additional forward step at the same low height to reach the cap rather than settling for another body grasp."})

tool

executing move_to over 3 steps (0.3s)

step 100

assistant

agent noteThe arm successfully reached x=0.52, and the overhead view now puts the cap only a few centimetres ahead of the gripper centre. I’ll take one final short forward step to place the cap itself at the grasp point.

move_to

right_x0.5600right_y0.2050right_z0.0300right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5091, 2.1689, 1.2606, 0.3138, 0.4057, 0.2413, 0.9997] state[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.5206 right_y=0.2148 right_z=0.0439 right_yaw=0.0243 right_pitch=0.0275 right_roll=0.0042 right_gripper=0.9997 state[joint_eff]: [-0.0752, -1.6889, 6.3932, 1.7851, -0.0366, -0.022, -0.0122, -1.7299, -9.2513, 7.1863, 1.4286, 0.0611, 0.1294, -0.0464] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.56,"right_y":0.205,"right_z":0.03,"right_yaw":0,"right_gripper":1},"note":"The arm successfully reached x=0.52, and the overhead view now puts the cap only a few centimetres ahead of the gripper centre. I’ll take one final short forward step to place the cap itself at the grasp point."})

tool

executing move_to over 4 steps (0.4s)

step 104

assistant

agent noteThe prior ‘body grasp’ was actually behind the bottle—the wrist camera still showed the whole bottle ahead of the fingertips. At the current maximum reach, the bottle’s near/base end is finally at the bottom edge of the wrist view, so I’ll clamp that end at a controlled 45% opening to relocate it inward.

move_to

right_gripper0.4500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0193, -0.0292, 0.9983, 0.4904, 2.1857, 1.2804, 0.3073, 0.3916, 0.231, 0.9997] state[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5274 right_y=0.2092 right_z=0.0408 right_yaw=0.0227 right_pitch=0.0209 right_roll=0.0009 right_gripper=0.9997 state[joint_eff]: [-0.2803, -1.7162, 6.6256, 1.8388, -0.0122, -0.0562, -0.0122, -0.8684, -9.7026, 7.4735, 1.4774, 0.1245, 0.105, -0.0464] 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_gripper":0.45},"note":"The prior ‘body grasp’ was actually behind the bottle—the wrist camera still showed the whole bottle ahead of the fingertips. At the current maximum reach, the bottle’s near/base end is finally at the bottom edge of the wrist view, so I’ll clamp that end at a controlled 45% opening to relocate it inward."})

tool

executing move_to over 6 steps (0.6s)

step 110

assistant

agent noteThe jaws now visibly flank the bottle’s base section at the bottom of the wrist image, and the opening settled at 0.46. I’ll lift while retracting slightly to confirm the bottle moves with the gripper and clear it from the tabletop.

move_to

right_x0.4900right_y0.2100right_z0.1400right_yaw0.0000right_gripper0.4500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6106, -0.3866, -0.0189, -0.0292, 0.9983, 0.4915, 2.1857, 1.2915, 0.3229, 0.3851, 0.2344, 0.4589] state[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1809 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5315 right_y=0.2134 right_z=0.048 right_yaw=0.0269 right_pitch=0.0431 right_roll=0.0191 right_gripper=0.4589 state[joint_eff]: [-0.212, -1.4564, 6.653, 1.8779, -0.0366, -0.0562, -0.0122, -0.9641, -9.7162, 7.0085, 1.2527, 0.2418, 0.1099, 0.1685] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.49,"right_y":0.21,"right_z":0.14,"right_yaw":0,"right_gripper":0.45},"note":"The jaws now visibly flank the bottle’s base section at the bottom of the wrist image, and the opening settled at 0.46. I’ll lift while retracting slightly to confirm the bottle moves with the gripper and clear it from the tabletop."})

tool

executing move_to over 6 steps (0.6s)

step 116

assistant

agent noteThe bottle remained in the wrist view after lifting and the jaws reached the commanded gap, confirming that grasp was just behind its base. I’ll reopen and advance at a higher, reachable posture, then descend vertically from beyond the low-reach singularity.

move_to

right_x0.5600right_y0.2100right_z0.1300right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6029, -0.3866, -0.0189, -0.0292, 0.9983, 0.5377, 1.9522, 1.2938, 0.0013, 0.4191, 0.2646, 0.4507] state[eef_state]: left_x=0.2939 left_y=0.001 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0003 left_gripper=0.9983 right_x=0.492 right_y=0.2139 right_z=0.1134 right_yaw=0.0296 right_pitch=-0.0238 right_roll=-0.0128 right_gripper=0.4507 state[joint_eff]: [-0.2393, -1.3197, 6.8308, 1.8926, -0.0269, -0.0806, -0.0122, 0.4034, -12.9436, 8.8684, 1.7949, 0.3834, 0.1294, 0.0562] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.56,"right_y":0.21,"right_z":0.13,"right_yaw":0,"right_gripper":1},"note":"The bottle remained in the wrist view after lifting and the jaws reached the commanded gap, confirming that grasp was just behind its base. I’ll reopen and advance at a higher, reachable posture, then descend vertically from beyond the low-reach singularity."})

tool

executing move_to over 6 steps (0.6s)

step 122

assistant

agent noteFrom the higher approach the arm reached x=0.54, and the bottle now fills the space between the open jaws with its base below the camera edge. I’ll descend vertically at this forward position to put the fingers around the bottle rather than approaching through the low singularity.

move_to

right_x0.5400right_y0.2100right_z0.0250right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7906, 0.5861, -0.3752, -0.0189, -0.0292, 0.9983, 0.4816, 2.1178, 1.5555, -0.1238, 0.3756, 0.2165, 0.9956] state[eef_state]: left_x=0.293 left_y=0.0011 left_z=0.1737 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5407 right_y=0.2135 right_z=0.1093 right_yaw=0.0339 right_pitch=-0.0625 right_roll=-0.0415 right_gripper=0.9956 state[joint_eff]: [-0.4034, -1.6889, 7.0222, 1.7802, -0.0366, -0.0513, -0.0122, -1.4974, -11.3436, 9.3607, 1.8974, 0.1978, 0.2076, -0.1441] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.54,"right_y":0.21,"right_z":0.025,"right_yaw":0,"right_gripper":1},"note":"From the higher approach the arm reached x=0.54, and the bottle now fills the space between the open jaws with its base below the camera edge. I’ll descend vertically at this forward position to put the fingers around the bottle rather than approaching through the low singularity."})

tool

executing move_to over 6 steps (0.6s)

step 128

assistant

agent noteThe vertical descent succeeded: the right wrist view now shows the bottle’s broad body directly between the low open fingers, with its base below the frame. I’ll close to 50% to capture this section without squeezing the rounded plastic out.

move_to

right_gripper0.5000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7891, 0.58, -0.3725, -0.0189, -0.0292, 0.9983, 0.4782, 2.2154, 1.3678, 0.197, 0.3882, 0.2272, 0.9997] state[eef_state]: left_x=0.2925 left_y=0.0011 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5367 right_y=0.2069 right_z=0.0377 right_yaw=0.0152 right_pitch=-0.0271 right_roll=-0.0241 right_gripper=0.9997 state[joint_eff]: [-0.2667, -2.0581, 6.1197, 1.8779, -0.0659, -0.0415, -0.0122, 0.1983, -8.9094, 5.2581, 1.8486, 0.1929, 0.1441, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.5},"note":"The vertical descent succeeded: the right wrist view now shows the bottle’s broad body directly between the low open fingers, with its base below the frame. I’ll close to 50% to capture this section without squeezing the rounded plastic out."})

tool

executing move_to over 5 steps (0.5s)

step 133

assistant

agent noteThe jaws closed symmetrically onto the label area in the wrist view at a 0.51 opening. I’ll retract only 2 cm while lifting high; this should clearly show whether the bottle is captured without forcing a pivot yet.

move_to

right_x0.5200right_y0.2100right_z0.1500right_yaw0.0000right_gripper0.5000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7849, 0.5655, -0.3721, -0.0185, -0.0292, 0.9983, 0.4831, 2.2204, 1.3506, 0.2935, 0.3725, 0.2295, 0.5084] state[eef_state]: left_x=0.2904 left_y=0.001 left_z=0.1664 left_yaw=0.0005 left_pitch=-0.029 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5422 right_y=0.2159 right_z=0.046 right_yaw=0.0316 right_pitch=0.0357 right_roll=0.0187 right_gripper=0.5084 state[joint_eff]: [-0.1299, -1.9624, 6.6667, 2.0195, -0.0269, -0.0757, -0.0122, -0.8137, -12.7248, 4.8889, 1.3846, 0.2222, 0.0952, 0.4957] approver: 5 step(s) modified (delta_clamped ×5). 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":0.52,"right_y":0.21,"right_z":0.15,"right_yaw":0,"right_gripper":0.5},"note":"The jaws closed symmetrically onto the label area in the wrist view at a 0.51 opening. I’ll retract only 2 cm while lifting high; this should clearly show whether the bottle is captured without forcing a pivot yet."})

tool

executing move_to over 7 steps (0.7s)

step 140

assistant

agent noteThe bottle stayed in the wrist view during the lift, so a 50% gap was slightly too wide and the fingers rose around it without holding. I’ll reopen, return to the same low centred pose, and then use a 35% closure matching the earlier measured neck/body thickness.

move_to

right_x0.5400right_y0.2100right_z0.0350right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.77, 0.5411, -0.3527, -0.0193, -0.0292, 0.9983, 0.506, 2.0331, 1.4303, -0.0834, 0.3908, 0.2344, 0.5004] state[eef_state]: left_x=0.2891 left_y=0.0012 left_z=0.1633 left_yaw=0.0011 left_pitch=-0.0191 left_roll=-0.0 left_gripper=0.9983 right_x=0.5157 right_y=0.2129 right_z=0.1111 right_yaw=0.0364 right_pitch=-0.058 right_roll=-0.0356 right_gripper=0.5004 state[joint_eff]: [-0.1573, -1.6342, 6.694, 1.8926, -0.0317, -0.0757, -0.0122, -0.1162, -14.0239, 9.9761, 1.9463, 0.3492, 0.2222, 0.0366] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.54,"right_y":0.21,"right_z":0.035,"right_yaw":0,"right_gripper":1},"note":"The bottle stayed in the wrist view during the lift, so a 50% gap was slightly too wide and the fingers rose around it without holding. I’ll reopen, return to the same low centred pose, and then use a 35% closure matching the earlier measured neck/body thickness."})

tool

executing move_to over 5 steps (0.5s)

step 145

assistant

agent noteThe low view now has the bottle centred tightly between both fingers, with its shoulder and label filling the jaw gap. I’ll close to 35%—narrow enough to make contact but not continue squeezing after contact.

move_to

right_gripper0.3500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7643, 0.5308, -0.3473, -0.0193, -0.0292, 0.9983, 0.4866, 2.212, 1.3548, 0.1673, 0.3958, 0.2317, 0.9957] state[eef_state]: left_x=0.2881 left_y=0.0012 left_z=0.1612 left_yaw=0.0011 left_pitch=-0.0183 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5283 right_y=0.2065 right_z=0.0294 right_yaw=0.0142 right_pitch=-0.06 right_roll=-0.0423 right_gripper=0.9957 state[joint_eff]: [-0.1026, -1.6889, 6.3385, 1.8877, -0.022, -0.0366, -0.0122, -0.1299, -10.0444, 7.0085, 1.7509, -0.0073, 0.1832, -0.2271] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.35},"note":"The low view now has the bottle centred tightly between both fingers, with its shoulder and label filling the jaw gap. I’ll close to 35%—narrow enough to make contact but not continue squeezing after contact."})

tool

executing move_to over 7 steps (0.7s)

step 152

assistant

agent noteThe gripper stopped at 0.476 against a 0.35 command, confirming a real grasp on the bottle body. I’ll lift and retract slightly while maintaining that limited closure so the bottle can be relocated without being crushed or ejected.

move_to

right_x0.5000right_y0.2100right_z0.1500right_yaw0.0000right_gripper0.3500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7616, 0.5156, -0.3412, -0.0189, -0.0292, 0.9983, 0.485, 2.2135, 1.3548, 0.2409, 0.3836, 0.2344, 0.476] state[eef_state]: left_x=0.2868 left_y=0.0012 left_z=0.1562 left_yaw=0.0008 left_pitch=-0.0248 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5374 right_y=0.2126 right_z=0.0417 right_yaw=0.0221 right_pitch=0.0011 right_roll=-0.001 right_gripper=0.476 state[joint_eff]: [-0.3624, -1.894, 7.1179, 1.8877, -0.0366, -0.0171, -0.0122, -0.2803, -10.5094, 6.8444, 1.7753, 0.2662, 0.1148, 0.9499] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.5,"right_y":0.21,"right_z":0.15,"right_yaw":0,"right_gripper":0.35},"note":"The gripper stopped at 0.476 against a 0.35 command, confirming a real grasp on the bottle body. I’ll lift and retract slightly while maintaining that limited closure so the bottle can be relocated without being crushed or ejected."})

tool

executing move_to over 7 steps (0.7s)

step 159

assistant

agent noteThe opening remains above the 0.35 command at 0.45 and the bottle stays wedged between the fingers, so the grasp is carrying load despite the short lift. I’ll move it well inward and higher to create room for a cap regrasp and standing pivot.

move_to

right_x0.4000right_y0.2100right_z0.1800right_yaw0.0000right_gripper0.3500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7513, 0.4984, -0.3275, -0.0189, -0.0292, 0.9983, 0.5297, 1.9949, 1.3457, -0.0734, 0.3931, 0.2615, 0.4497] state[eef_state]: left_x=0.2858 left_y=0.0012 left_z=0.1539 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4942 right_y=0.2151 right_z=0.0981 right_yaw=0.0423 right_pitch=-0.0894 right_roll=-0.0321 right_gripper=0.4497 state[joint_eff]: [-0.2256, -1.1145, 6.5162, 1.9512, -0.0269, -0.0171, -0.0122, -0.4855, -13.6274, 10.2359, 2.1074, 0.5397, 0.1197, 0.1929] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.4,"right_y":0.21,"right_z":0.18,"right_yaw":0,"right_gripper":0.35},"note":"The opening remains above the 0.35 command at 0.45 and the bottle stays wedged between the fingers, so the grasp is carrying load despite the short lift. I’ll move it well inward and higher to create room for a cap regrasp and standing pivot."})

tool

executing move_to over 8 steps (0.8s)

step 167

assistant

agent noteThe jaw opening reached its 0.35 target during transport, so the bottle slipped, but it was successfully relocated inward; its cap is now centred and much closer in the wrist view. I’ll reopen and approach that cap from above at the new reachable location.

move_to

right_x0.4600right_y0.2200right_z0.0900right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7456, 0.4866, -0.3195, -0.0189, -0.0292, 0.9983, 0.6746, 1.6367, 1.1404, -0.1726, 0.5186, 0.3523, 0.3515] state[eef_state]: left_x=0.285 left_y=0.0012 left_z=0.1516 left_yaw=0.0008 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4092 right_y=0.2198 right_z=0.1731 right_yaw=0.0401 right_pitch=-0.0007 right_roll=0.0027 right_gripper=0.3515 state[joint_eff]: [-0.2667, -1.1966, 6.5846, 1.917, -0.0464, -0.0513, -0.0122, 0.1709, -9.6068, 6.0376, 1.6288, 0.3394, 0.1001, 0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.46,"right_y":0.22,"right_z":0.09,"right_yaw":0,"right_gripper":1},"note":"The jaw opening reached its 0.35 target during transport, so the bottle slipped, but it was successfully relocated inward; its cap is now centred and much closer in the wrist view. I’ll reopen and approach that cap from above at the new reachable location."})

tool

executing move_to over 7 steps (0.7s)

step 174

assistant

agent noteThe relocated bottle’s body is centred between the fingers, but its cap is still a full bottle-length farther forward. I’ll descend around the broad base section again and use a gentler, just-contacting grip to shift it farther inward without squeezing it out.

move_to

right_x0.4450right_y0.2200right_z0.0350right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.4824, -0.3183, -0.0189, -0.0292, 0.9983, 0.6163, 1.89, 1.1133, 0.0544, 0.4919, 0.3214, 0.9956] state[eef_state]: left_x=0.2844 left_y=0.0012 left_z=0.1514 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4453 right_y=0.2176 right_z=0.0846 right_yaw=0.0184 right_pitch=-0.0543 right_roll=-0.0398 right_gripper=0.9956 state[joint_eff]: [-0.1436, -1.4154, 6.1333, 1.8828, -0.0464, -0.0757, -0.0122, -0.8957, -8.6906, 7.4051, 1.8681, 0.1783, 0.1929, 0.0855] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.445,"right_y":0.22,"right_z":0.035,"right_yaw":0,"right_gripper":1},"note":"The relocated bottle’s body is centred between the fingers, but its cap is still a full bottle-length farther forward. I’ll descend around the broad base section again and use a gentler, just-contacting grip to shift it farther inward without squeezing it out."})

tool

executing move_to over 4 steps (0.4s)

step 178

assistant

agent noteAt table height the near/base section now fills the jaw gap symmetrically, with both finger tips alongside it. I’ll close only to 42%, just below the previously measured 47% contact width, to hold it without continued crushing.

move_to

right_gripper0.4200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7383, 0.482, -0.3183, -0.0185, -0.0292, 0.9983, 0.6224, 1.9907, 1.0061, 0.2825, 0.5007, 0.3363, 0.9997] state[eef_state]: left_x=0.2843 left_y=0.0012 left_z=0.1517 left_yaw=0.0005 left_pitch=-0.0122 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4415 right_y=0.2168 right_z=0.037 right_yaw=0.0102 right_pitch=-0.0343 right_roll=-0.0209 right_gripper=0.9997 state[joint_eff]: [-0.1436, -1.5658, 6.0239, 1.8632, -0.0269, -0.0659, -0.0122, 0.1299, -8.4171, 4.9573, 1.5018, 0.1832, 0.022, -0.0464] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.42},"note":"At table height the near/base section now fills the jaw gap symmetrically, with both finger tips alongside it. I’ll close only to 42%, just below the previously measured 47% contact width, to hold it without continued crushing."})

tool

executing move_to over 6 steps (0.6s)

step 184

assistant

agent noteThe gripper reached 0.426 exactly, showing the bottle is still just ahead of the grasp point even though it overlaps the fingers in the camera. I’ll reopen and advance 3 cm—the rig guidance’s correction for an object that is centred but still visible at the bottom edge.

move_to

right_x0.4800right_y0.2200right_z0.0350right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7383, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.6281, 1.9953, 1.0012, 0.3603, 0.5194, 0.3313, 0.4259] state[eef_state]: left_x=0.2842 left_y=0.0012 left_z=0.1516 left_yaw=0.0008 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4481 right_y=0.2215 right_z=0.0477 right_yaw=0.004 right_pitch=0.0281 right_roll=0.0051 right_gripper=0.4259 state[joint_eff]: [-0.253, -1.3744, 6.0786, 1.8877, -0.0171, -0.0708, -0.0122, -0.3761, -8.4034, 5.3402, 1.3114, 0.1392, 0.1392, 0.2515] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.48,"right_y":0.22,"right_z":0.035,"right_yaw":0,"right_gripper":1},"note":"The gripper reached 0.426 exactly, showing the bottle is still just ahead of the grasp point even though it overlaps the fingers in the camera. I’ll reopen and advance 3 cm—the rig guidance’s correction for an object that is centred but still visible at the bottom edge."})

tool

executing move_to over 6 steps (0.6s)

step 190

assistant

agent noteThe partial advance brought the bottle’s base deeper between the fingers, but the arm only reached x=0.464. I’ll use another modest forward target to place that broad section at the actual grasp point before closing.

move_to

right_x0.4900right_y0.2200right_z0.0350right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7357, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.6086, 2.0483, 1.0744, 0.3328, 0.4965, 0.3168, 0.9957] state[eef_state]: left_x=0.2841 left_y=0.0012 left_z=0.1523 left_yaw=0.0008 left_pitch=-0.0099 left_roll=-0.0004 left_gripper=0.9983 right_x=0.464 right_y=0.2252 right_z=0.0429 right_yaw=0.0106 right_pitch=0.0144 right_roll=-0.0003 right_gripper=0.9957 state[joint_eff]: [-0.4034, -0.9504, 6.0513, 1.8339, -0.0269, -0.022, -0.0122, -1.6479, -9.0325, 6.4752, 1.453, 0.0464, 0.0659, -0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.49,"right_y":0.22,"right_z":0.035,"right_yaw":0,"right_gripper":1},"note":"The partial advance brought the bottle’s base deeper between the fingers, but the arm only reached x=0.464. I’ll use another modest forward target to place that broad section at the actual grasp point before closing."})

tool

executing move_to over 2 steps (0.2s)

step 192

assistant

agent noteThe extra forward step now places the bottle’s broad label section squarely between the jaws at table height. I’ll close to 35% and check for an obstructed settled reading, which will confirm a true grasp.

move_to

right_gripper0.3500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7341, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.5743, 2.0869, 1.1355, 0.3187, 0.4664, 0.2981, 0.9997] state[eef_state]: left_x=0.284 left_y=0.0012 left_z=0.1527 left_yaw=0.0008 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4822 right_y=0.2217 right_z=0.0424 right_yaw=0.0103 right_pitch=0.0117 right_roll=0.0034 right_gripper=0.9997 state[joint_eff]: [-0.4034, -1.2923, 6.2701, 1.8584, -0.0317, -0.0611, -0.0122, -1.2239, -8.4034, 7.9248, 1.58, 0.1294, 0.0952, -0.0415] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.35},"note":"The extra forward step now places the bottle’s broad label section squarely between the jaws at table height. I’ll close to 35% and check for an obstructed settled reading, which will confirm a true grasp."})

tool

executing move_to over 7 steps (0.7s)

step 199

assistant

agent noteThis time the gripper stopped at 0.445 against a 0.35 command, confirming the bottle is genuinely clamped. I’ll ease the command to 0.40 and lift while retracting slightly, preserving contact without forcing the rounded body out.

move_to

right_x0.4500right_y0.2200right_z0.1400right_yaw0.0000right_gripper0.4000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7345, 0.482, -0.3187, -0.0185, -0.0292, 0.9983, 0.5747, 2.0964, 1.1599, 0.3275, 0.4671, 0.2825, 0.4453] state[eef_state]: left_x=0.2841 left_y=0.0012 left_z=0.1526 left_yaw=0.0005 left_pitch=-0.0088 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4886 right_y=0.2259 right_z=0.0484 right_yaw=0.0182 right_pitch=0.032 right_roll=0.0022 right_gripper=0.4453 state[joint_eff]: [-0.0752, -1.2923, 6.5162, 1.8193, -0.0415, -0.0415, -0.0122, -1.306, -9.0188, 7.2547, 1.326, 0.0513, 0.0904, 0.3346] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.45,"right_y":0.22,"right_z":0.14,"right_yaw":0,"right_gripper":0.4},"note":"This time the gripper stopped at 0.445 against a 0.35 command, confirming the bottle is genuinely clamped. I’ll ease the command to 0.40 and lift while retracting slightly, preserving contact without forcing the rounded body out."})

tool

executing move_to over 6 steps (0.6s)

step 205

assistant

agent noteThe bottle remains centred between the jaws as the arm lifts, though the flexible plastic compressed to the 0.40 setting. I’ll carry it quickly inward to a comfortable workspace while keeping the same gentle clamp.

move_to

right_x0.3500right_y0.2200right_z0.1700right_yaw0.0000right_gripper0.4000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7338, 0.482, -0.318, -0.0189, -0.0292, 0.9983, 0.6106, 1.9083, 1.1629, 0.0914, 0.4797, 0.3141, 0.4012] state[eef_state]: left_x=0.2841 left_y=0.0012 left_z=0.153 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4611 right_y=0.2275 right_z=0.1012 right_yaw=0.0273 right_pitch=-0.002 right_roll=-0.0014 right_gripper=0.4012 state[joint_eff]: [-0.1436, -0.759, 6.4889, 1.9121, -0.0366, -0.0611, -0.0122, 0.212, -11.7675, 9.2103, 1.8046, 0.3639, 0.2027, 0.0952] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.22,"right_z":0.17,"right_yaw":0,"right_gripper":0.4},"note":"The bottle remains centred between the jaws as the arm lifts, though the flexible plastic compressed to the 0.40 setting. I’ll carry it quickly inward to a comfortable workspace while keeping the same gentle clamp."})

tool

executing move_to over 9 steps (0.9s)

step 214

assistant

agent noteThe bottle stayed fixed relative to the right wrist through a 10 cm translation, confirming it is being carried. I’ll lower its grasped base section well inward at x=0.26 so the entire bottle, especially its cap, will be comfortably reachable after release.

move_to

right_x0.2600right_y0.2300right_z0.0600right_yaw0.0000right_gripper0.4000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7338, 0.482, -0.3183, -0.0193, -0.0292, 0.9983, 0.804, 1.5417, 1.0168, -0.2035, 0.6186, 0.4538, 0.4012] state[eef_state]: left_x=0.2841 left_y=0.0013 left_z=0.1529 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3586 right_y=0.2297 right_z=0.1627 right_yaw=0.038 right_pitch=-0.0051 right_roll=0.0006 right_gripper=0.4012 state[joint_eff]: [-0.0889, -1.0188, 6.694, 1.917, -0.0562, -0.0562, -0.0122, 0.2393, -8.9641, 6.5709, 1.58, 0.315, 0.1343, 0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.26,"right_y":0.23,"right_z":0.06,"right_yaw":0,"right_gripper":0.4},"note":"The bottle stayed fixed relative to the right wrist through a 10 cm translation, confirming it is being carried. I’ll lower its grasped base section well inward at x=0.26 so the entire bottle, especially its cap, will be comfortably reachable after release."})

tool

executing move_to over 8 steps (0.8s)

step 222

assistant

agent noteThe overhead view shows the bottle did not follow the last translation—the body grasp released as soon as the reading reached its commanded gap. I’ll now go directly to the nearest bottle’s blue cap at its estimated table coordinate and use the cap’s smaller, non-tapered diameter for a reliable pivot grip.

move_to

right_x0.5000right_y0.2300right_z0.0250right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7338, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 1.0889, 1.5616, 0.6487, -0.0418, 0.8001, 0.7227, 0.4012] state[eef_state]: left_x=0.284 left_y=0.0012 left_z=0.1528 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.2604 right_y=0.2322 right_z=0.0613 right_yaw=0.0498 right_pitch=-0.0369 right_roll=-0.0371 right_gripper=0.4012 state[joint_eff]: [-0.0889, -1.1009, 6.4615, 1.8486, -0.0269, -0.0513, -0.0122, 0.1983, -5.2581, 5.4906, 1.5751, 0.5348, 0.0513, 0.105] 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":{"right_x":0.5,"right_y":0.23,"right_z":0.025,"right_yaw":0,"right_gripper":1},"note":"The overhead view shows the bottle did not follow the last translation—the body grasp released as soon as the reading reached its commanded gap. I’ll now go directly to the nearest bottle’s blue cap at its estimated table coordinate and use the cap’s smaller, non-tapered diameter for a reliable pivot grip."})

tool

executing move_to over 19 steps (1.9s)

step 241

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7334, 0.482, -0.3191, -0.0189, -0.0292, 0.9983, 0.5861, 2.1616, 1.1839, 0.2787, 0.4694, 0.3042, 0.9979] state[eef_state]: left_x=0.284 left_y=0.0012 left_z=0.1528 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4822 right_y=0.2285 right_z=0.0153 right_yaw=0.0158 right_pitch=-0.0433 right_roll=-0.0287 right_gripper=0.9979 state[joint_eff]: [-0.212, -1.2239, 6.6393, 1.8632, -0.0415, -0.0659, -0.0122, -1.0598, -10.2769, 8.1436, 1.8144, 0.1929, -0.0122, -0.1099] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]

call 0 attempt 0 · /responses · status 200 · 17.42 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.794, 0.6083, -0.3767, -0.0189, -0.0284, 0.9987, -0.0158, 0.7895, 0.6037, -0.3832, -0.0166, -0.0349, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0009 left_z=0.1826 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.294 right_y=0.0019 right_z=0.1804 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.5675, -1.4291, 9.7573, 1.7558, -0.0611, 0.149, -0.149, -1.0325, -1.1829, 10.4821, 1.8584, -0.0952, 0.2173, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92347fa48f01e602f3ce141d6eb2e5852b66ad4a763af758ceedac483a29d26e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e14fc5b088f38e1faf097279282931e42c133ac9b632c8074b110c5739fc8e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c8ff4ffe68d49c1b3c7fac98fc86c82d5fc114c2866e8c24c81ac415d71fa1",
      "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 · 4.642 s

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

{
  "content": [],
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  "id": "rs_0b343ddd9e1325b2016ab44bad297887d09b111605ed77c71d",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_0b343ddd9e1325b2016ab44bb31f5487d09635f2dca6590f5d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEu6p3GqWBQqpQGySu83fr7bNMPWBsMqBu-MznDtKdyWYpgt2zGjpjV4ZkNr5kmKyVJm2ZGSLiKAE16G9zambfsAnW_sVrP2S_9lcgqWyOsaFlSU_70w_o8vSd0Op4vbMqPkYU_93tl2mD4aLeZ6-AfxN5EhpsZtnYp2e6RUUSJQ8AhqmtCEOzEyeuibvBCDxixiytomwx7keGJNFfMiScc2HQPU9OaaYVj_2HXl4QRZcrSU5gUhn1YS5T4XXmR-ri9iVFOHTXiYsD2-4B4akhkG1CqP_6DlktrmE9unYzux_NiZFbr6lFQOM-KJo95SdbJVUBYS9F1NfWh4CjHEh1XxoKvXdH6sBe6F7dXFcdCrfJf-K1XnKIkqoy2mAT6fscvmhU8oXFMmCJH6rn3KlpWMrcQV6A3H-Bh8daOb_X_TLx3UvM88_-ZJqb4_pihBWMSniBE2a4tKWDLqu0opHgmXmVabtEfJ3g7SDn_1pzFqL9jidrrF_SvsCvzjBkF6leZgOhFPo8R4Emx5MgxYGPlT6nmFf5z7AmFM-06bR3TUsdJNoHx4r4Ur5wl38et7Psopa2-S9nKRCo_oy2Licx7wFuq6xeRGrx-Bxr0pFZwjYKEDzyAZiUSnLthkPF0I60mCSlnIWiEV1BjuraNUQxqgEkoC_WQP3tPoKqlDiXftfltb79z-ga00o7Fy2FbW6xNYLTjRAhRoRwPgT7m12A05mcVLbROJX_IQlDTPz0txaKt9GWGBJIItG84EXAVl16CCtz4_j2zMEiJAYwxBxkBJ7YfbeLwdYdhstZa6lkb9YJMlVWrmUs-eLHtU2vfiLPT2EC3KNWdkFBQN45fm6ewxeIswDmTb40nfzlTdDeE1ORCModAMx8N2LyBDADuDpBgOg8tLOGhlVQEuO2Cl9_gSnIBQnFY15-AVfYQzz4VtmLvVlbIYPeRZnG7DLXM82X-U13f0HPaRo-ASc_RXxaPZK1XY2AZACEDjh1bmwPTsZ9Es__IpcZmpjny_wUlDDggttM9Pt-VAEWbAMCVA6WcWLqTGXagyDd9AcaW-PHQdUTf_3l8FBrYXN3L5LgTCUW6bWKfCZncr-SsxDfFX5wdFGYUJDyDZGycLKK5ZqRWKGf5YIntC88636O5ImT8_z6UqrRhe9h-LRD4koxCiTHKgQQeg6DBsvDo8Ua7Iu0RJjxW_r3fUfDdLjSLRg95njrvD22kXDyMfZ1Pkc6gVug5y_zCI5ZRt6jVTXd2Og1RZnWYH6seh1aeKoqwc6bI_SraB0CCMqrp366tKXPPobT4ISAd5cdRCEGrQ5WZurRfCbidWizRkwnXg_75u6OtNe0CfMecvzI3ebqzlvMqss7tPQ2kuExVm7ENIYn6A5E2IAgEmT8NW7BH7VrOC-V3WZbpge2qyoqKvbyKtaiWpWiskuT3yZexDolUp_8VHowAOzGEdSrGOY2XNjxFp0H-E0cciYj_hEPsyR6qos2c_FLQEkxl88a4kvz4DNx_AYcs_kYEFChwAc2QnCIWLYz6dMeNZGvPBD2rK7q4Grh-Eo6Mn95AmNZsgdl-TVi8_yFvjstZNjvZEyM4cKMkF9L189og642aBjxRmaBdfJpTy8vm0pQJTfgC8SXTnpI7FBREXdet1aydNvyZOD9RbEicFibOekjHgF_mCKfouCCGAO3blnm7AL2ri9FzfVLln5XEsAja93AinTVOrHYQIiWJFyklpIjJH-PLP8dhkaS5vosqnXE5chwHHuKF8AaVoBoa1GbvTkfkXltR19jS7TbG4-IQ2xCKQC-7IU3qJQGaPi2_07CvxcPnxx69qYHEGJ0TzlqgNW-j_7Z6XbF2aoOrMZ9TK-WoTG9CC1NXCRVtCJeKISeuZAQLiKAkGdC-5ISKNbGWriAn7AKce8Xn0VrftsNVrI6M8rxzwBKhkxuF9Irt6YyYWwC5L9lK_6inftn3iOICD8HvReAm7EBo-I4sfrvRXs7A4kZkfsI-Al1oW3PmXrpvSL2tmaWwjnljEYNXf3u-xSiAG7w1OBPmoTaEkqEOnZ-aWpb_cl8V9JnaGnOiHR1n4NkY41KHtFkgM24qqamiWRt6xY4Sd6_OOQYFOwYDboFAcHOctNZNivBIhdvl81f3PPOrVubl5G8nKoM1VIMTboNEszM312ZQkqpZTAsm8ZoBH2u8IH_P0HMLTpDJtPklpIK1lBBernGOZz_nqtLpJBJwuv5S5pHfEM0n77VMptje6lZ1MBrgXAj4FOIkFUS-CBGzIt9nLBRKoNpStisvBBfxD46TaFrVg8O5S8qpkJ1mXXtPZWBh8MafOubr44w==",
  "id": "rs_0b343ddd9e1325b2016ab44bb8128887d08687f76fb5044fdf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.15,\"right_z\":0.15,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"All three bottles are lying flat with their blue caps toward the far side; I’ll start with the rightmost bottle and approach its cap from above using the right arm.\"}",
  "call_id": "call_9iSTNzQC9GYzMh9smeCMdKd4",
  "id": "fc_0b343ddd9e1325b2016ab44bba2d4487d0bfc7c75ec4928af9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9iSTNzQC9GYzMh9smeCMdKd4",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3874, -0.0185, -0.0292, 0.9984, 0.4599, 1.6035, 0.9691, -0.0639, 0.3458, 0.2005, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4216 right_y=0.146 right_z=0.1272 right_yaw=0.0446 right_pitch=-0.0819 right_roll=-0.0422 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.5658, 6.612, 1.79, -0.0171, -0.0366, -0.0415, -0.1299, -7.7744, 9.1419, 1.8095, 0.3834, 0.2711, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cfded51dd6ddaf79ea8e6c8b3efcff47d1ea7edf846245c17d2365d0c88b3f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2443823209a212a03cffeeab6db65d10d157becea5d3c92a405782105c1dbf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd97a1b48614e7a34445936e87a18f6315d0d5c62055b45ab11eb10064c495b",
      "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 · 3.869 s

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

message 2 changed as sent

message 8 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.794, 0.6083, -0.3767, -0.0189, -0.0284, 0.9987, -0.0158, 0.7895, 0.6037, -0.3832, -0.0166, -0.0349, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0009 left_z=0.1826 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.294 right_y=0.0019 right_z=0.1804 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.5675, -1.4291, 9.7573, 1.7558, -0.0611, 0.149, -0.149, -1.0325, -1.1829, 10.4821, 1.8584, -0.0952, 0.2173, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3874, -0.0185, -0.0292, 0.9984, 0.4599, 1.6035, 0.9691, -0.0639, 0.3458, 0.2005, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4216 right_y=0.146 right_z=0.1272 right_yaw=0.0446 right_pitch=-0.0819 right_roll=-0.0422 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.5658, 6.612, 1.79, -0.0171, -0.0366, -0.0415, -0.1299, -7.7744, 9.1419, 1.8095, 0.3834, 0.2711, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cfded51dd6ddaf79ea8e6c8b3efcff47d1ea7edf846245c17d2365d0c88b3f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2443823209a212a03cffeeab6db65d10d157becea5d3c92a405782105c1dbf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd97a1b48614e7a34445936e87a18f6315d0d5c62055b45ab11eb10064c495b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvA8WJiVFCQjpv9hKTM7IRSadRInpWAdzzlZbFoecV-A6pMXUclfSshXlJQo-DI3YzrWjwH9tOvPxAu6I3q0N_SaaaE6E8aBs8hA6a7jxqKCpS3dIZTnHpaC8vTacAU4qaCgyJBICDifyTXYWon8Z6-0LMCW1atL0-BDhesHcHT_Hec7G2ZMo7NY1ktEpTAcYQgUWiOjLN-GUhk9Ur1NhtCocUVN98hfLMNNxBiHzK555MpVtHMqb-uBq9OpOX_UcKFjLI7dhw6dBfevOo6EQ4MPxNJ8cVjeaIboRB6zLifFFdgjMNHyYTa8fONMz2XUGxknle-2S0gvcPuf6AmSIiR3xc0XDAUR4LyCz8CQumdc9C0jRvJW1tdoxUbCEOdEhk9kMlFlfgY_Tox5yYsO-1bFQzFOkAvwg6YVywI4qaCXMOzpGDh26Vrpz3lEKh2IJrpX5RyxSHpdkKEK3ROTha8P5T7LlEf_c-HJy2eGO92ndLbSslcsbOj4svCrrgtVPiZ4ALOMASB4DMoK8hW8BklxxauFRj_PNq4xgzF_o_MGHQGkiGxTdQzZji18VCd8EicuRm536olk3HgejFAELOjUfhUZMEKnlJY8JMRwr_joEKZTHInDPCF4Celq4TCrvXqFt-IWml_PomI7yLVjf-6zLWVauAasn3QMKyAULJDnPuiTmW7P5TCIgtRACiPJljJkJV62FOZkT_ANtocGEBlimu-mLrP6JPVy89_swy83AXvuJ2D1B5-PywdOSq251joG_lq-x5DWmSKDyKliiLIX4r3HpEk6wmR2_uQGy99hvGrx04MgODfGmXuzEWKkP_bY99zvcd-WMryWLSk1shrK626T8hCEN1lHXsLwXKpkAGwrip7cQO5FNEhm_6zzVFCm_iyhO2nuDhL0uu3wocCWw8zP-wdi24TMFstcgBO-gIiyr5XBOSnQ9XbD3SYpw-_0MUSp-VjR9xwj1elklFhPpCpH5l8872SrE1o0q335nXkXlARjrYiUgOH3gvHE-Q8UcKE8tFri9MolZbntxZtF3J1_XdfBf-QY35m5bjTbIuWRID-clUj9XaFpVSnYciyyH5MaqOsKcmmn2FZjfxgctHB9zg-hYGHU1z2W0dVrVgTH4_ij2jucpf9GUPN_UCf1aX26-nCIku9MvmEQd8JVvQgGnOGQqgzViRJrOLJYCRUtFNmieUTEY0K6Bdc9Eio0aC9IzbUkb0TIGmFsOrLn5AUvxPsJWDCY77fxE3kxWL7Xo8VSzwQWNk4O_Z3Jle3HCAr-cPpSizgXrWMFh3ZPTn5qTMAwQF3prFNVZ7Qv7pb-az-sUrn0VwDM6fw-CQcwGxg3Lj9QWGVlzUr6RRLvScf5bMNQfp10FV-79NIwq5uLUg2SyNJdSm2ppbtzuHM0vyfuicRDr3SXZKdPeBFzlIDPsxtk8ZG2MpsPXFOt_p7H3kzOBq_690ck-l-z98xcWpZAiDe1mCgqPuXqa0pKcVUc_dFGiyGUYO3NDgDOJnMfF4L9I6l-Szxtg4_EC5e5AxfT9i_CZpdMwSrtR3ruuLVcwGDk5VLK4eJBf2j9tmlKCr36gVib-zgQ1wKtCSodxMsP_D6MB6GBc6OowsbTm0hQYqvIzeq-LQKYAXruvYXCJiHsbhU_F1dX5P3VS2OjwKWyBoVO0DOjms-vR-K0RAROKXtrX0IjpdpK8nxohV-6RhcRHEmT9hcjwlam-8sh_oa2m2CbSThAJ6uDDt7POguvVXvlEyZZ7hIN8O5cyWdhCHS_yvwbtUhMkwrfj31FP-vErvid0ZIG9zyprJGhzcwSGqQ4QGNSrwPQXvq6atyaDIlNpwB5BwIEwEuM9EErAbX1wPzg_dck6fq2Ch9_vE-ZJvsmc1uZbs4eagWGfrrFOBEB6NayrZ3bYaDbOEEhO4vVuY9hRH10OhzfMEJv_LGQHkDnsgOFKwa6fQJkzeTwfWL1-61jY1WoOnJ9fjdIwH9J5wUsywTFWkkoZ_BKrjJIN1PonfojZ2SjCrSdXU9GPDrzFwbsBawauWL3d6j8LoPzyno5L8APRJeIYL6_x8zN_xkHBZ3cKBr2_DxLyo0fad49BhDLxG_3h8g2jwbt_6CgRS6k1iu77qDJobot34nYuMh05X0PlJYbe0c9dsEwrKwiUAV-rwcm6D3NW81UOPCrwXlXXR_yfNnmfaMJST7EePKJrwjnK-gT0HGoHg3h2Yc023gUJR1kvSJ62t3ILlGFt_0VA9198dH1xEcrkhAqq4nlKPdahor3cmW1SCH-oEehao5XRXv0Da7-_ww-uX7RYaLZ7mz-x8k_sfwISaFMoYJEhjxRMD2X80IbrxgHSrM_n4nLo07E00n_1JGsfCxDjuOspgrfWaiziObnK1tR42EPBcg2op20EdZ3qb5HbpVRSNxUeKSckQQdCU54wUIIF5_7TmKU4a3RqG1xaMBWl9eLzmcUL-m0LmONlGdkqA8sDgYLC9LQUH0ShiqiSlkCbsxAoS3Ju_QzlYjA64xzjzNIjwA72sEBrASVwyV756yjWvRZKVJ54QPqYu2AFLoYMQ91sxYIEfB2cxHqmK_b2hh7hOcA9THeZzPDXvrN_ebH5eeLbGs-z0EIXEj",
  "id": "rs_0b343ddd9e1325b2016ab44bbd1bf087d090309c052030b2c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.18,\"right_z\":0.16,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The right wrist view shows the right bottle centered radially but about 2–3 cm left of the jaw column, with its cap still several centimetres beyond the fingertips. I’ll shift left in the arm frame and farther forward while remaining safely above it.\"}",
  "call_id": "call_lqrcq8bS2T4R32vXqW87d3bt",
  "id": "fc_0b343ddd9e1325b2016ab44bbfce7c87d08f787ecbde04b5f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lqrcq8bS2T4R32vXqW87d3bt",
  "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]: [-0.02, 0.7963, 0.6136, -0.387, -0.0189, -0.0292, 0.9983, 0.4995, 1.7462, 1.1431, -0.0914, 0.3756, 0.2249, 0.9999]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4525 right_y=0.1772 right_z=0.1325 right_yaw=0.0471 right_pitch=-0.07 right_roll=-0.0384 right_gripper=0.9999\nstate[joint_eff]: [-0.1436, -1.5248, 6.3385, 1.8388, -0.0171, -0.022, -0.0171, -0.1709, -9.1009, 9.7299, 1.6288, 0.4127, 0.1832, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c79248696a93c6226f2bdccdcc4587759e287231172d69fe1bcc0f65960b29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa21f3a0985a7824aea875bfa0d9e239a89772a5fc8cc6cbc5bf1bdc808d984b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460e01ad3f736060f60bbe73bd029062c44196f04d6ef001953061006928fc65",
      "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 · 3.259 s

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

message 8 changed as sent

message 12 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3874, -0.0185, -0.0292, 0.9984, 0.4599, 1.6035, 0.9691, -0.0639, 0.3458, 0.2005, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4216 right_y=0.146 right_z=0.1272 right_yaw=0.0446 right_pitch=-0.0819 right_roll=-0.0422 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.5658, 6.612, 1.79, -0.0171, -0.0366, -0.0415, -0.1299, -7.7744, 9.1419, 1.8095, 0.3834, 0.2711, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0189, -0.0292, 0.9983, 0.4995, 1.7462, 1.1431, -0.0914, 0.3756, 0.2249, 0.9999]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4525 right_y=0.1772 right_z=0.1325 right_yaw=0.0471 right_pitch=-0.07 right_roll=-0.0384 right_gripper=0.9999\nstate[joint_eff]: [-0.1436, -1.5248, 6.3385, 1.8388, -0.0171, -0.022, -0.0171, -0.1709, -9.1009, 9.7299, 1.6288, 0.4127, 0.1832, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c79248696a93c6226f2bdccdcc4587759e287231172d69fe1bcc0f65960b29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa21f3a0985a7824aea875bfa0d9e239a89772a5fc8cc6cbc5bf1bdc808d984b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460e01ad3f736060f60bbe73bd029062c44196f04d6ef001953061006928fc65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvFeWbpm4PQzHnUqPMq_RYFyBnLAFrco656qKLzUCTpVt2X7l_XJ3ViTessBPb1Bwl3acGtRmeeYkler74xyxgFvsHxHRrec01VC2PeKfproicGzOLibV-aiQGObesoheOnIFmNoolEN8g_1MmZlkPcRJ9ypDVuoCrDpmSTKD-pCyXPzvmrZzMootEIcv00LZb2cypBI5BGLJHjB3Pv3OY8QXUY-BAQlIGKkBgDSPS3UxWE5m4UAZdwXb2zQ2BjBbzmw9IDrMSTT0uNj0kFNKNbj6cReV6a7rzWQt8T_cX2bhvMImbG5S53I01wQgOYc8x1kQ8rNDRx69LbfInL6XUmVZl786gIofhRHZ49KxcOjRRu7AlHjBmaIqhsG1VMKhlca1SUAl7nZMakkVML0KTCD5Li4Z1VtseZmbDPN3_DggQz6pl6hZLjoKBawesCuasx_VePUpguotlN0MlPJGB7GaJUT0YyySuzfh5DAnnMeMJ-lMs6Kgy04rfBhdhNSrdbVzjBjnbJNOzVF-yE2Gvc-QSqBlLRMiMKMgBFl-nwszOGYhe3CfPjVStYpRNAqAFBNEzwtt3M7NXHmVzZmBIBDz0IboHeOBXjztSc8CvEIUlQFhy99DPT5n07X2kSYzUrIwUHHYrgD1pQpBwdqYoECUG9eI_1vAjWiwcNwXH_W5z6iHZWs1bt4zt4Pj0F8eecn_hMNac84TjlEMnXZSrhRImaVZ7B7Ii9tR2A_wCAqz2ff16MdVvuRODBVrgiLiYmn-8IdUk_O2hU3fNjP7yhJhFzuU_6Zr1Gifo67wx6O1CXcYp6KUbw3YR4d6Q_UY0XFt5AnZI0MlFHwReNuQEh-yRMFEd_B-UL5kULaSq3HtLuISeQSz0nhh9rLuqCOge9zh8F-2QgOCMoSXfbwC9j0qZrCmWjLiNM9f8zpNx0ZYEhaywyxRiU9ScRcfaD8Tyw_FLddG7ovwxlO-8va7qKBUiBQgHMn4Ku_EASEYwI5IdaRYxSbMH1zOm376goydG7OXn8Llv7Rbyfwr91QPbePeqsCyex9xEIPy89Lo6yjEPewgbczE6CMiQxO5rbtTp6xTb_pQ53h_hEfM64mqszr9EfSL0FYNIWbKe6O8VwrqPGbNax1oST6o2X9oZotFEluihCbJov6zc5UdMp_YkSipWaLy4B_SVVEsoJaAquzTWczhAd8Bi5uI8SMtBTfGmGlQPy02D13fXICJB1isZbvVkcyT24rQTL9OTJYz6xCUJxjDbYXTKi8TqjyOf42pCJLm8FiWs9a9HRi-CxUc-oWpY7B2JoyXgiXbDsw6cA2r35kJywksUHtQpzold3_FgkSOhOyc0nWee2EtF4oxafldjNqbfne31c2lJiswo_e45Wro0Jy_gh9xLP3clHOAMhsZ7NmSkyAj8mXoWef8WjYOv29EL-TvQ4dqXJqLQk56qjEc8dkKMs4ZSXBSRRh2lP9bJiqwr4A2NvhL-h4Iy8jcLeIYtF6lf9iUDYKRAj2NcAxDMafr283BvZ1p6CT0PEOCgigFqgV65hNjRhOnYW6a9u_h6z-V7krsG_orpxh1qdI_9AG241CHkp457corZL0dBa1P8aWXm-9JUAJckKy5J1RCoHIDKYOFfdC_H-j5gcyFaBVDdvQbPpvMWUCaGX_leqmuOqma-GYrMpRVHHeYvfWF42TDQDJFXz7aBxe1kEQaPlJGvSrxn2lO1KYJvwpV90cAwU68mxczLKk0vKN3tsE747WMIdn5ErtkVpzLQYdcvAWzqUh_269IfexcS3Ek-mtN0h5t4AnS61nPsFjgnS7r7gNdeYDDLwXj-eEW6j2jiWtXnfWV1ny88fkqspMO1VonRx6yC9Bd8DC4b0_rObRYXXfO_dr1AQpxMg9UXUg8kctWw3adCq0rzZjKBeisIfz4Mc83eggC4CZoZATDTyWYmShiX3ZTM09krBHkjTtJiAi8ClPvBVv4PAyumb6na0iTq8ZWeKNnRarC_Hmg==",
  "id": "rs_0b343ddd9e1325b2016ab44bc21f6487d0a276427648f5c186",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.19,\"right_z\":0.16,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The target cap is now nearly on the jaw column but remains ahead of the grasp point; the bottle’s body is still visible between the open fingers. I’ll advance about 4 cm and make a small leftward correction before descending.\"}",
  "call_id": "call_o4fVbjWTEz0mSeK07Su8jEUU",
  "id": "fc_0b343ddd9e1325b2016ab44bc410c087d0ba348dff3ee58bef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o4fVbjWTEz0mSeK07Su8jEUU",
  "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]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.5037, 1.7596, 1.1908, -0.1081, 0.3927, 0.2359, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4602 right_y=0.1806 right_z=0.1439 right_yaw=0.0319 right_pitch=-0.0492 right_roll=-0.0313 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.6889, 6.5026, 1.7949, -0.0513, -0.0611, -0.0122, -0.5538, -8.9778, 8.9778, 1.8437, 0.2711, 0.1538, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8987910f3f8fde2d92f1cbdd2fd6d9d9bd3618667ef2bcf8224bdd015ae40b0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047016eea3dbc466618576f9e79dbb254c98ed2c74b4775d9b65fc105c2c3855",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66da93ad05b51b5278ff809ea544ef0e515b8394944cd3b0202362271d908753",
      "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 · 4.331 s

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

message 2 changed as sent

message 12 changed as sent

message 16 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.794, 0.6083, -0.3767, -0.0189, -0.0284, 0.9987, -0.0158, 0.7895, 0.6037, -0.3832, -0.0166, -0.0349, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0009 left_z=0.1826 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.294 right_y=0.0019 right_z=0.1804 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.5675, -1.4291, 9.7573, 1.7558, -0.0611, 0.149, -0.149, -1.0325, -1.1829, 10.4821, 1.8584, -0.0952, 0.2173, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0189, -0.0292, 0.9983, 0.4995, 1.7462, 1.1431, -0.0914, 0.3756, 0.2249, 0.9999]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4525 right_y=0.1772 right_z=0.1325 right_yaw=0.0471 right_pitch=-0.07 right_roll=-0.0384 right_gripper=0.9999\nstate[joint_eff]: [-0.1436, -1.5248, 6.3385, 1.8388, -0.0171, -0.022, -0.0171, -0.1709, -9.1009, 9.7299, 1.6288, 0.4127, 0.1832, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.5037, 1.7596, 1.1908, -0.1081, 0.3927, 0.2359, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4602 right_y=0.1806 right_z=0.1439 right_yaw=0.0319 right_pitch=-0.0492 right_roll=-0.0313 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.6889, 6.5026, 1.7949, -0.0513, -0.0611, -0.0122, -0.5538, -8.9778, 8.9778, 1.8437, 0.2711, 0.1538, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8987910f3f8fde2d92f1cbdd2fd6d9d9bd3618667ef2bcf8224bdd015ae40b0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047016eea3dbc466618576f9e79dbb254c98ed2c74b4775d9b65fc105c2c3855",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66da93ad05b51b5278ff809ea544ef0e515b8394944cd3b0202362271d908753",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvIyH3JN3QZ-2LEQ1ED7L4SpRFCp5nwPqGBujVQTLrOmUHRSm6ZTqhvaNmjuTAhaRpDWPMdaPaVXvWM3CMCrNuL6PaHXujP7Qk62SMkODHEikVrVUr7EXRRMbAdT4VIm-VUlaD2ou4TB_uyGq_PzuwkB7gSlrucB8LXRsv96JRu6KWW9p1O-Cd7NXbdsgq7L0RDgjJlWjA-QreP864ZwMfXkwCFmVMbsv_JTTSnp2XYw0-tPt28Hnust7ElWRu5_iCx4vDwSL9c3vulUfu1uyBWokA4eSOqF0iwoRuFw669ZpDBGUfm9zrs3sfaApSuLR3maE5szykkQZhSC5lH4ShtTTpFs-16huLSb3uO4Ns3vIP_yuBaJv8KIHJNauUrNF-LNFfX9bAZEPbByEYHMBB9aTReAlb3kugUETBI36Ft0_1Crt18_MTP-eIFk9cQUW0TVX9y6rwkHji0CJn9py0BLQ3GPBBZ2soaISsDHHjwyOnVuFDA6LT4atAAueWIHtgJARdkB-8jsoXbmQvtB5gZOCbHRXLslDvYOkX_dww11nbznowA4ncxtvtBVo3QdgAnGrovZkwwC0mQi9a014mJi0Tncz9tJlUXBH_Rggnwby0KFLTU9h5wVbM94v1qxaEsOCai7-iJjrcWEDraGbwphJSKZTKi5qmlQcvNLJ75R7lU7Tcoj8BbU1jd6yRlTd5354GAr_bvg-6k9vk4uEC9IKzYie0UrfpjEhq5s6dEFqzMPwTb2TvPV9ydoG-rCvXT_xjIoj40IUChfIscKIKK3N8fj9epiJVGmlqgGh66UliAIJjW-2-FZvPfQLd3g-SC1QSa97YsNntUxBsMpGMUfYv1YjkbMJA9V7wirrAuN69hJuDibkPK1D4N0FkFxx1vDaa_r-hav4KEQ2ocd0wNkNh__tjzjDDLnv21gJJXDjwIIEN9rUIWZvD3A4O9RLlusrADsM17mawGq_2gIaCqwnBVtgZ1LRBKqmqorUuoJaS_2Q8tfUEN96FEPVXjDuysw_FSjgn9a8-FnNp6iYYIrUGmDIlI6Of9Apm9oEcpv6J72gBgmCFbxeaphfZKLvFNe7t520WtKVyF3qJV05DqTyNNXwbQZR39MAu5k3hPXLfWkC3zIZVWobRyeZP0COrRRB8ln3ZFNyxGdeMG24mFGT-f9YCXVwfvsGS-4xImd1etS7zVojOhc58rFdSt2UI9FPE9mdxENIt6K9Auzk_ztWyFGaQa_w6raY7KQszUqywj9ubhlGVsMmaiVJJ3VYG4dqG5TsEbP4SS5O-j66_MoP0sYAa2lZqV1vgNLWo7Dmrd-30WfHPnzVMeYTJpR5u2UmwdTSsY86imoA5JsgfE0GN2Wx7jBuZ3Owpo8SqSItw1DzO7rDvfq-0_vJcni74x1N1rfn-s609nutInlJBtxxX6N8bbdc_SKt5pzCzmJcNk_c9ienf25u6Q7DgUJ22F4JlnNW6CAVRwjesripKca8M2e9ZnlKVSAaf1hniPtUQNZ6jWAuoPCWLpTGv2zuBTpDHjl0hf8nUto2nnE3zK37cg_Z3PBmsunKhN4k-zlZ9izV7kc9_Y_jhOIR-F4ZX3xzlGjEKKayR8e53tes1qFumOVsdzIQDmN-C5Vl2VWRHAP_3EiS28_sWl8khoXb77N7ZUZAWdRwHCjZZC9m4HX4V4UG60YyGRCjr5VWuO-fBEV_W_pJQ1lg4WG8TKan0h",
  "id": "rs_0b343ddd9e1325b2016ab44bc6487087d08d7240a599feb9b5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.19,\"right_z\":0.02,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The cap is aligned with the centre between the fingers, and the forward target is now reach-limited around x=0.46 at this height. Lowering should both bring the jaws around the cap and improve forward reach, so I’ll descend to cap height without closing.\"}",
  "call_id": "call_7jGYnVOZvzzUlC88Pz8yz3dK",
  "id": "fc_0b343ddd9e1325b2016ab44bc7941487d08f11b237440cb249",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7jGYnVOZvzzUlC88Pz8yz3dK",
  "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, 0.7952, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5037, 1.8324, 1.1484, 0.0284, 0.4007, 0.2363, 0.9999]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9983 right_x=0.47 right_y=0.1845 right_z=0.117 right_yaw=0.0256 right_pitch=-0.028 right_roll=-0.0256 right_gripper=0.9999\nstate[joint_eff]: [-0.2256, -1.388, 6.4068, 1.8046, -0.0513, -0.0611, -0.0122, -0.5402, -4.1231, 2.8513, 0.7155, 0.0562, 0.1294, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ebb7da072a667b9789bf98b2e37a8d6a303e0cb1e5043a658b95c6f62e0109",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c38978bb86051766c8f9cba28a1eaff6906f88f290e6854a85c84ce3d252358",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2de78ec7ded7abb4293d5175b75167963267e24e6d30d1a5e781663043997ed",
      "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 · 2.782 s

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

message 8 changed as sent

message 16 changed as sent

message 20 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3874, -0.0185, -0.0292, 0.9984, 0.4599, 1.6035, 0.9691, -0.0639, 0.3458, 0.2005, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1819 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4216 right_y=0.146 right_z=0.1272 right_yaw=0.0446 right_pitch=-0.0819 right_roll=-0.0422 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.5658, 6.612, 1.79, -0.0171, -0.0366, -0.0415, -0.1299, -7.7744, 9.1419, 1.8095, 0.3834, 0.2711, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.5037, 1.7596, 1.1908, -0.1081, 0.3927, 0.2359, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4602 right_y=0.1806 right_z=0.1439 right_yaw=0.0319 right_pitch=-0.0492 right_roll=-0.0313 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.6889, 6.5026, 1.7949, -0.0513, -0.0611, -0.0122, -0.5538, -8.9778, 8.9778, 1.8437, 0.2711, 0.1538, -0.0317]",
      "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, 0.7952, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5037, 1.8324, 1.1484, 0.0284, 0.4007, 0.2363, 0.9999]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9983 right_x=0.47 right_y=0.1845 right_z=0.117 right_yaw=0.0256 right_pitch=-0.028 right_roll=-0.0256 right_gripper=0.9999\nstate[joint_eff]: [-0.2256, -1.388, 6.4068, 1.8046, -0.0513, -0.0611, -0.0122, -0.5402, -4.1231, 2.8513, 0.7155, 0.0562, 0.1294, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ebb7da072a667b9789bf98b2e37a8d6a303e0cb1e5043a658b95c6f62e0109",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c38978bb86051766c8f9cba28a1eaff6906f88f290e6854a85c84ce3d252358",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2de78ec7ded7abb4293d5175b75167963267e24e6d30d1a5e781663043997ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvN0UfErOh7uGAf5lJKl7t8HcNFj7AhxIz0wu-IIrI3TGM743LAk9HcB0G9V8ELRV9Ha7mWn5FB7JKTIHvogq9WoyfSnbmNCzzBxYtjDzm170UP86ZomkIapiARM0Zpi6ydMdyHe3JWXH0xfi07elGgF35LeNrmVSgTb1z_bQ45udqDepvAR8mrlneuQwp-1SE7_iDA74Q5hLnyTX0ils0vckHQy-ujSeqI4r5DZ5yB1TgCEWWdbRafKH3TGGQjUd_YN2ZW6ckdy4OM5j5fuojpyV_9dty39RKF5ab9JRyVlKmwnVljz4vh1K_ThxwqOND2NxAOH3XeHzTp2SPHCNitg48WKXflr25Qg8pvwKsZXz5oe4o1PNA73MGH3chabx7cbbdn1TpP4FMbiyIXUI849cPyrP8Q4p5mrcQDDnhvXahpOAZ2QU3KqZB-v2c4ucZ2_DdO4O8ZyQ8YLze9I15PQRmj6A9JWj8TbPrezcRPGCsXqg9d26R7TBWNzjsfNztV1Ey90SqOqpdWLFUpBMqs_v1XmydQAvDawblTFYx8yPsAh5bOSReE71IgcRCyA5wSkiejLZqpbrelAxg-txhrnznffWifq16WQyZN8AoHBv3v2i0kT4YDl8k3NTvNO9u5mQyfwvo-rGppnQ0VMQKvMzVSP_ev4Zjul76g3_xt0wml5zyCxuDNkaITm8OHq5zOztU6D6W5F_zO_432vCMf-OJUiHjjYJgDCSSlk5orV3I08z17rKgCfKdrpYo22hKtEuD3BVdAkkgPWucNNnpRKUyopqvDp83GEWiwiZMTjKlBJ-vQ7cIvNATKrTHH8Zgjj3sPawU7xyRMP5HDJ9IHWdxc5YxcgGOSs4GCCkecMYI4zIWsi7UipSLWx3fS9UF0t_kJ1P4BZlG7Gj9xyp1ury5X7LSP2DBEZ1VfwxkgtfBn6uztG0HSrp-RT7TZdzZlezOdW6DtGkr6mmzwK-alMYLoqXej66b6joqfrIEvT0RL1K-aOm6N0AKHQRtMeelo5vUUwTOR7G51TzBzT6z92Iy3vMhvAIq20O3wJnQREtVgWGLPuIv8qGUUyH_4S9ExbscINKwrCI1pAJOE6WHsrjIpH5sjXnTTbKM1sTOb08zbycsJ3JyJNovP1_P_8JvqWAxti4tbSrXSkbp_ZrtBK1lpsnPXi7d54iHvz7trIrS4KDvHD1JclwBa_KHlqPFP4s60YtwE2RoyjxDRQD1zkebOLR9PqrglS8z5yxWoiAkcME5OPZ-jJM_YcGmHfkCiLhHUjAo6Zaf4uqdXOi3NM0VDk1sYrJRqmaPm3w-VE0Rh1FlifI0Dy1Z4sRY66nEJx34e4LmkSNLXd4tm74xltHlT1G0B1qzwYD9AbBk2NaWutQ_Wsmly3m2Hy0WpwCHGTylC3TOTG0TE0T8aX-rQZnbNfcAnr82jKqx3ROcsAF0E4oJyGbylvUZ_cCbYlsfjf-jfBgF1R_rAlX_BQvKsPTHF0MHJa07YaxIobPo4aHGmtIKCD5mFv-xN9FQo2ygEPKDqIqPvnLbFuQUzHndmdI1vWyUigD1nJoV2bTkAxb_ur9fAEr2xQsqFH8fyoYiNbYR5ogZ2RBcJyHMEEOWF8S6QLd88XwUufZ9ZDP5WivWGESXziIKLV8yi3vBkvlulLTT5UTqlH7wyzQaJ4uLUGP4Bm1iy8BJpl5ejI3md23x-lPUQ-i3RKUB3nne0qkqiBnV4oSODHZV1rp3o0yDsCeHSV_Nua7h2eKPRmv17PsBmK2tND4THOorXPQJSrgZ9xDtdFxYeqGwNUgtoKw0PB_JuShOA77ha7fW-wyHTsl7thuGiuBH0joEesyFy14SGleoP7Rr9uF5RiGexap5byWBdnevFBGfDHIq5xn6J8CzwkM-8jaOc8nEGvbSfVwPBeukwT9lEXRLkCZZifd1tPrcpv9vuINu7_oHkSyL_7pVrsmSpIAMZ95wl7NRWDyQHzTrlTEJ_IPOYloyllJxPR_oV5gRq6GTGk7QmDw4Nj64w79jnORtR02zgxmOFUhSouELwSi-7bJCYLCDlCMdYpQ==",
  "id": "rs_0b343ddd9e1325b2016ab44bca556487d0be5f85b9c4a7d2ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.19,\"right_z\":0.07,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The arm stopped high at z=0.117 rather than following the descent, indicating an awkward near-full-extension pose rather than table contact. I’ll retract several centimetres while lowering, then approach the cap again from a lower, better-conditioned posture.\"}",
  "call_id": "call_TKnDjankb4lyEyJF8xKdJHMU",
  "id": "fc_0b343ddd9e1325b2016ab44bcc612887d0a6de091530dabddc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TKnDjankb4lyEyJF8xKdJHMU",
  "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]: [-0.02, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5941, 1.8114, 0.9005, 0.2211, 0.4507, 0.2924, 0.9999]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.42 right_y=0.1952 right_z=0.0659 right_yaw=0.0452 right_pitch=-0.042 right_roll=-0.0234 right_gripper=0.9999\nstate[joint_eff]: [-0.0889, -1.4427, 6.6803, 1.8486, -0.0513, -0.0513, -0.0122, -0.5538, -8.6359, 4.9573, 1.5507, 0.442, 0.1245, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22d5006f81b72a997d9e53086e2f34ac084338736539eff8175f1a14edb35741",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb52ea53fc0b01a63fd4359afa997f6151b95b1336c6c1c6ff788a0a40ea2f22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaed2ec6d68c47edc479b66c69e1972bd440726c820e82ba478ba1d4b6640757",
      "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 · 2.882 s

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

message 12 changed as sent

message 20 changed as sent

message 24 changed as sent

message 12 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6136, -0.387, -0.0189, -0.0292, 0.9983, 0.4995, 1.7462, 1.1431, -0.0914, 0.3756, 0.2249, 0.9999]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4525 right_y=0.1772 right_z=0.1325 right_yaw=0.0471 right_pitch=-0.07 right_roll=-0.0384 right_gripper=0.9999\nstate[joint_eff]: [-0.1436, -1.5248, 6.3385, 1.8388, -0.0171, -0.022, -0.0171, -0.1709, -9.1009, 9.7299, 1.6288, 0.4127, 0.1832, -0.0317]",
      "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, 0.7952, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5037, 1.8324, 1.1484, 0.0284, 0.4007, 0.2363, 0.9999]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9983 right_x=0.47 right_y=0.1845 right_z=0.117 right_yaw=0.0256 right_pitch=-0.028 right_roll=-0.0256 right_gripper=0.9999\nstate[joint_eff]: [-0.2256, -1.388, 6.4068, 1.8046, -0.0513, -0.0611, -0.0122, -0.5402, -4.1231, 2.8513, 0.7155, 0.0562, 0.1294, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 24 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5941, 1.8114, 0.9005, 0.2211, 0.4507, 0.2924, 0.9999]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.42 right_y=0.1952 right_z=0.0659 right_yaw=0.0452 right_pitch=-0.042 right_roll=-0.0234 right_gripper=0.9999\nstate[joint_eff]: [-0.0889, -1.4427, 6.6803, 1.8486, -0.0513, -0.0513, -0.0122, -0.5538, -8.6359, 4.9573, 1.5507, 0.442, 0.1245, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22d5006f81b72a997d9e53086e2f34ac084338736539eff8175f1a14edb35741",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb52ea53fc0b01a63fd4359afa997f6151b95b1336c6c1c6ff788a0a40ea2f22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaed2ec6d68c47edc479b66c69e1972bd440726c820e82ba478ba1d4b6640757",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvQS_pDpFbTsI544dxFq_Gu7lDVyJixbKZ2SbBw9dA08GZ0QbkuY2R0OcSmOZOVKsG3wuMK0F7KCS5JY0sG75nNdq84eE1nVFNHhBymenxTeEQ_qDrU9rinndjlRwRkKpht7TL99kPKbO5nSl57KishlqdRibtgEEbnXq4SOM9dkXZq3-T32jcaWl60ShPoLpkwpWmJWVE3R7kxIiCMM1i90KJCFnIHpC2cEenIuaruqOoVcKnZCDItH9D6F7rhPm4GMyWk4BQeCETpZxFu4zrIWYHspI5FGz_J1HRt9Gqmu3bZ-xZmhzySkBcE0DYh-YwcZ-iP5yHqPbQZWRYye5xIta3rfN4Gzm-Qx6HU4HulBREZcdbH33leItaDLZqE9k9UiDr0J_dS_XV80x799PrePhoGrfqXVs5IO_5zgp-GQLpTLCGUdIktZi0dPwLZEPbSWDAHjeyhLveXWoaLlNFTj7d9tVmiPYYY-rR4plIFYsbWKcmUvJYE55TOM3eZgteimHFssunt008EoQmV6YK9w8Be1aHo32H6tBa4Gn5Bej6uS0naUwHbXC-EMURkoXZCAhLc00U65XFf1YbDem8MsRHTMoc4x4f-DLVHCchnQ2VL6a6ECWk1lRA2m8oAHtA6Vtb2mw25YvLY_-pbh1PnvhAcD2z_gBYwNq_8AfTBdU1Ry2Fvk6QMMxMLGG4OvdFXwh7GQqasuVgqK9VNh4El-4PG0k1j640W-rbCG4r2WzB3MN_rEkC7Vx4pmHZGU1_O8XPgZKvIzrnNoOm5Qd7ZkvD_N4UKdBp29rOOjoKKtso-QZLpK-WLY4Yct_Eo5y4SlhPs_ELw0BQ5mnVIWzh3Ah3jG3AwqG0mnT-1Z9oXJENWur_buoUNQd4UjnZywCQ2IkLgytdjH2qK7_1EhV54ZYrpWXl1JpHxIrdniDLNVAEaWW9xTIkVnWS7I9tM5fyne3q3-9kq6WsN4O-dc9MbjJIdf8wph827bxIhTXYYPZ-iB4F8m_X9i0eavg1xgWTxM1lFMrLKcEJxSTlim5H0b5vSr2Z567ZhHN_jcWhHMjR2mmVoNxCBG6rYnGtg9sv-PedpSx6-V8HxhlVFUMUDSqB1Y4Ef7NxIWV7Tseeho09iMg5q7jyuWgKL4gsAw2wmFApXGIGfhrsPSnca1aM8_Do2nI82asf-Af9LT02I9t6if9EkaGLKrfZEpRg_axYBhbeIjXexLl51RJuEezJNHXgi0u-dTAACh-hvFkpQka8teyByiznRZ9RwQMlrwcHxhMaBzg0yMqGG9aRzbgbqSHfga09fNSLKzUQGVyPmQzKVcFzJv9MP5PijDfr2i3rPiktFMRq0d4E_vgIVTCtMrz4pqAvzKYNrzO7JQXxGSZh-zNQB64cEPbwYb0cW4dXvJpqq2HAXNpGmwiCCUtMLLA==",
  "id": "rs_0b343ddd9e1325b2016ab44bcefddc87d0b296fc39ca0b2331",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.19,\"right_z\":0.025,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"After retracting, the arm reached the intended low posture; the right bottle’s cap is precisely on the jaw column in the wrist view. I’ll now advance low so the open jaws surround the cap at roughly its mid-height.\"}",
  "call_id": "call_m7bgPL452ncaTWTaKxiDmAZA",
  "id": "fc_0b343ddd9e1325b2016ab44bcfc32487d0aaeafcc256cdfc16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m7bgPL452ncaTWTaKxiDmAZA",
  "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, 0.7963, 0.6132, -0.3866, -0.0185, -0.0292, 0.9983, 0.5175, 2.0361, 1.0103, 0.3729, 0.4297, 0.2569, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0072 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4693 right_y=0.1866 right_z=0.0296 right_yaw=0.005 right_pitch=-0.017 right_roll=-0.0228 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.6752, 6.3795, 1.8046, -0.0415, -0.0806, -0.0122, -0.4581, -7.9658, 6.188, 1.6825, 0.0708, 0.105, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7528bf3446de7e387b8e6450231ba82492f84f9332aa7a7708f1ce55a946d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f956ed2ca2fb609471cbcf28a30473bf8b45399305c0e8861d9bdfd39c232f37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b82de77bd81a23e63f0893870b09a327bbf1aab4c6f9d3f48c94794a602c1b0",
      "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 · 6.477 s

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

message 16 changed as sent

message 24 changed as sent

message 28 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.5037, 1.7596, 1.1908, -0.1081, 0.3927, 0.2359, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4602 right_y=0.1806 right_z=0.1439 right_yaw=0.0319 right_pitch=-0.0492 right_roll=-0.0313 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.6889, 6.5026, 1.7949, -0.0513, -0.0611, -0.0122, -0.5538, -8.9778, 8.9778, 1.8437, 0.2711, 0.1538, -0.0317]",
      "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, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5941, 1.8114, 0.9005, 0.2211, 0.4507, 0.2924, 0.9999]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.42 right_y=0.1952 right_z=0.0659 right_yaw=0.0452 right_pitch=-0.042 right_roll=-0.0234 right_gripper=0.9999\nstate[joint_eff]: [-0.0889, -1.4427, 6.6803, 1.8486, -0.0513, -0.0513, -0.0122, -0.5538, -8.6359, 4.9573, 1.5507, 0.442, 0.1245, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0185, -0.0292, 0.9983, 0.5175, 2.0361, 1.0103, 0.3729, 0.4297, 0.2569, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0072 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4693 right_y=0.1866 right_z=0.0296 right_yaw=0.005 right_pitch=-0.017 right_roll=-0.0228 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.6752, 6.3795, 1.8046, -0.0415, -0.0806, -0.0122, -0.4581, -7.9658, 6.188, 1.6825, 0.0708, 0.105, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7528bf3446de7e387b8e6450231ba82492f84f9332aa7a7708f1ce55a946d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f956ed2ca2fb609471cbcf28a30473bf8b45399305c0e8861d9bdfd39c232f37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b82de77bd81a23e63f0893870b09a327bbf1aab4c6f9d3f48c94794a602c1b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvUxW0aREC5GkHACDRnJUj3QdaWWDNoV0jWR3jjTWtDUsiYZzepNVIZ1BPasbuVSpi6WR8azwAj1S1yVX8wYlXKl0wiJ8OqbPZccHZ3SEFo1xNyluML0txJYYvzqfZF7FWy8AUgeaXSxX89oYKkgifCNVBxbBXiVk__h-VicXHw3bI5qtQ90LOl6HlrISIV9HMk5WFYLg-lyLriV1IzNO4sVCej_4yu4K7gdzqbGPBWa0wF1SWcHSY-2FBCpAOSDBDfBf-lw9ivVB7NDHuypyE-nbPloAIXYUxndWyPT2IiZa1NhvfMJOKS5vuiLpq5FIeu5alnO9PgbfacFTFUpZWte-xcC812YAi2WeWuheN1uuTu_NUzmjT1WpyB7nbBVDPmUxsQHLVvHmYtFd6q0ixnwoas7OtSp6ViCPL1ieUFxI23uAH9vsTnKXSm6_n9_c1wvTNvHuG4-_ozZQLF5AdmaICc_1KBCDjJJbeCsADUEEcHo5d_664FYzHNjcHsGK62mKo7lA6oigCSjl68CIe5jyXxQh2VV0g97eDDYjTt8hP5_EbDACwYhA022X4-ENFwWJIgqObliohd9Ga69mBAOYuVNQqhkZXuWHHI1J-fyI6KRje5XhhAOwlcyWNHMsrz24oT5UciP-cE5apDC3gvWGg6KxKFNimtmAg1t1rA84onOAF6C_AHl6fm2kDIKCZkL3_KeZhYpFn7RJ5ztE-1tt5rWiNX1qXl9N_dL9gadFJxmLiEE6hm-JVQCbhY0EA3o1AD-6BlkyIhdU_ZZh7CsfXwclzBIqTqZO_d0C0HzuvVGh4NwFQekDyzYC1uSNvEqe_oSeoHYlkEO37nUPU13eRQdSDTQ5Y4L_ptEtuf3rnIVRqvjVV-A7r6oeBh3SIlXz4hlYGZtSI0RlxXQlZ2kioQky-TB2es6sLZS9l5-CXmDEpJMuCQt2x6PQMUfoYs5tVYhyItIBRd3xFgBfTTVe_h3OEAm1QICwbBEzz42ijFbC8WOmgpEOiBgm-Y8HmlyFRSQ6q5CRMRnm6vaZc0HrTr1s-8G8DUym5cjdMSUej_WYEAFmBVQsb0st9CtE4_ehWaYUuJcH3dh59H2kVsnimxxF0L6LujAvzdsESvrYhbMcTmIDCxHhrY2S_CPr_KPh1e_N8QaFCbx2ulLQZnOAEC-33R9KdL7J_fjnl9AUQr-QMfWny8lAyi6Z-Zdmn3ZRzYx0yQ8rxDl_ycAqsHve-jzbuUtmL_RmFb3x4EfnfdxzgDNQn1WJ_fe0-g927L4LfpnomGFGUP75YfvMRiWSxmRGp14hTdmiY_jAHyAsBv9CrStz-2NEjhlBxc5os-Fv1yuMQFT7T0NBBkW_5gI8FbXA2PAJit0LPlj4ugc_GmuOVXSBx4oXT9KCgDNf1545rsDIt1N3bmOuu_RxdHHWk9GBHdFM_041R_EteHVMh7-bNc38TTKufwjOUXPC8JH3BHOigWqM4RvTOhnZPKZOzVmBVwqgSJtIGgKohRGG7axaPd3p39Etzbor5qB6qWXus5MKeXKAGO6jxyZ831Qfi0d3__oDQut0WILq5qGuHdEzF75HC9HCJhAxrISTVVPlujRW6OE5a7XmpV38SjF3eMSGzSYSUyl1Mxdafxyu0XtmgVZG6uphoI2jq89N-gGYAotbDf8NJMP5fujdIooLp1jbKBHImORRkMse7k0-SrfgIajUfeHxWRIjnwSC7qIS0S-tdxTW_A38NMtuUcNQc9S2jKtQpOv3EFkqfDLicMomKOv9F46DEYneJw0EVC",
  "id": "rs_0b343ddd9e1325b2016ab44bd2229c87d093c36dc1dce5ffe1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.19,\"right_z\":0.02,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The low approach is aligned, but the cap is still just ahead of the fingertip grasp point. I’ll use the remaining 2 cm of practical table-level reach and lower slightly so the cap lies between the jaws.\"}",
  "call_id": "call_tV14hf6YkbJZ2zZADODlbZ8z",
  "id": "fc_0b343ddd9e1325b2016ab44bd3543c87d098c050b761db24b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tV14hf6YkbJZ2zZADODlbZ8z",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0193, -0.0292, 0.9983, 0.5133, 2.075, 1.0458, 0.4004, 0.4141, 0.2535, 0.9999]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4799 right_y=0.193 right_z=0.0279 right_yaw=0.0153 right_pitch=-0.0005 right_roll=-0.0058 right_gripper=0.9999\nstate[joint_eff]: [-0.3897, -1.6615, 6.5709, 1.8193, -0.0122, -0.0611, -0.0122, -1.3333, -7.241, 7.5556, 1.6532, 0.0659, -0.0317, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eae9eba4b022cb13e1107e927589576c3b84a1d029ab374b08759f18dfdf299",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ecc85b62e0f96e16916abf798bc387a04d1002d175767e5b09a071cbe0d0bc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef0e7e3c05d5275775537bd7c463939bb50b45ce0307f433bc65d9bbab53e7e0",
      "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 · 4.358 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, 0.7952, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5037, 1.8324, 1.1484, 0.0284, 0.4007, 0.2363, 0.9999]\nstate[eef_state]: left_x=0.295 left_y=0.001 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9983 right_x=0.47 right_y=0.1845 right_z=0.117 right_yaw=0.0256 right_pitch=-0.028 right_roll=-0.0256 right_gripper=0.9999\nstate[joint_eff]: [-0.2256, -1.388, 6.4068, 1.8046, -0.0513, -0.0611, -0.0122, -0.5402, -4.1231, 2.8513, 0.7155, 0.0562, 0.1294, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0185, -0.0292, 0.9983, 0.5175, 2.0361, 1.0103, 0.3729, 0.4297, 0.2569, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0072 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4693 right_y=0.1866 right_z=0.0296 right_yaw=0.005 right_pitch=-0.017 right_roll=-0.0228 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.6752, 6.3795, 1.8046, -0.0415, -0.0806, -0.0122, -0.4581, -7.9658, 6.188, 1.6825, 0.0708, 0.105, -0.0317]",
      "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, 0.7963, 0.6132, -0.3866, -0.0193, -0.0292, 0.9983, 0.5133, 2.075, 1.0458, 0.4004, 0.4141, 0.2535, 0.9999]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4799 right_y=0.193 right_z=0.0279 right_yaw=0.0153 right_pitch=-0.0005 right_roll=-0.0058 right_gripper=0.9999\nstate[joint_eff]: [-0.3897, -1.6615, 6.5709, 1.8193, -0.0122, -0.0611, -0.0122, -1.3333, -7.241, 7.5556, 1.6532, 0.0659, -0.0317, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eae9eba4b022cb13e1107e927589576c3b84a1d029ab374b08759f18dfdf299",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ecc85b62e0f96e16916abf798bc387a04d1002d175767e5b09a071cbe0d0bc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef0e7e3c05d5275775537bd7c463939bb50b45ce0307f433bc65d9bbab53e7e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvao0HcJqwAxdDxeTEDR5Z3wna2hfTQjRXsBdJtDoV1FlPg4jJcTVR3VKPKMOt1CoL70TLFQ4ELo1vGeiw0FPa2JbhtkVa_ZlBTCVTGwHoPHDZTPreBwm99IcYR0Dho7eLpkUR3TZ35aSdNtJSvQWH77NxbIsD82L3ONzUxQGfONoFsmGNNQ7lXmuJlt4t4bMvEM-Q2GERVQU2v_sr1jbAOEdFm37LXo8_gV2BprnXroJbNXlyDq1nBvwubTDGuKmPnOAdl-gmlddLY007P86Cf9t70m6RU8nM5ezL7ysgqbkZA_CvND5rKIUuBV_fSRYafQ8ilASTSbQ20toEKLygBWBuonHqH3LhP68COJaBOJQirHvhaXDWpEDnEmQdMwCBmxHcdKHG7n-KaXRp2HmJVVSu647ZNbCSMqonqCLOC5g0xhGbolndGUT5qY99UvMYRr2bRWCQqNonPf4i8rmuzAciPJEzaRumyeAKymT3vJm40jjoZQt5g60chMP3edw_z1QCCkvU9O1GgSZ9Cq8llBROLpncBD-V4YVA-y1FU6Yh-Ih2DpN39SejhzYa97ESMohzD98tLUi6e4pOsITvtDVyNNt80BLIXr9MKRvb7lW6Z0EDGXLMKM_AQAlUXHOC9slj3XNMYLZzZnIMvWjxEK39HoLjC1NWmCAc_fcUF31OWwUs_WhAwxB6CiSrVLT2Z9mIUlvatZhRMs3B7gi5SeHzmFh68nXVHrvzPsW9rO2kxCG3VkMWU7WFy4ynwEqt85ZoZqkXpMGFZK9YAnkBCSCtA9V1TpvuXlvWgKrFoP4oSHMNS2Ctsb-qojXBzNlKwcr1KPNMJpsffu0OV3yBC6HBzoTyYRm3NmmTCHkuWzYafYauwedF5OjD1IcO8UO2zKHRMEDss2UrIHGUquqvoAP7tq-g3YoG5HkotbuZ5cFaI7o-nyrnGlyCIJx17tcgU-qqQ6zwmrSF3VbPic8fjhcczAGUjvQITW8IGjzTKSrUiIFH9d_6VAf-WKdcLlbao3rW5-RFBrj28zchVAE654q00nyoCdlZJELrdpxhcwYJGZSdS3f78EbDf3f6xAOSlYR_fnP4MC2h9blYRDw1LqfE9Ypd0BP7ZRDpacSgGT07vm5NMmkh6K29dWLJow2KRnSVEr2t_yKx3MJEFLKD7ICio0D2PFPFqoyNo7ubiiKElvjxQS2lay8vRBDXFswiZyTTm00vLmQ4n7r-6iplWmtOI1JVNMwrWP50WbKU1wD5rb9jl4o25oZUubAWmEhMb5xFN1ADwkls8gDST3bs9sQDe-Dh472sHyZlfmi85_P16PA5a4yyQluz_TFCNgBc_6yx2Ke82D9UfiuLgJU3nRLEL6R3E3DvdVbiCvmDNi7FGHsiP3vHBB-vT6INfmK20ao_PZ3NnbUy23X_QygKbJW2N3rBVSUn-l4z__t0z6wkrB9wslhNpotRbN5wxfdd6pFOYoFGy_Us4fFamaNovuDtw_GKUdlG58O5cqPUF_2XXLj3I0juGsBwWqMAwyI-haOBQRCvoa-XwdHX1sStIRD7Nwjii6FT9gjuPIqbLT1yj7j4yxQV3lIyoGEi8kn4kfIGyTyBRMhMRdAA4PQUA1BVNFnowttDqP9woD8PjJIse14GYIdRDCQGU1G0peXySrWXphHEXczveimaLsB7R2q0iKm5IgzP64hX_seqwS7bEJlteE9g99gUKePgNyKW0xqCTSQpefRFu-_MZeqEhxooFgoPq6-w570xyBOz2kPBgRcNNVfh0cTcZVrctedFU8dydwAQSSJvipaxDPNy0xbnffGwUwcP8SaEmkq5L07-_QXgozVH65FAi6zwW1okpZB-WG30xpwiB5whWIlGVTkAvaMKxeukN0cgVr95rnkHpbCw2yCtWIxSujLQJdTFErbw0Z-2u6P4pzKpLKpfAgm47aYKM5QEE18N6GtE6lYdNg9fPMao-CDIKfTmpimBC3N10gS3RcSOO4gbopGHwxvHjoF_NktxyUkghobbyDkB1_BHy1HW6Rqd32wPEW0_0f9UznI4dxJrYs7gZQmtiYcmzfuEQwo6G6xTKRQP2SxhYehzgTB9TVwUSfZEWi4PwL8XCeRrzK5DF2As3UkH0ilLNxJAB1y-SAHkUyK-oLspHcVl6kYfmn1zVbAesGptxtpP159SVtfQ63GhN2c5c3YF7CFJzX5kourqN8DrG7BmAVo9zYXom69KrGepdQM71YhEOBEIHFk2C9JVzrEyXg8cllD2SwlniQRwkYuIWLd6JDJRfTkJImJM8zsUpvWoNzvrD81W5nfKTAmgV8hi4nEwurMGzQ1Mzgc65geV88NIRShp7tfdjeyrLc1z713fvIyjQHvHFoGztbJ9TUAGyeoG5B8NszI3rWovFdtOLHg1P7nuJ3XHq6KVcC80e3ESaa13oe4A-DaXTypv29DPQ_CUyf62uYZXXJiJhWvn5ZSpV9tIq9NwDRCGPnIAmZB-VlqFwPiq5bRq2exVdCp1RwaQGNn8iaPS5iAgc-tVNoBkdW-JdQbv4fryjFcTPC00llXNrhGGKPycFQEaJDjs8oQjcE1yFIA7Q9H1Zz1cn-jfFkxC3-6oK4aUYrDueUjl-LOyTL_BIIuvWLdyA43bdSUqB3L7mxZgNcTIOiWM721dAy4gLQf-5gNVTIKnlHITaJQxiSjRx7uz3N31UMOWKza-PMe1CvHqKv9B4DpNr5Wb1O1Uc_8gkkxwg_HOtLYL6-6dWffG7QpDUDTUAzeQHx3Y9NL7F12tVGw_lFqr1XnTTL7kUtLGrFGfoDTPikMOA2icjDGI69hS0HvQDvCb8JVq-41Z7uMZK2oTxDpSrOJhvyzaN9GZEWclkhaakzHjhFHwtEZYDSZllcuHpJrw1ofiQDME9ebgpTTU7JsJoBtcA0_ALHA-yiKSfiABIblG6KZP1Srw5kF8MxXbeZHnI0Q==",
  "id": "rs_0b343ddd9e1325b2016ab44bd6268087d09bb94cf4524d91df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cap itself lies just beyond comfortable table-level reach, but the open jaws are now straddling the upper body/neck immediately behind it. I’ll grasp there; this still leaves enough bottle length below the grasp to pivot the base onto the table.\"}",
  "call_id": "call_lIwkTFwOduGLVOzEIWzxaDLE",
  "id": "fc_0b343ddd9e1325b2016ab44bda03d087d094c240f14f025494",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lIwkTFwOduGLVOzEIWzxaDLE",
  "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, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5095, 2.0872, 1.076, 0.4843, 0.3927, 0.2527, 0.3883]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4966 right_y=0.2041 right_z=0.0486 right_yaw=0.0274 right_pitch=0.0839 right_roll=0.0518 right_gripper=0.3883\nstate[joint_eff]: [-0.0479, -1.6205, 6.694, 1.8193, -0.0464, -0.0464, -0.0122, -1.2103, -8.253, 6.2427, 1.0379, 0.2369, -0.0122, 0.5348]\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,$blob:4ffb7f898f65bab187a8d2e6d6967fdcab24b3fcc6e725707d999be9bac72e5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da42c6eab85c822af2c147e4c16d6ffc407945f1f0d30d6229889b30db9c4c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02686e9557c91630474f2e429010e992001e5a7a59cda54a5a8cc42a46b07eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 4.946 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, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5941, 1.8114, 0.9005, 0.2211, 0.4507, 0.2924, 0.9999]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.42 right_y=0.1952 right_z=0.0659 right_yaw=0.0452 right_pitch=-0.042 right_roll=-0.0234 right_gripper=0.9999\nstate[joint_eff]: [-0.0889, -1.4427, 6.6803, 1.8486, -0.0513, -0.0513, -0.0122, -0.5538, -8.6359, 4.9573, 1.5507, 0.442, 0.1245, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3866, -0.0193, -0.0292, 0.9983, 0.5133, 2.075, 1.0458, 0.4004, 0.4141, 0.2535, 0.9999]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4799 right_y=0.193 right_z=0.0279 right_yaw=0.0153 right_pitch=-0.0005 right_roll=-0.0058 right_gripper=0.9999\nstate[joint_eff]: [-0.3897, -1.6615, 6.5709, 1.8193, -0.0122, -0.0611, -0.0122, -1.3333, -7.241, 7.5556, 1.6532, 0.0659, -0.0317, -0.0317]",
      "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, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5095, 2.0872, 1.076, 0.4843, 0.3927, 0.2527, 0.3883]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4966 right_y=0.2041 right_z=0.0486 right_yaw=0.0274 right_pitch=0.0839 right_roll=0.0518 right_gripper=0.3883\nstate[joint_eff]: [-0.0479, -1.6205, 6.694, 1.8193, -0.0464, -0.0464, -0.0122, -1.2103, -8.253, 6.2427, 1.0379, 0.2369, -0.0122, 0.5348]\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,$blob:4ffb7f898f65bab187a8d2e6d6967fdcab24b3fcc6e725707d999be9bac72e5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da42c6eab85c822af2c147e4c16d6ffc407945f1f0d30d6229889b30db9c4c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02686e9557c91630474f2e429010e992001e5a7a59cda54a5a8cc42a46b07eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvfW2MfoSsZ2NlcS-QCdIIuN1fDG5QtHsnInwm7JFJQoSAdClaspNa41Ifnt5biAJy9eU4dXTlXaS3VZiugcvOKMD4aWQdCSJxL1ul6zcbClpnQ2odNc3SFI56l1TmRfcu754WkihjYM_Jg0woEXqqgJE2-Lo92gl52VnXWQlHvtBdxDWIdXFNql5re1yrm0br8LGGMFOOVkbjcGh5R21yR629P5GXTVskrA7WS9kTegaUVj6s2HeWwDrnIjtjrvwy6JCCdX412ZzFZP8w0XyAXJ_ZItgDxsnaDzJOZVLQSAuSAhqraX6Z19jqcsBifgOObozH7MiTMse3jdOmlVsNqb6a3O25nnXU5LkIqCsjrZVCVljmMnQWPWaWFOWA-cKNBc4FhSUPpuJR3AvfaFxmdcWRBkVztapg0XfVk8YxFxJtAph8_Yg9sd2Z8mUo8HtSmAxBS6IR4Sa9JGp_MUZaUUoDBy4PwZjumsu0Zl7P3xts9VFtudFAnNoB8kCt5xmVzQrKheFSP9tvEzcqxZHofbK0En7I107F3objv_uqZb-qyPJTqghoehqvoNBUE97V3ne1pIIPyVry_xC0fdIO1syUYNE3_CTMOe32DYxe4Pbw-kUfzwUUKTFhLnvf5qn24RqROzrtcznAF2cbvZwDxqOTw3tIo1cRy2lgYX1OqlTQaFqQ5S_9apUAxNVvTg7qWzLXMpjDcx0CTyM3ocH7pIxec8ncmJqzL-Ui-uJGRLX5vxfEgj5qf8JxYmuVGOZo6AcmmOVeb6oUIyfbKxUkJk9dGT2u298kzb8i8LPDnNL0a5UCvfehVU1HiZh4Q3VyMag6Yx8EOmDKjppLDG39aWXiCIw--FvpKzVy-HvCqMTbXPnGKxgqAR9dh5e-oNX1pt_tqC0sgELbI39q7KPuuiipKL1x6m7NwA3-qzyGRiNSTp_1BKWIiPo5ScJvCwW9tbHcnMPqvQOAG5kF4N9l4JP1-ss_kV5FwPazoN0yYOTIFQzBUwyjSdCxULMFhBYmFFLx8xEWa3_1ChKFxFhC8x1h0KakjKEbrrJ_DhRtnhzl78SoCIF7BG7QUJqmfjT90nL_iE5ihQXkEFnbQJQlKMcCx_dbjpmgSzpQa_C-Kx0c1xwnBzqsdjnxA-EPs8fUmZqAp0kyIyVNWlp3urPM-6cOIi6-cg1TVaTf240Qmy381imkoerHo9m8cFs0b91cIk3Tlfo_8QE-1qQfOfDoy1lbRZRVF5RXHUQiXlKFLbtQCr05sqGtPN6N43HnY0IPnEXGbs2ZoURhE2R75DPumbdej6kk4RPVmlYcweScUMWdxw7oLnVxKMPd-oaDlccqkZnqIKfyBfsozaTEfPQSQE6YVZ3hg6p5UNHxdYDHT5trNquAFixFjxVzgnEDFa-tvacNzpqmrBJundQNSnZskfEmCQ7vnCc5_rs-49jNIwK8kbu6bxsv_9NLpskfSPy2DWjqGLjHgANsv1gJHUEtHoOzDpfTAK2TvaP9ItMc83hTi0GIz2UNXHP5pxiB0SjadgDFTFBqHcB8dw6pwue2waz2KgBqnKIryn4L2uNWt4k5Jz95u43tMJXYBTT2iWSxng8PZ8UXh1PnQ_rQ4GZSbbTY12dF9ClmmDz4fq5esoZY07lCRsFM8ItDPowcbRE5w0mysTjZL9FVPUY5OihmDX7Lrjj19zymP7avIw9UjncQ-My6og0OGSs1GVmQ99J0vF86VTFjm6GJ3BOc-qAdBRdNpjs_kWSb1lyqgRfnmDKwhuZy5zrMx5pQokWP_X_iU9R0mxVcB2CVAR_F8Emd1uvDLAOzEvwSe2ForAxEQLpTXJT4sFz-bCMArVZ3eHlDpPrfIujW0AbODC4iBIYYotG789Lp3n5Ji1cxI584C8Xhn6YV3wPsVI1tbPmlw6X9CH_nYxnda6-pSFsrx9BG58aC0x2q4i_IsO2sGwAfAfMTN0720Ck6-GALKSz2yPgzUwu_bAYAurMPCyAUrzTHea-enunSavxoas5mUTnrXcx306kXFt_91AvE_2fC-TF0ld0Qcm73zTFFSZJJhQWQKZ_PxFoDQ-Rdur13vcmSYtJ8dilwUGKCHprfwwS8wgqtb",
  "id": "rs_0b343ddd9e1325b2016ab44bdc8d3887d093bb8e95a3e2dd53",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.2,\"right_z\":0.09,\"right_yaw\":0,\"right_gripper\":0},\"note\":\"The gripper settled at 0.39, confirming a firm grasp around the bottle’s neck/upper body. I’ll begin the pivot with a short inward-and-upward arc, keeping the bottle’s bottom in contact with the tabletop.\"}",
  "call_id": "call_6YBzXXhVAWm9ACr4O4MmpB54",
  "id": "fc_0b343ddd9e1325b2016ab44bdee18487d0a48be7359f4e83b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6YBzXXhVAWm9ACr4O4MmpB54",
  "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]: [-0.02, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.5446, 1.9545, 1.1042, 0.2352, 0.4232, 0.2684, 0.0146]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4758 right_y=0.2075 right_z=0.0791 right_yaw=0.0311 right_pitch=0.014 right_roll=0.0088 right_gripper=0.0146\nstate[joint_eff]: [-0.2803, -1.2786, 6.5709, 1.8291, -0.0562, -0.0464, -0.0122, -0.0068, -12.5333, 6.5436, 1.8926, 0.4322, 0.1148, 1.0525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff02a7bb3e911adabd4e49717f820c14ff8484435021acb9aa9bd07e1653f0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3a77a13f93bc4ee435187dda57b33c6fae492f15d015b73b453de7ed1665bad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64658f9e4cda87aa67383413ee17df4fb4be790986a1299aa156679d66cff9cb",
      "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 · 2.857 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, 0.7963, 0.6132, -0.3866, -0.0185, -0.0292, 0.9983, 0.5175, 2.0361, 1.0103, 0.3729, 0.4297, 0.2569, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1822 left_yaw=0.0005 left_pitch=-0.0072 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4693 right_y=0.1866 right_z=0.0296 right_yaw=0.005 right_pitch=-0.017 right_roll=-0.0228 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.6752, 6.3795, 1.8046, -0.0415, -0.0806, -0.0122, -0.4581, -7.9658, 6.188, 1.6825, 0.0708, 0.105, -0.0317]",
      "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, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5095, 2.0872, 1.076, 0.4843, 0.3927, 0.2527, 0.3883]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4966 right_y=0.2041 right_z=0.0486 right_yaw=0.0274 right_pitch=0.0839 right_roll=0.0518 right_gripper=0.3883\nstate[joint_eff]: [-0.0479, -1.6205, 6.694, 1.8193, -0.0464, -0.0464, -0.0122, -1.2103, -8.253, 6.2427, 1.0379, 0.2369, -0.0122, 0.5348]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.5446, 1.9545, 1.1042, 0.2352, 0.4232, 0.2684, 0.0146]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4758 right_y=0.2075 right_z=0.0791 right_yaw=0.0311 right_pitch=0.014 right_roll=0.0088 right_gripper=0.0146\nstate[joint_eff]: [-0.2803, -1.2786, 6.5709, 1.8291, -0.0562, -0.0464, -0.0122, -0.0068, -12.5333, 6.5436, 1.8926, 0.4322, 0.1148, 1.0525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff02a7bb3e911adabd4e49717f820c14ff8484435021acb9aa9bd07e1653f0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3a77a13f93bc4ee435187dda57b33c6fae492f15d015b73b453de7ed1665bad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64658f9e4cda87aa67383413ee17df4fb4be790986a1299aa156679d66cff9cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0b343ddd9e1325b2016ab44be1fe1487d095647abb4dedc5c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The gripper reading dropped to 0.015 during the first arc, so the smooth bottle slipped from the fully closing jaws. It remains aligned beneath the right arm; I’ll reopen and regrasp the wider body with a diameter-limited closure rather than squeezing all the way.\"}",
  "call_id": "call_RpcG1ihgHHKsw4KVZQCcMoyX",
  "id": "fc_0b343ddd9e1325b2016ab44be426f887d0a62754161a76ad4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RpcG1ihgHHKsw4KVZQCcMoyX",
  "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, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5488, 1.9438, 1.1042, 0.165, 0.4179, 0.2581, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4667 right_y=0.2055 right_z=0.0711 right_yaw=0.0448 right_pitch=-0.0396 right_roll=-0.026 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -1.5795, 6.4068, 1.8095, -0.0611, -0.0415, -0.0122, -0.5128, -8.9641, 7.4872, 1.9023, 0.1343, 0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8302fc01b6ce35c2d12cfcdb5c783143c4756a9322d01f92a6d587c646158e2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ea9dac65dce32889f635f1886ea2e65c35d70dc6c1fd0ba18e503a23aef5af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dea6f64c2d2946f5b25ccf80dae75435ea5119700d3297056ca92041cf055a2d",
      "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 · 2.483 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, 0.7963, 0.6132, -0.3866, -0.0193, -0.0292, 0.9983, 0.5133, 2.075, 1.0458, 0.4004, 0.4141, 0.2535, 0.9999]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4799 right_y=0.193 right_z=0.0279 right_yaw=0.0153 right_pitch=-0.0005 right_roll=-0.0058 right_gripper=0.9999\nstate[joint_eff]: [-0.3897, -1.6615, 6.5709, 1.8193, -0.0122, -0.0611, -0.0122, -1.3333, -7.241, 7.5556, 1.6532, 0.0659, -0.0317, -0.0317]",
      "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, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.5446, 1.9545, 1.1042, 0.2352, 0.4232, 0.2684, 0.0146]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4758 right_y=0.2075 right_z=0.0791 right_yaw=0.0311 right_pitch=0.014 right_roll=0.0088 right_gripper=0.0146\nstate[joint_eff]: [-0.2803, -1.2786, 6.5709, 1.8291, -0.0562, -0.0464, -0.0122, -0.0068, -12.5333, 6.5436, 1.8926, 0.4322, 0.1148, 1.0525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5488, 1.9438, 1.1042, 0.165, 0.4179, 0.2581, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4667 right_y=0.2055 right_z=0.0711 right_yaw=0.0448 right_pitch=-0.0396 right_roll=-0.026 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -1.5795, 6.4068, 1.8095, -0.0611, -0.0415, -0.0122, -0.5128, -8.9641, 7.4872, 1.9023, 0.1343, 0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8302fc01b6ce35c2d12cfcdb5c783143c4756a9322d01f92a6d587c646158e2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ea9dac65dce32889f635f1886ea2e65c35d70dc6c1fd0ba18e503a23aef5af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dea6f64c2d2946f5b25ccf80dae75435ea5119700d3297056ca92041cf055a2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvodNHKdYd8PrOjt8fBSemlJmaE49HohuqnPmODoYJK-5ypibnh_hKTm8MA31fnsx_ImtV-Aael8koG4wrNT9RddZ5KbKVfmdrnUUuZnYv4R0ysygczANDQS-a3QPAV7__ISUby4KbalgHUGSu8DBkuoutHOizXX-YstQbLQpVUEdkby9eMZ3VcSwyZnbalDfU7zOEvXeuj5NoYplBXe3-BB9vZgtPzaJfbFKQPoi7VY_SXdWLqKgvk6G7xZxCjQeIiXAFBL_UNIIZKEH4cauNWdVbUHTKkB-eLYr_YBkkzc086HY4kXLkMxn_2w664ucIWKKG_ttXSusWCPahjVAbeBxSAZ9N3L6xunmuYpp-OnhJ6_MWQtmgTUsZ7l7CWM9cUO4OEckrqw2w9BEoKHAarkVWyEdoDeEDqAN9sLvwUJsoLayXvKJyOijWXw3UGDbiITVUGZ5m65Iw4xYhUXPec312jHL-WLvNfhWkN5AbOgFJ5MBA4XVdC3OcO-Z4soGTzsf_-Ksc8ajnV8wFHv_9cu4LyyTZhnVSuol1pl_Z9Pq92H4UOmAy_JurFMPoWh2DtISYkk4uDjhked0WAxF_lU8bqgskgr3bGJqLo7mSe2C1Q7nbReHlNOnRaNYCsy-BVxt22zjuPqsGXJWrfnb2hS3hTklDhZDY4wykIT78S9VTYxAPRvB-GpAMsgoDwyhw9lc4zkKd8QbOpOq_aZ_Hu4GdzSLSLV7hRTavXkyiFQif_1UwIyeAA1yPFtB53mgTKcMTC2GVZ3A2sxNCEDREs7Xb85-sZE7B7Jd3XJLtEoUx37A-weaymvbU0EvWgTOIXtD4WzBNUTz7kFjC7RhArZGXAlgw9CwCMqDjDeVxFZwcMZGkTNqhpadn_8uJkkXVwwOEDTuG96t58zTiSvd51Wuh-k7V0diZppOIn_m0g8mWpXDUyjWHu_-_2BNqpibNzPh2XUtftFpI-W-PbkP3EeRqMpmRyybUR0mNTaveR3YtvbuEniHZFliLlWT1j_df8dRLN3lzQaBet17NP317KWLC0uVOaDVN-5tAFnu_-u0oGfK-eED6z5zSC1V9f5Ruba2aEVu8Jyb0KFgHAOy1agZjP6u9Undf12FycN6Wn_wX9YTs7kFlBDson-jWZcVgKUD_8vAR2CHyy1lDeJWjigoeICHriCQNDOhqInDszNHLY1QZpVIPj2nnsf6kfMyENCV5OOrui6LCx1b0JGY9Iwtt7O6JQMAK4BeUUZ4MHFMo9cbOsU8Fxne-EHaFvqUloXpGZr0BG40f-oohPxo3Gr8hcNLkQx75zQgURrNuUGGQCiF2Z2PAao-a08KITSWc4rhSRnLwK8Rb6uMwsaRgC9V_TeMoEZcdDNugO_KUvKDG2zIBPyicmHtiy7NcZZnDP8EPQSmgpdrWfTqkcGUatB1dVJmVaMvZ3QaNLorU74iJx1kdaP5GTdGaITbZXpHZH3MVt0baKQnmZmqSQpBlMaE_qBxUTqtZ2ZMky6Cw1dMZONZjcERh8c5JZ98ikZ46luFpY-QniD6E9yZ-kBdrF0-f1ZbOHS7djgX4xzNc7yWAUgWMPyky9y2L4eP_5iMZsoqpvzbOptk6IQ2XX7N5vkZqvK7u5ulhj4bVMTxMRvZg=",
  "id": "rs_0b343ddd9e1325b2016ab44be7340887d093bc469d069f4f87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.205,\"right_z\":0.03,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"With the jaws open, the bottle’s broad cylindrical body is centred between them in the wrist view. I’ll descend in place to put the fingers around the body rather than the narrower neck.\"}",
  "call_id": "call_EEhcbXrSPYeDqsIskrDEUWJw",
  "id": "fc_0b343ddd9e1325b2016ab44be814a887d0925a37e0d2d10cb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EEhcbXrSPYeDqsIskrDEUWJw",
  "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, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.556, 2.0182, 1.0405, 0.308, 0.44, 0.2783, 0.9997]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4636 right_y=0.2037 right_z=0.0378 right_yaw=0.0235 right_pitch=-0.0282 right_roll=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -1.7026, 6.3795, 1.7998, -0.0317, -0.0464, -0.0122, 0.6632, -9.3333, 5.2991, 1.7998, 0.1148, 0.1099, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9073e4fcc913b19e08da9a2ebda8ddd998a85d8e03660b32d8069779628b3024",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ee90bfb7b5f32ba14eee54e7949ec9f27be358b144acde97f4e5e4797ee6b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49e644497dfbcee6699395f9724549d89a174069ea53d4699bb0431bf2ba6a49",
      "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 · 2.969 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, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5095, 2.0872, 1.076, 0.4843, 0.3927, 0.2527, 0.3883]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4966 right_y=0.2041 right_z=0.0486 right_yaw=0.0274 right_pitch=0.0839 right_roll=0.0518 right_gripper=0.3883\nstate[joint_eff]: [-0.0479, -1.6205, 6.694, 1.8193, -0.0464, -0.0464, -0.0122, -1.2103, -8.253, 6.2427, 1.0379, 0.2369, -0.0122, 0.5348]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5488, 1.9438, 1.1042, 0.165, 0.4179, 0.2581, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4667 right_y=0.2055 right_z=0.0711 right_yaw=0.0448 right_pitch=-0.0396 right_roll=-0.026 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -1.5795, 6.4068, 1.8095, -0.0611, -0.0415, -0.0122, -0.5128, -8.9641, 7.4872, 1.9023, 0.1343, 0.0708, -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 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.556, 2.0182, 1.0405, 0.308, 0.44, 0.2783, 0.9997]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4636 right_y=0.2037 right_z=0.0378 right_yaw=0.0235 right_pitch=-0.0282 right_roll=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -1.7026, 6.3795, 1.7998, -0.0317, -0.0464, -0.0122, 0.6632, -9.3333, 5.2991, 1.7998, 0.1148, 0.1099, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9073e4fcc913b19e08da9a2ebda8ddd998a85d8e03660b32d8069779628b3024",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ee90bfb7b5f32ba14eee54e7949ec9f27be358b144acde97f4e5e4797ee6b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49e644497dfbcee6699395f9724549d89a174069ea53d4699bb0431bf2ba6a49",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEvrTUTCI5IXQ3hxBLsFMAJg_UqLpcW8iSVbJfkrcx6CKndYEQKjuJ0RuzxnmfJ9yMRZzk9EhuE4EzL4gBk59CW_w8sQvL7UQvqmDxaoIjNy_mavFuvugcRUyR1YauTKB6RacgCNMJV72YXDatOCb2Hiv0uDOTtrVaSO1qvOgOhlJgeb-5iFAi54RCySjVRzfcj_r2-A7l_9YqMGNIBKuUIyOl-qkXGNgmxD3FoffXJ0WMrHtBwi6J5jHT2S92s1gjDQHY09LrLh47pvqx0AC75JBjZEn0qiUamv3uglOEwvjgiMkpk1CV5_DRl0ITHbJGl057bGZ4Je_e4D7wJT13pee099xBQUQk0GTKVpI2wUlV0MwerMBNP946vxVC08DxAcqzX22zgr7gluS_TQ7qE_J_9RsnS8R1nkiK9urAyJDnZRG7kvBEIxVO2plMhCoLUL-XcRNqZnfktw90-UAuUxz-jjMoazb3aYgTA-cZdmzvPihsaUgtSWnuriGLy3vGTuvgs1jMjFpIIPN0FwQMu_BucLOIzywt2fLEU6MzLGl_tEyeT6KoixvS1JofTpXYDy_I4mFjaqPXeSeVUwUl63hjDNbIrP2v6NOS59RPh3Q0Rre5mv0dyLYXQdTfFW1_9-JESYpaW3YpQS12mksFozphgO6aY4TSqquvUf-biKHGaENQUqw7eT1dCz8JxecB1WT62hNk7_apxL1_dOgS8R2GHDIB-DMsc55cG046shbioH9WcQupg5WWcuBFnGvcjvTaEGqGujtTDls6rLNMvlDV3DJCc8etyUstZMxgrKVgBXPSYqPgol2JKWY3gnaOZMmOJ7kVtI6-40cJIND73xK0mGPU0fnk6xZ80yqWBm4BIm9UpVs01TWavNZbXqNKoBhKTziQck4qeRbFOjh09R2pDOlYvhd6U_9JtAevOUVcYtnEdN_mF2V6s2FaupyqHc3LjAJV9_v-lACF2dP7L1akyTcul8BRNRtbdYhdNBu94nJFnDopqWqhaV6ZPb3UHzvOImZgtdxwZZE7xmxgjb8SHjBHx2FDdPB8sXfxMi9iqvQ4AmW-LUMNUWVU4k20-UuOl6NIBFe1fRxCebq0xDnbSptvxBQJRgkRJae5ZwPu8ilLXvA7cW8gUjOXiJbUQvmT_eafv77QvFFeNcQX5AZuvdMfHpjYbUwz4LKsKQJojrrzxmL_sV6BL3BHsPEhwHq3GE5-GE8pk5gv296ugFezbhPldmaZ1We_TFb7g0KPQxbxHH3k7Y8cA7CqfRzwLWJIxV7MakgOIqH2xOfKavcpisUGWcjDlTrmbvsLR7JhfDL6M9tvoiTHXQuUQDBPvjNkc9lDDISiMA0E1gNnKsnwpW2Ul5ZUDNt5PwDp7uITdhqS9Nfw-EYbiwZA8UikDMtKDs23ueompTZIR5LJGpu2Lz11SDRC7NFnDPs2qsZBpsYaehkWPvqxFHsjMPLnA_",
  "id": "rs_0b343ddd9e1325b2016ab44bea50a087d099fc6c408a6f5fdc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.5},\"note\":\"The fingers are now down alongside the bottle’s broad label section and symmetric about its centreline. I’ll close only to 50% stroke, enough to hold the roughly 5–6 cm body without forcing the rounded bottle sideways.\"}",
  "call_id": "call_81iljCDAuKjGbF4rqSla4XoS",
  "id": "fc_0b343ddd9e1325b2016ab44beae96c87d08a427bb982e76846",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_81iljCDAuKjGbF4rqSla4XoS",
  "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, 0.7963, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5591, 2.0262, 1.0275, 0.3912, 0.4419, 0.268, 0.5083]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4688 right_y=0.2084 right_z=0.0446 right_yaw=0.0306 right_pitch=0.026 right_roll=0.0029 right_gripper=0.5083\nstate[joint_eff]: [-0.2256, -1.7026, 6.4068, 1.8095, -0.0171, -0.0171, -0.0122, -0.6359, -10.5778, 4.4376, 1.4969, 0.1343, 0.0415, 0.3492]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9776be891ebb500d50004582a664c8aed61731a7af323726ec2d13f4a8d0830d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19ab117db17f3acab35ea62e49b9c84258b98c3e7c85d5bbf686379580398eab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9d3c0eb4fa3695009e295fadbeda93fdb22cd0892cce0c3d8c78481597c2ef4",
      "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 · 5.868 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, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.5446, 1.9545, 1.1042, 0.2352, 0.4232, 0.2684, 0.0146]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4758 right_y=0.2075 right_z=0.0791 right_yaw=0.0311 right_pitch=0.014 right_roll=0.0088 right_gripper=0.0146\nstate[joint_eff]: [-0.2803, -1.2786, 6.5709, 1.8291, -0.0562, -0.0464, -0.0122, -0.0068, -12.5333, 6.5436, 1.8926, 0.4322, 0.1148, 1.0525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.556, 2.0182, 1.0405, 0.308, 0.44, 0.2783, 0.9997]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4636 right_y=0.2037 right_z=0.0378 right_yaw=0.0235 right_pitch=-0.0282 right_roll=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -1.7026, 6.3795, 1.7998, -0.0317, -0.0464, -0.0122, 0.6632, -9.3333, 5.2991, 1.7998, 0.1148, 0.1099, -0.0464]",
      "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, 0.7963, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5591, 2.0262, 1.0275, 0.3912, 0.4419, 0.268, 0.5083]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4688 right_y=0.2084 right_z=0.0446 right_yaw=0.0306 right_pitch=0.026 right_roll=0.0029 right_gripper=0.5083\nstate[joint_eff]: [-0.2256, -1.7026, 6.4068, 1.8095, -0.0171, -0.0171, -0.0122, -0.6359, -10.5778, 4.4376, 1.4969, 0.1343, 0.0415, 0.3492]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9776be891ebb500d50004582a664c8aed61731a7af323726ec2d13f4a8d0830d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19ab117db17f3acab35ea62e49b9c84258b98c3e7c85d5bbf686379580398eab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9d3c0eb4fa3695009e295fadbeda93fdb22cd0892cce0c3d8c78481597c2ef4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtEvvzkjhhwfHcCZvFyPBQnAJIsSDF_vEOugkNq2Rcymlr6nJQGXphIpQ-bQ23s3vB-pXbZhiMCYOY9wz2o7xhd7adNpA4DVocjqgrBHFPpeLENEuWTS8-XbNxcu-322cEiiJWAKDBg6h6rCDTdyYwcBJUIJFggws_e9yVqgFgFmK5Ang4d6Jg88VIrZbuh1g7pGDCnzL3RSVuG_QPTQ_LSY0p-5_NhqGqOCaY8DSqmZUppE6Xl6mrVliJ7XC_bPNcyw8BMApu63fTl-aZbRAbN8BbiEDHIDOt2zHBbhVG-Dr0Ta9-6iSaGiYbzDIKePYPZ9qtAjEjcWPTajW6-qN34nj2KAgeleJqrFhZcW3f1btLnBeWTWYMJ27_ZRjayuSYOySj8Z63PiEUCxNXLnovsEe7Kyfl-l1P17SOi3KSli56L0OarF3Y7C8ekgxw_JuKcRPj9tMMS8zt6Wd7sNfxW8ajm7wfq0HU8-YUnZMfw3gvVbz4Ob-xKGZK-K3KEAfcCD7Eps4CHAIFWC-DxZ5GJriyt3JanPMwxtfdCxXHuD9gj6XPNSaCsrrTVZNoUQqkskm8qakXR4Je0ihXp4Z01KbLyzXtoMdOz0YOCAScehDjap-zBBlx6Zp0iajZ7gYJaJOuOHVnm-bIbgrs_REFhTleaL7EvlMEXOFXtxPuovSkL4oQPZTH3cPk_iYMcbS9iuBeAi3tThej74EQT0wYxv1TZ2gQFW6TidClO7Sq6MnnQCOHc0EZjNM97U5TQ9KbZYas_MrFmd5fmCX-UEexTscDmQSei3DhGu9bG3Ob8jNbVz41EvzoNMfL7tezHAdhRqSAk6xzpFGkUgYuPexumoF0CuGuFKLL3PIosbKaly-a5ij4ACis9liW2T9B4D6Cwj9-A60RPhknIpmBDxWvpKIyys4hy2vxU2nbq6WRuBdJFNtA1pEzwSU4GRVH_bNDZwLww2A-YSUR1-kgaYj6535GFKsjfEgzHODfABuMl_hbytQsuCbAzzlTbFKSTVX7sHHKrF1khp3xukYLDbufvl2GN_H_9SPykOPzv9AWNNk4r99tMWI0-63i7qhgNTil16PuQRkphim8KJpPvPiQyoqISUIfokwH4BmIkfHePIMOe9LfUeM_mCAtOafEG1QaWZOQe3OG7OJ1h8msEDbuDOwWiPspOUIf-wGpxEOjNmaXJk0aGBEHnx1xUyLySlLEqzZSidZsl0GBU8v8kdVSSaKJxvbvZd03x_ROvW2VznC6YLHIhVs5Zmr1vWWJ6oEv_xDV7WnrIYRpRMwaKvmlMyZ00zK4w6xnk1Uz-jtR-43V39O8Ng1NEG1GtdOrBO3PsTMB27VuEWOn8umk7bFaL5mpQEVRu5QTxbOCjCp1_P6TzmcELYCHERh4cH-6ZYXdD152Ss53pFaTRIZ94ZEf4dLqHNaq5Jsb8ewRedKdfKU-pbHEwGLYmOeldyB_1PqAyU4",
  "id": "rs_0b343ddd9e1325b2016ab44bed51c087d0b814b512270e6082",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.205,\"right_z\":0.09,\"right_yaw\":0,\"right_gripper\":0.5},\"note\":\"The jaws are evenly contacting the label section at a 0.51 opening without over-squeezing. I’ll lift 5 cm straight up to verify the bottle remains captured before attempting another controlled pivot.\"}",
  "call_id": "call_ZR5B0BzFGijtN5GN78TeUqjJ",
  "id": "fc_0b343ddd9e1325b2016ab44bedd96c87d0911592042880d936",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZR5B0BzFGijtN5GN78TeUqjJ",
  "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, 0.7963, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5648, 1.9606, 1.0603, 0.2367, 0.4442, 0.276, 0.5006]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4615 right_y=0.2068 right_z=0.0603 right_yaw=0.0303 right_pitch=-0.0217 right_roll=-0.0199 right_gripper=0.5006\nstate[joint_eff]: [-0.294, -1.6479, 6.4068, 1.8681, -0.0513, -0.0513, -0.0122, 0.0615, -12.588, 9.4974, 1.7656, 0.2906, 0.1294, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d713e281d055809fdffc93f6cd409b27d24e3d99faae808bc58b4d461845f8cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61b3ffe107cd07d0897e45ec676895ac214a3ddc11214a291c1bc2e6374d58fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9244ae2f5453d00287aa71098ba120dd052a14367f52d8e112080b40010aefb",
      "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 · 2.585 s

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

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5488, 1.9438, 1.1042, 0.165, 0.4179, 0.2581, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.182 left_yaw=0.0011 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4667 right_y=0.2055 right_z=0.0711 right_yaw=0.0448 right_pitch=-0.0396 right_roll=-0.026 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -1.5795, 6.4068, 1.8095, -0.0611, -0.0415, -0.0122, -0.5128, -8.9641, 7.4872, 1.9023, 0.1343, 0.0708, -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 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5591, 2.0262, 1.0275, 0.3912, 0.4419, 0.268, 0.5083]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4688 right_y=0.2084 right_z=0.0446 right_yaw=0.0306 right_pitch=0.026 right_roll=0.0029 right_gripper=0.5083\nstate[joint_eff]: [-0.2256, -1.7026, 6.4068, 1.8095, -0.0171, -0.0171, -0.0122, -0.6359, -10.5778, 4.4376, 1.4969, 0.1343, 0.0415, 0.3492]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5648, 1.9606, 1.0603, 0.2367, 0.4442, 0.276, 0.5006]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4615 right_y=0.2068 right_z=0.0603 right_yaw=0.0303 right_pitch=-0.0217 right_roll=-0.0199 right_gripper=0.5006\nstate[joint_eff]: [-0.294, -1.6479, 6.4068, 1.8681, -0.0513, -0.0513, -0.0122, 0.0615, -12.588, 9.4974, 1.7656, 0.2906, 0.1294, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d713e281d055809fdffc93f6cd409b27d24e3d99faae808bc58b4d461845f8cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61b3ffe107cd07d0897e45ec676895ac214a3ddc11214a291c1bc2e6374d58fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9244ae2f5453d00287aa71098ba120dd052a14367f52d8e112080b40010aefb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0b343ddd9e1325b2016ab44bf2355087d0835d89913a86c31d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.205,\"right_z\":0.09,\"right_yaw\":0,\"right_gripper\":0.5},\"note\":\"The straight lift stopped low because the bottle’s bottom is still bearing on the table, while the 0.50 jaw opening stayed stable—evidence the body is captured. I’ll now move inward and upward together so the bottle rotates about its bottom rather than being dragged.\"}",
  "call_id": "call_c8LqcDOouuYYpV4ZQ02YcnF0",
  "id": "fc_0b343ddd9e1325b2016ab44bf3e94c87d0b781e0f78c4b0b7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c8LqcDOouuYYpV4ZQ02YcnF0",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.5804, 1.8984, 1.034, 0.1524, 0.4614, 0.2993, 0.5006]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4447 right_y=0.2018 right_z=0.0655 right_yaw=0.0188 right_pitch=-0.0571 right_roll=-0.0354 right_gripper=0.5006\nstate[joint_eff]: [-0.2256, -1.1556, 6.4205, 1.8584, -0.0513, -0.0708, -0.0122, 0.7316, -12.1504, 6.6393, 1.9365, 0.3004, 0.0757, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdfc6cd7a6da918ba438e63014c159d1331ae990319b4f55055b773d2e5e477e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6177350c9334aa9182247f05aa4bab0f376004bef64ef38497af82bcf6fd9d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0d43ac12ce78bca4fc0def53d7b6ec249489006c90585da1b342150ccb8256",
      "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 · 6.625 s

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

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.556, 2.0182, 1.0405, 0.308, 0.44, 0.2783, 0.9997]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4636 right_y=0.2037 right_z=0.0378 right_yaw=0.0235 right_pitch=-0.0282 right_roll=-0.0189 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -1.7026, 6.3795, 1.7998, -0.0317, -0.0464, -0.0122, 0.6632, -9.3333, 5.2991, 1.7998, 0.1148, 0.1099, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5648, 1.9606, 1.0603, 0.2367, 0.4442, 0.276, 0.5006]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4615 right_y=0.2068 right_z=0.0603 right_yaw=0.0303 right_pitch=-0.0217 right_roll=-0.0199 right_gripper=0.5006\nstate[joint_eff]: [-0.294, -1.6479, 6.4068, 1.8681, -0.0513, -0.0513, -0.0122, 0.0615, -12.588, 9.4974, 1.7656, 0.2906, 0.1294, 0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.5804, 1.8984, 1.034, 0.1524, 0.4614, 0.2993, 0.5006]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4447 right_y=0.2018 right_z=0.0655 right_yaw=0.0188 right_pitch=-0.0571 right_roll=-0.0354 right_gripper=0.5006\nstate[joint_eff]: [-0.2256, -1.1556, 6.4205, 1.8584, -0.0513, -0.0708, -0.0122, 0.7316, -12.1504, 6.6393, 1.9365, 0.3004, 0.0757, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdfc6cd7a6da918ba438e63014c159d1331ae990319b4f55055b773d2e5e477e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6177350c9334aa9182247f05aa4bab0f376004bef64ef38497af82bcf6fd9d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0d43ac12ce78bca4fc0def53d7b6ec249489006c90585da1b342150ccb8256",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0b343ddd9e1325b2016ab44bf65b6887d09f08f195c0371d89",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.205,\"right_z\":0.12,\"right_yaw\":0,\"right_gripper\":0.5},\"note\":\"The inward step moved the grasp point while the bottle remained centred and the jaw opening stayed fixed; the low z readback shows the base is still acting as a pivot. I’ll continue the arc farther inward and higher to bring the bottle through a steeper angle.\"}",
  "call_id": "call_WrC8G4ed66PEFk0iFsAqfcPD",
  "id": "fc_0b343ddd9e1325b2016ab44bf6eef887d0b608a9d3ed1242d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WrC8G4ed66PEFk0iFsAqfcPD",
  "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]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.6064, 1.8652, 1.0145, 0.1497, 0.4717, 0.3107, 0.5006]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4358 right_y=0.2089 right_z=0.0735 right_yaw=0.0307 right_pitch=-0.044 right_roll=-0.0257 right_gripper=0.5006\nstate[joint_eff]: [-0.1436, -1.7162, 6.5709, 1.8339, -0.0415, -0.0562, -0.0122, -0.4855, -11.6034, 5.9556, 1.6923, 0.3443, 0.1343, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff6bb7c555d7e552c6397479943acc79df825328881ae25fc72ed7150f9c9a60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e71e599c2a871effbea9b43b581b012e60664d172575a7dce6fb01c1098a706b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22e36fa0ef66d0c209ce6bfeddd3f9ef91a4b87f973d7b23d6152abdd91d1525",
      "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 · 4.317 s

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

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5591, 2.0262, 1.0275, 0.3912, 0.4419, 0.268, 0.5083]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4688 right_y=0.2084 right_z=0.0446 right_yaw=0.0306 right_pitch=0.026 right_roll=0.0029 right_gripper=0.5083\nstate[joint_eff]: [-0.2256, -1.7026, 6.4068, 1.8095, -0.0171, -0.0171, -0.0122, -0.6359, -10.5778, 4.4376, 1.4969, 0.1343, 0.0415, 0.3492]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.5804, 1.8984, 1.034, 0.1524, 0.4614, 0.2993, 0.5006]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4447 right_y=0.2018 right_z=0.0655 right_yaw=0.0188 right_pitch=-0.0571 right_roll=-0.0354 right_gripper=0.5006\nstate[joint_eff]: [-0.2256, -1.1556, 6.4205, 1.8584, -0.0513, -0.0708, -0.0122, 0.7316, -12.1504, 6.6393, 1.9365, 0.3004, 0.0757, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.6064, 1.8652, 1.0145, 0.1497, 0.4717, 0.3107, 0.5006]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4358 right_y=0.2089 right_z=0.0735 right_yaw=0.0307 right_pitch=-0.044 right_roll=-0.0257 right_gripper=0.5006\nstate[joint_eff]: [-0.1436, -1.7162, 6.5709, 1.8339, -0.0415, -0.0562, -0.0122, -0.4855, -11.6034, 5.9556, 1.6923, 0.3443, 0.1343, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff6bb7c555d7e552c6397479943acc79df825328881ae25fc72ed7150f9c9a60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e71e599c2a871effbea9b43b581b012e60664d172575a7dce6fb01c1098a706b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22e36fa0ef66d0c209ce6bfeddd3f9ef91a4b87f973d7b23d6152abdd91d1525",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEv-Z6CmAiaJwI_t7mDBN2St0FPPa_K3hq-ZWV0MM12iuTvbB0BWnl72h3Od5z1YSdo07jMZxc4WZyPlOnR4LINXUhFuOh4Hw6AO6AyiJZN_rHDQpQYkeB2W7eRXoxGB6qdjkwg28a5Pp2TGEc8HKJn7YD_ST4Jr8jzAXWunhkJs27FQVbcQa2Alt9UbhiuUZ35YTm3Mw4fGtv7MabfSFLvFj7tCRYWK7Z7YrEAgX19RZ0xoG5dyAE5dF9Yp2voCOtvk6QI5BpEa4Xr1LtkIA4p6QO8vbPsUZt70IhB1sUC6nEy6FghSbtqVBVSgww_1I5eal3jfj3G6vGO5cLylnxwvpznBwivXkZ7QYMlnpIoRwTNzRsuLyWy_JVMEJ0xSaXdzcEK349PH_6VBSNNICSOSDunnQeyTD7Q44YjWQznTT9aoVwvP2B3k00aNeEqM8oILMEdEnz4Tjta244j6IprkE_VrJwHC-qwJfaLTuM1MClZaHmC6N9ZXxiqwbtL4IisGUTcYqsiCzXRRUIS3mNI1sVmsITgKLuKCTBbGqEB0lHERO8ZtPlaYHPpkwoVYUHy5U2e5lpb7-rCAibOkymSpcpWNytGRi66mS78vuGhWoMkKBLUVkkp0IdkEyyWTgB_UCToPzcqvvZxlZbA9gqZSr07Y8WEPS44tM1ZpLgX-0EO3dFY_m8jnQEixUK9DlwmMq6b4FUC42zHdeFVFWKxTtqU7kn40tZyMJslvGtqg5r8a611lESnzjlyUtMZX1N7j5Vpq9922FOsinxzLYL8OF9_AwgatkWZePJC5u32BiN6NVlUHIzzidEfvH2f2pmlevJducjGH3w-yYtzr3qSYmsTHt4pmBcBbINObo8jGBSGe4YmPIAvRAv7E37rmzBSmOsuJOdYtV4Eafx2KnjP9CaLNZmyhIBpZ28oScCPTCmbwvrO_1On7RpHr0zNdzXeFjhLn9hk3TJRyRwAGaRzbvTG28n6QqbGy_IztXBBrRs2KoiyWq6_96VvMsr9TxzDUID-N5BvnlirGUhEYBb_lPibrBA6GdalzCTSz62t0_9VtGcWv0N93cq0xe66t3CrPPZWtX4wZ6fSBVz5AGAe_dXw2GZLGupUc65JpHH903n3zhXGRiY8VAhvFWeDc7tD_nagzqdPM-mPr_8g3X8UJSskUo3zGD8tfuCDbJxiZdY7puv88Ojl02Qzd6LMUzqatrPR3DVdMF17QWTQ_vSDZT9Sz2vEDr-zJaMyhY1B8vglvZrb7mXtS6o2Rp0s3g7r3Bsyb4n5-UkXGCZ3WYFX7hzA6fu5yus4h-xanwuRzcRdV29ZI_sf_ulAh_ImuY-VVrrYTo1wojx9eJauOlphpTzsaJFTxKe41N8cjXVN--FSQ3gXLFtL85j8LIYZOTrQk2u4LUcBlc0j3a3FOGKf0D3KXW0Ii_UfAgMc40i2lzDRFPXN_SGJtusLkiDwPkufEkgtCE4dJDwk6_9il0jHiDhlQBA2gOE15Razhg8btRcZzkvgs5cM8OhYvM4Qq3q17b1h9tt-iHhUpmHYY5FxAEkkKLMew3ZA09IkIcUecM5VzZsk2oAki8LMSNB64pmzr24gq5pBsb9MPaDzitZ-ND3M6DJf2ZVmqcOC-oK53e7NYJGq0e9opb6fIq1d9WVPkcvPp9lVfe7k-oph7DCZ7fNj59HkwsTsrWlOtsAb6EJpvMOCY1OkQi8rXeUA9L7Ga4JnrMQbeTP3-u9A2Lca7vKKJZgg--oZm89c8vKDMIZoetx6yi8vx0_K29ufOo6cf_Kj0NTUkN7upWCHQy-h63IdnnSd2zmLClycxonMTYYNJO-fQ9EDSe5HHTmCFOBFbNihogDrg4ZAO1_BG6wUe6ntfvao4Znj_fHty-JEulSJlI3Updg7lzTBQDS9gw_BAgEXl9WYV40t02HxlixCK5sIF8-NGd84QU1I_HO4nMSSMdfJ6E5o1W_fHHUWI9vXQ1fe6IT3Tcz2R1DuD9RtCPaQ-oml4QQ1qSjXGdjXs31z20Vxl5INBBwXxrm7B-0tP7eueqD7t73QOsHu-TodcebKx60GtwcofvxT1pTRGO-V7szgekeSJ9fohNktupbU2r9X6Y3Onv-uq_jkvHGDLo6Z5s9r96DQdQBTyCt_KYQJ00SZk9FGyMfLgwN0x7d-92Y7eTpq4z2T0uYq5ewrWR3PaDtgtH3htdZgu0Ty2r-9hAxO0LttOntnZto5hIynOiGsbBpWzPqkyWIjzYtY9-K9E29TX-hZNCRCUeja8Tc9t6cHGpFGzB0Ah5PYclL1RDX54EeuXDyaLzu5EQDsdkGAkiZz0zUzIRlUd67FkIrldeeZMSaigyUzpOQ5nM-UK_SSUvNT3Xth-Wy2DVk7PA2UABYRjtJUXSo2k3VbGEK0Ze8jZIWR3yao_ZP5dkVPqHNbwsc8iWHTtLyZh2hqQs0FsTFWCy6eH1A5WOHW-zzR9W-DNyVrym6gsTF_rE5DV-2uRD9h29TLZQ2V-bnr8LEG_4fmk_qi-h6iX6dUPu_OSdaypi1gAbEU9Hg49xUO-Y0Du4TNriLJ6sncNUtdzphBzF_bZgYc_yeva8NiarnvnzRZ9bxoNkEqmDtHC9m5IgZWHRwUKPM_3Op8GdjCbX3w4Wv3eb7QZ1mSDo0HpMYpot3c9-l1qbxVR0LgxxV0mNDW_84kiA5RaVArJrqoz7EZQcjVaOgAhUvxhw8kbBsav1z0xERl5rCa1rjONm-RhhMlqnx9bKvphg1JiFKAvMjXIlF-lVHouyvSDq85YFCR4JwXG2sQMFY7irPmHPuW4tcQTHmIfb3c2W5GhtlbmZRJRw4sDk4trsPE-rHTidALA6SGP5bRjFe60pbFgSEQxjUbrahwgVd6GF3NiCOfZTvQ-fXyxRD4IPO7fEMUsHbaH0ZUyASWIzM1iGGk-UVfxnfCqNQ6tQr1MGEIHcBWU5QOUYgWXUpbGaAANuPv9qtfGjeaLIg82fFUjwrVDt3geymspbSyHCP7zc-ozycEvNBThSvN6U7GZ0kjmbwadJaXKOA1UIwj2ne4wP-GzCwRppT9bVkcrgyo__MPV2NXieYFvw88ucsHYNmOkG4dxLuZb40e0BiJz3Uc1_ZIknbQ_nqKSjrt2_-dTQ67xNEN8av7bQa_pPKbfZclf9ebZVf61NKmXcVZWful-FO0Wsg0oKWiFy-zUMRZTERLswQGerHhq1ayxepSApivm4vK7Sg1AB_QVzZQDC4GjBugtV5kNS_V7NECpuRYgjXicoX-i__M3hdJGD7VbM9pwO9AqiLJCCaMGSK2BGToQueNthdYHEUt5O_SlN_adjMa25Ricgf6g7tOgZL904kPH4YiZWSEHV8rm2n4T4lPyJm7OOO4Q2PCr_dCIkOr3nFB3D57D3TKH5pNbzpj_-lcGaOLVgoB3mYOGlEPZC3e9NrqhNBzJKeTEwmNBfKkl5LUdVyaaCT8yvAFoBNy8wGSWTYfcwMuDL1J9JCkUBNoRIPtcbD-JbbvqHFq1y1NHTSy0DCg6DoaSV9kwAYC-e0xSEaYsS_c5m4_lo-qmsBbJHjrF8CCSeDA6yJ4nnVp-W8ewn10mRr_UXxm_A_pHRzSy5nLhvYOOhIoFO1FnqIeSTWLiRPxW-xuNiJBDzZ966sYh1czcYLqkRqLHAyiBfwuh27xJXlc=",
  "id": "rs_0b343ddd9e1325b2016ab44bf9992c87d0acd7c3104e093722",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.205,\"right_z\":0.07,\"right_yaw\":0,\"right_gripper\":0.5},\"note\":\"The broad-body grip is not allowing the bottle to rotate freely—the commanded rise is being blocked while the body stays horizontal. I’ll use this secure grip to slide the entire bottle inward several centimetres, making its cap reachable for a narrower pivoting grasp.\"}",
  "call_id": "call_s4cPjz6JNTHlZMBW3IWm2L1n",
  "id": "fc_0b343ddd9e1325b2016ab44bfdcebc87d08e23a5ef224b4224",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s4cPjz6JNTHlZMBW3IWm2L1n",
  "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, 0.7967, 0.6132, -0.3866, -0.0185, -0.0292, 0.9983, 0.6064, 1.8652, 1.0145, 0.1497, 0.4713, 0.3107, 0.5006]\nstate[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4358 right_y=0.209 right_z=0.0735 right_yaw=0.031 right_pitch=-0.0442 right_roll=-0.0255 right_gripper=0.5006\nstate[joint_eff]: [-0.212, -1.6889, 6.5983, 1.8828, -0.0513, -0.0317, -0.0122, -0.7179, -11.4256, 5.9419, 1.7167, 0.3394, 0.0952, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97668eaa917edc374ea5bc98397ef736b2aae001a801986cc4ad901cc06b2dd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6b4c508acfb3b83879bba561c1eacf6c8b93ebbd4cd619b844673a3ab905e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779d59995deb467608726bc66e0fe53f242a8dc753b27ab746d50443aa488598",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 4.725 s

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

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0193, -0.0292, 0.9983, 0.5648, 1.9606, 1.0603, 0.2367, 0.4442, 0.276, 0.5006]\nstate[eef_state]: left_x=0.2951 left_y=0.0011 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4615 right_y=0.2068 right_z=0.0603 right_yaw=0.0303 right_pitch=-0.0217 right_roll=-0.0199 right_gripper=0.5006\nstate[joint_eff]: [-0.294, -1.6479, 6.4068, 1.8681, -0.0513, -0.0513, -0.0122, 0.0615, -12.588, 9.4974, 1.7656, 0.2906, 0.1294, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.6064, 1.8652, 1.0145, 0.1497, 0.4717, 0.3107, 0.5006]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4358 right_y=0.2089 right_z=0.0735 right_yaw=0.0307 right_pitch=-0.044 right_roll=-0.0257 right_gripper=0.5006\nstate[joint_eff]: [-0.1436, -1.7162, 6.5709, 1.8339, -0.0415, -0.0562, -0.0122, -0.4855, -11.6034, 5.9556, 1.6923, 0.3443, 0.1343, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0185, -0.0292, 0.9983, 0.6064, 1.8652, 1.0145, 0.1497, 0.4713, 0.3107, 0.5006]\nstate[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4358 right_y=0.209 right_z=0.0735 right_yaw=0.031 right_pitch=-0.0442 right_roll=-0.0255 right_gripper=0.5006\nstate[joint_eff]: [-0.212, -1.6889, 6.5983, 1.8828, -0.0513, -0.0317, -0.0122, -0.7179, -11.4256, 5.9419, 1.7167, 0.3394, 0.0952, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97668eaa917edc374ea5bc98397ef736b2aae001a801986cc4ad901cc06b2dd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6b4c508acfb3b83879bba561c1eacf6c8b93ebbd4cd619b844673a3ab905e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779d59995deb467608726bc66e0fe53f242a8dc753b27ab746d50443aa488598",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEwDgjNGVio8gVScw5EsQHXj8MlniY1rTYWVGxXgkcxZvgUvSaFoIbHSUiRsQqDYo-XOwL1fecEAbGqfYqGG36XKcyvRUQPSlEa8u8l2JwtDN1EhZTrVk6i1oVc8kUMWpIJ-NB9sWVGSvQ3PC2o9PwQ8hXtorZVUKUE1HGNUr4UXF4KMBCW5z5YEezhyVWqDIfo_2zwkWYOuolgjyyiEf3eIKdDISTxzS4KpAojZlMr8ZR7X3wn_QB5utAD3C2EpRy7Lblirt6g6HLTzgsfGzVXaiwH9iAV9rnrleaMyBdLVDHV3ZiaJCLzbMGQJkf7Hx94aP4ARlVYn1uQghTHKb4buEE4S44dEXrgupPr34-H4Sz7Iv6n9P3oomZUiYKKvkoaRYpTGJEvUXgf7kFaQ_mzjwWhFeJhhbtlkm2IGzLEQDQWnsNOGm2L9t4uQbHQoEyJ5WdnHFm-2xSKKYS9s9FWVcWn2a8pXUcAi7GAEEaJwB6VAnEWVaL1kD-NdaY1f4FoBh8ft_d8I8SviKLzQlEMWleauZqXL-VTTT1BpNP4qLxgHZGWqCFU0zv7CIfZ8czkqEqOBMNA5kZdhT03Ja_MsMGDrgwAIiSmK008yoptB3x680xChUoD35LShZZ22SOmBY5k-NFgUkI2u_6eRBGTimEelljnUKJrdm0DcUksxTTBGMOUav_6LDTXAeY5RNhRfBcLrYit7M2Z_3gGSpDj0NqsRbzI3tfO7oTsQVIJTunkSujdC8PSlbfDxAHiRME27ezt7sivkEM_bq7st7N04MgPo40GMDeOqYHOIAriqk3SvbLYEOkZbuJFyFwnpNl6fO1UiZn1aK1W-AacU4bf05zSf_WPxIKEvsUO_npHt2rN67skt8KMjIC8oVyXGouA2pZM7WgoOIyhTP8oEJzA4kug5GuOUvmQTqs8w1HW9cSkHc7Z8j1yxwRJ_sHJqqzewRqalWghi0QOyuQ8NvVatzYjo7qO-IX6Lc2fbwx6ndykGspatUyeO1YcAyquik2kM-IxW76b62jKJxVPYAU91xfevzB0QtJaZQ7Aukuvi7aZ6ZFmS_YQlkvbaOHsPLdgPzcsYRzoEBjRARMPsDlJ9BFV71r3bFlWCDk4PJsyI84Yb05p-u7pABS64HD80Fu5hP5KDuUq7IL2ShF4KyLYHCGY8CrLxS7Vgbyqor3po_FKcxJYUd7dYaS2CbXPQMw7JPbLzprevcbObt1T-TPaPMWDG_NR6lexHjOnMMmmeiuy5iOYjB8-2Rd_a_urufxKr038rbZXPQKfyFy_rRqzWgEEK8mz2oIwfzueeeGSF30YclYjvaePkt6GNiVClK0IK4jVhgYtb5ewOLNIbXXM83EWz7j2_fqxciuRr_FS_hse7V0EL56folvepEsRW3Q1ZaxKNsTIfvXfZDQspGkUWF5j7grMW0SuIuqxsDV6Wcx3xRQvZGYk9kPhnhcyq11gbcJW14g-nCWcCfXPu1bvUiKyiZAxs3-HiPUsMibJjirW0OkYeczL_gXsQD0BEcdykxtDs-OSB2xfkT8KVsWi7YQI3KiVocbqMR5Hppiqfpe91_MutZpXx_ZHrQKQdJ31kYb9XGBQMRGD1stXbbqSwmJymBmFidroguPtZ-xG5gnnEbETG4LtYkixrKxkwhbxbqP2foXdHoyT5gkvbXjVeuLmWIQ_GFGVXluOIdcJjyJ9OTl5_EUrLo7oqt_Xn0kdOVPcDWTAzRrt4hBVhWjkf8jkADnhkJCd6P9EAMvfqEJsVW910jRJs7EYdJfhkdI5VnSn0IuW-sgP0C9duy020WNsb9vhX6hY_WuZ7LgcLf-yNsinA9ayJXFh5vnKxJ3alhnd_KcuIcqtEVZFVuoQMCF4DkA2og7Rbz2iX31JUaj-KA-wNWeAgAPMdyrBdUVs15bK_SusdOGZKGyw54DBqeFY8uUXlodgOPtsye_NNnUB-JXDQyo2IN-LEm-pmV-hQuM4oTyT6goWawwqN_fKtbMFXpVAc9sOCEejgIZ0M6nKEwQcmrSABRUREfSaWM2-9Slieeg0NSPaToe0oUmWMgxJljINR6EeJpqBS1VgLHoTdW-OEpq7R1FAZYWWHrKSTt9UHMGIHTqcmqp_S3DkTvEolKbclZAIvjPFsxdISbJqL_-YHLEEvW64Cypgl1B3trm_zPBMhcFfbEbduoey7tNGxxTRNRtoS_V-NYlX1YsIXQ5kHyei4yb2XJiSa-NAoQIU0so7XUg_8Lz7B5-VHVbHVUttCTbPh4tfS_HHWyxInlhtZFQqsaMNO6ModiE54DroiuK8XHn4Dye_Hxd7Oe8hlK8V9mtFDF51gGDihby4AbIuuw3eElv_-ITaUVFzDRNw3yjgE17K0PrAWHJxbAZdGTK8psuJO8qTaPHodd5g=",
  "id": "rs_0b343ddd9e1325b2016ab44c00c6c887d091b24c4fe4f01c4b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bottle and tabletop are fully blocking further inward motion, so dragging it while clamped is not viable. I’ll release this body grip and switch to a cap/neck grasp, which can rotate within the jaws during the standing motion.\"}",
  "call_id": "call_lQNegVGFeLdeXBDnney4MdA4",
  "id": "fc_0b343ddd9e1325b2016ab44c02c06087d085382e743a3cbd8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lQNegVGFeLdeXBDnney4MdA4",
  "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, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.6067, 1.8652, 0.9676, 0.2047, 0.4686, 0.3061, 0.9957]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4308 right_y=0.2063 right_z=0.0652 right_yaw=0.0361 right_pitch=-0.0384 right_roll=-0.0235 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.6205, 6.4889, 1.8046, -0.0415, -0.0562, -0.0122, -0.1026, -9.2513, 5.8051, 1.9316, 0.188, -0.0366, -0.1099]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0939390de24166ecf125cabf778495425ba60090271ffe3766b6468e74c62c84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3df3e9ac9fb093780ba74d13036aed2972d2e19a428b6cc1c45c74b25d54d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f0a2273b9887fbdf8442822603e1b4f804460a5f569c382b8ba610c1ece7d82",
      "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 · 5.863 s

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

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0185, -0.0292, 0.9983, 0.5804, 1.8984, 1.034, 0.1524, 0.4614, 0.2993, 0.5006]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4447 right_y=0.2018 right_z=0.0655 right_yaw=0.0188 right_pitch=-0.0571 right_roll=-0.0354 right_gripper=0.5006\nstate[joint_eff]: [-0.2256, -1.1556, 6.4205, 1.8584, -0.0513, -0.0708, -0.0122, 0.7316, -12.1504, 6.6393, 1.9365, 0.3004, 0.0757, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0185, -0.0292, 0.9983, 0.6064, 1.8652, 1.0145, 0.1497, 0.4713, 0.3107, 0.5006]\nstate[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4358 right_y=0.209 right_z=0.0735 right_yaw=0.031 right_pitch=-0.0442 right_roll=-0.0255 right_gripper=0.5006\nstate[joint_eff]: [-0.212, -1.6889, 6.5983, 1.8828, -0.0513, -0.0317, -0.0122, -0.7179, -11.4256, 5.9419, 1.7167, 0.3394, 0.0952, 0.0513]\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 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.6067, 1.8652, 0.9676, 0.2047, 0.4686, 0.3061, 0.9957]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4308 right_y=0.2063 right_z=0.0652 right_yaw=0.0361 right_pitch=-0.0384 right_roll=-0.0235 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.6205, 6.4889, 1.8046, -0.0415, -0.0562, -0.0122, -0.1026, -9.2513, 5.8051, 1.9316, 0.188, -0.0366, -0.1099]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0939390de24166ecf125cabf778495425ba60090271ffe3766b6468e74c62c84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3df3e9ac9fb093780ba74d13036aed2972d2e19a428b6cc1c45c74b25d54d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f0a2273b9887fbdf8442822603e1b4f804460a5f569c382b8ba610c1ece7d82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0b343ddd9e1325b2016ab44c05631087d08741d2ef406a4b27",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.205,\"right_z\":0.025,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"Released, the bottle is centred along the jaw column with its blue cap at the far end. I’ll advance low to the cap now that the body no longer constrains the arm, keeping the same lateral alignment.\"}",
  "call_id": "call_4XLqYhDja4cyZizcbGW1QxRA",
  "id": "fc_0b343ddd9e1325b2016ab44c07848487d0b5dab40785246552",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4XLqYhDja4cyZizcbGW1QxRA",
  "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]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0185, -0.0292, 0.9983, 0.5358, 2.1002, 1.1343, 0.3447, 0.4332, 0.2604, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4913 right_y=0.2096 right_z=0.0385 right_yaw=0.0187 right_pitch=0.0116 right_roll=-0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.6342, 6.6256, 1.8046, -0.0122, -0.0659, -0.0171, -1.4974, -8.0342, 6.7077, 1.4579, 0.0415, 0.105, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:045ae5727d929209865aada2a4e0fced6a4de45f33fb2c7f1b537c39a809455f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5297fb4d4aae8bc23c6621f60d01a5645fd233de74785445cd9f5ff93386bfad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc6a0342b3bcd035b8d5391cc82f512a478f72ca78803bb83ce4cc3c2f5912e",
      "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 · 5.662 s

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

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.6064, 1.8652, 1.0145, 0.1497, 0.4717, 0.3107, 0.5006]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4358 right_y=0.2089 right_z=0.0735 right_yaw=0.0307 right_pitch=-0.044 right_roll=-0.0257 right_gripper=0.5006\nstate[joint_eff]: [-0.1436, -1.7162, 6.5709, 1.8339, -0.0415, -0.0562, -0.0122, -0.4855, -11.6034, 5.9556, 1.6923, 0.3443, 0.1343, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.6067, 1.8652, 0.9676, 0.2047, 0.4686, 0.3061, 0.9957]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4308 right_y=0.2063 right_z=0.0652 right_yaw=0.0361 right_pitch=-0.0384 right_roll=-0.0235 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.6205, 6.4889, 1.8046, -0.0415, -0.0562, -0.0122, -0.1026, -9.2513, 5.8051, 1.9316, 0.188, -0.0366, -0.1099]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0185, -0.0292, 0.9983, 0.5358, 2.1002, 1.1343, 0.3447, 0.4332, 0.2604, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4913 right_y=0.2096 right_z=0.0385 right_yaw=0.0187 right_pitch=0.0116 right_roll=-0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.6342, 6.6256, 1.8046, -0.0122, -0.0659, -0.0171, -1.4974, -8.0342, 6.7077, 1.4579, 0.0415, 0.105, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:045ae5727d929209865aada2a4e0fced6a4de45f33fb2c7f1b537c39a809455f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5297fb4d4aae8bc23c6621f60d01a5645fd233de74785445cd9f5ff93386bfad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc6a0342b3bcd035b8d5391cc82f512a478f72ca78803bb83ce4cc3c2f5912e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEwPY7ZVvLFSF9rNz0JHi5CH4Z894sDaX4BKv7N5vH8WExH_LDcNTBJmFPkInMSJU0M69cs0DGQ9BF1DdN_pAWvMr34qda02mKThX3joG_By8AYJWkSPRzknkgQ0l_gmQ-H_BlpOb65me2k3GT2Fqaulr1qdqFf9x4-ldfsu4qjsJ_tBqkSxl1Bmol7UBdBfW3xk-LRqUn_PQUu8Czjng6abchMzDsnfLAKZ4rr_--QCIL1JwRZ1weHzAQuI1okRg2t94ZnWA_v8YddA2_uBgq9IoAl6rPlUr_dSGE-TFSZZzj7-XlUEPnKwCUEK-T6b630yFPrCc4-otdDmBDgDJsAgiDihyBKCMn3meMn9gG0wESQVTTpmH2CWmy76LbCdI5Z2femo8Ige1sg-bM2y4IYOA2IYjhRgCMOKfJCiE3YEAoSVLI_QUP_uTnnCf1P_tAqWO9xtIiIt6axcHnRr_iEuDHfE7zdC6xOSQ0HCV4VNuXvX7b2-IRK-4Abhd9cFHGQgJv8Ojvn4xe73giHQlrgC9F55I1Xx14H76AISIPRalzXV96Lp6_7W_uud5WijRdnDaSWuxq5s4ML_hxWNbutkLVc-Q9hWAApFoYNpQhXnsNjMWB6Oa40GBh0GILzgI_bD7aqaJW89K8LyWmauMcwvRe-NN_vxc4bya-IV-OE6tyxaYqfxZ_dJz1xjI4oQ_B1OerDsZhE8FpV6u-URD3hpTH-1TlEDG5R7ipEzjVUcRahF9c5F_c7eL_IEFKFCx2IoLhmjPDZ5LFqpLqshwmiLUYKM_mKSIRs8w2Vp6by3d-g02NHiYeOWgmaTfqDnMnX4k63m6CD3m1M70tIIA0-LJNylMIto1dYuKX3i-ssbtKeyl6SdX8Uj1SBmVATxGj5Yc6F0sO2Log2wEX3NbiByF256dy2m1_O2xHPy9AGL_dOqj2stAyiM5KN8-ZZVnCEItvN1nfIxitfTbKTIv7kqZc8JRAzqCCrKdphV4yBbOV3pe2Tn8z9zP5QWUYk54CSeFd04i1UN66dao4qh0yZ3rVLTVemLHTDzz0w7xL8lL_iNS2vwUYPt5bUWvkDZhqhddbIdZC_C-ERSUclAJe4gagC6z8YDTO1vAR5GenhjWciMUZjWXOLLUqZ59-RqTANj0NMaHV5nWO-EGr41Bbw1_F7SKahbRkB_3rnqU1WmMF-QE7mUEBI1Ftoarr6yVmcmfRFdrvQhQc1RESLvN7PDcFlEb23BEIRfny50D7Ec5YsHDV8xayiVaSPC40duzcHQlR-uFX_VGS3HCEJO2jRPt8to3uXyhOZh-AyD2IJVoSg_0t_cNzT7iW1oEEhdfV18GjZi2HZH9QBudFObWoOOyoCg9u4-9GZxC-VR7CovKqEDZwqLVWauWfAfYHkd1anRpWLPg_4_ElhPPT99FfaZReOgkf0JP2KoRlEVl3rkKZpasMeMx5GuAhlZlYpysxT4q31-FgH-OWDZd07opmj-ZZjylUgaSYhU0rl3v3RCg_U-o0z818A-TC3VoAO9UzILQQhtfJLpYSajJY70czXIK__Xq4nJyUQ7XACSLsayAPyhIOywuyjsqk3WiHN8VE6o3N4n7i9WAfiJPFpsODxj1D7KzebP5mKzQ_KRTHJkyaxtBBXkX7Emt8oTjMEZW9fT2zuH4d3abS-jUW8MDa0zTbFp9DGTRT0cq_mpAYdqlOzVGosr36n6iKOZvVcWtmBVjh1A2PavKzb19k6r3ln6p9yK1zhBJwgJOwhCsfm0SoxBZhrQtBEypp2XLvj2wVm0e9ZdUxgV10kJODXtJ7nT5LMNAOjV5YCZj6TX6FGFlptWMBwzmwVeh4eZdD0hEqa1D4gu0jTBQsOTEipL36BIHM0ZaLZhBrmZlOrT8yd1Cp1fZO3OiQevT_CB02LfW8hlzluY6Fa4sqzPdEvHX45VBetvNGl6-3g-nXpNOQGOxi0uWm4Cxv6GZGtXadHjH6XFeo6G_2Kdwyqvp_9z2KUYS0-aiPQcJ-dI433-HpdhOtzBRz3FFgM4mXC6IQwQ9v2S2hYrN74iWAFwR6zfihduClzFzKTEpLL58K-LV46OjXfoDrraCzasmBD0zp_N8JGhRTw1cB7nC1m-2uqpNiqBl4MTkKt7qYzQzePoZ9UOibx19Vv9Qa2YflLWM_cFMtbL7h4UzlbkzO4R4XPm1JKEJVma2kuYjIjnUawzwUyRJCYolg9h5li-FGzx3d_e7v_OXYJIWtFSfknnokl7rDPPe43YDzlH5cEdnbvC5DiDnvajBwh2l-eojMRho1pDl7YK3hGhu2rgEkh1Vt2JVvy-2wd2NNjp3fZliSUzz_H4vNCSZWjuCcv9W7KTo8DJXOqlV9VuTTH0qkCcmgbeJFaCZpa4uETMhn_ivLbofYJ8h91Mrl9ewf1E65NJsl-JADU11a9636tm5hYKeZsIfzeHiHuRnd6TA-1OYkbBvL0Lk7dLUrexj7g6f6Od_5FFsiHGGTp5UWmyRbVF-4eNCR60bq5J8jCB5RAtJDuZF_L5A_DH9DL-57yFgmBiRQcux-ei",
  "id": "rs_0b343ddd9e1325b2016ab44c0b21c487d0a16398df1f48ec6b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.205,\"right_z\":0.03,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"At x=0.49 the arm is still tracking and the cap remains just forward of the finger tips, with good lateral centring. I’ll test a small additional forward step at the same low height to reach the cap rather than settling for another body grasp.\"}",
  "call_id": "call_M7BqMqC4ddU7nmvAuLiStcuw",
  "id": "fc_0b343ddd9e1325b2016ab44c0ddfec87d0bbc70b5523569e6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M7BqMqC4ddU7nmvAuLiStcuw",
  "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, 0.7963, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5091, 2.1689, 1.2606, 0.3138, 0.4057, 0.2413, 0.9997]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.5206 right_y=0.2148 right_z=0.0439 right_yaw=0.0243 right_pitch=0.0275 right_roll=0.0042 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.6889, 6.3932, 1.7851, -0.0366, -0.022, -0.0122, -1.7299, -9.2513, 7.1863, 1.4286, 0.0611, 0.1294, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8bb89bc6f272a64a16c9052e11ef07fe53e2314f06802bfc7e06957ec015dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0992617883e713701aa6ee5776289194baf2addc2ab559b95628a37b4663cd77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c83b803f54e6e353b97fd91c9d09c9264e8ff6ac68a2da4b0471d4d66afa55aa",
      "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 · 18.63 s

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

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0185, -0.0292, 0.9983, 0.6064, 1.8652, 1.0145, 0.1497, 0.4713, 0.3107, 0.5006]\nstate[eef_state]: left_x=0.2952 left_y=0.0009 left_z=0.1821 left_yaw=0.0005 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4358 right_y=0.209 right_z=0.0735 right_yaw=0.031 right_pitch=-0.0442 right_roll=-0.0255 right_gripper=0.5006\nstate[joint_eff]: [-0.212, -1.6889, 6.5983, 1.8828, -0.0513, -0.0317, -0.0122, -0.7179, -11.4256, 5.9419, 1.7167, 0.3394, 0.0952, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0185, -0.0292, 0.9983, 0.5358, 2.1002, 1.1343, 0.3447, 0.4332, 0.2604, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4913 right_y=0.2096 right_z=0.0385 right_yaw=0.0187 right_pitch=0.0116 right_roll=-0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.6342, 6.6256, 1.8046, -0.0122, -0.0659, -0.0171, -1.4974, -8.0342, 6.7077, 1.4579, 0.0415, 0.105, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5091, 2.1689, 1.2606, 0.3138, 0.4057, 0.2413, 0.9997]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.5206 right_y=0.2148 right_z=0.0439 right_yaw=0.0243 right_pitch=0.0275 right_roll=0.0042 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.6889, 6.3932, 1.7851, -0.0366, -0.022, -0.0122, -1.7299, -9.2513, 7.1863, 1.4286, 0.0611, 0.1294, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8bb89bc6f272a64a16c9052e11ef07fe53e2314f06802bfc7e06957ec015dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0992617883e713701aa6ee5776289194baf2addc2ab559b95628a37b4663cd77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c83b803f54e6e353b97fd91c9d09c9264e8ff6ac68a2da4b0471d4d66afa55aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEwVRKd8g8pQ1ZeWVd6jXnl-lQYHxaxCI04FDR2K6sAhKGZI0xDnHl7FHPlc-g5cXm37IVw7ks3_47saBMLZDnuxo0Fmr4pLimdIWXJ0_VY2bd0QDc9kzTXq1CW4te4QDt-sdAVviZDVnUivs4zlbcwxJKr9Un10KXNYjlQAlKJhmtgYDrUNSPnKTonX45d3uMvy9Ox_Awsx3PEl5AROHkb0kQMti5gG5jkHx5NJtJYJ7TwsnH1MYVh9yAaYSA9LvZe4RNxqIvBvq1fP6GVfm-CjOEWHhhKoHtahI-X7r0oVLNsUFVIMluvBBIXN_UIDMWdPjQfnk__C_ZfaEmbmJVRPMf1cve8qBbM6pCSBDEGZPm7uDSydwTusu0MvloRaedxmaK8RzhE9TnGK6p5sJnshv4o1oae_PVfUEmoBsJum4mKzQbNU5fsVJzvzhxY6iZmG46srZg2yDcfX2ioaaI-cl9TAfLYs3Pwa-VeuRl6FM9FuZh6TDV9qJ1sLUggxZ2cQynAaq8mkEbept9fdxmHRb2xRAFWt9ST11pudSRbxeIK5_gSz2qnT2pNHUX6n4wb5cfT6P40ZdlUXbfqRUSkE2aN7acoj5CETDnarQNT-KNcE2IJ4I8BmP06iAlxiXVnIikBWYP6I0vHsOmQiRBHFdnwpmdoGGWbesn8RkIIxzvqbwzsUM1W6WLKDEJ5G_DyxWHnQUJ2iHuOKtmW596xYm4CHBfwiKEsnICLNRkEPOZVkdPTJ6pELeUEn1LBYISqTy9U0gPPH3sYlA49vym2jXlmMeQz9ztxvn7SVTeqY0m22UWM9nuix9aqg0L0YfD2_SHcfAezoalWi6QHpcveiQhvF5iOmopyGgRO4KRRg5mcQ2La5ndCR-8LoImJ8TaFNMIVPTcHAgsTe-ALyfarmXNQoyV8XYAWQ7rRhhFdGwq95qXuQoiO48MvbjgEDt6LyY7xcYyZp1uOCeqB7AU0NIB6dafM3qhQs5mp25utWk7byo0RF_cyjdbewytJDP1CNmYotVu7LY93JNkrJoe8e-jTfHxT2P7fELc92TrLejSQ9pjVO0R5Xal3JHdLftoZuHn3b20iWoFBTsS9sR0Lk9KWcSOwE6tfWaReksHY_3dcks7ZEq2fjHGDt8Cuo0lBxgeH8pUwbn5dddQGKy2UoPZSu3LrZr9jCP03bB9_Sm5NgxsUuNI738O5ylGFVMASwPqgISFZ89_jhfcpPrRZ2q1vsbBPaRnfVTplCaap6C7lfKEU1ly90y0XCJ32PhGe7HEOJf4mcCmONTFm3xJfwux2pyvjNy3HD7p3la3blMpGQfvTb9nxly8jHukfMYVTPIjGJWIeiRtsMZfacfTIo1mAXQGlNJr8rpGDGzu_PO87QG_d_fQZOO9aKBT5K2Q8aq7aPcN2VE1RhGrTiDrCUcOwntAKkI0YwzsVvIxoLodVJntBR6LmVaNFruXTOwgTxWR9W2NfIDUakny1twiT7m6dlusV6qplaXhIpDYfEfTCiy3CZqY3bpf3vvho3ieHDZGd6unutn-ZhpxxDRgLq90_6tyX0YXHf3SWa5lC7PJ2JInwWf3-5_hETd3oiDf4Aa1zFojZN4mi0Xe3WGebO8jUKECV__jNP37BYodmg8AqNiNfybsAff9fE8m0lHtlP3iALaRa7D0IhQlCxuwjSVLwTbs4ePV_FZq7MUMYdQ4omw7d6ZadKDis2G4O6dZTO7DENx3qqSRoLWHC6UtVWESRnico_RKBBlKWpvuvW51Hs4EsAqlcKtYLSJLGp7Gz5knhD1g6ZHr-eBvpe8adLM0ta_TBTSkTG9MYbzfT0DRuxphtIYM2sTL9g5X2vUowHYDaNtHOg6tEUQzZp36LVTEnArFxxG7DeYAOdGXJkXBkWyyYnRGcejeKPN6fcwpj0pOFJwPfix1opR_4JQlIyq9p64gW5v2o9OKO5XMTWxMacvGaPYPvkb40gAz-S38E28GxQ6blF-zNd6TPMCjg8nB4FGhZbqgy1iQIl9erQzX_duXSm_RymBwErEgFaXdUZKkK3ZniDZqMR6i9o_BGaq7N-yzLaHwDbR-4xq23rnz8oKZOZxs3tWMXID0DpCD9ad3ivDqcABaiPez-Ep3q7LaZfvJUA00fJO-SsDSf4jSCffoDKgxD3AUHrltb86sEpQBNqxR84GlqZdi8X0ExZ1r6NtR8CmfZM9Y7fI0U4QrM9USq71cHZtB1E769zQw1vwpV4IQtTeDGVX6BpPPaPUeiGZ3iFJ08oPW2rqDpkjhLFVb1_1OHE9kten0KBzYPczGgpwcccREH-fsazjfpXopKZ9EOEQG3HxPrsetO2OirFizajIwVaIHRKDi5xbzhaJx8FKYEPXKxT8Td1lhLgFl18eGXShXl-O841zKMZ5zl11ZbOAdOAQ0i8kQ4toJpwot4mztpqQ9zTDpz26JN6sjsqjecvWdYjoQd-EF1QZFj7zzXSzeguJz0Q5E5-v0hb9yhAxXXSusmYykdOKcI9b32mtEhpoC9VvjzCbJP5EYuUiWFMcpApmhBur0caTBh0KB2gVMrHADVGbVwedVM0-qIy5uQ6oxT4TMCFtzeNoIszGwo4FCND9p9Dn6yGt00IimZtwKyPaD_xV5wPijdpsW1qeq-IF4VoKCnGFliE0E4IXAumTi0qqMLTt7o9R024RD971zKH0Sgu7CjnB6yiL59Y6gxtvbTgqltitXL0Fnj3mUjzK6CLcD8pcjKUYllehrdOXBQOkUeT70YKDKJJFK50_OzmOgN8Hp0R3jtqk58C5cZl734WZkNyZeMAzW0r1HvpcT-eUfTyd2RtbhNYWL-D2CeuhxZ_KvDqA_OD_udejIh9J-k25vGomluceTPqFE1dRz8h_v34UinbOaDsIcl87SuvOK2tULPBPTTeewSbP2A116itM175cm2mftQIw7sU5eUriMUxwFup8GvV3G8fVkOmjpaP-SNrAoo2DWCNkBub0ZBmJO8ZFK_9FDSv1hNrWwaoY6HJLHKLeqfj1w==",
  "id": "rs_0b343ddd9e1325b2016ab44c10c07887d0a87f885b5c20d289",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.205,\"right_z\":0.03,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The arm successfully reached x=0.52, and the overhead view now puts the cap only a few centimetres ahead of the gripper centre. I’ll take one final short forward step to place the cap itself at the grasp point.\"}",
  "call_id": "call_wt2owuRk4zSrhS7SY7a8ae2B",
  "id": "fc_0b343ddd9e1325b2016ab44c14261487d0a3d03448509c3507",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wt2owuRk4zSrhS7SY7a8ae2B",
  "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]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0193, -0.0292, 0.9983, 0.4904, 2.1857, 1.2804, 0.3073, 0.3916, 0.231, 0.9997]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5274 right_y=0.2092 right_z=0.0408 right_yaw=0.0227 right_pitch=0.0209 right_roll=0.0009 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.7162, 6.6256, 1.8388, -0.0122, -0.0562, -0.0122, -0.8684, -9.7026, 7.4735, 1.4774, 0.1245, 0.105, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef70692c3e5055364593f6625c2bdad8a047ecb9a7efc26a4bd5f150eea1893",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77011d7e69f33f3b6e22d0c6d7da36a32ed03acfc7283beb9faaddcb299081e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08f3df52afe2a5575b59b0ada7045ace597c383bb88fa5dfe7919f710849fbf0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 3.593 s

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

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0189, -0.0292, 0.9983, 0.6067, 1.8652, 0.9676, 0.2047, 0.4686, 0.3061, 0.9957]\nstate[eef_state]: left_x=0.2952 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4308 right_y=0.2063 right_z=0.0652 right_yaw=0.0361 right_pitch=-0.0384 right_roll=-0.0235 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.6205, 6.4889, 1.8046, -0.0415, -0.0562, -0.0122, -0.1026, -9.2513, 5.8051, 1.9316, 0.188, -0.0366, -0.1099]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5091, 2.1689, 1.2606, 0.3138, 0.4057, 0.2413, 0.9997]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.5206 right_y=0.2148 right_z=0.0439 right_yaw=0.0243 right_pitch=0.0275 right_roll=0.0042 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.6889, 6.3932, 1.7851, -0.0366, -0.022, -0.0122, -1.7299, -9.2513, 7.1863, 1.4286, 0.0611, 0.1294, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0193, -0.0292, 0.9983, 0.4904, 2.1857, 1.2804, 0.3073, 0.3916, 0.231, 0.9997]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5274 right_y=0.2092 right_z=0.0408 right_yaw=0.0227 right_pitch=0.0209 right_roll=0.0009 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.7162, 6.6256, 1.8388, -0.0122, -0.0562, -0.0122, -0.8684, -9.7026, 7.4735, 1.4774, 0.1245, 0.105, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef70692c3e5055364593f6625c2bdad8a047ecb9a7efc26a4bd5f150eea1893",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77011d7e69f33f3b6e22d0c6d7da36a32ed03acfc7283beb9faaddcb299081e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08f3df52afe2a5575b59b0ada7045ace597c383bb88fa5dfe7919f710849fbf0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0b343ddd9e1325b2016ab44c174f2087d0b46692a73bec5d7e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_0b343ddd9e1325b2016ab44c1ce3e487d08adcfdc7354f8ad7",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEwnfYM1nvWDdlCBrvAbFVxcNH8Bds-Jf3DDSk1nT_fdbvskKIw4Kb3trF5bD1ViueLXk6KjXKk7IzjrSfbxHYs6KFWv4mu7zYLfZsUGGO_jrsEig06-j8zTcRvGyqDsgUqYYRPMqWC-12zFY8F-4W0E4-5Zzqa8p-JfPbdf8l2WvlJeWnXDBv8AIRlWSwuoYBg45uyqXsqBcqotSs41l7IVu6xDT60Snv7ae6-WnDyrB3TKtqDNECziTTjTc8Q5EEVyskNSA2BJDDTUEQGO_VmGn2kcC2dhDJc1mEdm7P0eFe3oY_POnF5_SLfz7ufJf3wupxe7OfJBK4uaSKeoHR0lpJW-CdL1bFHiDp7xrdl1FMhrzFJAn2zw289ZHzbh3r9vVcic1wMtZ5feXCPUdzDQCSqgmSgLUhUfXiXCcCimR-W43DieHtyr5zE45fzHZ37JBSowNVdt43ram4EsiEkJQl0m9N1L5P3rDQIVMOHX7GX1lGhutf7ECo2TSjeqno3S3_53u4alCQpTtg4KTkOI9ABzgOP_HbIixJOPjLqVKJooPOzXnTNto9bWH7rd1Vc5gQSvd-78WelbrsBG48gKWuy_n0Tu-hCAn5moFPsoPHs3fQMRO0gNU9j7nIwBKgfYU0KOo_IgknQPHOUnwcp-sZRW6UFkjJoR5FvGlYJwvtR0gOGWSvaT4CA0akGIqcredZmiNdxvwyMsH4DEds6-zUhNWhfuIqM5v_KJT42Vdl-CLF41SzUkrWG9J60rBxt89Do_bmotl9eiQyCO2ui7ukpQl9q1KJZN4-5JRURsJxw_13S7mkXt-qOYTif8uvOO32EqJTtvckS9HU_SqghoSLDZdR0BQYyCzWtXgZWqt9Ib29ysFJbKDbaSA4jTND4Z7seE-Pes2ioG_H0HTMdWs7w3UGhIp5j07IEruNuC53G1cl7x-ALfdJRdW7mxEyS7wix41RE-UgJp9FTKPWH1U7DDvfCcL3BONwW7ZLwAgavsBK96ZdOsUkge-4c5DTyqax2HNLZ49SgqJB9ZC_WFHwis3plojBBnBuUs4afr1oANQT84wppJIcnWgGMM4xuc8Z_Btxza39n2lpoENlKYD7XUlUA2_0d8SBM4tQHfyakGE3l4zfqtjbEzBptnvJIJX76SqNPgpNoXp7NyFN9Yt6soWACELdKEYZ1woD2vsKfNmXTTrJwTjfOCZCpBFGX3DUFh89Si0vKmcHAcJ0aWKfBGZ2DNpDb9cXs4Bzsj-x-x2W4M5nMZ-_OImIeyzgNy4W4RV4Lliln_LRKOncLEItkz3Jf0ZEnsj062qNtZ4TdsiNKOuV5lxkiLjDbAApNKf1_1pQNPfsx2fbXlqSB6d8BiqEtrv_iTKrvUm9gspKwM2oiEaK97lPJFIE7GULwK1izcbhlBDEO-cEzFk0a4RPCuvWhSmP9lK6cbo1Je8fcB6v-Tvcb-vVJHS1tzv2-GwQJZra6OUVKjpqd-9wnQXYo90OlJwx0lnmrjUR1u7ETqsg8Xb5xww8cGpiiWF_EgDiugB8GCkX62MxkLJqIpnnGGHaYz1vfMLBQU0aE1rGRRitOyIgKHWZlZNpe4Xqr3MPcBqdPwQ3GVPaFd3P52C2Xit7Omnlggnj5YNgaCXmS5BN5vpBGLsBW9d0_KnRwzCehjY3m0O2V8G831jNJ47Dw6T43G5Nvamby6LFi8So7O_HViREYNq03giEiQA1ZOaV_GJJbY4yP8kb5Y6v2xFN1X_U2lXOtYxDy3kagKoM7W3LxoXoYABmW2y--ZXb554QT97nXv03dl3zLlvfEIrcdBADlziaSl67htAeSo882pBM4ggEZOfwumKQ5k4o-i8fJFe8246NqzubzpfBCk9hCqhydM95hl9uWljzQCob7cl7PhZzCsYcvsQQuc9ILsN4Jrcx7hkiHzQRsZ0MNcDd5BrJMzCjUitoxc-0V2YuBrcV-SWVrHsXjExtH13j2bxPM-d9CZqRSqdRPITw5KLaaOetQShZWB27KumWYgCpXwEtRU3Gq7svQYnVI8pkdcmTqa_lSd6yBqHDbpXcuEELQTBKQL9Iq-UfyKtFIsmKOSyzEIhJ9fWW85spvIhkcDwjlLDCNltulgNvh9-0mkNATCc4ZXyCBrJ-4K9lwoVihxz66leJIxmUuhQRij2saGI0HqkgVbwAsR2AWlc82CVvAt-RwzwTniZe4DJX1BAxuRBR1vzsbOtAPJ9TBmUXkRprMg9_C5EXno0C9m3KdGNtqNGwy69hkoG4hp-_X64gunAbL2pQjZd9oU8rFg79M1poTTIR-xtdLD6BPhEdCfbvkO-k3v3Ad9dNxyiTcvdMSXDd5RqnfgaLu0x0YldTmDSlrbsF4HTyWl1akTyjY-TJCX9rPyCncLWcbXOCsKtUgPenwfAz5E7ypBW4xjgBkLf7KbR41xgpXOfCU8v9kCuNuek87mPr43JhqzQy4bN9u405eyaCBfHSzAbjbt3SbK54lMUhFyyoeVkk7UX0p6lNMJzUTHkBEuWr4aToSRdEgTYawRuPZPyeQPIhQkNp8ttfYBareNrLOKhJRbZILPWm2PhmVd5rIluAFvoKtLy0SJlC4V8hDA1w563v6IKhfLQsKR-Xm32mPCwlA_lJmiE6PMAdSQY4wwI7vdebuzCt_4VYi8mrZFYIIP0GT-hlX6IGEAZX0yFSW9XUQzveIMmbAdrDxI-IIizC5N6J7szVuGj-qBnR8chTlf_ioR8SYZNeAq5zKWEcV8jmP4n10fqU5Bqes2ll18U41WJWK16vqaK93MMUjq7rOLE6K74nmo3m6hfHyltZeSoI-F5fy0sUdx1iH-n5Bx2hCC18N9Ae4sINh4_AgWGM-Wugp0Q8XO6lJ4ce0-LsLDIQSOaqfae8UvYT1QKmVeKiX4EXoYd9DeruUUY0nLK89amDuhZwKsWCuNl6STLAnknJVQmjOlhGfj-WSuhsPfUyAPUSPSSrRoSAvyHyWeKeBEBwuvfhGaoOhT22ffpgU2gIrLzi06t-ms0lB1z11KVzt0eiV5ORk_60qAXxb3WZ3xPvvW82oFx_S8g6lSOYwasAETLW-ZoJWpM04WzDtookLENXgYpG_Fg_SmTKBTYjXRCl44zXLP1OAw4dgLw2UI8P6MShCcYr6X-UieEw9889WKlEatgKBzuEl-Y3UvwgOtUeWLIb-e6dMyk6xfnBreuEk0-rRm4ue0WETtFu5HkHjnjeXUghNh_lRJou2belJ4aRzxbRU8aGvtYwZwo1Ipgab2ut26zQ==",
  "id": "rs_0b343ddd9e1325b2016ab44c229b6887d0af23e175af15b462",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.45},\"note\":\"The prior ‘body grasp’ was actually behind the bottle—the wrist camera still showed the whole bottle ahead of the fingertips. At the current maximum reach, the bottle’s near/base end is finally at the bottom edge of the wrist view, so I’ll clamp that end at a controlled 45% opening to relocate it inward.\"}",
  "call_id": "call_SEtbb59nxZfrFEIkZSiyCTRw",
  "id": "fc_0b343ddd9e1325b2016ab44c26e0bc87d08f7b83acb61b8f6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SEtbb59nxZfrFEIkZSiyCTRw",
  "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]: [-0.02, 0.7967, 0.6106, -0.3866, -0.0189, -0.0292, 0.9983, 0.4915, 2.1857, 1.2915, 0.3229, 0.3851, 0.2344, 0.4589]\nstate[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1809 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5315 right_y=0.2134 right_z=0.048 right_yaw=0.0269 right_pitch=0.0431 right_roll=0.0191 right_gripper=0.4589\nstate[joint_eff]: [-0.212, -1.4564, 6.653, 1.8779, -0.0366, -0.0562, -0.0122, -0.9641, -9.7162, 7.0085, 1.2527, 0.2418, 0.1099, 0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47771a4a8a2f6505237d535fcd8726a5e05f12e565d423e4f95eab22f86cecde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c9ac101d7650ee0482bd213916ad5a77b18dbc02208f11330befdf3d5a46a34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e80125e434a2ea9a44489e6e57c8b6ba4aa37b2022fafab2ab02cdaa405a3fe9",
      "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 · 11.89 s

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

message 76 changed as sent

message 84 changed as sent

message 90 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0185, -0.0292, 0.9983, 0.5358, 2.1002, 1.1343, 0.3447, 0.4332, 0.2604, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0005 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4913 right_y=0.2096 right_z=0.0385 right_yaw=0.0187 right_pitch=0.0116 right_roll=-0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.6342, 6.6256, 1.8046, -0.0122, -0.0659, -0.0171, -1.4974, -8.0342, 6.7077, 1.4579, 0.0415, 0.105, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0193, -0.0292, 0.9983, 0.4904, 2.1857, 1.2804, 0.3073, 0.3916, 0.231, 0.9997]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5274 right_y=0.2092 right_z=0.0408 right_yaw=0.0227 right_pitch=0.0209 right_roll=0.0009 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.7162, 6.6256, 1.8388, -0.0122, -0.0562, -0.0122, -0.8684, -9.7026, 7.4735, 1.4774, 0.1245, 0.105, -0.0464]",
      "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]: [-0.02, 0.7967, 0.6106, -0.3866, -0.0189, -0.0292, 0.9983, 0.4915, 2.1857, 1.2915, 0.3229, 0.3851, 0.2344, 0.4589]\nstate[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1809 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5315 right_y=0.2134 right_z=0.048 right_yaw=0.0269 right_pitch=0.0431 right_roll=0.0191 right_gripper=0.4589\nstate[joint_eff]: [-0.212, -1.4564, 6.653, 1.8779, -0.0366, -0.0562, -0.0122, -0.9641, -9.7162, 7.0085, 1.2527, 0.2418, 0.1099, 0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47771a4a8a2f6505237d535fcd8726a5e05f12e565d423e4f95eab22f86cecde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c9ac101d7650ee0482bd213916ad5a77b18dbc02208f11330befdf3d5a46a34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e80125e434a2ea9a44489e6e57c8b6ba4aa37b2022fafab2ab02cdaa405a3fe9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtEwsj6qRBrC2n-OcEBaYkYRJ66kbcq0-a4fMQN7NfWfUAIDgVHuXPaAH9KKh5puct5eEDYEynN6XheHS6Ma011UsvkG9_OgEEWvGpBhUZGoK1f4sY9vq73c9XqhbPXq7S9cv19DCDKLwVAWQ6TFbso-9eq5RMogk75Jr-6o_XAeKzOUlgwhsHXEYDcT9cYJovRvWTUX0TPVxKM-2S-ySc8L_qjuyiJ0J_U3VSAbtYmxrja0oJ9Ha-ir7jqEhp1FZXY27zZWDi3AxYMNmN51-90wJT8NgA4kjySz7Sf1U5d838BvDPVmL5cZUQXthgBaEV7RzeQzs44jaKTkNx46TReSm2p7ejaDLelOQvHkt_hZc6S2F3D-WWdhrwUDUwcYkR0EB7zdlPAnmxLG53q_G5FWqFZorKDSy6x62-edNB0G5Nz1Esz1UxAHn6YovznsDj7pxY5YTiO1T80XO5GHwxh3mnJ_mRvYcJoO5vV8INKawb5iCKMuU3H4zDByaM7A_xv1pVDSbD1ALfyPnYbY1rEJqTGqC4LRPFxa6b3TZPskAmcM7CgSsHPl2pOBhIWKjgk74eRHFRpM1gcdFOkcXPBKwsaBIpZphN5gE3yJ_CP1NQdePj5_GHso4rVlj0SEibWl5_scvBVorYwv3hd1kV_hiXgA-uTRWJMjgNB4b7s3JeeKC2RM1neAGd0NEk0c_Xoig7lhnMZO-Ynbi7ZdrUTjAZnkJ1rupe48GKVZMhsxGCVS47ogTsPuXMZmShFUTqMNDSh_EP0BDPyWDSxLQSi1JyW0eGqPmvc3dlJMrt68rkBg_Hvy8L-e7DUJH8aTcZeqHCCn1R9jUHSghBehTdDbaGSXEdKSLYwlFAS-vYz5kx-P_ErqWqYPAJ_BfD1POGus_ikMxmDAtJ6lw7A1OnGyyREpkA8TQpY4zMmDPwmaPAh9U_z1jwi_6iofj1pVcSPGnW3jrOBgj1HXhFt025zIBsuxQtSg-Kb5ZCT6qwVtomguX0R5hPu2hhLL7Jo09rV6CIG8ZxXpzsBpuuDDrlFZkkcyPIPm5uoDRGeF_WwC_LjBVwEUgNJDjo2RhL9NjcFG7Wp-4UW8GY1tIAkmBsdfebfjhlfEe7JjhBlRW-xeu7zjBzQ_OM3eIzjvSxm2BsQV7ecLR8aT0co_c7hvEFYgv-rfEOQBL1MUY_JB1dtQi1MqPCoOZ3yINnah7Qlo3I0kV1nEfHl9AFF5D4DXWtr6ldwoKDAtoZtlZlKFrmRjCk9-gSU7ERuD4AZmNJ4LYF2ZzVyjv4g8CP34vcuztlmLxzQz8mBj8uHcjL-Vh6joEPaaScAspcd8vofwGDtZmmD1hPdN87oaEme9Kgi742ZDNEWnauFu7fY2X2rOGUqdOUd26VCfUbLi1kggDzAG2o5klHpx5lg3gf-4YG0eDJ5H750htrZa4aI8yEpAtaJZ1dx0H2ykeiLB3eLnJZAFUfDByQLdtGxD6kK6TuMV5o8t7PQ==",
  "id": "rs_0b343ddd9e1325b2016ab44c2a1b0087d0a7fa0ba6e90b8498",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.21,\"right_z\":0.14,\"right_yaw\":0,\"right_gripper\":0.45},\"note\":\"The jaws now visibly flank the bottle’s base section at the bottom of the wrist image, and the opening settled at 0.46. I’ll lift while retracting slightly to confirm the bottle moves with the gripper and clear it from the tabletop.\"}",
  "call_id": "call_ONHgjKfYfQO3UhBViw0DHWkx",
  "id": "fc_0b343ddd9e1325b2016ab44c2ac38087d08ec9911adc7ae7f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ONHgjKfYfQO3UhBViw0DHWkx",
  "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]: [-0.02, 0.7963, 0.6029, -0.3866, -0.0189, -0.0292, 0.9983, 0.5377, 1.9522, 1.2938, 0.0013, 0.4191, 0.2646, 0.4507]\nstate[eef_state]: left_x=0.2939 left_y=0.001 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0003 left_gripper=0.9983 right_x=0.492 right_y=0.2139 right_z=0.1134 right_yaw=0.0296 right_pitch=-0.0238 right_roll=-0.0128 right_gripper=0.4507\nstate[joint_eff]: [-0.2393, -1.3197, 6.8308, 1.8926, -0.0269, -0.0806, -0.0122, 0.4034, -12.9436, 8.8684, 1.7949, 0.3834, 0.1294, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:216a32b8d6a49373394be8b44e30855e303312b30115c7395429be5af0a2edf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95e4761503718de6a1d236381aff501aac902bec7dc8b2ec47cd329010d102af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d6fba0f46d9b1f699eec410838251b83367d9e58a7d24348e9be5be1bbd9f31",
      "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 · 3.145 s

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

message 80 changed as sent

message 90 changed as sent

message 94 changed as sent

message 80 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0189, -0.0292, 0.9983, 0.5091, 2.1689, 1.2606, 0.3138, 0.4057, 0.2413, 0.9997]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9983 right_x=0.5206 right_y=0.2148 right_z=0.0439 right_yaw=0.0243 right_pitch=0.0275 right_roll=0.0042 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.6889, 6.3932, 1.7851, -0.0366, -0.022, -0.0122, -1.7299, -9.2513, 7.1863, 1.4286, 0.0611, 0.1294, -0.0464]",
      "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]: [-0.02, 0.7967, 0.6106, -0.3866, -0.0189, -0.0292, 0.9983, 0.4915, 2.1857, 1.2915, 0.3229, 0.3851, 0.2344, 0.4589]\nstate[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1809 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5315 right_y=0.2134 right_z=0.048 right_yaw=0.0269 right_pitch=0.0431 right_roll=0.0191 right_gripper=0.4589\nstate[joint_eff]: [-0.212, -1.4564, 6.653, 1.8779, -0.0366, -0.0562, -0.0122, -0.9641, -9.7162, 7.0085, 1.2527, 0.2418, 0.1099, 0.1685]\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]: [-0.02, 0.7963, 0.6029, -0.3866, -0.0189, -0.0292, 0.9983, 0.5377, 1.9522, 1.2938, 0.0013, 0.4191, 0.2646, 0.4507]\nstate[eef_state]: left_x=0.2939 left_y=0.001 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0003 left_gripper=0.9983 right_x=0.492 right_y=0.2139 right_z=0.1134 right_yaw=0.0296 right_pitch=-0.0238 right_roll=-0.0128 right_gripper=0.4507\nstate[joint_eff]: [-0.2393, -1.3197, 6.8308, 1.8926, -0.0269, -0.0806, -0.0122, 0.4034, -12.9436, 8.8684, 1.7949, 0.3834, 0.1294, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:216a32b8d6a49373394be8b44e30855e303312b30115c7395429be5af0a2edf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95e4761503718de6a1d236381aff501aac902bec7dc8b2ec47cd329010d102af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d6fba0f46d9b1f699eec410838251b83367d9e58a7d24348e9be5be1bbd9f31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0b343ddd9e1325b2016ab44c2ddf5087d0acaee9cafbfd4b74",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEw4Jjifb1dy970KfmgwN3EtDu7A92puDkR_j191zBV2RDP2oI1E2lQcQt70r01ny3wyrtC0Ve1vZx193EDucAgb6TXbYdiu9Dd8rvhyUxgBhvFi0O93XgnjvMKK1FbivmuVYn4RXqSDAD3zaUxW3kt5cyz2lmnMNIYAxod9LMO8cAwtlgl1AtlDqdFBp6zM7xm1-VVihdjmGPRLEu0uQuJUzSZ-qFWHyDs9GfC6mdKFbyLigCqcmGyiDDP5RoxNlC8KJkI87P_ijCm9GGxS4Owbwp0I1lPwFPkgaDsNIbfIr0_7G6IiaIzX6k7qGDiJtyYk0euC2OdLPoqfa7PLeD4lUd4RdMT2HKtIa9bF-ohnWh3fiiBkQIxhd6tQ_lr_pt_-iuU0m_iWwDGPAYnaVo4xfJtuP9AxKymTDlcT7Ri_HMlsMIVALcSVoyo_wlmWX0gz8gsWY8tLBElP2Y5PyHRzrSPqcx9U2B8Uu5kYG-GRGcMQbl3uzwAJrJNRUQYR7ctcJ-x2R18i_2fT7SNoQiPy6d_UBBmJcSwPVuzJ-_TH6rVqI3r4nr-oT_zl-8BRwCSwPEjgOj47H5AAJXgLczdcUyrCBa9Vh4yIgjdVMBTsxFt-vQSxungYBVEhjrsiFzmOZ6KGqcZehafRg0AgNNQQd288Kn5jhyJCjkkGdlqHfFQkz5QUMKKgNyCKr3-sGxrEAfJrTI6T8Gb2zpYRfNq-3jwHyBtUKPou0_T25p1yWQjbMU1JxKc2chjswjcS76NppAE0-XHMCEBO7ejAWI_PXXSqpH_rYQnm2z7CrCZuJUA9MpYcrUQVOhbRvTKVTCyLTyKU-1gDO8MIArZ8vz58R1OZeRepFSQx5FN6PO1sELMIIxGsa5cs4vKY3Ctm1bBwDllmL0Eg5tJGog87yilbFuCeBjHSa3t7JC0LzBEMyidkgzQhsQGFtuxBq6kttMPQq8a5xo0ojUwIp5H99uhE4OjDzXoDVcev5HJkm0Ql_hc2-yOPuYllfbsg8WCBn_RexX9TjSP6zWCGw2yDQjrJkWFGUID0cfDL44Buraxj7qhHhjV0DuzuRL5K5ckQuSrSs8tENlHhIPiTBtZ8RIz6yNiKnBpfiErPQ_ldqc2iTrXe29D521L_-_bAZGMvurr2keJ07ON-HS7O4z0k53RSeaT4Pa2vjaJJrADSrjTPBFaaRlGkN-WwTcOxnwRDgR2MlUJHwReY5f3qdL7DEwn94uH1LeAK8qQ3IheI5FU5Pd6J76G8Wvg4GRncjPQPeHtwO9p3OgeBD-dq3HuKnT4wRco80e1y6xTiiGoqPn9hg3XovDs_5qsSihyXLrDeEoYHtkEsHrEPKGS6gstdyZu139xxYOyQjCDKnC6OLQRMi9cIXiH0OHx9F-nMaDtm0lho_gqkh7NwA1DOsBQogHiosa-QPnlOzGyhN3OEfVJb_KQ4iupEBhOdC-OnNORQ2tSWczcD5usKP_6z5cdnYHNbaba_xTZW2mcXLdd6eMS1tZiu7xeo0yIoXbgdxuZmgVNklWb_BDLz4IeMpkWeuUn1rThCGj_etoA1UEhktqaOHuf6boozBpGvM9u5sXamC3u6FVJ4cuvwt9vh2p6akVRZdh56Fi2vHo_xQv9BG1FV6Opc7gQ2I_RAq7jDwIkBkX-vC_SxZgfTKgqcZQilnC0nTXq4xY5DB2Xvx-7ClnlYBPdz3fzOUSsWtvILkkf7cYtxL7GHVBUm_vdGi_4vVEl3xOgZFM43jd8-lxF0NeqNJzOulJgQZnPdLebrtqi4RiSYLVqLoyGgi15YV8OFFuWgd50aANSENNE3A3nHnifB8i0uK3YuR73uxD-IoGbSVkGNQF2lf91l0Lpesirb-vDcUCzqMGRZBOGJabze5m_E3AN8bRTiK2YlEzpxf6ronRROtp6gJzvXnJM2-GlGxd4m0Zt09zrRnxZGPIokbq4Y6s7vHOw2RuT_pSQmG0JLcaQV8ReOIi9Qmt76auaKrK3yXXmFBXbGR-YYbWDBnQFkfXay5rG_xp8idk9whpI8cqeZ3JB7yx4q1nwJhZcU6E2pq7hBcnjukglLR1JHBgwYzBEBhdfsrIqHubJex2jcVCys2AcgIQ6bBj45EsK7boEF1yvn79XC_vm7hJc5ZoAc4WfXhDZLxqa62s2zuN9CgOZ8KLqIh6lrw5j8QRaghhXEv1EoVtzcx1r06v7NrlMJnAG04qkLKGGeM9xyl5TfpF0zMqaV0RFuzN-20rs7AJmS8JvmjNrqx_fQFKMCkQ7WnvBpcJuDCjzEse79gax_emGsouRdJHLp-ZDovF_I6DQjriF9AsqaS3LOyIDrELhvtna_9-rmn3chmTEPsAwleMAUn_wIgqpXR_XE-iTmvbYmuG5wm-YXgaCrs2Eg2u7PMt3dp8rDIhIz_YDVXfIxG6rfmsgxXoDq_2Ug9VQuDV30x__lOVlK62_75t_oAgLp2IdsC59U3gJlxIldKEyDvUUqmqGhzPywEUZuAsGoSBHo-21WN8BYbCfEbRRs9fOHUnHypUjP3StQiw0D7HRp4oU6HMoSTSwZWYuPNBS8nsw5zRZJYu5N_14-_tT1xiIYMXvQ2ldyj49itWx-dLkU2FCAL3P2TcMQs3LH6KKVC1Rly_TnwgArrszOTtRdiMN1LxhVyp5B6YRD6t8ldHl7MF9Cm6kY9tivC8qHFXthg-ZSojl_NKqWLk4jmVcpKFRGECEDU5leU710-VeAARtGH-mFy-9bQA7nTNWcyTOo246MM3OXDH6W_PEvSbH3uVd0Kq0dj2I7IIdf1APdAphSPRS811M5UYSsz_eU_ytZ7B6YGfUdVSsYm5JFBgB1vbJapCZ_3aSZXLroEfv5_MWw5g8wEnowlsPwWX4Mmw6gBwkKCD-K5DTsBqkOLInBa_KzoYA3405RAEQI0hn61E3Q_0i0mtcx7HIbR58Mp5IIBhf1gtmX1OZRH141mj5RM7blo56LPiWdaoMU2uYHlvIFoCJZ",
  "id": "rs_0b343ddd9e1325b2016ab44c33dd1487d08ea31280ef9e0673",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.21,\"right_z\":0.13,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The bottle remained in the wrist view after lifting and the jaws reached the commanded gap, confirming that grasp was just behind its base. I’ll reopen and advance at a higher, reachable posture, then descend vertically from beyond the low-reach singularity.\"}",
  "call_id": "call_AYELmC9AQtgkvCF5pUjbalz7",
  "id": "fc_0b343ddd9e1325b2016ab44c37793487d09717d2f893653ec7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AYELmC9AQtgkvCF5pUjbalz7",
  "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]: [-0.02, 0.7906, 0.5861, -0.3752, -0.0189, -0.0292, 0.9983, 0.4816, 2.1178, 1.5555, -0.1238, 0.3756, 0.2165, 0.9956]\nstate[eef_state]: left_x=0.293 left_y=0.0011 left_z=0.1737 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5407 right_y=0.2135 right_z=0.1093 right_yaw=0.0339 right_pitch=-0.0625 right_roll=-0.0415 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -1.6889, 7.0222, 1.7802, -0.0366, -0.0513, -0.0122, -1.4974, -11.3436, 9.3607, 1.8974, 0.1978, 0.2076, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:494ae1d5f7bd3ca02c201cb5e678e7691b15e4adbfdd4c72b6a4abc9fd75b11f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5902c4c40067884f6cbb8e0aaaf11f59ad91b0023e812a07ca39cb6fb9437a91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9fdc7fdcd27082d287448fb9fa1c4503a1ed3acb47a696e87d7bf783124d94a",
      "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 · 3.164 s

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

message 84 changed as sent

message 94 changed as sent

message 99 changed as sent

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0193, -0.0292, 0.9983, 0.4904, 2.1857, 1.2804, 0.3073, 0.3916, 0.231, 0.9997]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5274 right_y=0.2092 right_z=0.0408 right_yaw=0.0227 right_pitch=0.0209 right_roll=0.0009 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.7162, 6.6256, 1.8388, -0.0122, -0.0562, -0.0122, -0.8684, -9.7026, 7.4735, 1.4774, 0.1245, 0.105, -0.0464]",
      "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]: [-0.02, 0.7963, 0.6029, -0.3866, -0.0189, -0.0292, 0.9983, 0.5377, 1.9522, 1.2938, 0.0013, 0.4191, 0.2646, 0.4507]\nstate[eef_state]: left_x=0.2939 left_y=0.001 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0003 left_gripper=0.9983 right_x=0.492 right_y=0.2139 right_z=0.1134 right_yaw=0.0296 right_pitch=-0.0238 right_roll=-0.0128 right_gripper=0.4507\nstate[joint_eff]: [-0.2393, -1.3197, 6.8308, 1.8926, -0.0269, -0.0806, -0.0122, 0.4034, -12.9436, 8.8684, 1.7949, 0.3834, 0.1294, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7906, 0.5861, -0.3752, -0.0189, -0.0292, 0.9983, 0.4816, 2.1178, 1.5555, -0.1238, 0.3756, 0.2165, 0.9956]\nstate[eef_state]: left_x=0.293 left_y=0.0011 left_z=0.1737 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5407 right_y=0.2135 right_z=0.1093 right_yaw=0.0339 right_pitch=-0.0625 right_roll=-0.0415 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -1.6889, 7.0222, 1.7802, -0.0366, -0.0513, -0.0122, -1.4974, -11.3436, 9.3607, 1.8974, 0.1978, 0.2076, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:494ae1d5f7bd3ca02c201cb5e678e7691b15e4adbfdd4c72b6a4abc9fd75b11f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5902c4c40067884f6cbb8e0aaaf11f59ad91b0023e812a07ca39cb6fb9437a91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9fdc7fdcd27082d287448fb9fa1c4503a1ed3acb47a696e87d7bf783124d94a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEw8AvmnFuGwJwQKoZ0TXzrjLkFozr1Ne3WULR5nTzOX8w74yGPeNFm88ICm0_AA28qK_YGF0hPltAK2KW8b5hiIkAqj888QUOj-Zkdr0KKFLWVHEekHnAAd3kkJmMF1zwUvPbkTWbZFQx7YZ__PIcIqshgZ9CE4UR9-MyLM_jsikVGu-1B7fOhIEb4Q7EWwLOrg3zXxUWYGzaRjEGyP-E5B7HzuJ-Tgz0FprMZ2XfF2LTLqfjaSJcpTnfU_xcuo3gjdSIOHoL_KAAxHAVpqHFnyJUnLFjfVrNy5Odz2q6BT87V5DZ1Z3qH43YGHC5OeH-NbpA2xhvZSVbf_hPJUApPAAMBoESJWYT0SkdPi2TmU_Q4507JsfqHeqaCvGVWiWJYxQGvigfZJdY7FXbA-yvWior0q-50HhOgWKziYp0c-5ZibpfJYSNy8Ya2bWAueZffeh0YVY5qedEadsTOXy6u8mO9SKSgMiT7mI0Kgogyz6h5bB-ALXV3-pEtXktFHMAeudmkXAy0Dmkl7SloYwYcaeifsyXLRQLvbo7kAJU-5LL6DNXwHkfkMoNQShsOMkZPndTkNxGAkm4GkTpEiPd7Cq-ISlCBeMb-FlmQ6zudLz6-GHhWvuVfW13CW7vNa7HdleunjDe5IoFZ4wstdSpnz1TERZOjdLgveKWHetiNK9SLC0J9KBvSQfKcw9LtiGsUYHi-10TX8EXrFxTSnf6ZC8FcEtJEcbP8sLnE3J8WzIMyTZMXDRSb9-rTUsq6wDZWiWWAtalC4Wy8_wlzQt8T4fjgl6LFw1kla0xLLW6Exa1Qss-_XkMr_OP11cgyLtJQcOOCvMHAaYve4ksFebI35Jtbi8u_nf_YOTRBDFN_jOsxEnqji9o-JyYiOTnQ0hU2dZ762nWzSDUBeVLR0l_hzEEdRdjJ3eKD1m8gtulM9nyXqj-YyumnG3jINQhkdO4dwJoqOGWMMklHQGiHug3wjcLFn7M0YQdENFt0io5uWGu0M7CxuXDPO6mnTI4NtvP9YCkoi73vr6iglzBLZzF7UtUDO-_Mdgr0mw0rb93Y2M7Jre-Xcu8YZVKm3tlHEK3FdS8S4I3LD257u4fNX_kbkhbo-g9jUAnAD-sYTCtVsUq-IRsRdOU480AKUg36zWAoHmoOr1ost9LHdAmnPretYh8NFN7LFIcxd49hskjH6g88iQjBIjnKm9U8Ui0FmNuw7M4WdSTp_zW-At5xBdHnK0LvijJdojLuDanT_S8y6vZIkQoh0Sz9w3JeBz5EUn9rZE1vMIn5kOX5jtLxiuRDgBaxUTsh1X5Q9UjgBYqJCCNaMp5ciTqVgRmq7N4QU5cLKFqF1WmoGbP_LHOaR7mjmzS6CbJUOf7IOoyaxTt9spUIqp6GQphWpdI-c3t3NIH4PgmsLonk_QGgo8b5avC2YM-j5qTFqB6xTd8drEO2uzSCDQyR099E3W3MHs9NxNMRy",
  "id": "rs_0b343ddd9e1325b2016ab44c3a9c2487d09230bae4b1a7eded",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.21,\"right_z\":0.025,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"From the higher approach the arm reached x=0.54, and the bottle now fills the space between the open jaws with its base below the camera edge. I’ll descend vertically at this forward position to put the fingers around the bottle rather than approaching through the low singularity.\"}",
  "call_id": "call_wxIFtEaGs0gYHbqhKG5GbQtG",
  "id": "fc_0b343ddd9e1325b2016ab44c3b201087d08f8226bfab46abc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wxIFtEaGs0gYHbqhKG5GbQtG",
  "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]: [-0.02, 0.7891, 0.58, -0.3725, -0.0189, -0.0292, 0.9983, 0.4782, 2.2154, 1.3678, 0.197, 0.3882, 0.2272, 0.9997]\nstate[eef_state]: left_x=0.2925 left_y=0.0011 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5367 right_y=0.2069 right_z=0.0377 right_yaw=0.0152 right_pitch=-0.0271 right_roll=-0.0241 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -2.0581, 6.1197, 1.8779, -0.0659, -0.0415, -0.0122, 0.1983, -8.9094, 5.2581, 1.8486, 0.1929, 0.1441, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1163fcbb16c8f3ca4c6254dc7f18b68d91b4c1b46c0c4a6e13f17672e2e2571e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be1273a56ba8855c58a737d0c6e7e0aba8a5d33c5583f94799ce633788990130",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbad30deb4ce71aa839a7d5ac8e594b6492266349cff9dc53a4e531f7d1b2b7d",
      "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 · 2.813 s

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

message 90 changed as sent

message 99 changed as sent

message 103 changed as sent

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6106, -0.3866, -0.0189, -0.0292, 0.9983, 0.4915, 2.1857, 1.2915, 0.3229, 0.3851, 0.2344, 0.4589]\nstate[eef_state]: left_x=0.2949 left_y=0.001 left_z=0.1809 left_yaw=0.0008 left_pitch=-0.0103 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5315 right_y=0.2134 right_z=0.048 right_yaw=0.0269 right_pitch=0.0431 right_roll=0.0191 right_gripper=0.4589\nstate[joint_eff]: [-0.212, -1.4564, 6.653, 1.8779, -0.0366, -0.0562, -0.0122, -0.9641, -9.7162, 7.0085, 1.2527, 0.2418, 0.1099, 0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7906, 0.5861, -0.3752, -0.0189, -0.0292, 0.9983, 0.4816, 2.1178, 1.5555, -0.1238, 0.3756, 0.2165, 0.9956]\nstate[eef_state]: left_x=0.293 left_y=0.0011 left_z=0.1737 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5407 right_y=0.2135 right_z=0.1093 right_yaw=0.0339 right_pitch=-0.0625 right_roll=-0.0415 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -1.6889, 7.0222, 1.7802, -0.0366, -0.0513, -0.0122, -1.4974, -11.3436, 9.3607, 1.8974, 0.1978, 0.2076, -0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.58, -0.3725, -0.0189, -0.0292, 0.9983, 0.4782, 2.2154, 1.3678, 0.197, 0.3882, 0.2272, 0.9997]\nstate[eef_state]: left_x=0.2925 left_y=0.0011 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5367 right_y=0.2069 right_z=0.0377 right_yaw=0.0152 right_pitch=-0.0271 right_roll=-0.0241 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -2.0581, 6.1197, 1.8779, -0.0659, -0.0415, -0.0122, 0.1983, -8.9094, 5.2581, 1.8486, 0.1929, 0.1441, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1163fcbb16c8f3ca4c6254dc7f18b68d91b4c1b46c0c4a6e13f17672e2e2571e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be1273a56ba8855c58a737d0c6e7e0aba8a5d33c5583f94799ce633788990130",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbad30deb4ce71aa839a7d5ac8e594b6492266349cff9dc53a4e531f7d1b2b7d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEw_lpA6cwUyLw3amp-BqszeX1WGbMN3psR1lCZmewidI5pUmd9Mfz8IgK4fEdXZPQ_COE10DmH88N7QL5UqLceK4mnlUa6DOq5kYQAdqabrsg46WEg36Py7r16p505QvB13qTcEIB-sHX9Zu3wydpSILll1hEnM0wcTMKOf4Uuycsbz7ISdiLHph3DeHdmmOEnx_yzFolw03t7lwTu_Ajp3ymPGMFL9jonkgQ1tENN0nlWePXY-SM3BjHMmnA4DTvvU2xdy1agICxO4EzfoKaInSONwbRo3EiehmlGiLGgvIpac3q3yAEIfDfk-Bxi7Z91C6lF2PY2K05UcCj_nqY2OY8w9TwH5OvU6ze-WIk6OC61X7xAmpED_qoT_cy1g9TLzDPpbg1uafHVD1HjpEQQuB62-uVCpZtDjFKn1z8gNchqLXYjwfw5S_vNYZsABrQitWZidwM8P2TVgGPVNvgfARzL4IqnIYYdzL9v65iMPYAbzcWPrT3xYKsvX6gMtXAQiBvYZHvPaW-Ci_tI0Bqok2gljRkdw6IK6Yn0o983HVVWV2CzQisVErIdQZXCCyOf0cw6-rQKa1VFoO8pweWybLCQ4FSYi9xsUX3lRTC6JFZIfelxgvGdoZ_ieujBzeevPMANTP7zazQQ10wc1ryZ5sZbGBC4pvhsVWkMQrRyVGvbLXQJ1DwfL-zd2zxH5YSvLoxkNvGrUGf1RiAeTg6YuEjtg0jCa0IytW4E4tFaFT2QL9GYoIP7RKpAxZLJecUPENDBehnsbQ4X6XjfxT7PPbdJM0loB8oLRbaef4wtba3cDzE1fHQm2D5v-HJ4KbwAzlraOoXnmsWg3GI7pCjgwaJmMHbvWhws7zBIQ8RYYoFB-nsQP_G9dfX18WO7kqlHnwnvxAFEJYwLl7bC6I3xNVbQGb7jEWAGXh5jRlFP2npGoPXRW3ASKsPdqOo5FAfoTBtcEcIWStLNoccN_qE1AD1d1pYqqVDTFGLQokxoNVmSq3jzLtYLR6wCpm-eoG07rS5IFoattkM-yiFnZetLxnnUN1ycVMdfjUzGuGDRXqtOjA9LaEnQN9f_KIBum9tbNvsOXSnXmJInxdYU3F341x19k1bKueFQIcPKkHhN576o8yniJctDSNSeNk3re-5iBEJsrmPgpL8Pl9o0eBXkp-bVBt9rRyq7DcG1CBxyFvMEpK8yZi0g6kJxh6F2bbuSEEpol3t1Ih7ef4xdf3IcVuUZIHOquReUdvJ9Wl450Ozy6CqVMkc4I9xeEMw-YY_DBhgfYqpOhIxUlUVP4v7dSZFEHiEK757W2VgmainKEWxyDqYqyOm5_Vbvna-GVSrkpAwdhW40v9vvQUgaD4pKvwUjW1D-ec-LXsklrtrIarBcvP8O2wO3_7QOVyIYwGobuL-PIp_U0JJklswkjtHVyYyxNjF65-sHnVgByXgQ19hx7zAkd6SUlAMfXPFyvPKnPKkjQwIDigUVv4UEi8N-Tr1uXns9rLjPzDir7bg4mpdIKFRKqO64YYEwNGmR-0eQ8hG6QZdBsk0aOss3btmiLWp9SXay2vHmQXlQyY1qdc1iLvhJf2KQLy2pN95kFIa-V",
  "id": "rs_0b343ddd9e1325b2016ab44c3df2d887d0995d7d3ed244bde8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.5},\"note\":\"The vertical descent succeeded: the right wrist view now shows the bottle’s broad body directly between the low open fingers, with its base below the frame. I’ll close to 50% to capture this section without squeezing the rounded plastic out.\"}",
  "call_id": "call_UFcOwiw3HBXZ2E6pegWlorOm",
  "id": "fc_0b343ddd9e1325b2016ab44c3ecd5887d0b10d2bad5cc662ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UFcOwiw3HBXZ2E6pegWlorOm",
  "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, 0.7849, 0.5655, -0.3721, -0.0185, -0.0292, 0.9983, 0.4831, 2.2204, 1.3506, 0.2935, 0.3725, 0.2295, 0.5084]\nstate[eef_state]: left_x=0.2904 left_y=0.001 left_z=0.1664 left_yaw=0.0005 left_pitch=-0.029 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5422 right_y=0.2159 right_z=0.046 right_yaw=0.0316 right_pitch=0.0357 right_roll=0.0187 right_gripper=0.5084\nstate[joint_eff]: [-0.1299, -1.9624, 6.6667, 2.0195, -0.0269, -0.0757, -0.0122, -0.8137, -12.7248, 4.8889, 1.3846, 0.2222, 0.0952, 0.4957]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a25cec2934bf5413241144a37d71bb2811f138fccfd093df3a37e00ed373ce92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def12390a600e190bc118f1197fe012379b27213cd5fcf5547008b55c58e9fea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76cba52176aae419ac9a13397c3f5bc8c94f416811da16c84a318e6951d6e04b",
      "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 · 4.28 s

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

message 94 changed as sent

message 103 changed as sent

message 107 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6029, -0.3866, -0.0189, -0.0292, 0.9983, 0.5377, 1.9522, 1.2938, 0.0013, 0.4191, 0.2646, 0.4507]\nstate[eef_state]: left_x=0.2939 left_y=0.001 left_z=0.1775 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0003 left_gripper=0.9983 right_x=0.492 right_y=0.2139 right_z=0.1134 right_yaw=0.0296 right_pitch=-0.0238 right_roll=-0.0128 right_gripper=0.4507\nstate[joint_eff]: [-0.2393, -1.3197, 6.8308, 1.8926, -0.0269, -0.0806, -0.0122, 0.4034, -12.9436, 8.8684, 1.7949, 0.3834, 0.1294, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.58, -0.3725, -0.0189, -0.0292, 0.9983, 0.4782, 2.2154, 1.3678, 0.197, 0.3882, 0.2272, 0.9997]\nstate[eef_state]: left_x=0.2925 left_y=0.0011 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5367 right_y=0.2069 right_z=0.0377 right_yaw=0.0152 right_pitch=-0.0271 right_roll=-0.0241 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -2.0581, 6.1197, 1.8779, -0.0659, -0.0415, -0.0122, 0.1983, -8.9094, 5.2581, 1.8486, 0.1929, 0.1441, -0.0415]\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 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7849, 0.5655, -0.3721, -0.0185, -0.0292, 0.9983, 0.4831, 2.2204, 1.3506, 0.2935, 0.3725, 0.2295, 0.5084]\nstate[eef_state]: left_x=0.2904 left_y=0.001 left_z=0.1664 left_yaw=0.0005 left_pitch=-0.029 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5422 right_y=0.2159 right_z=0.046 right_yaw=0.0316 right_pitch=0.0357 right_roll=0.0187 right_gripper=0.5084\nstate[joint_eff]: [-0.1299, -1.9624, 6.6667, 2.0195, -0.0269, -0.0757, -0.0122, -0.8137, -12.7248, 4.8889, 1.3846, 0.2222, 0.0952, 0.4957]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a25cec2934bf5413241144a37d71bb2811f138fccfd093df3a37e00ed373ce92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def12390a600e190bc118f1197fe012379b27213cd5fcf5547008b55c58e9fea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76cba52176aae419ac9a13397c3f5bc8c94f416811da16c84a318e6951d6e04b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtExDnIi7P0ozP3BAD98UCcKPS3a__M5kbLn4-mY-G7sJxBT3oqJ0onee_A0Vum-_a9MtBYIKjZHrH9PtNi8k9hFQ_svbH0_XI-qc3Oj6U3prV2KIImo64H4JeXrDwZ-lnu66Vs9oLksB5lRExFJIpxqEkJ5Qnst8LFSvkIkJwSF0arxZ-_G1OQ4K1J-LcSp6xZRLWfAT75leWDtHJ68xWjgq4eUjTH31jCEBCURa1IhNe6QjP00dNkaJaIlrfkQYc0crEVVquCNoEiGmkJbWerBVi8ILPsKE50K0hlCzfmbBV1TaUN4Ns7OrANr1x53KMy7ZageWlfgM7zzHwn-2iYNFBz7lQRWPGbuoPGiUwcjzfFGtDnqA_zhvZViD4frDa1PDeoI9GBTDhwH6zMOxTnnL4FqIiZYGXnfoljTJFBDDhb5D0Byp7B1jwJNbv65LpSFC23tt_do_0G_SCdu-_rYInVW0iSbrDwjsmf1cSxIUB1cN_dtB0EJu8x2pdDfBdfOsMCxzohTonw3vjXRw0q7oEATDCw1yQlnttYdTrHwNXECH-OUb0FYsk4P9BtWLKzdX5q1iBDYUWzUgHLTvJMCneUDc4s_Ze-tKBUzd-8V1rov6oYuzvFxJaWetxzmgugWWhPmOvg1jr2isxuBrmOA8r20PaJ8tBRm1feDzYG2aIW8GrRDpalMcvp0EQS680JszZ0u8UGPCCWWriU4y_eCcsxFH3oEsxKdcvz_MXSQfE157yw9WaNVrD_GcJf7MA-RE62LYKMb6BNBz65nNt-kaHvt0g8TsZ49hZD5ixWSJTIWigR4lUVNhSYtKDAe8iLu0PK2jtiHtrPpixsgp9XlEr2e8aaKT-2kBi79iefn5AmGPBeT-Zjo8uf7LwFiKpNP5W4gWXHleDgpmCap1SvT3zRGe3oG9xAxT5XSUa-AARh7v8cguJPQNSaHBE1RTtTzEhYI4vE7NCdIWywgR5Sn1GLGYGvl9HANoWA2eFMmQaa350S82R0_a8e7W8fypBWmiiSbNHujfEFUzCO2RFHnS1N60vci0HSRUpotyeSnpWdYQh25-qp_JKBnR-lzrYNAIwqtUglJjA3ggO6ApQUXb6DWGH5V2_iu6SRDRx1JSDl2JK-EDB2LpKItj99feXqMUiLeUTG2sqMXo_jRe3gxVnHjeRwqCW_aSanFzdtXzcHtt_n3UXRFxfIbT7nO8WuiUM1wFOP1AD_HWWmko3y_daemR6qOwu-ynIomt6M7XLrD9v8kGT6mkqmLWsaYUxcGmk7v_8m6qld9iKAgxpGq-pEU_NBBTRIAJ8cEedMG1ezOibxN4AsVbE9T6tkovYmgXQZv_kcJawmJzpbeIWzADCe7YjY2kq4Sdx0a-9iBsrveorzKUpZvJs78X5_Fi88HnWUOiQl-IP4SQKGpDQ65mEA==",
  "id": "rs_0b343ddd9e1325b2016ab44c4170c887d08140a0810c537014",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.21,\"right_z\":0.15,\"right_yaw\":0,\"right_gripper\":0.5},\"note\":\"The jaws closed symmetrically onto the label area in the wrist view at a 0.51 opening. I’ll retract only 2 cm while lifting high; this should clearly show whether the bottle is captured without forcing a pivot yet.\"}",
  "call_id": "call_EI56fBdLNcxZASyB2fuB6JbJ",
  "id": "fc_0b343ddd9e1325b2016ab44c42150c87d09a99e946dd51886e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EI56fBdLNcxZASyB2fuB6JbJ",
  "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]: [-0.02, 0.77, 0.5411, -0.3527, -0.0193, -0.0292, 0.9983, 0.506, 2.0331, 1.4303, -0.0834, 0.3908, 0.2344, 0.5004]\nstate[eef_state]: left_x=0.2891 left_y=0.0012 left_z=0.1633 left_yaw=0.0011 left_pitch=-0.0191 left_roll=-0.0 left_gripper=0.9983 right_x=0.5157 right_y=0.2129 right_z=0.1111 right_yaw=0.0364 right_pitch=-0.058 right_roll=-0.0356 right_gripper=0.5004\nstate[joint_eff]: [-0.1573, -1.6342, 6.694, 1.8926, -0.0317, -0.0757, -0.0122, -0.1162, -14.0239, 9.9761, 1.9463, 0.3492, 0.2222, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed7e6b228eb54b5e1b84410d8196e80c465ebccd720237030e138f8cacd11789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40830c38e817c5d4929b3da7ba02f4fb3d7cd37863330186ee1384ac9696b15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0e077d1df67c6f79dd079f41c62ac6e7b3d42c98ccac07a6deac2120baef5b",
      "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 · 4.617 s

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

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7906, 0.5861, -0.3752, -0.0189, -0.0292, 0.9983, 0.4816, 2.1178, 1.5555, -0.1238, 0.3756, 0.2165, 0.9956]\nstate[eef_state]: left_x=0.293 left_y=0.0011 left_z=0.1737 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5407 right_y=0.2135 right_z=0.1093 right_yaw=0.0339 right_pitch=-0.0625 right_roll=-0.0415 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -1.6889, 7.0222, 1.7802, -0.0366, -0.0513, -0.0122, -1.4974, -11.3436, 9.3607, 1.8974, 0.1978, 0.2076, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7849, 0.5655, -0.3721, -0.0185, -0.0292, 0.9983, 0.4831, 2.2204, 1.3506, 0.2935, 0.3725, 0.2295, 0.5084]\nstate[eef_state]: left_x=0.2904 left_y=0.001 left_z=0.1664 left_yaw=0.0005 left_pitch=-0.029 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5422 right_y=0.2159 right_z=0.046 right_yaw=0.0316 right_pitch=0.0357 right_roll=0.0187 right_gripper=0.5084\nstate[joint_eff]: [-0.1299, -1.9624, 6.6667, 2.0195, -0.0269, -0.0757, -0.0122, -0.8137, -12.7248, 4.8889, 1.3846, 0.2222, 0.0952, 0.4957]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.77, 0.5411, -0.3527, -0.0193, -0.0292, 0.9983, 0.506, 2.0331, 1.4303, -0.0834, 0.3908, 0.2344, 0.5004]\nstate[eef_state]: left_x=0.2891 left_y=0.0012 left_z=0.1633 left_yaw=0.0011 left_pitch=-0.0191 left_roll=-0.0 left_gripper=0.9983 right_x=0.5157 right_y=0.2129 right_z=0.1111 right_yaw=0.0364 right_pitch=-0.058 right_roll=-0.0356 right_gripper=0.5004\nstate[joint_eff]: [-0.1573, -1.6342, 6.694, 1.8926, -0.0317, -0.0757, -0.0122, -0.1162, -14.0239, 9.9761, 1.9463, 0.3492, 0.2222, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed7e6b228eb54b5e1b84410d8196e80c465ebccd720237030e138f8cacd11789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40830c38e817c5d4929b3da7ba02f4fb3d7cd37863330186ee1384ac9696b15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0e077d1df67c6f79dd079f41c62ac6e7b3d42c98ccac07a6deac2120baef5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtExIfLtnBzVWnlRdaFJ_MbFxvCWZR4cmn_-xfjngix5JksSD84ox-rI1NR77bGyhHg_6KNpisbnd0-aJj3H83zlnCl1bI4d4s9au_7KkNYQ8us3EObA6Ia_mmWHKWhvRj7xUhWIIK4KiqgBCZAqHjzoBVTbf_0sahiUt3taK8T0XqvXW9me_IH8RqWo1zw2Z45hDzIzA0GjTJbJkXzqCxFclmD_lcvZgabdY-eIvs9yzyb78sdfUqQt_DtCpPsiKL4UftkVKNE2QyEq7hE9yuKg376y_RvpQrqMnC5vKpmJWOB_AWwAp7AtyU-rnczTQ7ONdMsTmZ9XsEYORccr3sewh3Ng9g5hGalNIV8avlK9UMA2oTCicriTWid6GPNH0Zl3pu_3nYH8C7sdAY6cpqNZWkwihSceZdrD2wb2OmDGcGfiwDZskRejNBkKvFsjX9Gi_XFlXh58eQ0tvagUPYsH6tPYjgkebb-nO6FSoCJB5pbl7WK6Kf1A6v5w480zIVosqseefvBg4-Th33N2ms1NzEIdZcq56l1CXzJkNZQmxn8-zhvWpzVIEtUWkiLkXgdm6vo18WtbiVkGOKAf_qdOz7SSlCfc3Kzz7oOOSTnriGIALJQsUZYTtP-0ZIO31_2FfEN0A2fWcer5RK_yl4740JIU5QQGB2kljpfU3oBl5W2X7ixd-pZfemY-UBpHCqcMAjjsDxa4_An8_l0l1kjl4icy3lzSLhgJV5JE4n1RoOnVkBmOjyW4bQvmTmjTz53z3hZ7WEnn2odm4l0oXeriZxgI4sIerxiPXaYi_frHqQyWe5VpzSOdLgBMGlPEP87Umj7F_AAo5VA3mFDqLGylggXfHZihoZW_vShRdmS6EXf0uHqLaCQttdCxxIHT-RlCjorHXpdm16T99hSdBlnItuAt_-Wy1ks_bhVeLp76EKKdQgetkmN-Q_nWTJEGyKQe40-sAfrtZdGeFpB4d0ZrJA7aJRqUSti6p1wrkMnnrbV5XJd-0w6U_ZwjHeKYZjz8Sg3hmysQx_YEpwhQdfvwVgu0JMXtsjrJKGsBqv4epZ9ZHxRK2GW4M6sqQDgv1XjHmg90NbkLcpx9CQYHdnjwhs-ESZqqa6SvtbyYhDlf_FxegCCBsJCZq6hJ1KCTjDNkdwnImRLSxxbif_IVx4caiJhXkUiUOnOepOde7LyrBQhJUevOFq5hwS3WAnfXZ-0FnMyRsWsthM81mB_7Od_pvBlvWGWA_rbCHEplu7WnoYKLI-sgWqNT691gkz5W1ph30ewiiVme_TT6d-Yu0CgblMFvnKgg1aDNbmnSq6fzryi4TG-7OPfbaFzr2iQFRCpGYOfKRe58qmVJMdWfwhRL1uzJ3IEZDuhsEV6PRj6LAvRLJinkkJBmLqv1k4VbrEqAPYoMH1Jd7VLsJF3_7zoQ6pm-GQ9JnLmD0av4acXyrK892_jqgX3Zw-Cr1N_Q1ktT7uyj6eBJJVNf9pVIpUhDbHLZwMLCSx0L0Z60HQRX0H8W40Rjc1wZORmzQbU_Udx7BspMgHVvBt6jvqk_R-bDJ-igEivvJM5YLqCQYNCCwdL0lFANJaP-dSzhmPcLx9U2YczrxPsjWQH0WlmLRVRZHe_DLkKl28MDyS3cpRQu-e7slfXIRIzdJoTvaqkP6YsiIi98mSWBmJAmQ1hl-Als9KaE7PCVMHYjLtBBEkoEKI69GT-GX34VBf_mIGL_FELE-QstyvWixHbh6ltcEi22IIE_Xg2gIIFpM47sh9PHDqS2A5CsyzRVZxoF89C99RR9QlaS0wRZScWehlIaz3sSw9IeQY9ccAyJcG6uHP2JrS17s1sFtQ6jww8LjLePxbPlUrsGDqbAGhftk-QRP2EImkkUTG3escmSfixXextCqvhKywASODrIABXlvyj7CJPwhwGmgXa2mTRojjj-CvbWICHxFYF4_RhhcvR5yEr910KpYnL4EEnUvwPpsDoklJ6sm7lT3Z1CAenW-lPOIs49ej5OGQ-mKcPJaUf1ppzuzac_Kr9BDqgzep3fIkxpI5gNfQ5VSTYbChW1TyhWIvI-pV9ISziHetZ1peX77WmXDU-xFF5iGq7kEcHNII0b6Nvnu-IhotZfLARE5YUAq5NKV_NSALljKOTXuP2GJTLrNBHVGUbfKrRR-bh92xcelRsh-vUmGBhPU-ROKAgD_y3ri5g==",
  "id": "rs_0b343ddd9e1325b2016ab44c44e90487d087d69d2dd0a91c6d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.21,\"right_z\":0.035,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The bottle stayed in the wrist view during the lift, so a 50% gap was slightly too wide and the fingers rose around it without holding. I’ll reopen, return to the same low centred pose, and then use a 35% closure matching the earlier measured neck/body thickness.\"}",
  "call_id": "call_k91m8YnzIS4XtqzQyql9gzfV",
  "id": "fc_0b343ddd9e1325b2016ab44c46dc9887d092efbe39e9b16b49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k91m8YnzIS4XtqzQyql9gzfV",
  "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, 0.7643, 0.5308, -0.3473, -0.0193, -0.0292, 0.9983, 0.4866, 2.212, 1.3548, 0.1673, 0.3958, 0.2317, 0.9957]\nstate[eef_state]: left_x=0.2881 left_y=0.0012 left_z=0.1612 left_yaw=0.0011 left_pitch=-0.0183 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5283 right_y=0.2065 right_z=0.0294 right_yaw=0.0142 right_pitch=-0.06 right_roll=-0.0423 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.6889, 6.3385, 1.8877, -0.022, -0.0366, -0.0122, -0.1299, -10.0444, 7.0085, 1.7509, -0.0073, 0.1832, -0.2271]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e99b30bbe67491853c15c521129b45d8c468bd6a86aa1cf7aa7160137bc460",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb294aa719b47541d11eae40144a6820789d9b046efaa235395a735491f4a85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7af0985b5ab44a6e6aa341c6f9d008f0246b3b502a23069d73fb0fc3538a7a7b",
      "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 · 3.15 s

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

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.58, -0.3725, -0.0189, -0.0292, 0.9983, 0.4782, 2.2154, 1.3678, 0.197, 0.3882, 0.2272, 0.9997]\nstate[eef_state]: left_x=0.2925 left_y=0.0011 left_z=0.1719 left_yaw=0.0008 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9983 right_x=0.5367 right_y=0.2069 right_z=0.0377 right_yaw=0.0152 right_pitch=-0.0271 right_roll=-0.0241 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -2.0581, 6.1197, 1.8779, -0.0659, -0.0415, -0.0122, 0.1983, -8.9094, 5.2581, 1.8486, 0.1929, 0.1441, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.77, 0.5411, -0.3527, -0.0193, -0.0292, 0.9983, 0.506, 2.0331, 1.4303, -0.0834, 0.3908, 0.2344, 0.5004]\nstate[eef_state]: left_x=0.2891 left_y=0.0012 left_z=0.1633 left_yaw=0.0011 left_pitch=-0.0191 left_roll=-0.0 left_gripper=0.9983 right_x=0.5157 right_y=0.2129 right_z=0.1111 right_yaw=0.0364 right_pitch=-0.058 right_roll=-0.0356 right_gripper=0.5004\nstate[joint_eff]: [-0.1573, -1.6342, 6.694, 1.8926, -0.0317, -0.0757, -0.0122, -0.1162, -14.0239, 9.9761, 1.9463, 0.3492, 0.2222, 0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7643, 0.5308, -0.3473, -0.0193, -0.0292, 0.9983, 0.4866, 2.212, 1.3548, 0.1673, 0.3958, 0.2317, 0.9957]\nstate[eef_state]: left_x=0.2881 left_y=0.0012 left_z=0.1612 left_yaw=0.0011 left_pitch=-0.0183 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5283 right_y=0.2065 right_z=0.0294 right_yaw=0.0142 right_pitch=-0.06 right_roll=-0.0423 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.6889, 6.3385, 1.8877, -0.022, -0.0366, -0.0122, -0.1299, -10.0444, 7.0085, 1.7509, -0.0073, 0.1832, -0.2271]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e99b30bbe67491853c15c521129b45d8c468bd6a86aa1cf7aa7160137bc460",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb294aa719b47541d11eae40144a6820789d9b046efaa235395a735491f4a85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7af0985b5ab44a6e6aa341c6f9d008f0246b3b502a23069d73fb0fc3538a7a7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtExNdcd2txV2eIC37AdqtwEE1y2Bjhv9P-IWg96rphfFnD6fTCut9KiLEbFFFHkMswKEoGyGsS9PeF5Ug4T43zt4PsIvMWtmnzmE8QU3y1MhibZGAijw0xR2ZEosLr84Sc8H73Uh0KlMWNyGYPjpNWj7VCOH-fw5KFlfhCJWYYerswRNAAPKOT-6X2kFQlSo4wAlgHvPHgx8reXoRAFjBlqsEgifSYfQz03vELvLVRKodDXATe96PJlMf8cvIoncM7-ViUKWguEcZnGfLQ4ngQxlIizFvpZNgMsYXmuxITzAik3AepfIhnXhEb0WWz9BHilpWOibLIaUEn3im_gvdSgHvsjBW7ifzz1mmpmLoIlbpwF_v5Ch_SXykRpHTqGqpekSIlGOn116x4UJ4LOlKNIxcaNrwr7n-OT3W_S6xyLGhnEcQNG3gLaLtU0ytNAY1afcXL6wtGdgqqwJ-7CJua-sMGpcfgXoEOpv093NRKJHimmq5X22TjzyGn2KrWUYNIaXrEjU0WYpxSaV82qtHt5qIxLbp8OO9sb9CUh-voAEyTGe767QsGegDb0eZNvdzNx6GPHz68oJkUhRxGrClrL0JsdlMrWw8piqBVqawsqLGeFv3rQOliYH7eSMVNE8hziphAqaYtO130fEnh8LjxbcvsoGy-oN8cFMqm3dH2-p7Jmkm7SwSXYiMg9Z5VadNLFF8vTcQd8A0xnQ7ilcnXv5RDq26QXW4zOJ48OkpPgIkWfufptuZmZvfw1Btn7O6IF1GErsIoC1GMeo7lpoJ-zseKyvPZO9kCkny0oRRfxTDsA6ir9rM_c-X-k15znyQWO2A1hXrDiG3dBTXJ5pcBNUfmrjN10p-LvSEdJSeEQvsaApxpG9pnvoZXm3BQCdok0GKEd-qEeTJBjURd-5wrIrNvAN7ryDovhkvvLv8BEhyNfipTIvlV04nYz6hgg5OBOgctOhwRX5rIoPtoQLpA3W1Bs50K5ChuWob_gY0cGF2vb8c_IDdRNCzdhyyDUzYyvAMtFXXSoe8_k15o0_xggLOLKcM1G8IralBRM3Mcg-uVUJtWfCGIfSdZI9-6d8BMcxn3InB5oCGVGPlHulMxDdTl0lTyo3MNc40Cb0GLsQ4i1E7CZH1lwQmnKCS1M_JR923Ph694mSoLYlK6pNyu7Cb6bkVzisV_OJAngZzOzbGfh06mmkoRiWaiVjRcGj4YqGDc9OE2eJBPSzsY99XDJ7MRix2QH5RhukB4aQWc0ocOA=",
  "id": "rs_0b343ddd9e1325b2016ab44c4af59487d09faff3ec4e1c5ee7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The low view now has the bottle centred tightly between both fingers, with its shoulder and label filling the jaw gap. I’ll close to 35%—narrow enough to make contact but not continue squeezing after contact.\"}",
  "call_id": "call_JfFPCOi9t0Jt6DGAtOPnYatV",
  "id": "fc_0b343ddd9e1325b2016ab44c4b528487d08ab4ae8192ff4426",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JfFPCOi9t0Jt6DGAtOPnYatV",
  "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]: [-0.02, 0.7616, 0.5156, -0.3412, -0.0189, -0.0292, 0.9983, 0.485, 2.2135, 1.3548, 0.2409, 0.3836, 0.2344, 0.476]\nstate[eef_state]: left_x=0.2868 left_y=0.0012 left_z=0.1562 left_yaw=0.0008 left_pitch=-0.0248 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5374 right_y=0.2126 right_z=0.0417 right_yaw=0.0221 right_pitch=0.0011 right_roll=-0.001 right_gripper=0.476\nstate[joint_eff]: [-0.3624, -1.894, 7.1179, 1.8877, -0.0366, -0.0171, -0.0122, -0.2803, -10.5094, 6.8444, 1.7753, 0.2662, 0.1148, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76aad3e9a278a5c09728da1ae21ad392bcea70bbaef7b0f73172d5498f60843f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13328adffea538d7a4ca8f0cb8d7631dbfe8f31b7b2269a33c8cd66aa612e10b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e9d6a09420aeece149b0d908aacd7d33493c3b22172ce5395918bc6486ef583",
      "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 · 4.563 s

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

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7849, 0.5655, -0.3721, -0.0185, -0.0292, 0.9983, 0.4831, 2.2204, 1.3506, 0.2935, 0.3725, 0.2295, 0.5084]\nstate[eef_state]: left_x=0.2904 left_y=0.001 left_z=0.1664 left_yaw=0.0005 left_pitch=-0.029 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5422 right_y=0.2159 right_z=0.046 right_yaw=0.0316 right_pitch=0.0357 right_roll=0.0187 right_gripper=0.5084\nstate[joint_eff]: [-0.1299, -1.9624, 6.6667, 2.0195, -0.0269, -0.0757, -0.0122, -0.8137, -12.7248, 4.8889, 1.3846, 0.2222, 0.0952, 0.4957]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7643, 0.5308, -0.3473, -0.0193, -0.0292, 0.9983, 0.4866, 2.212, 1.3548, 0.1673, 0.3958, 0.2317, 0.9957]\nstate[eef_state]: left_x=0.2881 left_y=0.0012 left_z=0.1612 left_yaw=0.0011 left_pitch=-0.0183 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5283 right_y=0.2065 right_z=0.0294 right_yaw=0.0142 right_pitch=-0.06 right_roll=-0.0423 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.6889, 6.3385, 1.8877, -0.022, -0.0366, -0.0122, -0.1299, -10.0444, 7.0085, 1.7509, -0.0073, 0.1832, -0.2271]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7616, 0.5156, -0.3412, -0.0189, -0.0292, 0.9983, 0.485, 2.2135, 1.3548, 0.2409, 0.3836, 0.2344, 0.476]\nstate[eef_state]: left_x=0.2868 left_y=0.0012 left_z=0.1562 left_yaw=0.0008 left_pitch=-0.0248 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5374 right_y=0.2126 right_z=0.0417 right_yaw=0.0221 right_pitch=0.0011 right_roll=-0.001 right_gripper=0.476\nstate[joint_eff]: [-0.3624, -1.894, 7.1179, 1.8877, -0.0366, -0.0171, -0.0122, -0.2803, -10.5094, 6.8444, 1.7753, 0.2662, 0.1148, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76aad3e9a278a5c09728da1ae21ad392bcea70bbaef7b0f73172d5498f60843f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13328adffea538d7a4ca8f0cb8d7631dbfe8f31b7b2269a33c8cd66aa612e10b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e9d6a09420aeece149b0d908aacd7d33493c3b22172ce5395918bc6486ef583",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtExQn3nKsm5IATcZNHVWhJaj1O8DyWNjT73KoC_knBOemPcHPL4eZOEY99R7FkOg1gygucM13tJE-9X0bwvkBLq81EDYrSNR0P-itUw8w0S1I-d1I17neOSHVWUrnTG26IVTP_OaAEFVJVtIk-VFUQ47fFWOPzM5sLUAJvgV0FehFfYlcd182J_Uk7CmSksBhdTKB5Cb1CvDo9SIzH5rPQYm9i2xPHTZ4QXNk6MkunqFIlMsIad6dzKRHj50yzGCeqe2ATmMwhS0dS7ugvJTCG-6vIx0jGwUn82Y8QLagP4c_kD4-RrafM56N6QxBwVzRATAcg3bsFHjcJ4k9Y2LihfFd_Y2lJ09vjbUOo0TMd0udPqyGKkYRB6Q7MwmcbOG6P3ccbep_vcT3let7R2OLWDQ7EuLiCy1R-_8mKxI1j31KIzKJf3O3z21V9MrlLUIoU1uaIxp7eju_KuXTrG2s5TVpXSvaYsLF7QZI9amBTYy0GLC8ckMq7jWwz2IOjGJyj-43rF7WV4oXR3jqC3qol1EYJ9jijuo3xVvcwOBn4XgqubT0pltJh6QmRhYmMVfvW4DXLUkS_NpAaEwSs4pUbUFC3CGfDIbc_fRu83KLt5KNc86xaJWBP_GOGAXYdVjTsWDYHRdycnHeIMzUoyaZ4rwPyRBA4aqQryFXHdfX41saXyUqj99AWPsH-BYvBS49JmYXl8V70IU-xbWZGE4MPCOZHin_eO2Y8IHFv-1-91XpuZ8l89_mmG3HwU0W0aJtDGm1sReDkkNvVTgAIeQl9HrE1OD_mobSbSzRWwgx8eGQVYMNC2nGqQSoNSLj6zYvfS24aAsbf7-zfYPNbtZgBapruIO_PlcC64Eddj6CDGx4YP6vEs6QDrhS-hdTbrLqN34OkmUVB0XgehsbUjYG4WlCoRTi4jzCCKjN1b5AWaUrLwksz9ovBQ3LX24cziLFQdjoOOLRDb2jurT0NlvL5fwym7ljvJI0v_CsWberXt-gSnjgTTVV8Zwg_icaDKbkz9hvVtra_uyPzSINOryTONN2SPlx9d2-3Zl5jknUJATRVbIgmm1mwem7MGLTEndZTD_tnh2srdBHEuldkrV-Tztp9WZkQGxz4LOyhBGiLkuqxbv09L3K56OBXi27lS8p1idQ9KYTWb-Qhq83iDk7OheOUSmg6VkVnR9GsgDgQ9rzT0rI3wn_p-vVJKFQVdAfNoVqw9KHtlQJ4n-fO2xA0tJ_XUjrVcZuXndAasPTbCNmxHq6CeBTYZ5XBolgYyUnWiczYLF0mlRW_wlmAQv5VNxbxkDfYSs7yZFXxL0yLHKBsCuChPGz7-E8FUsyS5HM4Q385a9rWy9miUpLufVhMBWYCucqUequNySbqm87Oup91L5j6DG1DKTpnxGo8EMkGDyY42GZw9Jv3JvQBIFzcyQeaZWqLDESxodSJdxKK7L3rpsCARJZ65IdWw2vq2AzrUKWyg6u9wr7VVoyd41l_j3hQ==",
  "id": "rs_0b343ddd9e1325b2016ab44c4f73dc87d0844890e006de4310",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.21,\"right_z\":0.15,\"right_yaw\":0,\"right_gripper\":0.35},\"note\":\"The gripper stopped at 0.476 against a 0.35 command, confirming a real grasp on the bottle body. I’ll lift and retract slightly while maintaining that limited closure so the bottle can be relocated without being crushed or ejected.\"}",
  "call_id": "call_hn7cVGSYXz5J4YGgEiiGBNpo",
  "id": "fc_0b343ddd9e1325b2016ab44c4fcec887d0abd7b50c97fe5a38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hn7cVGSYXz5J4YGgEiiGBNpo",
  "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]: [-0.02, 0.7513, 0.4984, -0.3275, -0.0189, -0.0292, 0.9983, 0.5297, 1.9949, 1.3457, -0.0734, 0.3931, 0.2615, 0.4497]\nstate[eef_state]: left_x=0.2858 left_y=0.0012 left_z=0.1539 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4942 right_y=0.2151 right_z=0.0981 right_yaw=0.0423 right_pitch=-0.0894 right_roll=-0.0321 right_gripper=0.4497\nstate[joint_eff]: [-0.2256, -1.1145, 6.5162, 1.9512, -0.0269, -0.0171, -0.0122, -0.4855, -13.6274, 10.2359, 2.1074, 0.5397, 0.1197, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d3632d3e34176a91f9058ef555d77766fbd48db96853de8597a7b01165b92d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dea0174865d6e576ad8279b6a6c616f6bfa2e3ecefe08493ce62432b8df667a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4892b9550b484966bb944ce1313150d548ec3adaa0f843c00ef4bba567bdb151",
      "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 · 4.33 s

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

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.77, 0.5411, -0.3527, -0.0193, -0.0292, 0.9983, 0.506, 2.0331, 1.4303, -0.0834, 0.3908, 0.2344, 0.5004]\nstate[eef_state]: left_x=0.2891 left_y=0.0012 left_z=0.1633 left_yaw=0.0011 left_pitch=-0.0191 left_roll=-0.0 left_gripper=0.9983 right_x=0.5157 right_y=0.2129 right_z=0.1111 right_yaw=0.0364 right_pitch=-0.058 right_roll=-0.0356 right_gripper=0.5004\nstate[joint_eff]: [-0.1573, -1.6342, 6.694, 1.8926, -0.0317, -0.0757, -0.0122, -0.1162, -14.0239, 9.9761, 1.9463, 0.3492, 0.2222, 0.0366]",
      "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]: [-0.02, 0.7616, 0.5156, -0.3412, -0.0189, -0.0292, 0.9983, 0.485, 2.2135, 1.3548, 0.2409, 0.3836, 0.2344, 0.476]\nstate[eef_state]: left_x=0.2868 left_y=0.0012 left_z=0.1562 left_yaw=0.0008 left_pitch=-0.0248 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5374 right_y=0.2126 right_z=0.0417 right_yaw=0.0221 right_pitch=0.0011 right_roll=-0.001 right_gripper=0.476\nstate[joint_eff]: [-0.3624, -1.894, 7.1179, 1.8877, -0.0366, -0.0171, -0.0122, -0.2803, -10.5094, 6.8444, 1.7753, 0.2662, 0.1148, 0.9499]",
      "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]: [-0.02, 0.7513, 0.4984, -0.3275, -0.0189, -0.0292, 0.9983, 0.5297, 1.9949, 1.3457, -0.0734, 0.3931, 0.2615, 0.4497]\nstate[eef_state]: left_x=0.2858 left_y=0.0012 left_z=0.1539 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4942 right_y=0.2151 right_z=0.0981 right_yaw=0.0423 right_pitch=-0.0894 right_roll=-0.0321 right_gripper=0.4497\nstate[joint_eff]: [-0.2256, -1.1145, 6.5162, 1.9512, -0.0269, -0.0171, -0.0122, -0.4855, -13.6274, 10.2359, 2.1074, 0.5397, 0.1197, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d3632d3e34176a91f9058ef555d77766fbd48db96853de8597a7b01165b92d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dea0174865d6e576ad8279b6a6c616f6bfa2e3ecefe08493ce62432b8df667a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4892b9550b484966bb944ce1313150d548ec3adaa0f843c00ef4bba567bdb151",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtExWwKc3hvJyybex4z8h83kF1XbKGYQBzww7_GVlQUqkQqMvBCuAzUbGeENyCC350NjxthtDFiG3UrKDK5Hzw7c7CF8Fzaeo3zf2CXfPndUdRJKP69e2g6BkJLFCV7Lp_IeYVTaS0zFyLY-cSOM8QzkfICTa0OWoLifXwjV21kNbWzKwGbWPg6cgEaCmlbmhuL8ENuGDwOAawTVHvsfix86wiKfJqAky_YfQBH_8p8_h2-zI5qErEXDYZVWi915K1K7rJ8ov9tLga2o4grvHoKJ8gOeqhg-HnKJGEzjhKOKE_ydeSnq4iUd98H4F6E4oWRRZ0cBjxbI0spRFDkPqC7iHyVrDjq1I5h0uGNmpzcJUPtgwqOlAr89wsjTxoAfVy8we7w4yk7l0qyyeOfA1xElke-TisObzNhuIsVIH4epuHa4eVbvBUJqQg0H1ZEV8ZIGRT29wJ4nfZwUHJFkaj-jLz9-TMbN7Aa9Y7jH7-F46dPYwHG-uitpVj0pviRS6ER2NoZYvwyQ9AH9382A7NwDwqEKP1jhcmN0-ncNfUaV66Mk3W2gYqrq96GP1dRRlf0E16oXmmcrHSJ8XPm2FMJoHtHXlhYt_HmDkWEDMnqKKxtibt1KorvVPN4OL1K1-bfF-cbEUiv5vUMubyqUJkihVMnD-38UJ6pi-xFo6CzxdEnvniKsewVU4TEnwLg4Eo5XLEEBq7V_RqwgJXH_Yt9cvLmYBK-5oKhnFEVsT-UUWY_LeT6tx1t6FXhOGr7VCIBqkq9g25lJ5Q2fJIPjayd68AYOBlkHhOezIUVyvZHezQ9SiH3tqWVk-sPHMoZSwMc6dl29NU23ppcPyZS8TzbrzQVMa8_svI57B0h_MNbaCCfoJJABR1ffIlSFzl8-kOwyRO_6w1jb6Vb0yp1CuxLEESQp8BpsaoZryI5Aqi8il0PF8jhG6oH5RYF4wIwpNcS3A_6OUhLkxku4DH1zZ-UDfupyc8kSbFzGk6S7UYDZQcNWwzsND_FIWMrjVKLiEdkcEqagUX7vmzccQVeqUlKB4WdCkNrcwhmo8x1QPR5JGNnT6Uw2t5zYjX7hWXcma0D7AbkbgVOvO8jbtR5SaRj9OAU6cZh6-IWYD-juujFwRCq2Vzjc_muUl-EXld9c4unu0GyB91RdEpr4zyuHlMSccG33EAcGYwsDcN4lZIGGb3XhtoOG1Rg5yGm7OJTkaSCg2zp4PiguA5zgu1D0Xr_Hf1US2XbP-vLeFo94DqwsAhuNsq_lJ3lhhbPKeekpGRDxOBaBCDyMX6CAiX2FeHt9_bWDgwnJpnqoVUDqXW9NuEUlkPLsMv1VH4fmgxo6CYLZ9lTzfkTy-vTt1u8_ILhkShrR2jdavVuCqzkpX8jM4uxiS920GEDxwzvqbDPdO3y_WtcIKgpLnBnqQ6cwRl40MF3-A4nsjA0BLnsXRRxWrvDDy7AAHPE5cciudVeuWPI4nVDH_4rMV4PW9hdI3Sm7vCHGPDRrkBV4PHoVJGoFgyxH1JvCF8u22UCEBlrzxANIjHS3Nxr9icgiSustJMZ2NBzYd929tP3Gz6sB_CNics2xw2zD_8lwLK-aboElDv3rNuiScs7b4vSbTvXa79bOTd8hk_YEcEt_12Ec_b25OiOMwAvZHlevZbuST18jhvHvphPuYfLHe-HauafcTCB5mB9nPLKeOL-cK9dR-zS5xl-vGg5mdofUz_JUtBRi5I4vXPPUBoLzOfQYf_d3trFucYWf-IdpheVxpwd2l5b_POsMOan7wG0vho1Io_ot1qLRgXFo8Mnf96ZeMofEGOKDxWRwDrOiqvz-n5ZsMycDuntA-WqbUKgAvpgTWTFLeeEXP5lpZaszGYlHXgb_RraMKTi8YCfQgZBoxfkOXPRbPP8lJ1G3mTuvuNyduybO9LPvD8HZuPfi_pqHQ3B0nuhE6caS44kDzYksWBdlydClq7DxR42lYGPJ5_meyW7iEduSrW9EBoVkIzw7WXxH9AQaDzuQOtA8BEezt1YMQ9bGK0YROBqepqlmmfwVKOQ5DvsvHe4WMZTlaCtt0S_T9UWj93S2GWZYoVs7wTROSUL86d-SgrQVOCiNujCgHNhlDNqEuYrSLshuFzVagZy3O-wHh-vGhNe5X_gOJGDo08ndQ3N--ZyuUVecRrF-wEUtCBIp6QP1M50Yjq7VpfYyWTuQsntnQaYmm3h8DztI6D2pkakV_AylFvFGRPgpPhlJaDAkYd5LguSQMV35kXNLh1P-3KR4-M2CMh-TN86BffQhDigPuKWNftWTA9HKp9YJf2gzuD5vKKqj0Xhd2PDmWIX1WQgHQlCTlzEM3QJvBKBIvyrWXbcLBVF5hMPAjdNe7LQJYllz74flp5syaj7IshVix2DUewm6woWL8fp4sVnwpC2hTsrNz2ABDF0VQu3734ESE33jrMas-hdB6oe7ZDENWQv-sAH9w_eAJXVt2U3NjvArF1pckJFcaa0AkSOoKynXdINBl8JiHOHAhgvB0Kp2BhLpl_bf7676sNTaasOaPey2zldoNnDG92hvy7w75_oA-cA36uUymUKixzMiwQfsndelktTUhg4DyOlLFU60yGOLFCWhwa0kyEpqFOzFmP0LsCpW0tikHPNh4yvTpU7ovxSHf_dQriCXx4pWD7ah8OCA2Ztq9ekpEJyGF8h55TcJkRu-_IvmOtelTW9aVrCoOnaDZo3FXEX5BRtOztNY_38lEf01NR_6Fsn5bUpiNGs3hc4bhnSn6TnUrftPbD3oF3jDaq2X15ZTMG1EGDdNBVdw=",
  "id": "rs_0b343ddd9e1325b2016ab44c52b12887d0835f91b672792080",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.21,\"right_z\":0.18,\"right_yaw\":0,\"right_gripper\":0.35},\"note\":\"The opening remains above the 0.35 command at 0.45 and the bottle stays wedged between the fingers, so the grasp is carrying load despite the short lift. I’ll move it well inward and higher to create room for a cap regrasp and standing pivot.\"}",
  "call_id": "call_sLIm4IpNP7j6Qd0I4w9PAbBw",
  "id": "fc_0b343ddd9e1325b2016ab44c5521dc87d0880afafb47ba2d8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sLIm4IpNP7j6Qd0I4w9PAbBw",
  "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, 0.7456, 0.4866, -0.3195, -0.0189, -0.0292, 0.9983, 0.6746, 1.6367, 1.1404, -0.1726, 0.5186, 0.3523, 0.3515]\nstate[eef_state]: left_x=0.285 left_y=0.0012 left_z=0.1516 left_yaw=0.0008 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4092 right_y=0.2198 right_z=0.1731 right_yaw=0.0401 right_pitch=-0.0007 right_roll=0.0027 right_gripper=0.3515\nstate[joint_eff]: [-0.2667, -1.1966, 6.5846, 1.917, -0.0464, -0.0513, -0.0122, 0.1709, -9.6068, 6.0376, 1.6288, 0.3394, 0.1001, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec445e395483ff880cd3248c8d50a5020f89331ba6b98d9ed6e86ac64ce9a81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80796ea8203806b651de6bd8f653c4062e7a2942f611fb46acbf4f09eb8ba8a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e894997853cb7a329ca0015742d0377b24fdb66630f003e0b25a1c99801ed753",
      "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 · 6.441 s

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

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7643, 0.5308, -0.3473, -0.0193, -0.0292, 0.9983, 0.4866, 2.212, 1.3548, 0.1673, 0.3958, 0.2317, 0.9957]\nstate[eef_state]: left_x=0.2881 left_y=0.0012 left_z=0.1612 left_yaw=0.0011 left_pitch=-0.0183 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5283 right_y=0.2065 right_z=0.0294 right_yaw=0.0142 right_pitch=-0.06 right_roll=-0.0423 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -1.6889, 6.3385, 1.8877, -0.022, -0.0366, -0.0122, -0.1299, -10.0444, 7.0085, 1.7509, -0.0073, 0.1832, -0.2271]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.02, 0.7513, 0.4984, -0.3275, -0.0189, -0.0292, 0.9983, 0.5297, 1.9949, 1.3457, -0.0734, 0.3931, 0.2615, 0.4497]\nstate[eef_state]: left_x=0.2858 left_y=0.0012 left_z=0.1539 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4942 right_y=0.2151 right_z=0.0981 right_yaw=0.0423 right_pitch=-0.0894 right_roll=-0.0321 right_gripper=0.4497\nstate[joint_eff]: [-0.2256, -1.1145, 6.5162, 1.9512, -0.0269, -0.0171, -0.0122, -0.4855, -13.6274, 10.2359, 2.1074, 0.5397, 0.1197, 0.1929]\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 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.4866, -0.3195, -0.0189, -0.0292, 0.9983, 0.6746, 1.6367, 1.1404, -0.1726, 0.5186, 0.3523, 0.3515]\nstate[eef_state]: left_x=0.285 left_y=0.0012 left_z=0.1516 left_yaw=0.0008 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4092 right_y=0.2198 right_z=0.1731 right_yaw=0.0401 right_pitch=-0.0007 right_roll=0.0027 right_gripper=0.3515\nstate[joint_eff]: [-0.2667, -1.1966, 6.5846, 1.917, -0.0464, -0.0513, -0.0122, 0.1709, -9.6068, 6.0376, 1.6288, 0.3394, 0.1001, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec445e395483ff880cd3248c8d50a5020f89331ba6b98d9ed6e86ac64ce9a81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80796ea8203806b651de6bd8f653c4062e7a2942f611fb46acbf4f09eb8ba8a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e894997853cb7a329ca0015742d0377b24fdb66630f003e0b25a1c99801ed753",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0b343ddd9e1325b2016ab44c5800e087d08ef57f1f2065cb26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.22,\"right_z\":0.09,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The jaw opening reached its 0.35 target during transport, so the bottle slipped, but it was successfully relocated inward; its cap is now centred and much closer in the wrist view. I’ll reopen and approach that cap from above at the new reachable location.\"}",
  "call_id": "call_i1JC1gu8ES85mFv3Fm0HTQmB",
  "id": "fc_0b343ddd9e1325b2016ab44c59ef1087d0b7bb48891f5bc47a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i1JC1gu8ES85mFv3Fm0HTQmB",
  "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]: [-0.02, 0.7399, 0.4824, -0.3183, -0.0189, -0.0292, 0.9983, 0.6163, 1.89, 1.1133, 0.0544, 0.4919, 0.3214, 0.9956]\nstate[eef_state]: left_x=0.2844 left_y=0.0012 left_z=0.1514 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4453 right_y=0.2176 right_z=0.0846 right_yaw=0.0184 right_pitch=-0.0543 right_roll=-0.0398 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -1.4154, 6.1333, 1.8828, -0.0464, -0.0757, -0.0122, -0.8957, -8.6906, 7.4051, 1.8681, 0.1783, 0.1929, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dfca208a012d455e99b2cf84f920b3032cef7e9d0c1796774912759fea3523a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c535ea0663aed76329f7bd07a258acfe5cedf8636887e2176d7eab7d3fe52bf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23a1ed1f1f0063479d670e5846befcc081f529cacbf429d35b355db0b2e14ec7",
      "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 · 3.304 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]: [-0.02, 0.7616, 0.5156, -0.3412, -0.0189, -0.0292, 0.9983, 0.485, 2.2135, 1.3548, 0.2409, 0.3836, 0.2344, 0.476]\nstate[eef_state]: left_x=0.2868 left_y=0.0012 left_z=0.1562 left_yaw=0.0008 left_pitch=-0.0248 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5374 right_y=0.2126 right_z=0.0417 right_yaw=0.0221 right_pitch=0.0011 right_roll=-0.001 right_gripper=0.476\nstate[joint_eff]: [-0.3624, -1.894, 7.1179, 1.8877, -0.0366, -0.0171, -0.0122, -0.2803, -10.5094, 6.8444, 1.7753, 0.2662, 0.1148, 0.9499]",
      "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]: [-0.02, 0.7456, 0.4866, -0.3195, -0.0189, -0.0292, 0.9983, 0.6746, 1.6367, 1.1404, -0.1726, 0.5186, 0.3523, 0.3515]\nstate[eef_state]: left_x=0.285 left_y=0.0012 left_z=0.1516 left_yaw=0.0008 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4092 right_y=0.2198 right_z=0.1731 right_yaw=0.0401 right_pitch=-0.0007 right_roll=0.0027 right_gripper=0.3515\nstate[joint_eff]: [-0.2667, -1.1966, 6.5846, 1.917, -0.0464, -0.0513, -0.0122, 0.1709, -9.6068, 6.0376, 1.6288, 0.3394, 0.1001, 0.105]\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 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.4824, -0.3183, -0.0189, -0.0292, 0.9983, 0.6163, 1.89, 1.1133, 0.0544, 0.4919, 0.3214, 0.9956]\nstate[eef_state]: left_x=0.2844 left_y=0.0012 left_z=0.1514 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4453 right_y=0.2176 right_z=0.0846 right_yaw=0.0184 right_pitch=-0.0543 right_roll=-0.0398 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -1.4154, 6.1333, 1.8828, -0.0464, -0.0757, -0.0122, -0.8957, -8.6906, 7.4051, 1.8681, 0.1783, 0.1929, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dfca208a012d455e99b2cf84f920b3032cef7e9d0c1796774912759fea3523a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c535ea0663aed76329f7bd07a258acfe5cedf8636887e2176d7eab7d3fe52bf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23a1ed1f1f0063479d670e5846befcc081f529cacbf429d35b355db0b2e14ec7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtExi5Mp2t1K0MzwHekus0Vv-pRXSkab36EwzhcR524MdekaVsurcDVNswVx5y4cstBI2GFNO2hb87uayv0B1WfBXdgVHD7QMFPfaDPM3SUXTP-HmgqSdxeGnPQ0KNl5EmLCVEiuzIq8Ic1lbd-aqp84dxTWAnFi06hZaD2BWua3OTUtZaEii2oRv8RuRThOp_KexzBN6wqVPyi88-3f3IpZWn0_o5m24Zi5rSizF7d4icGbws3Ye14KooOhzXU-5031GU3S-CJhLrRzP4xb7ooceTsSQ7RUIX31lhzNr1F3R6OklKm3311RNkVQaSllcK8SidlRjmODRSTVwbIHOdpW4Mus6YVLt0Db-zsCm0CqMy8hvRAR5TdOojUq3AahYYqLMyxXQ34wZwf5_D_cyyQElancJpbNR4U7VpcNIKQ7r3mfKq9cSWCH7iYfYofkvNS3dmR9ej1G6YGZJ5sJh9Gh2-iplnuaJPhSj2Ggbg1e7MKhTls-Zo8FD3fTTMe_hOUukXe1NALquNRneQCUks5NUN7OUM7Ltoj_0KiXmVKULrjnUUpj2SyJYlX1_WzA2GG0bPnUY5s1EgvXviX-5vEMl5VpfvuqCOsG2peH2USHktPrYwWalFUKA57fd8ixP-Bzt7S9clMbvxbrO2HPgi2IpwcKaCBRsexo_KBZLFDkUxjpCYHZfKAr-7e1cix2Eq3OmeudbvbS-Ol6y4WbqtGnaP9Z06rERr_eHVSeRYcgOm64c9ZNqH7UAFJtr5YqATMk7FZTnnc2V9vZ5wSyJ1b10aoMwyI8SKa29TkgydJzl6RKjKKq-YY5pnxWyapKAHo-k-qnBPpq46pt8ciJB3SlUQ4EUctwbxA9ZXxzslA0R_VFLh4u_dLyePnKkAeHq8DokVioO1z4_Emx-OZKoo6v2-NCvUxTcaahmQFKyQJ9q-NFvQ_blgm9u22zCERno7iImZc7gErsqjazVBNK_kec-SS3VGcc4pT_qWm-nd00nufpyH5B2Rbik373g_2zXJVnuhHUI8V5CNxUbsRH3cru0qG9chSAiuu3ErhuP4_7c394p8U72apuZLOf0wITMcqLHiKqwl-eY4FQDb7SW_Vv_jX1MB4ll_HESWzzFwBAxA1di_8KCM2PcWQ1K2ixCYbwiGeWzJyTuLSnSMhHqJZ0jl4ZTS8UHilHkEMotbOGXYGwXT0ybvbz2J8xYYVtlGzdfDOT2IzYcwf29lewDCseh5GctAwJeVErzsjdhahSAvGuDD4rxrla0lzHJHe2E7TS52iyoEojOTBxOKF3FjoMe64uy38YhLrz7NkhkHttn1ZdEBNGPT6lGb1-xm-7YgMaSbeWuuvsoZr-VGUP05UbmyT9gORFi1f1QWFD1UWrOE3yepBv0ZWRJcBBOtqp5ZlzXH4CKQMy6uvJ6ewo0WBCpjRADN51P_GZjWGI0tAX0MoPGVlSacVuWScEQp0LCki63Q3Y4O7SWeZd2WRWWEjTHfBUNmNnMJnZueq4BLmG_i4A5RV4sfOHk0UG0SoIUHyriB1W-BtSJwGoRYTuySlvHI5VF1dxCCs5tRczt8KGwMfBMRQcDv03m_mVkXcK1KYSYFQPbaXzTtbddQ3johPL4Cso-5o6GX0J02yOqjYTFIcRMPskwvSGFHZjAT2W9hoAKyRVjTpXbShRTMi3wlVu2Vx9MEVBaMTFN8SYoQMZsrw1rqNF9avvvLuqDY6l95VcI1Ep4AXdI9kp4DlRGiPVVllh-e3Ux8-W81Ot0FhVExyA1NrUbV9fGdailnY-WRA4zRUxd79H01HfbZd54YASI4hVlODoKreWJkgj6jl91jyIe2g0k0MBIH961rwfv8EX3jZnoPBMGQS2ubMd2qlYUrB0d6T9yqt44oRj1oIC0p16V-SoPNBYzsY4O7QoRoWmpxI-mNsDG-D-CqRjlJaJ0iYfKqGOFnzjPekekhvzYqxC4yMBD1PXOLTjKyUWt4lloXL42Y-_qw7NF1r5f_N702SSBM8Dh9ChcSfE56JcY-Qd4Aw7FDemT8S1_Zpvq5wWCP4vLRE0TYS7NGHu8_wkKjywQzA8kammkAqVj7T0QIC9momdnmR9KYq8avJZepYyMFhBiXaosJAMWFirPYK_he_IYvJ8UcEa-S_dlwqUOF45ZRHCgRcBYl3CooKu4R3XhJlulQLEUA6uHjsvHJwdg6iRFxr88C4jaHYyIKGARtVyXnVS9DkgvJMY5pRYbp3pupXBt93azOgCDA099jzByn-7VbCh5oYepq-XtcaRQVxWhMEmuR40-9xyOBeRjwc3xYoig8zrffRGq9RGhSS3tmWuv6TIGeKdVvCOcQjIuiajKcAetgj5_UzmxppIagWeaTdTt70pG5awrrdT75I3T8chi8qhhhfmXZbbevCUfCqV0RgyK-PYglqtIyvQ4-29k3q4m4FsE7P2akagiaHBiaOqk4W9XwdKcKY6sPcBLPoBR3cwJwMBma66o6N7hk31jvZ5StiGZt0kSzGEbE4hFw4ede-B6csFRUmDud6kw-DkyKs4KN4ZffoPwR25YxS7hIvijaTS90X1OPUIPx8tXWT8YVBxpfxcjHyWa697YK_KbdifUjvmhtDAboKh4fQsSiFDfvpVpLOB7vJAstCtZhYT_ddLrc0ESKheeL0m9EJnPPI9eyl2XQLFmVhfwn6ngJuRwHPU2mLWiFoKJ0ByTeZ23ZaacUHXoR9uPSotpgadA__g7BGjNE6_lvIBLU-BiPsKv7Y1uJ7RZC-V1hy8ErZVp-RivQV34htAYjkTZAi9GW_68dXnYPXPed0mgTgdoG1OdC61fmM8HZR6lqe-oP3_F6NH-ZYzmUFa-0UxxPfbF72i7DSnfZ91jc-kR6Z9-46yKM5AT_rbvsTifzCpTXhPlqyei-hVy2z_vr1U5HDP7tgncgsev_XOq5nNz8mm57HXuAQsABdXNsq3Fkbw3MzJL2352VK3wm1T2UpMI9vZ2b4wFQKHNuQPBpVnUiTVboACpPPWW7-6V71tGDf5iEiseiRWQs-ph14zYXGwlH2LBFPlL5Vz2hpYiAFw3zn_0d2FR9iX3WquulGVSCeC02BnIssJotPwrHLRkflJHUhFghHh9vFqj8VSuxF6Zs3Eo7UyKyIvwyu8uZYtgmwsH_FPRUKSh0HCvRVemQIxUO_zsQeIEhT5oO2Q-HegWAxv359UoO3yRzOdg5sLeKxYEs1iG7rzGhoxGO-oJNfvbC75TrjY5H05qi6k0TGiUFVlLsQoO4wzP3l3E51zR2KUEgeT_lxAZNleOhjt7J9dSqag6ADha5AImOSNgSWNV036o",
  "id": "rs_0b343ddd9e1325b2016ab44c5cd84087d0ae54e9250694f8f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.22,\"right_z\":0.035,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The relocated bottle’s body is centred between the fingers, but its cap is still a full bottle-length farther forward. I’ll descend around the broad base section again and use a gentler, just-contacting grip to shift it farther inward without squeezing it out.\"}",
  "call_id": "call_q6Fzoveatf3HTvVBlI9fWLJp",
  "id": "fc_0b343ddd9e1325b2016ab44c609ee087d0bdbfbbbb06cb07e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q6Fzoveatf3HTvVBlI9fWLJp",
  "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]: [-0.02, 0.7383, 0.482, -0.3183, -0.0185, -0.0292, 0.9983, 0.6224, 1.9907, 1.0061, 0.2825, 0.5007, 0.3363, 0.9997]\nstate[eef_state]: left_x=0.2843 left_y=0.0012 left_z=0.1517 left_yaw=0.0005 left_pitch=-0.0122 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4415 right_y=0.2168 right_z=0.037 right_yaw=0.0102 right_pitch=-0.0343 right_roll=-0.0209 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.5658, 6.0239, 1.8632, -0.0269, -0.0659, -0.0122, 0.1299, -8.4171, 4.9573, 1.5018, 0.1832, 0.022, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef3183026a20583672d69f280886812ec7600adc48845d61d68bc3909bf134eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d5cf40d2cfebba83d9a0316efa6aeb11d99757e346a684af5d78865705ded83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:090c2b4380b57ecf7d1f557f25ab6f8a7ae016c71e84bb0a3a8ebd5411f8b2ef",
      "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 · 3.541 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]: [-0.02, 0.7513, 0.4984, -0.3275, -0.0189, -0.0292, 0.9983, 0.5297, 1.9949, 1.3457, -0.0734, 0.3931, 0.2615, 0.4497]\nstate[eef_state]: left_x=0.2858 left_y=0.0012 left_z=0.1539 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4942 right_y=0.2151 right_z=0.0981 right_yaw=0.0423 right_pitch=-0.0894 right_roll=-0.0321 right_gripper=0.4497\nstate[joint_eff]: [-0.2256, -1.1145, 6.5162, 1.9512, -0.0269, -0.0171, -0.0122, -0.4855, -13.6274, 10.2359, 2.1074, 0.5397, 0.1197, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.7399, 0.4824, -0.3183, -0.0189, -0.0292, 0.9983, 0.6163, 1.89, 1.1133, 0.0544, 0.4919, 0.3214, 0.9956]\nstate[eef_state]: left_x=0.2844 left_y=0.0012 left_z=0.1514 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4453 right_y=0.2176 right_z=0.0846 right_yaw=0.0184 right_pitch=-0.0543 right_roll=-0.0398 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -1.4154, 6.1333, 1.8828, -0.0464, -0.0757, -0.0122, -0.8957, -8.6906, 7.4051, 1.8681, 0.1783, 0.1929, 0.0855]",
      "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]: [-0.02, 0.7383, 0.482, -0.3183, -0.0185, -0.0292, 0.9983, 0.6224, 1.9907, 1.0061, 0.2825, 0.5007, 0.3363, 0.9997]\nstate[eef_state]: left_x=0.2843 left_y=0.0012 left_z=0.1517 left_yaw=0.0005 left_pitch=-0.0122 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4415 right_y=0.2168 right_z=0.037 right_yaw=0.0102 right_pitch=-0.0343 right_roll=-0.0209 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.5658, 6.0239, 1.8632, -0.0269, -0.0659, -0.0122, 0.1299, -8.4171, 4.9573, 1.5018, 0.1832, 0.022, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef3183026a20583672d69f280886812ec7600adc48845d61d68bc3909bf134eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d5cf40d2cfebba83d9a0316efa6aeb11d99757e346a684af5d78865705ded83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:090c2b4380b57ecf7d1f557f25ab6f8a7ae016c71e84bb0a3a8ebd5411f8b2ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtExlgkw9lp0s7e3ug9P1PM1ow_t59hx5UggZ5fI6KcQCD2lDc3bwpiwKnTp4PuLRAvI3qvFGS5B7XvLa_Ne57fXtMF1koS10DulUctLJVPVetet_nHY00RSGhudVSQgF5J3G9DRSewwELL1Q1ebOGkYkm1bnto6uimvydq_FYHZaAofEVQCAJNQqyf3yM9OcUObZIQkI3HzMo1y5hrE35l1ClIS_XdNtMaizrfedUOtaf0gZkokwl4W-DukH7NvvTC2c_f5MGpedmraXjSowpjrW5m1WJ27EhU99L2xgjMGCMCRgKJ2N1poMUg9M-xOG_dZZNZY3VSR9Jzc0s_n9EfW7FkcAh8ERKMQNemcBof0boweeCMwh-lheFV4n3MVfWgpQOdEIGyc3ru9RW4KEjq1RRtI2oa_w2r9El5biMyGiwqGgBWokCTlitaHs1HNJW0bAMW1wSnW3E2ToxJm1oT7Ym6RstUiTbW5jEIU1oESEx4CFo_MxdGu8XLcO-2rzLS819DbGZzBK414mgsXOxI2vx5gU6I6tRgOdmhfoCutYWLE358W7ujkdPtP4VtgwH5AcuS44-Q8KW9mdorUYMvIZQZQDUMekSHwZXaMvdkSSfSbFodlsayootUNG7gbO-c2XePScsJEQZZwsjf49P3-SZUzhV3afErueSq7tT5CxHrrYMMLUxwboalEF4rfpGYN8e3JxxWKqp-LKvugmamK1IAKQ2d5y95mw0bkTgnyuLdpwU1hc09xAHUmKaO5oaOkTnNNVnrN-CKpguPhX9gI8Uwym553WYbXSU19jvI20TOog4qJcNojVKbIy02x59sbjQNDqVvUyC6OrPI6mQ-uR5971DpfjTyax6FRa3aMI-HTX-EU3HMdC2Il_dbQULaRSJs5p2jvAOVxlyvFh3LyFFiIH0KYGxS7omLhiXMUqtTE4gDAWMRn2dvzETppYeiG1_u1Wr9CeZDPfaiKpV8puhFzFYClKjTPAW6zPybRgxDe-BE4PZxgH_aHk60P-3xOVA20AxSBkejro9JHunk6JFTSr5hAAAM3K_ZpbzCMW3jBv8ZB_L_KKErgfZ90kFscfMZEGUkuLd85Wz1R1Il8sxQFtfra8LpVsikz5fqJIhZHsenzwjiEimlpHPUXLLh_hwZek804DtowmReCOtvK9OI-fYUoY8znZe3ty8suYmmURaUcAoSU6-034wcXXRel-DJVqNSDXUm8fOTEtW5odyjn8dQXEcnkK00rkBFA4he8qZpJ471b5-4mrHLq0ZoljfJgO2JQMug5PYHPD1LYn_JPsRm-UkSP1Zo23gQz5h9Jd0hzAjJ8-dQ07WkcdW1AbFyli-YVdQgbk9UvqE7uafQ==",
  "id": "rs_0b343ddd9e1325b2016ab44c648d1487d0a407f0be7f713173",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.42},\"note\":\"At table height the near/base section now fills the jaw gap symmetrically, with both finger tips alongside it. I’ll close only to 42%, just below the previously measured 47% contact width, to hold it without continued crushing.\"}",
  "call_id": "call_bZkh3jU0a1SEU4Z1UQ1rNSgf",
  "id": "fc_0b343ddd9e1325b2016ab44c64d99087d0b3d82202df1b9d7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bZkh3jU0a1SEU4Z1UQ1rNSgf",
  "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]: [-0.02, 0.7383, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.6281, 1.9953, 1.0012, 0.3603, 0.5194, 0.3313, 0.4259]\nstate[eef_state]: left_x=0.2842 left_y=0.0012 left_z=0.1516 left_yaw=0.0008 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4481 right_y=0.2215 right_z=0.0477 right_yaw=0.004 right_pitch=0.0281 right_roll=0.0051 right_gripper=0.4259\nstate[joint_eff]: [-0.253, -1.3744, 6.0786, 1.8877, -0.0171, -0.0708, -0.0122, -0.3761, -8.4034, 5.3402, 1.3114, 0.1392, 0.1392, 0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a80048d91da1c618eaf3b1dbefe62cfd989bcab0c2d3beaf22a79453a3a907",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cbf6ada3eed5c590afb3f91a62dadd8481a7e1c33a81721aa2819ea10136987",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65cbe416b1a3b29add9c93a1654486bb401c1da1eb9cfcfd9851d1fb9ffd37ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 3.173 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]: [-0.02, 0.7456, 0.4866, -0.3195, -0.0189, -0.0292, 0.9983, 0.6746, 1.6367, 1.1404, -0.1726, 0.5186, 0.3523, 0.3515]\nstate[eef_state]: left_x=0.285 left_y=0.0012 left_z=0.1516 left_yaw=0.0008 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4092 right_y=0.2198 right_z=0.1731 right_yaw=0.0401 right_pitch=-0.0007 right_roll=0.0027 right_gripper=0.3515\nstate[joint_eff]: [-0.2667, -1.1966, 6.5846, 1.917, -0.0464, -0.0513, -0.0122, 0.1709, -9.6068, 6.0376, 1.6288, 0.3394, 0.1001, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.7383, 0.482, -0.3183, -0.0185, -0.0292, 0.9983, 0.6224, 1.9907, 1.0061, 0.2825, 0.5007, 0.3363, 0.9997]\nstate[eef_state]: left_x=0.2843 left_y=0.0012 left_z=0.1517 left_yaw=0.0005 left_pitch=-0.0122 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4415 right_y=0.2168 right_z=0.037 right_yaw=0.0102 right_pitch=-0.0343 right_roll=-0.0209 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.5658, 6.0239, 1.8632, -0.0269, -0.0659, -0.0122, 0.1299, -8.4171, 4.9573, 1.5018, 0.1832, 0.022, -0.0464]",
      "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]: [-0.02, 0.7383, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.6281, 1.9953, 1.0012, 0.3603, 0.5194, 0.3313, 0.4259]\nstate[eef_state]: left_x=0.2842 left_y=0.0012 left_z=0.1516 left_yaw=0.0008 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4481 right_y=0.2215 right_z=0.0477 right_yaw=0.004 right_pitch=0.0281 right_roll=0.0051 right_gripper=0.4259\nstate[joint_eff]: [-0.253, -1.3744, 6.0786, 1.8877, -0.0171, -0.0708, -0.0122, -0.3761, -8.4034, 5.3402, 1.3114, 0.1392, 0.1392, 0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a80048d91da1c618eaf3b1dbefe62cfd989bcab0c2d3beaf22a79453a3a907",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cbf6ada3eed5c590afb3f91a62dadd8481a7e1c33a81721aa2819ea10136987",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65cbe416b1a3b29add9c93a1654486bb401c1da1eb9cfcfd9851d1fb9ffd37ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0b343ddd9e1325b2016ab44c678be887d0970097f62f866c27",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.22,\"right_z\":0.035,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The gripper reached 0.426 exactly, showing the bottle is still just ahead of the grasp point even though it overlaps the fingers in the camera. I’ll reopen and advance 3 cm—the rig guidance’s correction for an object that is centred but still visible at the bottom edge.\"}",
  "call_id": "call_LiClzBFCR0wnUZ13P5W6bxM3",
  "id": "fc_0b343ddd9e1325b2016ab44c68c0f887d0b78503d1a7c6941e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LiClzBFCR0wnUZ13P5W6bxM3",
  "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]: [-0.02, 0.7357, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.6086, 2.0483, 1.0744, 0.3328, 0.4965, 0.3168, 0.9957]\nstate[eef_state]: left_x=0.2841 left_y=0.0012 left_z=0.1523 left_yaw=0.0008 left_pitch=-0.0099 left_roll=-0.0004 left_gripper=0.9983 right_x=0.464 right_y=0.2252 right_z=0.0429 right_yaw=0.0106 right_pitch=0.0144 right_roll=-0.0003 right_gripper=0.9957\nstate[joint_eff]: [-0.4034, -0.9504, 6.0513, 1.8339, -0.0269, -0.022, -0.0122, -1.6479, -9.0325, 6.4752, 1.453, 0.0464, 0.0659, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:358e9052848bbdd27cf10a53e7ecc7fb113997345141b1197409908f2e310870",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6b33e0aa47982f9613798be6a555e0c95b2bdef506ab2deaf581158e294934c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54124df6423c35e0e82fb0f83e2282e192ae94fa03979dae1aa09b544689877d",
      "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 · 2.467 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]: [-0.02, 0.7399, 0.4824, -0.3183, -0.0189, -0.0292, 0.9983, 0.6163, 1.89, 1.1133, 0.0544, 0.4919, 0.3214, 0.9956]\nstate[eef_state]: left_x=0.2844 left_y=0.0012 left_z=0.1514 left_yaw=0.0008 left_pitch=-0.0133 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4453 right_y=0.2176 right_z=0.0846 right_yaw=0.0184 right_pitch=-0.0543 right_roll=-0.0398 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -1.4154, 6.1333, 1.8828, -0.0464, -0.0757, -0.0122, -0.8957, -8.6906, 7.4051, 1.8681, 0.1783, 0.1929, 0.0855]",
      "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]: [-0.02, 0.7383, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.6281, 1.9953, 1.0012, 0.3603, 0.5194, 0.3313, 0.4259]\nstate[eef_state]: left_x=0.2842 left_y=0.0012 left_z=0.1516 left_yaw=0.0008 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4481 right_y=0.2215 right_z=0.0477 right_yaw=0.004 right_pitch=0.0281 right_roll=0.0051 right_gripper=0.4259\nstate[joint_eff]: [-0.253, -1.3744, 6.0786, 1.8877, -0.0171, -0.0708, -0.0122, -0.3761, -8.4034, 5.3402, 1.3114, 0.1392, 0.1392, 0.2515]",
      "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]: [-0.02, 0.7357, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.6086, 2.0483, 1.0744, 0.3328, 0.4965, 0.3168, 0.9957]\nstate[eef_state]: left_x=0.2841 left_y=0.0012 left_z=0.1523 left_yaw=0.0008 left_pitch=-0.0099 left_roll=-0.0004 left_gripper=0.9983 right_x=0.464 right_y=0.2252 right_z=0.0429 right_yaw=0.0106 right_pitch=0.0144 right_roll=-0.0003 right_gripper=0.9957\nstate[joint_eff]: [-0.4034, -0.9504, 6.0513, 1.8339, -0.0269, -0.022, -0.0122, -1.6479, -9.0325, 6.4752, 1.453, 0.0464, 0.0659, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:358e9052848bbdd27cf10a53e7ecc7fb113997345141b1197409908f2e310870",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6b33e0aa47982f9613798be6a555e0c95b2bdef506ab2deaf581158e294934c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54124df6423c35e0e82fb0f83e2282e192ae94fa03979dae1aa09b544689877d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtExtz09hSqaHoPbd7XgSgF9pC0bbjQxvwii4pRKevvzdjYBSDmXWTo6JtbeVTxj3bHldcbZHXW0pwaFFc6xHqiLyCXTAGZIcx82rvy8QjyzJmNmmW8P8wSNbSORcEkronrmSNHrSjLMn9SXBHP5pEgLuM_zI45CaT_U1cDTjTZX78CLJHaibiu6QZC4ArZTKYMx_ROUgjSaGintup-FGwsgybwHTwV9ZUn-SqjrAieRVJ-632y_E9DcK2F2wJCE5cR7-TZAujcPWRHRtYhcujuCpiLJveFFcWpmhlVvXUozPtaIBXOFVx7sHGonI4uG2aIVzk2D1ge0ZApXo5QlQMCN2u6YUOdY6X-s25tKgY1CMp6BSz5QhQ1vaMD86a1PWe8Kv79Ud3HfwpPUah0gGnDQ_k-UAF8f9gxoHo-DDQpKe9uk4zBvGQykxsySVEQD1nrOM6CF-wTfy2yAASzF_K4bX3VVDZSrK1jYDWXp_Zr5PctWlog_aEsVUpBDRTiDQbcBSlvLO-dmg_9wvHMDEaiiSTuJb4aQGYT0y4bGrmdwy689sn3GtUu8DL8H75CFpIniGb2DUoUN6Cz1JU5_JASmBWvAxPlDr5-cljxbQci2keaa_LqI9TwSsfhH89RsA0ExIj2nBTYvSmQimtioEqhXIen_koqP32x9TMmnh_yqFMhtaVLHwmoQlQ3JBYAaCClqGeAMiZzuOnqzEAXnt69qlWdI4PNUbBPLb3oSEbYQaD0x5yJmom6B7f9y8Qe2MuT0xp_NYmZNP-GR4aEgoZTmOnkpe-4kIEt0NwRI-FsSrWoXQc0vgG2oOle7BQ3gq6ktBKETikq8NYpdoHcoADqSp_UNSDgK7P8Uv3Wo_XcK55uclq_sRnYq04787GsECIjLyhwHzxP-CXpo3obIHbf8CCl8zvXMtvKxvaosIUWotddBGOhh2nWmlhiM3wJ8ggYGxAUdb_19KWZnySDrz18oJDmQuag43cGZ13Zg9nMvWmpccEzmBTI_H2YVkB7tZldkcllN2JQJ_5zO8YJQkAHT0ybtW9L8lZumppMo6hGhdMCgkHPg_mfhuX4Kp5xZxpJi-97wgUFodwKFNKEVJ4Oie-E8MZMViSVkkyViBNM_W0iqKsj0RNWdKLTlMpg95Zm42zx_7pHrb-ARwEG4u_VMDEQLEo4ulG8IZzvM6xTSG9IwjjH4WqcqkEX5lwuw_u4hawgSC6pOVUH5QikTJXd9DNL5OceOdpIKk3QiVI70Gp81R8SfSYqXCK-H8_YWHXyQhXaVhElkLO561elplp1XfcwDo7_UK65DfaZH00msUkMBRlTadf06_99F7EpGpQCEg",
  "id": "rs_0b343ddd9e1325b2016ab44c6c41f087d0bdafaf03d5f516af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.22,\"right_z\":0.035,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The partial advance brought the bottle’s base deeper between the fingers, but the arm only reached x=0.464. I’ll use another modest forward target to place that broad section at the actual grasp point before closing.\"}",
  "call_id": "call_r7OaQp8E9PtudVfyVS0ydCFr",
  "id": "fc_0b343ddd9e1325b2016ab44c6cd5b087d08488b013acb44af4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r7OaQp8E9PtudVfyVS0ydCFr",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7341, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.5743, 2.0869, 1.1355, 0.3187, 0.4664, 0.2981, 0.9997]\nstate[eef_state]: left_x=0.284 left_y=0.0012 left_z=0.1527 left_yaw=0.0008 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4822 right_y=0.2217 right_z=0.0424 right_yaw=0.0103 right_pitch=0.0117 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -1.2923, 6.2701, 1.8584, -0.0317, -0.0611, -0.0122, -1.2239, -8.4034, 7.9248, 1.58, 0.1294, 0.0952, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6543895ea7b491fadb81db5f10fae31ca95492838f648f05c6247367f6d20240",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e84f90ddbacb189985a0243838ec7f67f71541a034946832ab4c56e4a65453",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fffce7f078195736fe50ab3caea887281ff469cfcab0087980a8465383d6229",
      "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 · 3.309 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 147 changed as sent

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7383, 0.482, -0.3183, -0.0185, -0.0292, 0.9983, 0.6224, 1.9907, 1.0061, 0.2825, 0.5007, 0.3363, 0.9997]\nstate[eef_state]: left_x=0.2843 left_y=0.0012 left_z=0.1517 left_yaw=0.0005 left_pitch=-0.0122 left_roll=-0.0006 left_gripper=0.9983 right_x=0.4415 right_y=0.2168 right_z=0.037 right_yaw=0.0102 right_pitch=-0.0343 right_roll=-0.0209 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.5658, 6.0239, 1.8632, -0.0269, -0.0659, -0.0122, 0.1299, -8.4171, 4.9573, 1.5018, 0.1832, 0.022, -0.0464]",
      "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]: [-0.02, 0.7357, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.6086, 2.0483, 1.0744, 0.3328, 0.4965, 0.3168, 0.9957]\nstate[eef_state]: left_x=0.2841 left_y=0.0012 left_z=0.1523 left_yaw=0.0008 left_pitch=-0.0099 left_roll=-0.0004 left_gripper=0.9983 right_x=0.464 right_y=0.2252 right_z=0.0429 right_yaw=0.0106 right_pitch=0.0144 right_roll=-0.0003 right_gripper=0.9957\nstate[joint_eff]: [-0.4034, -0.9504, 6.0513, 1.8339, -0.0269, -0.022, -0.0122, -1.6479, -9.0325, 6.4752, 1.453, 0.0464, 0.0659, -0.0855]\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 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7341, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.5743, 2.0869, 1.1355, 0.3187, 0.4664, 0.2981, 0.9997]\nstate[eef_state]: left_x=0.284 left_y=0.0012 left_z=0.1527 left_yaw=0.0008 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4822 right_y=0.2217 right_z=0.0424 right_yaw=0.0103 right_pitch=0.0117 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -1.2923, 6.2701, 1.8584, -0.0317, -0.0611, -0.0122, -1.2239, -8.4034, 7.9248, 1.58, 0.1294, 0.0952, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6543895ea7b491fadb81db5f10fae31ca95492838f648f05c6247367f6d20240",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e84f90ddbacb189985a0243838ec7f67f71541a034946832ab4c56e4a65453",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fffce7f078195736fe50ab3caea887281ff469cfcab0087980a8465383d6229",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtExw3wmiE3r5nTqpTkPaeO9t0U-R97Zm--hgJae2jgwJlfO-QimyjhPMBfM2sT4ztj1nrB8AM8f83wIcdXaVaJn4iAV5jJ70vPCuroTNxtvjYNlS7HeyOnPDSHCvQXduqFasK_xJj6wQ6SP2_FsZpYmUVq_16g0pBBFnx7pEf53H4kvv0QPYmPjg0zFo449LGJNxSOnfd9dk3-ENjRMH3Fk2G4Y8kxZlRUcd2EkIUDpBTQKa11DBuHmgjXbd-pUVzLhVuDDEBSYxJbc0NmH34bA5XKigfadZgAglmIjBsQGTCm13FplkF1vBDLS0pglyy4-ADJSI7Q5qY0OEEYpfp4L62PiELrLogtJ_2ppi5CM6L1P-Bvm9a2iwbRwkJlZlCUYeZNs8NhS7YfQc7ZkYSY05EDygJsikT0iOzUjpwkJATV2K758yC_3VqlNnP2_Fyq5ZUMqTUC_KIoRC5eo95QJVEXv0fI1nlfvu7xNdFjBp0DcY7o-c-zJX3OO9Q2Rruw5DaM7tOBL3dsvJZzRGHFEuzHO-EHgPhIze-y-gZS4mgNRGHPQMcEMveDtthIkhlMQ2h1Z4RASlwjIoyBLojmRSq5-3rjv9RkIcuKasfm_g1l0ZNPeh_8NXGNKbSbix_PGIEAmeu3jPggM2AaehDXSf6GnUYCSsAT-hGikqcsl_KmuNq5J2craeOq-dN62JNo0Z_6nd1JCeQbszbJjhSHhYAFJer8VJzVW0tTswJ1C6fR4h857CM2iyEHIZNY5Y62JrVEh-kEUdg85tn7g8dWCuHcg1Jk-le3ZLt_z_K9rRxBI_JqoYsx8qcnGlGE5BEiAHHyy9pBHh_j5bbsiMf2CicFE4SNQFZrHllOdLy-JVxzAaqjLu3-8-vJZXCtzgH5bhjuo7qOBQCSnD5qv6dqZsOm5LH1SV86P16vl4DOuCECtWdC2w3D0ucm1NiywQeUkr7HkDWZ1XA2IhPS6oxo9Z1m3AgbZZLz6bNycHSnmsvF2suf9_VZuANJ6HtWUgJQNZzcxYcvOPFV8pSegkJ-0RyuRQJWRbldxgB_-ozYbEQJ7E_DI0p4AMLIajGLu-dvOfTN44M8lEsPUFdIJ3lvUFjIX639qXyKrSo1e-Es3-qisOQFodEexVcry6Ogil1qtIHeWLWn2aqC4mN8qV4w8yOFfqODLLfMyOxCiLzJIrZlaNVQEYd9cp7Dy4m0doYOqw8wNlGuUNvlVdB9H8IgrR-hXI9mRPNoKUsQTBS_IneBtIBgTy7PidDdaz45XxolSMwqC0GWNuFYvZg5WK18XCBA==",
  "id": "rs_0b343ddd9e1325b2016ab44c6f239087d09f3cd8ca00dad38b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The extra forward step now places the bottle’s broad label section squarely between the jaws at table height. I’ll close to 35% and check for an obstructed settled reading, which will confirm a true grasp.\"}",
  "call_id": "call_TRg8G7jewXTOOGaZ2SiLEFDu",
  "id": "fc_0b343ddd9e1325b2016ab44c6f528487d0be321fbbd357d82d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TRg8G7jewXTOOGaZ2SiLEFDu",
  "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]: [-0.02, 0.7345, 0.482, -0.3187, -0.0185, -0.0292, 0.9983, 0.5747, 2.0964, 1.1599, 0.3275, 0.4671, 0.2825, 0.4453]\nstate[eef_state]: left_x=0.2841 left_y=0.0012 left_z=0.1526 left_yaw=0.0005 left_pitch=-0.0088 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4886 right_y=0.2259 right_z=0.0484 right_yaw=0.0182 right_pitch=0.032 right_roll=0.0022 right_gripper=0.4453\nstate[joint_eff]: [-0.0752, -1.2923, 6.5162, 1.8193, -0.0415, -0.0415, -0.0122, -1.306, -9.0188, 7.2547, 1.326, 0.0513, 0.0904, 0.3346]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f22ba5436da9d2da513162952420d8381d7f3ca4886b82726ecdcb44eedde0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2487b92384f99a59f126a94d8b8cde747df953d4007973d14bedb0d736c1f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a9789ee48398c346d7e1be2081fdbb854beadedd4a2f924e79c5c39253f8524",
      "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 · 3.154 s

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

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7383, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.6281, 1.9953, 1.0012, 0.3603, 0.5194, 0.3313, 0.4259]\nstate[eef_state]: left_x=0.2842 left_y=0.0012 left_z=0.1516 left_yaw=0.0008 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4481 right_y=0.2215 right_z=0.0477 right_yaw=0.004 right_pitch=0.0281 right_roll=0.0051 right_gripper=0.4259\nstate[joint_eff]: [-0.253, -1.3744, 6.0786, 1.8877, -0.0171, -0.0708, -0.0122, -0.3761, -8.4034, 5.3402, 1.3114, 0.1392, 0.1392, 0.2515]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7341, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.5743, 2.0869, 1.1355, 0.3187, 0.4664, 0.2981, 0.9997]\nstate[eef_state]: left_x=0.284 left_y=0.0012 left_z=0.1527 left_yaw=0.0008 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4822 right_y=0.2217 right_z=0.0424 right_yaw=0.0103 right_pitch=0.0117 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -1.2923, 6.2701, 1.8584, -0.0317, -0.0611, -0.0122, -1.2239, -8.4034, 7.9248, 1.58, 0.1294, 0.0952, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.482, -0.3187, -0.0185, -0.0292, 0.9983, 0.5747, 2.0964, 1.1599, 0.3275, 0.4671, 0.2825, 0.4453]\nstate[eef_state]: left_x=0.2841 left_y=0.0012 left_z=0.1526 left_yaw=0.0005 left_pitch=-0.0088 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4886 right_y=0.2259 right_z=0.0484 right_yaw=0.0182 right_pitch=0.032 right_roll=0.0022 right_gripper=0.4453\nstate[joint_eff]: [-0.0752, -1.2923, 6.5162, 1.8193, -0.0415, -0.0415, -0.0122, -1.306, -9.0188, 7.2547, 1.326, 0.0513, 0.0904, 0.3346]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f22ba5436da9d2da513162952420d8381d7f3ca4886b82726ecdcb44eedde0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2487b92384f99a59f126a94d8b8cde747df953d4007973d14bedb0d736c1f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a9789ee48398c346d7e1be2081fdbb854beadedd4a2f924e79c5c39253f8524",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEx0aGmJvhwuc2usKcdq8AhZpZwRqWcXARwiUgOPR7s19OP-3PQp0U9fL2yZhwXufbYJB2U44af51atVZ22N-ftC4xGHIVoJTmORYzaXYc_cZ-vI0Cbo8nIWpjeiidwLn0c0EaUwUaBkoWjvpAcIYyzp_v4h4yMY1OHFiEON-7f73IsGVtu45al9YSfY4_r4LlYVwBQbeuytPQvxhRkjzvLKT1tgcKvJWTtO71hPepZ-2TkFaqMEu7wSS1nozNe1CY1k2DrA3wky4BjTGhp5jeisTARQdZ-yzKQR2jsNB4q-mItWScwKET67mTVQSw3tM16hMy0mTVFnXt6DBdGV0YfpJ4jRu0pYzY_EXzsu1De4Vdn3tN33HEyMnJAe3oxruuCFCe3ck6LCmXyGSklPy-MKEtDQaLEOQ4AsX_aba3JVxPveHdEw-AyVaI312pG_BD7KoJmTFN8X0zxc6RYZaTEYINiN698WYK_7Whsagw02Nzj1QR6h2mV8bpOyKYLk0DtfBLN9xkEfUT4FC7iwHPwhPYCnCj6j2NL4EXWHxCx225YR6Uc0z_Ei0qqur9bE6dUE9CWfzJOwjeEu5ztbeNxAWGu9exxkNKs2lKS0L9U_WnmiRbKBXNFiXuOfSPmirf7UQ3Wox-1aWStwAKkamuxF1JMsL5-AdVkLym8K7B8d0m9J3uPGinsyUZ2W2rjiKnmRW609fd7anwaa5qmx2h1fjEdEdMxD0Wiq_VEEWpaLY0onw36BE145nVLExjVECaaph9V68RWRzWwi4EtItrXWbEjms4GgPfB-Em__EuX-42vqZ2bmc94m3S8RT52HTyqgD15TTtjSx5a8SccwX0hbDpYB2MMm52PTmZvnP9HBtLCetH8rAxJt__3vIC4Mb92HuhktA76sibgGXYlyyMf8Th865S59OCo3A4cbACeqXVFdbuY_i-fP4UnL87Lej6H56t8-34K9nAjjDSNE_Q4YnD3gIbIcTH5my5Sd0HK0BVlgf5sgV34Gv9TqGytLUd4usCgvuqVCHcEZiTbgWqQIibvmr249eEW5XNTl_cGVGQ6DRjPZEBCpdC3WQ3vXX1R7rcfqgWySA-wpRN0DDQdWNGcrdvWU2HmKsST8g1VQp18-e91AAg1XjgGN-UDCqWUy95eWuWj_bD40WU_7TooW6CWt__OeI_Z-VFCM057Fv6PlfMssJiSn97jcE2tYjQH-MgiXMCFiEXCpiaoyh4vW3u_7ViXfjJoThp-Siw3_z4ST4bk3Cp7uDflidf_RV_I8s-XC2Ki741ePG74RsdlTOZ3ILQ-2_gmCc1vpZhCZ8OeSgxadfQEvFwb9pNYzzjHgAXbfGFRMI7gBU0rcEpdH0FoNncuftUZ3FtFlbNBhJDHn5NFOIQTLVkLRDbZzui1IhAW0nnn0ARRJoL6xs_6KjUA6ON1kK6V4rt6GBSFGvU_OwHE8SMZlJy-IXCdcORCMHwgfUEaxigRUpiqpL4smO3hD6kdYwhzVG1hHVb1r_CIT3rDC-KPPyotXwrdSrOaIApSPRTOSd-xx-RLafeUGn5fn6Bdk5jLuWURkkEPqFuZEsKTzlTOFx9N2Uo1szRPgVYzRZ1gzCPTGn7yqD9FFLA==",
  "id": "rs_0b343ddd9e1325b2016ab44c7236a887d08a698979db642f94",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.22,\"right_z\":0.14,\"right_yaw\":0,\"right_gripper\":0.4},\"note\":\"This time the gripper stopped at 0.445 against a 0.35 command, confirming the bottle is genuinely clamped. I’ll ease the command to 0.40 and lift while retracting slightly, preserving contact without forcing the rounded body out.\"}",
  "call_id": "call_Hctxkxe3TDP8B9EyAE3UxFYp",
  "id": "fc_0b343ddd9e1325b2016ab44c731a2887d09da5f3da44196956",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Hctxkxe3TDP8B9EyAE3UxFYp",
  "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]: [-0.02, 0.7338, 0.482, -0.318, -0.0189, -0.0292, 0.9983, 0.6106, 1.9083, 1.1629, 0.0914, 0.4797, 0.3141, 0.4012]\nstate[eef_state]: left_x=0.2841 left_y=0.0012 left_z=0.153 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4611 right_y=0.2275 right_z=0.1012 right_yaw=0.0273 right_pitch=-0.002 right_roll=-0.0014 right_gripper=0.4012\nstate[joint_eff]: [-0.1436, -0.759, 6.4889, 1.9121, -0.0366, -0.0611, -0.0122, 0.212, -11.7675, 9.2103, 1.8046, 0.3639, 0.2027, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0008dfbfa69658a0fbea14b7fdacfe290590ad09c5c653895674ddf2c4db9a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126909babb8793971580dab6469c68fef03fb40c57a44bfd720fe4efaef3f166",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:963b7d10784c1b235cf75f700f146040d0d63cfacbb2a46394bfd47f3368dc60",
      "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 · 8.233 s

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

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7357, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.6086, 2.0483, 1.0744, 0.3328, 0.4965, 0.3168, 0.9957]\nstate[eef_state]: left_x=0.2841 left_y=0.0012 left_z=0.1523 left_yaw=0.0008 left_pitch=-0.0099 left_roll=-0.0004 left_gripper=0.9983 right_x=0.464 right_y=0.2252 right_z=0.0429 right_yaw=0.0106 right_pitch=0.0144 right_roll=-0.0003 right_gripper=0.9957\nstate[joint_eff]: [-0.4034, -0.9504, 6.0513, 1.8339, -0.0269, -0.022, -0.0122, -1.6479, -9.0325, 6.4752, 1.453, 0.0464, 0.0659, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7345, 0.482, -0.3187, -0.0185, -0.0292, 0.9983, 0.5747, 2.0964, 1.1599, 0.3275, 0.4671, 0.2825, 0.4453]\nstate[eef_state]: left_x=0.2841 left_y=0.0012 left_z=0.1526 left_yaw=0.0005 left_pitch=-0.0088 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4886 right_y=0.2259 right_z=0.0484 right_yaw=0.0182 right_pitch=0.032 right_roll=0.0022 right_gripper=0.4453\nstate[joint_eff]: [-0.0752, -1.2923, 6.5162, 1.8193, -0.0415, -0.0415, -0.0122, -1.306, -9.0188, 7.2547, 1.326, 0.0513, 0.0904, 0.3346]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7338, 0.482, -0.318, -0.0189, -0.0292, 0.9983, 0.6106, 1.9083, 1.1629, 0.0914, 0.4797, 0.3141, 0.4012]\nstate[eef_state]: left_x=0.2841 left_y=0.0012 left_z=0.153 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4611 right_y=0.2275 right_z=0.1012 right_yaw=0.0273 right_pitch=-0.002 right_roll=-0.0014 right_gripper=0.4012\nstate[joint_eff]: [-0.1436, -0.759, 6.4889, 1.9121, -0.0366, -0.0611, -0.0122, 0.212, -11.7675, 9.2103, 1.8046, 0.3639, 0.2027, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0008dfbfa69658a0fbea14b7fdacfe290590ad09c5c653895674ddf2c4db9a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126909babb8793971580dab6469c68fef03fb40c57a44bfd720fe4efaef3f166",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:963b7d10784c1b235cf75f700f146040d0d63cfacbb2a46394bfd47f3368dc60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEx3CA7pnhRlvTyABztX5ZU0JnYN7-bQLJBkQrE2vRBGVFzs60-3nQ2k3Hz0Cr6qUgY3OxIGvCnUoA587qbw5U5sDvio-3UhLrudw1tutxWDUhIPA_Lbp2rYs5ZWLHQ_jsdHXz7dUprl6ksyyNCV1ZMH77ehOqm1eu5mOiFJcHJmWLs_wxDzNNDlCPXQY4P-zIY__BXwXkoTuf69fKe4xJbMDB1frTrd2Q9V7_FzvDcHSy4-HR2EGiIWpA-f_96uAB9gw2iWHXOtFmLtdfxedobpHIqMMkbzNMEnh76YuRDy2dMcEBGOwsnOGx4ONwgwNnkra-oLHjZvbgRC0P4zMvn_4GSoI9Xa-AMVRGXpWLE8UeOUxYh9jhN0qf5bL9AAqlBTz7uxIvneB2BXe7sB1iiEKR9vj0WLGBtwXeKx7zA5jfWOaYlvlPoE7Zf1HZwXEMakionNiSdJ806UzKDvl8yLRRGs-DSlHqabM0M6MEGYCkXVWkxidrGJYC5JvmuK2jQr8KxkRfkF2R5YwxlExi11vV41_qxCv5CbhmeN_Ua95XrlpGD-WZsGzv4kXs_yOnVuIWbo_VZxQLePcVTFu7EqKevP8Ekh9zsLkTnDCwu_0quB6uG7Z5g1hZ9pBvfdD7VLWp88yaH605j8EyyuTmlHGZsDibK_KYD_P2SF2MRy8dTcB9sJL3iIdi1YCTemtFyDYheh54E_CYLXmL4ljcpKS9C-VU1jJur3jQ-gzMW2mL9l2sUArypBXYS2kUi7cnPKjLzFu__CYQT_P373R6hCwduiSBLMTxCTWft50v9Y5J3mypHPznAKI4WIJd6MBJdecmRHN09kfjb9UmYlHny12OYeFCkBtKvRY7n9iuwM8Gg5_XcVPKXoUX2OA9kZ6p9pNLdFqTMzcRgrio7QhFiI-5_18vDmA22acJT7Uzg5TUCULYJ09ekff6MfK_vi633E6zw8KSL6AKar7m0KZyZxWDMU5wNQDBz1ayMjDtJQ3u8vIz7f4yvh-cj7t1W0j0DLmsUzDiDfOOkDwFvZ6qOmvraZ9Fr-QsNYiqFifZeaSAIvrzF57xccnyRtXB_Npa7nJKKtq7AoFlFgPhyGBG2eVmC7DK1g0FSDmito7sCaHl3p7nv0oCJuPgr2qRnct1yuQJIOoJB8bM4kw0I3GOY_29_RqlvPxuqafSdvBo_pEP1OAK511X3kbjlgud-H892d9qxMxznR4OLGTcmdyfJwH_YG4ddxTTQrhdldhQaPabfy2p6SYl5YSade6xOX-Mwi5GiLpHVh_l4lnTucE6ytpCz31-Kt7ySNGkpmG02BWIkRKefzQFJZoqcYoFmiVIlIzMdPuYkttp2uMHuvXL1tpxwW5cQlRCfMObv6c9ZhzTtexHlh_HILIJ-Nf8F1EhHyvEdKxWnGLKYujQbpOqFjsdca-6Q9igFCAhB_F-I9HfPLllkkVqLpOa1zNUX264nyIAf1r0zENP_GAbcfawJJT99vDffxSornZp_Bo6dWAuE2pPB7AZW9zEaUmgjkS37kxrx3qoH7qNCPpIYr4uvDdn7c3u7VBqrQ4lAjSc8I4U_8htOJ5nC9b33-P6LPv8fMHJQDv7cLCGEXrBdjtePRFzihYoZuRSZS1lsho87VaEMhWR2FdzRbHUOzBvJX9LLrY2tbZLcqMah9CfiDudzReb7ZiQrmUeq4p2-5uMn3b8DCL36hQ-dhIxaRtXDMZEtT",
  "id": "rs_0b343ddd9e1325b2016ab44c76304c87d0a7af5e48b255bbb8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.22,\"right_z\":0.17,\"right_yaw\":0,\"right_gripper\":0.4},\"note\":\"The bottle remains centred between the jaws as the arm lifts, though the flexible plastic compressed to the 0.40 setting. I’ll carry it quickly inward to a comfortable workspace while keeping the same gentle clamp.\"}",
  "call_id": "call_dUSqB37dezVeazVii9dDBLNt",
  "id": "fc_0b343ddd9e1325b2016ab44c76e7c087d098103cb5fc42ed5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dUSqB37dezVeazVii9dDBLNt",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7338, 0.482, -0.3183, -0.0193, -0.0292, 0.9983, 0.804, 1.5417, 1.0168, -0.2035, 0.6186, 0.4538, 0.4012]\nstate[eef_state]: left_x=0.2841 left_y=0.0013 left_z=0.1529 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3586 right_y=0.2297 right_z=0.1627 right_yaw=0.038 right_pitch=-0.0051 right_roll=0.0006 right_gripper=0.4012\nstate[joint_eff]: [-0.0889, -1.0188, 6.694, 1.917, -0.0562, -0.0562, -0.0122, 0.2393, -8.9641, 6.5709, 1.58, 0.315, 0.1343, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e24a3eeb7af30a58af724cf319b478463f27b1d6e32f23944054bec4cadc0a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3997997f71f816a94af29bbb2e29bde8e6ecfaf0e50498261b8cf7c66cf2d9f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbf9bfb8d44c9945a70ae1d3e1af2e94802f01d1e91635b7f7230b1cfaebfa53",
      "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 · 7.908 s

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

message 147 changed as sent

message 155 changed as sent

message 159 changed as sent

message 147 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7341, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 0.5743, 2.0869, 1.1355, 0.3187, 0.4664, 0.2981, 0.9997]\nstate[eef_state]: left_x=0.284 left_y=0.0012 left_z=0.1527 left_yaw=0.0008 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4822 right_y=0.2217 right_z=0.0424 right_yaw=0.0103 right_pitch=0.0117 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -1.2923, 6.2701, 1.8584, -0.0317, -0.0611, -0.0122, -1.2239, -8.4034, 7.9248, 1.58, 0.1294, 0.0952, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7338, 0.482, -0.318, -0.0189, -0.0292, 0.9983, 0.6106, 1.9083, 1.1629, 0.0914, 0.4797, 0.3141, 0.4012]\nstate[eef_state]: left_x=0.2841 left_y=0.0012 left_z=0.153 left_yaw=0.0008 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4611 right_y=0.2275 right_z=0.1012 right_yaw=0.0273 right_pitch=-0.002 right_roll=-0.0014 right_gripper=0.4012\nstate[joint_eff]: [-0.1436, -0.759, 6.4889, 1.9121, -0.0366, -0.0611, -0.0122, 0.212, -11.7675, 9.2103, 1.8046, 0.3639, 0.2027, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 159 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7338, 0.482, -0.3183, -0.0193, -0.0292, 0.9983, 0.804, 1.5417, 1.0168, -0.2035, 0.6186, 0.4538, 0.4012]\nstate[eef_state]: left_x=0.2841 left_y=0.0013 left_z=0.1529 left_yaw=0.0011 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3586 right_y=0.2297 right_z=0.1627 right_yaw=0.038 right_pitch=-0.0051 right_roll=0.0006 right_gripper=0.4012\nstate[joint_eff]: [-0.0889, -1.0188, 6.694, 1.917, -0.0562, -0.0562, -0.0122, 0.2393, -8.9641, 6.5709, 1.58, 0.315, 0.1343, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e24a3eeb7af30a58af724cf319b478463f27b1d6e32f23944054bec4cadc0a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3997997f71f816a94af29bbb2e29bde8e6ecfaf0e50498261b8cf7c66cf2d9f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbf9bfb8d44c9945a70ae1d3e1af2e94802f01d1e91635b7f7230b1cfaebfa53",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtEyA6oHpIZuLQZo_QcQ4DSskhT3Fkc6_-wEcBbSmIdQhWwDbPHBtuthDCenrkyL01Nh8WNOjpsgt8wADCMlAHhzpawGgMbG6KDvgNLdOM_vRdsXs0qVj5UmeJtRdb3X69_NcmkbpAf3NxHag_KlVJ3sezuvnx8GzWArgyPlBI3970H5gZ4PRDYKKN-Ux3Q02Cm5QdYg9H4dOLORqA4JzF3J3l2e9kRZVSnIPH1i8kTcarRFNXgWTS1V7Th2obaNe4kxB8N8nWCihYz_N58H4Pl2IMCDbPajlepC4dh9VJJHjaQhV5NfvqQEDRRmS-Kfgwqbchxxa3AGLlciKughAYixfeVBvEIN9TDcuPXbYv6vTrG6vhIVS0SwQWi3e8f8LtmuMBd-Uewm5KVJ4d5Eww1QCgi-LmFJQLeaowA3pPnuPNGgYwq06b6eOCfutzCATNHTsz5MgUtp_eWhT1IqSjtwt4sj-TJOzKCjKvZljMjv91054c2IA410VAbAcqj54qlNRoIsunF1GtyAaftNvskKpjzyrLZxJ9kd6uMtGR9smd-CobR20u7KN2cXh8sP43oeCBz6RrY3WgI0Yj11v9nPVJntFsvidUBCa7aTesz_xW0BfpsKkh87fG879tDeSoEruaERmZGIfXl02znjFTOGBmkDN80Co98jy66SMIJZ1necd9TVQiQF44N_EvGjF_jGtELxSXDg49cDwMN0ypbil6yf_9LGDqZ30f0X1nptkCxulaGeH_oHRbFo-Eng2hBlfUHFMHiQpL7sceQXbkpvo_AZEnyiIFqPldEBQMNZ8bCqk9VNABY2aogR7Iuwb8Yav-LLab_K9_Lmb0OPwtwXulbPgB1VpXlaqK4T7YjHjeCqJyGFge862RWTLS1b6hk8ZLdE1WfkQONP4yBeWYnYR3YtnbPhYQfDmotWY2yJOnzI7RK9j-uThx3hoPLLmxqNoT4ZVeu6xcmnPVsbb8bufH9metC2hXzlWQb4FFfWaqjAoJSsWEZjHCbadrii52Y_yx4-O6VrG9TvKhk4FgOvscKww__goy8yKQlyze8BS1wtf1N4BwC_cqlgpvfo0oRG5EvPkK_IwNODnTwdtWDhi5rCXZS4avOhOeiJi3odFYQdCWLtlQQPJHnciL_ZOC7--YBcEM03gxK7gSAn121j3egG5em8S9nhHBIyfmJMcPRBJg0d2ECPIgwFnVIbFr_D3gheZekXv05Neu6jKEHDFS56pVQc0gXePIh1V6MGpgATRimxQc3P9zR5y6URFrkHQ_j0riqZdJlDFrL71vDyAt9s1gfN-e6kgqF8rKiItIV50S5SlW91kS8mg3uVbiFQR5r_alwzDbXbH07TiBmgAf7qgt3gylP7WwUl6Jr7hy1294B8Sub7UHJB_X9A48z1_KGdwvhvTn9HguP7ETVeP7o86sS2OgjjUOUnteLSc5cIQ_XdhXw_3WKuhRBaM8sYKhpdt3lyrw9rM2K6DjD6nCpDbutp4UFromlRZR5eLVvIkr_mltTlcCc9sVBQxHzpLXn5uWz68ml2e3NZi4XCS4vJ6o-iGCSEV98_-S_cYceKRxCpO6Da944ll7BZ33v8QswQQnTifD2k3heg6JhERKRlvn6jbTbj5X2E_nOlIcQFMqmpCgMlzelHsX6PhoAa8jpEemwwrAY-vqU11qvAafDVBOpDAS7vkh-Y0cLnXX1e0upQs3gP4qYEnFSy1dY9haAcaGh-BARJSX0Eu8l-NR4ax-gquoz2C0Gi7uJhgmJbB_LMAVx4lTLsmwcDkJNgDBxUPk5E-hXiE9JV2Jpb2dCqqeMgE5L2KGQoDv86wB-5CCU4oBbFJhMjxzZ3JC9boBuJdi84HB6JwD3Ot7cG1LnMffKTxi5XQzlMdHl4c0aqvlrMapsTGYC59znBz9ZhxxY5YlIplYFkVLv1zRMQUlQ4od-RE2WhPhW9N7GYRtCq2l1WhD2ltqpESKOHHVTnb628ts3ggT1aC1TqGSRlJgbqmdmQ0ZOqnwYwTjImDY4T0dzGi-XzkxHRHWCCspezpVmOtiuEaV_iKWoIGh9i-M7QhIgH2-CpZTRMsvsMpcb0Y0mzpwm70Gpxsuc0SbhwnJbS9z44b7-maubfOLLh1RS4B69j9iWBwizPzskh8-Jp7s8dmnWDpwtjB76tYMmJ754bHTzx3XNlEYLViLC0Pj5ElYZz9lrb5N1kWUqfNzemnOf7TM26pzkg97o1_EXc655fk5h2_uXh-qZHgf8fdvquY9CvqCjVR8EwHrENC6XTV5O2Y57vlLGtvMK4C2JXvDXCcFjF-IrJMkdfgMWGRHCg8jFtjm-8EzOyfbHiVAj9NuuVJ8x8CpaOGh-y8FNOP1ytNzVCQV90tgdX8JEoR76l1h87kOBcVfvVUQJ9AQoli2-EwlbiD3bO1DN7MsiPqAGCK_cf0xfhw9nVh1oOiO4Ui61zqGPXua7LRezlliXHYfwAqN2f-WdCWLJbN6MYogv8HlcsSb0j0GomWUCrDRgSE4kGReMPSRq5sgaRuG8FgJz4mMU5_9ZntISSvND8T28TRoqK9kYOq9bnfwlq8WPfrroxMHMOQyaGSGnOOaVoeHOklrFhRXeeND5RDgzgqjMaJ00y7Bc0r7SqUsZQv-0VHhWLPZxI0NG5iwEeKDkTYCxEkw8Da_AfHJBbteJ6FhyJX-vJrbr1Lq6oqGOOwk32qkCcbMGN8SznDO4ZCJ4_wlUeBfMybVmKAu9rrA8A4udsVzvhyKZm6fmwdpSPXkNuUAGEgvfHW6dEWDgtinYDlkppS1G2DyQb3NOB-J9U03DlIM3f1i1bxr8_Ogh52jdzvS9hM7WmDXg5RqcbbbmkKDCuAK3Say_4_PFWJl4BPlIgoI4payo77envpXcSwcUIu0oEd96rT_udi5wUFrMAgo1CyLs66ov6FEtJNy2BSTZvS2QG_mnRPYfAKNvtrB8I-rrMfid01f8pHICrMGo8gVeqeiD-MAa0GWsV8jhf19_LVOdGrIbuupManxNbD_LNuFGsbaukODqgz4pUeFg9RBL923Nv_gKj12tVlHb7-dwRisvjakZ36C4HDPxJbUskiM8I0zP3lHB3WPoexPsBgQW7WV8Etar2NR0ddmsUKsjJN93o6hB2W3FZ08WIoBUuJHwa69QqF61CBfhJq30FwgIrKqo1XF5NoGZzSD3XVg-OgaGaZVXz_NEnycFYoaeiRGw4XQVF-YO0IKhXgqiDlA1jlEHMfUlGVLgMw6zI19G_zbYt12m4a1hLlT_WkbIaug96tq5pJwhzO4Yb5F57IUmSJWRWGl39B0aaVgVLsrusSSILax7M7sg_T9tsA5Jw-ncnva_Rb92fckKd3o-spNyTYzK-BkPVQNnXVvEsXSi6CcnEYm3xkDlw6lIE4FMaYT4leOpKrV3aa2EVQK6P4sJLotSfoIxr1ISeEU5Lqp9EZhcNAyKHsjOy2AIn2q1vdNx2dfWLD3-ZGSq3uJWhSYdzEMOgS8b6X-yevX7BkU1_AKVHvKiKBQiwRZQwYmnz6P3GYzpbs0jDAq9gGi5biISOi8v-A4oNGoB6O4vcoHHx2TJAYG-wMrfjDv5YfFIS0NPsYPqLb5lfD1N-pcU01qFyVpWjGfvrycbgiyaoNqWwzYt22GKOGAAA019kCdRawcQPSQtfkSuAf0Ahq8Z_hxBUM1bSGBDj5IhMlBclpQ2N2OBup15Kz0Bn1hg9RoPusFZXDeyhL9Y2QGkBejyD2C23nTafaxLBtNa_W6ZPChha4tg1ppEFUfstCOd32R076O4evYbAQgv068trAoP4iwYDE5MgpsZUJkVBFwHB6Q0l0Tk9VkPdbExTGA6vI4RIYxgH_oLiRIhhk8MXwYMDhmTkzdYMjOS_QIql0ygdKh3rMiE0MqpbuX5IwEDnAb1b0gi8Y2MQoNg7nxJrIe_6ZWsw4MdUFUaC90iPiw9E-qQAuh1-AW7_pa3TY2AjDfb0C0z8Z8pArI2IJOcr3_n4tXP2tu4gNhWF2Ra_75lV50R6uc3OZnoN1a7kDbSTm7g==",
  "id": "rs_0b343ddd9e1325b2016ab44c79fe4487d0a4458381f4519708",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEyA0hr7086--Y1-4GVgVC0OAu1hHEm6ZZXAgkusDZxu1jwuRBfrhdbRLRbuYteeoKVPMwhm9hTzLQMaur5cJPIWER2_uUyqAc1MoNqQ3QMwuylHmFZZiVrbB0On8F09fDd5hkLnEvAjSyO98aatgi6jzGfOmGJvGb4rbmAu1qyNNRpcd7VxbyHgRh2gkYhwagsm-itJY9E76om2yOUzN6brOhhN-c5Np62mEUZsLCoUZ0Gx1nOHR5AMstndFuejEVcOMjRqp8YVEY6lRxeQYPAsrUp4t-MAAoNbgj7CScISyp46gzIifpQxOuMXZd2fHX72CFWwwulHm2oauam-muWtnsMaCDXypWox_eTOdBkgYGdeoM9QlEe_hBxQ6WKsBLQiKfRqdvH9lpRJ0xeJR_9-EF-9W6k9DQbnvFRBbKLC5XAVv114dhID8xsv9w_X4xkWUstUUnvI3QIU9jAJVwPdpud4qXf_Hz1CyOJTb6e2o7S724MwXQufznuCiNGAbD12_KkOJNLEi5mqvnyzNBLgtx_qaIEZurB0O2LQsReGH0Ss8AJgzebBCzcOYSt8CqTo2xJNfUl59qQTyoJfIAPvAO0ko4wubhGHukilHyyZKjsJ_4XaC_QWdqavCfdlSaSroXmJr6R4JNJHq7sj-ZwXmqTN-SwgfH0DxtmnFTmKjch13t16dVLv0YcfSk7Rl3B-J1CNFKsWQ91l7b6-JfzBSjVowPC2GUlkjpaJDE-_hbv3dT7UNGOgIUyJ9qCH_tiValdpq8PfbgaX0LxDTp_UILv9O6IzDcYOSeVDqYrF2fvsu85PdOfNx2JZlMzA7F_XwZ-xm5U7dvFWl8lFpO_H_2p6jQ7oYJqRM73v33qOFQBTSawhPOawoLOZ_wvpb9pPTQj1SzDUNRRuL1QD2uFFIHxEwbxe3z8UklMYxqcLxcao8omPPhnra8ZBWY8QUHi7mMs2oDh3qnOV9lioFBI9fOx7Xdw2C7e_b1JmZSLQiokj7zmaS-hTznez2JF_xYjwtoD9iVPTf6UN1sTO_iTlfS4sW1jbE5LAQAkIg0ikHL32oHNgBtz7bgE1h35_D_jRP3h9w-mi3Lvv4OdGq3ZzpmT7bnVpN1ovRidkj56qPqBQ_GW8WWy_kJkcv9XOugQWGtM_CpMbHnV0rRbHrR9zPCoSawL_S57GNgWmnICm2ffiyuytKdS39Tgl4c1GXh0fBUBy31WEiC98WQt_nQqN5Q==",
  "id": "rs_0b343ddd9e1325b2016ab44c7f3b7087d0bb618b6bd8f1888e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_y\":0.23,\"right_z\":0.06,\"right_yaw\":0,\"right_gripper\":0.4},\"note\":\"The bottle stayed fixed relative to the right wrist through a 10 cm translation, confirming it is being carried. I’ll lower its grasped base section well inward at x=0.26 so the entire bottle, especially its cap, will be comfortably reachable after release.\"}",
  "call_id": "call_dZR4CeZlASz3gqdFBoNbPKWd",
  "id": "fc_0b343ddd9e1325b2016ab44c7f641087d0914b39a17265cff8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dZR4CeZlASz3gqdFBoNbPKWd",
  "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, 0.7338, 0.482, -0.3187, -0.0189, -0.0292, 0.9983, 1.0889, 1.5616, 0.6487, -0.0418, 0.8001, 0.7227, 0.4012]\nstate[eef_state]: left_x=0.284 left_y=0.0012 left_z=0.1528 left_yaw=0.0008 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.2604 right_y=0.2322 right_z=0.0613 right_yaw=0.0498 right_pitch=-0.0369 right_roll=-0.0371 right_gripper=0.4012\nstate[joint_eff]: [-0.0889, -1.1009, 6.4615, 1.8486, -0.0269, -0.0513, -0.0122, 0.1983, -5.2581, 5.4906, 1.5751, 0.5348, 0.0513, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c79fd6f7f04ff96161ef0232e16a8ec465945bbf4ff7a3a7f8f38aa0409bfa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:163a557582fe38e089e052ec8ee8d01de5ec07bec5b3aaf7454e6d3888e93815",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f53eeb1717d21030f780d972ca054c979f274890590abcd25a7f9bbd5d3487d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]