adhoc

completed
2026-09-23T21:29:43.678946+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
209.5 s
total steps
280
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles are lying on the table; the rightmost bottle's cap is near the far end and is well within the right arm's central workspace. I am moving the right gripper above that cap/neck while keeping the left arm parked.
move_to
right_x0.4400right_y0.2000right_z0.1600right_gripper1.0000left_x0.2950left_y0.0020left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0204, 0.7937, 0.6075, -0.3771, -0.0227, -0.0288, 0.9987, -0.0151, 0.7891, 0.6037, -0.3859, -0.017, -0.025, 0.9998] state[eef_state]: left_x=0.2956 left_y=0.0016 left_z=0.1823 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2936 right_y=0.0022 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.6359, -1.4838, 9.7573, 1.7949, -0.0171, 0.1197, -0.1441, -1.0872, -1.2103, 10.4137, 1.8584, -0.0806, 0.105, -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":0.2,"right_z":0.16,"right_gripper":1.0,"left_x":0.295,"left_y":0.002,"left_z":0.18,"left_gripper":1.0},"note":"Three bottles are lying on the table; the rightmost bottle's cap is near the far end and is well within the right arm's central workspace. I am moving the right gripper above that cap/neck while keeping the left arm parked."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe right wrist view has the blue cap centered on the jaw column, but it is still well ahead of the fingertip line. I am advancing a few centimetres radially so the open jaws will straddle the cap/neck before descending.
move_to
right_x0.4650right_y0.1930right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.6018, -0.379, -0.0231, -0.0292, 0.9988, 0.5838, 1.6848, 1.1118, -0.1482, 0.4473, 0.292, 0.9998] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1787 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9988 right_x=0.4246 right_y=0.1932 right_z=0.1406 right_yaw=0.0413 right_pitch=-0.0677 right_roll=-0.0464 right_gripper=0.9998 state[joint_eff]: [0.1846, -1.5521, 6.694, 1.8144, -0.0562, -0.0269, -0.1343, 0.3487, -7.9795, 9.1282, 1.8681, 0.3736, 0.359, -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":0.465,"right_y":0.193,"right_z":0.16,"right_gripper":1.0},"note":"The right wrist view has the blue cap centered on the jaw column, but it is still well ahead of the fingertip line. I am advancing a few centimetres radially so the open jaws will straddle the cap/neck before descending."})
tool
executing move_to over 4 steps (0.4s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe cap remains centered and is now close to the lower working region of the wrist view. I am descending with the jaws open to cap height, keeping the lateral alignment unchanged.
move_to
right_x0.4650right_y0.1850right_z0.0250right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9985, 0.5301, 1.7439, 1.158, -0.1188, 0.4053, 0.2569, 0.9998] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9985 right_x=0.4475 right_y=0.1856 right_z=0.1361 right_yaw=0.0404 right_pitch=-0.0677 right_roll=-0.0427 right_gripper=0.9998 state[joint_eff]: [-0.0615, -1.812, 6.7897, 1.7949, -0.0415, -0.0464, -0.0415, -0.2667, -8.8274, 10.0444, 1.9463, 0.0904, 0.0122, -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":0.465,"right_y":0.185,"right_z":0.025,"right_gripper":1.0},"note":"The cap remains centered and is now close to the lower working region of the wrist view. I am descending with the jaws open to cap height, keeping the lateral alignment unchanged."})
tool
executing move_to over 8 steps (0.8s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe requested descent did not track—the readback stayed near 14 cm—indicating the arm is caught near an awkward extended posture rather than in contact. I am moving slightly inward while lowering partway to reconfigure the elbow, after which I can approach the cap at low height.
move_to
right_x0.4000right_y0.1850right_z0.0800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9984, 0.5243, 1.7573, 1.1812, -0.115, 0.3882, 0.2493, 0.9998] state[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.4534 right_y=0.1891 right_z=0.1396 right_yaw=0.053 right_pitch=-0.0607 right_roll=-0.0327 right_gripper=0.9998 state[joint_eff]: [-0.212, -1.8256, 6.2291, 1.8584, -0.0415, -0.0317, -0.0269, -0.4991, -8.9641, 9.5658, 1.9121, 0.1734, 0.0171, -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":0.4,"right_y":0.185,"right_z":0.08,"right_gripper":1.0},"note":"The requested descent did not track—the readback stayed near 14 cm—indicating the arm is caught near an awkward extended posture rather than in contact. I am moving slightly inward while lowering partway to reconfigure the elbow, after which I can approach the cap at low height."})
tool
executing move_to over 5 steps (0.5s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe elbow reconfiguration worked and the gripper is now near 10 cm height with the bottle still centered. I am making a smaller combined outward-and-downward approach to bring the fingertips around the cap without returning to the stalled posture.
move_to
right_x0.4400right_y0.1900right_z0.0450right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7952, 0.5972, -0.3725, -0.0227, -0.0292, 0.9984, 0.5919, 1.6985, 0.8967, 0.1352, 0.4202, 0.2771, 0.9998] state[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4109 right_y=0.1937 right_z=0.0966 right_yaw=0.0802 right_pitch=-0.0295 right_roll=-0.0161 right_gripper=0.9998 state[joint_eff]: [-0.1162, -1.3197, 6.4889, 1.8681, 0.0024, -0.0269, -0.0171, -0.7453, -7.9932, 7.4325, 2.1221, 0.4518, 0.0659, -0.0317] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.19,"right_z":0.045,"right_gripper":1.0},"note":"The elbow reconfiguration worked and the gripper is now near 10 cm height with the bottle still centered. I am making a smaller combined outward-and-downward approach to bring the fingertips around the cap without returning to the stalled posture."})
tool
executing move_to over 4 steps (0.4s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteAt low height, the wrist view shows the bottle body between the jaws while the cap remains farther forward near the top of the image. I am sliding outward along the bottle axis so the grasp point shifts from the body onto the neck/cap.
move_to
right_x0.4550right_y0.1900right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5453, 1.8812, 0.8425, 0.3317, 0.387, 0.2413, 0.9998] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4212 right_y=0.1818 right_z=0.031 right_yaw=0.0787 right_pitch=-0.0755 right_roll=-0.0457 right_gripper=0.9998 state[joint_eff]: [-0.3214, -1.5795, 6.4479, 1.8095, -0.0269, -0.0757, -0.0171, -0.6085, -8.1709, 8.3077, 1.9805, -0.1343, 0.1783, -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":0.455,"right_y":0.19,"right_z":0.03,"right_gripper":1.0},"note":"At low height, the wrist view shows the bottle body between the jaws while the cap remains farther forward near the top of the image. I am sliding outward along the bottle axis so the grasp point shifts from the body onto the neck/cap."})
tool
executing move_to over 3 steps (0.3s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe low outward slide tracked only about one centimetre, and the neck is still ahead of the fingertip region. I am taking one further controlled outward step at the same height to bring the jaws to the cap end.
move_to
right_x0.4900right_y0.1900right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.5972, -0.3744, -0.0227, -0.0292, 0.9984, 0.5419, 1.903, 0.8291, 0.4534, 0.3695, 0.2306, 0.9998] state[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.431 right_y=0.1892 right_z=0.0384 right_yaw=0.0968 right_pitch=-0.0026 right_roll=-0.0066 right_gripper=0.9998 state[joint_eff]: [-0.3761, -1.6479, 6.2427, 1.8535, -0.0269, -0.0073, -0.0122, -0.8821, -6.8171, 4.4239, 1.8291, 0.1197, 0.0269, -0.0317] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.19,"right_z":0.03,"right_gripper":1.0},"note":"The low outward slide tracked only about one centimetre, and the neck is still ahead of the fingertip region. I am taking one further controlled outward step at the same height to bring the jaws to the cap end."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe arm has reached its low-height extension limit before reaching the cap, but the bottle body is centered between the jaws. I will grasp the body here so I can pull the whole bottle inward, release it, and then reach its cap for the upright lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5419, 1.9049, 0.8246, 0.4717, 0.3656, 0.2306, 0.9998] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4316 right_y=0.1903 right_z=0.0393 right_yaw=0.0999 right_pitch=0.0071 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.2393, -1.6615, 6.2291, 1.8681, -0.0269, -0.0464, -0.0171, -1.0325, -6.9402, 4.7521, 1.8926, 0.1685, 0.0464, -0.0317] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The arm has reached its low-height extension limit before reaching the cap, but the bottle body is centered between the jaws. I will grasp the body here so I can pull the whole bottle inward, release it, and then reach its cap for the upright lift."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe gripper settled at 0.41, confirming a firm grasp around the bottle body. I am pulling it inward along its length at table height so its cap will be comfortably inside the low workspace.
move_to
right_x0.3500right_y0.1900right_z0.0400right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.5381, 1.9038, 0.8238, 0.4843, 0.3626, 0.2222, 0.4111] state[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4335 right_y=0.1899 right_z=0.0419 right_yaw=0.103 right_pitch=0.0182 right_roll=0.0004 right_gripper=0.4111 state[joint_eff]: [-0.1299, -1.8256, 6.2838, 1.8584, -0.0366, -0.0464, -0.0122, -0.0068, -9.0735, 5.9009, 1.4628, 0.0659, 0.0659, 0.7643] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.19,"right_z":0.04,"right_gripper":0.0},"note":"The gripper settled at 0.41, confirming a firm grasp around the bottle body. I am pulling it inward along its length at table height so its cap will be comfortably inside the low workspace."})
tool
executing move_to over 7 steps (0.7s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe bottle slid inward as intended, though the final gripper reading shows it slipped free during the drag. I am opening and moving above the newly shifted cap region for a clean neck grasp.
move_to
right_x0.4100right_y0.2000right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7959, 0.5972, -0.3737, -0.0231, -0.0292, 0.9983, 0.6838, 1.7084, 0.5949, 0.5396, 0.4644, 0.3042, 0.0131] state[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0091 left_roll=0.0001 left_gripper=0.9983 right_x=0.3654 right_y=0.2004 right_z=0.0565 right_yaw=0.1211 right_pitch=0.0631 right_roll=0.0322 right_gripper=0.0131 state[joint_eff]: [-0.1846, -1.306, 6.2974, 1.917, -0.0513, -0.0659, -0.0122, 0.3214, -7.159, 3.9863, 1.0085, 0.1148, 0.0366, 0.7204] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.2,"right_z":0.1,"right_gripper":1.0},"note":"The bottle slid inward as intended, though the final gripper reading shows it slipped free during the drag. I am opening and moving above the newly shifted cap region for a clean neck grasp."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe cap is still too far ahead, showing the first pull shifted the bottle only a little. The bottle body is centered between the open jaws, so I am descending onto it again; this time I will lift before translating to prevent another tabletop slip.
move_to
right_x0.4000right_y0.1980right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.6041, 1.6985, 0.8284, 0.1936, 0.3843, 0.2451, 0.9957] state[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3976 right_y=0.1983 right_z=0.079 right_yaw=0.1384 right_pitch=-0.049 right_roll=-0.0273 right_gripper=0.9957 state[joint_eff]: [-0.3214, -1.7573, 6.3521, 1.873, -0.0269, -0.0317, -0.0122, -0.9504, -8.5812, 9.0872, 1.6972, 0.1538, 0.0708, -0.0952] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.198,"right_z":0.03,"right_gripper":1.0},"note":"The cap is still too far ahead, showing the first pull shifted the bottle only a little. The bottle body is centered between the open jaws, so I am descending onto it again; this time I will lift before translating to prevent another tabletop slip."})
tool
executing move_to over 4 steps (0.4s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe low wrist view now shows the bottle body squarely filling the gap between both jaws. I am closing around its cylindrical midsection for a lift-and-carry reposition.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.6006, 1.8324, 0.7242, 0.4335, 0.3882, 0.2329, 0.9997] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.3937 right_y=0.193 right_z=0.0288 right_yaw=0.1386 right_pitch=-0.0463 right_roll=-0.0386 right_gripper=0.9997 state[joint_eff]: [-0.1983, -1.812, 6.4205, 1.8291, -0.0269, -0.0513, -0.0122, -0.5265, -5.8325, 4.465, 1.6044, -0.0659, 0.1001, -0.0464] approver: 1 step(s) modified (delta_clamped). 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_gripper":0.0},"note":"The low wrist view now shows the bottle body squarely filling the gap between both jaws. I am closing around its cylindrical midsection for a lift-and-carry reposition."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe settled close is empty, confirming the wrist camera makes the body appear under the jaws before it actually reaches the fingertip line. I am reopening and sliding outward at table height to the earlier position that produced a confirmed body grasp.
move_to
right_x0.4400right_y0.2000right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.6006, 1.8278, 0.693, 0.6216, 0.3813, 0.2314, 0.0134] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4055 right_y=0.2025 right_z=0.0558 right_yaw=0.1432 right_pitch=0.0966 right_roll=0.0351 right_gripper=0.0134 state[joint_eff]: [-0.0889, -1.6889, 6.2701, 1.8535, -0.0708, -0.0708, -0.0122, -0.4991, -6.7761, 4.0137, 1.0525, 0.0611, 0.1001, 0.8864] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.2,"right_z":0.03,"right_gripper":1.0},"note":"The settled close is empty, confirming the wrist camera makes the body appear under the jaws before it actually reaches the fingertip line. I am reopening and sliding outward at table height to the earlier position that produced a confirmed body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe bottle has now advanced to the fingertip line—the body base is at the bottom of the wrist image between both jaw tips, matching the prior successful grasp position. I am closing again around the body.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5541, 1.9213, 0.8398, 0.4862, 0.329, 0.1879, 0.9952] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4324 right_y=0.2046 right_z=0.039 right_yaw=0.1651 right_pitch=0.011 right_roll=-0.0114 right_gripper=0.9952 state[joint_eff]: [-0.0752, -1.8256, 6.4342, 1.8584, -0.0904, -0.0562, -0.0122, -1.7709, -6.2017, 7.0085, 1.7509, 0.1001, 0.1245, -0.0024] approver: 9 step(s) modified (delta_clamped ×9). 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_gripper":0.0},"note":"The bottle has now advanced to the fingertip line—the body base is at the bottom of the wrist image between both jaw tips, matching the prior successful grasp position. I am closing again around the body."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe full close again squeezed the smooth bottle forward and ended empty, exactly the rounded-object ejection mode. I am reopening at a slightly higher centerline; the next close will stop near the bottle diameter instead of crushing all the way shut.
move_to
right_gripper1.0000right_x0.4400right_y0.2100right_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5503, 1.906, 0.8467, 0.5312, 0.313, 0.1829, 0.0134] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4399 right_y=0.2103 right_z=0.0572 right_yaw=0.1762 right_pitch=0.0702 right_roll=0.0173 right_gripper=0.0134 state[joint_eff]: [-0.212, -1.6068, 6.2974, 1.8437, -0.0464, -0.0562, -0.0122, -0.3624, -8.3077, 5.3402, 1.1111, 0.149, 0.149, 1.0769] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0,"right_x":0.44,"right_y":0.21,"right_z":0.055},"note":"The full close again squeezed the smooth bottle forward and ended empty, exactly the rounded-object ejection mode. I am reopening at a slightly higher centerline; the next close will stop near the bottle diameter instead of crushing all the way shut."})
tool
executing move_to over 10 steps (1.0s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe open jaws are symmetrically aligned around the bottle's widest section at a better vertical centerline. I am closing only to about a 5.5 cm gap, matching the bottle diameter so it is held without being ejected.
move_to
right_gripper0.5800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5491, 1.9026, 0.8921, 0.3813, 0.3088, 0.1822, 0.9956] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4355 right_y=0.2077 right_z=0.0458 right_yaw=0.1798 right_pitch=-0.0248 right_roll=-0.0179 right_gripper=0.9956 state[joint_eff]: [-0.3487, -1.8256, 6.2291, 1.8535, -0.0611, -0.0415, -0.0073, -0.4034, -9.853, 6.3795, 1.7558, -0.0024, -0.0317, -0.105] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.58},"note":"The open jaws are symmetrically aligned around the bottle's widest section at a better vertical centerline. I am closing only to about a 5.5 cm gap, matching the bottle diameter so it is held without being ejected."})
tool
executing move_to over 5 steps (0.5s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe partial close leaves both jaws in contact with the bottle near its base and avoids the prior forward ejection. I am lifting about five centimetres to test whether this controlled-width grasp carries the bottle.
move_to
right_z0.1100right_x0.4330right_y0.2070right_gripper0.5800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5495, 1.9026, 0.8707, 0.411, 0.3046, 0.1818, 0.5843] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4329 right_y=0.2072 right_z=0.0435 right_yaw=0.1839 right_pitch=-0.0179 right_roll=-0.0129 right_gripper=0.5843 state[joint_eff]: [-0.0479, -1.6889, 6.2701, 1.8974, -0.0317, -0.0464, -0.0122, -0.2256, -8.8957, 5.2581, 1.9707, 0.1245, 0.0611, 0.0562] 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_z":0.11,"right_x":0.433,"right_y":0.207,"right_gripper":0.58},"note":"The partial close leaves both jaws in contact with the bottle near its base and avoids the prior forward ejection. I am lifting about five centimetres to test whether this controlled-width grasp carries the bottle."})
tool
executing move_to over 5 steps (0.5s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe bottle stayed on the table during the test lift, so the 5.5 cm gap was slightly too loose. With the jaws still symmetrically around it, I am lowering back to center height and tightening only one centimetre more rather than fully closing.
move_to
right_gripper0.4800right_z0.0750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3752, -0.0231, -0.0292, 0.9983, 0.5495, 1.7775, 0.9161, 0.2127, 0.2905, 0.1745, 0.5822] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1774 left_yaw=0.0009 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9983 right_x=0.4255 right_y=0.2054 right_z=0.0791 right_yaw=0.1991 right_pitch=-0.0469 right_roll=-0.0208 right_gripper=0.5822 state[joint_eff]: [-0.1436, -1.8256, 6.4615, 1.9414, -0.0073, -0.0806, -0.0122, -0.4991, -11.3162, 9.3744, 1.8144, 0.2808, 0.0708, 0.2173] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.48,"right_z":0.075},"note":"The bottle stayed on the table during the test lift, so the 5.5 cm gap was slightly too loose. With the jaws still symmetrically around it, I am lowering back to center height and tightening only one centimetre more rather than fully closing."})
tool
executing move_to over 2 steps (0.2s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe bottle remains centered and has not been displaced, but the 4.6 cm gap still shows no contact. I am tightening to the previously observed contact width of about 3.8 cm and will stop there to avoid another squeeze-out.
move_to
right_gripper0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.5495, 1.7611, 0.8909, 0.2367, 0.2844, 0.1749, 0.4837] state[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4223 right_y=0.2047 right_z=0.0809 right_yaw=0.2042 right_pitch=-0.0338 right_roll=-0.0119 right_gripper=0.4837 state[joint_eff]: [-0.1573, -1.853, 6.2291, 1.8974, -0.0366, -0.0806, -0.0122, -0.4171, -5.9966, 5.7504, 1.9121, 0.1099, 0.0269, 0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.4},"note":"The bottle remains centered and has not been displaced, but the 4.6 cm gap still shows no contact. I am tightening to the previously observed contact width of about 3.8 cm and will stop there to avoid another squeeze-out."})
tool
executing move_to over 1 steps (0.1s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe gripper stopped at 0.48 despite a 0.40 command, confirming the bottle is now physically clamped rather than merely bracketed. I am lifting it clear while maintaining that limited closure.
move_to
right_z0.1600right_x0.4200right_y0.2040right_gripper0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.5495, 1.7813, 0.8593, 0.2897, 0.2829, 0.1703, 0.4803] state[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.42 right_y=0.2036 right_z=0.0697 right_yaw=0.2079 right_pitch=-0.0331 right_roll=-0.0144 right_gripper=0.4803 state[joint_eff]: [-0.3761, -1.853, 6.2154, 1.8828, -0.0317, -0.0708, -0.0122, -0.4034, -7.8701, 6.065, 2.1026, 0.0659, 0.0073, 0.0122] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16,"right_x":0.42,"right_y":0.204,"right_gripper":0.4},"note":"The gripper stopped at 0.48 despite a 0.40 command, confirming the bottle is now physically clamped rather than merely bracketed. I am lifting it clear while maintaining that limited closure."})
tool
executing move_to over 6 steps (0.6s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe bottle remains visible in its own wrist camera after the lift, so it slipped and is not held. I am switching to a robust tabletop reposition: placing the closed gripper on the bottle's left side so I can sweep it toward the right-arm base line, where the cap will be reachable at low height.
move_to
right_x0.3700right_y0.2700right_z0.0400right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5495, 1.6371, 0.9817, 0.0158, 0.2794, 0.1585, 0.4006] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4166 right_y=0.2022 right_z=0.1307 right_yaw=0.217 right_pitch=-0.0407 right_roll=-0.0246 right_gripper=0.4006 state[joint_eff]: [-0.2256, -1.8256, 6.5709, 1.9023, -0.0611, -0.0317, -0.0122, -0.2667, -10.0855, 9.5658, 1.7753, 0.1001, 0.0708, -0.0708] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.27,"right_z":0.04,"right_gripper":0.0},"note":"The bottle remains visible in its own wrist camera after the lift, so it slipped and is not held. I am switching to a robust tabletop reposition: placing the closed gripper on the bottle's left side so I can sweep it toward the right-arm base line, where the cap will be reachable at low height."})
tool
executing move_to over 6 steps (0.6s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe closed fingertips are now in the gap between the middle and right bottles, with the target bottle clearly on the wrist image's right side. I am sweeping laterally toward the right base to push that bottle onto a much easier radial line.
move_to
right_x0.3650right_y0.0800right_z0.0400right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.7826, 1.8511, 0.8188, 0.3233, 0.4248, 0.2859, 0.0129] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.3648 right_y=0.2652 right_z=0.0359 right_yaw=0.2616 right_pitch=-0.0648 right_roll=-0.0324 right_gripper=0.0129 state[joint_eff]: [-0.1026, -1.7983, 6.2427, 1.8486, -0.0122, -0.0073, -0.0122, 0.253, -7.7333, 5.2718, 1.8681, 0.3639, 0.1148, 0.7204] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.08,"right_z":0.04,"right_gripper":0.0},"note":"The closed fingertips are now in the gap between the middle and right bottles, with the target bottle clearly on the wrist image's right side. I am sweeping laterally toward the right base to push that bottle onto a much easier radial line."})
tool
executing move_to over 16 steps (1.6s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe sweep succeeded: the right bottle has moved well rightward and is now separated from the others, with its cap near the right arm's reachable line. I am moving above that cap with the gripper open for the neck-lift attempt.
move_to
right_x0.4600right_y0.1600right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.1883, 1.5795, 0.3874, 0.5766, -0.0364, -0.0429, 0.0163] state[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3617 right_y=0.0791 right_z=0.0283 right_yaw=0.2294 right_pitch=-0.0446 right_roll=-0.0027 right_gripper=0.0163 state[joint_eff]: [-0.3624, -1.812, 6.2701, 1.9023, -0.022, -0.0269, -0.0122, -0.2256, -6.9538, 4.6974, 1.9316, -0.1929, -0.0171, 1.0281] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.16,"right_z":0.15,"right_gripper":1.0},"note":"The sweep succeeded: the right bottle has moved well rightward and is now separated from the others, with its cap near the right arm's reachable line. I am moving above that cap with the gripper open for the neck-lift attempt."})
tool
executing move_to over 10 steps (1.0s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe cap is centered laterally in the wrist view but remains several centimetres ahead of the fingertip line. I am advancing radially at safe height so the grasp point moves directly over the neck.
move_to
right_x0.5000right_y0.1600right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.3656, 1.6489, 0.9924, 0.0788, 0.0799, 0.0265, 0.9954] state[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1774 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4498 right_y=0.161 right_z=0.1389 right_yaw=0.2714 right_pitch=-0.0052 right_roll=-0.0096 right_gripper=0.9954 state[joint_eff]: [-0.3077, -1.7573, 6.2701, 1.8486, -0.0464, -0.0513, -0.0122, -0.1299, -7.3504, 9.1282, 1.7411, 0.2173, 0.2564, -0.0317] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.16,"right_z":0.15,"right_gripper":1.0},"note":"The cap is centered laterally in the wrist view but remains several centimetres ahead of the fingertip line. I am advancing radially at safe height so the grasp point moves directly over the neck."})
tool
executing move_to over 4 steps (0.4s)
step 172
assistant
agent noteThe first advance was partly canceled by controller sag—the hand moved forward but also dropped, leaving the cap at nearly the same image row. I am commanding a higher pose with one more forward step so the cap reaches the fingertip region before the descent.
move_to
right_x0.5300right_y0.1580right_z0.1700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.3244, 1.7859, 1.1473, -0.0097, 0.0399, -0.0017, 0.9997] state[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4802 right_y=0.1579 right_z=0.1233 right_yaw=0.279 right_pitch=-0.0773 right_roll=-0.0146 right_gripper=0.9997 state[joint_eff]: [-0.3761, -1.8256, 6.3658, 1.8681, -0.0269, -0.0562, -0.0122, -0.9778, -9.0735, 10.3043, 2.0098, -0.0806, 0.1197, -0.0415] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":0.158,"right_z":0.17,"right_gripper":1.0},"note":"The first advance was partly canceled by controller sag—the hand moved forward but also dropped, leaving the cap at nearly the same image row. I am commanding a higher pose with one more forward step so the cap reaches the fingertip region before the descent."})
tool
executing move_to over 4 steps (0.4s)
step 176
assistant
agent noteThe cap is now visually closer, but the low-height reach limit still prevents a direct neck descent at this radial distance. I am moving to the bottle's mid-body on its new, easier lateral line to make a controlled partial-width pull inward rather than chasing the unreachable cap.
move_to
right_x0.4200right_y0.1000right_z0.0800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.3195, 1.7985, 1.1763, -0.0147, 0.0219, -0.009, 0.9997] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4863 right_y=0.1606 right_z=0.1286 right_yaw=0.2931 right_pitch=-0.0663 right_roll=-0.0093 right_gripper=0.9997 state[joint_eff]: [-0.253, -1.8256, 6.3111, 1.9072, -0.0464, -0.0708, -0.0122, -0.6496, -9.1282, 9.5795, 2.0195, 0.022, 0.0952, -0.0415] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.1,"right_z":0.08,"right_gripper":1.0},"note":"The cap is now visually closer, but the low-height reach limit still prevents a direct neck descent at this radial distance. I am moving to the bottle's mid-body on its new, easier lateral line to make a controlled partial-width pull inward rather than chasing the unreachable cap."})
tool
executing move_to over 6 steps (0.6s)
step 182
assistant
agent noteThe arm did not leave the extended pose at all, indicating an IK stall rather than contact. I am first raising and retracting more decisively to reconfigure the elbow before returning to the bottle body.
move_to
right_x0.4000right_y0.1000right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.3195, 1.7985, 1.1763, -0.0147, 0.0219, -0.009, 0.9997] state[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4863 right_y=0.1606 right_z=0.1286 right_yaw=0.2931 right_pitch=-0.0663 right_roll=-0.0093 right_gripper=0.9997 state[joint_eff]: [-0.1436, -1.7709, 6.2564, 1.8779, -0.0269, -0.0317, -0.0122, -0.6769, -9.3333, 9.7846, 2.0195, 0.0366, 0.0708, -0.0415] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.1,"right_z":0.2,"right_gripper":1.0},"note":"The arm did not leave the extended pose at all, indicating an IK stall rather than contact. I am first raising and retracting more decisively to reconfigure the elbow before returning to the bottle body."})
tool
executing move_to over 7 steps (0.7s)
step 189
assistant
agent noteThe arm has successfully reconfigured. In the wrist view the target bottle body is near the fingertip row but slightly left of the jaw column, so I am descending over it with a small leftward correction.
move_to
right_x0.4100right_y0.1300right_z0.0550right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7921, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.2131, 1.3624, 0.9524, -0.1452, -0.0601, -0.0593, 0.9997] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.411 right_y=0.1034 right_z=0.1979 right_yaw=0.2829 right_pitch=0.0163 right_roll=-0.0067 right_gripper=0.9997 state[joint_eff]: [-0.3077, -1.0598, 6.4068, 1.917, -0.0464, -0.022, -0.0122, -0.4308, -6.4889, 7.0222, 1.7656, -0.1294, -0.0806, -0.0415] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.13,"right_z":0.055,"right_gripper":1.0},"note":"The arm has successfully reconfigured. In the wrist view the target bottle body is near the fingertip row but slightly left of the jaw column, so I am descending over it with a small leftward correction."})
tool
executing move_to over 10 steps (1.0s)
step 199
assistant
agent noteThe bottle is now centered and its base is just above the fingertip line. I am advancing two centimetres at the same height so the jaws straddle the lower body rather than closing behind it.
move_to
right_x0.4200right_y0.1260right_z0.0470right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.297, 1.6665, 0.6334, 0.3885, -0.0013, -0.0235, 0.9997] state[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4001 right_y=0.1264 right_z=0.047 right_yaw=0.2981 right_pitch=-0.0741 right_roll=-0.0071 right_gripper=0.9997 state[joint_eff]: [-0.3761, -1.5385, 6.5709, 1.7656, -0.0171, -0.0611, -0.0122, 0.5265, -6.5436, 5.2444, 2.0781, 0.0513, 0.1441, -0.0415] 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":0.42,"right_y":0.126,"right_z":0.047,"right_gripper":1.0},"note":"The bottle is now centered and its base is just above the fingertip line. I am advancing two centimetres at the same height so the jaws straddle the lower body rather than closing behind it."})
tool
executing move_to over 2 steps (0.2s)
step 201
assistant
agent noteAfter the short advance, the bottle's lower body extends through the fingertip line and is symmetrically bracketed. I am closing only to a 4.8 cm command so the jaws clamp the soft cylinder without the full-close ejection seen earlier.
move_to
right_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7914, 0.5972, -0.3752, -0.0231, -0.0288, 0.9983, 0.2886, 1.7176, 0.6228, 0.4896, -0.0154, -0.033, 0.9997] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1786 left_yaw=0.0007 left_pitch=-0.0061 left_roll=0.0003 left_gripper=0.9983 right_x=0.4078 right_y=0.1276 right_z=0.0427 right_yaw=0.3067 right_pitch=-0.0347 right_roll=-0.0069 right_gripper=0.9997 state[joint_eff]: [-0.3624, -1.5248, 6.6393, 1.8242, -0.0806, -0.022, -0.0122, -0.7863, -5.8325, 7.241, 1.9805, -0.0513, -0.0024, -0.0415] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.5},"note":"After the short advance, the bottle's lower body extends through the fingertip line and is symmetrically bracketed. I am closing only to a 4.8 cm command so the jaws clamp the soft cylinder without the full-close ejection seen earlier."})
tool
executing move_to over 5 steps (0.5s)
step 206
assistant
agent noteThe jaws now visibly clamp the lower body and the reading stopped slightly above the command, indicating contact. I am pulling the bottle inward along the tabletop while preserving this limited-width grasp.
move_to
right_x0.3000right_y0.1260right_z0.0300right_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.2867, 1.747, 0.5964, 0.5331, -0.0269, -0.0326, 0.5109] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.4027 right_y=0.1274 right_z=0.0301 right_yaw=0.3142 right_pitch=-0.0468 right_roll=0.0002 right_gripper=0.5109 state[joint_eff]: [-0.2803, -1.6068, 6.8718, 1.8437, -0.0415, -0.0513, -0.0122, 0.1026, -8.6085, 4.7932, 2.0098, 0.0513, 0.0269, 0.6764] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.126,"right_z":0.03,"right_gripper":0.5},"note":"The jaws now visibly clamp the lower body and the reading stopped slightly above the command, indicating contact. I am pulling the bottle inward along the tabletop while preserving this limited-width grasp."})
tool
executing move_to over 8 steps (0.8s)
step 214
assistant
agent noteThe controlled pull worked: the entire right bottle moved inward and remains centered between the jaws. I am continuing the same pull another eight centimetres so its cap will be comfortably reachable at table height.
move_to
right_x0.2200right_y0.1260right_z0.0300right_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7921, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.4313, 1.4433, 0.2085, 0.6571, 0.0795, 0.0296, 0.4988] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.3043 right_y=0.1285 right_z=0.0281 right_yaw=0.3357 right_pitch=-0.0053 right_roll=-0.0068 right_gripper=0.4988 state[joint_eff]: [-0.2803, -1.0598, 6.5709, 1.8779, -0.0366, -0.0317, -0.0122, 0.1846, -4.7111, 4.9026, 1.9219, 0.1538, 0.0415, 0.3248] 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":0.22,"right_y":0.126,"right_z":0.03,"right_gripper":0.5},"note":"The controlled pull worked: the entire right bottle moved inward and remains centered between the jaws. I am continuing the same pull another eight centimetres so its cap will be comfortably reachable at table height."})
tool
executing move_to over 7 steps (0.7s)
step 221
assistant
agent noteThe bottle has been pulled fully into the central workspace; its cap is now around 40 cm forward and slightly left of the right arm. I am releasing the body and moving above the newly reachable cap/neck.
move_to
right_x0.4000right_y0.2300right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.5972, -0.3737, -0.0231, -0.0288, 0.9983, 0.7052, 0.9123, 0.004, 0.3088, 0.2672, 0.1612, 0.5038] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1785 left_yaw=0.0007 left_pitch=-0.0061 left_roll=0.0003 left_gripper=0.9983 right_x=0.2222 right_y=0.1326 right_z=0.029 right_yaw=0.3816 right_pitch=-0.005 right_roll=-0.0028 right_gripper=0.5038 state[joint_eff]: [-0.2667, -1.2376, 6.5846, 1.7949, -0.0708, -0.0464, -0.0122, 0.1573, -0.4991, 5.7231, 2.7619, 0.1197, -0.0122, 0.3785] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.23,"right_z":0.15,"right_gripper":1.0},"note":"The bottle has been pulled fully into the central workspace; its cap is now around 40 cm forward and slightly left of the right arm. I am releasing the body and moving above the newly reachable cap/neck."})
tool
executing move_to over 14 steps (1.4s)
step 235
assistant
agent noteThe target bottle's gray cap is now centered low in the right wrist view, directly between the open jaws. I am descending vertically to cap height with only a tiny radial correction.
move_to
right_x0.4050right_y0.2280right_z0.0250right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.5869, 1.5581, 0.8997, 0.0444, 0.1524, 0.0734, 0.9978] state[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3853 right_y=0.2284 right_z=0.1327 right_yaw=0.4064 right_pitch=-0.0354 right_roll=-0.0159 right_gripper=0.9978 state[joint_eff]: [-0.1162, -1.4017, 6.7487, 1.7656, -0.0171, -0.0415, -0.0122, -1.3333, -6.8991, 9.0598, 1.873, 0.0513, 0.0904, -0.0806] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.228,"right_z":0.025,"right_gripper":1.0},"note":"The target bottle's gray cap is now centered low in the right wrist view, directly between the open jaws. I am descending vertically to cap height with only a tiny radial correction."})
tool
executing move_to over 7 steps (0.7s)
step 242
assistant
agent noteAt cap height, the cap is centered but still visibly ahead of the fingertip line, with the neck leading down toward the jaws. I am advancing about 2.5 cm so the jaw tips straddle the cap/neck before closing.
move_to
right_x0.4250right_y0.2280right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0231, -0.0292, 0.9983, 0.5606, 1.866, 0.7479, 0.5041, 0.1223, 0.0536, 0.9996] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.398 right_y=0.2286 right_z=0.0293 right_yaw=0.416 right_pitch=-0.0383 right_roll=-0.015 right_gripper=0.9996 state[joint_eff]: [-0.3487, -1.6068, 6.7077, 1.7998, -0.0806, -0.022, -0.0122, -1.2786, -5.9145, 4.3145, 1.4042, -0.0659, 0.1148, -0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.228,"right_z":0.03,"right_gripper":1.0},"note":"At cap height, the cap is centered but still visibly ahead of the fingertip line, with the neck leading down toward the jaws. I am advancing about 2.5 cm so the jaw tips straddle the cap/neck before closing."})
tool
executing move_to over 3 steps (0.3s)
step 245
assistant
agent noteThe first low advance moved the cap substantially toward the jaw tips while preserving perfect lateral alignment. I am taking one smaller final advance to place the cap itself at the closing line.
move_to
right_x0.4450right_y0.2280right_z0.0350right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.5278, 1.9053, 0.7818, 0.5686, 0.0906, 0.0319, 0.9996] state[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4175 right_y=0.229 right_z=0.037 right_yaw=0.4216 right_pitch=0.0181 right_roll=-0.0085 right_gripper=0.9996 state[joint_eff]: [-0.3761, -1.5658, 6.7487, 1.8193, -0.0415, -0.0317, -0.0122, -0.7316, -6.3795, 6.9128, 1.6337, -0.0562, 0.0366, -0.0464] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.228,"right_z":0.035,"right_gripper":1.0},"note":"The first low advance moved the cap substantially toward the jaw tips while preserving perfect lateral alignment. I am taking one smaller final advance to place the cap itself at the closing line."})
tool
executing move_to over 3 steps (0.3s)
step 248
assistant
agent noteThe gray cap is now centered at the mouth of the jaw tips, with both inner finger edges straddling it. I am closing to a cap-sized gap rather than fully shut, which should secure the ridged cap without ejecting it.
move_to
right_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0231, -0.0288, 0.9983, 0.5159, 1.9125, 0.7998, 0.5652, 0.0738, 0.0246, 0.9997] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1785 left_yaw=0.0007 left_pitch=-0.0065 left_roll=0.0003 left_gripper=0.9983 right_x=0.4231 right_y=0.2291 right_z=0.0395 right_yaw=0.4278 right_pitch=0.0245 right_roll=-0.0052 right_gripper=0.9997 state[joint_eff]: [-0.1983, -1.6205, 6.5162, 1.8486, -0.0366, -0.0122, -0.0122, -0.5402, -6.8444, 6.4479, 1.6044, 0.0024, 0.0757, -0.0464] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.22},"note":"The gray cap is now centered at the mouth of the jaw tips, with both inner finger edges straddling it. I am closing to a cap-sized gap rather than fully shut, which should secure the ridged cap without ejecting it."})
tool
executing move_to over 8 steps (0.8s)
step 256
assistant
agent noteThe gripper stopped just above the cap-sized command and the cap is visibly pinched between the jaw tips. I am lifting it partway so the bottle can pivot on its base toward vertical while I verify that the cap remains secured.
move_to
right_z0.1400right_x0.4310right_y0.2350right_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.791, 0.5972, -0.374, -0.0231, -0.0292, 0.9983, 0.5167, 1.9141, 0.8131, 0.614, 0.0662, 0.0177, 0.2257] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.0009 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.431 right_y=0.2356 right_z=0.0542 right_yaw=0.4384 right_pitch=0.0846 right_roll=-0.0024 right_gripper=0.2257 state[joint_eff]: [-0.0615, -1.4017, 6.5299, 1.9121, -0.0562, -0.0659, -0.0122, -0.2393, -7.0632, 5.7368, 1.16, 0.1245, 0.1392, 0.2027] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.14,"right_x":0.431,"right_y":0.235,"right_gripper":0.22},"note":"The gripper stopped just above the cap-sized command and the cap is visibly pinched between the jaw tips. I am lifting it partway so the bottle can pivot on its base toward vertical while I verify that the cap remains secured."})
tool
executing move_to over 6 steps (0.6s)
step 262
assistant
agent noteThe bottle remained visible in the wrist camera during the lift, proving the cap was still just ahead of the jaws rather than held. I am reopening, descending, and advancing another few centimetres so the cap passes fully into the fingertip line.
move_to
right_x0.4550right_y0.2350right_z0.0200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.5167, 1.7363, 0.9897, 0.1257, 0.0471, 0.009, 0.2211] state[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4238 right_y=0.2354 right_z=0.1068 right_yaw=0.4594 right_pitch=-0.0496 right_roll=-0.0089 right_gripper=0.2211 state[joint_eff]: [-0.335, -1.2103, 6.7077, 1.8291, -0.0415, -0.0757, -0.0122, -0.2256, -11.0564, 10.0581, 2.083, 0.1099, 0.0708, 0.1001] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.235,"right_z":0.02,"right_gripper":1.0},"note":"The bottle remained visible in the wrist camera during the lift, proving the cap was still just ahead of the jaws rather than held. I am reopening, descending, and advancing another few centimetres so the cap passes fully into the fingertip line."})
tool
executing move_to over 8 steps (0.8s)
step 270
assistant
agent noteThe cap is now at the very bottom center of the wrist image, clearly inside the jaw tips rather than ahead of them. I am closing below the cap diameter so the readback can confirm a real obstruction.
move_to
right_gripper0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.791, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.4801, 1.9976, 0.9287, 0.5083, 0.0101, -0.0208, 0.9956] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1788 left_yaw=0.0009 left_pitch=-0.0053 left_roll=-0.0 left_gripper=0.9983 right_x=0.4505 right_y=0.2366 right_z=0.0354 right_yaw=0.4701 right_pitch=0.0099 right_roll=-0.011 right_gripper=0.9956 state[joint_eff]: [-0.3761, -1.4974, 6.7214, 1.7949, -0.0366, -0.0317, -0.0122, -0.7453, -6.3521, 6.2017, 1.3944, -0.0806, 0.1343, -0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.12},"note":"The cap is now at the very bottom center of the wrist image, clearly inside the jaw tips rather than ahead of them. I am closing below the cap diameter so the readback can confirm a real obstruction."})
tool
executing move_to over 9 steps (0.9s)
step 279
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.791, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.4793, 1.9919, 0.9394, 0.5564, -0.0208, -0.0288, 0.1251] state[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1788 left_yaw=0.0006 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4567 right_y=0.2456 right_z=0.0526 right_yaw=0.4997 right_pitch=0.0744 right_roll=-0.0027 right_gripper=0.1251 state[joint_eff]: [-0.1162, -1.5521, 6.8581, 1.8339, -0.0317, -0.0562, -0.0122, -0.4308, -9.6068, 5.7778, 1.16, 0.1685, 0.1392, 0.2222] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [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 · 10.47 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
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{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7937, 0.6075, -0.3771, -0.0227, -0.0288, 0.9987, -0.0151, 0.7891, 0.6037, -0.3859, -0.017, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0016 left_z=0.1823 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2936 right_y=0.0022 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -1.4838, 9.7573, 1.7949, -0.0171, 0.1197, -0.1441, -1.0872, -1.2103, 10.4137, 1.8584, -0.0806, 0.105, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7451c462c5bc80598ce4a182cdcffc42b8bf91e8b437b40e1eeec6365e55650",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d0987ca80d05c445d130a20d02ab88724f39a837bf5589c4ae3a1e35d71a87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c289209f410aa9e95432900d82d6d3b3e1b59ddbe5ad897bfe4623db9668b4ed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 7.097 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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  "id": "rs_06e51d173a4c457c016ab444d590b087d089932ba9310f7f98",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtETeNZW36zzGDQz0fpYgDmf_1j1m_vDIkmMJzxy_QLVFgOfEPgSrCYkXDW6MLj3lmhHCSGsYBzdsywzrekAu7tO-xfF-VwIbGLWdV8_1_28AZrTsL-DJinKnIQA7k0_EWWH2GJlBoJItD5Sc1WkR81SYyJ6Z3zwuXyYanN8VrR9Nn7y8znsvkw36C9Veq6y--QCZij49IotoxEHn6BpT_oq7b-rR_znH5UEuMvsyKtw-0qOtTHjcdnjQwR2oOEkh9l_viaTtQUIWtfL_mf_ZDoTfM1FuWvzV2sWyZpKnCD_Clrf1vUTlmm520FKjJRGpNFl2cJbVmlbPaqCXtCqbCTyIo8GQD95s8_nxwqhdZMSFxeo6pLK0n_MqQ7M30bJqQYie76N5HUh6zUiDxSC8DCa_iWcPbTw-tiK5P0gthDy65s0golm5EX8_oqRwm0sZ_Z5M1z0C9GBKngmpyV0FCIk5lb-BwrzvF3l7vu7go8z3e_iUj9m-m9p0BLNxBKKcocmYZ2NtoEYyO78yrO3eAVdYxMplTpz2Jor4lXVeAU10c_6CaUDX4fsYiJqrLg9NHxF_T1XJTbSCWTlvdCQfZZIjFha7JzrA9t2u6XHj5NLLYvtUqRwRENZIcjIrx8tjf_LZXcYM_N2ZbsDohv5GP5m8x3nM8f43U_s-3ZB0jeMBJVF7qsqRCBboPGZ3MofcQYylzJP2R4wPMNIdRFzWXHptA6GOe88dM2lt-PRIU3UKKaV1fjcELy0T_BLhS01nJKbzDfKp_fuKXcjIn_woEpqFlSw6fFwDZ_hCzA7VYMU3XtzsNvWg_8f37cFlkMJ1Gq1Wb3hilBSXXuzC-mQE8aV6caU4EL3BmvylOXeBBUgdSOkqoH--dBb8ttvQvaQFN5mwEP9rcCeCmJ5Ne3JTxLA3BdDCTYJzGzLvTqTB28BVkMsOBUygZTsgNF98c-UjZm3EebHK03UHqmKE88h0twIuNVbaMhcMrPHbG6aVPct6tAouacolqLUsJ01dZzlPYvbRINunHPcJeaFz5vIE3Q-KcdmrFYfsEWSrQYQu9r88VU_Re_4rzOtduqFCBspYJ52ZdJhDkiiK8cIIk_0S7dHkjyJITfCrd_HtqzWn_tygKKnIgnQF2iwDC3ijrXOiNNsH9XLQ0TDgTgg4burWlD-rSCnGWeB3qx2WP879YblxpfSCpI-N3-Qh797cGYZ3AdgVVsYzzhzU47caj5PqVDNGXnwu6OMkrqn5A0W6kl6OO6G_qQGPCrcTQPHSkbDC8jWGSXlxHvWlUKqLsMwK_LfodJbB2JbJuPEQRfyMnIoGlSwVdYh8otqoAjTcNebOyBr3eTK-R_dZibCuV0Sf1sPKQ45VrPohcamuQzbRMagbuX7sbvpdSf5M-8mhtQeo4fr-Q9zpxZT_Wm5Y2ZXQoPq7wFSJd4cvedVAizVcfjaHOem5IQjylAW4KEwHMhWi_1N1I2F8HKsd4qsrzEAHKLnQXQrOQoZN6bMBlR3C07fadkmwDoChtSQUqxuHj1M7IHlDJ4fnV3rpW5xaPuZXbqo8gPjn7vX6tJo5xJ2Guwa4yjC-fbkhwhfNGobw2qou724ljd6JR4ScmTu1H76ZP6jzf8OwfzsDJI-FCgLyrynjMXSWko0GO0X4_ftG9pLIb5BklA9Bdq5rY3xS7dIGHqvj9UK0aAWrtfr12uWfyc2SDkFqIRVsa8ImFCHY0Ux-xZOQ4HrHBrbl428GQInTgcFkXVL8K4fPSyh-MoZX78EnBX2Zu6PUN4LiFFFty5mmRQWZYbZ15bSU-A1e-9ISqaN7Y5tqd-swwNfY-5AyKIJCKzd5YX7oxyo6cW_gw_sK2Y4ogFbJUu-O9w-Eoo384z8PNx1KpbcF-Z41TnumTZdFlILqscEwW52dLHSGsj3qyQ1DBIB5Abfx-ct36MPvOfh0WDBPhjvWyQQIhjMnMNnk6ABkYRCKd95sb6v97jp0zo3z31apm0kJp-BZm7V7YJjB-VgXJLcspjKYMB7ldrIhNKO9l9cEkZM5OZcodX-wz41qQs0ndYO9kIiYD_6QPzMz9ubB-_1g1cpIfMn3LX3b6viRBG-VPFOOVXEblm3jTF67",
  "id": "rs_06e51d173a4c457c016ab444db6eb887d0ab4d355aa92d8d44",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.2,\"right_z\":0.16,\"right_gripper\":1.0,\"left_x\":0.295,\"left_y\":0.002,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"Three bottles are lying on the table; the rightmost bottle's cap is near the far end and is well within the right arm's central workspace. I am moving the right gripper above that cap/neck while keeping the left arm parked.\"}",
  "call_id": "call_j2kAT4qRg9tVr29yycGQ3azw",
  "id": "fc_06e51d173a4c457c016ab444dd7e7887d0955e510c10310682",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j2kAT4qRg9tVr29yycGQ3azw",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6018, -0.379, -0.0231, -0.0292, 0.9988, 0.5838, 1.6848, 1.1118, -0.1482, 0.4473, 0.292, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1787 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9988 right_x=0.4246 right_y=0.1932 right_z=0.1406 right_yaw=0.0413 right_pitch=-0.0677 right_roll=-0.0464 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -1.5521, 6.694, 1.8144, -0.0562, -0.0269, -0.1343, 0.3487, -7.9795, 9.1282, 1.8681, 0.3736, 0.359, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b14d00b0327eb803cb8ab93239e758db23e6aacdbdbd367f92540c1eba6ecd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eedd3bbb7d5a8aadc20e31d1cfda73669fbbda3589c8963c599d96e1c953318",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cfa20930784c47c43691cdc9ae7cbca0034002a39b91eff47c00f79596a0ad6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.616 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7937, 0.6075, -0.3771, -0.0227, -0.0288, 0.9987, -0.0151, 0.7891, 0.6037, -0.3859, -0.017, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0016 left_z=0.1823 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2936 right_y=0.0022 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -1.4838, 9.7573, 1.7949, -0.0171, 0.1197, -0.1441, -1.0872, -1.2103, 10.4137, 1.8584, -0.0806, 0.105, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6018, -0.379, -0.0231, -0.0292, 0.9988, 0.5838, 1.6848, 1.1118, -0.1482, 0.4473, 0.292, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1787 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9988 right_x=0.4246 right_y=0.1932 right_z=0.1406 right_yaw=0.0413 right_pitch=-0.0677 right_roll=-0.0464 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -1.5521, 6.694, 1.8144, -0.0562, -0.0269, -0.1343, 0.3487, -7.9795, 9.1282, 1.8681, 0.3736, 0.359, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b14d00b0327eb803cb8ab93239e758db23e6aacdbdbd367f92540c1eba6ecd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eedd3bbb7d5a8aadc20e31d1cfda73669fbbda3589c8963c599d96e1c953318",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cfa20930784c47c43691cdc9ae7cbca0034002a39b91eff47c00f79596a0ad6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtETnn6XW4KXL9RXDLWzX6HcWVc275a7KSuRbFczNEBFoVosGx0OD_-3MylT7B5VEzeP5UPhC4vUS360jYgWr2e5aow5gUaiOIFHQ0qYAHjuj0_DI6pvD6Jh-DDVStd1c_JuBCUkPodHPw7-9bn_-kYygECV5ja6TUY6SLhqbcZlJNoguda7RKcdQJUuHCaU7n6U_sfb_BcIKKBrtOc3IeSmHqw0d8u-0RGSKoTpPWRSY_3tOU4HR2eSSzCkiiU4BxG0BmkXtExh_QxDrvZ8BCCoCyGuyYd5Zlbk6DgFiwe4CQK4n_xT6uOpRgU4eAe0AFqvUvXqd2TnrJt8SweGxk28n9_EM4bErMjU0bpB4COec5tII-sWm5MKyIIYn_vjmKEoowXx9FAs_DYDWIN5YSdvHHKfBdP0Vu6NuQ6GOPsDeUl1TtQoFQ8WZ_9HHo7kmDa-UNV2O8lUE2ZIT4Xqn9Mi2qQaDEZHKVG-DS91kqRX7ASznPva9kVEjgWLPKSvhV8qu1ieF3LSxxIQAavhZ87WGUSV_nyEt24YlYajz1A_X80j0tNd2je1o-LIkXFYqMtn07dcQ7Hm4ksIFr3-lRfvM52RPRkn3SBAyC70gGHRdqE5sOEmPX_pSX-GeZzWbOIEsjpOptLr-Hj1GYEBBxujkLKLCZyuDkKtdP3pTMOvYGfz2hcGGVgOpuBys24IaR019VW3eaMx2kaTkUDtWI6Fe0cLE77genYNvawqhSBkNdzHT61_x0SG8MpT4BGWMdaj4kiyGkIttPsAeUfgMRSuzXetZWqhiaZqPWUiMB84V0PAYbcfsBvbtGZ938lahSqRa51GklkHg0nNMZh4hbx1Bt06kxIHv2Vr-HiUe9ZGf9ar3XrUZYBRRpGXpCh40rKiPYP_JoVH36HY6yuviG3a5gN1ddCZ8Tphh-fnc7tLOu_kc6_FtvLzoB5xGgMbu2QBqZZOcJrZE9tqN3_UC63ysQaOHJcqP5QrDaBK-oNzW_FjyBPoIQ6ACsmoYtKrDguVKR5ReJCvuaH8WJ8j08U9kZ22KB6PVY2oSYqPR2Jwu8br45RuZd3VogTx4Wt5DMe9jUi1LbMDg9-fw-GEC1lK2NEIh6x2JGDnaWP2ith6XpGpHz1dVnCmTKyQuCTGppD9Wn4zkBVlvwow598DVHaqYZAzCzMeHxy9XpNiqZ2HK-rk8ead9idRTF1amXyXYMLwjpf7PcV4qb-CY90ab8fm9ZjhXMTWGQu6_IzRR4eFjETveRvMPpNLROLiNqzee8LIH1cvZjs3ojKn2ITlqzUZWUa_4hlbmi6ac8NxABzPZfHT-51wg-Gvr6-THTqhjyPJ3Ha6kidG8Nmtow5ln9ZJE8ZECFxLgaiFEh5luutn5fwLjXUYsO-qO16tE3CJrN9cC69OaXZNZgKwZ3VZLzGoErJKH-s3_cv7DlUrKXPfUhQFu6MVoRWsOY5LRPjgdklDZHiEwoUkutOhYPvDaI8TzraJZGaGJl9t6V0JQnmqGRZAk3GB2DfHdByomSMgFSbJR64HCL6f_RCuenxJk13AUFYorqSnEqLc8XXA01g0mr4RtOxmLeJLcNcVprPGB75_koqguh4xTih2pokyR64rs1c-IVruAjpP9y2vZuB7_EfwQ73-OxpWTRaLX4DgIe2HtR95yKom-WzehuSbSg8KhCValoZr6d-NqMuMNhT3N34PcgOj_1BWjHBTOCDiYGlQqTLi_XiW8h68wa6bjuh7_HP8Z-GXwVq-o1yrCbX6JtfjCSDmmaKJigJjCemsu2X29eFkYSBwDgiuib3JzzRIjFJXDk8KOX4tH67xCx_rHBjCu-5ySjAi_CphPAxJOyv_d1L-kfAYu3qpXyYR5VxzKvWL1CtFrTDr82lcg12EDEx4buHzYIomH41MalMR7tjUvSWE7TWwHvkSVBbKARTcZyziM-7wWY0nJ6-L63537Lv28SduFn8sVHpIlgPUSffjoo_G26Vz33qmC5rId-J9bjCnsarBjtAe-meBvs_iCitQKSKep9QuwGpMeMtMYNVVK8zNUuS3Hd3g8bTyjzj7_yw1UEWfBv7X29kjm5XQ-j8nIZfeuQFdNvxiZPQBxuEuzs4QKXhhoyOb0Hl_Xs48Ccg==",
  "id": "rs_06e51d173a4c457c016ab444e5097887d0b8cecd8b6aeeacaf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.193,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The right wrist view has the blue cap centered on the jaw column, but it is still well ahead of the fingertip line. I am advancing a few centimetres radially so the open jaws will straddle the cap/neck before descending.\"}",
  "call_id": "call_TIRz4Fk0h8GhWYSRCKyKAQG2",
  "id": "fc_06e51d173a4c457c016ab444e6d7e487d09504c484495ab3d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TIRz4Fk0h8GhWYSRCKyKAQG2",
  "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, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9985, 0.5301, 1.7439, 1.158, -0.1188, 0.4053, 0.2569, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9985 right_x=0.4475 right_y=0.1856 right_z=0.1361 right_yaw=0.0404 right_pitch=-0.0677 right_roll=-0.0427 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.812, 6.7897, 1.7949, -0.0415, -0.0464, -0.0415, -0.2667, -8.8274, 10.0444, 1.9463, 0.0904, 0.0122, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52752f92bc6fbdd0a8ce88acf0ec445d63a4d10b263f4650fb3419fd86c56ae1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bfa9aae796e5f10232bb3c129d7ddf22e5e96ee23e2cdc1d861702dcdbde49d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e343de45c8776c857cdca35ffa6198d7271c78b289b0c55969af2d0b106327e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 4.254 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6018, -0.379, -0.0231, -0.0292, 0.9988, 0.5838, 1.6848, 1.1118, -0.1482, 0.4473, 0.292, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1787 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9988 right_x=0.4246 right_y=0.1932 right_z=0.1406 right_yaw=0.0413 right_pitch=-0.0677 right_roll=-0.0464 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -1.5521, 6.694, 1.8144, -0.0562, -0.0269, -0.1343, 0.3487, -7.9795, 9.1282, 1.8681, 0.3736, 0.359, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9985, 0.5301, 1.7439, 1.158, -0.1188, 0.4053, 0.2569, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9985 right_x=0.4475 right_y=0.1856 right_z=0.1361 right_yaw=0.0404 right_pitch=-0.0677 right_roll=-0.0427 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.812, 6.7897, 1.7949, -0.0415, -0.0464, -0.0415, -0.2667, -8.8274, 10.0444, 1.9463, 0.0904, 0.0122, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52752f92bc6fbdd0a8ce88acf0ec445d63a4d10b263f4650fb3419fd86c56ae1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bfa9aae796e5f10232bb3c129d7ddf22e5e96ee23e2cdc1d861702dcdbde49d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e343de45c8776c857cdca35ffa6198d7271c78b289b0c55969af2d0b106327e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtETr9tuZyJzYzeIp7XiHhxMdQ2wmo39IsXqu_krfPDebybpuHNZ-Zbqs6wCU_8N3CWJq-jUwHbKLWYbmwIpnMtPn975tGnKTSgyMwieo4dmkyxeFYIta-NbfXff8r_P4DMutS-7Ovwe9zribhQP0ubo5r09avDJ14WT2gS25dnnmZRKuAY6y2qK055A0tiYiQxBdZjS1kcahYq8lzzkrh5hcWEaqPxQyJjSx65ptAIKmBu9E0ResO2rQemzmlO69c6Qz6Q7BzwPkSLnVsSh96xQRSE2wSJdjckp1aSlszDnGkP12BCOuAyDjRRs4maRhZQ2Goma0sHHrzUIC9GkuudTWDVN_ilRo4-cnqgfTXryN6KtvYgmOhUeEVXr3KiXV4QTJVkXk8i592eTHLwazaOOtfrcV6N-th412Lrjmmhv-dWuI-0GYLLRYq2bCojBFuKQ0wJrlDjeJXLc15piPbXCgXaYpfIszOY35H-tOkzKj6HgLuEI3wUjjjNM8NM--m0c79SrGutrXcMbd27Y8U6IUwHkOH5DLyY1E95xLYKeRhem5xLT0EHoQIuGdNq24X8a73kFJqDPpvOsDI_XAD6xCcPmmld4e6AQv_oeKXo6kS4J1j3n-ft6U3PdqfzjgNTivAmvTw7-_GqP2JCmWA4MFPe3PseR9iBb5EBOvZlGD4OqueLTtrS8GJeO5f0siCaqiAzKaSl915shYx8J4jjw_0jer0vuVwqGcGDiASMQk2O2NUDLW0eaf--B-akr-d3E_ymZe0m791kOarDtBxDlMK83RAOk1JaJRNvpUofnHGnW7eyKg__q9mBB-Ej0r_SkmJ-AglBKVKeBDNxlv-ZSPfC_OgScDctYVCJXehe8aVSpcNqP0_uzjle__gzKFSKzVj_vxiEG9-MAanbm9hjPuhYYiCOj9_MgHwyDaiXbNDS6PEqkFu_aevLQDhU9j3buFbMY5_aoMXD6QBiTOrONBdl5PszLwdKbcCb8jLxZ-LgJUy7q-RmVGxHf6gxx_m1-A_xkXMtjQQ6AIWIQ1KHBKnjJItnhTk8EY-g7RSslPK6r7ZQ45kuzAB4AlLOeWXlO8wNNy4bgQI7psvnUWO--gM44LwnNT9gqoCQBSgEJTtnpoGyU9vS6JHCdzwwqEh27UYOT5e_KFMPFLPpLlvlxIMrVUrtrYFY_8yqhZu_JqgPoaEM4W1SYtRmox7N5uOs09YFDXDBxLrG-P1h_40faDXresz06Z5Q3QS8rItug-cU5CRYE6NWE20esSCXQ-IuvZEEra8Z0mQogN0Tu27No8kY_vQyl4PILizvffq46j5spheu1bZTyY_dJcQGJXXJ0NfSx3GPM-1xt91CRloIQz1Et-3EVEAUy2Uie5kJELjXeOs9Kq3jqIVQkpEp8l-bUlB4LWTT7gI3awrCANNf9I4IKYwOuV7BaG_HTA5qxC23hGk61YKfrKuMNl5fsKwdFvjeg-54ANvIQk7jADORgywzLgdKdapOpsXXc22uSd1Uj7JetWiH1y7YZUCvz6BCQfaTxUu2zvQC69TJc3D0G0_OK6ToRgkZnaqEMUGInCV6xrtgjMzny14iEW2sBasKUBC0dPjcbkSZE7-oK9UMIbtDN9I0iTm6qmI2bwsHud7ExPBEEi_GHr1-plNIUIRjEgzw1fssQHa9_c0d5ETZPOOAalFIWBxgEtvQVY_bhx-2FMAuHwwJh-U3UXkf2L4b87NV0sCKDHa4zl1ikvrXf5-yeOOkgfVLH-5fEz-jS5HVKJvCjQs9pVU-bJCQJ6TA4XfS59ESQaCmPhTbqByrTzesZkIlJ_bBpiRoInKE5sCnLBIw_vzLeZ7ALdubpRl0HShgY_qo7QWgNSvmXlV8q7EK18zeprDRfL36hXcZcQMCNqMQRQOghO7Z-3Tz-GLtM0dNa9pHN1bKnWuEpZ3C7k3KPeoAvFbSbtaI_48BhJmxc=",
  "id": "rs_06e51d173a4c457c016ab444e97b5087d0acd02049c69fb5f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.185,\"right_z\":0.025,\"right_gripper\":1.0},\"note\":\"The cap remains centered and is now close to the lower working region of the wrist view. I am descending with the jaws open to cap height, keeping the lateral alignment unchanged.\"}",
  "call_id": "call_BD5mrf0NeBhCsAQYh4l6lApn",
  "id": "fc_06e51d173a4c457c016ab444eae86087d085684da7596d7ca7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BD5mrf0NeBhCsAQYh4l6lApn",
  "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, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9984, 0.5243, 1.7573, 1.1812, -0.115, 0.3882, 0.2493, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.4534 right_y=0.1891 right_z=0.1396 right_yaw=0.053 right_pitch=-0.0607 right_roll=-0.0327 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.8256, 6.2291, 1.8584, -0.0415, -0.0317, -0.0269, -0.4991, -8.9641, 9.5658, 1.9121, 0.1734, 0.0171, -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:a7b1e3bb89b53f31300ac0f8133d0604ffb1b73d5c0bf1c84ac298bb92984990",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa45762d181e3579b95fb4aff838b1162f34bedd1d7bc58d7398ff9399337791",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdfd522bb6e424acc3804e61109e0983916c7f3a24626839c6a43243b5aa1e5a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.711 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7937, 0.6075, -0.3771, -0.0227, -0.0288, 0.9987, -0.0151, 0.7891, 0.6037, -0.3859, -0.017, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0016 left_z=0.1823 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2936 right_y=0.0022 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -1.4838, 9.7573, 1.7949, -0.0171, 0.1197, -0.1441, -1.0872, -1.2103, 10.4137, 1.8584, -0.0806, 0.105, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9985, 0.5301, 1.7439, 1.158, -0.1188, 0.4053, 0.2569, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9985 right_x=0.4475 right_y=0.1856 right_z=0.1361 right_yaw=0.0404 right_pitch=-0.0677 right_roll=-0.0427 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.812, 6.7897, 1.7949, -0.0415, -0.0464, -0.0415, -0.2667, -8.8274, 10.0444, 1.9463, 0.0904, 0.0122, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9984, 0.5243, 1.7573, 1.1812, -0.115, 0.3882, 0.2493, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.4534 right_y=0.1891 right_z=0.1396 right_yaw=0.053 right_pitch=-0.0607 right_roll=-0.0327 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.8256, 6.2291, 1.8584, -0.0415, -0.0317, -0.0269, -0.4991, -8.9641, 9.5658, 1.9121, 0.1734, 0.0171, -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,$blob:a7b1e3bb89b53f31300ac0f8133d0604ffb1b73d5c0bf1c84ac298bb92984990",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa45762d181e3579b95fb4aff838b1162f34bedd1d7bc58d7398ff9399337791",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdfd522bb6e424acc3804e61109e0983916c7f3a24626839c6a43243b5aa1e5a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETwWsdXT0D0m4uFBZVx-WXeR3j-56yB8S34WefcLjwYmkjz4T4AXnr9EZKXdhaPh7-RVq7LPlO4kmwg3AgIr78vUQ-pQFVAtAfNBo0CCTAjlQUvpMEx1iD15OvteI-4czqqcxGlFtbxUJ85NctM5UZqVCraauE0jAFpiv_yhVn0OSxYgm-WeplKltPABuqT6Ed-TnLnB_KTLV1ZJagZp_UItNfrJxZNM6332fwyHjKhDXgKQyQGHDVWVJxy7cvMxM7iWjm-AqodduVQfXVvi04XPIKpucND8zO2BBhfBKuSWw703q4QQ0Q3giYU6943M7fnw5rzZTYfRaa2XrYC0hPiXNlOCHBeP47g-gd4IID3zdKbyUpxZ8UGt3yMNPNjxJpo6TwR14CpRmAcKczHnsqWPhL7k3wMkGbkpP2L1_2eZUx6JsvbJYovUo7w-KEbMoBa_iABpEElJIY1ML6g2E88zIRLtpYTvJSrfvP9J3CFY8wZXDqw-CATGSs7xELhmW3UqbxR2_qICMaApLmN1anRypiBjzrBmdnghcBuz5PDXIR7JreG55BTPPRlGmG_qNfliV-1VTSu5QJ5CYEVaFzjowFPTrfYn7vXJjfYpnn6jxZjcVVufLdLIoS7nO9Z5AbHvy9Y_l4NvhdNc2Tg6E6NWcNr5kz0c0vh7JJL_FvsP8lPnJ8XUJAXqeGzGH-Px0tkkYxeo7YqVdgq0be2cG1vAoq5yVR6KNUQzrsr3Rhmy7p8d4XQA294NcBW01hozhKC9KsQ08YzxW6Z9VIEf4bvO1qQ1cEpGDiLZBg5t13KBF8W7PY9P2v39bfdOKR-yOISWIBmHGyPWNF8q-8VVlNUIxLa2Bcq2wazxn99sNClv64a9LkxgRVYmYYnCSZ3KuMTYSPy0yJGnodtr2ZPhhN9_2Pl1omP3aWqmybQjAf-1mnbjxL1WGU-M5gL9qwCrmV6OBysUWjOIJ8P2bRNUGJ32LFnmQH-ZGPkWvb32KCkTuD0FehCLoqWxAlDcOm542EvhfQbQcQ2P1juKkffD9DglL5rtQHiU-xJP2gQKlL1ADhQbYPET_jDGX0RNd2bsqOQta5g_KBTQ1PiIww_qE4gY21S8sN_tYYiiRffmtAkMCWFENyUU7YC-3LLlGgbA-ZK_-Tqe50TBlRskDHjrcz7FDKtRppzeTOuzR1YPedLdY19w4Krlk7N9EImEtNoCKFFLVqUt2upS6MslWkVXVGQJvGE0CSqQsBmRMec71RxgxcHv_PRnMjUe0sTXYspKRtXe7GcOLGKRSl8-XHOfRvHoeu3w3SsttHIHFNakM5iI_6D15KgDcpSgDIYiyq_k6Wz6101qhA7x9miqDuN5o16rmtEpzoO30gM1AEirDr-PNsoY130IJi-uaJwrQXoQfJTZYbe0kJCntRhYTX-yrBZF-xPp6UstAgKoSZCQ8MaORyLP__Q84XU4Yt4eqQLvGOUgmWGt2L1joCCspoXxqqDLTbID3gq40haKAS-HWIUbwXuIMfVLhRu6VdORfSBXVu5SsMMhcWjyc4hidr6lXjRERwUc6X9_DKJpus9CcFm_ddce0QRp8_EjowOWhZFgOD-FpAmPxZ22RdtjilKZM67kLrV15w9XuuqlFWPgOv2BTm-pbG5dZZIZkV052x_S9flTji6iKD8HMmzz6L0lzmdWQ4G04gD_y4d8AUKHe9AxkT2mlmI5uV14YnwamP-7Em6j6VVj5DvnXxQBLT-YRi4SS20JX5UK_2Ao-EtV4ng0H2uBHQNZMi_L1jL1FCPQrPjyyhw_qvQUuWeqdREzFylU4FTl8ozvxg1AFgMPsnk8J2PEicvqyIB8FYrW291s1uscUhZ8aA5r3vS3zpmH1pWwDEi0A-kEnG0ziZCalbNH6IjT3VoyButBXwHerEHuwhxuv53-ge6ygGHDMAWf-_mirtyW8ZpPfJ8kszDI31wg6IZoUyS6WnsQclrfs4o1PMK2NaoYpMv0js3NJoUmR_A1vCw8C4CF4yU3C5WLSg-irR4i2wNMXEFQMOxwMNQFkc_enugmOrsotdNB7n4i7szk9atj_ig3b2n02EpnNKTXfIIeCg7cFv31ubgoWjydmJTAX4vofZq7nOoVHny7BTNC82QBtDPKzWOH6AaotoxK9K4juFWpyGcG_ZZwowclk7gJIi9DsJoiK5fxtkmaWRdZw==",
  "id": "rs_06e51d173a4c457c016ab444edb2a487d0916a49544a136bbe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.185,\"right_z\":0.08,\"right_gripper\":1.0},\"note\":\"The requested descent did not track—the readback stayed near 14 cm—indicating the arm is caught near an awkward extended posture rather than in contact. I am moving slightly inward while lowering partway to reconfigure the elbow, after which I can approach the cap at low height.\"}",
  "call_id": "call_wHEfb8Io92kx3HcfATzQrJpk",
  "id": "fc_06e51d173a4c457c016ab444efc52887d0a085579d71cc4e6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wHEfb8Io92kx3HcfATzQrJpk",
  "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, 0.7952, 0.5972, -0.3725, -0.0227, -0.0292, 0.9984, 0.5919, 1.6985, 0.8967, 0.1352, 0.4202, 0.2771, 0.9998]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4109 right_y=0.1937 right_z=0.0966 right_yaw=0.0802 right_pitch=-0.0295 right_roll=-0.0161 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.3197, 6.4889, 1.8681, 0.0024, -0.0269, -0.0171, -0.7453, -7.9932, 7.4325, 2.1221, 0.4518, 0.0659, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7d543dd0e240aa6ac52090a138631688f07b8e0aba6c0744dd1a332fe09505",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:473cfefb9b806a248dca57cff48151fb36553ffadb73c9941ee6f5a04c38950f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f61a533c0a27fc19d2bedb04970b2c7de628a1603cb53182186f16d01a31d25",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.035 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6018, -0.379, -0.0231, -0.0292, 0.9988, 0.5838, 1.6848, 1.1118, -0.1482, 0.4473, 0.292, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1787 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9988 right_x=0.4246 right_y=0.1932 right_z=0.1406 right_yaw=0.0413 right_pitch=-0.0677 right_roll=-0.0464 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -1.5521, 6.694, 1.8144, -0.0562, -0.0269, -0.1343, 0.3487, -7.9795, 9.1282, 1.8681, 0.3736, 0.359, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9984, 0.5243, 1.7573, 1.1812, -0.115, 0.3882, 0.2493, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.4534 right_y=0.1891 right_z=0.1396 right_yaw=0.053 right_pitch=-0.0607 right_roll=-0.0327 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.8256, 6.2291, 1.8584, -0.0415, -0.0317, -0.0269, -0.4991, -8.9641, 9.5658, 1.9121, 0.1734, 0.0171, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7952, 0.5972, -0.3725, -0.0227, -0.0292, 0.9984, 0.5919, 1.6985, 0.8967, 0.1352, 0.4202, 0.2771, 0.9998]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4109 right_y=0.1937 right_z=0.0966 right_yaw=0.0802 right_pitch=-0.0295 right_roll=-0.0161 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.3197, 6.4889, 1.8681, 0.0024, -0.0269, -0.0171, -0.7453, -7.9932, 7.4325, 2.1221, 0.4518, 0.0659, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7d543dd0e240aa6ac52090a138631688f07b8e0aba6c0744dd1a332fe09505",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:473cfefb9b806a248dca57cff48151fb36553ffadb73c9941ee6f5a04c38950f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f61a533c0a27fc19d2bedb04970b2c7de628a1603cb53182186f16d01a31d25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETzYFqhZZ9hKsz8bi3B33CjDupEqT8xalyjjdxFx0L3-QDwQxIaI5Zus5846Etm2pe5U2ix9fzt6e3QkiMXNa_MM0iyHKjJQqeuuqS1gG15paTzUN9zz4Bjx6AWWn8LfEDUhJJp1gLYqcKLWwsCQSGvkIAUhSYgMwdbMnGEmH52fakZttN4sXdScOb8PQp1E0Eh1yn0QI7oAzsWxHUee_nBSNcGbliKoNfWJwnVvkTuKq7JvUht4jXpoiw3rL_LdWRkJNDD_ICGW5AyMj28BJQWO-CW4VOgPaYIPA4xJK3scfp81w2TarUkgOPNjMBoU511su1OTQsQkqxoCRbJcecV7JcQgtBAykq0qyKTl0bRmDyaZY8mw5LyEdjnnVp6DuASfHB4IigE3iV-uJ7FvzPiPo1QT4n26JAphyLrghmigLBsfSZ2MBU-1fua4N251sh7f4PDq87HhMZ7tUmrbgTY7Qxx0zC0owzQfLGQJXWMAhls35MyMQoA21DYx3tjDaoVoirWz_fpWGljivisVBgyQEeKUTTfMEQBpLUfzSEMBtfne1ww7sjrusqiz7P0gRoLRdaf8oJHGrcdu9tCJ2OeVbVm6cjDzGaDTr6KyOTzCQsbTNCOAkU1WLJnXdqtY1iAExvajig2C4coK9hEZRni7hsWVbWKnTxL3DNklrxhd3tQTAMmDeeu-q-2GlKHVLwLUlVD5rBOGzTbWQoJXRhqkVfwHg6DWMvOcWxAhOXHf-k9y85JMYEHYFY2TEN2B8_j-GZS0hUo6_G6dn8pWiMsv2_lD0i4T6_SZcUoo42LeBTGuJ7Q_BNYCrQLpiI18W8IsLzFx58a78N2xx07DkWGru6Fbrvgr53x5scomjwmiXNy9vHcZPhPh1poWDO27DAuKjWiKkoaGtYvT5iO6pAUCxRgLY3cWaYuYngTsq8RcK1k-7i1N8V6aAwxoK3UolBNJMbWUWM5Mxq_AQhPtlpXYJcXY5cRukIwg5eYIJk3apoaluzp1eo9oeIumgpcKkY4vCtgd4jXpJdoIv9CpGEeyGA6LFB5q-9nPqMP4qUVMW45skmacR20NHw87CBjVUbviSxzlGamPItRSpVgeUtJdD78Ptc2pAsxX3XCf-u_4-QVibvviRC-nk6ST0_-a1g70HPVJGmvWjtPy7ieguUVIu_Vx-uaVLnQugEkCA-thxiqT-DTGFxAZ7S0DqUYELYZZ-E6SiiPnNf1oDNoFPlvBFIqO333ptEOFr7cYj5KNh1m0C-kHO9Kvn6mOLR8uTNH5TRgT65r7NrwbYuBgHGlH1G9PWWRpPM9gJbzXbCQ9vkFuYQSmVquYniFpOfnmLfqrXTsrK4Ic1SP88_Yp0X3StgSbhHIt7vpciVheb2x3G8=",
  "id": "rs_06e51d173a4c457c016ab444f273d887d0acd1db0528131927",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.19,\"right_z\":0.045,\"right_gripper\":1.0},\"note\":\"The elbow reconfiguration worked and the gripper is now near 10 cm height with the bottle still centered. I am making a smaller combined outward-and-downward approach to bring the fingertips around the cap without returning to the stalled posture.\"}",
  "call_id": "call_BiBSiDoK52szXljxnAMPVZII",
  "id": "fc_06e51d173a4c457c016ab444f2ea1087d09de85930de10aff0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BiBSiDoK52szXljxnAMPVZII",
  "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, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5453, 1.8812, 0.8425, 0.3317, 0.387, 0.2413, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4212 right_y=0.1818 right_z=0.031 right_yaw=0.0787 right_pitch=-0.0755 right_roll=-0.0457 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.5795, 6.4479, 1.8095, -0.0269, -0.0757, -0.0171, -0.6085, -8.1709, 8.3077, 1.9805, -0.1343, 0.1783, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed541064a564ed639e450d0ebe6e45731ad2c7c2a1620719e3d6b33308743eb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4924a55e50a50d6b7803137d0fc1dcb7992edc96cf67bf05ee6cf1cb386b1183",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4c748e0d8fb1d63e96c942b0fa120faad3363d0ec62686aa1cf8c55834ed2e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 2.512 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9985, 0.5301, 1.7439, 1.158, -0.1188, 0.4053, 0.2569, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9985 right_x=0.4475 right_y=0.1856 right_z=0.1361 right_yaw=0.0404 right_pitch=-0.0677 right_roll=-0.0427 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.812, 6.7897, 1.7949, -0.0415, -0.0464, -0.0415, -0.2667, -8.8274, 10.0444, 1.9463, 0.0904, 0.0122, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7952, 0.5972, -0.3725, -0.0227, -0.0292, 0.9984, 0.5919, 1.6985, 0.8967, 0.1352, 0.4202, 0.2771, 0.9998]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4109 right_y=0.1937 right_z=0.0966 right_yaw=0.0802 right_pitch=-0.0295 right_roll=-0.0161 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.3197, 6.4889, 1.8681, 0.0024, -0.0269, -0.0171, -0.7453, -7.9932, 7.4325, 2.1221, 0.4518, 0.0659, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5453, 1.8812, 0.8425, 0.3317, 0.387, 0.2413, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4212 right_y=0.1818 right_z=0.031 right_yaw=0.0787 right_pitch=-0.0755 right_roll=-0.0457 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.5795, 6.4479, 1.8095, -0.0269, -0.0757, -0.0171, -0.6085, -8.1709, 8.3077, 1.9805, -0.1343, 0.1783, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed541064a564ed639e450d0ebe6e45731ad2c7c2a1620719e3d6b33308743eb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4924a55e50a50d6b7803137d0fc1dcb7992edc96cf67bf05ee6cf1cb386b1183",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4c748e0d8fb1d63e96c942b0fa120faad3363d0ec62686aa1cf8c55834ed2e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtET46MjtraiI9Xgs9DfVB-mIPMcp9oQBTcnEGUtJVjroodj1Ot3lTbApiDqLGH2Uvxi5Eir1XpOK_mmP91SsOiX6EF0LvPiAImqVcmMoejD9ebSY7llcKZZsNIuwxYBrff2XLhMWshidTjvF_E23qyhLkUviNQhjCSZhp0HbAesUn4hkFUi9wFMcK-woRjWDAKCNVZan7r4k20AbRNw1XizTVWEnjqho9JCWt834K7Jwr9pgGkNZzygM5F0itUju-db3t7VxkNT30c0xNX6yVGUMbrDl-cqjgw1vn2xe8W2zh-ncVLGuVoM47jUyubvSP6Y9DpNS2fnCSMH3A2n5Z1dI5WzKGVi2rub7MxB1B8I0zBJdpOIMn-vMoIbbp_ImJ8zqM4ZzK--6rrycibd5gtBBi2r0BHo622BfRv_178WUcFGYaHsimBxBJtUa0rv3GHR7aJRWHW0awwArVO4UetDU_gWugRI-Hn1662iDFolo1HbZgPxdeO3OrP1xy_O9-UGmrHHLD_ElxDfSzaxApspGsr19Zgr0tXsCrvokmMZttx3DqnVIXRilZZz83Vuj53d3SrDHTNT1G16a37iY34Sl_IjFojGwQCrVYOCd94OjYodDHe3l_2hY07FDWWDyy-tTR6Dvus24oeJddrp-ViwdxSR9ghspBdbgFStqcdMFIVHsCThzpTNfH72BnfRjBJ4vGZFnYQeRKQA06_j7oCjxlqMb1T4gAT7LtS9TDdqLKyvizFC7TT9VZ7WZ4hdjVcgF5he8iNg29eiV-rbj_S6SIP4AEKn1UQKb6k-mQwH8TZgng9Fltl7iKlcFE6-6BykdgqFGJPQ-8ELATfeP2NQqVUI0n2er1FvKj_c4WGOys3xa4lL_zsF0QqXunjjFuif-oFNC90BIljRJOaMp5ywyWvqacZYuykUuZizpCuRVVu1aI7aR9MUj19LmB04a5FFa5lM8DoWojfEKKGQXSaFD4FFlZRO6PqwqT_WE8pVN6qsDaj4mcafcbXWlJFNP-Bzlan5R8-2jodFysRoDLLWo3NtELi0MR2h4RBoqUnOBLWUA9I424Zn7yR_pUlM1_YjAJ18oMADFccWzGGNrNjWtD0QZ7XK2nu3efFqmhmU_jb8PL8D42drUko41RpFe9knXLpZYJ5WIZNVStuc0-vxsrU5ccxOPJ4jjHtz1IMH6Mpab-oNnTh_HH5XCt0mJBOhHPtiN6JSZpAGPhoUHUMbYm-ojrBhMJ5RJHxl9Ed0h_dttKriJLItRL92SS4hXrdTenM2u77yMaUPGZxNaTettyMwIJCBFt9x4Xy-rqbulpsXSXdIa85bOodGMsO2i8oK9Q_rIyXkbtjtgqI_v_78caycJOx9f_i-oPYu_MZ6-MddVFshJyr0lBm0SYcCdrU6K7CxduA3bl7fj3nuS0QkSmgFDrW_2O84PIRwlPsMkvC-slfVOs_ak6XmlGCt12OdpZ2Gsn14Riblb_2IazjSIy-oZXx96EjCwhIwUlfROmsajE4e1bwl6MqMzMHREMNRHJ5QkgdUDzE6A_aC_GMnoW2DG3EaeTQSiJU8hwGPvd79D39UJ3TigH9EsZLrAIigHQjsffW0IkT6AKdlTf0hFZUh9VU8TyeITGt8snqoeeo636zuwyFBQ6jIpc_hl0LrZXAJguQM5rc7nmUJQSyBUUy1XLf0oV3vuzYdXxWjalXyIUbrWElPsRqgvkVPteaKzQKKvs_eMhoMn0DZnBMobdRe8Aj4KKv0ezpNGNiamwALEKVC1Uz9y2TnRbhyj131BVs3krbP6apkaEEAEfGA4AFwI179zv_PgXu1sqZZ6t7zDTyvnEEVyqbitJxCfXZL4cfkvZqIWYo9k9Y5LAMOtP83QVPRGlPiab4plL9dHr0r6En00Y7IFwwupXwdDst1SNFhI88ukqEIH-WQ3bNJxXf_R5ac3HM23zOthdLQLyEHxzL80cA-lG2BM6ONcXzMJJHJbhjNHzum9dfLLvGj-yZzHR9bWOBZV5lkcExhoWckw7z_SOVib6Y3lplPSbFnf8_b4W1kHrOCa8h3CfCra5IkSjUTv_CPcYMdSJ0JvNfQfDTDBPzu5QWKljfs87pFJzVTt-wedW1sk6TSyikyMbAKmMbj0rZCRzG2vT17gOVbpCN6bY63e7oADS54JfrjGtv8t5vz4vtS5LH21lVrExhVDUsF9adOC3r1gYt5ZZfF4l0UKTx_c1J5rijJc3tLv",
  "id": "rs_06e51d173a4c457c016ab444f54fc487d08289dac9ae85b5ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.19,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"At low height, the wrist view shows the bottle body between the jaws while the cap remains farther forward near the top of the image. I am sliding outward along the bottle axis so the grasp point shifts from the body onto the neck/cap.\"}",
  "call_id": "call_B5N4UXx0NSNNkcGju28lJrU0",
  "id": "fc_06e51d173a4c457c016ab444f7714087d0acb88479313626b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B5N4UXx0NSNNkcGju28lJrU0",
  "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, 0.7959, 0.5972, -0.3744, -0.0227, -0.0292, 0.9984, 0.5419, 1.903, 0.8291, 0.4534, 0.3695, 0.2306, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.431 right_y=0.1892 right_z=0.0384 right_yaw=0.0968 right_pitch=-0.0026 right_roll=-0.0066 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.6479, 6.2427, 1.8535, -0.0269, -0.0073, -0.0122, -0.8821, -6.8171, 4.4239, 1.8291, 0.1197, 0.0269, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0925b33750e0daa0bbfcffb038c9e372933ceae28e09c27dc171e14ccfe53e08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c32599b750fce7559078b09e7a2aa7e62af630a72de65c4cd257794d04de7ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7077abc56925caa50da7b7434b28c8b6caaeb0b8eb2bb014fbbb4619a6a3324d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 5.797 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9984, 0.5243, 1.7573, 1.1812, -0.115, 0.3882, 0.2493, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.4534 right_y=0.1891 right_z=0.1396 right_yaw=0.053 right_pitch=-0.0607 right_roll=-0.0327 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.8256, 6.2291, 1.8584, -0.0415, -0.0317, -0.0269, -0.4991, -8.9641, 9.5658, 1.9121, 0.1734, 0.0171, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5453, 1.8812, 0.8425, 0.3317, 0.387, 0.2413, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4212 right_y=0.1818 right_z=0.031 right_yaw=0.0787 right_pitch=-0.0755 right_roll=-0.0457 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.5795, 6.4479, 1.8095, -0.0269, -0.0757, -0.0171, -0.6085, -8.1709, 8.3077, 1.9805, -0.1343, 0.1783, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.5972, -0.3744, -0.0227, -0.0292, 0.9984, 0.5419, 1.903, 0.8291, 0.4534, 0.3695, 0.2306, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.431 right_y=0.1892 right_z=0.0384 right_yaw=0.0968 right_pitch=-0.0026 right_roll=-0.0066 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.6479, 6.2427, 1.8535, -0.0269, -0.0073, -0.0122, -0.8821, -6.8171, 4.4239, 1.8291, 0.1197, 0.0269, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0925b33750e0daa0bbfcffb038c9e372933ceae28e09c27dc171e14ccfe53e08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c32599b750fce7559078b09e7a2aa7e62af630a72de65c4cd257794d04de7ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7077abc56925caa50da7b7434b28c8b6caaeb0b8eb2bb014fbbb4619a6a3324d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtET6WHjT3d-uyXlnisqVpdzbspEBlzxrSdVvy7K387X6a4XZvb-37VHpY_0SKSZ_bMOXkUfuaAutCHuWF7Id3L6epiprtWNelXyxR1jH2Z_gRkj9-aWnykJGjTptI__ZolCr8VV9zHrNzJgjJ6Bh8Ze6Yt3PSSCKMMDgIJK9LDIQ_lvTOtYn89qmc4VmJxa7h2Uujq8ivVzGgVACejA6UlrSKrNDkgTIF0fsk2X8GPs-P3F3_qDJikAS6WQI43p68pzStHW61NtCbKmtzZNkJK63JG9D1xDQjgdu0NLHK07bbwEDnmBzwRCsp-1uJgKcpbDYLAq3qxN2mXWZtKVVlkRNAe6-O27cOxQAo7UnVeu_g_MdXTazGqoHCZKeRkYFD5ps9qSCBbGxRQKPsn-wciLsiQfwjF4Qp1_WnCH5_BjNsxDNUp665MePDW03AX40Xk9v8MwiaswD99aMXbCUWLqmMUHnulSaYWalQSTqzPR3czJSTen8gM34CV0pZnua313fR1IDTERFhIPBSzNYnZiroKRihnBcvCtgIYlAQSHRCy2Zeu29x0C22Dxx-OuLdJH885UJQDUex8kQGR0Ix4ZqhQx7PhXT09brcZKNjvSgieSckPaH9rxgxWZWTI4Hc9JJXNQHw5PZerbTRxIGhBLIdxD2syj59DBjh4x-llrfhfM_FHC2vW7ILDN94DZkInPQpyDnGtKwBZ4tRCrs6ByXc3wSh837CupDG5t2FJubtI4yyVEztR_JczEguNEFGRR11QMuJiVDIH5oZmIoV7RMpNiAha8RWIECI58SYqx_76Yd6XpejpIFxaU-_TaF_Hj8hIyn4SZFBJ4ws4aXtPrN_HkXg2fjv_cPXhz8Z7INT6VzK6Tx1JfbVpN3qELc2FIQzdS_svvHQ7Ry32v3_J4FoDMOOkjd51dGWwXyJvE2gtyoFENrnEC4tYYTuH9bP1IaQlek_Z3EKA_XOG6U6MRSlsQIb71cy-JR9hC7V9G-0xujlY7URvIFjjDjM-EhuVqznCOTBq_znnlif4tunoPWrg4aCU4wNq65drbV0pEs-WKIDPR3BLkj4CdIqohbfoolzze0zuwlktwNx8V7O9K5ObiyAcS9g6olSFeOEXZDWEPdqcFXI2b1GPC5T3i26i9LvAYC1rrBE4jBcQd5iCwRCLqZvUxTPabcJpbGf0cDpja7-NSc5ier9rIlZMOtlx4rNm59JIqPZVU0ZnAr2Q8Ccwv-6Y2HxzmFugDnsOBy8MqiwVHVv6d_jTNIkVZVPxCQZaJumdyKsoV4-e07eK4OZIWi-899BUcyyroFvkM8J_2hj3hAForg2CXUAVTat9wVzyrWIjp236yNF2Lwi0nT9cJGMtb_TQf6Hiqvte95hRkxpEBIokxgCOBARAHhAJWh14qmEpGYVZgq1yHF_McJUe1RK2WsAuM6y4CfxGlOPgL9O4pwzunc0adYM9RjLB_VySOWyCMC2eqjiBeKAF4EXerQsY967HSSN1dXhIiKtp41bqmygHyegFKgx_xxUq3oF8gLIlAHwG_UZw6sgkqOnsyzmUf6InOAEsHsDmTg3Q_Fz_ir26aK8Vd7NKhUGgFJJG5N-UmsCVSAyMfUUCmXUMyiXwvivxYriesdxvVpbqUTFpfdukrt2695DdemZblr",
  "id": "rs_06e51d173a4c457c016ab444f95d4087d0bdef73ea89fcf377",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.19,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The low outward slide tracked only about one centimetre, and the neck is still ahead of the fingertip region. I am taking one further controlled outward step at the same height to bring the jaws to the cap end.\"}",
  "call_id": "call_LXABkl7J99Em0q6342cp9N5u",
  "id": "fc_06e51d173a4c457c016ab444fa2f8087d09d908342a8a8fb09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LXABkl7J99Em0q6342cp9N5u",
  "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, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5419, 1.9049, 0.8246, 0.4717, 0.3656, 0.2306, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4316 right_y=0.1903 right_z=0.0393 right_yaw=0.0999 right_pitch=0.0071 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.6615, 6.2291, 1.8681, -0.0269, -0.0464, -0.0171, -1.0325, -6.9402, 4.7521, 1.8926, 0.1685, 0.0464, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c18ec68b5b17fbea5710dac679c88436eae1a0efc6aadc93b0decd5d531bd232",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4797ce6e7c999a4180714c4bab00a472209377494b4024be028e02be4ece4be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:197ee0a554e9cb6846396758afcd22c12391afc6cc6fd75f1208af720802e1e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 2.168 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7952, 0.5972, -0.3725, -0.0227, -0.0292, 0.9984, 0.5919, 1.6985, 0.8967, 0.1352, 0.4202, 0.2771, 0.9998]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1781 left_yaw=0.0006 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4109 right_y=0.1937 right_z=0.0966 right_yaw=0.0802 right_pitch=-0.0295 right_roll=-0.0161 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.3197, 6.4889, 1.8681, 0.0024, -0.0269, -0.0171, -0.7453, -7.9932, 7.4325, 2.1221, 0.4518, 0.0659, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.5972, -0.3744, -0.0227, -0.0292, 0.9984, 0.5419, 1.903, 0.8291, 0.4534, 0.3695, 0.2306, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.431 right_y=0.1892 right_z=0.0384 right_yaw=0.0968 right_pitch=-0.0026 right_roll=-0.0066 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.6479, 6.2427, 1.8535, -0.0269, -0.0073, -0.0122, -0.8821, -6.8171, 4.4239, 1.8291, 0.1197, 0.0269, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5419, 1.9049, 0.8246, 0.4717, 0.3656, 0.2306, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4316 right_y=0.1903 right_z=0.0393 right_yaw=0.0999 right_pitch=0.0071 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.6615, 6.2291, 1.8681, -0.0269, -0.0464, -0.0171, -1.0325, -6.9402, 4.7521, 1.8926, 0.1685, 0.0464, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c18ec68b5b17fbea5710dac679c88436eae1a0efc6aadc93b0decd5d531bd232",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4797ce6e7c999a4180714c4bab00a472209377494b4024be028e02be4ece4be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:197ee0a554e9cb6846396758afcd22c12391afc6cc6fd75f1208af720802e1e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUBjavABcbeAPjKG8nJAyeol8c1s59Qf_P5zvIu7uGS85VdhthQqs8evTUgXD0FFurRpwUX2-v7dAe9IUtu4xn67rIZR_SXJaNkJ1_3P6oYcTyiPX6ZVhPtwdQUxB_cCKHgp8JrsFeXpgl1H1D6553LyEaLYto-HJwkPD9PMVXuM8n2y8bTTxRTt4kqnoBkSd0SZsfa2HTNbW_8CjBf-WhTcB5IRdSYMlps1ZbSm5lPMthSmiTWyYVvQzH4BSsPodK1XNr4OZ-hCSGnuW064IYLyMeuIJHmpwu3q_bs2Bu0P-4nLBpAlDhescY2EcQOi1NORwJj4shnOy4lgptblW8sXdwgFi23kU5iJWdqL3K0NiVWnOvN55maHvFwch6bydBS8zXeGe2IUYJ9seJxvjHoaBc-kgwJbkbVVx6ASIlPEleb9iAIKHDJtNzRSl6oW1ks7h8u8bpDVk9yWgLNMQPJIQxsVOUk9qzjUD-LZ6QkC9eURLRme5OkdrUl__gYHamjzDxGOohLEZFuX5H42mvZmzLpBVyPDQvvjJTp_rBogb2C6QaRcHBZ5ol2qZ6K5BHnRfxWWTop6D_qWecL3qjIul9xSAX0yu5E9BEESqB2R5DNkDfINPjcRK8HAQFoMKHbWjtXzCHfnpob-7ggurYfiicy99CGfv-qx1hhBp9okuMLSHL_6pf1AMgxuHyNQEyS0JyvURMx6ngf6YJxCjnx5mXhvIIdDstOu1Ih4kaIDd9hzPQPNaaXMt8H4cnd-RKCGqxpiAAAD04BuA3qq8j_u96nDsO7zWWfolIYfQ-IzPiMSgpoznHNwgo3miUiMO8qpFafgcWYSOHGqdS2397b8EYm5LBtRHuSkASmiXgTT5yt0yCiCOND65Hbb4tqDlAzm93ZpHAPMsO29mi8nGFVRRdjG9bW5b9MQv780IJ4lZnZaX_7VSzBECrK_0XyreVM978Lq45uq58Kd5xky8TBsOXt8AOx_XaICbErIl7-VXLy_h0xMYFsZ2xnUYULnUaFG2tDqX5pzqPD3-gXNcCJDOKVfqnWuvAEvwzLL0HZAh-djkLkpzLV1lUS8HC_kiUS4hgiUPZtriN_V7LYm82bUD1udcQSJZPOKIaW_FGdtXkd0g8bE9ouzq58iFM-l-ozFaR_aorSusRY4Lf-t4iTqrrUgfARTMqG7Ey-VeRFb1OojySvh1rn2gZd-VDtXG12RtzIXj6izVuXDFKXOJE91mzVOsS3PTZiL7ZLVw_bv7vtyR_PyIiKkIuoF7v13C8roRhBAmrspaY0cY3JWhmjuq5MsOxfNNMtbgcDSMSvABV9Ak8_9I5k8qYjOo0WQvBysDLVXVQIHG2L3jfFwryucM7za7zXjD_DOxLP70Pk-cdpXOcSbYE1hfcUC3jSRh5JdBiTJaqJnKgZRJP_ocwXhe8SXo8v13jpklHCilH_WcI-FGOigjXhjXtJ1vG_Nbd76H5vK3goRDWwzqstKOsKpFf7wjOtAvAmrFrBUG321f5NiZaqACBESpseVgRwV_QQUD65-tRZi2JbWn3SV0QCZ2SmcLtAzZW7jo88B4vfyXhP_pMPS2Id2lHvVkvD1_kYr5faLMarVsWxDVZwa4gy3s4RbbWNKd7CEZtfwEZ_nxHppN1p1OJpkVFa4L92VIjRZnQBfD0LwordKNhmZ8B7e15OloMhcHYNC6h-EdnsOpNOYkWBpEpT8Zy_5L-1g6VqMpWcXFRSR7uxkRyay-P6EayG1i3Wn61MivODJXILrz5L2b1Pa118IN1GITNl2eGzamhQs1oNm7FjzPZCoGpHDYTYOF4cU9_CQ6LAgdPmed-rduUAPYRwQSx5KcRVLfRRS9X9wVTOc5p6dRJI9CIxVdIGwQinLqnlhL9WW312q-sdx4Mb3EIOXY2_mXwYZrPsPJ1_gPNR5jxruKmz-xszER2HgYB4qAuQmrcH4CpVsBzGQXHQQ8hVef2xSY4bSXPee6FTwX02gCZ4EkuQAI5apyv4KGD576v6tZvxdPwLkk1a6quRmtax3RgSxcs2Y2IBJDvkThjxF-cply2WhtTpfNA_bqqd3Xx6kwfjaPWFzMoA0APsf3W2_HvtCQO9O488rxQWvTYpx5kJEQ39XhOb6lnJ6Ir5pGEaFGK9JDilYS6WAenBrSq8AzsI4sveZAkY508wFykwM4FHcj0mxWqCt7LZ8FQZ7biiAVc5H1YPGBi0NhgEmlyOi-Fax8vlDG_rWyVwZc4ZQA-m74veSAqeqRaaNMfD58T0F5x2hdgt_-Gge30Z44Uep4gJiKoap--c91_Ah4vF4Hdj64N3udJxisGpBjQv-VHBoHu0jXRZVGGoH85FgCKFKqiCpvUUnytHMVetJM6v3GrTQS9-jVAVTNmZbXSJDs-2XkJ1LuvYAiyxBNOUJm29xqnJtBGE3cz5LyPL5aOwB_ySsEW5NVPHNfgsAy-dW2_ppUicT4D06-4Tctt5V57SnJgU3qisQlZnc63fkTmSgivRo4C-x9T4J8nFdnawVtLlImkqEZaur4uTTxHSJII78ydlAOKq8cIPXYYY-PZlR8R9Vtumjs28aXSZjte7N0rVqnL2AJkcRCVid7_9W5IEKqRN0oq-sTu84djLGMKpWqtPjAHkZjdpMWgTuyeESuqn6n3BADvgZs8lxzQgBx21LRWFBQclQQIAaKawwl_JOynQjQeXP8RjPGel9b4ApdObGri7Xq01svacILyIx7x2n8_4Wk32gY8z-5cjqdFv-nmpZ1v1ur5HveghfMkN6w1K43-dLjN8W4epdW1hvffJVO4rRmbGBfqK10d8Bvvc9rIt7w_K1mLKJYRPOgKVOodtIvCDSx5O4ynAZGcXNLF3wc1ggixfPt5bLlYOqJhoWpw9eykjC3wBtHC7svJmZ3JcWwN2x1JCOLP_iEDzNYaA4VM2E8GEaSL7Vwaw2E0WUnAR3Ia6o6dYk4oXMLOci3lSoPBNQ8ooqjrEkq7cblMhHpF4KbiWzOf1swFaKemFbLLX0yVNZ88W-5JhVhwDksoo68k0WB4tmyO_ZWePM4vOI1PNLH0bTljaT-jwiJ4Hcu1UJRjPAsCMOypZPnlutYebXn5yuJiFNEEkbMQJIwElmq0meo21ZqSon52ItgCm1j51TSwMjuPJeVXzGPH7oMgUO129v5Ynba0=",
  "id": "rs_06e51d173a4c457c016ab444fc6b1487d0b32e1aaa62e7219c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The arm has reached its low-height extension limit before reaching the cap, but the bottle body is centered between the jaws. I will grasp the body here so I can pull the whole bottle inward, release it, and then reach its cap for the upright lift.\"}",
  "call_id": "call_xV8qn2fc9I9fWYbGO1o2TX7i",
  "id": "fc_06e51d173a4c457c016ab444ffe84c87d08d8564ade2208e06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xV8qn2fc9I9fWYbGO1o2TX7i",
  "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, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.5381, 1.9038, 0.8238, 0.4843, 0.3626, 0.2222, 0.4111]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4335 right_y=0.1899 right_z=0.0419 right_yaw=0.103 right_pitch=0.0182 right_roll=0.0004 right_gripper=0.4111\nstate[joint_eff]: [-0.1299, -1.8256, 6.2838, 1.8584, -0.0366, -0.0464, -0.0122, -0.0068, -9.0735, 5.9009, 1.4628, 0.0659, 0.0659, 0.7643]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932851cf47a0b731ab1f27a8bf5e69a5ac9427ecb5320b24946df815efa3e89e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f07b5d3b4cc8dd194dcdd32e967bbaf324871d8fecd6c125ae2a656fafc29d72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19da584cb7550c660d47a226170eeed5a96620c0388cb68871255b6e4adb150c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.795 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5453, 1.8812, 0.8425, 0.3317, 0.387, 0.2413, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4212 right_y=0.1818 right_z=0.031 right_yaw=0.0787 right_pitch=-0.0755 right_roll=-0.0457 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.5795, 6.4479, 1.8095, -0.0269, -0.0757, -0.0171, -0.6085, -8.1709, 8.3077, 1.9805, -0.1343, 0.1783, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5419, 1.9049, 0.8246, 0.4717, 0.3656, 0.2306, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4316 right_y=0.1903 right_z=0.0393 right_yaw=0.0999 right_pitch=0.0071 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.6615, 6.2291, 1.8681, -0.0269, -0.0464, -0.0171, -1.0325, -6.9402, 4.7521, 1.8926, 0.1685, 0.0464, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.5381, 1.9038, 0.8238, 0.4843, 0.3626, 0.2222, 0.4111]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4335 right_y=0.1899 right_z=0.0419 right_yaw=0.103 right_pitch=0.0182 right_roll=0.0004 right_gripper=0.4111\nstate[joint_eff]: [-0.1299, -1.8256, 6.2838, 1.8584, -0.0366, -0.0464, -0.0122, -0.0068, -9.0735, 5.9009, 1.4628, 0.0659, 0.0659, 0.7643]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932851cf47a0b731ab1f27a8bf5e69a5ac9427ecb5320b24946df815efa3e89e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f07b5d3b4cc8dd194dcdd32e967bbaf324871d8fecd6c125ae2a656fafc29d72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19da584cb7550c660d47a226170eeed5a96620c0388cb68871255b6e4adb150c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUEJNqEit2L-gVAXmGalyB7QxPPNdYOuMAuevPY3aKZLC6JCVjPbe-_1ZPI1hDD5diWCrgqKUw1LGXQdpJFx_fWzpISlBiRXvdRAHYwWGzJZZqu3-EsW4Vk6qj_GAJzXL1P48oJDPSLVDdcDM1RrbCCdeh1ZzKWJW8i2tPD2YaAMixHi2UMtrYtUT_C8dd4lc6VUkfEMVzpqxwnsNE0Q4zvPZcjJmV0fksuDj-BsWVsYAYjt86dqUxjgeBnzOnHLhwwgWIONROBvCgl-NDW-xFHLQBJs7BKN8FDs0ukyHCQUMl3CDAttfsH_5MXm5IIlkWYmVOXU63FIQ3PaBAAdDYv68PAM7cyzs0j18CtIkVHeJqK7zP078B2GSw_EuOg2CrUfVchNjjS7IBTdLNMB9oLxlg6zkTTP7BLUxx4IreY5Y8hz0IGbvn8EGzyLwFTxZwyHZZflUgAQNq8_Q14xglgZfxCfws6Xkqa4E9Qn-4D0nlNSsesCK8PMd9OP2JDabvZhIw8eDvzyrpqNBRCLbDc75GkA3x__Mt-X0MH_PvqNxDAMTvueTGNKMU9u8djQVdfLFZC_WyI1wim9ISwSnP2G5PCApOpitPFZ58fLxDeOCdvCAIploPBs7qwBWEvJZCYRTwWxuIIFjLaZcUVTc4CsjXZMzDeDpU6StBIhNpNBEgBPv36ejmmgTvslbTYDZjOt_xTIAhE8DsyE5Mphi_EPGKY5rcO2a40AHR1VUqJMof_Io8xgLq3stgD6YUUf4PPUlzbAcHZsYGRmjgB7HKYO6b6iy2p-YAGCxsE1umCPqQk18hkSAWWbJ9Seo0Uwo_ptM_-NMXAwoEsehmkmB_QrnWRwm5G3afpAbJtSPJqvt0PRsPe_3BWW0SLYtDHkhz5e7njwQ9iNABsF2b394IO8SqnQcRADtgFp8LDg7hXGbwYO5sGHg8Z1EFKYPrBWiuyOPABRiitxxgkacwxhmkaY-qFlK5kPyDRCqAQdzfyR0cHS6Urb-Erqm4cOlrVorSZSLv1wDG2A_rENvUF4q_WLnNZn5x0R4Ajs4IBqz6G2E8Nlteie38-3UcrCwBJQshgehf9ML4EOR7jkq4savVj0sNfz5SW7OrBM-xN26dU_KHWenAhXbJGaVrox1tugBEQw9wS_XSaefXWgIIOMp3Xjww5UqxmuBUst8nO8l32HSjlrXBrHEiQtI2FV6_lPKD2fljt4Wpe9Q746DfPDQ-W7m4uutbH6lsyFV9sWqkVrXXGzGKQhg95pyOhiu3nxCADRTcnWvzCnv_5CoPWDseHb3zSQIFqyNNov7c0xrBtWMFpmGwAX8TXqDAtBSvNb_wq24Oy1T-kqEY1cbDHD4WV_rWRstfy-7qO2McXHsqqGQcfEBaLQG93pXLZIFsu-mk0XYTFn1I-DROaut-ZrEMVjw==",
  "id": "rs_06e51d173a4c457c016ab44503212887d0946c0df57cf00124",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.19,\"right_z\":0.04,\"right_gripper\":0.0},\"note\":\"The gripper settled at 0.41, confirming a firm grasp around the bottle body. I am pulling it inward along its length at table height so its cap will be comfortably inside the low workspace.\"}",
  "call_id": "call_l1hFDZSJhMfAl5J0Le25yO1p",
  "id": "fc_06e51d173a4c457c016ab4450386a087d090a2b2295ac2615b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l1hFDZSJhMfAl5J0Le25yO1p",
  "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, 0.7959, 0.5972, -0.3737, -0.0231, -0.0292, 0.9983, 0.6838, 1.7084, 0.5949, 0.5396, 0.4644, 0.3042, 0.0131]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0091 left_roll=0.0001 left_gripper=0.9983 right_x=0.3654 right_y=0.2004 right_z=0.0565 right_yaw=0.1211 right_pitch=0.0631 right_roll=0.0322 right_gripper=0.0131\nstate[joint_eff]: [-0.1846, -1.306, 6.2974, 1.917, -0.0513, -0.0659, -0.0122, 0.3214, -7.159, 3.9863, 1.0085, 0.1148, 0.0366, 0.7204]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74e61a1b689c5d6c3234acd92995c44561a49a93a98d8818b5ebf2e911c31ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f869f613c528e7aa9c61fc5fddeb4f10e5053ff7feabcc997c09854dc1897b24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efa9ef04e3fcb081014e5c8978060e4217e5967f8b6662e22bc0290e7fc24b44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.632 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.5972, -0.3744, -0.0227, -0.0292, 0.9984, 0.5419, 1.903, 0.8291, 0.4534, 0.3695, 0.2306, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9984 right_x=0.431 right_y=0.1892 right_z=0.0384 right_yaw=0.0968 right_pitch=-0.0026 right_roll=-0.0066 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -1.6479, 6.2427, 1.8535, -0.0269, -0.0073, -0.0122, -0.8821, -6.8171, 4.4239, 1.8291, 0.1197, 0.0269, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.5381, 1.9038, 0.8238, 0.4843, 0.3626, 0.2222, 0.4111]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4335 right_y=0.1899 right_z=0.0419 right_yaw=0.103 right_pitch=0.0182 right_roll=0.0004 right_gripper=0.4111\nstate[joint_eff]: [-0.1299, -1.8256, 6.2838, 1.8584, -0.0366, -0.0464, -0.0122, -0.0068, -9.0735, 5.9009, 1.4628, 0.0659, 0.0659, 0.7643]\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 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.5972, -0.3737, -0.0231, -0.0292, 0.9983, 0.6838, 1.7084, 0.5949, 0.5396, 0.4644, 0.3042, 0.0131]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0091 left_roll=0.0001 left_gripper=0.9983 right_x=0.3654 right_y=0.2004 right_z=0.0565 right_yaw=0.1211 right_pitch=0.0631 right_roll=0.0322 right_gripper=0.0131\nstate[joint_eff]: [-0.1846, -1.306, 6.2974, 1.917, -0.0513, -0.0659, -0.0122, 0.3214, -7.159, 3.9863, 1.0085, 0.1148, 0.0366, 0.7204]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74e61a1b689c5d6c3234acd92995c44561a49a93a98d8818b5ebf2e911c31ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f869f613c528e7aa9c61fc5fddeb4f10e5053ff7feabcc997c09854dc1897b24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efa9ef04e3fcb081014e5c8978060e4217e5967f8b6662e22bc0290e7fc24b44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUITYnAapwF-TCWwASRxoYK4TZJ6j_5s3dyUs-afIFR-cfVR799UNMRrPqg8mF8N8rpD9bt_AQLq93P9UJJA1OWKAYn4-S1Yg6gfSUhiz5Y1zYnT4-8ADw_LY07s95WGsFQVXTv4MFyibbsOxMicDvHahoX1GxUs62TiLOKkf2kDTZOZe7yxqO8pJkFeagvn77eh3jKAkxaIJABiXGT9ur5_G2hMb6iwekQ_yRdNwh8TjM5mxkMFH5t-0FWFH_HxTgwsFJek7-C8s1l-oPi5IdMYik7l_SP3AyeM5ReVpxeMKX7B-VvgHTgK6VTpZR98al4aKLUOyM3Dj_Ho3az_V_nusO8-W14rW84K9GhDpWWpEbQRAs31hZSJPejfv_Ik6IxCViUqJr39T5qwo9PzEL_dtDTHAZYqTGhztofCXycBvjMT_IEY3RJ3KMBiFxA3BcMTyYzLhmmbeGQbqdy_mp7ao99fO0GG9bxxQYn_O1DCeFjAxFLXEi_jOVHxr7yXghsgc4kbHMc2S-TyztvA6iNcVtERfy7aAWSKjt7Zfs4_9HvHtydu0MZcTg1DPXAJxLasYqnn57P5KPG-Q2SDHOEXdVMXWa7bunYxykzgXiwNmbY5Nx346Phl5oFz_LvYYnAWSJUhNrYluj7ETl3bXTgg-7Elhymyk4yVyIkLSjVJgoJ7nFUhXzML8zP1dzjivQOhH3FJBi9BghBs3Ksd4qLs8tiUz_CGomc4R4L_wuwlkMAVGqeaRpfTLAyry6Gyq50XSO0WUUWoBQPS4-dGU0_FjsRL_0j0hVWNz4pm0DYyFp_hnSgFqGguvO7RnZvL9j1XLFZ2TEwR0wRVGvzZmEOBy4Au_f1aTs6_pevCMqFOuKsaSnBraqOXUVdaATGd486eP0TLSRSUYhXI9nYWQKI44aBmKW4B6OFpZncbFji1ZF3DkAZQJWzJzKd6N4zseDAxqen20a_J0CWYo23qMbPCMwwO9WHogcs1JDwqE55x2etk97h5MHu_7UcNuWn-uKMjo9N9uQf93KrgK1Ahr22tgZGyT0Gj5imi9ex_apHY9fhOALrsB5k4U7eKfrQooaBYwpUq6u2JWdFE3VEiTYC8uEHNXvko6MHThv0_gqgW9BkRKcWHIRgR7Nf_tL2SLv20DdWL0k0PntXyhes2_7JaN_f-Ta96ikbFVjpzOiciZQDEIv0lKe3XILSqVYxueQaj0Sgw6K94tG-SwsaXqknhQg-FEM0wFcsrlO9UzOBXmMHkvTr2Suc65HYOr32sOrBAQhRsHvsjikSwB-ii_vR1j7APecwdyGIJzxjV8HDKbvuS0bX_dEhlZYMzv4acXpG5Ft1eME7g1WlzwDFI3jXsZZ6MrV70mijF3D1tp2iSOet3eEC2OgmTYscQihpgVSojScNHa9xmi7_TaWUHa4neewH2ym387WX92hXWBo-abmZMjxNZGhXrhtbpwF49JJnt0zS1JfbEWAts_agiVnluEp3vsj4cyNdwqJW8lji46JNyMzg7aP4BA8As4FbYN6GCZ4FFt1J6SLSeG95cMGoCbXbYGsBKzxywmOAIwU33ZarRC4n48lVU6ouMef4n-uzQNXOoHyGg94BvNSXdawhEPvkcdUo9G0DK7mN0bTnpxVaS8kkO-FCpoHUXwbToGL5dECLDoHCiLxpYJXRCXrLBOKXorTlkqs-_Eansfy-d2DsEXiyZSPYHcYEC_8W08f1PZfD7KN40iuP8PWy5PYf29VBvv-NhPkq_Vwlm61MQRd1zrJjJCjOqYuQXEzXiBttQEOSQdldOjEfgC-FPtmTOGjar8rijppiJu1jFjGC3f5f760gxvgGqMKxbHlBTI8x2dsq2bTo9mknTFDUgQKa27SkZf1uE5_F315w9_4exbxyBw-8um3hwHoHbeWP2HLM-pm7CgTjSyD4dEvH7TEvlcRgcKugURyAirsUVkFWoTagAEUwy7P5Qcpc5tP12QZDCiq5d8AHuEH9HHFijpqg51OeTBovQgJoo1-1fFeViaQEIQ0nX0kymH167PYhGoloLOlmRECyehhDawLU3m9HFlBQ3hWqYdP3haOXwEu64ZU=",
  "id": "rs_06e51d173a4c457c016ab44505fdd487d0a26fc795c71b2b6a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.2,\"right_z\":0.1,\"right_gripper\":1.0},\"note\":\"The bottle slid inward as intended, though the final gripper reading shows it slipped free during the drag. I am opening and moving above the newly shifted cap region for a clean neck grasp.\"}",
  "call_id": "call_KZvepch9kfbRWeJfrsGfmjR0",
  "id": "fc_06e51d173a4c457c016ab44507d21487d0af3fe30fe0f5a6c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KZvepch9kfbRWeJfrsGfmjR0",
  "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, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.6041, 1.6985, 0.8284, 0.1936, 0.3843, 0.2451, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3976 right_y=0.1983 right_z=0.079 right_yaw=0.1384 right_pitch=-0.049 right_roll=-0.0273 right_gripper=0.9957\nstate[joint_eff]: [-0.3214, -1.7573, 6.3521, 1.873, -0.0269, -0.0317, -0.0122, -0.9504, -8.5812, 9.0872, 1.6972, 0.1538, 0.0708, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28b7f8888cb2abd7742d6e29530a425a6a99de84607adef18a6593eea4d39ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:246a3109fa824f50e0321a576cb5b82333da3640ea10d1bc80b3782910f59f79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b7b0dd4544cca5365b17e51c60f0ecbcde0ac6cb2f7ee06b7d79dbd2af30978",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.715 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5419, 1.9049, 0.8246, 0.4717, 0.3656, 0.2306, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4316 right_y=0.1903 right_z=0.0393 right_yaw=0.0999 right_pitch=0.0071 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.6615, 6.2291, 1.8681, -0.0269, -0.0464, -0.0171, -1.0325, -6.9402, 4.7521, 1.8926, 0.1685, 0.0464, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.5972, -0.3737, -0.0231, -0.0292, 0.9983, 0.6838, 1.7084, 0.5949, 0.5396, 0.4644, 0.3042, 0.0131]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0091 left_roll=0.0001 left_gripper=0.9983 right_x=0.3654 right_y=0.2004 right_z=0.0565 right_yaw=0.1211 right_pitch=0.0631 right_roll=0.0322 right_gripper=0.0131\nstate[joint_eff]: [-0.1846, -1.306, 6.2974, 1.917, -0.0513, -0.0659, -0.0122, 0.3214, -7.159, 3.9863, 1.0085, 0.1148, 0.0366, 0.7204]\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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.6041, 1.6985, 0.8284, 0.1936, 0.3843, 0.2451, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3976 right_y=0.1983 right_z=0.079 right_yaw=0.1384 right_pitch=-0.049 right_roll=-0.0273 right_gripper=0.9957\nstate[joint_eff]: [-0.3214, -1.7573, 6.3521, 1.873, -0.0269, -0.0317, -0.0122, -0.9504, -8.5812, 9.0872, 1.6972, 0.1538, 0.0708, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28b7f8888cb2abd7742d6e29530a425a6a99de84607adef18a6593eea4d39ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:246a3109fa824f50e0321a576cb5b82333da3640ea10d1bc80b3782910f59f79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b7b0dd4544cca5365b17e51c60f0ecbcde0ac6cb2f7ee06b7d79dbd2af30978",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_06e51d173a4c457c016ab4450ad62c87d08b151168d7ce586b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.198,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The cap is still too far ahead, showing the first pull shifted the bottle only a little. The bottle body is centered between the open jaws, so I am descending onto it again; this time I will lift before translating to prevent another tabletop slip.\"}",
  "call_id": "call_kYH5cbXkLaUxN3SC0ylzowP2",
  "id": "fc_06e51d173a4c457c016ab4450e4b7887d09ec967e49d454369",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kYH5cbXkLaUxN3SC0ylzowP2",
  "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, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.6006, 1.8324, 0.7242, 0.4335, 0.3882, 0.2329, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.3937 right_y=0.193 right_z=0.0288 right_yaw=0.1386 right_pitch=-0.0463 right_roll=-0.0386 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.812, 6.4205, 1.8291, -0.0269, -0.0513, -0.0122, -0.5265, -5.8325, 4.465, 1.6044, -0.0659, 0.1001, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fadaf106486f5264f3bcabef4c536d1c78765b909a5f5400dc76e9a5347f26f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60997c399c6904bec140e4bb7995ac90ccfb0f66715388b171f98e56a7d28d4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:219a834578fd15d70c1dd610e34975f602ebb41e91605467e078359455cbf7ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 4.169 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.5381, 1.9038, 0.8238, 0.4843, 0.3626, 0.2222, 0.4111]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4335 right_y=0.1899 right_z=0.0419 right_yaw=0.103 right_pitch=0.0182 right_roll=0.0004 right_gripper=0.4111\nstate[joint_eff]: [-0.1299, -1.8256, 6.2838, 1.8584, -0.0366, -0.0464, -0.0122, -0.0068, -9.0735, 5.9009, 1.4628, 0.0659, 0.0659, 0.7643]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.6041, 1.6985, 0.8284, 0.1936, 0.3843, 0.2451, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3976 right_y=0.1983 right_z=0.079 right_yaw=0.1384 right_pitch=-0.049 right_roll=-0.0273 right_gripper=0.9957\nstate[joint_eff]: [-0.3214, -1.7573, 6.3521, 1.873, -0.0269, -0.0317, -0.0122, -0.9504, -8.5812, 9.0872, 1.6972, 0.1538, 0.0708, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.6006, 1.8324, 0.7242, 0.4335, 0.3882, 0.2329, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.3937 right_y=0.193 right_z=0.0288 right_yaw=0.1386 right_pitch=-0.0463 right_roll=-0.0386 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.812, 6.4205, 1.8291, -0.0269, -0.0513, -0.0122, -0.5265, -5.8325, 4.465, 1.6044, -0.0659, 0.1001, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fadaf106486f5264f3bcabef4c536d1c78765b909a5f5400dc76e9a5347f26f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60997c399c6904bec140e4bb7995ac90ccfb0f66715388b171f98e56a7d28d4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:219a834578fd15d70c1dd610e34975f602ebb41e91605467e078359455cbf7ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUS2sJXbzX5vQ3TsGu1THYS5vE9fTrQjY2fdYZvkfQH0N_YfI0n55xcL9UJ5HrDTe3I-Szo13tbe3oOfcQ83kaMWdjPFd8MsdzU4RUUwNdOb8_ZKxYTLEmIDUW7cgEM5_oZ4VZ_cmQIuJ79YUlxKY8XXNIwQl9GF_8-psNlLbroNrkR2QaNZlsuwg8_jJZwhBOMLv-hPj9u8iZQs68Lv3SwJs-mOG601Rf130ioysGo7E-tTAiar5ps0DUdHQlvp4UaclwBBudSyxoUqk5Jm86sH0WPoN_imWul_BiMGLp4zoA4w9FSX6coWRlixHRbjbCaXQJlAXYangMmPQasj-VmpV9ZfANqbYNbsbbwXCIDNth9_pnb0-m9I3BsptzMAUjY8x64rxvQnxMi150P607aW8jnHK-a1z9XcXGC3vnQpPyDfZib3LvpANa9Vb7fDG_KND3Fi4d72o8XhhUBUrzqcb0gr3ZFsICH1H5FFWZYX_8BVVoFLZQ9KlMh95yr0y1A6VGMQApWWRvsa2o0ZYGNcPFtXz3oLLr92FvgHiqVXo7VMLLEMe3y6vBQ_JSvUy8MDMNUuXJTP5LbD4Gg6JP_86gIXZrEkQNqn2Ku-LmlD9igt5i6up2h1YPyjtqHH9pFCBRnqU9elp2aU-BQrZXs8ujcu7lIMteEFBzNdshlqmCG3JyCHvHjZ4VqGEjcnbalBBW-LRmG8fhKS0sjsGmpDkqD10iLsmqpHwyWy58g4KSTC_EOewx8vAsza-zPpig7p0ML37K2Ikb0-oXwJSJLTohZFFKpZTlbGwms93761Qd1g7gxtAoL3-hhARc740Dls_-OQdeGbmJigGRYSCGhvF5ERjq4Nab9SAZLvxHMKYVYVUvqFHbksdlCCVLALb9ZuqDaczx_K8C4gXCvnMXFDVVYaj8a_I2F5E1nfTWs3iJBAjpTA0x54g_JAgF0tB0u7tnJjnn4D04jfAdgRrBhyRCp5q_eLEC1AIha45khrRYxZW0mUwD3E2AZJ3lwESYGfEvhFrU4NtA5hRgpSOrvBXKA88kkGTuydGvKez0ARx60vRXe2vFs-EpHMQLPZvl5XdCLr6YssxnHE2DkaZFbFSlYP2n0JBFsgeCJFP1jYuEtDaj1Tl03oqV49VxMpRh8WrHAJoRNBg5bR86vccKDqmwrwoAJZ0R6AE1xOhtEPlWaNSLGUJNNCa6hTUka8vT2V9MEf-82k-PBKZjgtBYjx4C47fJrW8uVV1fggKw4nXI=",
  "id": "rs_06e51d173a4c457c016ab4451149f487d081ec5d4f4af04ab3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The low wrist view now shows the bottle body squarely filling the gap between both jaws. I am closing around its cylindrical midsection for a lift-and-carry reposition.\"}",
  "call_id": "call_A1UWthA4UjBojQMMH4gHaxpt",
  "id": "fc_06e51d173a4c457c016ab44511645887d0ae1a4db57bce0021",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A1UWthA4UjBojQMMH4gHaxpt",
  "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, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.6006, 1.8278, 0.693, 0.6216, 0.3813, 0.2314, 0.0134]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4055 right_y=0.2025 right_z=0.0558 right_yaw=0.1432 right_pitch=0.0966 right_roll=0.0351 right_gripper=0.0134\nstate[joint_eff]: [-0.0889, -1.6889, 6.2701, 1.8535, -0.0708, -0.0708, -0.0122, -0.4991, -6.7761, 4.0137, 1.0525, 0.0611, 0.1001, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1e1ffcb17fa8bc71b5d35e29965088e4e56e926a016017caff4701685aaf930",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d248f4186bd412b82e7ac5b68c9f522f6719a485f4efff151022316546958a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7560415b1924a1cdaf1e1c1483b3f48f32e941507d80fcf7feb1f2e4b0e560b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 2.047 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7959, 0.5972, -0.3737, -0.0231, -0.0292, 0.9983, 0.6838, 1.7084, 0.5949, 0.5396, 0.4644, 0.3042, 0.0131]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0091 left_roll=0.0001 left_gripper=0.9983 right_x=0.3654 right_y=0.2004 right_z=0.0565 right_yaw=0.1211 right_pitch=0.0631 right_roll=0.0322 right_gripper=0.0131\nstate[joint_eff]: [-0.1846, -1.306, 6.2974, 1.917, -0.0513, -0.0659, -0.0122, 0.3214, -7.159, 3.9863, 1.0085, 0.1148, 0.0366, 0.7204]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.6006, 1.8324, 0.7242, 0.4335, 0.3882, 0.2329, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.3937 right_y=0.193 right_z=0.0288 right_yaw=0.1386 right_pitch=-0.0463 right_roll=-0.0386 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.812, 6.4205, 1.8291, -0.0269, -0.0513, -0.0122, -0.5265, -5.8325, 4.465, 1.6044, -0.0659, 0.1001, -0.0464]\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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.6006, 1.8278, 0.693, 0.6216, 0.3813, 0.2314, 0.0134]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4055 right_y=0.2025 right_z=0.0558 right_yaw=0.1432 right_pitch=0.0966 right_roll=0.0351 right_gripper=0.0134\nstate[joint_eff]: [-0.0889, -1.6889, 6.2701, 1.8535, -0.0708, -0.0708, -0.0122, -0.4991, -6.7761, 4.0137, 1.0525, 0.0611, 0.1001, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1e1ffcb17fa8bc71b5d35e29965088e4e56e926a016017caff4701685aaf930",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d248f4186bd412b82e7ac5b68c9f522f6719a485f4efff151022316546958a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7560415b1924a1cdaf1e1c1483b3f48f32e941507d80fcf7feb1f2e4b0e560b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUX4AOMXZvugfhrGKSZFF-pxlFiOHCnERqWNNWluXX49gAMtL60wYSeRD_CCT9qK8utmLDAQjnx_lrK8UkbNLsm5csMHkVnScyVFdUX09oFS1UqoPwlufTm_1x0oc78MU60_RrdhsFTW2FqywHJ2JRXyuygj8HgmATpKLQBuBM4_m8yXNZo8qtaVz48BRNtH05c1DJCaxpCYrL6B8LlI_pG7XSkp7U-51ZLqpYFJnpChYYGj2gKox7QE9AiIUAJ-yhHTwKpsS1u5Y7tc0vl5anKQXZff-OWK_Fq30IvhtXm_ukSa1dd_ghReG1npeOBeFw7SyKXBEj1-EscX35bcHAhGOZOwD1tTKgNmORsh6sTpDCdkgXKmoM3IyGtMFsCaWi9yhc92c0TQ8WAl3C_CU0so7aV0GVgHIy_xNHE_yW-AWyz_P2v9IBuYnfGKzHrjjzchA9XmbcDG7chBZ1B3lutxlbLLfbnJNyX51d5e5lHXFXxkEbJK05fr8NhZqy80rNa-PAAx9FiuS3mDvgYQBDM4EGpa8hil98YA9hLWC09tSo_Ula3bvmcISff4aMgVED7B11ZepNsgMP74GWxx3Vv05yvPXISOxjqX9glfXEXE0LRveKdY41bp2dVCFGABm86-d0ToVTquCZuXvVHFeSSggJHmNI_pqW5ftZRKg0piEdaQBvGo-aOhflbMvGZiVeVxzbOm1Tu4uoU6_ABEUcFdHq_wI6WyEWHTQvuLjCfOKTjxEWaWLLZwZ_DJosxcoc70pxlArgGAAvXXc8B9ocJzf1CbKwnSimMu_u9a0YVULu5cIUxKxVYtMdftgOGPVeFL4Rg3ki8w7jg4cLcfmqCRWvFpt6VGS1qpPR5kfDhO0v9v3DoZHkEALP8nCA8d0ke3xWJoKqIgjN7Ol9l57G6Ah9cR_tQ48DrvzmQ_5ONkqnSM6lp7yeOWBJES5uFsMHNvRM81hmeSgFe9TLKjJpVOahx2je4UTCOuTvC7s1w5PiJcpu41896qnY_8MJXltD4Vlgkg4iNDqXIB1WcD77MDdIm2uIR-jzlm7tSqkT1SMMrIVWP6bObbXc29vJCNeKQcbUR70qt-VMZdHmdXFsQaQTvdhKRLzSrLOnIb9rA6xqMoQiphS9Ias-rwI0bRBL7wN2asnHjXipraOcp-ZeJmrfEjQfSK76ASNfa_tzBtV258bzG-izul2EbqA7jAjTSXsQ3YZ9pj06RFE0P0wOORpvwe3zesWacI3osFPc0IkU1RPcInM-suSbosuEYs65dp-uraORDDwBDF3Cabhg-z0Vt0uG8F-6vSoUSASiGqQvHVikqoQdji0SA1Q59Ob95Hl5Lm0xmddKsx9xIZeps9vbOulN9AbrIzwSLsGn30yvB0TBENtTwEHdyv0zvx-G1WK4vSMSFuOKnp9s8r7iV-_GfdjNRUFtxuFatRqTczAhfrltTXhpdpw2FVrjmSCGeNr9a1MeN0YBU1MFN5Kbg6lTU85VE_gLbbOSY0bTAioRvzcCCBzCi0hmoEgmBBghdIJZykFbYG35b_xfDtnFSATrEZOb9-zvQ2QmhA1CcuvXd7y0N5n1aIFzBLu1NzFPPYdLymp8kwnOftVEpiI6ob84_xW5n0NkIOLDI1_dLR8I6tUuMVD6j_n7rN0RbJUbTal7BSBFujg75t22v0bhpNbskcL_S2Uofe0ps9vyxagtwxCaD6aC-UyuZ3o5AeApCITSXJTF8UBMigtTKzY3t57asfwa9HS86aV7FmkpMPA9I7F5wAcWMMweeRfClTuKczxwQAT72i82QHJpZx0EHSIrHJVj-wGuqpuA4_Qnf_NbA_x2bc9EUvu7CQRuHbBwTN9InpVH-BIGhgw6mAEf-O3-7ODb1kWfu7OWJZcrCZ-7qiQD6rj26HV-Xq2zC0H0LUsrSK2aSSwQRbmNA5xAf0HhGAb9TS47MdK2i3MDm5USfbTojQ1DyLOWH0ZdmmAocbgvRL7PtYTxhBUGnTR2WaHql3MM3V6JXKTBys4joqCzXBBJi2-zGpcqgeN6527IZVRNruOoTRChJlY9Iv1yYF28ARFqZ--BKvFMJGgqBWdYINbQC03oUOxGsuPgje03K5SbKSlovCTEJjeGxtegytCTBdiNDc4Q4QhTR090KmSAOtYZXEbpN48M5JM3TXiOTL-Gkxd9CAFJ-EJMswjV6ZCxMdlcFSePEvLRXurkEgOjheLHiImo9fhYv81uCxcoVll_GzsICJqzo3d6ZxFM3Yx3ipFe_YKK382LGgRdZDn3VE5Un4n3PmV_TaGXdseTFPzPADEZYPAP5hP3kdV_JUZbISnVJgBZswqBVpmljKyw=",
  "id": "rs_06e51d173a4c457c016ab4451443c887d0aafc76434b1f9aae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.2,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The settled close is empty, confirming the wrist camera makes the body appear under the jaws before it actually reaches the fingertip line. I am reopening and sliding outward at table height to the earlier position that produced a confirmed body grasp.\"}",
  "call_id": "call_Cc2IbwW21yzD1SfMgMG7vsRC",
  "id": "fc_06e51d173a4c457c016ab445168b0087d0b7e77b7ea8190d71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cc2IbwW21yzD1SfMgMG7vsRC",
  "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, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5541, 1.9213, 0.8398, 0.4862, 0.329, 0.1879, 0.9952]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4324 right_y=0.2046 right_z=0.039 right_yaw=0.1651 right_pitch=0.011 right_roll=-0.0114 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -1.8256, 6.4342, 1.8584, -0.0904, -0.0562, -0.0122, -1.7709, -6.2017, 7.0085, 1.7509, 0.1001, 0.1245, -0.0024]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4388353a443de477764323b888ba13de6eb99af157a9810e7d5abee1866eb7db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1123a6324400e210f9d1d527fcc680d086f0aeec37a20dbb171a3ddcb5d6eedd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb199895a7de4889ac681c4e7ffc787bb971c184573f71ad19791fc0cfd8734d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 6.777 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.6041, 1.6985, 0.8284, 0.1936, 0.3843, 0.2451, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3976 right_y=0.1983 right_z=0.079 right_yaw=0.1384 right_pitch=-0.049 right_roll=-0.0273 right_gripper=0.9957\nstate[joint_eff]: [-0.3214, -1.7573, 6.3521, 1.873, -0.0269, -0.0317, -0.0122, -0.9504, -8.5812, 9.0872, 1.6972, 0.1538, 0.0708, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.6006, 1.8278, 0.693, 0.6216, 0.3813, 0.2314, 0.0134]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4055 right_y=0.2025 right_z=0.0558 right_yaw=0.1432 right_pitch=0.0966 right_roll=0.0351 right_gripper=0.0134\nstate[joint_eff]: [-0.0889, -1.6889, 6.2701, 1.8535, -0.0708, -0.0708, -0.0122, -0.4991, -6.7761, 4.0137, 1.0525, 0.0611, 0.1001, 0.8864]\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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5541, 1.9213, 0.8398, 0.4862, 0.329, 0.1879, 0.9952]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4324 right_y=0.2046 right_z=0.039 right_yaw=0.1651 right_pitch=0.011 right_roll=-0.0114 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -1.8256, 6.4342, 1.8584, -0.0904, -0.0562, -0.0122, -1.7709, -6.2017, 7.0085, 1.7509, 0.1001, 0.1245, -0.0024]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4388353a443de477764323b888ba13de6eb99af157a9810e7d5abee1866eb7db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1123a6324400e210f9d1d527fcc680d086f0aeec37a20dbb171a3ddcb5d6eedd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb199895a7de4889ac681c4e7ffc787bb971c184573f71ad19791fc0cfd8734d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUamhdbJ3DsVrDFNB5DL-Bzgv_wued2glkdx1RLuWemqIZdOZsUMstC2IhWYBmtXmSnIBeSoHu5K8G0T1D6qWBhDMrS-vgL7s34OEhWlI-8vOf7M6G4XsQaLfM3LbHNTMtaFkCh5ShaYV3pbM-OpfSy4dcVqx5DtF5_2s9tCSFkWMudzGoS9ieYQd9p4xNZluu3Zz8QSK8W0P39P-vgM24osGn1WoChoWrXFkeUXMp2H823Go4xV4dhDohNLuzBTsIhLDg5NSHvmYvezLGryRuuP_pSa9BWeWvUtOu1pmskN4UyGvBVXhvEYQgJx4KLptTVr7UIv0wHqfaXqFoFJIZI_J9r4LBNSZVgEtk7qFjU7NOhjNXIj6ShM0qxKOkEzmbZ2dzXaI03cr2g9uIG5b18Klgev1wsm-ho0cKGkDlfbymJ1eUEeL3WCnWTE2FrRdKQryklFS1Ce3jzV8I89BWj3KCT3QWtga5cpV9fnVF6uuLeqXIe63jyas4Jws3RZrhq9LXZ1aeLHLh9XnHA7fl5uFXfHIw1r4Zv3XPwhK5bAnFdx3_AUkHT3qnc8dsmQFxeOVzrki39ioxtB0c6HEccOUwtRTIV_u81igc7VUOUFgJUZQ6HHX-qMdxZEtblBvnAluDi7jsTccrLDkuTmJ-VlSMkFQiSOPMf5qnoQeuRkzGKpNmtHLvUul7KIAhdv7gW9_o2Eo53WX8NtqjGZjxvu_PxByI9cGJS2t3qKSMXCzjhnrUZ7V-anBk3EbDwrC0ZClmKXlgbEaN-_BlA39bQ3a40dL3BYnucXL0wi09tHXkrmDdsaWm60vXjC8TPajgXDpQaEijvtLaVVYU2dMfqpfvOpLQqnCX1K1pcCF9BE3N18QfMNHi4xPMSaUKoF3cP3wbaIRLdawgLpifiibLmjFlDugqMAZgP4aOw64cB1qITnlJhvpxtJuM-cyekl4leVtoQQ8T_ils1Qyk1CT7vo92Y6ZWgMxqPhOaauSKmlsM7ODH503_QyuZesZSGsd6cdxmXzPkhGMKrOwvwKJBmrbF4FYUokpryV0Tk1Ki8RWi_HTLlun83MIGZppypTc3VdgiTRhJOr3L0ql4vrODXIl7SxK2593LhSaR20l8jH2mbTak9M-KCuHUXLTDWmu1Kh7CKLpJGV4-EXUVGR1kDfaffK3rSI4ONF4pbfeDt0Z4MviHSDKw_jDmRajgJKheYdfGGZCX9_Icp1XRFZEDnjjwx1rlDovZbkkurfYVoueQ=",
  "id": "rs_06e51d173a4c457c016ab44519745087d0ba312a10e27e69b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The bottle has now advanced to the fingertip line—the body base is at the bottom of the wrist image between both jaw tips, matching the prior successful grasp position. I am closing again around the body.\"}",
  "call_id": "call_WTj9FB3DtIqUT0JfHGlhxRKx",
  "id": "fc_06e51d173a4c457c016ab44519a45487d0a8d8e9cdd0aefc67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WTj9FB3DtIqUT0JfHGlhxRKx",
  "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, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5503, 1.906, 0.8467, 0.5312, 0.313, 0.1829, 0.0134]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4399 right_y=0.2103 right_z=0.0572 right_yaw=0.1762 right_pitch=0.0702 right_roll=0.0173 right_gripper=0.0134\nstate[joint_eff]: [-0.212, -1.6068, 6.2974, 1.8437, -0.0464, -0.0562, -0.0122, -0.3624, -8.3077, 5.3402, 1.1111, 0.149, 0.149, 1.0769]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6b77112c392cd97618d25232ba2fb76ce283599f2b08d47d9f7bb20cb27f5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd7030b16c059e23df0d50d4707cb786cf06c760399f5418172b202e113ea53d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f08d9221d0d8586932f414f67c88d5900c36cd2c616b62c442d2fed3bc34d0c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 2.698 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.6006, 1.8324, 0.7242, 0.4335, 0.3882, 0.2329, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.3937 right_y=0.193 right_z=0.0288 right_yaw=0.1386 right_pitch=-0.0463 right_roll=-0.0386 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.812, 6.4205, 1.8291, -0.0269, -0.0513, -0.0122, -0.5265, -5.8325, 4.465, 1.6044, -0.0659, 0.1001, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5541, 1.9213, 0.8398, 0.4862, 0.329, 0.1879, 0.9952]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4324 right_y=0.2046 right_z=0.039 right_yaw=0.1651 right_pitch=0.011 right_roll=-0.0114 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -1.8256, 6.4342, 1.8584, -0.0904, -0.0562, -0.0122, -1.7709, -6.2017, 7.0085, 1.7509, 0.1001, 0.1245, -0.0024]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5503, 1.906, 0.8467, 0.5312, 0.313, 0.1829, 0.0134]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4399 right_y=0.2103 right_z=0.0572 right_yaw=0.1762 right_pitch=0.0702 right_roll=0.0173 right_gripper=0.0134\nstate[joint_eff]: [-0.212, -1.6068, 6.2974, 1.8437, -0.0464, -0.0562, -0.0122, -0.3624, -8.3077, 5.3402, 1.1111, 0.149, 0.149, 1.0769]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6b77112c392cd97618d25232ba2fb76ce283599f2b08d47d9f7bb20cb27f5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd7030b16c059e23df0d50d4707cb786cf06c760399f5418172b202e113ea53d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f08d9221d0d8586932f414f67c88d5900c36cd2c616b62c442d2fed3bc34d0c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUideHZn5Z82acTb_VV_3YhQdodcZQuMAxZtnuVOhfIbwTJ4HX2T8LTbVkINaxMpMXoBWVY0yq2VWjxNGeFklTSFxa2KKXiDZ2qPFlYaQPTduuGgDN4PzUMsqDDAlaSpzjDIowyiQMAIMb4UpaL2rEc4ln-enoK7g_y-aByhJuVc5BCKlXG2pPVwSGrca3OgvhVuHRQ0XpUZeO5fsTJebcsto64VDlE30-b3wQSwP0viF4KgM4OFjOoA3JsLCA20Bpkqrv0LlFkorkmwlIUsFlRHqljeGYiEK-clzNcxZEVI2xUEopeOKGLm2Xir6yDG1Z_QyYSN1BDH0f33ohnVqciJ4C3-u-fls4_9qLnEKjXm1yJ6kQcBd44TtBDmCZphwuBcYjjp2WknDUWKdHXX7lMAca5buMhT8TNRRld2F-Tdh0CshznlFpHRjfGNNF_xnZDdccf8CnpjOQarznQbOnWd9ljUSuO3dsPbiX-UR2iVmF-eugDfttV68-Y9Q1x8b6NSkpTC8-SfvgVnXbHuWHNbSP-a-9A466L_ulAJ-e3yS_MeJ3lL6NTpyChRnyPKVQrswk_hn_OjB8lj21LafaufbildPLrOO9QnMJzCKTQza-9sneyvhBezJuvhhLFNAZEeLztTzgEpWkD08jtJYMEY4MYguHv8W5yUMOAedXHNvjElFuXO_lTpn6j-XB94m96LaKZLyaYd6KV_Ks5wZcBDcMFRHm7J81cO86MrikvJRKofPovIkhVGQcAJywZZXMdFCz7fNr_rnaMbAv5OpzThFP_FmXul7422YX8hx-9Zfo4AedyH1-V4xNOUkjSb0RgfYOgjqp4_e1Wv7S5iiFYL1fvwHCvbn-x6QMfGfSaSp23QDahnE7lOZ7vdbtKbe5FSMRbNhvZXJP_yV2LIlsYRddkonNEnViECXL_GTBE7ExvYfd-HRcj5pmXHoSVMjLXRbftG4W3f8_LIRW_2YmrGiUAlVY_5s8yLiftYPdQ_euRF0AGHgeS18hk_15cQAyWAoV9IAVI-hV-kc94Z7EY2BjKAapwSHtc_fQwlJyhO5innPIlFUrhBEkItg289hC20xb_dwP66Ko1nXiIfDkwSQuJaJCAslGx2r-TXhTKgZMQBf_8PACX_-YUPyPVquKQ8qs1PygDqpm1iqpPLV_oswKBE4qCGqFMgHdZb4f5_4NUMW9isAvBSpbgo4PXsCBJkKexlPlZSRtAEeWyZMGpZY5oUaEju-9VWrPzvRZKqi_JYWkq5EGkQULcNbZpSCP5-S7vbWOeVfa9HkYWf3FOXZwfOxI7JyIMKQVz0maLRfIYY5lem2BWohjmdAZ1JCElKAJaIeQpprI6R8YGTeSr7wA-rWVJY9wW1DB5rjlJWhB05rWR6G9BXtV3tTN8dfhPa_j5SvyTB36xn_QhRaW_59cC5qwVB8fDQuOWFqp_4xXcX92Ur6d8rBYROjFM4lSTmEpkxEuhowfhS_QbtbI1kruDO_nUXNEKW0QvPb_c_gLs0Sc4RGbZ_RnDwu1CfwKuFsUAkEWfSEag9lpwSGDhJ3bxR6ndkRjtZKZ44Z9Gz6VbnpQMSPPQ8ZH_dO4tneG2bCDUcMVgNMv5n9JTYWL5m6QOkXqObAMlOtJN-G4LDi42R774UG89Qz0NTej4lC6kOLd-NzF_p_6mJCqrByi5naFZNQxeKtGg7lNXZqWDolM6LXQM6dMmK3Gn_Z3phlSaXiS8B7EVItscmBnXvxb8jfyCyXck2d15eZ_QLPf71Sqq3wNW5tgsTt5FiQ7wzcWT9hRYGF8e-CPv90hKKsZHjF631fcuweyfTiB6XCdJeoLKppfWCvqCAWsei64v9A7sRZyWZ_Qwbx4sG9THyfui9tYtThgT7FHNEBQxbzJZBWmhRHRuEid2JSmT4zU14avjEGRokVPiAfaL2wfZ8rnFUSoUrhcCAMhlUr342YfogmHaoJcUSkPl71D53BQwbS6PPXbJ_bQDDJ9ThV9UG24w18K0hAN6jvphTaQ79MYgIqtZxO9CpiP-FUK49c4Ru5SzqTtzuNU3CoLfRwtn3hcZIDpNEs2A-HlWACF5O_B2xJ3lNJwjUOw3XE7MaZlujh83fRuCTsH_T8YRSmr6EeH9jkyxv3FtvTNWZdoWdk7QignhP_qTG0eNwQcPMvAmSCGL9hr2PpeDHOrtUWDnIXi5Jqt_mo7w4aejHxa9m5gVibonPzNFRuKnJAzdlvb_RaAurLTF31GsRg7Xp-GnEZOM3gBauFTT1nGBxaPlj4ygs6MVLlgOR3lqvcuIQ-7IOGfk-BZif8IDgIcCd5Ezcz_xG9Cr6U0-T0BW5XUYDeq_l8r-uEJxA-VQBU1Gdqpobe0g6lVd4dSsgjCO0m7dF4vABvIdBjT1YKtyfUIHCB71uKGpWz0BCdYaXhTiznLm-JhlN40X3FID8Udwa-h6VB9IKT2aZ9wukraLq0Pdqy3jY3B3HkqiT13tLhi-_4Nvf-JVEixSH4oM-6EHVldRhxwDX0MXw36jBvvxIhCDLiovaPYsR6jjcxa-izhDN2pegxuGdzPKEfmGALyYgMcGNeJRX04a9SdLNMC1szF0lWghgvryZX7J_FkgDEab0qdym9iol3lTk6ysx5M-rPP9ta0wVBjIOINsx9AOVXGfCsF6VSkojaUcIx8l5sE734oZ8ivPoy9ZWA9epfI15Q4v9OT88VfEIIZSFT3I98-BBMYe_ZuaRHOBEDp3ScS__RqDqlU5XcD3SyDHHi502Xlni6y0h7JpLpDZe1LS9lrlccMyFvVauTdwcdGW-k4GM_dNi0OunSbi2u2DFTDs0aJHzGnii_mmnKq-lVPEaXAMJuHroH0DsqL9favlTaIw9sPvADGHmBX9ljihGcloRHXueg0VoPT2C4rytrAtmJSwrXs9nkvwIGr36DXr7yS3EZ0UnxqaWx4G2ujFM3bK933LUNmqB-Mae8I74OZQPVeehi7hJnnYW0l_V5hAzpvVMPOgp30s8DtRTr7aGEGWR4NYp4O8jXflscFcY-YQ8QAxWyXkdtuixIdQz7GFIvNgWaFLJdUsDBd2uTb-x3eiy_V9K42Lt5xpbfBBEJi696p7bT6VXdeaLdJF3F4b3jFTurEOjvXrIwAs6kG5hcBippJ1_uCh6cw7rdeEeyvmnt3q1TFd1YeBLYVbNKTf0gEEdgS0mCcWHw8Iu8tkA15VVXejCH6ixu1Wo6g6CLDrjXzC7EM3en5lkZh_-Xeu6l9elkFKUpqp5b_WvX4ZY0VoTKH3Dw1Xprmq91SdULtQBPlUwj9eo-G2TzNTTVm2cZjZKEw3_37GPIbgisQERkCKOqI9zo9mafetu2Da_pSbSdtAZ2XAnEK9RgNG_C3QrlMAdJziLXMfMsxYdYH1RjV47HM3VjqhY4EeLybblbUQdBrpXjw_snuzVJ6a7CNMHGTW8uai3iaplgwNiHQ66keuPHvgWxYKajf_DvKE6ijxbee-XXqKBIEnsNL9jx8yHAbLZZlB1jzBMtXxXDU5yymBfJATTUsdn5jf9bNR5OKtRQTy_I8hDNcD4p9VQqDx9M-X74pDqbR2",
  "id": "rs_06e51d173a4c457c016ab4451cd02487d0923411258e11721c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0,\"right_x\":0.44,\"right_y\":0.21,\"right_z\":0.055},\"note\":\"The full close again squeezed the smooth bottle forward and ended empty, exactly the rounded-object ejection mode. I am reopening at a slightly higher centerline; the next close will stop near the bottle diameter instead of crushing all the way shut.\"}",
  "call_id": "call_KiOmuyAlt3wenE11Qkahf9GL",
  "id": "fc_06e51d173a4c457c016ab44520eb2c87d0987e44ccdc64d431",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KiOmuyAlt3wenE11Qkahf9GL",
  "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, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5491, 1.9026, 0.8921, 0.3813, 0.3088, 0.1822, 0.9956]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4355 right_y=0.2077 right_z=0.0458 right_yaw=0.1798 right_pitch=-0.0248 right_roll=-0.0179 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.8256, 6.2291, 1.8535, -0.0611, -0.0415, -0.0073, -0.4034, -9.853, 6.3795, 1.7558, -0.0024, -0.0317, -0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3964ad9b02104d5f9c1e54d448607affcf968f9b1b6df22c56716b6a9e01a9e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5aeb462380c3b084e135497eb036498c2607118046393fc9d495e608524efd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08daeb6603815569dda0b87a3b7ab39540af29858614e3434719865818c39e3a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 2.741 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.6006, 1.8278, 0.693, 0.6216, 0.3813, 0.2314, 0.0134]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4055 right_y=0.2025 right_z=0.0558 right_yaw=0.1432 right_pitch=0.0966 right_roll=0.0351 right_gripper=0.0134\nstate[joint_eff]: [-0.0889, -1.6889, 6.2701, 1.8535, -0.0708, -0.0708, -0.0122, -0.4991, -6.7761, 4.0137, 1.0525, 0.0611, 0.1001, 0.8864]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5503, 1.906, 0.8467, 0.5312, 0.313, 0.1829, 0.0134]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4399 right_y=0.2103 right_z=0.0572 right_yaw=0.1762 right_pitch=0.0702 right_roll=0.0173 right_gripper=0.0134\nstate[joint_eff]: [-0.212, -1.6068, 6.2974, 1.8437, -0.0464, -0.0562, -0.0122, -0.3624, -8.3077, 5.3402, 1.1111, 0.149, 0.149, 1.0769]\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 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5491, 1.9026, 0.8921, 0.3813, 0.3088, 0.1822, 0.9956]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4355 right_y=0.2077 right_z=0.0458 right_yaw=0.1798 right_pitch=-0.0248 right_roll=-0.0179 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.8256, 6.2291, 1.8535, -0.0611, -0.0415, -0.0073, -0.4034, -9.853, 6.3795, 1.7558, -0.0024, -0.0317, -0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3964ad9b02104d5f9c1e54d448607affcf968f9b1b6df22c56716b6a9e01a9e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5aeb462380c3b084e135497eb036498c2607118046393fc9d495e608524efd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08daeb6603815569dda0b87a3b7ab39540af29858614e3434719865818c39e3a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUligamW-j6ffVSmVgesS9IX7aHIzDfOKmjK-OaDnyifhoPQVkFYzf94ySsTXvnxxCyvj-h4Lx9SD6OW8wAwGTkQlA8V7zO-K3KkwypdItJi34YahEawjxiinj4uC_AEOzbTQ9UQo0swQNZPyvN9i7hO600O5iIZZDO7xSJE9yVoY0Uz16ZMWAoofcKO0nTfPYM_CS5H4dt-79bvcqwqgJ0iYBK5abrBP7LFFdu_8RYtz6NdF0wYky6ZjfC3t739N1vVN0Z9hgYTr_pBWiVHCP-OVl1nI8lltSw7SI4zyeguRwdggjHMflOfRJmRZKA-a_7QVJEBPNkAkg3tYUFcD4vnCgnwZ2IKFPWYkTTfrO7S-KhxkYAYVOxoRpfymz1EOak2WpH7wgw6yyu4vBg2GdZIZ2ScTA-fYGwUfxKFhtrCVu7M0x0igSd5CpKiMlb1lb1G0vCWM1T1_fXKDpJ79eUgL32drzlcwtshdphWXmnwvYn2GNXoNjeis00t31Iw7JjhUYWZXT9T1jEpdY4Of8G5kwOerW_acuLofYzHBzg7_3h6m9Yc3w-rRolB5VqYTSYq_SHXIQBipjY7lkAjdTIpBrvrcncRRsIqsOWAPINh7oAFdnwCvRpwghrgpGK1CWwahoE0fcbOrup-brvHTyNwYUQPXH4UF05kXuKcgtTtsTZCu-s6NJ5L1gbaKHJFHSMsvX-4e-2ua6D1UD-JHnItO6LpAlOYkpv_IehKMWpxEYPnQh9PCV-dcfsEBNZhRq1CT4eM7yvfHrXUCtJ8A14r7Dvh2OQHTaW9w5w02CizFhyKFnHB-gt5KjDVM0bqpMEYpYNka9kNIh2_vE_QuNuSocglnlPKJTcQGqv0E1QnadVF7sSNCUmHDgoZ0w0r-F3KsgR5eCUxIyN1KRkRdxY144OHk4kiUYvQdxdLa2MG7wROnB9PTdo5UL7RKTma0sTcoxdkAntS_49NH2sun_TUiuTsc57gix5-1UI96tzQlyi6x2tiQCs8vJLASOYy5k1dw-xI2S1WKi46kplS4-o3Hk_i62XJbIEF4fJfVB0_xXdRL9KgGQ_j30x0vDJVXfMeCc4MuH4yrcAQ8X_k2YkPz-yH39rfUyhhJ34z6chKihbhBeFFXDBvzXTQrQOW9ymcfw2Ud5mFMBIjkFbBNi1vCVK9lia638z4Ks4edcLS1-S8rjUH6HIfBoc230rqv3BXIEa4_FYbsqKigVsP-dTSxLGuuEnE28-IOY9ccdhpJSDqJnjeX6KOrYALx77k6YlQF2AxlDbRxjz3oN3OATY5kEFj1ftG2WaPjinBBIw0GCTZUt0ky34oPF1H4kWVzIvcwUtoocNA3lPojbXzDp4jZirHfhXm4kbq1z056VuUt5YNLyS-gW7AxXadDktXZiWsn54PIm6tI7eCsXgUSYc-vx-nRiUgwSPHy8QXc54u1w=",
  "id": "rs_06e51d173a4c457c016ab44524317887d093a9b4bdb37783b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.58},\"note\":\"The open jaws are symmetrically aligned around the bottle's widest section at a better vertical centerline. I am closing only to about a 5.5 cm gap, matching the bottle diameter so it is held without being ejected.\"}",
  "call_id": "call_2JYev1hKYUJFQrawoY2kJSXZ",
  "id": "fc_06e51d173a4c457c016ab44524e69487d08d21ff31978d3b25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2JYev1hKYUJFQrawoY2kJSXZ",
  "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, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5495, 1.9026, 0.8707, 0.411, 0.3046, 0.1818, 0.5843]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4329 right_y=0.2072 right_z=0.0435 right_yaw=0.1839 right_pitch=-0.0179 right_roll=-0.0129 right_gripper=0.5843\nstate[joint_eff]: [-0.0479, -1.6889, 6.2701, 1.8974, -0.0317, -0.0464, -0.0122, -0.2256, -8.8957, 5.2581, 1.9707, 0.1245, 0.0611, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2976b92258d11c1e57a7a9271483abfa3a6c1ef8e68be264be8ca08bc2de86cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20abfb980becd55c03facf91ee2abd3e3784f409e7247b707d7fca13fa6578b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b407c938d7dddc010cf7386d5cf395e342599173c31451a4865de9afb74bb55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 4.042 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5541, 1.9213, 0.8398, 0.4862, 0.329, 0.1879, 0.9952]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4324 right_y=0.2046 right_z=0.039 right_yaw=0.1651 right_pitch=0.011 right_roll=-0.0114 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -1.8256, 6.4342, 1.8584, -0.0904, -0.0562, -0.0122, -1.7709, -6.2017, 7.0085, 1.7509, 0.1001, 0.1245, -0.0024]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5491, 1.9026, 0.8921, 0.3813, 0.3088, 0.1822, 0.9956]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4355 right_y=0.2077 right_z=0.0458 right_yaw=0.1798 right_pitch=-0.0248 right_roll=-0.0179 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.8256, 6.2291, 1.8535, -0.0611, -0.0415, -0.0073, -0.4034, -9.853, 6.3795, 1.7558, -0.0024, -0.0317, -0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5495, 1.9026, 0.8707, 0.411, 0.3046, 0.1818, 0.5843]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4329 right_y=0.2072 right_z=0.0435 right_yaw=0.1839 right_pitch=-0.0179 right_roll=-0.0129 right_gripper=0.5843\nstate[joint_eff]: [-0.0479, -1.6889, 6.2701, 1.8974, -0.0317, -0.0464, -0.0122, -0.2256, -8.8957, 5.2581, 1.9707, 0.1245, 0.0611, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2976b92258d11c1e57a7a9271483abfa3a6c1ef8e68be264be8ca08bc2de86cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20abfb980becd55c03facf91ee2abd3e3784f409e7247b707d7fca13fa6578b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b407c938d7dddc010cf7386d5cf395e342599173c31451a4865de9afb74bb55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUoe0AjWYmfPmn6YN3ylpov0-w0HCfPZfhZg0J3_pdqcYp8fYhdRu2C__-uNmcztD3f2pI80IiU2lmoxLm6o6b119z1voIYI6yKX9_JcACh-_hAsCCq9vn_qmdR2QF4UrAZQu8i-VlvPPGE2JVo_s3ilM3VhEmAYe4jnvpj_A7xOKVoIqtvJOodV2YCDzAfs3Vyfr9z7Coge6gmsGcpIjSEd7X3CZ46Vw7WykQ5dwxflc0vxiGDdBb6WXq1YzMPvcd4gC37m7lETw6Enqp2CLfAoqXXlKcteIFKdiExsOq-ZA71x4WUd3PvMedWGXqkQcwbVuJ_5pqwUDxQ2CSu2SEvc4AIWN5EQWfVNTOzdpEfPy_KMFz3V0a5YfpgRnGJN2O23N2JmokEalhN1v_Iv39jW7N5TFsUJTHJFc2fQqZd0vL7ilYQDLFtJc2Mrvsa390zXvZGBUBLMw1ySbsdhZFkWsp4c91_5NP5bXLHDGpcAtdCNhjWd5ZZMLooUJzxvR_gej6yWg1JXowa2kYabb1IYXxo5ivEKYRSmbSnXglPbZkv3BvYFQWLc5XgieLK1SSXBALy9g3JIDoW578kfsJt9rsSho5Z3Lfle5R3IzrocaKuBmGUrrq9WpbrTRN0E_EjXkzA50UcNkafcDpo8AntpVlnwDFksQsteNJG9PHDjlP2RI6b6hK9WlHqE8FtqMOOe3Fq9kSSCXPqxCvZAF4hYR2KPU_d5dFXPiFGhGl_-oAMlQJgqZRPyhTByud3ypDNWADppG980VxWpVIzi7GTu4VQjMJ2OkaGC8zEi421k_fa4ZXG9ay_DVC2zCuRZKvZrXb88flW8HsxRZksCnqQI4ekqroinGmkkA8IvzhAVc48k2yEHN8bXKmc5_2RLf2Y5thUrfAzM4Pcz1ad74MrpPfyvpWtrXz1pyTIEshQZ49v_izyZo0c6AyZ_pBrwE06QEJ3s6NX2hqNnMQLzaOXPhd1v2ZtOECvoKdexzioaVbYQSyKs9zmLngftMwM2c0DuXjt4p-Uxt1ZxStqI8xbtzWlzDtXZiz7TuCCG7JpsZhgmQZVYotWd_NijLuWMy9Sd025tiRgOfyv9h0Psdks6JszE_dbyOCvKvmwZ9nraTCHTe5OrEl3MN2bc_9UHpbJdPW4oU3kA6xjiMKuRRatSOsxzkjILuL8eYzfHCvuLr8wJyhtRg0l12g_tosyyMBsLoWSGiutwbb3OQVLhQ3RtWu0yLCJjzDRaDZiuWjki5AJT0k9ZXAYTbVDKvYTFsHU1MSgrrHb-XvPLzjnPMQRVImrqzCszF0Smq5-gnw_Zw0zSXNtsfcR5D_6gEjmGC6vAFDzb8_esQk3d8nuWMGhWQ82tgeYvn5DPY0uAVL6XdtQ3jHmCnC-Li0ueTEfqIZvHFOau4-eZYMiJD0Gf2xeAHORZEJJfIrXMfq1PpRGbLo9aM3YZg3sl6O9Ha4JQEB5HvF1-BBkkzSTv0bEwgGQd6UWX1sg6MwacKbSOBoyPP4orsQqoT0sM9WPEqBsqFXOOoDfz5ABPeDtLPWLI-c-q1_SZPV4VD_ffvaiceCvWUdt2a6V5p8NkOziUbgdTIPKZCGkVVdp-pmc8L7nUlMtlZ_r189oB2_B-_3JnDma4s_olmVoXYvVWOLsONnXYKFVfC0Ud17zmtYkoR4kj5uSFrqtkf0gRcteiI4p7EoN2FZo1FR0wEG5G9Ai855Cq116nRFFhW48tOSkgVb_zTwDxATlN--6TGJdLTBEIu97YDc=",
  "id": "rs_06e51d173a4c457c016ab44527386c87d0a80d80d508bea758",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11,\"right_x\":0.433,\"right_y\":0.207,\"right_gripper\":0.58},\"note\":\"The partial close leaves both jaws in contact with the bottle near its base and avoids the prior forward ejection. I am lifting about five centimetres to test whether this controlled-width grasp carries the bottle.\"}",
  "call_id": "call_ulOVU4AQzvX0qHBtzlPsu8nz",
  "id": "fc_06e51d173a4c457c016ab44528339887d0bcc84d0628f57508",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ulOVU4AQzvX0qHBtzlPsu8nz",
  "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, 0.7956, 0.5972, -0.3752, -0.0231, -0.0292, 0.9983, 0.5495, 1.7775, 0.9161, 0.2127, 0.2905, 0.1745, 0.5822]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1774 left_yaw=0.0009 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9983 right_x=0.4255 right_y=0.2054 right_z=0.0791 right_yaw=0.1991 right_pitch=-0.0469 right_roll=-0.0208 right_gripper=0.5822\nstate[joint_eff]: [-0.1436, -1.8256, 6.4615, 1.9414, -0.0073, -0.0806, -0.0122, -0.4991, -11.3162, 9.3744, 1.8144, 0.2808, 0.0708, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ece384ab23259291a40e855d42cb9f8f025ade40b4f55fe6c9b324dfc3526517",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f8cbfc7f733c11c0f312ea51d3c48c41994c4e1d10a6731f51bc14a58572875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a69f72865583ccca3df40385d9e9b039c49ebbd0ee9580ebce74f7cbbdd4f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 5.756 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5503, 1.906, 0.8467, 0.5312, 0.313, 0.1829, 0.0134]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4399 right_y=0.2103 right_z=0.0572 right_yaw=0.1762 right_pitch=0.0702 right_roll=0.0173 right_gripper=0.0134\nstate[joint_eff]: [-0.212, -1.6068, 6.2974, 1.8437, -0.0464, -0.0562, -0.0122, -0.3624, -8.3077, 5.3402, 1.1111, 0.149, 0.149, 1.0769]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5495, 1.9026, 0.8707, 0.411, 0.3046, 0.1818, 0.5843]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4329 right_y=0.2072 right_z=0.0435 right_yaw=0.1839 right_pitch=-0.0179 right_roll=-0.0129 right_gripper=0.5843\nstate[joint_eff]: [-0.0479, -1.6889, 6.2701, 1.8974, -0.0317, -0.0464, -0.0122, -0.2256, -8.8957, 5.2581, 1.9707, 0.1245, 0.0611, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3752, -0.0231, -0.0292, 0.9983, 0.5495, 1.7775, 0.9161, 0.2127, 0.2905, 0.1745, 0.5822]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1774 left_yaw=0.0009 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9983 right_x=0.4255 right_y=0.2054 right_z=0.0791 right_yaw=0.1991 right_pitch=-0.0469 right_roll=-0.0208 right_gripper=0.5822\nstate[joint_eff]: [-0.1436, -1.8256, 6.4615, 1.9414, -0.0073, -0.0806, -0.0122, -0.4991, -11.3162, 9.3744, 1.8144, 0.2808, 0.0708, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ece384ab23259291a40e855d42cb9f8f025ade40b4f55fe6c9b324dfc3526517",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f8cbfc7f733c11c0f312ea51d3c48c41994c4e1d10a6731f51bc14a58572875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a69f72865583ccca3df40385d9e9b039c49ebbd0ee9580ebce74f7cbbdd4f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEUt95HBYuz1IVzoVHsMt8KigFZWymluaz8RvFZaTQfQHMIZgGp5U5wa7W2s6MD-6gTtEE8CXD_6bD3vROzQ2JRw1G6FBDWSNwwEFnnUPdN56-ApVU3n1yrYBlTaoDpBsQ6hqmJVXfqH67ARmwj3EQwrV_J38sK4TqSxJ42z64Kp7vXt_QMwkoVKJFNI8wvrVa4vYenKzGpByC1NhrFQByJJzN6gxnemVNOf6tTs3sMarYVRiCXNijpToWZgKijRicugVb6AeWTbYMTSQYLxDr9qY7kO_zjHILdYTIQIMUufbektnxDMDz30htWcVftSqc-OpvNYh9CPjQ8tGVaXFtBqr_DArOuRYZbO4s7BqWghndUv7ucQlb_iUSnznwe-wTyPM18kt1kfsTHzQL5-uyCjoZizTFBIjq3F0mEYezeiGM-zn6BxQ13MJBWCKKbQOEywD72PAbIqjpUreJUVzJ43usoCSRsIoqIRBLOaxX-k8W-YKVt25WFwbwPQAdHvneJCxxjUZQaZwb7VjRHkEfAchSBob13RPe3pBGdGvYPiODAy-bjdzg6Ut5jJCigeb83ADPa8AWOvantM1SqOgkcLcCMAShAX2vU4TPYUWn9wtgoNl7L85DgJ__n80soTbQdRloXe_aK-3BQKWVPIVeZIUV7HM4Nq8hFGXzbkOR4wZuGVYnWtOiI-M1GExOomnXI41kOUlHOcp1GFlPPKR_tqCY-Yi1_4-0fdapyziRXElODzNg08IfysbZ2AMRJOh0ceZR00TzUzBfsrH-sXwttIz6ACWMMhBySkLUTR2lKga3ZgQlnhKgXCpasFRmB8dSWnwl2Et8IwHjfElRJctnqqjvM-d6Po4hKyHyYVAvr2ZyFJj9fDYinUFCfw7pw6qFYXh2oaD_272H0hlXeTD3Gb289lSmSCP21-tHJ9ldUxvLsL-bB_Fi--F2vw0K8GqDHEX3o7rE8wwU06NgFd7fH5ar-awDxSilKXwaaveW23FM0w_eX3qUEbbuD-8BZ0UqIpJsYXlfy1uNevl69sa9QmSymyboW_6keB-FglHcXRBSjnslqWJUhh9jr_ljlEExYLmEwxbdFji7rEz-pFwnXY29zrMaKPzklGEifgQtzyLN_LS0Ggm6kStcarqv4lkdMB3VXEzfXERXRkbFrmSzB7BLg2yGnGdXG6Wf7nYtXYPBFBIvveHn91tnWC_Q_Iva6EO_3ZGaDjzhtNOb3_BuQNBd4d1C3YK1f1JHsggzeCCeNSLz1C1Kv0cTjGlNIJpGfELKP16h5zAhOHEDfMRQwK0N2EoOhcsuGfYIIAmmfnK7XBPOfgFaDNATqQjdDFWTwX6Hfv2P-Bww1uyEYwA68u0pQY1UBPaFUy_iC3ZpN_3YTOZ2sDtjsrsCvD3MVN8STJApnGoYzhcho9-brDx-_eltvl9sF83Nu61bmzfbwDgyaMT1fvCn1dvfj-75FL6abvVVW9xs9JlZtAK0V38e06FjxrVX4GZr8gW4CzVHPo0kVl0vzn0cGtcK0zTwWmZIYCH85BzGelOw13xA8zKp0FfEeayucqdr5Gb2ECzn8FU2rseD2chR95RFZqGj5xoEHK7l7ii-h3eduFnKLgsIZshWU8G8glte86XiAhSkOxY4_Hq4BO11eZ6hIvMXi3OizdfTEli9FOx4VTFt7uu2jfMxqfdxTicEWkyeUfcfaYQY-cJHbK2SiFUYI6pI43PWbe00WCEkKFq51A-xi-SibfFdsW8-hB2wCGE8Pq7zyOUiu31mNplsulBn6N46Cfuq9El0x7g9qm5DKUdezv4NPd-zaIFKKjCgOyySPqVeNJFmQi1d3lIhLxr5B6YxfZcxdUtclRIxUIqJ8Z2LGKVauj1khAU5hcmDlRENPouBe1jQXfh22xcU4PGkBtk9c3j_jk8MmgVi8GhmY-rew9tK0WPd9vlHGLGTtQb5pdepeObuAdA_SOOuK1bYi777UP8ZRq2LOLsLT0igdOJSv8dTxYbg==",
  "id": "rs_06e51d173a4c457c016ab4452ab55887d099da4444e11785de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.48,\"right_z\":0.075},\"note\":\"The bottle stayed on the table during the test lift, so the 5.5 cm gap was slightly too loose. With the jaws still symmetrically around it, I am lowering back to center height and tightening only one centimetre more rather than fully closing.\"}",
  "call_id": "call_K0etBIZmovOpYX93x9Pj9kTF",
  "id": "fc_06e51d173a4c457c016ab4452c6fb087d0b7613c11d8765625",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K0etBIZmovOpYX93x9Pj9kTF",
  "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, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.5495, 1.7611, 0.8909, 0.2367, 0.2844, 0.1749, 0.4837]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4223 right_y=0.2047 right_z=0.0809 right_yaw=0.2042 right_pitch=-0.0338 right_roll=-0.0119 right_gripper=0.4837\nstate[joint_eff]: [-0.1573, -1.853, 6.2291, 1.8974, -0.0366, -0.0806, -0.0122, -0.4171, -5.9966, 5.7504, 1.9121, 0.1099, 0.0269, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf4eb9da7bf8aaf3c4633529393990ddebc358364ec9040e696e6ab979a9721",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845029d45a209f08945433fdff7519c8c385922ccc92cff5771e188862f025d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fbed72745eb1a0b42015414660a70ced341be7b6ecb5999ce855b047a8db9c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.306 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5491, 1.9026, 0.8921, 0.3813, 0.3088, 0.1822, 0.9956]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4355 right_y=0.2077 right_z=0.0458 right_yaw=0.1798 right_pitch=-0.0248 right_roll=-0.0179 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.8256, 6.2291, 1.8535, -0.0611, -0.0415, -0.0073, -0.4034, -9.853, 6.3795, 1.7558, -0.0024, -0.0317, -0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3752, -0.0231, -0.0292, 0.9983, 0.5495, 1.7775, 0.9161, 0.2127, 0.2905, 0.1745, 0.5822]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1774 left_yaw=0.0009 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9983 right_x=0.4255 right_y=0.2054 right_z=0.0791 right_yaw=0.1991 right_pitch=-0.0469 right_roll=-0.0208 right_gripper=0.5822\nstate[joint_eff]: [-0.1436, -1.8256, 6.4615, 1.9414, -0.0073, -0.0806, -0.0122, -0.4991, -11.3162, 9.3744, 1.8144, 0.2808, 0.0708, 0.2173]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.5495, 1.7611, 0.8909, 0.2367, 0.2844, 0.1749, 0.4837]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4223 right_y=0.2047 right_z=0.0809 right_yaw=0.2042 right_pitch=-0.0338 right_roll=-0.0119 right_gripper=0.4837\nstate[joint_eff]: [-0.1573, -1.853, 6.2291, 1.8974, -0.0366, -0.0806, -0.0122, -0.4171, -5.9966, 5.7504, 1.9121, 0.1099, 0.0269, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf4eb9da7bf8aaf3c4633529393990ddebc358364ec9040e696e6ab979a9721",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845029d45a209f08945433fdff7519c8c385922ccc92cff5771e188862f025d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fbed72745eb1a0b42015414660a70ced341be7b6ecb5999ce855b047a8db9c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEUzoe06bAF-DTftPYEpcf6-JIYoay9mQvbVklf4T8FX0qAJr8VglCaux_6om50dGklfH8jYahJ-upeemNAuN_7eQUfuCjDU2xt4VUomy9ibz4liPCJyHkHmuk2QCP5ji53emDqZjlfanxcjUERBugDz9whA04By2zD6xg_lkSh7BYelxCsiYJ_BFJHKlQo8OIabS8VAsVoxWA72tlvTcAts1EpjdwZYjBIylP7i3ei2i-OYfrFHGDSLTqvP4Ye5K0RNmwB2b0F34wD83ZyixQlHGFvS8BwVC_MSqeV8It_fSwygsPGy--z3nPNSxSHorfCxtHLe7-yvpJugJ6zB2d1hawYd8rchYCIwDT4wgJMCHe1YY0pOgrvy4xwYBGXfH74swasBgT3K7ZG1W0DeB3ndV7nsBetLRlAbh28GQiZ9eK6akuHHirEy7rhJ_y0p8O2Fw4UdCi0QrbZuJ8czQi1E6jk5uBEgcPJH23hQHEPvTyfUg_KnLMRWvs38AtHFT8hLKo1UMEhPzx1f1lxbfaj_soeEykndkKs9MC6293ej4WffQPcVB52r23faCizOOQVurrgYCFgc6edtexzJxtMQLe8JFpHWW2OBlJFWm31BHVr1vwLDDPLGnq-Qxf60BQwOVlhJRNT_MJ-sB_Z0hxWGdHPwjF9NEN4Y6iaZgOkwjuospl604LmHC2DTfFjLj0cWBbGcpFYrbNelkH2rNdy0w0KLWZ4U2RYk0kwm5VdDlD4onb--32W9eE9nQ4hcbnkOxTobhr_unDVgegTrB7pl_rA2uP-Bbgoi8Qkmuvoms5JioX-ZZlhMlxKf_CB6ce0Gk57r6Hu6gmX7n813NDwufC9xUePoXQ-bNoL5da2BwlS87TMzKWoQ4IA70dHzVyKaTsie24hY9BrRjkqsCPFnJbAGOsk9LbkCyzZoobrNHxKL-hVuO12TmPjCo0WG9B1asJhhFs9DVR0CHQ61dc0Jmdz_VFazXby4PJvX8wwTBL08mtvfffs5ADJjbQrpXpkqpjk2F_StRj1_ZGq_pyXpnV4yEstuD_kqS9LroCa3XHjjzGn_KH3UosyDixiFeteedX-UP331hk5pv7EGdR1_xITO1COFna8u2kGPLdovFnw0rhOW-uEGXPNuG4A5wTB1XXUPkReeYiiNhCFKxjJAtw40uHRcONLtmgf0YHdWvQax43sRkWAfST4FYHGDGUZHZQva98XYA2DLlNvoQRiarAXVdgYFag2wpOfCXSf3YveKXmT12EI1M1yzocFhHO5lc0F-5IiMFFDUHZyt4Sh6gKta0_2-RqYhRC1N15sRynHEqA2pvJOBoD85ocJtwR3h4pIc1PUJdJL91bIjSQ59ym1itSqW6mFeNbsVO9PqLKTVd_OG2sHzYkKkKyrLKk8FWsO8MQWrDdPHlc0scyfmKyW66_gzvg-_aW1SNv5UuqaXcgqy9RurfzG0KeHlXrzho66Xdv5_HkaAWmpJf-ss7xcLSAg12K_Gpu99Y63t14smh-WQBbITDDeT5MeSxewmkdA97sQo4R9QpMHM0GHVaoAmKPXmSdsaAiN-1vrjXvOi-H2q1DwGKgUwKt1_IcUn_Ia91taUy_phV_77G1aiwQOZnweKs4jYWCghJHpijwcLQNflH35BPjHiSIutZfGcw2L4tZxzV5zVgTLoOuPNK6GpIAwKoAcjJ2laIvW2jdadL9UExiuOgDxPESaykoHJb2LqV_EO74BIRZrvx0PNr1Nouac5dshoe5Sibb97MIQfXwlp8zEjWadnZEULGym_",
  "id": "rs_06e51d173a4c457c016ab44531662887d09d9ea3b1e78833a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"The bottle remains centered and has not been displaced, but the 4.6 cm gap still shows no contact. I am tightening to the previously observed contact width of about 3.8 cm and will stop there to avoid another squeeze-out.\"}",
  "call_id": "call_95vIpyFMxTpdhBxvnsqKKnPh",
  "id": "fc_06e51d173a4c457c016ab44532809087d0aea1795637dae514",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_95vIpyFMxTpdhBxvnsqKKnPh",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.5495, 1.7813, 0.8593, 0.2897, 0.2829, 0.1703, 0.4803]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.42 right_y=0.2036 right_z=0.0697 right_yaw=0.2079 right_pitch=-0.0331 right_roll=-0.0144 right_gripper=0.4803\nstate[joint_eff]: [-0.3761, -1.853, 6.2154, 1.8828, -0.0317, -0.0708, -0.0122, -0.4034, -7.8701, 6.065, 2.1026, 0.0659, 0.0073, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c44a6ac98ec7a8edb8b7ffc5fa89e5f214268e04c7935f6dec06878b7ff872cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35bbbad15011b93106037ebd7797d10e483de45e62502932242166b0456b96e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db4d19e2a070dda6f88854f0b280055191530b381e22a16321e0bb29deb2fee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 8.305 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.5495, 1.9026, 0.8707, 0.411, 0.3046, 0.1818, 0.5843]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.4329 right_y=0.2072 right_z=0.0435 right_yaw=0.1839 right_pitch=-0.0179 right_roll=-0.0129 right_gripper=0.5843\nstate[joint_eff]: [-0.0479, -1.6889, 6.2701, 1.8974, -0.0317, -0.0464, -0.0122, -0.2256, -8.8957, 5.2581, 1.9707, 0.1245, 0.0611, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.5495, 1.7611, 0.8909, 0.2367, 0.2844, 0.1749, 0.4837]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4223 right_y=0.2047 right_z=0.0809 right_yaw=0.2042 right_pitch=-0.0338 right_roll=-0.0119 right_gripper=0.4837\nstate[joint_eff]: [-0.1573, -1.853, 6.2291, 1.8974, -0.0366, -0.0806, -0.0122, -0.4171, -5.9966, 5.7504, 1.9121, 0.1099, 0.0269, 0.1148]\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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.5495, 1.7813, 0.8593, 0.2897, 0.2829, 0.1703, 0.4803]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.42 right_y=0.2036 right_z=0.0697 right_yaw=0.2079 right_pitch=-0.0331 right_roll=-0.0144 right_gripper=0.4803\nstate[joint_eff]: [-0.3761, -1.853, 6.2154, 1.8828, -0.0317, -0.0708, -0.0122, -0.4034, -7.8701, 6.065, 2.1026, 0.0659, 0.0073, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c44a6ac98ec7a8edb8b7ffc5fa89e5f214268e04c7935f6dec06878b7ff872cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35bbbad15011b93106037ebd7797d10e483de45e62502932242166b0456b96e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db4d19e2a070dda6f88854f0b280055191530b381e22a16321e0bb29deb2fee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEU1xeQ_sEGZCJq10rqm21eAQyFS71k71LV-ezvM7u0xYoavWSPrEyu5VHtjcnWFZzJMA4NENg7IBUTdFLNypah3_8LRhJ8ZoDY2b1lz0AAbu1cIKa5quVDO2dYvzLiji77UF10gTdCgBnfavPfsyshleN6seSUeb19M5gvMk7YfQQ6V3ItHt0aCUDBD3lsP_sBcl4VEoU9nW0rmZEjB_-zEPFAf2-23oH-ZWg9rSLg--As9mBybWHxlrOJKC6vbOxlzcuG0LYGHwjzurM2YgfVbXxKDc3fzU5xumJv0V33dr6bVjYDPZKDgD5TqJmlQ-dRHr_qCg7Raqr00fA4wLFzj0zPjRR3qbDozVbPIbpXGglTsWYoa0UCZOmLSWz35iOQsI8DyZb6G82Gfi5rm_PofshaPk8ftlbXm0QHv5IxlcOSfuHsbFBY53u16qc6lQkdhs4eo9B_y1C3Lt9l87IgORCt-_wmjkv4jJK0QSwi72IXgS4aPk1xGDEn1C5LaDJE39FlDYKmacXoctLpI3DV0QmRQU-eJi4DDreZiEC4T6ns7EWjdAQabY-Nnb4XNd22gY2v25RpFBfG7cmmkLUVWZJyOyZ_AUk1YIw1yCAm59fohVHCLbsV98-GU9-IXbpwSOoLmbMSM8tPU_XsSg2EDCVfUJhYnoMzJs3szjGWio4Jb5vWsZt4bShX6jeYsvSOXpPAHYL4vAEODdoBQhOegHtVorRMgsYyReWyEKHpuuXluq_INOD355M4L72wl_piQ0nOlqKnTa5lKvRPK85ioyKsKZMvi5QNUbn5UtTwgLmL8xTS5Es0FVTWQz03uUm-al5fDbbW75Jt_aSl01GOghal4keOJZXLGBjepkK_ve43sWb9xA3Yp4j7xbgKXSY1gZjEzQMS4GaAYV6qXI9aWB16FCborB3EFG68QS97i--LfbUMsNbqp-BH5aMbeWkYf50khUpG0NwjRPNNyNEN5PrmNnD4AymWxaXbmni2KvMJXnn_JZrlOpOW6pYjux3HvQi6a7lNBO_jpvvVfhr80W8W93TA7DHtg_1rAULsPjhW6qNRRIkuZKG5ZlC7A4PsOjeg6slAn3Hvs1LSjQKTuA4uiZMKnTJ2mfk-FVKriSVzaxU3LDgxTZ5hXxJkOVX8Y4CqRaly7Ge-_j-RVLDxLIeYw1UMxWnkMGVXAjATsCvSO6Oz0B82NldXGaLNE53M2k2mLwgSqfkDFYkfVcKPc4_5iZGUq4sPJBLm1zTBOWK1v6FfnQ74Ms2RX_R3-1OHGWI2kPosGD7LYPie2mcNr05jeo8TaRq2epsiULk6nCyhHFjrKbP2wZJYkM03egVJP3FXkswZBFcwQ2CNU960Ku1ohlmo3IXnbX0FSEqBOrk9Hkhqv8Znq8sArybLALksU",
  "id": "rs_06e51d173a4c457c016ab445345ed087d0858cafc7baaecab9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"right_x\":0.42,\"right_y\":0.204,\"right_gripper\":0.4},\"note\":\"The gripper stopped at 0.48 despite a 0.40 command, confirming the bottle is now physically clamped rather than merely bracketed. I am lifting it clear while maintaining that limited closure.\"}",
  "call_id": "call_JFZ9GbSuY9sQkQUysJRJShCd",
  "id": "fc_06e51d173a4c457c016ab44534b54087d0a870c77a562626b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JFZ9GbSuY9sQkQUysJRJShCd",
  "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, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5495, 1.6371, 0.9817, 0.0158, 0.2794, 0.1585, 0.4006]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4166 right_y=0.2022 right_z=0.1307 right_yaw=0.217 right_pitch=-0.0407 right_roll=-0.0246 right_gripper=0.4006\nstate[joint_eff]: [-0.2256, -1.8256, 6.5709, 1.9023, -0.0611, -0.0317, -0.0122, -0.2667, -10.0855, 9.5658, 1.7753, 0.1001, 0.0708, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1df60ecaf7102a405364d1f90f9b0384b6e7bcfc2536c2050fbfde822dfe732",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065003451d7f5f0c8e02e63f387cc26c438ba098a379b36f76f6a5ec4cf5c9b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70a943cb8e82aa7f1df0eaf07276d6477e53e93cabd86e5bb0ba94931710d85f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.027 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3752, -0.0231, -0.0292, 0.9983, 0.5495, 1.7775, 0.9161, 0.2127, 0.2905, 0.1745, 0.5822]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1774 left_yaw=0.0009 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9983 right_x=0.4255 right_y=0.2054 right_z=0.0791 right_yaw=0.1991 right_pitch=-0.0469 right_roll=-0.0208 right_gripper=0.5822\nstate[joint_eff]: [-0.1436, -1.8256, 6.4615, 1.9414, -0.0073, -0.0806, -0.0122, -0.4991, -11.3162, 9.3744, 1.8144, 0.2808, 0.0708, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.5495, 1.7813, 0.8593, 0.2897, 0.2829, 0.1703, 0.4803]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.42 right_y=0.2036 right_z=0.0697 right_yaw=0.2079 right_pitch=-0.0331 right_roll=-0.0144 right_gripper=0.4803\nstate[joint_eff]: [-0.3761, -1.853, 6.2154, 1.8828, -0.0317, -0.0708, -0.0122, -0.4034, -7.8701, 6.065, 2.1026, 0.0659, 0.0073, 0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5495, 1.6371, 0.9817, 0.0158, 0.2794, 0.1585, 0.4006]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4166 right_y=0.2022 right_z=0.1307 right_yaw=0.217 right_pitch=-0.0407 right_roll=-0.0246 right_gripper=0.4006\nstate[joint_eff]: [-0.2256, -1.8256, 6.5709, 1.9023, -0.0611, -0.0317, -0.0122, -0.2667, -10.0855, 9.5658, 1.7753, 0.1001, 0.0708, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1df60ecaf7102a405364d1f90f9b0384b6e7bcfc2536c2050fbfde822dfe732",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065003451d7f5f0c8e02e63f387cc26c438ba098a379b36f76f6a5ec4cf5c9b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70a943cb8e82aa7f1df0eaf07276d6477e53e93cabd86e5bb0ba94931710d85f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_06e51d173a4c457c016ab445372f9087d08b204d539f238523",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEU-JWtb6Q3k-W-yXoi1TgWsZdj2H0YOdi2YUS8nXdnCrnMUrB-SsLiA2F5AaItiLUeW3Sh_EnBprs8HXyGdN1EZjOMW7xUvoEpoYd_Evi4YZ2UjAao1tvlRE9v8SoG3MZjwfTPNO3rbHcw4pXmV3W8Vt_4H3gu7EwJysjTRX4teJP__JrXOOJa9HtcrQdhj1mvbate0a7L5gqOCb2eTI076ssw6R0CYkEmar-EJxYjS6DNkV4Z4BU_jEMfg-ES0ZMFavcP58RJqqRp7RTX-iYd3nQG1B0WEM8IG0TOYYf_M_vTswSqaVDsnbUsTKtRyVo08peNIXj3HE5bS0MzIpzw0JHGS3wWbTCuYVDMcTKLbDobQv0rbIQUTZ5AP09ikuXBdAzN9uoMuo5VRRuHHS4aAK26jzj6liU5k0AasiSwhJMzH3jZhaoYoZXcrtX5EyHUY8pcVa59Mongg68LSMTYSMqwo_O3-NL3Qc0bA0jl_Jjo_6vng_kjhV194zgLq8f2UTgwMBTU7LAdlqlCp_Mqw-FhjCrcIYLsWqUw0lTJBJSNYDI1cgCtcU6eB6EWPbuznVCYYD0EZ_Kc2ylS2nGnL99x8moqNvNrAIJNdVMVRjj9IYhVncp2tjP6oiADm5t_kqOwWgyoHWPFnMyWik0MDjKmFpQSQipkLMUzyyPwF0XdY_zMzrkVmZn0AwyN0HoFjVE2-M48xZjCavMtXU1cjedzdp2S0f94OBQcP0WB5U9_q_K9-HKqkzBL5vLXz031AF7hKRuyeUjR45hGlYkEpBdyctDrmQHlzV3_soVF6f6fRcHsokAYCE8HfHplfXKIIKx2TKNEd3JkDmffFHfaqEeHBwBUi2geWCigJNZX5N6K3tKEBd7YcnA5QGkN3uBnARTvXXpMp98cy2rZEiNPCR0zvqE2bOPjPYGLOGFeLkQ8Sti21NR9E08mez4R7TPrhAm1RvBrcgP6Nx2r4ToRjmyfISikFWOfDw6Ljuwb3n5_gQM7OJp3utF0ffWypJgSdDXDqdy_yENrjsmqeQQuiWiQ6QEPim48unkq4Q-oyNnhn9LATz9JXDgDs614xV7U3-pcf7HM-oM3Q2LeQuVjgoCnVJUpTre9TheplGb73Be-5sAyOazAM620vsX_u6-kkBCl-h6fALcMitNJxz9nV68Y831fSB_dgezQlbxTYoN15gWFwbaA8W0BssMezPaK-05urJkopXliLuuC1wit3wQO4Ngrpt2Dk0Ivc-GtwhiIzcvziUiKYTvlxprroH1TkTQ_xGsBH2DTdX2-wJweAebua_5q0ZYIOV97sPtB-4YeciuAPKIhDNlmvtzjrQjYW90pb42ymyVa9wAYGyu9Gs8QGCQkMFuNuJ13BdWD_IZg=",
  "id": "rs_06e51d173a4c457c016ab4453ca3b087d0b5714262fb574b20",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.27,\"right_z\":0.04,\"right_gripper\":0.0},\"note\":\"The bottle remains visible in its own wrist camera after the lift, so it slipped and is not held. I am switching to a robust tabletop reposition: placing the closed gripper on the bottle's left side so I can sweep it toward the right-arm base line, where the cap will be reachable at low height.\"}",
  "call_id": "call_PjmLw30DYgTEhJ2FnXJUpQik",
  "id": "fc_06e51d173a4c457c016ab4453d4a5887d0ab6e09565d0db044",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PjmLw30DYgTEhJ2FnXJUpQik",
  "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, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.7826, 1.8511, 0.8188, 0.3233, 0.4248, 0.2859, 0.0129]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.3648 right_y=0.2652 right_z=0.0359 right_yaw=0.2616 right_pitch=-0.0648 right_roll=-0.0324 right_gripper=0.0129\nstate[joint_eff]: [-0.1026, -1.7983, 6.2427, 1.8486, -0.0122, -0.0073, -0.0122, 0.253, -7.7333, 5.2718, 1.8681, 0.3639, 0.1148, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45a94f78a45e6bfba760bd3f5a4243f868615a27d737726f45206b61f66ba33c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:900c7361d175a252d4c62b08c799238aa6bdbce6ee848b47f5036507c377fb97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8525c494e24394c9325178b1434a4b8f5483c44d9eb1ef01186097d631b3938c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 7.424 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 88 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.5495, 1.7611, 0.8909, 0.2367, 0.2844, 0.1749, 0.4837]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4223 right_y=0.2047 right_z=0.0809 right_yaw=0.2042 right_pitch=-0.0338 right_roll=-0.0119 right_gripper=0.4837\nstate[joint_eff]: [-0.1573, -1.853, 6.2291, 1.8974, -0.0366, -0.0806, -0.0122, -0.4171, -5.9966, 5.7504, 1.9121, 0.1099, 0.0269, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5495, 1.6371, 0.9817, 0.0158, 0.2794, 0.1585, 0.4006]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4166 right_y=0.2022 right_z=0.1307 right_yaw=0.217 right_pitch=-0.0407 right_roll=-0.0246 right_gripper=0.4006\nstate[joint_eff]: [-0.2256, -1.8256, 6.5709, 1.9023, -0.0611, -0.0317, -0.0122, -0.2667, -10.0855, 9.5658, 1.7753, 0.1001, 0.0708, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.7826, 1.8511, 0.8188, 0.3233, 0.4248, 0.2859, 0.0129]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.3648 right_y=0.2652 right_z=0.0359 right_yaw=0.2616 right_pitch=-0.0648 right_roll=-0.0324 right_gripper=0.0129\nstate[joint_eff]: [-0.1026, -1.7983, 6.2427, 1.8486, -0.0122, -0.0073, -0.0122, 0.253, -7.7333, 5.2718, 1.8681, 0.3639, 0.1148, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45a94f78a45e6bfba760bd3f5a4243f868615a27d737726f45206b61f66ba33c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:900c7361d175a252d4c62b08c799238aa6bdbce6ee848b47f5036507c377fb97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8525c494e24394c9325178b1434a4b8f5483c44d9eb1ef01186097d631b3938c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVBhNQRe53bM185KdBjBJ9vmWk85yn5tKx2mItZeai6yPPXfD5LbZQr51kr_i1OPB2i-6aLpAW59stN-vv8k3ebNkQSHhaxEJjShEKYFhdf7bH2AH3yOemI8ALW5Zboj5yX9V8-LUDVie92myaDOHwgNBAW6JLM3i4hQJO0s_uunTEY_8F4umypYV88euduZ7r1KQEYmG3npTe0HVGu0PBTiPLu5Fly8-n2KJQCn4vc1q9IzjSaX36WAsc9xk6qrIZQaF0s-wt8HVbQsiGt8e3amC8yefnICxcP0hkY-1PsC84mThSAmkyKEinpkEi8d915-h5p2YZ0edrhB_t5OUVkyywWuQSEPeqTCuO9orILjrwwms0rtlDfk9lz8bbRNXBicJUIrZhkfDc2Yr_vAOwahP3Aat_s0O65vcyONpgoz8ZSfInYcM8_aOr_aR1h7fF0fxEsTcpRfYu0cm0nLTsKpECi_YeRjrsRe92brO7XrEHoSgIo7k0sGS5kBAzCkg5GON5IFMHVuxoToYX7XhIsOH3eP1wGamBmbnHsT2Of5w8uISkXmnA0XNMvKwnGCwmQDc2u569eYJwWvxH8PvafSrEPkd_RXoQD4ovoQBZMuEScHZ0l_E-33EpoRFAz07P6vzj4alhQRa-ZYAhGcujsgevXtnRYqWjcVWN8o7h-kH0ref4oa4A4KIX2sET4WsOvHdgAu86X_WgPsz-u07ytTzkakNup-ymZoU4JJTOsdoX_6g5xvfWwFADXDZwuvFiSsOh4zQjGpERJ0QHbMJeXTAdySIDJM7OYhRFrxv9-D5VJIEw_1skmuwHEUeodIFjItLetxr9JuF7d1CYFdG71-JSufS6v_dNiQDXZ0aXxu-5a7IK2j4xPhx1ojeyu2ezFX5OF_ipsnsYT_wk5rGdtuVQjZQkdPrkpYA1smHDOHyaiuUt9MhB4fLJxwMMHDPPOGnkp4ejaaxOe54YyctRhCCNP_ZdE-GoS72BrxgiP1zF7bmmCX91WdmFpzICiON__DILs5-JGa7ICaxiKjqsw_Y3ObrBoUJEatdLHjotvuhG14SLbhahq2udfHTJQmrwKQ478moTiVMLs-N1Rf2bV5lIeL1KOSHQaygtXBTWB96DDk_U-9UhmCANF_IXPhVvRvpVyok_jueYuNu54Gq4ELjvFip_X0WqGTxEvNI5lPd1r8uedwVNUvbUpSlmuJVD15qPHnF1I09BzmqjUfsR61RjXijzPmeBgAhfv4_OEOXdNZUwBP94XJHg0z03yXrTWGxKP4tvmh5Z-N4yXuGXp06T8BEAnohZd6Autdih5RxLk-0cWdf6Jm8Adu3wD6n2ELQIgpJBg5BA7rjoDFA8DDNGQnRQG3MQBFyXs-kUb2M12O8DzuvbEN0mqJCqdU9bwU_cwn3f0voJZKGCWiRv0m3DiYoYFmyjEzse5FAPKbpxmsOaOb4kKV4VTmMmB5qZy8U8jepLWZL1WoGe5CwkJgirxgKlKmRaZ8FLdWjGxWM_fOdkFqUAPj770I-9sZjimQ7dK6EUhz5Ast4axCpHPAG3GJFxLW-mYL0FsrvYblOjSqiEmH4fDtKZzYyDpJ4RS1iQHq5fcEySAzCVFPfL1vDdbYBn-dQcNM1DmlInIsywR69OeFZ7q5RL6_gVJwyM6J3Zw2BbYcPEcpJiLA4c8BFh9jjySUiAPouHOmE2WXIyR0ljYPL9v4U7h1fKGwyn5eK6h7ETZ-BNiDl0vd057oHRD3SdsaLFl0T1WDRv8g_nZ9pJHbeEFzs1ARoDT4vebYgvbf5LDz_ayh21XFDX_xg==",
  "id": "rs_06e51d173a4c457c016ab44540336c87d08f964ab2f2d90a23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.08,\"right_z\":0.04,\"right_gripper\":0.0},\"note\":\"The closed fingertips are now in the gap between the middle and right bottles, with the target bottle clearly on the wrist image's right side. I am sweeping laterally toward the right base to push that bottle onto a much easier radial line.\"}",
  "call_id": "call_EHkasgmjTsDKEi9bDUbs4u5r",
  "id": "fc_06e51d173a4c457c016ab4454116a087d08d765b5898ae4291",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EHkasgmjTsDKEi9bDUbs4u5r",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.1883, 1.5795, 0.3874, 0.5766, -0.0364, -0.0429, 0.0163]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3617 right_y=0.0791 right_z=0.0283 right_yaw=0.2294 right_pitch=-0.0446 right_roll=-0.0027 right_gripper=0.0163\nstate[joint_eff]: [-0.3624, -1.812, 6.2701, 1.9023, -0.022, -0.0269, -0.0122, -0.2256, -6.9538, 4.6974, 1.9316, -0.1929, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebf13a8ae9cb536f1fd61d2e821e7c46029f4f6a59738ead6858a4c61164fd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8c43c752ca5dabf0a7a4c2a1b348e93be229b0fd5bbef58b6af925eed21656d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d17f1f61aea7801dd0e19b4e435d07b17c9e7f14a076dc147134a889431e24e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.687 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 88 changed as sent

message 92 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.5495, 1.7813, 0.8593, 0.2897, 0.2829, 0.1703, 0.4803]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.42 right_y=0.2036 right_z=0.0697 right_yaw=0.2079 right_pitch=-0.0331 right_roll=-0.0144 right_gripper=0.4803\nstate[joint_eff]: [-0.3761, -1.853, 6.2154, 1.8828, -0.0317, -0.0708, -0.0122, -0.4034, -7.8701, 6.065, 2.1026, 0.0659, 0.0073, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.7826, 1.8511, 0.8188, 0.3233, 0.4248, 0.2859, 0.0129]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.3648 right_y=0.2652 right_z=0.0359 right_yaw=0.2616 right_pitch=-0.0648 right_roll=-0.0324 right_gripper=0.0129\nstate[joint_eff]: [-0.1026, -1.7983, 6.2427, 1.8486, -0.0122, -0.0073, -0.0122, 0.253, -7.7333, 5.2718, 1.8681, 0.3639, 0.1148, 0.7204]\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 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.1883, 1.5795, 0.3874, 0.5766, -0.0364, -0.0429, 0.0163]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3617 right_y=0.0791 right_z=0.0283 right_yaw=0.2294 right_pitch=-0.0446 right_roll=-0.0027 right_gripper=0.0163\nstate[joint_eff]: [-0.3624, -1.812, 6.2701, 1.9023, -0.022, -0.0269, -0.0122, -0.2256, -6.9538, 4.6974, 1.9316, -0.1929, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebf13a8ae9cb536f1fd61d2e821e7c46029f4f6a59738ead6858a4c61164fd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8c43c752ca5dabf0a7a4c2a1b348e93be229b0fd5bbef58b6af925eed21656d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d17f1f61aea7801dd0e19b4e435d07b17c9e7f14a076dc147134a889431e24e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVKLdsp7Dnn2g1NZjBWY95xDQdMK_T5CrpBVcw897BmQdKyKKlTm0DCJhS69bgGV4RzsdwBwOEwSYFL8s6Drl0kspQ5cnZ-2L392_rOt8pwM17JGkyR74OCy0K6Fbfd-sLEXSAzoq1S6ungJBkHVzVjBuWmD95q09JAGEJLY3z04t2ZDkS9uA0s88YfesUwMiGoPBWoraSQtGsFlT6Z0Y0-hOgOSc9iox0c2TfZgcDUwSzRfeIYtzoDNtgh-OeX-byFQ9PFEwhBIAkJTBGhVurapIH86TV9mn0tFDMLcevJIPDhcz-R2rXsarsxJdqdn7KlC9bsNwZCQtaM98eEyLy15JjzbkSHAonzsNEJBjo7jxSi1_Y3zP0qerPuRHVjfn6vDPzBBtsEXJSc1nP9fS2ezkZekY8gr9NA8OjFgmaiQNa6EWf8gCx2HOr0E-ORgtIlBGifbEivpW3rn9lqtSjDEuaFitoANEJ3l2E6JuFshlbs5Dd1QQi1HvzUr_zfxvyetuZUEKR2rUBQCxrCdXSbIDhmkl_zpGCpru9dqOgzi5jUqpF582C6JYxx3I3TiW5kDNWXyxdVd0eoa107xJFDj5qAuyLziq1wKtIWxiOg9hldK4_wUToBpvDecH-bUsKQucfoa-YsaUHFa0wpXkjC-9oXu26Zi3_TEWIJs3aR7guXyZ_qcw9DLWN0YxiXzQz5932b-lT7q240IqDxoVbeZZ4S53PRz4qH9Sx4AHWznqwqDoantRuF4igonpOm7yQanfufgnhIKuZCcf_DIFLqIoy9wTDKyHhoyvQnm2HuLhr-MNSMzYJffnkFkWDdNyHbhEuLt3R_t4LSg_FiXm1WQ9GLkIFbepiYw_ELadBK_KanCtl7dCHyleS7d2ICEG8yiB9wrAdXLUE2HD0b9sdW-DLAnGBiWV0h9_5s_oyamvKssO4WuK8--tb1ayfiyWAwoNg0F8mgPVr4nMRIRf3GqhiqcfhD9muJoWSGk2xf7GZt0Ji6rT8easbHT7MLxF90GqNWEtX1W4k2F8apWXQtSICi_ate-nJasfyLWElbX0JgAjqanB0fA1UGJzSeuEdkSjUap-7Z-_XKr6-MKdkABQZWUvxENhMg4WtxMFUrXk3cgSp9_xtH8InHC9_nEr23hn7rGaOYdsjwoS5PHaC3_GfCwtoynGifnqosQtmsxqvU5HM7z638MU4deOCpN3rbHEFDeyM0RdOEyqhnRtfNzgocDqKCVcUt6dF761rxvg5AT9SVuPFIi_4q6BgFSrk5qKKTt_BXQ25Opnax9H8vQBEHqrG8WrPtXFRKnzgBiyx4e39W01MR3h4d0I3dEHtrIERzo49uX65MlXemV8zVsIUdunH_ol8vgnR5YOV7lEoAhkVqHsypyMuFzdG_BG5xtlufYFtBsFbsG7N7SjjznZzMXPTtjwiTNvnFaehDUwMeM6IgMeJeIlbmNpN3_g1JOW05PQuamKAXoqXab2--LyS5aWtYfr3YUYm3YGkCNhgPzpp6RIObcqt0KlftI9t1V5_MZEGzpSsFEN_4C9fHgfmbLmcfOwHb6Hk0ofm81ZK9xLy53pMJRIHCQo40DdVf7F02e_WELpTS37p_V3pR3LWMz0dWYkw4dsLOZkWNM2mrTvBNqZKLil6mSfzVH9yi7t7TLRnHkbeYWS3zvbSZv87zD8t2Jmgc-W2OO-mKD3dZ4SlA0qqv-lnOF0Eh7mLNejc8kDT5yBwfQJOZebiu-81zMtbHGlWg7EfP_Q1AD_c0V_90xo33cCuHRicAU6CCe9_fab5J-HeVPVMbhoBAaFFM0f_LeyL2XPlWZ9tOM_V9cDAdVrj7r42sDVtDsnYgO3nzFsbV5WxrbPT3aai68Y3SSKIV5bUMOsR569nx9XLwBXnOokCUQzG4RloQ3s7Bf7Cq58OYdA4ILwJY2wJGXgCr2GRfPXYiWOXt6robBUg1D4njaiSQ5dhP7F-uscsjXUAYZb0KyTZtq83j2WzrHZoEIozf30hp8-d5KuiM3RfjHi0ytiqEgQpHhU5lZN4zF3NMf-TCNWFVPtkGMBtfCyCEsGfXqMcNDf6P-U9tUgssdMb9_5L-M8aumYMIBKlie6iq9u5c46YVojadr-MY2wGbI77m5HPUiadFw-N_v73I6UbUvUe9Hx0-t1i14YlMb7kP9Jcmp1Yv0icqLU8mpJ8OizHHYEkzdcVfDBzN24DXTg6rej1t7hfwM3IUtzZZUl6EBLmyvP2N3ECPUVwmNw==",
  "id": "rs_06e51d173a4c457c016ab44547d02887d0859b40828c231238",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.16,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The sweep succeeded: the right bottle has moved well rightward and is now separated from the others, with its cap near the right arm's reachable line. I am moving above that cap with the gripper open for the neck-lift attempt.\"}",
  "call_id": "call_XccmXYixtuBO3k7eT0jw6YZc",
  "id": "fc_06e51d173a4c457c016ab44549fa6887d0bcecfe147ede2ef5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XccmXYixtuBO3k7eT0jw6YZc",
  "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, 0.7956, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.3656, 1.6489, 0.9924, 0.0788, 0.0799, 0.0265, 0.9954]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1774 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4498 right_y=0.161 right_z=0.1389 right_yaw=0.2714 right_pitch=-0.0052 right_roll=-0.0096 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -1.7573, 6.2701, 1.8486, -0.0464, -0.0513, -0.0122, -0.1299, -7.3504, 9.1282, 1.7411, 0.2173, 0.2564, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7bd8f3b93f66341bc05b1ffcd6c557b7b2c5f0a9592eac969f1827fee89ec0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39011a7be4da0287e29224dd6bc888628b7f412fc8c00fa757f101345755760e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a360567784eea53023c5b6a67e1cbf8986c30aefa4b52ec11062fdfef6dac1a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 4.3 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 92 changed as sent

message 96 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.5495, 1.6371, 0.9817, 0.0158, 0.2794, 0.1585, 0.4006]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4166 right_y=0.2022 right_z=0.1307 right_yaw=0.217 right_pitch=-0.0407 right_roll=-0.0246 right_gripper=0.4006\nstate[joint_eff]: [-0.2256, -1.8256, 6.5709, 1.9023, -0.0611, -0.0317, -0.0122, -0.2667, -10.0855, 9.5658, 1.7753, 0.1001, 0.0708, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.1883, 1.5795, 0.3874, 0.5766, -0.0364, -0.0429, 0.0163]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3617 right_y=0.0791 right_z=0.0283 right_yaw=0.2294 right_pitch=-0.0446 right_roll=-0.0027 right_gripper=0.0163\nstate[joint_eff]: [-0.3624, -1.812, 6.2701, 1.9023, -0.022, -0.0269, -0.0122, -0.2256, -6.9538, 4.6974, 1.9316, -0.1929, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.3656, 1.6489, 0.9924, 0.0788, 0.0799, 0.0265, 0.9954]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1774 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4498 right_y=0.161 right_z=0.1389 right_yaw=0.2714 right_pitch=-0.0052 right_roll=-0.0096 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -1.7573, 6.2701, 1.8486, -0.0464, -0.0513, -0.0122, -0.1299, -7.3504, 9.1282, 1.7411, 0.2173, 0.2564, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7bd8f3b93f66341bc05b1ffcd6c557b7b2c5f0a9592eac969f1827fee89ec0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39011a7be4da0287e29224dd6bc888628b7f412fc8c00fa757f101345755760e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a360567784eea53023c5b6a67e1cbf8986c30aefa4b52ec11062fdfef6dac1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVQZ6k3u3CBX-QVzPDrNY41nsJ5fYIV0wY2cpdJ5rsyasmTyzYGkMjs0Lss2V1vED7D0ktIbP7s_Wp3GdKJCStyQw5nB3uqrAXB9IY9rb6AcYYg7jA02wUzfrhatC-luaOfaj5R2Rf6mQDx20g2JMXyWJUdlTtXKD18y-LPJlbHPFBJH_xMR0T-KeU44I6mHucme2QCnmGN5gmZ4fqEU7YC9BufixA-WoRHQoS_kzPLF6QnGY9rYxQt1czO_cohNgJuTysvjKs9gRgs7FHrr9zbbosw25187eza4BfBH6jc9-DolFXEIWIAZce7vGu9PJYCAnjm4IKNL6OYqSQhrL8K-Bb5YeQcixYYyJfG42n1-PirH7PL4jxcEiyIts28gN1zt5aneGKYxLC-OYqZ5Z4R8fDlp_mf3YZbyOEOZeMYD7yKJ5LUd9FBEpSWlztvdZ7excZ-okaCjorq-Yw8Fz3D04vuaH1Rwlyv4Up5pSxkQaczMk_Xt5byumRrV8VF1D4IK6zDSQ0p0WPOW_gwPxvNtU9XQTYT5KtHgVGFXFMr8--n10EZ4fwmeyb3ydehV7Y73BL2Z4NKL5eb73TUX91aw2A2WmUYy6XSHjSgL3sjghIpcdn_pK2lklf36u49ab_6GGdKxCfSiYMrYnKlfnxd5nNms-iwXnQOkDHpEDFDT7Omzt9zIIyvKPo4MucFeiEPwW5RCi1EMzfrcst2ha5G8MhkK3NffNgIsr90V85yzjJxdenANzlOhiWZTaasrrX6W2ygIEWPyLXsWiDGkID7kAtnCbXRs2CJGPG1AVkqWRBKu-Fm_sq8kCEl3-X9Lj5epAcvJpCxbrW2p6qFViAxqqiN-fe882r5AWgvWoR1T9lCt9RpOnTUtgEAXy2P1rfjcs6QQDwnZSw3cjvOkeLxRptCSmcj8HG21uROwSfNFHNnwlm7NUozDPnmowMEKXQ7D0XTrSzZm7hNe6nO7KovSwJCtago685X0RxOfkvBVPE2caVj_JXDNTGil3w4_8Ghgdc8ckZLiWBYC9ueft9PGcKvZD0xieN61MSLoxffVEFYf_tWN3D1hI18iKhhtgnJMdkbLc2dEZ9QBcnFeedS3nPDvDt1I-7fHP8B9fYeGvKf2mjZjnnBKMdaeq0ko40zb6bmROfXCYcsroOpf9MEK9TxwJT5L8dXmSCCEy7sYgUp7cP15xHIWhhu_qUuKlBSjsNjuNFXHyBoGYl-q_tW5Kg_PeJ4ojpGEr44PpqKBzTmnFMoxBBzHw-pqpICd5wVmDWaLfIZzRzwIajbg_ZkXDm8N180rNcqZe4ImoTBgE1iYKh-CMPybF-vyso09JK1FdALktd7K-zM19jcKJ80YL7u_4SBTFyWc2mY_TWmb6lG6VLEOLi3z6Ze0p-qrv3jfVmtqJ7G-W5FrY4scgbup-Gv3gyAP_V8qd12oNGRrzf9yRNh9gP2gP0M8aVjuSFmmIP1lZqmKy9FgKDhUiFt9p0oi1VdQmTefNEq6nFfo3C8khHj8lkdwC4TGbd74o4XdhoLMm_PFwk5nJxg-gaz4z--otYZXr8BFvgwvcZfxvVCVSyboh1qzXR-lPj8QvVOwOMftxxsqMgpj0ffFVKdtS9tDf45iT8P9h27RoBtGA9P7W1J0G-DK7ZMnjcCdA8dlZ_vrC4IYUMj6UM5P-xDZ5I6wJhee4HErIiwEWP1ofgAMUa2a12bRh7f9Lofl0xw6tHkOgBcrY1xTPKiWHZ4_SFMfz5Kw6Wtzp7-d1ku8i-fht008XZO04xGxKQyTB2vhbaQyRzGVc1BvZcOxGwObXeE168ih4SrUeywnNNl-12zj83lI4jI7GyruDmyg2_4N7TDA17h1u53YCn7Oe0KyZfu2SUNDKUfo8QDdb6yAthc6EAmyzJ29kEIYGt3O6Z8yVw4Tsnq3gkoYSzDzCCXgqoSWAzai11xozLew4TYadD8frggGKZUaUmD5rqTQsM3NQXoM2dRI61RSEcbHaeI4SADdlsInfKhZQpzwJ5IhPqGbLHkp5BW6J32FDods6Ihi0v0s3gWZtxmXrH9XCcZvaNIvwUFc-Bx6QR95LiR75bQA6FH7mpTinbvD43ED4syI0OJywbzzCM5KtCHc4clxtqhW35NadtLGgZCK02SkW9bQcu8lHuE0VSw-Sb7EQO3S1tCzoqWbG6jQbg_2sWZaUYOl5I52EAzLtltrMzikV1a77jCcm27UQ05DvoQfqJyjvoO4r7gx9H4kbOxKv_wVjIPp7FxFpUg54sb4BOPu-qTqraob3z4SWW2qy8yhzPaTXGanTzGX-Nq4ae4tuHWLqZVgAdCsasWKP0fDQ73rX0stDJHiiysxMxXORpZIimMnSwvHPWs_oWBZezzGH9kQoxyJFgGe33eiMklPHCLt-D0CEtRuphu27f0ODjpYvCR6KLM33BE4IscS7iEbVjrJtuV60fwxMAqi-9hMwfWveSikxLuQGvNG2kGSWvCFhIRR242mQZDMdVj49_wGkNtu04zuG1_IBBmPfi3QCiqn40=",
  "id": "rs_06e51d173a4c457c016ab4454ce27087d082513868476e2cac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.16,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The cap is centered laterally in the wrist view but remains several centimetres ahead of the fingertip line. I am advancing radially at safe height so the grasp point moves directly over the neck.\"}",
  "call_id": "call_sMQrAPuSuFMmRz7rZXkBMyeW",
  "id": "fc_06e51d173a4c457c016ab4454fdab087d090d25f6bd0e81853",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sMQrAPuSuFMmRz7rZXkBMyeW",
  "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, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.3244, 1.7859, 1.1473, -0.0097, 0.0399, -0.0017, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4802 right_y=0.1579 right_z=0.1233 right_yaw=0.279 right_pitch=-0.0773 right_roll=-0.0146 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.8256, 6.3658, 1.8681, -0.0269, -0.0562, -0.0122, -0.9778, -9.0735, 10.3043, 2.0098, -0.0806, 0.1197, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed9b4bfbf484f94ba3ef8bd1b0fb04b449c4df81d88b94e8cba0040bbb791a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6950bbbfdbd15dcfda14a3e2ee769f65fb30e5f9447157a3595c83ca352d8ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5025e337d9c1eee1ab14e854492ce04421bbf473ba5be74945cd27900af6e1fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 6.714 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.7826, 1.8511, 0.8188, 0.3233, 0.4248, 0.2859, 0.0129]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1776 left_yaw=0.0009 left_pitch=-0.0095 left_roll=0.0001 left_gripper=0.9983 right_x=0.3648 right_y=0.2652 right_z=0.0359 right_yaw=0.2616 right_pitch=-0.0648 right_roll=-0.0324 right_gripper=0.0129\nstate[joint_eff]: [-0.1026, -1.7983, 6.2427, 1.8486, -0.0122, -0.0073, -0.0122, 0.253, -7.7333, 5.2718, 1.8681, 0.3639, 0.1148, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.3656, 1.6489, 0.9924, 0.0788, 0.0799, 0.0265, 0.9954]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1774 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4498 right_y=0.161 right_z=0.1389 right_yaw=0.2714 right_pitch=-0.0052 right_roll=-0.0096 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -1.7573, 6.2701, 1.8486, -0.0464, -0.0513, -0.0122, -0.1299, -7.3504, 9.1282, 1.7411, 0.2173, 0.2564, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.3244, 1.7859, 1.1473, -0.0097, 0.0399, -0.0017, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4802 right_y=0.1579 right_z=0.1233 right_yaw=0.279 right_pitch=-0.0773 right_roll=-0.0146 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.8256, 6.3658, 1.8681, -0.0269, -0.0562, -0.0122, -0.9778, -9.0735, 10.3043, 2.0098, -0.0806, 0.1197, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed9b4bfbf484f94ba3ef8bd1b0fb04b449c4df81d88b94e8cba0040bbb791a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6950bbbfdbd15dcfda14a3e2ee769f65fb30e5f9447157a3595c83ca352d8ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5025e337d9c1eee1ab14e854492ce04421bbf473ba5be74945cd27900af6e1fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVV_cjFdAPQAxHv6iPjJmVF4AvSArdvV-JZLwT2gdEE6-x78kY-De16MVyRva5negfqZXc9DSoH4mL-D0zqYVjVpENQbKH8OTENk_21Gy8mtxpYx9H9E5dwgCStUhCAS-4qOGCWphepxzzpsFmQyxOvemF9lUBocYayZVgB63FBeM0z0TeTf_dnzgMbTFBwBML7QEUok-1DRbLWVdvbaB63_z3Dj458N0T3J-H1U8zA9tblEL68HG653myj_mlFPilVpDW0iSGR09PGCOH1BcafrEDVT4P5cvFs91hmdjrPQDOilhOh4tjE3az8ofEF96ENP8aBuq1uN31pDMZDsZArX7Ginf_GyMHDctjjs_xCWqLOqaWopkYzx_VGiD8Arrg-4gB3yIwKcp_li1XhgxeHCY9iXfuuP93SklbwoHyONQgCGGBuNi8wRBQnWaUUokKZ4TcR_q0T0UTKqz7eidY7I1pJ2DtOG9R4KMxX_K_xojExb0DmVa4BZpUKcazIUOd-beX4CDNEAvKvecuKR2F022QhFHzCqDOqHSJTLlqukeTJQ53zMgHF0lLGmjQMS3U4QQNCXlJtZGMPb6ysRnlZqelZA27XEQ2LEQObp-vsi4pLbFbQMipMxUHxvyp89nxGCs2ygloYW36R3A-95QXmvWiNd3RYWVxfwtZ3jbF-oAsqkrQZ8xXXHDxN-JZe5g1Y_GSZB555yFBnAFT6R2aVIxTF_g0eMAsrFXCm-eajdcOVWnEhhB893GZmGCjgx1AYQgxjKPb-UCEZUi6kj1c0GWQ5bjOQohUqkegE3u3mJy1WJJbJuglP3aUQcf0f3pzPAQKJ_NYhezmQHpPn4SewxLpS9GKtL6siJf231hi9buO8MCZTMtW1qBU2pHFWQcnCo8BL-MTqfG726Q3ERHTAbyHnS1nJo-DiYTAKI0Y1qecpD0EnS1tX4jOzhW_J1ybEceHsWk6oeedtIktM5onvTMCUrxTWRRyMfv9XFvlWBD_qScbk62pMtyQqfv-58aiN0UKNIVmJM2Mx8ZhA9hv1HaMoBqvn96aPWrk0gcsb67JdOTtoWSZ-f2118O2k89vB662GBhzyVj8X4xo-cOcWg00JmOZiSxpVeZbOn_XRznwA9UEKfKqBD8kODqmH-3A1klZr-rEoWA7kjrPSf_9yvxQISCMz_UN76okzGS92G0mKyngB8sQfW8z4RyN2ZwOIymtaXCRjMdg-x5k36kSdHBSzorGJ07FnVpwlX8atu0KqUTLR5yvGKwc4A323ZUr3a2w84sVWfoM-ubHKjGbZ0PIbDUgjwWi18orEhgih344aRccFbsPlN8Yr0ugOqCCidyt4TiVDLIfNvP4dOTuYjO-CXXfXxDbZtDmsqclakaFT-DEIOU0jAnTRHv37c942YqQfGKbKD8fdu0ho7jCItkEoeCnYk7fjBjvrCqyBRt4MR0ZwNmooDbe6O8oSBXCse5UWlkAI3akpjJpr4gj1NPtF-S8KoN2ezLzJ-ghuyAAZac86E91A4ee094m2psZj",
  "id": "rs_06e51d173a4c457c016ab44552199887d081a69563935f0b37",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.158,\"right_z\":0.17,\"right_gripper\":1.0},\"note\":\"The first advance was partly canceled by controller sag—the hand moved forward but also dropped, leaving the cap at nearly the same image row. I am commanding a higher pose with one more forward step so the cap reaches the fingertip region before the descent.\"}",
  "call_id": "call_24njx4mrCGA7D6BlMThhYCi1",
  "id": "fc_06e51d173a4c457c016ab44552f1ac87d09b974fc0bf9d5cf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_24njx4mrCGA7D6BlMThhYCi1",
  "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, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.3195, 1.7985, 1.1763, -0.0147, 0.0219, -0.009, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4863 right_y=0.1606 right_z=0.1286 right_yaw=0.2931 right_pitch=-0.0663 right_roll=-0.0093 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -1.8256, 6.3111, 1.9072, -0.0464, -0.0708, -0.0122, -0.6496, -9.1282, 9.5795, 2.0195, 0.022, 0.0952, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cef3c2a578e29eaf3879dcd73ea7c9c4a0720ea7e82f51ba02aec58bb957c6bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b09c6223338863545842d6aa68fbd128f1ec0b0d6c869defcd1207a2fd87ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06fdb62c3fea7dd9c153e43cc83dc50a14b1ffa12d3eb21941eb5cd222d0cef8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 2.614 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.1883, 1.5795, 0.3874, 0.5766, -0.0364, -0.0429, 0.0163]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3617 right_y=0.0791 right_z=0.0283 right_yaw=0.2294 right_pitch=-0.0446 right_roll=-0.0027 right_gripper=0.0163\nstate[joint_eff]: [-0.3624, -1.812, 6.2701, 1.9023, -0.022, -0.0269, -0.0122, -0.2256, -6.9538, 4.6974, 1.9316, -0.1929, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.3244, 1.7859, 1.1473, -0.0097, 0.0399, -0.0017, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4802 right_y=0.1579 right_z=0.1233 right_yaw=0.279 right_pitch=-0.0773 right_roll=-0.0146 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.8256, 6.3658, 1.8681, -0.0269, -0.0562, -0.0122, -0.9778, -9.0735, 10.3043, 2.0098, -0.0806, 0.1197, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.3195, 1.7985, 1.1763, -0.0147, 0.0219, -0.009, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4863 right_y=0.1606 right_z=0.1286 right_yaw=0.2931 right_pitch=-0.0663 right_roll=-0.0093 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -1.8256, 6.3111, 1.9072, -0.0464, -0.0708, -0.0122, -0.6496, -9.1282, 9.5795, 2.0195, 0.022, 0.0952, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cef3c2a578e29eaf3879dcd73ea7c9c4a0720ea7e82f51ba02aec58bb957c6bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b09c6223338863545842d6aa68fbd128f1ec0b0d6c869defcd1207a2fd87ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06fdb62c3fea7dd9c153e43cc83dc50a14b1ffa12d3eb21941eb5cd222d0cef8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_06e51d173a4c457c016ab44556b2dc87d08d5b4e999d4e1818",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.1,\"right_z\":0.08,\"right_gripper\":1.0},\"note\":\"The cap is now visually closer, but the low-height reach limit still prevents a direct neck descent at this radial distance. I am moving to the bottle's mid-body on its new, easier lateral line to make a controlled partial-width pull inward rather than chasing the unreachable cap.\"}",
  "call_id": "call_rzOaHoW0PIaSQfW9VwivxwLX",
  "id": "fc_06e51d173a4c457c016ab4455b0b4887d09791c313b9ce610a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rzOaHoW0PIaSQfW9VwivxwLX",
  "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, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.3195, 1.7985, 1.1763, -0.0147, 0.0219, -0.009, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4863 right_y=0.1606 right_z=0.1286 right_yaw=0.2931 right_pitch=-0.0663 right_roll=-0.0093 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.7709, 6.2564, 1.8779, -0.0269, -0.0317, -0.0122, -0.6769, -9.3333, 9.7846, 2.0195, 0.0366, 0.0708, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28f36d58f12069eb39b67401f0fcd532edebf5b31140fce69d258d70543c270",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b19766589df7a66dd14ae541841c77c33464781f87e17833a8fc77a89d95c49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03f381c1841e4843ae917fa6eb5a640602130a3e808337a29936e86b6f79930",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.722 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.3656, 1.6489, 0.9924, 0.0788, 0.0799, 0.0265, 0.9954]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1774 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4498 right_y=0.161 right_z=0.1389 right_yaw=0.2714 right_pitch=-0.0052 right_roll=-0.0096 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -1.7573, 6.2701, 1.8486, -0.0464, -0.0513, -0.0122, -0.1299, -7.3504, 9.1282, 1.7411, 0.2173, 0.2564, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.3195, 1.7985, 1.1763, -0.0147, 0.0219, -0.009, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4863 right_y=0.1606 right_z=0.1286 right_yaw=0.2931 right_pitch=-0.0663 right_roll=-0.0093 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -1.8256, 6.3111, 1.9072, -0.0464, -0.0708, -0.0122, -0.6496, -9.1282, 9.5795, 2.0195, 0.022, 0.0952, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.3195, 1.7985, 1.1763, -0.0147, 0.0219, -0.009, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4863 right_y=0.1606 right_z=0.1286 right_yaw=0.2931 right_pitch=-0.0663 right_roll=-0.0093 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.7709, 6.2564, 1.8779, -0.0269, -0.0317, -0.0122, -0.6769, -9.3333, 9.7846, 2.0195, 0.0366, 0.0708, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28f36d58f12069eb39b67401f0fcd532edebf5b31140fce69d258d70543c270",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b19766589df7a66dd14ae541841c77c33464781f87e17833a8fc77a89d95c49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03f381c1841e4843ae917fa6eb5a640602130a3e808337a29936e86b6f79930",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVfO__VszpsqwMn0jxPn2xtpY6vRUhk4S_Pgod50o3YEaVZ6EdPSB2NjZiUIobwctN2Zt_Ny22tOP7bxy6m7LSyQArCwwjDckZFaft2YtJ_wA0dWrmg2dno4Kg7QzNdI6Sm4jRkkH1p3OEURxk3U77yEWHUHLezPvM82DtycVF9t9Maj0WPIePWs6q4RjO1hJYd1cKwTQ7jN5bQ37h6CsqelKS2_tmZUQ5awBVTbkXMZKzwdACiqG9YeLviWbL2KhHJrCnLPeBPLryG09ufD7iciKo02CHFTTq7Ks107zRRyvsY6JOmoCwTCQ4-4_lPQcPtzctp96Nr35FpDT0aznNmF3pUuQ_m5Nt-nrSYOumrkKGgEAIZb9tIPBrq7UTMHFg-wj3E0TgPT-19TGaxWLjEkbukR4Sr1G0_qn3RAptwWL6vI9FIjbX03SbsfYnIg_15NXbjdW26ISE-ZIUyLMJTMPcOm-haGFvVpsAHdxbvIiTJT1Xgnp_aBVkDzJjjOebdqFammjSQQyHcyQUFo4qCZx_KruDMrOSbI-WqPyJBlQ98p-xCe2uThj04WMFwXoQ3vPR5mnngsedlIWl4pxYxmFYs9bhTPRa0bvOi0IR_EGEV-6ChIygoElTleh97MJt2QApVrxs0tE9LC0kIAgWs_Y8Refg7csYdtv5iq5Ho-lv99Sw98Rj1RcaA_bJODu_31SgspF-Osxiwuh2dxyk2hv0yhAAGQaHHubjqL0VllScH8dTvTyDOfZapl6qR4ZUAHYsyB9z6PJIOnzaKXcwp44lNLTEAZVV-ycXKQPEdUUhIH8O8XxBtZCZ-0XY77u8NkWCo4zAgCrIztaNwGv09CPOjQnERXdcKT-KvaDpDl59DcsVn5UIRbvOga73zQB3SeDFWlkpGzNmVOn1sg_aOfeRMgdkQ7p-YsjNOgIV7XDLu8MDEdVN_J5a_oCBRToWfMu1vnq2hdGIBS_hWYvEaki3cnZ08nSlFykRY_ocJqACy--rAtjpi1sM1KUYn_QRndTVu22F_kvhDsF-uXx1uSt-Yyk9Rt1sTjX6pj2lT8yRSosraBq4VqMzWuEBHb7k8kVWTfgNRlWcnE8LkZ2u8NgWlmOmEn83NS48tXwvoGhNrgA9Dcmv6rcZ8IAdtewD__nj4vHjW1kjCK7VonpwuyMqrjgtO9bKv08al8iNy-KTOvTXEla1H54b1l2ELNl4G9zcp_GEzkcelZ0MYwqU-lPGtgYtjuq9Vdkw-MILLbRg6S9hlZ6RlT5lRHtr5oh01nJH4OmYEbsgV2cfmEmnRPsLE6bdBlJw4VPAmTtj92oPqQRzyavjh-bldwe1tlG-pPlPVV4zSz35Yc6FkB8KyJAQRSB2SoyWGfwno5sjuP_Y=",
  "id": "rs_06e51d173a4c457c016ab4455e036c87d0a1d342a66d0f8562",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.1,\"right_z\":0.2,\"right_gripper\":1.0},\"note\":\"The arm did not leave the extended pose at all, indicating an IK stall rather than contact. I am first raising and retracting more decisively to reconfigure the elbow before returning to the bottle body.\"}",
  "call_id": "call_ms1EDTj42RY9MsXPUhz4SlMF",
  "id": "fc_06e51d173a4c457c016ab4455e6f4087d0a1135c2d3f8dc600",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ms1EDTj42RY9MsXPUhz4SlMF",
  "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, 0.7921, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.2131, 1.3624, 0.9524, -0.1452, -0.0601, -0.0593, 0.9997]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.411 right_y=0.1034 right_z=0.1979 right_yaw=0.2829 right_pitch=0.0163 right_roll=-0.0067 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -1.0598, 6.4068, 1.917, -0.0464, -0.022, -0.0122, -0.4308, -6.4889, 7.0222, 1.7656, -0.1294, -0.0806, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd5d9bae68a77facb92ff39bf3efb0b6418c15ed255e21847e9650a088c80e3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a19d7ed6f90a307a01e7c46b54a2aeeb81b705d5a6fce4cf8b4f08a8c0630523",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9483e5b3ffdc6bc9dd544700220c66bbfaa9b17a8eeb489667d8197bf839c633",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 3.588 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0227, -0.0292, 0.9983, 0.3244, 1.7859, 1.1473, -0.0097, 0.0399, -0.0017, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4802 right_y=0.1579 right_z=0.1233 right_yaw=0.279 right_pitch=-0.0773 right_roll=-0.0146 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.8256, 6.3658, 1.8681, -0.0269, -0.0562, -0.0122, -0.9778, -9.0735, 10.3043, 2.0098, -0.0806, 0.1197, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.3195, 1.7985, 1.1763, -0.0147, 0.0219, -0.009, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4863 right_y=0.1606 right_z=0.1286 right_yaw=0.2931 right_pitch=-0.0663 right_roll=-0.0093 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.7709, 6.2564, 1.8779, -0.0269, -0.0317, -0.0122, -0.6769, -9.3333, 9.7846, 2.0195, 0.0366, 0.0708, -0.0415]\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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7921, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.2131, 1.3624, 0.9524, -0.1452, -0.0601, -0.0593, 0.9997]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.411 right_y=0.1034 right_z=0.1979 right_yaw=0.2829 right_pitch=0.0163 right_roll=-0.0067 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -1.0598, 6.4068, 1.917, -0.0464, -0.022, -0.0122, -0.4308, -6.4889, 7.0222, 1.7656, -0.1294, -0.0806, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd5d9bae68a77facb92ff39bf3efb0b6418c15ed255e21847e9650a088c80e3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a19d7ed6f90a307a01e7c46b54a2aeeb81b705d5a6fce4cf8b4f08a8c0630523",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9483e5b3ffdc6bc9dd544700220c66bbfaa9b17a8eeb489667d8197bf839c633",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVj4E4JPs3D_esYF2Je6kHGW4dOWdIjsDZGMufMTgB4dTDrCPydby4HB4Rgua7ocaPBoGeXlvd4mRgh1Ed5pl53syh2E6lzm4_FSet1T8c1Q40a-_Vh4INZw7nNJ9T0dLCzr-Ekz93ns1c9HlTzQko8DlcmuIJi2lwrFMZxkp9-UwHyX2qydEYC_oqBg4idhYNaJmLlHaTFCqTTHTDMSX5UlmoX6tPxdVQZGzqYF0MkB2of7rP-FzfK06G7Q0-IKqLD-C8lK37tdS0oaN54s8NlKbWtJ8QYEz3b-YxRQbkGp7dnqErOegqr-Ii0AGntc-f3N2NtSKo3DCowlNjW5HLECoLDJiZ0BCulzQK3RyPfKmVChY_txGMA3kc02aLSPH-OPsxzJ4TWkGnsPdcH6V1XMx4c7EdFZokpiA16CpAMzMVaStzb1Kkhu3PBJ7G4l1MyAhzyG5lUfoGnyaaJbymvASP3mLQhQYqCp2vX_2BcY-9td0HCyE5Y5W15Hi8jnutcBSEbeoK9kgV_oLJXqx5PG-P1WUk7XB22FvzPmkIRu4EOipDKpD_1FtE95IkzjvCcDw9IhF63XtFufkKcPugMgTOZrhPj3Cb96aBXoqDpSZreQO_xy9Klwrp-V4S_VvpTw2r8mUfbB5cf7AWBQw00rUw29Yrwhul2m3RLFgrfGoo2S8z5Kqu4DN7Bm-QEzvVJcwcjJ8qpKVZYO1p_vWYZ1dzV3tbaxsHP00r1-DIYsPpv4g3domBkZxHq4TefHfB7sFyWmRWJXCsPo5dYTjuBwNLtVQdfysL2hA3pgEgefxAe2vKtCYzAgv9myYFUz2Gu4AxBY-Ff8PJrphw6tYtVOHUMKW_RakcMLfazk1-qMrtVkWy1M97-dPXssC_876uaKjlVSEGWzr08Jq-gItvMZ82di9xUCKH8I_QteRpLz9PaUAsQHCMbQKffO6ZeAsBbl92-0xWm5g_0wHEhTXP8dwjtHcybxI4axCrLJhKofuQyhGTj-NJ6BjEfcozjGUGA75aifMEDId-9kS1bbVMmtD9H5EheV-g1IrrkSP-L9Rk2LVw87rp8KpRLrwNWvsh96TmLrLXi8MyoFK3VtnXrUGRSEFlhe9B7pC5OS7hsLLqb48qW5tlHxLbW0UxhqfEzpBE8g_GAoVOt8_GN6kXyf4MkmGCD4zHHKfgfcpcM07w6oAyAZ6ZQ5ZS8IOiPveuM9-XkLwcPjubg3uFbqE66I6Yysko4AlFJ0iGkJkdRV5yjVAPmLzVIHaw5sCDYOYhVvllsz6OkwstPUktgTKZlCUYirtw6IBCR5TOlwUPmDSdo-BImbJVhzWi5ZjTm-eQPd49NCjOeMCUzailmeoyQ5s0l5rMyFfEjeJYXah8QHHYKoPqlsSgmVisCDlY7d2WkedtAEl4j91BbWFddZgaUTv4NnVvS87gC-FASIm5SSaF7Rmq4tNBWSIYqtQElmARjuvtt-ViIRBibuZbjg9QPHkCQo-k_4qx9lyB_y5Q2dRmQ-aqzQr3JCbNT46LqdQt44f17WXGndB6cnAuMtDsqQYC5hc-SYW4eRhalPSSaGCpoAsyYKaW0zVduAx227cqYlKt5t1QFPHPOXw1HMx1nsqZ9bmafeBYtgDwhiBX9X-9j4s9uDrYTNSJXadiwUowcr-SYUC0tNGqxqLuNjbPN_8H7fNtfbfidIETGgShmz77oQrAcQqSNOvTObHAfoo8l-BxRX8Hp1KoPFOq-4FeUsOb6tKIiaIwFkhur6zj_qn3x4466Rf90wcENCJDGi6xEfejtphsAC-9Kf3gGkpAfiyMSyc8KKPaslDxhhC94nwd8xxv_v0hl7SgoZwM1fe3WymMJkc_d_9Vy595LNooolz4PQgzOkfbtmwfl4kBNicTeTbyMJRPhYuePL_IGzt4guP4dPPKL7QMvEn_6EwlOxAM_ebzrvPNth-JfpuycoR7eUQVzuFedCisuuSbDJ9nH",
  "id": "rs_06e51d173a4c457c016ab4456134a887d09130825953ca5b8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.13,\"right_z\":0.055,\"right_gripper\":1.0},\"note\":\"The arm has successfully reconfigured. In the wrist view the target bottle body is near the fingertip row but slightly left of the jaw column, so I am descending over it with a small leftward correction.\"}",
  "call_id": "call_ka4zpVtCkJDPJFqlpx5YoXJP",
  "id": "fc_06e51d173a4c457c016ab44562c05887d0ad34442063177824",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ka4zpVtCkJDPJFqlpx5YoXJP",
  "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, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.297, 1.6665, 0.6334, 0.3885, -0.0013, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4001 right_y=0.1264 right_z=0.047 right_yaw=0.2981 right_pitch=-0.0741 right_roll=-0.0071 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.5385, 6.5709, 1.7656, -0.0171, -0.0611, -0.0122, 0.5265, -6.5436, 5.2444, 2.0781, 0.0513, 0.1441, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ba731c49bda8bc3fef43276abcc5e9fbf470af46afe7966439a990829ff62f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d46ea488560c5b2e518dc26dc1244364c807f8667975456ff2b4ef37c81dae0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6e6cf9180b818dc4eabc3084e353a04f1e50428bf4dcb61302401cef371248",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 2.961 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.3195, 1.7985, 1.1763, -0.0147, 0.0219, -0.009, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1775 left_yaw=0.0009 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9983 right_x=0.4863 right_y=0.1606 right_z=0.1286 right_yaw=0.2931 right_pitch=-0.0663 right_roll=-0.0093 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -1.8256, 6.3111, 1.9072, -0.0464, -0.0708, -0.0122, -0.6496, -9.1282, 9.5795, 2.0195, 0.022, 0.0952, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7921, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.2131, 1.3624, 0.9524, -0.1452, -0.0601, -0.0593, 0.9997]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.411 right_y=0.1034 right_z=0.1979 right_yaw=0.2829 right_pitch=0.0163 right_roll=-0.0067 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -1.0598, 6.4068, 1.917, -0.0464, -0.022, -0.0122, -0.4308, -6.4889, 7.0222, 1.7656, -0.1294, -0.0806, -0.0415]\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 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.297, 1.6665, 0.6334, 0.3885, -0.0013, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4001 right_y=0.1264 right_z=0.047 right_yaw=0.2981 right_pitch=-0.0741 right_roll=-0.0071 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.5385, 6.5709, 1.7656, -0.0171, -0.0611, -0.0122, 0.5265, -6.5436, 5.2444, 2.0781, 0.0513, 0.1441, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ba731c49bda8bc3fef43276abcc5e9fbf470af46afe7966439a990829ff62f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d46ea488560c5b2e518dc26dc1244364c807f8667975456ff2b4ef37c81dae0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6e6cf9180b818dc4eabc3084e353a04f1e50428bf4dcb61302401cef371248",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "encrypted_content": "gAAAAABqtEVoZ2V9jrQfCexZUql5g41Fl50jbyS1jnhIy4WsttCj79HQZU2v1E9SeEorLMRUMmOtLYAgtX-kUbXgoPf1o24yca0jnjSCEPKYhvL-_WRNxsPiR0bXJUudMxEwPNYOZUBaxWC8bN8FVlQm2w5O9fQSS8oekq-UD86GBsVz6fr0L2-cP8FIAo1zGAPzfPzrj5pdf7RGM2K7Tnjgcal_kyrpi9X1V8v_pMXZA9yNP2a6YqMA8ihi2ePesNz8JD4ZLuaJES0DyF1TqmikI_m_VNU00TQ0cDCMJvmRHedvvl9YDk6Ds0RL4kbz8aEeehtoVhNFMyLhDgWMVY_m_8C6k5BQ0ihKgi-7q9rkoGMkhj2MukV-QoWQ_6zz4aWdO9hYwtBcIu7l_z0QUOo6CsQ5qLvm0634bwtzL833w3O6Zcey0YpjiO861kd5EqSQBZS4ofTtWzqEOYNRzgwisBRCnOhZb0ui87c7ttdloNBCyZNjnQ-RMMBz48vyKZ8tnj3nr23_koWqKEt2jIj57DVIqNi4anlrhfqVsRqncTnrbG-Y3S9M0UoQxlXm0reX8c9FmaC1WhgkoUSbqvDuWDyoykOouk0wNGVWo84xuE5MGTS8KsYKlx2kPs-Fbl6eNdnUiZGYhs_SUPjgUyX9V2PUB121nP9a5rGPQm_KiZS5Ib6Cl3t37IoTCBKBE364rqflfSrYHD9Gd0TTtLWf3nfSMh_LXbjvehGH5OUvkSpUoGcrRdkV0xkbbVOdRyUSKVdw1FgKmipRp0jHE6OybNaInlSfc3hiJx4zBOJ8zXddqHtrQ20bGlJ9UGUnO3k1xc1_KyP-LV7l_9-KF3J5FRdf7az0XagLnbAeUNrwYuqt-JNS3K71oIE6enLgXnckH53pz9dyvoyd21Bf7_0fSFpyq-K644Budm4zF32o_TjAoJ6ywzjJxvi3ZOHdSPiOfPr74-SH06hdTN2YRzVlB6Rhh2rc8CL2kLF3XZb4_MCrFkHL0jPA8mCjil3bVsqCpKi3UY0rX3rPpfJ3Y2P6m9U2fkOcgqpKQWwvXj-xmlrW_lGgmS9o6eCkTCS4nesmpRe0m-RK-0SV_pTuiP1kg9WKJEbZEV_YZoBuMi22YhwLHZJ0-RVIcP2_yuIEMsc32e0ttv-Tv7kv3j4lfF-B6fRqRWU6QWCh1SecGGknD9TbQ3pZywpMVkCWXENrYl4BSSpfe6ejEUMDI6fzFyw-Kq2xOgR9tKbebKTcTtILY1zAPeMhRNmZ6dhFZdsFf3DK3IHMeJFGa21DG7Ff1dHsZ1udkyBoK40knYBgzlEF78pUVGrSP3Z-PMIEbZBxzxenrfb0P3OmVJt90NewQBl9Ni7uSvJUF8khW457AaXjma-oM6JkFbOwJ5fUTimSOr923bAWwFwbTJnnPjQbbukAmn1ALKzCWBLaCuGzCstt_fdme4zqZ5SX5JBIEQCIw8LQd22CPGpvKmlWgl3LMZusZNGpBWqUxeyyfwnbT_m6gm3mC65zJWdXPiV65iO58vVKOSw8q6u2D55WemA4JuMpB75wgUQbIQ==",
  "id": "rs_06e51d173a4c457c016ab44566bd4c87d0a958bd1bc78d0445",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.126,\"right_z\":0.047,\"right_gripper\":1.0},\"note\":\"The bottle is now centered and its base is just above the fingertip line. I am advancing two centimetres at the same height so the jaws straddle the lower body rather than closing behind it.\"}",
  "call_id": "call_HtXcVxCpEzCnvlCzERKlwbLR",
  "id": "fc_06e51d173a4c457c016ab445677e1487d08b46d9622fd9ee8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HtXcVxCpEzCnvlCzERKlwbLR",
  "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, 0.7914, 0.5972, -0.3752, -0.0231, -0.0288, 0.9983, 0.2886, 1.7176, 0.6228, 0.4896, -0.0154, -0.033, 0.9997]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1786 left_yaw=0.0007 left_pitch=-0.0061 left_roll=0.0003 left_gripper=0.9983 right_x=0.4078 right_y=0.1276 right_z=0.0427 right_yaw=0.3067 right_pitch=-0.0347 right_roll=-0.0069 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -1.5248, 6.6393, 1.8242, -0.0806, -0.022, -0.0122, -0.7863, -5.8325, 7.241, 1.9805, -0.0513, -0.0024, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e2b76367f53f447a4b27ccf513e54daa84fa0ae2734bee65ac4f6e46f8d6fbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18440b2866178909fa8ef2214a3e0d1166d37ec0ccbb9a080fa57bb33f3f25d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:966a868ddf9d7a6434c2ee4b6fce88a84513a9c32b3cd8c3cc40c0bb7a70c9e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 2.804 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5972, -0.3744, -0.0227, -0.0292, 0.9983, 0.3195, 1.7985, 1.1763, -0.0147, 0.0219, -0.009, 0.9997]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1776 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4863 right_y=0.1606 right_z=0.1286 right_yaw=0.2931 right_pitch=-0.0663 right_roll=-0.0093 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.7709, 6.2564, 1.8779, -0.0269, -0.0317, -0.0122, -0.6769, -9.3333, 9.7846, 2.0195, 0.0366, 0.0708, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.297, 1.6665, 0.6334, 0.3885, -0.0013, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4001 right_y=0.1264 right_z=0.047 right_yaw=0.2981 right_pitch=-0.0741 right_roll=-0.0071 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.5385, 6.5709, 1.7656, -0.0171, -0.0611, -0.0122, 0.5265, -6.5436, 5.2444, 2.0781, 0.0513, 0.1441, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7914, 0.5972, -0.3752, -0.0231, -0.0288, 0.9983, 0.2886, 1.7176, 0.6228, 0.4896, -0.0154, -0.033, 0.9997]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1786 left_yaw=0.0007 left_pitch=-0.0061 left_roll=0.0003 left_gripper=0.9983 right_x=0.4078 right_y=0.1276 right_z=0.0427 right_yaw=0.3067 right_pitch=-0.0347 right_roll=-0.0069 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -1.5248, 6.6393, 1.8242, -0.0806, -0.022, -0.0122, -0.7863, -5.8325, 7.241, 1.9805, -0.0513, -0.0024, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e2b76367f53f447a4b27ccf513e54daa84fa0ae2734bee65ac4f6e46f8d6fbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18440b2866178909fa8ef2214a3e0d1166d37ec0ccbb9a080fa57bb33f3f25d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:966a868ddf9d7a6434c2ee4b6fce88a84513a9c32b3cd8c3cc40c0bb7a70c9e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVrEQcZSpMlFykFL3-bLK3PUBBp9XKSqpYPige7M1iscqZhX9NXEPuMpR5bpqtaDrQzlx3tKclpvD9JcIo7SqCuOIdq1nCxMOvVvqm1lqWpvwx2kpPIbwVNsgMA2u-KkcNfOjZBjx6LjZom_g8XwNCK8HOolVpIsiGjFWf468fCsAw9HMvfeYv8rABIxtyv7tgUrVmPvn3tFuIk2io6WxvuU0LZDddJ-kFNNu5G47nmA5Ovvu9Be6sVNZbQvZHiymG13oiw_kOf0zMvUYgIdF1JYIHoZJoZpZhGFiuSUgwThiFWK3llWFoFpkiRkkWc7GBAzKUX_duyEZOisfm7_fTOD5f-jMxT9Y4h4YbNNML93DPR2aoyXLDj_jxvcRj1qYKUo7-6gQtor3BqnrkOJCp4rqWLOxNSgB4hBtaJVchHr2Ch0-0BSi0hjhwee8RK8gFHwmPfLs0o1c-TyBX6AJxKqBqYMuNrfVo7-2eSQLlvw3Tv-HdSP4sS90wDIQiuEpjZHCiH788hqOL3dme0ivFJOgQ8k5PCDVBVI36b2UGvSfYtp41LnhvR5QsiGKpRKT6Jr_vHt1AHMkiqtzKn7SH0gTAVzt3Bg1WIraLRco3R2VPGCUYfEWLaoW7RXZLADpVFGwbWM8zGlgrMFcm1htv74PwU14cYDruCHbrJ86J5ky1UyuPca4nSU4bhOqP54Y0LHzwAtAc2gxsfc0P3YCjSBzL6hMCzOBqnu5dPVbccru8Q6tRn8l9mFEhXaVlvYKapz0rmHrQbZqiNRoncjLtLHv5nIa1YGaiuUh7rd02nXSAtdcmsQ-mNzddi7IzzhuxwOiAJBvL9L5HofZSIe_RfBUEKAnTKxPTstyY4pvpNsHeUK50eO5E3F-2l5fhb9PVW44K2vJecQazK4-sz27zaj-hSEidfIZbAugWjoAbzP4eSY5XCQ7tUGer57VJkXH4k1KQLEP0J9u-lZJyPYRiI4Wg4hf-df7dSw7rZmWvRldOsbx4b0rWNme1IvGw_C4N981s8M_uTaVwokgJqrOB7JBPHgrsawJEKLSWpYF3C1e9ZN4xmPY0NxJwLK3_mO1m7Az7j4JhaOIlJY4OWmHrzWOmKZ0DY4Y5hdWl0AfgNt7IAvqwxPProCgmPT_S7fBwkBxzfwmoEftI-548zuJsm71eMPtUVBtSQjJbvd7RVpGHKI-4Kop3x3e4cMlmt8ziDXTAMcDvzwis7WkyjU3E1n1h8XiZfgfbicdosKcLVNPcq-6o7oRXkvUvIU53amGztAgdUzKzJCvCj5xcPsw2_te6aTmRjQPiTe3jxM2a1NYoEDZwJwFwJZ7YA3PZ9vgdhKsEvO2tVmpmXWkKMIckwh2UNHpoNuKjGnHFdsJa9QNezpxe_DjDIGnsAXtxCK3_VTfyd1jCm-PEFzuW4pSk-4xvIb5_y_dejmYeuiIJAYIaF18PsQEtJo4ktEg87gucuJDLLTD1Ynq7JlBjoFx34-36lA4Wt9fm_h2-yVJiL-XK7srMXOw8abgsb9GxJfrIo9SOndRAmRIh9SfeSAMnuNIbZe5e_Ob5Guz5AaYmzg9NixFdUNolwB4xVcdMJsnLQFoYdwrc-CelpqM72Bcqz1g==",
  "id": "rs_06e51d173a4c457c016ab44569d33887d08f95e0aeed3ae293",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.5},\"note\":\"After the short advance, the bottle's lower body extends through the fingertip line and is symmetrically bracketed. I am closing only to a 4.8 cm command so the jaws clamp the soft cylinder without the full-close ejection seen earlier.\"}",
  "call_id": "call_2nfhXjNInlvvBBQYsCGRfAxO",
  "id": "fc_06e51d173a4c457c016ab4456a7bec87d0920179ebd79d9485",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2nfhXjNInlvvBBQYsCGRfAxO",
  "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, 0.7918, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.2867, 1.747, 0.5964, 0.5331, -0.0269, -0.0326, 0.5109]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.4027 right_y=0.1274 right_z=0.0301 right_yaw=0.3142 right_pitch=-0.0468 right_roll=0.0002 right_gripper=0.5109\nstate[joint_eff]: [-0.2803, -1.6068, 6.8718, 1.8437, -0.0415, -0.0513, -0.0122, 0.1026, -8.6085, 4.7932, 2.0098, 0.0513, 0.0269, 0.6764]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e9365bca8ab9f632ac6c8dfa4d88c154640842758fcf96aeefc1b27a0a2212",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00af942128b7e07d0928f57adf18b4c4b5350c8a54aa960ce3fa0923c8b045d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbd433998d91cb068878a47321c1d017e9b221997dc18947979bd03723417016",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.672 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7921, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.2131, 1.3624, 0.9524, -0.1452, -0.0601, -0.0593, 0.9997]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.411 right_y=0.1034 right_z=0.1979 right_yaw=0.2829 right_pitch=0.0163 right_roll=-0.0067 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -1.0598, 6.4068, 1.917, -0.0464, -0.022, -0.0122, -0.4308, -6.4889, 7.0222, 1.7656, -0.1294, -0.0806, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7914, 0.5972, -0.3752, -0.0231, -0.0288, 0.9983, 0.2886, 1.7176, 0.6228, 0.4896, -0.0154, -0.033, 0.9997]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1786 left_yaw=0.0007 left_pitch=-0.0061 left_roll=0.0003 left_gripper=0.9983 right_x=0.4078 right_y=0.1276 right_z=0.0427 right_yaw=0.3067 right_pitch=-0.0347 right_roll=-0.0069 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -1.5248, 6.6393, 1.8242, -0.0806, -0.022, -0.0122, -0.7863, -5.8325, 7.241, 1.9805, -0.0513, -0.0024, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.2867, 1.747, 0.5964, 0.5331, -0.0269, -0.0326, 0.5109]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.4027 right_y=0.1274 right_z=0.0301 right_yaw=0.3142 right_pitch=-0.0468 right_roll=0.0002 right_gripper=0.5109\nstate[joint_eff]: [-0.2803, -1.6068, 6.8718, 1.8437, -0.0415, -0.0513, -0.0122, 0.1026, -8.6085, 4.7932, 2.0098, 0.0513, 0.0269, 0.6764]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e9365bca8ab9f632ac6c8dfa4d88c154640842758fcf96aeefc1b27a0a2212",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00af942128b7e07d0928f57adf18b4c4b5350c8a54aa960ce3fa0923c8b045d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbd433998d91cb068878a47321c1d017e9b221997dc18947979bd03723417016",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEVuMl0ZeGyiHXcknlACOY1aJNqWBKSMo5h0Pq4AcQN6pgfp5FIXNUQcp7_NlhyPImCTozgMLrt3uwxdmbqHfSeBMoQ_5VT-tjg9_1w_zEDv2HfVoyMXNfeKYDOCih7BFqdpkEsZGJEK_NOJVYjuD6Dr5PZqkZLodn2JwFEoOAaeYw7i7FtCPibkXaJ3_Oa95DiMcN4VuyFtbhsEiZ3iEbdkhqLuUqRgHXZiEe67tzUqrRjD-MkEqyF11pnr8zEw9qAB980EF2PZzfVSaad2_gU9WoZx22Jfbu1SKOusXMoBirV7z-J1xPqvwrP-pgp9cvbE0zl_ZVcC0C_ZvXgtE1H71E65RYSH-8fPpWaqYsXPNPcUNIcv9LK5EJDDRP65v0TDr1H327L4xrmbxxTSe-QEhq21O4wNL7_4E8XRP1xJ0-AzffzIgXDju7rtFA1b4P7s90TDjyCr4tR5h4qTE8yCpWuFtqtkqjXxrIDjAWczT_bxvM6hhSEQtTEJ3On6XUrH2ZxD4yq-RbxD29LhMIUk5ToiArrmORbiK-9ZIyGJ5PRWKfGXouPQ8ZlAgztMvelwvOLtyxz9hNioWDurhIessd9Rl96JxIxejebvjIYk6J5IVC5KZnYRfyJOxcJNVES9IJUuz2I6DBtszrnBgg5l_Lv1Qb9I2uabyDTnUBGWoflxBch5Te1S3qhvAK9m39D4uuOqIuocosiUiAxB5Gi_Gk4OSP9MDeQZbvutdpLPMyJ9aOFNI5v4aLDjfzsSlL0K1bti0ekd5uvjnTSD-ui1AewTTSsKvpnq5QMH-o2LlvnRVfPTxqfPtLiiRe1Di4ksvg2Vmq5Qyw1VlWfp59XubZpu5NMk3meECSxsRfkTdjfw41Kr2g-CL0baMZiqllBsLBv8jQgYkCHMM5HI6K1R5CRBHqWLR08wMVgQ_3kzfiEK2PpX9iWIfY15MBr1CBSRt9PTiIZTfIFiFTugk2uE_z2QV0oN7t6x5Py80zlBJY65ptazuFP1wiCihJY9o4MMpBtJP8x4L6uCB_MEcitGN68pi9F6fIjcXQV6KsB-_jrGDFI_loLmNiHYTMphaRJBDnDwxHJ5OL4zH0CGXSKz9KLT4-MX2c-6bZEJFPgmS-1Dvjqpnzc3l1w20KbehAcG8iuyc91Q7IMq-WyWrIc9EJrJCaRopvKjGaCIvuWzFA0lQgOVavf6ua9uGs_8S-3gA4w2NsOs6DZHrtQ7eoVYI05cAQdkf-qOzlxoo7_PeS_rO6GNEuJxAUVQ5qy8HsRjREXsamQ0rp94odVzYfHmEgehNqAZBVYx8Mpvqy3Ur1Q4BgtyNkv7Be2W_tvI9jYURNVFqomal4d6OSQ10mMh84D6sSebWR0LL4pd5BQ3sE35XaRe4eGx6pz7_2hqC_-f_-al96zMAkpmYYi98YflzxSsmenBpWs8ivT1_xaRmwrx7ykqf-Apu58GsBb8H7rN5gAEZSMgTpIVfjaroj2EGSSvgoqDracdpUpc6g3mdkOthrrZ2e62FymrtCDGQk3UynXAeqlksPMwLpXH2xTq-g==",
  "id": "rs_06e51d173a4c457c016ab4456d204487d0b4a90ff0fd5cf56c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.126,\"right_z\":0.03,\"right_gripper\":0.5},\"note\":\"The jaws now visibly clamp the lower body and the reading stopped slightly above the command, indicating contact. I am pulling the bottle inward along the tabletop while preserving this limited-width grasp.\"}",
  "call_id": "call_1IZxrbLmpKPqUR4cdbNaGl9e",
  "id": "fc_06e51d173a4c457c016ab4456dc38887d0914e079783c4be12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1IZxrbLmpKPqUR4cdbNaGl9e",
  "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, 0.7921, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.4313, 1.4433, 0.2085, 0.6571, 0.0795, 0.0296, 0.4988]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.3043 right_y=0.1285 right_z=0.0281 right_yaw=0.3357 right_pitch=-0.0053 right_roll=-0.0068 right_gripper=0.4988\nstate[joint_eff]: [-0.2803, -1.0598, 6.5709, 1.8779, -0.0366, -0.0317, -0.0122, 0.1846, -4.7111, 4.9026, 1.9219, 0.1538, 0.0415, 0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1d7e06e66cae6e14e3d115526e2c6ff9546ab24033dd7fa4e45c425197f2c07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a2107b3872f3bc1913841dee9960a3051a8ff74be623144c6fbdfd52ac97e93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dee941f0cbc248234a342f936f73fedd91407a6260fa533a5e67baa47ca6530",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 3.772 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.297, 1.6665, 0.6334, 0.3885, -0.0013, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4001 right_y=0.1264 right_z=0.047 right_yaw=0.2981 right_pitch=-0.0741 right_roll=-0.0071 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.5385, 6.5709, 1.7656, -0.0171, -0.0611, -0.0122, 0.5265, -6.5436, 5.2444, 2.0781, 0.0513, 0.1441, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.2867, 1.747, 0.5964, 0.5331, -0.0269, -0.0326, 0.5109]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.4027 right_y=0.1274 right_z=0.0301 right_yaw=0.3142 right_pitch=-0.0468 right_roll=0.0002 right_gripper=0.5109\nstate[joint_eff]: [-0.2803, -1.6068, 6.8718, 1.8437, -0.0415, -0.0513, -0.0122, 0.1026, -8.6085, 4.7932, 2.0098, 0.0513, 0.0269, 0.6764]\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 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7921, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.4313, 1.4433, 0.2085, 0.6571, 0.0795, 0.0296, 0.4988]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.3043 right_y=0.1285 right_z=0.0281 right_yaw=0.3357 right_pitch=-0.0053 right_roll=-0.0068 right_gripper=0.4988\nstate[joint_eff]: [-0.2803, -1.0598, 6.5709, 1.8779, -0.0366, -0.0317, -0.0122, 0.1846, -4.7111, 4.9026, 1.9219, 0.1538, 0.0415, 0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1d7e06e66cae6e14e3d115526e2c6ff9546ab24033dd7fa4e45c425197f2c07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a2107b3872f3bc1913841dee9960a3051a8ff74be623144c6fbdfd52ac97e93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dee941f0cbc248234a342f936f73fedd91407a6260fa533a5e67baa47ca6530",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEVykaDblVdbkr7q0ASL-Vt5iZYUWCSXWJSeLU5GNt83Xa0TCdxq2w_cOdBNI5P_wkgqu9J6kTt3r_3BwWGd0jCYKBFYN0Ja8ZN-AVoemCRhkwyrbZhA3xUTgkmbwSRACDppNt0HFik-0el-T3tTdzJiEIqnXPU348RmN5eGtWYgCDarnHnQzJ83IN84nv_D2nr57HkMpmzf2_4PGq2mtHSkxrF-jXoCaKbfWSdvQJxGCo81rqSKVN-dyPatuC16r5rkboOBv8leLzJKt5EhSbtdQhz0fdlE9jcL0KOwH2mzwLIiGIgVxQ2wBd1C178u7Aran7TiO5mvGjA30KqPNn3bvk_LBVYZ4Vtb11SKmDz-rUvNQPIUj3dB7AbOwmtG7A0PVO4AhvK-oHv7riLOX4CXciAUKO3NALlLiZkP06TQwhzzmMv18sdW4w5OFejVqPIRbMP6UW8lQxQGOgpHw01ID8vhI9XWJ4ayXZmlyoZraHzeVyd0NzY-w58YlUXhpJYLuQ85B_IvJgzooiNcXm3mH_6vAe2aK_jbDj5dZ4hv-bzhnhq5y6u_uOncRweY41GoQIpDVFFKnYHcApofTZ4Zubth9SffnFyHswAVZLOI3Rb12t98Lx0vPQKnaFQ-NKtt1a7HBtxT2r6CwBW6oVb4wcmRzYN_w4fEia4Etpb9CMkmhvp8gzjPvv-BEm5FFoAplXIoYZxdlBS-jm0VlJJ0KujAQdBAB4NtrMg-HF0Unq1g8zAeGVvtQztABNk3vxxa7M-6wWY5kOutH2Wx6lJXhi3qfCJgl1rzyy-RvSggQNEqxsv25qbey5r4Cq21oPAemdEAmsepavsuP2PRLmEZvAGe5fDGairH3voBYQyAd_9oySQ5L8tmH8nkHqW3IedKBYRXPgZtxeYP1P47Y2HJb3oKfPxQuP7pWhym6JB7FuXRwu5TwDnY01ZIXIhhnzr32-Zx4xF-QlRzeCTfJMli2gAIaNBzkAdE7o6mb4joDgWiPk7-KqLfHVwQ9VNszcDephm0NTM5cUDNXUgFgda6KK-a4KinmrNqVbpbGmU8UJXSYEwQz3NEHXRoe8PlW8lLITSihRyaKnSO70OXy3LMTG5sNGOWiRMZ7ftH1iHAB2DJho7d_aAmyHgyMxTi8KMMVfdWl5PVaOTFatJ3GsMK5dv99V1gh3yB2gNF46f8oTWumyeYpb-HRocgHZ3ZWUGtf_tO6o8kwnlI427rxI-8b8_JZh2ea3hg_Psd9RwFroISus0DUSVTWJCEskgT6_LUr6J1hJQfscQcvccnwaxg4MtfJn2e_TjFLsSXjF7HLXAJwnOXiGx_PonZ3KjiruWnL_2cmuL_O5nej8ioPfwqjb6t-Itp27DE5PCNPl34blNvjpqwmbGp5aZiF9ztTg4H5webyOJ9RqP5Y5tG4397jvs7lZr5Una3Vrwhn7KQNrCthzrEZNQDtIqYRV2Ajc8MgTHUf1bJho_GRzC7bHImB47HMRtsi4oVGqlTngfS-Faqj6z-aMy9A7ZV8hymyhF1jZVT1T4e0JPxfUr-iNP0f6FSBQ9p-0G7twd16PUS3hQh3_UH0utt0F7V9f_JlFBGF6GEb-DBfT7bVwKIuur8z3zu12Z-9T3VadC1xPLBpeX748OaPKgh9xBT-rmVysAL9TwpK2BU1pl8BIHBAK17OIRFI2lARklKPYPL-Zf1s7QV3_8oPSTE-lGgVUdRC9gaktZDFT-3O1hUho1_TNuXcN6tSq2rr5a6VPVN18DkM7Nmpo6vHiJVStEcmtoO1oVNKfqaiaRh3eRdhYwgB5iFaomrGYKEpNEvEoneFkQbuVgYSUT3J3NmDJ3-HfAFMQw6HCK_NeTn1ACEH1JQkdihq9D9dlol_edpsSWeEnbE0PnndB7Xrn42hOSNjL1ThleQve0jNVHbNSsmSgPQMnK_iaLdOfwXqsVuce3J41mfXyU=",
  "id": "rs_06e51d173a4c457c016ab44570b10c87d0a1cfade17ec198dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.126,\"right_z\":0.03,\"right_gripper\":0.5},\"note\":\"The controlled pull worked: the entire right bottle moved inward and remains centered between the jaws. I am continuing the same pull another eight centimetres so its cap will be comfortably reachable at table height.\"}",
  "call_id": "call_nhRLsL38rHGd1Yy9Lc4EeGD7",
  "id": "fc_06e51d173a4c457c016ab4457229dc87d093ef72f94afb8f72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nhRLsL38rHGd1Yy9Lc4EeGD7",
  "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, 0.7929, 0.5972, -0.3737, -0.0231, -0.0288, 0.9983, 0.7052, 0.9123, 0.004, 0.3088, 0.2672, 0.1612, 0.5038]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1785 left_yaw=0.0007 left_pitch=-0.0061 left_roll=0.0003 left_gripper=0.9983 right_x=0.2222 right_y=0.1326 right_z=0.029 right_yaw=0.3816 right_pitch=-0.005 right_roll=-0.0028 right_gripper=0.5038\nstate[joint_eff]: [-0.2667, -1.2376, 6.5846, 1.7949, -0.0708, -0.0464, -0.0122, 0.1573, -0.4991, 5.7231, 2.7619, 0.1197, -0.0122, 0.3785]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d52948053b3ef8c567f08f2c325bc5b05431e0229400dbbc5de817da74fcf464",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d514a296369800f03af0470f96f46d9c5b620d02659db26b8d8389fb4d356ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f8d19ff64166fc0bcf0c2e230787c4cde02abe48648cb01170dafc447e2ed2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 6.091 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7914, 0.5972, -0.3752, -0.0231, -0.0288, 0.9983, 0.2886, 1.7176, 0.6228, 0.4896, -0.0154, -0.033, 0.9997]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1786 left_yaw=0.0007 left_pitch=-0.0061 left_roll=0.0003 left_gripper=0.9983 right_x=0.4078 right_y=0.1276 right_z=0.0427 right_yaw=0.3067 right_pitch=-0.0347 right_roll=-0.0069 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -1.5248, 6.6393, 1.8242, -0.0806, -0.022, -0.0122, -0.7863, -5.8325, 7.241, 1.9805, -0.0513, -0.0024, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7921, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.4313, 1.4433, 0.2085, 0.6571, 0.0795, 0.0296, 0.4988]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.3043 right_y=0.1285 right_z=0.0281 right_yaw=0.3357 right_pitch=-0.0053 right_roll=-0.0068 right_gripper=0.4988\nstate[joint_eff]: [-0.2803, -1.0598, 6.5709, 1.8779, -0.0366, -0.0317, -0.0122, 0.1846, -4.7111, 4.9026, 1.9219, 0.1538, 0.0415, 0.3248]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.5972, -0.3737, -0.0231, -0.0288, 0.9983, 0.7052, 0.9123, 0.004, 0.3088, 0.2672, 0.1612, 0.5038]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1785 left_yaw=0.0007 left_pitch=-0.0061 left_roll=0.0003 left_gripper=0.9983 right_x=0.2222 right_y=0.1326 right_z=0.029 right_yaw=0.3816 right_pitch=-0.005 right_roll=-0.0028 right_gripper=0.5038\nstate[joint_eff]: [-0.2667, -1.2376, 6.5846, 1.7949, -0.0708, -0.0464, -0.0122, 0.1573, -0.4991, 5.7231, 2.7619, 0.1197, -0.0122, 0.3785]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d52948053b3ef8c567f08f2c325bc5b05431e0229400dbbc5de817da74fcf464",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d514a296369800f03af0470f96f46d9c5b620d02659db26b8d8389fb4d356ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f8d19ff64166fc0bcf0c2e230787c4cde02abe48648cb01170dafc447e2ed2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEV36NO2bDwoGNSQPel1Hvwe22HPkpD6vFvgPCN1RYadF6xu4_luLGM686GXS16R49a9HyZSGfMC9a5fqvpRRo_wUmgZStXR1yrVogpl3o8wv_y0ISDnWorCARyRoLPLCnU-US-Lgxjk3Qi3BlFJB5RQXN2GW4JLgm8LsIF1XZ7pU09ZeTgSizGHBg7LqAdxqsdNMw3dS6ceej6wnK8hOGCkXh3KjQ3COLbgmDeQgxHXldV0ZqnU-anQvZTXlq6XZ_WRtiM0X40ZnqPH5l-8F_yQBdnwJb8ijag_hw7NDM5uO9BXqn4OB8JHqEt13Rh4brLa0HbGsXXF7EFUv7ovKxr8PgoTDAu-o-xXU2FNFfhq0-eW0ktqzTQUjJG57rZJdWIptIYO__ruWWwBzjkal6j0tIyKCr8rIIVWXP5K_Y1hpb8VfqFo2ewymmhhp5ryS7zvBuifF9VheDyzSgJawuKrru624e_zspUdJ1WVmJHSMyoPfUqmxK9eNN5XiGnOGa5DaioNddo8QXwOm1rcgdHDho1tevhpVc1QUo7woYtWDJSSyEjDPves_9Da78awzjcIRIZR7tXAuAzJbtmMMvQceUenRnLVUn_XcLrUAZ6tYZVndV5s0vo7WaGjW8Jll8DzqXQiY1o5LCdFELRA0xRf0l3ZS1grOD3t7uoA8bVrkbjfQ3DywX9nWEqRyAXykJHGh6FkNm2-fideZJFMMLrh08Y0MwiZF66WXKiiZjIuGqid70EqFWV2q14N6V9gGVSOtl8i-zFO2oAUMLq08edQ-4EamyxtdWpwuWUMP7TLeeooHls4K1SAPw6_HLhrzpWuyWmnCJsuRhAOBO8DzsVXDXNwtCvO11Tt10bd7cFEhtK4RFSHf5DaLb0sd2gYWkuXJC5nABrSMOztPS6qmvqWOopRx1R3RKdTB3b9zX-k0K8MsJbSIn4elcd7MCi4aMaSwMadYlBk0gHaOC_g5ReaVeTTfdc4DGRTSvm5g1x-8oKpMimjlqRB_tP7qhE7p0XF_PTHXs19hu7Q2il6sTsfyQz8xp6o6t9d-G5VlbA2oQTETTIJC9Da046abqzyOOcb_upEGVrH_Tgo8NCf5RCzQMkY8YszhzTHkiEYMETfMJu1hN1A3wxGzKSFjC0iFfdyXg2IR-f9IC9YlO3RJ9jxmowVXHfFyeXlmr2Z4BiktkYLOor_KoYQLi4nXwOHQRDT8yw-jPtoJor2EzfQ5DuqrHASu68mnNK0u7Heo7ceUCfPGnufaxrL3lPUf4u62WQ1nF7Ts4l0fJig-_HxIExD-KRoivjbIfZavsA4_EG76u2mAuNwMv_3GZTHXg_3DrpS4-_RnXyIAwoerUSs1WVz9dJ-Gc5QGi1faYH6ijqdIHAkfFHrfU9kM1Dkb4uJNLJJ_VttBzenXUDfiWDajq6b5JWlP5Y84VmmgVMuDNyBmE5YWhO-Gq9XiwDIplIOOhu-mCRh0M2hxZcrtdl7av4uX7UQG4BQ4AeFEXp11eSHku1zC6zB4HFdICnp4ufVpS0oUINtJ7O0p-u2S6CNKWtp6PjsD3BYcoSX2ibZtFgRVjeoP5_UsiFTUg9fa8SDoX6lPulh8Xq9vZg8zeyESEohMo-YdiCVGj8SrkORHwNi1IlIqmiwkBunQfIhErtybu8ubZ3fo0KXjYNJc73eWLHDrVuPvo82XNavZTRqlOZIwy0yrR8PDWCEovrHAyBS-tVDpEvKtbPy4K49sfxqpjJgzWYreBRG5M-BU9-1pxpUdO2GlrjwsSpSysMmdqp3vLjkcRfxum7KkhkxLGGPfhMq0MoQLmZtyuY6wYQqfO7lVL_nWfV9qTxxXyi5kGqaeQxdz8NYAhNNJQc24EXvZ4AINUBVy7b4CNIDzBpEqNCQHutNNDvQMun01o14BApyRYXZdBHlzicFbcrWf1VE9pj94r6bDPUjWHtjPGJlqP2czut74UBx-zlazua2tmkm9NqU7bw6k8W3YYQhDUpoaTI1BQ==",
  "id": "rs_06e51d173a4c457c016ab44574beb087d0bb77d71e79c7fcec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.23,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The bottle has been pulled fully into the central workspace; its cap is now around 40 cm forward and slightly left of the right arm. I am releasing the body and moving above the newly reachable cap/neck.\"}",
  "call_id": "call_MkZS3KqecEW1E3g6vGwuXwKn",
  "id": "fc_06e51d173a4c457c016ab445765ca087d0883142d3ba548aa1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MkZS3KqecEW1E3g6vGwuXwKn",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.5869, 1.5581, 0.8997, 0.0444, 0.1524, 0.0734, 0.9978]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3853 right_y=0.2284 right_z=0.1327 right_yaw=0.4064 right_pitch=-0.0354 right_roll=-0.0159 right_gripper=0.9978\nstate[joint_eff]: [-0.1162, -1.4017, 6.7487, 1.7656, -0.0171, -0.0415, -0.0122, -1.3333, -6.8991, 9.0598, 1.873, 0.0513, 0.0904, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cd07cf370024065ed699cfc45b8b893eb4fef14f4ffcd3b2ead12afbf47b3de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8bfaed03bf3e6c07172f77e5ac54adc842b142c3f62afc1e71ca00588112376",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36b6a23e2e316903c766463e643209bcb04fae9eb41259607d81a11fac9fa0a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.355 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.2867, 1.747, 0.5964, 0.5331, -0.0269, -0.0326, 0.5109]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.4027 right_y=0.1274 right_z=0.0301 right_yaw=0.3142 right_pitch=-0.0468 right_roll=0.0002 right_gripper=0.5109\nstate[joint_eff]: [-0.2803, -1.6068, 6.8718, 1.8437, -0.0415, -0.0513, -0.0122, 0.1026, -8.6085, 4.7932, 2.0098, 0.0513, 0.0269, 0.6764]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.5972, -0.3737, -0.0231, -0.0288, 0.9983, 0.7052, 0.9123, 0.004, 0.3088, 0.2672, 0.1612, 0.5038]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1785 left_yaw=0.0007 left_pitch=-0.0061 left_roll=0.0003 left_gripper=0.9983 right_x=0.2222 right_y=0.1326 right_z=0.029 right_yaw=0.3816 right_pitch=-0.005 right_roll=-0.0028 right_gripper=0.5038\nstate[joint_eff]: [-0.2667, -1.2376, 6.5846, 1.7949, -0.0708, -0.0464, -0.0122, 0.1573, -0.4991, 5.7231, 2.7619, 0.1197, -0.0122, 0.3785]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.5869, 1.5581, 0.8997, 0.0444, 0.1524, 0.0734, 0.9978]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3853 right_y=0.2284 right_z=0.1327 right_yaw=0.4064 right_pitch=-0.0354 right_roll=-0.0159 right_gripper=0.9978\nstate[joint_eff]: [-0.1162, -1.4017, 6.7487, 1.7656, -0.0171, -0.0415, -0.0122, -1.3333, -6.8991, 9.0598, 1.873, 0.0513, 0.0904, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cd07cf370024065ed699cfc45b8b893eb4fef14f4ffcd3b2ead12afbf47b3de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8bfaed03bf3e6c07172f77e5ac54adc842b142c3f62afc1e71ca00588112376",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36b6a23e2e316903c766463e643209bcb04fae9eb41259607d81a11fac9fa0a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEV-8zSC2sx7RFK5f2bE37elHFd29O-xtfIWoHhPOppj3TXo4AQlfxNnEyAR_8x6BiNd-BcZu3gzSDWrMlP1Z8hYmEH6RUp410b94mKGCFmQbhrbuSxl0z8akWfUTPyQqAt3ho4a7-VnwT3EHW6JEv94QE_ZtCzStt1O5nESU6RlPsHSqCBwEk2O3RpZ6-DimP7fcxBiozsrFhpjtoit184nClPBJq93x1kI5Sm1H7klzqu970WedPt63TYJARyaGLTBTgKeuneCI0mm2ijjq2uEgxs94U6xc7OOTbyV0n7RS0EahRl7IQ4TAwbPkal740_frtEftud5btUC0RV53usJlKgoYpcSQlq0kx84nT4erzASqoBD-uaBtGjQTr9GzyyVv0tWWsjWU5ybwHwltAhh6uhZfAazTcq7scfMDHR3HdNbiGSPVWn4I7r_jMfCEQ8T1XDquIpvPwQXuh1GL3AG0RhTdgKgwY6sslskBOl-xpRQa4rV54w6bgM3Rqu365J1F-uTCEN8nUpdLvzcJyDiUlLFXs_iCfQE8-6PCJjZO-OBgew9M33iELhH1QMWqQ90UsPFBj2p-I39YauGssGdLhS5SAJfjZxsuJIKErE8tfG_EbffITsPk6G2qxs_KhXohQwHWumsPjjofOf3gKI_AgSJKUm0DhJkplxWKemRuUIXpRzRSrMdccbhHar276CzcPMAz958rH5nd4M7GBDvgdGTB3X3uKc2_FCX0fWstlUSXPMEfxbzBvuCiHzh8d49F0886eFmuMy01zVt4oQdIiSH0yVeRTYLcVSoGD3d9pdb-jbRk73-3LDTqZuUA8W5cJ3SArRQPh1-D13Wd8MmSW49j-LXebegf7VVWx90YzSGQGlgMVlc8d8rUm2iFA4Z5rgeaNiNI78DkbCN90u_CfpfJ9q2CxO_7xjrfa4NymeSv55Aq-UNZdXB4T9faYSS0wcBAYR324Gi3xlQv9-wwKP7L9EKhC4xyVjGHp8cPDNjAZ3DPEeCqfKxJSovi2meXrUbRPoJ4pHHy4_5P6sQE17I4oyl37DCsH94FnJa-ezgubEXVluNOJASItNz-yLmMMXF8uKmCVr0zPk6X2hhzgAh9yPMxsCmPaLYxEdcUThqjiKln6mcf6NqeLenn0ybP93BDYb6D9CaFfoSwtGHedz_1y_BvukZDKSvCQHnpw4IrGLP-J1K5YvAjyP8jcPBfp2r6fZgVD2Kk3-YD1xSw99p0ptDbl38bVHa0CAmcs2_Hz4x9CmVAL7ozSxDDg9Urwt-7AV0Wi9fYJofQBxSdM1-615kS3_CAZWtCMFhTkNM4zryLG7WIhNm1HPdaIJGo_ODQZnXLZJw13g0-6NCf5jOPLnNrMc7GCfXsPYehA_aNL35PmDL-wnuk5l--xN0-u-0sIXfynymf8p2qJrg-Rk4IWwM2c8DU6ahP1EN5yf_MKTLy5Fg8WKIhialPf2WbvbCTDr9x6Ln7Mx91QEmMI51zH4FCM7Z9qtr-3KdMGAmNO1SC_t-EmutNV798XnRDMVztYSpmso8IVux6uKxRYMZ22KKjioBozs4mNrecocrSN30jVG_q4Jf33NBZ4I0lX8-Dn8nzJhNKFBlBlkW8WCengMQZ2mLnurs9H-NR8LaRCV9MmDcnl2AURMLDOiuWd-aylpTMeQSo961104VLUcL_I13HhdrAHh4aRRKTCD-f4FqyqwwQwiXxpllOZJHj6V9FPclxB3MpUqjAiBINhKxZORXmEchJhWuFI1k-qBmZcy51ul1G8TGEFfMpsEu6iD72VTigqw-EgT9nlJP59GkVeQllTi9d74RUKHtBZh0_08udD8sFD5nqB7rFkLQRisF97YMUjmuUNdfKQfAR4BF9mEDL8DF2np90wvEnRC66Dx6tyumVhsG5OXTBVLmbyHaF9jFbnxO8QW4HNiIl7XNlz1Lfp6C57RU_X5AlbVH7zrUC2XXgGxXe6yVVqhURGEBaQSWajklDAtQJ0ElPgcO2SOhRz-Ie8kTeYcm4nnIvTTkcwb4GnEK0o7IHbEQzJydXtD0U-rjRKoOQyJGqe6aAoDw9qtIr6aNDcXZul9fYI1ZaYbooVP75J7Aom8iTs_4o8h9p1r6_3p-JLyLBMAaeVksm4sw_-acTC0cFlqaYRuagOMnBW_78GMt1OKzl5KjuWRrgr-hSIHtcMO6LxjlDXHzfOY_A2t_yfHZ0DD7kbc7UFeWWK_DGL6cd-PQkAfQNRW6KsWyKZTk9EjejpmoExBjlD8o2T0SoQlQbWPedCjMQSCbn9Ub7PD5yDU8ICMqIIRYH1lU5a9wshO2gsTpy6nzZCLnaN2N6cbOMIHqtJ5zwf84dCYgox4nMXopldHf2QLB3In9FdhjggK55kZm4a0ERecVOhXwiqUpJ4OJbaaK5KbWWzQ8U1mirRt7IJj9_OYRh2GCptrFfeCxu_9i-wAwPcUP1ISGQZbLHL3xA3Oqzd3oisWgVpLjkcW94oImm4hcdGyzplkw3L-lOgYCT9c_nHIjJlHVD5qlUgOzhCxdTcaS_2sUwk_qZ-FITXyJb14xg7tqvNgLuWlWAcQybDqJXGgMZcwW-kKa4uND2-5dInCkbE80wexgStPM",
  "id": "rs_06e51d173a4c457c016ab4457b49a087d0aaf172a5f521f1d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.228,\"right_z\":0.025,\"right_gripper\":1.0},\"note\":\"The target bottle's gray cap is now centered low in the right wrist view, directly between the open jaws. I am descending vertically to cap height with only a tiny radial correction.\"}",
  "call_id": "call_nKyP3FGq2ljAwbJAP3oB0iWQ",
  "id": "fc_06e51d173a4c457c016ab4457de98887d09ade3cb1f3bac523",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nKyP3FGq2ljAwbJAP3oB0iWQ",
  "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, 0.7918, 0.5972, -0.3752, -0.0231, -0.0292, 0.9983, 0.5606, 1.866, 0.7479, 0.5041, 0.1223, 0.0536, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.398 right_y=0.2286 right_z=0.0293 right_yaw=0.416 right_pitch=-0.0383 right_roll=-0.015 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.6068, 6.7077, 1.7998, -0.0806, -0.022, -0.0122, -1.2786, -5.9145, 4.3145, 1.4042, -0.0659, 0.1148, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e8a68c326e35a75f56e85a5fa47882ad85a7c7c26947df32071e048278a1dff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:461b7ad9e38912adebe49ab5a047c09f64bbb885c4fcc128be0705d032d10e61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60fe1350a5f7a47405ef9dc374d057f53215bee67a0b9c2fac3a78fb5783271e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 2.633 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7921, 0.5972, -0.3744, -0.0231, -0.0292, 0.9983, 0.4313, 1.4433, 0.2085, 0.6571, 0.0795, 0.0296, 0.4988]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0061 left_roll=0.0 left_gripper=0.9983 right_x=0.3043 right_y=0.1285 right_z=0.0281 right_yaw=0.3357 right_pitch=-0.0053 right_roll=-0.0068 right_gripper=0.4988\nstate[joint_eff]: [-0.2803, -1.0598, 6.5709, 1.8779, -0.0366, -0.0317, -0.0122, 0.1846, -4.7111, 4.9026, 1.9219, 0.1538, 0.0415, 0.3248]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.5869, 1.5581, 0.8997, 0.0444, 0.1524, 0.0734, 0.9978]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3853 right_y=0.2284 right_z=0.1327 right_yaw=0.4064 right_pitch=-0.0354 right_roll=-0.0159 right_gripper=0.9978\nstate[joint_eff]: [-0.1162, -1.4017, 6.7487, 1.7656, -0.0171, -0.0415, -0.0122, -1.3333, -6.8991, 9.0598, 1.873, 0.0513, 0.0904, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0231, -0.0292, 0.9983, 0.5606, 1.866, 0.7479, 0.5041, 0.1223, 0.0536, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.398 right_y=0.2286 right_z=0.0293 right_yaw=0.416 right_pitch=-0.0383 right_roll=-0.015 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.6068, 6.7077, 1.7998, -0.0806, -0.022, -0.0122, -1.2786, -5.9145, 4.3145, 1.4042, -0.0659, 0.1148, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e8a68c326e35a75f56e85a5fa47882ad85a7c7c26947df32071e048278a1dff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:461b7ad9e38912adebe49ab5a047c09f64bbb885c4fcc128be0705d032d10e61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60fe1350a5f7a47405ef9dc374d057f53215bee67a0b9c2fac3a78fb5783271e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWC943tTLq9ldplt2uV6YTfjvIXx0JarnExwbaAUVO8OPJQH8POOYmW0hfJFBb2345oB4T-VQul7Qx1Ds1lgdJrzAmTLGPVn_rMLwZ1Ks7sgQB3is5SldFiFoq_MTCZlqwjSir96JwUSCwy3h9mkdVTYDiLHwNStUUf9ffjas5H_7uyZj3ppDQ7FQqao-rBkgs24muDNdtfr6oDogJFC3vY_uXHhrlrnYKS9W5k4tEHLhV5cLS49AIh1taglCotBYZS-XWCTOJyiVRpWWzYcxZlOBMDS5QEmtbj1VIpC08RS7PZZz_-2TUzXFK0YroBgWPbXCQjUbNmlsvCO0FYeUnPFxqXZXQh5fJT8rvyCfsj9znqjepYjIT0V6SNJK4vK00PwdbJlcE5VaphonE-TzIO-otJRUSBA4C_5rIF3-e-R6Ld0-BehRvct4CdffCV5CRcNUgVTc7iLs16DyiaQP0dRyo9NredSQ8bHk9pl7g7Tqd5rDn7gYHxPHAr-cTJ2gt4U5jFTk3W4wAFTejvArqaZuG1Dqk7lTfuR__SPyELtuXtuV7Ew1Y1hDE34-9-yIy8dxYQ_RzOPHvO2AmtGCJ768uCAXmpZ6jMa8YB7RX7tZMTVISxkzn9gr_YXh3gni_ue0yNo_c95IT8ufkF8GvMklrUS2YTQSfsh20YVQ-QkrWhwF8lGX7IoevE2GrEPxE0KptkQ9wiNaBjGhe14XpYRiBIlc_z5QAXpZHpaR8oviYTYECAE2HsKyjbeLEbtCYcZYr1TJUqlvTUuohFdbdF-JwvYk5hlPeByu4oLxhvQElAwmEWgG0APtYkiCN6wN6yNISj4Dqs0uspDth2IK7fouHztatZRtel01_iyLZj4FLA6TI0PbrVk_2rpREgBOOJwjdx7Dz1tTdmF5553cZoxkzU6WoHnnNfRlEy9Vn8sOd_-9Jk5XkJK8fBQkusIKQN5EVklNwKq9DbJKTrtpvkkrr7ShQsWZAwt_c3Np9tQfbDU_BjxNGMOSepDGUeuV6COuUze8gN16k0RAUmhCFiaeRlLzlsjAQdcZfAHjM6K5-vKvuyMaNJ9B5h3WFHJmCNaPO6P08AbLCKRSzKiFWlPWftoh_G7b0nsuqMvGGv3aBiQcQni0u6R7rTAWVP_bvaQ-LDtk-hWhcwb56IbIXq8geZkTP9TbW3bA0ahgiS9LHNJGXdkSeEDnfEYQ32-0b3RMZFkasmcvIN3KhQe48hMxrCWngq_zfPNNTYFteWvHOGbgGFq5f7bYkvR_k0Uioy3LRv5CUCR1ol8SsvbzaV8y-X9XZPFxgvX6QcHqaSbpT6fBF2fqBJVHQzVeV33zXx9tf8YHT-mQhLntyg8ekIQvphEI__EH2NT9j5RUIHwA1GpsdFUt_TFyzo1ezPd858UgvLEJKIEGHLBB4jOULyn4BRjoHSt3kHwPMsePdlsu5Qm1C1lEVQst7AR4TXVW2HTMYyI0Kjat8mVEDNvJWUXuLwj8_KQf12v4O0sEMEQQh868gziZVKIBWB5GL-5DL4CobGufXo_HRdkoHLi0JXYmMjTmr2JhEuBm5XbvEaCteyeUZAqUyaQxKcR3oaFMSiXndGbFQi0SvbBxGVP_xuvMCEwyS95v8bT6FY_ywcm5jrhEQQhtaZ5eukHYIUMi7V",
  "id": "rs_06e51d173a4c457c016ab44580c1d487d08bf801d49959efc7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.228,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"At cap height, the cap is centered but still visibly ahead of the fingertip line, with the neck leading down toward the jaws. I am advancing about 2.5 cm so the jaw tips straddle the cap/neck before closing.\"}",
  "call_id": "call_dx8UTpkYF9C1mCpzpxvb58NX",
  "id": "fc_06e51d173a4c457c016ab44581cc0c87d09d5b96d52989b3a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dx8UTpkYF9C1mCpzpxvb58NX",
  "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, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.5278, 1.9053, 0.7818, 0.5686, 0.0906, 0.0319, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4175 right_y=0.229 right_z=0.037 right_yaw=0.4216 right_pitch=0.0181 right_roll=-0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.5658, 6.7487, 1.8193, -0.0415, -0.0317, -0.0122, -0.7316, -6.3795, 6.9128, 1.6337, -0.0562, 0.0366, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7109d81621c459a8fad83d41ef19a0f5989ec366086ef43fcc8bd15fa2eb907d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ebadf76fa184eaf2cc5b45f1fb059d6572c4a53014d5372bb08ad55f365e717",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:936768d62981bb8ea94e87bcdad8f56d45f053f9a5ea2295d7e6b936f8449cdd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 3.905 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.5972, -0.3737, -0.0231, -0.0288, 0.9983, 0.7052, 0.9123, 0.004, 0.3088, 0.2672, 0.1612, 0.5038]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1785 left_yaw=0.0007 left_pitch=-0.0061 left_roll=0.0003 left_gripper=0.9983 right_x=0.2222 right_y=0.1326 right_z=0.029 right_yaw=0.3816 right_pitch=-0.005 right_roll=-0.0028 right_gripper=0.5038\nstate[joint_eff]: [-0.2667, -1.2376, 6.5846, 1.7949, -0.0708, -0.0464, -0.0122, 0.1573, -0.4991, 5.7231, 2.7619, 0.1197, -0.0122, 0.3785]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0231, -0.0292, 0.9983, 0.5606, 1.866, 0.7479, 0.5041, 0.1223, 0.0536, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.398 right_y=0.2286 right_z=0.0293 right_yaw=0.416 right_pitch=-0.0383 right_roll=-0.015 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.6068, 6.7077, 1.7998, -0.0806, -0.022, -0.0122, -1.2786, -5.9145, 4.3145, 1.4042, -0.0659, 0.1148, -0.0464]\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 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.5278, 1.9053, 0.7818, 0.5686, 0.0906, 0.0319, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4175 right_y=0.229 right_z=0.037 right_yaw=0.4216 right_pitch=0.0181 right_roll=-0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.5658, 6.7487, 1.8193, -0.0415, -0.0317, -0.0122, -0.7316, -6.3795, 6.9128, 1.6337, -0.0562, 0.0366, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7109d81621c459a8fad83d41ef19a0f5989ec366086ef43fcc8bd15fa2eb907d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ebadf76fa184eaf2cc5b45f1fb059d6572c4a53014d5372bb08ad55f365e717",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:936768d62981bb8ea94e87bcdad8f56d45f053f9a5ea2295d7e6b936f8449cdd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWFVk2qvlh_ZPvS-ASWhB1AubWEP2NwvFHob15m3BTVRiNtZfHtN-jepACt007gWbzIJd8st-sW4b98Ww6JVpfSPlbKDE2jfhDHnBsFByxG7axgfAyf5JplQ26ZDJ4Axefe5M0x7P4XzLXAghs1CAB9jy0isw44eoxf2tpLkT29oexvjz45Nne613CUQobn49pBX5ZHzDn5WdO2DjV0lM5XGOeVT0GhDR-JQ24M9NryJXzHYPvp6r5Vt2UJIxR-xp-W51S03YI5tJD96Ibp9r9ZKcB8NeF2xRZ1ZmbptlswI0ca6BaCna83iCZGEAk_jkv3_yeMTl6b4cQiDjDhynopxfMt3TVPWmNcTD3GqxrIHbHAJk9HDzTwhxo8Tc-PSOyUcLacsdxO3G9CCBVJpvrTj7VQrTzm5JUoixoTYCYov2RF4O1CsMNXZRE48J2EAPtU-s_9KCpLA02nvonPIW4mSPsHjuegBJRTioenau0wXVivQxqLzBEht5H40gbNsAQVqOawW3x2fesuLynU2eS665lPLuyDqhRdpocmE41dO29xdiXGq4OxjkFrsReCmWzGQL71Mr7MxvtSNwuPW0S0JZch8YKrURR46tCu4SeUuO4UDCq0sMeNJ89dmpua69kAWf3HBp9bGLAvRfHmel1YIt-a6Mj5upeDQDLx7Zj8-548rBAXAvBQFkribcd9CldWR1I4rFxO8SFaIWWaSH4WZ0-vjdcOAZaMA4pVIAt1qzWsMrg0HQyIhlKy2NiKdo06aDoA_4mmt-QAltUmnUH7OdWFCsUwvF4ktS5Q99wyloG_aNwy04mD358du-R5cfTjul5L5J2iY-9dGljrTnmXdPsAl3d7s3TeQ0LOq2bFesluqVCi4S-wAV9jHBAT9Nq7DUPq11uMnXCws5kQM4_XuiYYbjRo45er7KnGQD8ZawnDW5nG5eOHxnleSA-0zN6LBZmJ92Di9A7DUixOtPoGrlDJDUJzewHiD-Ms9CqjSDZJfY2oywOXqJlxB40Q4w73MeGBbRVNz4HMw-I7jSfqrhqL3xHuZDPRGH7rUNLFFT-Tb8Qr8fAG-6GQpcN5YhQ9nQTzS79YpvoT1FNEdpn5VM3KBzQ7dfL_2yDfxgXmEI7ljaaDIzDVqVpJBUOph__5j9cN1TbiFdn_FiZlzgm2imUsSFSXPmrBivVkvVL9SXoKGkzk8KZYF2B9kpk2DLxAawbvpXYl4Eyv25YHtmR9vVRlmfH2lfnmijadskjwNI9qjy8fK0KSYykJ0gmYjPkvOQrfqAqYEYs6K72DJ8PXCiNGuQB1eNLHDH-gOzSJXAgbda0ObL7vXbTeYByf0G73",
  "id": "rs_06e51d173a4c457c016ab445844ea087d0b3979f6c9c380111",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.228,\"right_z\":0.035,\"right_gripper\":1.0},\"note\":\"The first low advance moved the cap substantially toward the jaw tips while preserving perfect lateral alignment. I am taking one smaller final advance to place the cap itself at the closing line.\"}",
  "call_id": "call_AkiwYgUBQtWFPvYAlhu8WuLx",
  "id": "fc_06e51d173a4c457c016ab44584bfbc87d0b238d1cf2ecb31e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AkiwYgUBQtWFPvYAlhu8WuLx",
  "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, 0.7918, 0.5972, -0.3752, -0.0231, -0.0288, 0.9983, 0.5159, 1.9125, 0.7998, 0.5652, 0.0738, 0.0246, 0.9997]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1785 left_yaw=0.0007 left_pitch=-0.0065 left_roll=0.0003 left_gripper=0.9983 right_x=0.4231 right_y=0.2291 right_z=0.0395 right_yaw=0.4278 right_pitch=0.0245 right_roll=-0.0052 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.6205, 6.5162, 1.8486, -0.0366, -0.0122, -0.0122, -0.5402, -6.8444, 6.4479, 1.6044, 0.0024, 0.0757, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea58f1e8e65a3e5a3626200665a7d09d9d6b5fb9750feefc256c4c3546fd9df4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62210be868ef0dced9c99c2e1e351bf5d1aba767abb221455924b7454c7b347f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77869e3e5a8d3734069b40721f05173dbdfd6679885d8e3e78aaed8fc532c736",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 4.746 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.5869, 1.5581, 0.8997, 0.0444, 0.1524, 0.0734, 0.9978]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3853 right_y=0.2284 right_z=0.1327 right_yaw=0.4064 right_pitch=-0.0354 right_roll=-0.0159 right_gripper=0.9978\nstate[joint_eff]: [-0.1162, -1.4017, 6.7487, 1.7656, -0.0171, -0.0415, -0.0122, -1.3333, -6.8991, 9.0598, 1.873, 0.0513, 0.0904, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.5278, 1.9053, 0.7818, 0.5686, 0.0906, 0.0319, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4175 right_y=0.229 right_z=0.037 right_yaw=0.4216 right_pitch=0.0181 right_roll=-0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.5658, 6.7487, 1.8193, -0.0415, -0.0317, -0.0122, -0.7316, -6.3795, 6.9128, 1.6337, -0.0562, 0.0366, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0231, -0.0288, 0.9983, 0.5159, 1.9125, 0.7998, 0.5652, 0.0738, 0.0246, 0.9997]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1785 left_yaw=0.0007 left_pitch=-0.0065 left_roll=0.0003 left_gripper=0.9983 right_x=0.4231 right_y=0.2291 right_z=0.0395 right_yaw=0.4278 right_pitch=0.0245 right_roll=-0.0052 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.6205, 6.5162, 1.8486, -0.0366, -0.0122, -0.0122, -0.5402, -6.8444, 6.4479, 1.6044, 0.0024, 0.0757, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea58f1e8e65a3e5a3626200665a7d09d9d6b5fb9750feefc256c4c3546fd9df4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62210be868ef0dced9c99c2e1e351bf5d1aba767abb221455924b7454c7b347f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77869e3e5a8d3734069b40721f05173dbdfd6679885d8e3e78aaed8fc532c736",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWJ7QFXB9Uki4NGl7C37s1b_K94QwCzBU8C_4vwmRYRptPcsgcr9BEJR4isiRsqky8jcxzPJ4REQ9NgtKhJ8Dp11uLw2jb1_FKlUkwS5VMCmGj-VPGNZfGt5T2ZuglLgG7mUqRjbGNoR7plxg8w58OYOH_keVUqzgR3c3Dd1KgUSiR9UFlBqUUqNkoLGSDDRK0tJZHrBtpPcBQWaot-wZ2yJYbKjCw_769XTNTgTQJGGcQkU9D2pNOYpwSfq9Nh-d5d-hzJ0tpdFjoxguAzbi5D5ZG0pFMIf7wDqRwSVfBv2JlQLNU-DiEzkV3gYOmwRmUMH4Bw61iOSD3qe8bq9rE1k5fo5AEFXlOb0u1o7AOtofJP8y2kSJjOpcCrmDxuUXh9_NH56kzff_oeYjt7PKOiqxNdka0q25x4dqzOuDMBmXiXyHaSw0GVXTwo6L4GXTkKl9kafvbMUMy8Gvpqk7hX-F9WTJ3HuIFSzGg3OF_g8zcaLCD7xKfOT2fytqCH13ai8b36OVfplKbDR9KhO6wqJnt2eWDOYe8cQlzI6TGidCqTJoZmAw4VkdYJcnIQHF3JRCIHIOELmEfUSTMJkp-FKTqY_Llti0nUeZSjuM4xf9xoB33eNOAvFL_tFC4j8Oe1g1c7Ptx6S_8v3YFMkCXqSFlgvx99aqt009TyZ5zGpBQYkpqn5IswnETq4GJOnuNKikCkuTR9zGRdaM7A1TdJUqQ8ve9GBt8t0dXW3RpA--yMtB1i75bWINnlN0ylxXTTCijTaY3F4E9Mpu9WkuaSFwA0RpRIWLrRaPcBqX6aGLfkhTue8li0NtXOEl4pbc4EHPU8BpkiFxSxXMKLgqZmqO9l8S5Dd7u6Zw2rdjAX7V1tYQzg8uRGUR8tVW8C07wodMdjeVAtFkm1QPpg9VcsyRb_2lJUUGMOdaQEOdlCj6-gMYOEfPIrzqlQZji73U4RyxikaEEMCoL-Q8ICnMXpT-7aItoR4a99JAwjmdwlP58oPARyFa83VqGBryct5XjjL-_1QgLVY3kJ7ER_NsjnqIwICeYgw7N1Bw36ZImKwYFIlfZy7rcU_Ng3T3w0bXAEk5E1XgHW4bV-PdyrBCqYem3x7q-7Ufvj96kJnsgyWbUSQCLCGaVY9tkAsebOvGObBZpQPHPW_ELFPi2YIsoUDaeq7brn46zXifpz_LePYLrqRAzF1UgMKwcrE3M-PrpNdyhsfDQosnRRM8E8x5y3dT9nqMgmHx86G86g6Ty-Kt2uNUFcNCfBrnGU0NkJqCBBjdsTs7L3t8mMHAFl_oVGSy8zn4L1Y18jpGKI0-TfqT2m5vl2ysN2rE64GY5xOjXo80vq0kaey7vefQ4t5bpaBNpR6o2icmtDfEl8U0D7O4-JLKITMTI01x-sk3LXWXlfKp7w0NItNlHiRrb_YpJwhA1NFEoDrRroKXQEkhwLCvRHcdTFeKCYXGCDIS9tjvddkFSSX148eF-fWRPCcsJoUjswWpOHElwBhqiZokAVMq968KRPWPFX2yIyxQ-OkVdEQIjvPeAfPt8YdwFBdh8zuuAwU9EadWTTRyxxVmcxuWWaWFgFKt70LZvVr9UbNouoOI_1dSqRazogt1XpoJpNYyOh7ascih7Kgoxh6wt6f5AhXAo6Emua1LKWwzVZyZT2IksHeIu6lIDedof_yH9pXQTX0RKTlV5tIktaQwCHC7E6T8wjrazpkNyCmcpPpPFalATeFsZajQ997nh7E_ziG83vYQa4QtOAphhSQiuQCc1zG94KWt4_RngYZgKL5aFiQ-7jFoxOeDtVLa7y9MyvmyC1_F0oyzIbRqPvyaCvNExuevn9tRaSJof7uAfp2rtNpB_dEFwgddOmwVd9UgugRw==",
  "id": "rs_06e51d173a4c457c016ab445875bf487d0a391e8f7982688c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.22},\"note\":\"The gray cap is now centered at the mouth of the jaw tips, with both inner finger edges straddling it. I am closing to a cap-sized gap rather than fully shut, which should secure the ridged cap without ejecting it.\"}",
  "call_id": "call_ClVcPlIlHoUu1HJr2NlwufPi",
  "id": "fc_06e51d173a4c457c016ab44588c71087d0b0445e77ee1cf092",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ClVcPlIlHoUu1HJr2NlwufPi",
  "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, 0.791, 0.5972, -0.374, -0.0231, -0.0292, 0.9983, 0.5167, 1.9141, 0.8131, 0.614, 0.0662, 0.0177, 0.2257]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.0009 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.431 right_y=0.2356 right_z=0.0542 right_yaw=0.4384 right_pitch=0.0846 right_roll=-0.0024 right_gripper=0.2257\nstate[joint_eff]: [-0.0615, -1.4017, 6.5299, 1.9121, -0.0562, -0.0659, -0.0122, -0.2393, -7.0632, 5.7368, 1.16, 0.1245, 0.1392, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f09e2580007d60146e0600a50d4d3bdf35b60a47aaa45e0371b3e602dbf99965",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c61a61aa9d90b9745c80c51639820da09846160643e5b93ec0f57f8b9d92f145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c312e7375988fa12848fe1605354f629b5a1caeca64719474f515bd78410b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 7.279 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0231, -0.0292, 0.9983, 0.5606, 1.866, 0.7479, 0.5041, 0.1223, 0.0536, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1785 left_yaw=0.0009 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.398 right_y=0.2286 right_z=0.0293 right_yaw=0.416 right_pitch=-0.0383 right_roll=-0.015 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.6068, 6.7077, 1.7998, -0.0806, -0.022, -0.0122, -1.2786, -5.9145, 4.3145, 1.4042, -0.0659, 0.1148, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0231, -0.0288, 0.9983, 0.5159, 1.9125, 0.7998, 0.5652, 0.0738, 0.0246, 0.9997]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1785 left_yaw=0.0007 left_pitch=-0.0065 left_roll=0.0003 left_gripper=0.9983 right_x=0.4231 right_y=0.2291 right_z=0.0395 right_yaw=0.4278 right_pitch=0.0245 right_roll=-0.0052 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.6205, 6.5162, 1.8486, -0.0366, -0.0122, -0.0122, -0.5402, -6.8444, 6.4479, 1.6044, 0.0024, 0.0757, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.791, 0.5972, -0.374, -0.0231, -0.0292, 0.9983, 0.5167, 1.9141, 0.8131, 0.614, 0.0662, 0.0177, 0.2257]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.0009 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.431 right_y=0.2356 right_z=0.0542 right_yaw=0.4384 right_pitch=0.0846 right_roll=-0.0024 right_gripper=0.2257\nstate[joint_eff]: [-0.0615, -1.4017, 6.5299, 1.9121, -0.0562, -0.0659, -0.0122, -0.2393, -7.0632, 5.7368, 1.16, 0.1245, 0.1392, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f09e2580007d60146e0600a50d4d3bdf35b60a47aaa45e0371b3e602dbf99965",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c61a61aa9d90b9745c80c51639820da09846160643e5b93ec0f57f8b9d92f145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c312e7375988fa12848fe1605354f629b5a1caeca64719474f515bd78410b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEWPAUsXXhqQ2Zr2NYwkZW6uxN7NQIqNy2Blm1hczeuzlf9Eayv9dLRIxdcyk7qPt8NO_zYw9xCeeK9z0c-Yvsg5K8DPLT87G2NmDlCDjFvrAXHocSRIeggQ87xA65yrq_JLKWO6v87o7CpNp_s3XRRblDI87Un1Vc3f2DRtKXD0VJhZPr7b2JTT2MnOqNk4IYDm-1pNIcOeFWTcgph8G-y1UX9ZoFeeN_VafkKnpXtmQXI8xlvy_e686NcIMU00EhcQptDUkSBnycA6yqAmDRZT3P-YtQfaImB_VkWSqpImnNAdiTt-LKGtlwWcamYfxCpUpUmMZGltsdKMTzyyRoC_VY0_BPuicTpWbRRut16ERYY8YQluNIN4D9SMk6iDo7vOhbdm6fUBfqhD9_LWbsq3fgi423KodilD48JWyakQ6zynYvvihFgzyH0ON4d8UZOY7i1tuNedTfR8GNIFIFNsWaDr8e3w1ABo6mkb8cPnzl81QAa0dNYMXi_KVUZJk6Ek9h29YDSDaC2Pkw6_66da5BXcrhlbLqq2gGvF02bQEy7xVzzv9y02JEbSkgu-RNW8FIee1qOOb3ANCjx5XzGUQYGMtIqGrCt85Tcit4pEAN8QgxzfAGZKhObAKPHMqRfjJPNSOfGj6aGmGfmxJNwh2cUhN50htVspEXKmxesO53b2WpVju73O2Dbwb0yXA1WM5bybZuIJgoYV2LOOO8qKl0sedo0uYMI_NUCQPRTX14eQBtJqRVkLFjCYHcYuc6djVSGT-V-uxBkcE7DvorEee8TQFeSPqOrQjIjL0MCAc4HIXPEzWEvZ1V-5WGdaeBkSqFiFD_hYBZbDOPRMAr2GO_dZ1LGMIho8VYGrAYRWR3Qe7nVolSHgs7ty9-_73hHv_5B4cYRbCvYSciSa4X8stahCN032unJEXnwZJ9bnLqX9hEn8XD0gxwYaPa7rN6TlSUnEkUnmP895rbzkPh3F4SnkgvyBcctUiYpFB4y5_PPSV8RTwQowk6BR4Lu7apITjAZcvm6nP8VCcJJUrXjBowqZA2oA8R0e5h-QMMPCmMo_8mn06BHFIWR56L_kg7uFzuBu41eK6P2tOuh6Oi0zenxN-4dy-N-DAQ5zfvWBeuRoG7n8baIjowlLTAGM9Q_T9Qtcdu4KreVauuYCDJ0Odz2mi_pbgzrIJSeyFSEIYJAL8Zt6FtXVD4obpECMv4ooyVtUj4fde3vIf3-gf5woWtWzOGrHGAj2-6zqAHfEBDmfdpV-aU62Ukwh6o5DPXnDwFQ3z5Ajr9oWWpiUYVJqebJe7uYx2moB6DCm5Yew2TbybqU2t25WjFQ6ROpEFrLVuzBzvA-SpHQ42xgjwLdkNOsb_kxpLxoP35Jt9gDNDtODfUnEZCtAG9ZCYCyyok2TBD2KK8COn5qePKbmtDqtOqq3rSzpvL3g17ZYxX8WnFrX1697Bhpdexbnvz7PQNbzUSmvXk0nRJJevVx_LQHOv2V-ZAAREvCX2CCxpM1Y1ufopRaJXk3vN-L6uwqgIgL5uuhOdVDQyv6ABZMAyPF3kJM3JRD4izJjp2GKVgH7FS9ZFe2J1EwyBT2mTjk0OfpvZXIEYCP2Ju3fzqoC0iNpa84zFha3ZF4TGbXb1aROuvew4BRWr7SsU_CSt7sBZJpypIobOJyX44_nJxf0C9TMFd2ynIp-K_P6CmSPWqN4JtIxaZo8Y82qf52wdcbtQvJnoh8vvVXSKjunDeHdiKKLJE1JISZViPG12qJCEjjZ8mAxRZSh3kdglEYZb3Sjh5ZeHjPnX5OTpx32inJ8ix1kksflGP6NvYsMHLNsTU-1FZG-fVA1xEDMdGLWYnk1aAYVeFkHTGz7fDutX9XPZWTwdyVe4VHSZxcSU5KnNVdmQAxkh1_dSg13lRYNogopIO5_HDe4X-EfXybtrGa5AnaRNTZqbb7kmaxn6z32U_7Sc3f7vJxajTG5NxKnWZpTtWu9BanMqQwEFpXmPSU8PJAZxXnDFACE4hPQ9RmSUrxBQ0TY1MLQMkG9cTkRQjqNb-a362MZRe6AGEnqchZTcbTj0eZIAmpdwCnBjlNgPblsHimGQ_dQ2aRI05ezw1x3L7PKPNbJxRaprp5NZjjHn2ovhbsNzjpRR-Fsq_jYTvm5VNsBhCGvkrvynxwXOkkrW9pbvP9latCVRlD9cRqnnda5OU7p5bFbDTans49bKuqEvJf4WX9Bn01LU8cQBJxLVi9w",
  "id": "rs_06e51d173a4c457c016ab4458bf29887d0a3d5028d525ce489",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.14,\"right_x\":0.431,\"right_y\":0.235,\"right_gripper\":0.22},\"note\":\"The gripper stopped just above the cap-sized command and the cap is visibly pinched between the jaw tips. I am lifting it partway so the bottle can pivot on its base toward vertical while I verify that the cap remains secured.\"}",
  "call_id": "call_7cxhkx3b2Oj2jEkqlLbCbJBb",
  "id": "fc_06e51d173a4c457c016ab4458e263c87d0a76fb39687d66a5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7cxhkx3b2Oj2jEkqlLbCbJBb",
  "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, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.5167, 1.7363, 0.9897, 0.1257, 0.0471, 0.009, 0.2211]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4238 right_y=0.2354 right_z=0.1068 right_yaw=0.4594 right_pitch=-0.0496 right_roll=-0.0089 right_gripper=0.2211\nstate[joint_eff]: [-0.335, -1.2103, 6.7077, 1.8291, -0.0415, -0.0757, -0.0122, -0.2256, -11.0564, 10.0581, 2.083, 0.1099, 0.0708, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55211e2647ded60811723ff177df65d49c0743bc55fc9e9a81c754d8f521ec63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b0dd62362b87350843b4017f582fa6342e42c81d0b601491d750bd7a0047a85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79844b138947be26e1c86ad3badcc6093365f4cae544f76a20cccce45945eace",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 5.405 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 152 changed as sent

message 156 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.5278, 1.9053, 0.7818, 0.5686, 0.0906, 0.0319, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4175 right_y=0.229 right_z=0.037 right_yaw=0.4216 right_pitch=0.0181 right_roll=-0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.5658, 6.7487, 1.8193, -0.0415, -0.0317, -0.0122, -0.7316, -6.3795, 6.9128, 1.6337, -0.0562, 0.0366, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.791, 0.5972, -0.374, -0.0231, -0.0292, 0.9983, 0.5167, 1.9141, 0.8131, 0.614, 0.0662, 0.0177, 0.2257]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.0009 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.431 right_y=0.2356 right_z=0.0542 right_yaw=0.4384 right_pitch=0.0846 right_roll=-0.0024 right_gripper=0.2257\nstate[joint_eff]: [-0.0615, -1.4017, 6.5299, 1.9121, -0.0562, -0.0659, -0.0122, -0.2393, -7.0632, 5.7368, 1.16, 0.1245, 0.1392, 0.2027]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7918, 0.5972, -0.3752, -0.0227, -0.0292, 0.9983, 0.5167, 1.7363, 0.9897, 0.1257, 0.0471, 0.009, 0.2211]\nstate[eef_state]: left_x=0.2945 left_y=0.0017 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4238 right_y=0.2354 right_z=0.1068 right_yaw=0.4594 right_pitch=-0.0496 right_roll=-0.0089 right_gripper=0.2211\nstate[joint_eff]: [-0.335, -1.2103, 6.7077, 1.8291, -0.0415, -0.0757, -0.0122, -0.2256, -11.0564, 10.0581, 2.083, 0.1099, 0.0708, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55211e2647ded60811723ff177df65d49c0743bc55fc9e9a81c754d8f521ec63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b0dd62362b87350843b4017f582fa6342e42c81d0b601491d750bd7a0047a85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79844b138947be26e1c86ad3badcc6093365f4cae544f76a20cccce45945eace",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_06e51d173a4c457c016ab445924c2c87d09d56ab487ee41b8f",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEWXHVxrNvXJrNiShXAv8F4t34j-ePqLGMLuBfaEFqTWJNNR4nJqkoap_MGyl1B95UADIxQzOg6yZv93BifZBharK82Cp6xfvqsSq3ZuEbjOHGYjn3ye-XEyyrszoHV-gqvpSruKJ3Zm14wGenK7-15bse81vq1NnUM-nj7-wiIJ01Vk2SUWPW_nyOz-Ey7J6d4WUe8SY1UpZu_u2LlL77MtzZRawJKoX8KKBdVlJhpHGMs65iigNKpQj47dNLV_cgL1kLukmYObWrG9NEh_NDhMbZfpH5acDBglKI70VBwOemM2mGVXw5UCtj9Xxnb6DFIqqdBe-wQSX8qJGvOUY_JAcxTpv0Em14pkKj5OS41r7nXL4-a2MZJvPpGG28SQ_BekJH2sye5BcBFfKp2qKvWT0REXj-UGX-DXFgktClnHdmeykO8HjXUSCfYAZfpeH1Vc_HLoIEreptRxRl9OWUWQJteZPkzOaWiHz1VJHcITkEpqXkqE_QzDFJiXjW9-9ZoLnqtbUt-tPPlclBIUDFscfYQB4X7hIpMpLB3o9LMIBHdkp3NrCVODbEme2X_DZQqcfAmwl3LozY3f0EYW7mvTLYiSPU9gacFt05eUYCV5uC7Vt5jS8KU3V7B4Qb5W9QzjPp1lQ0SBE_1WU2JeLgquR9pypOZmj8QJxE118iUtNnk-sR6XX5OmTaWpusBbGIt6w0EReiiUU7wpjhTDFZV8COn3cCQ3R63B0iTY_cCppKGsnfOR_1J6I2PmjbJGCMgvCzMzWdKsJcWUIaOHknMIFKW-wfbyynb6Kb913xZJKWfzL5XXe9dWoXEnKCJNvoHm-z5wrQ31BFIg2wfhyJZuy2GxN7UiNrki2r1Nb04ezGSwM7T5Cqo1iX2S43l7Jra6-c00gOW8X_b0ZXjwndrVtNw34rje8D35dgKIVzZd74973nynS387Xh3veLwOR_1xNsfP15NCyN9HOCjEbKU_mGoDc3NVtukIbHqn6lp0K9TbjbNMZYWEL3XccZiV6UV4-6u7EXgGULF7jbajeCQhJpwHY5bg8OCWHeOgYJn-gF2zEIRVBl4630-cbf57vuSaHHR4_BeitZP-sLJa6ePd8rNEYHRaRYCSRidmsCeasRYu6wKGjzDjsNIuhaYKKwGlxL6uplJUlsAdiS331rezQFJOQaFAL4NN4sEJkZcmwhdyXI1SlX4sp42y56-V9uJ4_dV86xxesy9AJagdCl5P6y3u_5ql7wYMOuS9rA2aF-jLwHLiMTESj7XbfGQwdV6Lgsjqikk7ZZwYIlzOgX926ZAqrjrpRoN_fHTtNAbucy38RyDdctQeCatlzlmvc9rSzbVe5Mh3P5IjOY_KGmocUVV1T8ODA_4kStZh8dZPcz58WYMt8gmA1vq-USyQOVEEC36QWmTCs9UEvyfuoMWEHtfkjHIPhiLaErO_eLmTCPlrKVPbPlHKZ12iPy3x-aqF3BnmLdYYPyYeQxqOo3fE3fVoV_GKxLSRp0ikDSXzkIiWEcq_cb8sgRD5qx9hwGRzub3jgsAbhOAIySc1I_6WEmJIvPxndWIPGQWw8pChnbP_7x45v6X3XFqKpl4en2CXlaPXD02qNhjoSsRz4kBTyerVbWQjXDDmtxi7zQBZrgRkDQS8rL-iZURLyAP1HCrwf5NHpKq1zAuS4HjxQeJ0qXc2PQhr9tLREyPzbJ41Q-cCALOx7KhR42iDqNDjbcflEYfQzweNT72DrIs3K0p31FFtn-guWjOWThZb7jSkcXLjzfhTr3g7CLQrCtc7ZwcVVyENEJDatGtLXfCeH55rVI08tWLRVYe-YcY_1As3Gpbcaacl5uYpXfEMXSEpsv2H50IBiEYGbeLXBkuouPWSkJgnjd_8mNk2qVArpQezEUMfonxRlYIsE0t0eYZ3GSbTrwQLZ2l1JbJ-jkohpqq0CsxY3nIcRuwbQURt6ewVt_xzKN9S3MS9b4LxHAzjYBRFN-FvRd8yZzxdwoEPU3B8fcUXMOiw2he3qgQckMmStvzLHAy5omEneEjv5T2OUDrVj7P4zj7ohO99Lo--PywCjJq0SI-9VFed_8rMfE9eFsTFnTIbl7TCKxYq4QmuadvgEfgC_wDcGxbIsC032Dqm596XQc0y0xH_4rVBd_m3dTkaUeit8cnMSywETWZOa0TwXNvQeeO3XagbaGbri8z8rSqZZU1whLsP77oV_Jqoqvhu8FkWLp_ZXqA3eJg_uDAlMq9AvsGnol3jLU7LtF3Cw13esJajzO-WQ3G9FBp-1YfnWW7tS9ecsKvfSMM49Tn3PQBRuhbvppH2vU9KceX2sH_rl9gdUFc0gH_Wl6ZGBOkdxswhYmcpG6Hu2YE1dagKcZ9Ehu0J8otdTDz0v98KRJmd4fyJf6Bk-dlpPg60YDvCNrI7tQ4uZGGXx0cRLS2ai5xkr_FwC89A1epn-wNf9rYg54jOpuN9OBiKBchZ2WR2xoZi_Y2-zeED8S0SQK9iciM8IGh56PB8tyItZ9-BtkUTOAv42l8llonut_LblmR2fUiZp5-Sco41DvMDL6uEF-RMLiUWAiWl_khN1n7VBZfdT3l5sQUBnAgCcDEQsb_I55XPotnYLaMHEElGvtT7DkL_MATS2iLSa_4Uq7FdYg==",
  "id": "rs_06e51d173a4c457c016ab44593889487d08332d3f4f5a04b38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.235,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"The bottle remained visible in the wrist camera during the lift, proving the cap was still just ahead of the jaws rather than held. I am reopening, descending, and advancing another few centimetres so the cap passes fully into the fingertip line.\"}",
  "call_id": "call_YyZsSwsbb7xqKVnhdupeswhk",
  "id": "fc_06e51d173a4c457c016ab44596270087d0b3f8cd9c8b248446",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YyZsSwsbb7xqKVnhdupeswhk",
  "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, 0.791, 0.5972, -0.3748, -0.0231, -0.0292, 0.9983, 0.4801, 1.9976, 0.9287, 0.5083, 0.0101, -0.0208, 0.9956]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1788 left_yaw=0.0009 left_pitch=-0.0053 left_roll=-0.0 left_gripper=0.9983 right_x=0.4505 right_y=0.2366 right_z=0.0354 right_yaw=0.4701 right_pitch=0.0099 right_roll=-0.011 right_gripper=0.9956\nstate[joint_eff]: [-0.3761, -1.4974, 6.7214, 1.7949, -0.0366, -0.0317, -0.0122, -0.7453, -6.3521, 6.2017, 1.3944, -0.0806, 0.1343, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c968b1750e2ca4b98ba1819ba72938a7873bb2ffedc37815af50304c44ec6b60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c8a495c3c1901e4753965784f2bca1306d4d9716f4918ac1b7d1ee0bd8c80b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c50d35b6bb6ff195ad556d82b790f33bedf8d4674bef2ace5fb4e4299fedf32",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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