adhoc

completed
2026-09-23T22:39:26.017875+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
215.7 s
total steps
326
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe left wrist view shows the nearest fallen bottle low in frame, with its neck just left of the jaw centerline. I’ll move the left gripper slightly forward and left while lowering to a closer inspection height, aiming the fingers over that neck.
move_to
left_x0.3250left_y0.0120left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6071, -0.3775, -0.0238, -0.0284, 0.9988, -0.0154, 0.7887, 0.6037, -0.3862, -0.0231, -0.0345, 0.9998] state[eef_state]: left_x=0.2954 left_y=0.0019 left_z=0.1821 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9988 right_x=0.2935 right_y=0.0031 right_z=0.18 right_yaw=0.0005 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3624, -1.4427, 9.812, 1.8242, -0.0317, 0.1392, -0.1343, -1.0462, -1.0872, 10.4274, 1.873, 0.0024, 0.2125, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":0.012,"left_z":0.15,"left_gripper":1.0},"note":"The left wrist view shows the nearest fallen bottle low in frame, with its neck just left of the jaw centerline. I’ll move the left gripper slightly forward and left while lowering to a closer inspection height, aiming the fingers over that neck."})
tool
executing move_to over 3 steps (0.3s)
step 3
top_cam
camera top_cam step 3
left_cam
camera left_cam step 3
right_cam
camera right_cam step 3
assistant
agent noteThe near bottle’s cap is now close to the jaw column but remains above and slightly right of the fingertip line. I’ll advance about 3 cm and correct a few millimetres right so the open jaws center on the neck before descending.
move_to
left_x0.3450left_y0.0060left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0357, 0.9451, 0.5529, -0.2329, 0.0017, -0.0219, 0.9989, -0.0151, 0.7921, 0.6048, -0.3969, -0.0231, -0.0349, 0.9997] state[eef_state]: left_x=0.3146 left_y=0.0145 left_z=0.1436 left_yaw=0.0307 left_pitch=-0.0615 left_roll=-0.0079 left_gripper=0.9989 right_x=0.2925 right_y=0.0033 right_z=0.1774 right_yaw=0.0011 right_pitch=-0.0133 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.1983, -4.3282, 6.9265, 1.9219, 0.1734, 0.2222, -0.1294, -0.2256, -1.4427, 6.9128, 1.8877, -0.0513, -0.0122, -0.0171] camera 'top_cam' (step 3): [image omitted: streamed camera frame] camera 'left_cam' (step 3): [image omitted: streamed camera frame] camera 'right_cam' (step 3): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":0.006,"left_z":0.12,"left_gripper":1.0},"note":"The near bottle’s cap is now close to the jaw column but remains above and slightly right of the fingertip line. I’ll advance about 3 cm and correct a few millimetres right so the open jaws center on the neck before descending."})
tool
executing move_to over 3 steps (0.3s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe cap is horizontally centered, but the simultaneous descent canceled its apparent forward shift in the wrist view, leaving it well above the fingertip line. I’ll hold height and make a pure 4 cm forward move so the neck comes directly beneath the jaws.
move_to
left_x0.3750left_y0.0060left_z0.1100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0139, 1.0969, 0.4877, -0.028, -0.025, -0.0338, 0.9989, -0.0154, 0.7918, 0.6025, -0.3973, -0.0227, -0.0349, 0.9998] state[eef_state]: left_x=0.3333 left_y=0.0034 left_z=0.1093 left_yaw=0.0101 left_pitch=-0.0736 left_roll=-0.0016 left_gripper=0.9989 right_x=0.2921 right_y=0.0031 right_z=0.1763 right_yaw=0.0004 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.1846, -4.6291, 6.4205, 2.044, -0.2173, -0.1587, -0.1294, -0.3214, -1.9077, 6.1744, 1.873, -0.0464, -0.0024, -0.0073] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":0.006,"left_z":0.11,"left_gripper":1.0},"note":"The cap is horizontally centered, but the simultaneous descent canceled its apparent forward shift in the wrist view, leaving it well above the fingertip line. I’ll hold height and make a pure 4 cm forward move so the neck comes directly beneath the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe bottle neck now sits at the fingertip end of the centered jaw gap. I’ll descend nearly to table level with a tiny rightward correction, keeping the jaws open around the neck.
move_to
left_x0.3750left_y-0.0020left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0055, 1.2778, 0.487, 0.136, -0.033, -0.0483, 0.9989, -0.0151, 0.7902, 0.59, -0.3973, -0.0231, -0.0353, 0.9997] state[eef_state]: left_x=0.3545 left_y=0.0075 left_z=0.0827 left_yaw=0.0331 left_pitch=-0.0909 left_roll=-0.0078 left_gripper=0.9989 right_x=0.2904 right_y=0.0033 right_z=0.171 right_yaw=0.0013 right_pitch=-0.0267 right_roll=-0.0003 right_gripper=0.9997 state[joint_eff]: [0.3487, -4.7521, 10.0444, 2.1514, 0.1245, 0.2369, -0.1294, -0.1846, -1.9897, 6.7624, 1.8828, -0.0659, -0.0659, -0.0171] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.002,"left_z":0.025,"left_gripper":1.0},"note":"The bottle neck now sits at the fingertip end of the centered jaw gap. I’ll descend nearly to table level with a tiny rightward correction, keeping the jaws open around the neck."})
tool
executing move_to over 4 steps (0.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe neck has disappeared beneath the camera at a 4.3 cm grasp-point height, and the descent stopped above its command, consistent with the open jaws straddling the bottle. I’ll close fully around the neck and check the settled opening for a secure grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0471, 1.5936, 0.3866, 0.6716, -0.0582, -0.0853, 0.9988, -0.0151, 0.7788, 0.5648, -0.3885, -0.0227, -0.0353, 0.9997] state[eef_state]: left_x=0.3816 left_y=-0.0041 left_z=0.0428 left_yaw=0.0324 left_pitch=0.029 left_roll=-0.0315 left_gripper=0.9988 right_x=0.2877 right_y=0.0033 right_z=0.1644 right_yaw=0.001 right_pitch=-0.0316 right_roll=-0.0005 right_gripper=0.9997 state[joint_eff]: [-0.5812, -4.6154, 3.4256, 0.8181, -0.2222, 0.3834, -0.1343, -0.1846, -1.6615, 7.0085, 1.9365, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The neck has disappeared beneath the camera at a 4.3 cm grasp-point height, and the descent stopped above its command, consistent with the open jaws straddling the bottle. I’ll close fully around the neck and check the settled opening for a secure grasp."})
tool
executing move_to over 10 steps (1.0s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe gripper settled at 0.014, confirming the first close was empty. I’ll reopen, lift clear, and shift about 1 cm farther forward for the permitted retry, since the likely miss was just inward of the neck.
move_to
left_x0.3900left_y-0.0020left_z0.0850left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0605, 1.5814, 0.4023, 0.6468, -0.0761, -0.0788, 0.0144, -0.0151, 0.7654, 0.5369, -0.3775, -0.0231, -0.0353, 0.9997] state[eef_state]: left_x=0.3844 left_y=-0.0062 left_z=0.0476 left_yaw=0.0308 left_pitch=0.0329 left_roll=-0.017 left_gripper=0.0144 right_x=0.2848 right_y=0.0034 right_z=0.1575 right_yaw=0.0013 right_pitch=-0.0351 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.0889, -5.9966, 6.1197, 1.3358, -0.1538, 0.0757, 1.3114, -0.3897, -1.8803, 6.7077, 1.956, -0.0415, -0.0073, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.002,"left_z":0.085,"left_gripper":1.0},"note":"The gripper settled at 0.014, confirming the first close was empty. I’ll reopen, lift clear, and shift about 1 cm farther forward for the permitted retry, since the likely miss was just inward of the neck."})
tool
executing move_to over 10 steps (1.0s)
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 noteWith the gripper reopened, the target remains directly under the fingertips and hidden from the wrist camera. I’ll descend to a light table-level press so the jaws reach the thin neck instead of closing above it.
move_to
left_x0.3900left_y-0.0020left_z-0.0050left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0509, 1.4578, 0.487, 0.3614, -0.0864, -0.078, 0.9947, -0.0151, 0.7479, 0.5041, -0.3614, -0.0231, -0.0353, 0.9997] state[eef_state]: left_x=0.3805 left_y=-0.0005 left_z=0.0653 left_yaw=0.0487 left_pitch=-0.0433 left_roll=-0.0035 left_gripper=0.9947 right_x=0.2818 right_y=0.0034 right_z=0.1505 right_yaw=0.0013 right_pitch=-0.0343 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [0.3897, -6.7761, 8.8684, 1.7656, 0.0952, 0.1148, -0.1783, -0.3214, -1.6752, 6.9949, 2.0, -0.0513, -0.0757, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). 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":{"left_x":0.39,"left_y":-0.002,"left_z":-0.005,"left_gripper":1.0},"note":"With the gripper reopened, the target remains directly under the fingertips and hidden from the wrist camera. I’ll descend to a light table-level press so the jaws reach the thin neck instead of closing above it."})
tool
executing move_to over 5 steps (0.5s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe overhead view after the low approach reveals the left gripper was actually about 8–10 cm left of the bottle despite the deceptive wrist alignment. I’ll lift and translate right (negative left-arm y) to place the gripper over the bottle’s neck while preserving the useful forward position.
move_to
left_x0.3900left_y-0.1000left_z0.1300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 1.7973, 0.4385, 0.9249, -0.0952, -0.1055, 0.998, -0.0151, 0.73, 0.4717, -0.3504, -0.0235, -0.0353, 0.9997] state[eef_state]: left_x=0.4133 left_y=-0.0015 left_z=0.0392 left_yaw=0.0698 left_pitch=0.1314 left_roll=-0.0425 left_gripper=0.998 right_x=0.2781 right_y=0.0035 right_z=0.1426 right_yaw=0.0017 right_pitch=-0.0377 right_roll=0.0001 right_gripper=0.9997 state[joint_eff]: [-0.5675, -3.7402, 1.2786, 0.2418, -0.0757, 0.2906, -0.2271, -0.3897, -1.4701, 7.241, 2.0244, -0.0806, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.1,"left_z":0.13,"left_gripper":1.0},"note":"The overhead view after the low approach reveals the left gripper was actually about 8–10 cm left of the bottle despite the deceptive wrist alignment. I’ll lift and translate right (negative left-arm y) to place the gripper over the bottle’s neck while preserving the useful forward position."})
tool
executing move_to over 9 steps (0.9s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe corrected wrist view now shows the bottle clearly; its cap is high and about 4 cm to the right of the jaw column. I’ll advance and move farther right to bring that cap toward the fingertip center without changing height much.
move_to
left_x0.4400left_y-0.1500left_z0.1100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.432, 1.449, 0.701, 0.1177, -0.3904, -0.2913, 0.9981, -0.0151, 0.7105, 0.4385, -0.3351, -0.0265, -0.0353, 0.9997] state[eef_state]: left_x=0.3902 left_y=-0.1019 left_z=0.1139 left_yaw=0.0349 left_pitch=-0.013 left_roll=-0.0055 left_gripper=0.9981 right_x=0.2748 right_y=0.0041 right_z=0.1356 right_yaw=0.0042 right_pitch=-0.0362 right_roll=0.0018 right_gripper=0.9997 state[joint_eff]: [-0.1436, -7.2957, 8.6906, 1.4628, -0.3101, 0.0122, -0.2125, -0.3214, -1.3607, 6.7487, 1.9756, -0.0171, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.15,"left_z":0.11,"left_gripper":1.0},"note":"The corrected wrist view now shows the bottle clearly; its cap is high and about 4 cm to the right of the jaw column. I’ll advance and move farther right to bring that cap toward the fingertip center without changing height much."})
tool
executing move_to over 5 steps (0.5s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe cap moved toward center as expected but is still about 2 cm right and several centimetres forward of the grasp point. I’ll make the remaining rightward correction and advance near the table-contact reach limit so the cap reaches the fingertip zone.
move_to
left_x0.4800left_y-0.1800left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4984, 1.6917, 0.8875, 0.1013, -0.4393, -0.3233, 0.9981, -0.0151, 0.6907, 0.4053, -0.3206, -0.0265, -0.0353, 0.9997] state[eef_state]: left_x=0.4246 left_y=-0.1415 left_z=0.0907 left_yaw=0.0263 left_pitch=-0.062 left_roll=0.0292 left_gripper=0.9981 right_x=0.2715 right_y=0.0042 right_z=0.1285 right_yaw=0.0042 right_pitch=-0.035 right_roll=0.0018 right_gripper=0.9997 state[joint_eff]: [-0.4034, -7.8154, 8.1436, 1.8339, -0.3443, -0.1001, -0.2076, -0.2667, -1.265, 6.9949, 1.9512, -0.0562, -0.0806, -0.0073] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.18,"left_z":0.1,"left_gripper":1.0},"note":"The cap moved toward center as expected but is still about 2 cm right and several centimetres forward of the grasp point. I’ll make the remaining rightward correction and advance near the table-contact reach limit so the cap reaches the fingertip zone."})
tool
executing move_to over 5 steps (0.5s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe low arm stalled short of the commanded reach, although the cap is now nearly centered and lower in frame. I’ll raise to a more reachable configuration while continuing forward and slightly right, then descend vertically once above the neck.
move_to
left_x0.4700left_y-0.1700left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5037, 1.7058, 0.9142, 0.1226, -0.453, -0.3412, 0.9981, -0.0151, 0.6712, 0.3737, -0.3058, -0.0265, -0.0353, 0.9997] state[eef_state]: left_x=0.4332 left_y=-0.1464 left_z=0.0997 left_yaw=0.0408 left_pitch=-0.0281 left_roll=0.0046 left_gripper=0.9981 right_x=0.2684 right_y=0.0042 right_z=0.1219 right_yaw=0.0042 right_pitch=-0.0324 right_roll=0.0017 right_gripper=0.9997 state[joint_eff]: [-0.1436, -7.9932, 8.1299, 1.6728, -0.2027, 0.0708, -0.2076, -0.2803, -1.2103, 6.8718, 1.9658, -0.0171, -0.0366, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.17,"left_z":0.16,"left_gripper":1.0},"note":"The low arm stalled short of the commanded reach, although the cap is now nearly centered and lower in frame. I’ll raise to a more reachable configuration while continuing forward and slightly right, then descend vertically once above the neck."})
tool
executing move_to over 4 steps (0.4s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe arm did not track the raised forward target, indicating a stretched low-reach singularity rather than contact. Following the rig guidance, I’ll first retract inward and raise to unfold the arm, keeping roughly the same lateral line.
move_to
left_x0.3400left_y-0.1500left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5037, 1.7058, 0.9142, 0.123, -0.4534, -0.3412, 0.9982, -0.0151, 0.6521, 0.3439, -0.2905, -0.0269, -0.0353, 0.9998] state[eef_state]: left_x=0.4333 left_y=-0.1464 left_z=0.0997 left_yaw=0.0411 left_pitch=-0.0276 left_roll=0.0046 left_gripper=0.9982 right_x=0.2658 right_y=0.0043 right_z=0.1162 right_yaw=0.0045 right_pitch=-0.0278 right_roll=0.0018 right_gripper=0.9998 state[joint_eff]: [-0.4034, -7.9795, 8.1026, 1.6777, -0.2466, 0.0611, -0.2027, -0.2667, -1.0325, 6.9538, 1.9365, -0.0317, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.15,"left_z":0.18,"left_gripper":1.0},"note":"The arm did not track the raised forward target, indicating a stretched low-reach singularity rather than contact. Following the rig guidance, I’ll first retract inward and raise to unfold the arm, keeping roughly the same lateral line."})
tool
executing move_to over 8 steps (0.8s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteAfter unfolding, the target bottle’s blue cap is now precisely on the jaw centerline in the left wrist view, about 8–10 cm ahead of the grasp point. I’ll make a pure forward approach at safe height to bring the neck near the fingertip line.
move_to
left_x0.4300left_y-0.1580left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6914, 1.3247, 0.8425, -0.2111, -0.5785, -0.4503, 0.9982, -0.0151, 0.6346, 0.3202, -0.2882, -0.0269, -0.0353, 0.9997] state[eef_state]: left_x=0.3476 left_y=-0.1577 left_z=0.1684 left_yaw=0.0101 left_pitch=-0.0011 left_roll=-0.0084 left_gripper=0.9982 right_x=0.2624 right_y=0.0044 right_z=0.1102 right_yaw=0.0045 right_pitch=-0.0316 right_roll=0.0019 right_gripper=0.9997 state[joint_eff]: [-0.1573, -6.1197, 8.6359, 1.6337, -0.4322, -0.1587, -0.2027, -0.212, -0.6496, 6.8171, 2.044, -0.0366, -0.0708, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.158,"left_z":0.16,"left_gripper":1.0},"note":"After unfolding, the target bottle’s blue cap is now precisely on the jaw centerline in the left wrist view, about 8–10 cm ahead of the grasp point. I’ll make a pure forward approach at safe height to bring the neck near the fingertip line."})
tool
executing move_to over 7 steps (0.7s)
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 overhead view now places the left fingertips directly along the bottle’s neck despite the cap remaining mid-frame in the tilted wrist camera. I’ll descend vertically at this verified lateral/forward location to straddle the neck at table level.
move_to
left_x0.4160left_y-0.1500left_z0.0150left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.54, 1.5833, 0.9962, -0.1131, -0.4793, -0.3676, 0.9982, -0.0151, 0.614, 0.2932, -0.2764, -0.0269, -0.0353, 0.9998] state[eef_state]: left_x=0.416 left_y=-0.1502 left_z=0.1442 left_yaw=0.0401 left_pitch=-0.0454 left_roll=0.0137 left_gripper=0.9982 right_x=0.2598 right_y=0.0044 right_z=0.1052 right_yaw=0.0045 right_pitch=-0.0263 right_roll=0.0018 right_gripper=0.9998 state[joint_eff]: [0.3897, -7.3094, 9.0051, 1.6044, -0.1587, 0.1587, -0.2027, -0.2256, -0.5265, 6.8718, 1.9512, -0.0366, -0.0269, -0.0073] 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":{"left_x":0.416,"left_y":-0.15,"left_z":0.015,"left_gripper":1.0},"note":"The overhead view now places the left fingertips directly along the bottle’s neck despite the cap remaining mid-frame in the tilted wrist camera. I’ll descend vertically at this verified lateral/forward location to straddle the neck at table level."})
tool
executing move_to over 9 steps (0.9s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe vertical descent stopped at 5.4 cm with the bottle neck/cap between the visible jaws and a clear contact signature. I’ll close now and verify the retained jaw opening before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5488, 1.8664, 0.7471, 0.5766, -0.49, -0.3851, 0.9981, -0.0151, 0.5999, 0.2699, -0.2684, -0.0265, -0.0349, 0.9997] state[eef_state]: left_x=0.4304 left_y=-0.1615 left_z=0.0538 left_yaw=0.0513 left_pitch=0.0889 left_roll=-0.0838 left_gripper=0.9981 right_x=0.2574 right_y=0.0044 right_z=0.0996 right_yaw=0.004 right_pitch=-0.0274 right_roll=0.0019 right_gripper=0.9997 state[joint_eff]: [0.0752, -5.135, 2.8513, 0.2857, -0.1636, 0.3932, -0.2125, -0.1436, -0.841, 7.1316, 1.873, -0.022, -0.0024, -0.0171] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The vertical descent stopped at 5.4 cm with the bottle neck/cap between the visible jaws and a clear contact signature. I’ll close now and verify the retained jaw opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe jaw reading again settled empty; the wrist view confirms the bottle was centered in the image but still forward of the actual grasp point. I’ll reopen and unfold the arm, then approach roughly 5 cm farther forward before the next descent.
move_to
left_x0.3500left_y-0.1600left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.556, 1.8584, 0.833, 0.3573, -0.5121, -0.3889, 0.0139, -0.0151, 0.5816, 0.2455, -0.2642, -0.0265, -0.0353, 0.9997] state[eef_state]: left_x=0.4292 left_y=-0.1605 left_z=0.0482 left_yaw=0.0609 left_pitch=-0.007 left_roll=-0.005 left_gripper=0.0139 right_x=0.2543 right_y=0.0044 right_z=0.0937 right_yaw=0.0042 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9997 state[joint_eff]: [-0.0479, -9.6889, 5.9966, 1.5165, -0.1245, 0.1245, 1.2625, -0.1299, -0.2667, 7.0769, 1.9267, -0.0317, -0.0659, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.16,"left_z":0.18,"left_gripper":1.0},"note":"The jaw reading again settled empty; the wrist view confirms the bottle was centered in the image but still forward of the actual grasp point. I’ll reopen and unfold the arm, then approach roughly 5 cm farther forward before the next descent."})
tool
executing move_to over 10 steps (1.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteWith the arm unfolded, the chosen cap is centered and clearly forward of the jaws. I’ll now advance 12 cm at constant safe height, enough to move the cap from the upper wrist view to the true fingertip position.
move_to
left_x0.4800left_y-0.1650left_z0.1700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7078, 1.3911, 0.8806, -0.2066, -0.6147, -0.4934, 0.9943, -0.0151, 0.5606, 0.2222, -0.2623, -0.0269, -0.0353, 0.9997] state[eef_state]: left_x=0.3555 left_y=-0.1654 left_z=0.1637 left_yaw=0.0444 left_pitch=-0.0031 left_roll=-0.0115 left_gripper=0.9943 right_x=0.2512 right_y=0.0046 right_z=0.0884 right_yaw=0.0045 right_pitch=-0.0297 right_roll=0.0019 right_gripper=0.9997 state[joint_eff]: [-0.5402, -6.9538, 9.4564, 1.4969, -0.3541, 0.1636, -0.1392, -0.2667, -0.4581, 6.694, 1.9658, -0.022, -0.0171, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.165,"left_z":0.17,"left_gripper":1.0},"note":"With the arm unfolded, the chosen cap is centered and clearly forward of the jaws. I’ll now advance 12 cm at constant safe height, enough to move the cap from the upper wrist view to the true fingertip position."})
tool
executing move_to over 10 steps (1.0s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe long forward move brought the cap from row 91 to row 151 while maintaining center alignment, confirming the depth calibration. I’ll advance another 4 cm so the neck reaches the jaw convergence zone near row 190–200.
move_to
left_x0.5100left_y-0.1650left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4965, 1.7576, 1.2247, -0.1593, -0.4767, -0.3653, 0.9979, -0.0151, 0.5354, 0.1967, -0.2546, -0.0269, -0.0353, 0.9997] state[eef_state]: left_x=0.4671 left_y=-0.1568 left_z=0.1539 left_yaw=0.0801 left_pitch=-0.0396 left_roll=0.0097 left_gripper=0.9979 right_x=0.2487 right_y=0.0046 right_z=0.0841 right_yaw=0.0045 right_pitch=-0.0225 right_roll=0.0017 right_gripper=0.9997 state[joint_eff]: [0.294, -9.0872, 9.0325, 1.707, -0.0073, 0.3443, -0.232, -0.2393, -0.0889, 6.8991, 1.8877, -0.0611, -0.0366, -0.0073] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.165,"left_z":0.16,"left_gripper":1.0},"note":"The long forward move brought the cap from row 91 to row 151 while maintaining center alignment, confirming the depth calibration. I’ll advance another 4 cm so the neck reaches the jaw convergence zone near row 190–200."})
tool
executing move_to over 4 steps (0.4s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe cap is now centered at row 175, immediately ahead of the jaw convergence point, and the overhead view agrees. I’ll descend vertically to table level at this location so the fingers surround the neck.
move_to
left_x0.4950left_y-0.1620left_z0.0150left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4759, 1.8816, 1.3296, -0.1459, -0.4698, -0.3656, 0.998, -0.0151, 0.5205, 0.1776, -0.2459, -0.0265, -0.0353, 0.9997] state[eef_state]: left_x=0.4963 left_y=-0.1618 left_z=0.1399 left_yaw=0.0956 left_pitch=-0.0468 left_roll=0.0088 left_gripper=0.998 right_x=0.2472 right_y=0.0045 right_z=0.0806 right_yaw=0.0042 right_pitch=-0.0179 right_roll=0.0014 right_gripper=0.9997 state[joint_eff]: [0.8274, -10.4, 9.5248, 1.746, -0.0659, 0.2906, -0.2271, -0.2393, -0.3761, 6.9402, 1.8437, -0.0122, -0.0513, -0.0073] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.495,"left_y":-0.162,"left_z":0.015,"left_gripper":1.0},"note":"The cap is now centered at row 175, immediately ahead of the jaw convergence point, and the overhead view agrees. I’ll descend vertically to table level at this location so the fingers surround the neck."})
tool
executing move_to over 9 steps (0.9s)
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 arm could not descend at x=0.50 m, matching the verified table-contact reach limit. I’ll retract 2 cm while descending; this keeps the fingers on the neck/body junction but brings the pose inside the low-height workspace.
move_to
left_x0.4820left_y-0.1620left_z0.0100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4652, 1.8954, 1.3502, -0.1467, -0.4706, -0.3656, 0.998, -0.0151, 0.5083, 0.1642, -0.2451, -0.0265, -0.0349, 0.9997] state[eef_state]: left_x=0.5024 left_y=-0.1585 left_z=0.1415 left_yaw=0.1067 left_pitch=-0.0414 left_roll=0.0059 left_gripper=0.998 right_x=0.2456 right_y=0.0046 right_z=0.0774 right_yaw=0.004 right_pitch=-0.0183 right_roll=0.0018 right_gripper=0.9997 state[joint_eff]: [-0.4991, -10.5641, 9.3744, 1.7363, -0.1587, 0.3053, -0.2271, -0.0615, -0.1709, 6.9949, 1.8681, -0.022, -0.0269, -0.0122] 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":{"left_x":0.482,"left_y":-0.162,"left_z":0.01,"left_gripper":1.0},"note":"The arm could not descend at x=0.50 m, matching the verified table-contact reach limit. I’ll retract 2 cm while descending; this keeps the fingers on the neck/body junction but brings the pose inside the low-height workspace."})
tool
executing move_to over 9 steps (0.9s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteAt reachable low height the cap is finally at fingertip depth, but it appears about 4–5 cm left of the jaw centerline. I’ll slide the open gripper left (positive left-arm y) at nearly constant height to center the cap between the fingers.
move_to
left_x0.4820left_y-0.1200left_z0.0550left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4992, 2.0651, 1.0576, 0.4187, -0.5106, -0.379, 0.998, -0.0151, 0.4953, 0.1501, -0.2455, -0.0265, -0.0353, 0.9997] state[eef_state]: left_x=0.4938 left_y=-0.1668 left_z=0.0449 left_yaw=0.1124 left_pitch=0.0574 left_roll=-0.043 left_gripper=0.998 right_x=0.2437 right_y=0.0046 right_z=0.0738 right_yaw=0.0042 right_pitch=-0.0198 right_roll=0.0015 right_gripper=0.9997 state[joint_eff]: [-0.4308, -6.7897, 3.2615, 0.8474, 0.0122, 0.0073, -0.2222, -0.1299, -0.1709, 6.8308, 1.9219, -0.0269, -0.0171, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.482,"left_y":-0.12,"left_z":0.055,"left_gripper":1.0},"note":"At reachable low height the cap is finally at fingertip depth, but it appears about 4–5 cm left of the jaw centerline. I’ll slide the open gripper left (positive left-arm y) at nearly constant height to center the cap between the fingers."})
tool
executing move_to over 5 steps (0.5s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe cap is now centered exactly between the two fingertips at the bottom of the wrist image. I’ll close around it and use the retained jaw opening to confirm the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4095, 1.9797, 0.9955, 0.3634, -0.4553, -0.3466, 0.998, -0.0151, 0.4797, 0.1352, -0.2455, -0.0265, -0.0353, 0.9997] state[eef_state]: left_x=0.488 left_y=-0.1232 left_z=0.0505 left_yaw=0.1395 left_pitch=0.0137 left_roll=-0.0237 left_gripper=0.998 right_x=0.2419 right_y=0.0046 right_z=0.0705 right_yaw=0.0042 right_pitch=-0.019 right_roll=0.0015 right_gripper=0.9997 state[joint_eff]: [0.6906, -11.8222, 5.2718, 1.4676, -0.1294, 0.1832, -0.2222, -0.2667, 0.0342, 6.8171, 1.8779, 0.0073, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The cap is now centered exactly between the two fingertips at the bottom of the wrist image. I’ll close around it and use the retained jaw opening to confirm the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe cap again slipped outside the closing point, and the overhead view shows the bottle body extends inward where low reach is easier. I’ll reopen and reposition over the wider inward half of the same bottle, intending a loose body grasp that can pivot under gravity when lifted.
move_to
left_x0.4000left_y-0.1900left_z0.1300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4038, 1.9625, 0.9852, 0.3653, -0.4416, -0.3309, 0.0142, -0.0151, 0.4644, 0.1242, -0.2451, -0.0269, -0.0349, 0.9997] state[eef_state]: left_x=0.4869 left_y=-0.1221 left_z=0.0546 left_yaw=0.1258 left_pitch=0.0173 left_roll=-0.0217 left_gripper=0.0142 right_x=0.2408 right_y=0.0047 right_z=0.0689 right_yaw=0.0043 right_pitch=-0.0144 right_roll=0.0019 right_gripper=0.9997 state[joint_eff]: [0.3761, -11.494, 5.012, 1.3504, -0.0708, 0.1832, 1.2821, -0.212, 0.1026, 6.612, 1.9072, -0.0171, -0.0415, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.19,"left_z":0.13,"left_gripper":1.0},"note":"The cap again slipped outside the closing point, and the overhead view shows the bottle body extends inward where low reach is easier. I’ll reopen and reposition over the wider inward half of the same bottle, intending a loose body grasp that can pivot under gravity when lifted."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe wrist view now shows the bottle’s broad body centered between the open jaws, with its inward end at the fingertip edge. I’ll descend over this body section to a reachable table-level grasp.
move_to
left_x0.4000left_y-0.1900left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6956, 1.7088, 0.9833, -0.0364, -0.6407, -0.5247, 0.9953, -0.0151, 0.4553, 0.1123, -0.2459, -0.0265, -0.0349, 0.9997] state[eef_state]: left_x=0.4021 left_y=-0.1935 left_z=0.1098 left_yaw=0.0931 left_pitch=-0.0231 left_roll=0.0062 left_gripper=0.9953 right_x=0.2392 right_y=0.0047 right_z=0.0654 right_yaw=0.004 right_pitch=-0.0179 right_roll=0.0018 right_gripper=0.9997 state[joint_eff]: [-0.253, -10.7966, 8.8547, 1.2869, -0.4664, -0.0024, -0.1392, -0.0615, -0.0615, 6.9812, 1.8584, -0.022, -0.022, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.19,"left_z":0.025,"left_gripper":1.0},"note":"The wrist view now shows the bottle’s broad body centered between the open jaws, with its inward end at the fingertip edge. I’ll descend over this body section to a reachable table-level grasp."})
tool
executing move_to over 6 steps (0.6s)
step 169
assistant
agent noteAt low height the body remains centered but its widest section is still just ahead of the fingertip contact line. I’ll slide forward 2–3 cm at this height so that section lies within the jaws before closing.
move_to
left_x0.4300left_y-0.1900left_z0.0550left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6987, 1.8774, 0.8383, 0.3702, -0.6643, -0.5331, 0.9978, -0.0151, 0.44, 0.0986, -0.2451, -0.0269, -0.0349, 0.9997] state[eef_state]: left_x=0.4091 left_y=-0.1968 left_z=0.0534 left_yaw=0.1132 left_pitch=0.0528 left_roll=-0.0569 left_gripper=0.9978 right_x=0.2378 right_y=0.0048 right_z=0.0626 right_yaw=0.0043 right_pitch=-0.0156 right_roll=0.0019 right_gripper=0.9997 state[joint_eff]: [0.2803, -6.1333, 3.0701, 0.5299, -0.0952, 0.1343, -0.2418, -0.253, 0.0342, 6.8855, 1.8632, -0.0562, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.19,"left_z":0.055,"left_gripper":1.0},"note":"At low height the body remains centered but its widest section is still just ahead of the fingertip contact line. I’ll slide forward 2–3 cm at this height so that section lies within the jaws before closing."})
tool
executing move_to over 2 steps (0.2s)
step 171
assistant
agent noteThe forward slide put the bottle’s broad ribbed body through the bottom-center jaw gap, with a finger visible on each side. I’ll close on the body; a retained opening around 0.4–0.6 would confirm the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6724, 1.8984, 0.9012, 0.3527, -0.651, -0.524, 0.998, -0.0151, 0.4297, 0.094, -0.2451, -0.0265, -0.0349, 0.9997] state[eef_state]: left_x=0.4263 left_y=-0.1979 left_z=0.0624 left_yaw=0.1254 left_pitch=0.0641 left_roll=-0.0722 left_gripper=0.998 right_x=0.2376 right_y=0.0047 right_z=0.0628 right_yaw=0.004 right_pitch=-0.0099 right_roll=0.0016 right_gripper=0.9997 state[joint_eff]: [0.7726, -7.9385, 6.4205, 1.2821, -0.2271, 0.2222, -0.2271, -0.0752, 0.294, 6.4752, 1.8339, -0.0122, -0.0366, -0.0073] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The forward slide put the bottle’s broad ribbed body through the bottom-center jaw gap, with a finger visible on each side. I’ll close on the body; a retained opening around 0.4–0.6 would confirm the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 181
assistant
agent noteThe empty reading shows one fingertip was landing on top of the body rather than straddling it; the body center was about 1 cm right of the jaw axis. I’ll reopen, shift right, and command a table-level descent so both fingers pass down the sides.
move_to
left_x0.4300left_y-0.2100left_z0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6418, 1.8999, 0.9417, 0.2794, -0.6483, -0.4988, 0.0138, -0.0151, 0.4244, 0.0914, -0.2455, -0.0269, -0.0349, 0.9998] state[eef_state]: left_x=0.4341 left_y=-0.1868 left_z=0.0636 left_yaw=0.1392 left_pitch=0.0393 left_roll=-0.027 left_gripper=0.0138 right_x=0.2373 right_y=0.0048 right_z=0.0626 right_yaw=0.0043 right_pitch=-0.0076 right_roll=0.0018 right_gripper=0.9998 state[joint_eff]: [-0.3761, -8.7043, 6.4889, 1.0818, -0.0317, 0.0855, 1.2674, -0.2393, 0.1026, 6.7624, 1.7998, -0.0269, -0.0415, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.21,"left_z":0.0,"left_gripper":1.0},"note":"The empty reading shows one fingertip was landing on top of the body rather than straddling it; the body center was about 1 cm right of the jaw axis. I’ll reopen, shift right, and command a table-level descent so both fingers pass down the sides."})
tool
executing move_to over 10 steps (1.0s)
step 191
assistant
agent noteNow the low wrist view clearly shows both open fingers down on opposite sides of the bottle body, symmetrically centered. I’ll close from this corrected straddling pose.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6827, 2.0521, 0.9928, 0.4446, -0.7265, -0.5667, 0.9945, -0.0151, 0.4232, 0.0914, -0.2459, -0.0265, -0.0353, 0.9997] state[eef_state]: left_x=0.4485 left_y=-0.2088 left_z=0.0453 left_yaw=0.1983 left_pitch=0.1154 left_roll=-0.1028 left_gripper=0.9945 right_x=0.2374 right_y=0.0047 right_z=0.0628 right_yaw=0.0042 right_pitch=-0.0068 right_roll=0.0012 right_gripper=0.9997 state[joint_eff]: [-1.3333, -5.6274, 4.5333, 0.525, 0.1929, 0.2369, -0.0659, -0.212, 0.0068, 6.5162, 1.7949, -0.0073, -0.0611, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"Now the low wrist view clearly shows both open fingers down on opposite sides of the bottle body, symmetrically centered. I’ll close from this corrected straddling pose."})
tool
executing move_to over 10 steps (1.0s)
step 201
assistant
agent noteEven though the jaws visually meet over the label, the bottle is still just beyond the actual fingertips; its base remains visible at the bottom edge. I’ll reopen and advance the low gripper another 2–3 cm so the body passes behind the camera’s bottom edge and into the true grasp point.
move_to
left_x0.4800left_y-0.2100left_z0.0500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6811, 2.0346, 1.1233, 0.2035, -0.754, -0.6033, 0.0141, -0.0151, 0.4232, 0.0914, -0.2455, -0.0269, -0.0349, 0.9997] state[eef_state]: left_x=0.4566 left_y=-0.2098 left_z=0.0621 left_yaw=0.2335 left_pitch=0.0692 left_roll=-0.0519 left_gripper=0.0141 right_x=0.2374 right_y=0.0048 right_z=0.0629 right_yaw=0.0043 right_pitch=-0.0064 right_roll=0.0018 right_gripper=0.9997 state[joint_eff]: [0.0752, -10.0581, 5.7368, 0.779, 0.1099, 0.0855, 1.2674, -0.2256, -0.0068, 6.7214, 1.79, -0.0073, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":{"left_x":0.48,"left_y":-0.21,"left_z":0.05,"left_gripper":1.0},"note":"Even though the jaws visually meet over the label, the bottle is still just beyond the actual fingertips; its base remains visible at the bottom edge. I’ll reopen and advance the low gripper another 2–3 cm so the body passes behind the camera’s bottom edge and into the true grasp point."})
tool
executing move_to over 10 steps (1.0s)
step 211
assistant
agent noteThe body now fills the lower frame between widely separated fingers, indicating correct forward depth. I’ll lower the open jaws to a firm table-level press so their contact surfaces reach below the bottle’s midline before closing.
move_to
left_x0.4720left_y-0.2060left_z-0.0100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6464, 2.104, 1.248, 0.0551, -0.7219, -0.6064, 0.9943, -0.0151, 0.4232, 0.0914, -0.2462, -0.0265, -0.0353, 0.9997] state[eef_state]: left_x=0.4726 left_y=-0.2059 left_z=0.0483 left_yaw=0.2446 left_pitch=-0.0057 left_roll=0.005 left_gripper=0.9943 right_x=0.2373 right_y=0.0047 right_z=0.0627 right_yaw=0.0042 right_pitch=-0.0072 right_roll=0.0012 right_gripper=0.9997 state[joint_eff]: [0.4171, -9.5521, 8.0479, 1.4188, -0.2027, 0.0904, -0.1538, -0.0752, 0.1573, 6.612, 1.8242, -0.0171, -0.0659, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.472,"left_y":-0.206,"left_z":-0.01,"left_gripper":1.0},"note":"The body now fills the lower frame between widely separated fingers, indicating correct forward depth. I’ll lower the open jaws to a firm table-level press so their contact surfaces reach below the bottle’s midline before closing."})
tool
executing move_to over 4 steps (0.4s)
step 215
assistant
agent noteThe lower press has placed the bottle’s full-width label section squarely between the fingers at their contact depth. I’ll close once more from this deepest, centered pose.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6544, 2.175, 1.2324, 0.2668, -0.7502, -0.6117, 0.998, -0.0151, 0.4232, 0.0914, -0.2462, -0.0265, -0.0353, 0.9997] state[eef_state]: left_x=0.4866 left_y=-0.217 left_z=0.0418 left_yaw=0.2638 left_pitch=0.0866 left_roll=-0.0863 left_gripper=0.998 right_x=0.2373 right_y=0.0047 right_z=0.0627 right_yaw=0.0042 right_pitch=-0.0072 right_roll=0.0012 right_gripper=0.9997 state[joint_eff]: [0.3077, -6.2154, 2.5778, 0.6129, 0.0904, -0.0073, -0.2173, -0.1299, -0.0615, 6.8034, 1.7509, -0.0073, -0.0464, -0.0122] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The lower press has placed the bottle’s full-width label section squarely between the fingers at their contact depth. I’ll close once more from this deepest, centered pose."})
tool
executing move_to over 10 steps (1.0s)
step 225
assistant
agent noteRepeated off-center closes have nudged the left bottle outward to the reach limit, so I’m abandoning that approach rather than pushing it farther. I’ll park the left arm and bring the right arm above the central bottle, which is well inside the right arm’s cross-over workspace.
move_to
left_x0.3000left_y-0.1000left_z0.2000left_gripper1.0000left_yaw0.0000right_x0.4000right_y0.2800right_z0.1600right_gripper1.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6529, 2.1761, 1.3472, 0.115, -0.7944, -0.6327, 0.0138, -0.0151, 0.4232, 0.0914, -0.2462, -0.0269, -0.0353, 0.9997] state[eef_state]: left_x=0.497 left_y=-0.217 left_z=0.0622 left_yaw=0.3065 left_pitch=0.0862 left_roll=-0.0573 left_gripper=0.0138 right_x=0.2373 right_y=0.0048 right_z=0.0627 right_yaw=0.0045 right_pitch=-0.0072 right_roll=0.0014 right_gripper=0.9997 state[joint_eff]: [0.0205, -11.5624, 6.065, 0.5983, 0.2369, 0.0024, 0.7009, -0.2393, 0.0479, 6.5846, 1.8095, -0.0269, -0.0122, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.1,"left_z":0.2,"left_gripper":1.0,"left_yaw":0.0,"right_x":0.4,"right_y":0.28,"right_z":0.16,"right_gripper":1.0,"right_yaw":0.0},"note":"Repeated off-center closes have nudged the left bottle outward to the reach limit, so I’m abandoning that approach rather than pushing it farther. I’ll park the left arm and bring the right arm above the central bottle, which is well inside the right arm’s cross-over workspace."})
tool
executing move_to over 23 steps (2.3s)
step 248
assistant
agent noteThe right wrist view cleanly shows the central bottle’s cap on the jaw centerline at row 109, with a second bottle safely left of it. I’ll advance 10 cm at constant height to bring the centered cap/body junction to fingertip depth.
move_to
right_x0.4900right_y0.2750right_z0.1500right_gripper1.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6144, 1.0142, 0.7765, -0.3889, -0.5301, -0.4095, 0.9975, 0.8257, 1.7813, 1.2362, -0.2478, 0.6254, 0.4667, 0.9997] state[eef_state]: left_x=0.3094 left_y=-0.1046 left_z=0.2065 left_yaw=0.0281 left_pitch=0.0329 left_roll=-0.0383 left_gripper=0.9975 right_x=0.389 right_y=0.2745 right_z=0.1426 right_yaw=0.0415 right_pitch=-0.0451 right_roll=-0.0413 right_gripper=0.9997 state[joint_eff]: [0.253, -3.0017, 6.0239, 1.6337, -0.0513, 0.2759, -0.0757, 0.0752, -8.9094, 9.2103, 1.4188, 0.569, 0.2759, -0.0366] 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_x":0.49,"right_y":0.275,"right_z":0.15,"right_gripper":1.0,"right_yaw":0.0},"note":"The right wrist view cleanly shows the central bottle’s cap on the jaw centerline at row 109, with a second bottle safely left of it. I’ll advance 10 cm at constant height to bring the centered cap/body junction to fingertip depth."})
tool
executing move_to over 8 steps (0.8s)
step 256
assistant
agent noteThe central cap advanced to row 168 and remains precisely centered, very near the jaw convergence point. I’ll add only 1.5 cm forward while descending to table level so the open fingers straddle the neck without the lateral error that ejected the first bottle.
move_to
right_x0.4850right_y0.2750right_z0.0000right_gripper1.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6167, 1.0508, 0.7906, -0.4507, -0.5316, -0.3965, 0.9976, 0.6868, 2.0056, 1.4979, -0.2375, 0.5339, 0.3676, 0.9997] state[eef_state]: left_x=0.3064 left_y=-0.1031 left_z=0.1911 left_yaw=0.0201 left_pitch=-0.0343 left_roll=0.0237 left_gripper=0.9976 right_x=0.4706 right_y=0.2743 right_z=0.1342 right_yaw=0.026 right_pitch=-0.0527 right_roll=-0.0428 right_gripper=0.9997 state[joint_eff]: [-0.4171, -3.453, 9.2103, 1.5263, -0.3736, -0.1099, -0.0024, -1.2239, -10.0855, 9.6615, 1.8437, 0.2808, 0.0513, -0.0415] 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_x":0.485,"right_y":0.275,"right_z":0.0,"right_gripper":1.0,"right_yaw":0.0},"note":"The central cap advanced to row 168 and remains precisely centered, very near the jaw convergence point. I’ll add only 1.5 cm forward while descending to table level so the open fingers straddle the neck without the lateral error that ejected the first bottle."})
tool
executing move_to over 9 steps (0.9s)
step 265
assistant
agent noteAt 3.5 cm height the cap and neck are perfectly centered, with the two fingers visibly down on opposite sides of the bottle. I’ll close only to 15% rather than crushing fully, reducing the chance that the smooth bottle ejects sideways.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6163, 1.0389, 0.7559, -0.416, -0.5312, -0.3958, 0.9976, 0.6815, 2.2173, 1.3117, 0.2649, 0.543, 0.3599, 0.9997] state[eef_state]: left_x=0.3055 left_y=-0.1023 left_z=0.1858 left_yaw=0.0195 left_pitch=-0.0249 left_roll=0.0171 left_gripper=0.9976 right_x=0.4863 right_y=0.2815 right_z=0.0348 right_yaw=0.0183 right_pitch=0.0333 right_roll=0.0105 right_gripper=0.9997 state[joint_eff]: [-0.1299, -4.0, 6.4068, 1.7753, -0.2515, -0.0611, -0.0122, -0.4718, -6.9128, 5.6274, 1.2625, 0.105, 0.1441, -0.0415] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.15},"note":"At 3.5 cm height the cap and neck are perfectly centered, with the two fingers visibly down on opposite sides of the bottle. I’ll close only to 15% rather than crushing fully, reducing the chance that the smooth bottle ejects sideways."})
tool
executing move_to over 9 steps (0.9s)
step 274
assistant
agent noteThe right gripper stopped at 0.466 (about 4.4 cm), confirming a secure body grasp. I’ll lift high while retracting slightly; this should let the bottle rotate downward under gravity, and the overhead view will confirm that it moved with the jaws.
move_to
right_x0.4400right_y0.2830right_z0.2300right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6163, 1.034, 0.73, -0.3927, -0.5312, -0.3958, 0.9976, 0.6804, 2.2127, 1.3384, 0.231, 0.5457, 0.3428, 0.4655] state[eef_state]: left_x=0.3046 left_y=-0.1017 left_z=0.1802 left_yaw=0.0195 left_pitch=-0.0231 left_roll=0.0158 left_gripper=0.9976 right_x=0.4894 right_y=0.2827 right_z=0.0415 right_yaw=0.0244 right_pitch=0.0324 right_roll=-0.0072 right_gripper=0.4655 state[joint_eff]: [-0.1436, -3.8085, 6.5983, 1.7167, -0.2466, -0.0513, -0.0122, -0.1573, -12.0274, 6.3385, 1.2576, 0.022, 0.2076, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.283,"right_z":0.23,"right_gripper":0.15},"note":"The right gripper stopped at 0.466 (about 4.4 cm), confirming a secure body grasp. I’ll lift high while retracting slightly; this should let the bottle rotate downward under gravity, and the overhead view will confirm that it moved with the jaws."})
tool
executing move_to over 13 steps (1.3s)
step 287
assistant
agent noteThe bottle initially resisted at 0.466, but continuing to command 0.15 during the lift squeezed it out and the jaws reached 0.151. I’ll return to the same centered low pose, regrasp, then hold the measured contact opening instead of continuing to tighten.
move_to
right_x0.4870right_y0.2830right_z0.0350right_gripper1.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6163, 1.0309, 0.7113, -0.371, -0.5308, -0.3958, 0.9976, 0.7506, 1.9244, 1.5913, -0.4641, 0.5495, 0.3889, 0.1511] state[eef_state]: left_x=0.3045 left_y=-0.1017 left_z=0.1769 left_yaw=0.0191 left_pitch=-0.0183 left_roll=0.0119 left_gripper=0.9976 right_x=0.4385 right_y=0.2877 right_z=0.1785 right_yaw=0.0641 right_pitch=-0.0861 right_roll=-0.0666 right_gripper=0.1511 state[joint_eff]: [-0.2256, -3.8906, 6.188, 1.7949, -0.2466, -0.0122, -0.0122, 0.0068, -14.653, 10.6872, 1.7656, 0.525, 0.2759, -0.022] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.487,"right_y":0.283,"right_z":0.035,"right_gripper":1.0,"right_yaw":0.0},"note":"The bottle initially resisted at 0.466, but continuing to command 0.15 during the lift squeezed it out and the jaws reached 0.151. I’ll return to the same centered low pose, regrasp, then hold the measured contact opening instead of continuing to tighten."})
tool
executing move_to over 10 steps (1.0s)
step 297
assistant
agent noteThe same bottle is again symmetrically centered between the low open fingers. I’ll close only to 0.40, just below its previous 0.466 contact width, to secure it without a prolonged squeezing command.
move_to
right_gripper0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6163, 1.0302, 0.6979, -0.3481, -0.5312, -0.3962, 0.9976, 0.6987, 2.1925, 1.3556, 0.0933, 0.5442, 0.366, 0.9956] state[eef_state]: left_x=0.3054 left_y=-0.1022 left_z=0.1754 left_yaw=0.0196 left_pitch=-0.0099 left_roll=0.0057 left_gripper=0.9976 right_x=0.4741 right_y=0.2835 right_z=0.0352 right_yaw=0.0308 right_pitch=-0.0473 right_roll=-0.0486 right_gripper=0.9956 state[joint_eff]: [-0.253, -3.7675, 6.3248, 1.6435, -0.2173, -0.0659, -0.0122, -1.3333, -10.3043, 6.8718, 1.746, 0.0659, 0.2857, -0.1099] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.4},"note":"The same bottle is again symmetrically centered between the low open fingers. I’ll close only to 0.40, just below its previous 0.466 contact width, to secure it without a prolonged squeezing command."})
tool
executing move_to over 6 steps (0.6s)
step 303
assistant
agent noteThe gripper settled at 0.406 with the bottle still centered, so I’ll freeze that exact opening during the lift to prevent further squeeze-out. I’ll retract slightly and raise high enough for the bottle to hang and rotate.
move_to
right_x0.4300right_y0.2870right_z0.2300right_gripper0.4060
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6163, 1.0302, 0.6952, -0.3462, -0.5312, -0.3958, 0.9976, 0.6945, 2.1849, 1.3098, 0.2466, 0.5468, 0.3618, 0.4062] state[eef_state]: left_x=0.3052 left_y=-0.1021 left_z=0.1746 left_yaw=0.0194 left_pitch=-0.0105 left_roll=0.0065 left_gripper=0.9976 right_x=0.4822 right_y=0.2868 right_z=0.0484 right_yaw=0.0269 right_pitch=0.0443 right_roll=0.0179 right_gripper=0.4062 state[joint_eff]: [-0.1162, -3.0701, 6.2154, 1.7607, -0.2222, -0.0269, -0.0122, 0.0615, -11.9043, 4.9162, 1.199, 0.0562, 0.105, 0.2711] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.287,"right_z":0.23,"right_gripper":0.406},"note":"The gripper settled at 0.406 with the bottle still centered, so I’ll freeze that exact opening during the lift to prevent further squeeze-out. I’ll retract slightly and raise high enough for the bottle to hang and rotate."})
tool
executing move_to over 12 steps (1.2s)
step 315
assistant
agent noteThe gripper held 0.406 through the lift, and only two bottles remain visible in the right wrist view, confirming one bottle is carried. I’ll move it to a clear area on the right half of the table while keeping the exact grip width and safe height.
move_to
right_x0.3200right_y0.1800right_z0.2300right_gripper0.4060
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6163, 1.0302, 0.6952, -0.3443, -0.5312, -0.3958, 0.9976, 0.7742, 1.9015, 1.5749, -0.4614, 0.5716, 0.4042, 0.4064] state[eef_state]: left_x=0.3054 left_y=-0.1023 left_z=0.1749 left_yaw=0.0193 left_pitch=-0.009 left_roll=0.0053 left_gripper=0.9976 right_x=0.4299 right_y=0.2917 right_z=0.1851 right_yaw=0.0634 right_pitch=-0.0685 right_roll=-0.0606 right_gripper=0.4064 state[joint_eff]: [-0.2393, -3.3983, 6.0923, 1.7607, -0.2759, -0.0611, -0.0073, 0.1846, -13.9556, 10.4274, 1.619, 0.4322, 0.3004, 0.0317] camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.18,"right_z":0.23,"right_gripper":0.406},"note":"The gripper held 0.406 through the lift, and only two bottles remain visible in the right wrist view, confirming one bottle is carried. I’ll move it to a clear area on the right half of the table while keeping the exact grip width and safe height."})
tool
executing move_to over 10 steps (1.0s)
step 325
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6155, 1.0302, 0.6952, -0.3401, -0.5312, -0.3958, 0.9976, 0.765, 1.2865, 1.0439, -0.4561, 0.5537, 0.4034, 0.4069] state[eef_state]: left_x=0.306 left_y=-0.1024 left_z=0.1757 left_yaw=0.0201 left_pitch=-0.0056 left_roll=0.0028 left_gripper=0.9976 right_x=0.3266 right_y=0.1898 right_z=0.2232 right_yaw=0.0705 right_pitch=-0.0083 right_roll=0.0058 right_gripper=0.4069 state[joint_eff]: [-0.212, -3.3026, 6.0786, 1.7021, -0.188, -0.0317, -0.0122, -0.4308, -5.9419, 7.0632, 1.8095, 0.2662, -0.022, 0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [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 · 11.69 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6071, -0.3775, -0.0238, -0.0284, 0.9988, -0.0154, 0.7887, 0.6037, -0.3862, -0.0231, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0019 left_z=0.1821 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9988 right_x=0.2935 right_y=0.0031 right_z=0.18 right_yaw=0.0005 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4427, 9.812, 1.8242, -0.0317, 0.1392, -0.1343, -1.0462, -1.0872, 10.4274, 1.873, 0.0024, 0.2125, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5bbf51c7a27171d2a828dc119e625a7b5ef2032aef3860e05fa739067087684",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5190aec23eefad2fdb222eccc456d1ca65601e370adeb1410c89ed27129be64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1802ed4cc1de07e0d4d386b1fc207d4c0745e4e72805b3033d2a7df94b92460f",
      "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 · 3.192 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0d0318facdbdc859016ab4552c437c87d0a7e0a59aba5f0826",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFU2XXLb1mT3uo_LWdXmJ7sDv34gzJtdxpwXLV3Xx1NWu-4O5BBFovvV9xmRCnPMv-uP2Bl7DLxW0_MKfTf_AEx7aoMlOzygfmC8f4MNtvLlDhUsbTTerHbTyEhRMkpeiCw8HGPittsKWkpfxBXkXORQg01KGWkbNU6vGseJL-qpl-AWEMqohLxGKc1cdZzQFQHMayFdCuQP-YWYNcWvcEY6w5Wq73cxsnH4UDb54FuUjhW8tWBIsmVz7z1FEs91fiw-0FWMffVT6lMQa5drPmU2HVRWqrIfpFy47CGjD-bsIz9h-v_v5Rhna_f5wtJQI4y9pM5Ut1n3TDd9uqa4zXuGS59jFbB0D1Q_6T35NX1ugFYIFZksmCBDlxMDeEUzCo0epc4kIp_hx-us7d7kup6ZJNDoZSKTTOjTNolYGv5GIIJygTQb3QP2iHNARihrtNJBywCoC8GKV2_oe7yGZsBQeijFyMHpcM73bJ7WsGxnSbhpHN7RKReL1wDWltMq-qgXR5YTfSWadJDHZiUPGehrUpRzFk_DzKrUoUZyCvQzOdx_l6S265eiB9F8M8MYZSrKdUpZ3FZIPOMsPu4LuYHWwsUnxziawpfhBQQUKb8iWOgd-7ZzNGyFjh4AsJbaL8Gbdmic95wEsZhB9y7CuWRTDeK2AMnPzVlX2jj6gCIh30NzVL_aftTBKWCO6TUNgbdwYwGJRksDi03Bz7L9cX15HOF6HrpbqPj9whF73Zsd2u146wBMBbTvRczZprpjQJPYssHWXsqOEbkSSCkvf1tearIK68Jd1QSm6jlltZruNOYcRbkjc4UAQJrURqJjLVhTTjpEhXe_R6nLP-lU_iNAmI6LG9TnxbqEA-l-jaXa__Y8FIy_Z75hi51zVnJ1esrTFV9F7uIiA3r2IGcUnOwlEPy_rDPyKVhXJLy_2nsYGyvmeIGz_44Evkqa61jYEUYoGPmwggzv0IhnJHSWSSkxAgjkmE6RPRUkq27xJJ5pzRTE72WufWigdoYlDXS-ZKFAF2IQVhdOfgLg8q9kJ8iRGYaaClQ_lkhkKxT5iWogqFQDizYyyHm31tSXvVyP1jtRPgLTCnQBbIlD2Mq-kd4Ln9vzeN61AytFfbvrWU0Pst9JyLpdkv_nmZGh9wLFJNG1Dacpe-9fW0KIGt3GkUPHSE9zQ2Au9SFyPSrW-SXgJ2jawF_jSbmYG1kIa_7zgAjT5ORwHyKeFMVzldrHWQNsUjLgrPmqJzDc0DF_SA8v5JvQCu9OYY82ROoMkgwUij55NLgmaI6yH2nOiR7UreCW60OGtXlxSrR2BCdJz5NduOQ6DbMCsgWcsCM1oVoTRUDlY1lUPUcrm9DFvHvat8GKfrFoJcowloaPcYJG0kh8q1_ecpYOjD2zVVKInWvP3sslwjwlzpALOzCK0CgkfSv8iMZBLj_5Vy04K63_p_kwIOu7_UEO5mykZnukqL3VmxIgqjqjVL8hmt0fCbJLxbelKn0sq_TnJatiOI24FQNt6V0lOd62nTNEX09N0Av7h9TmguNlw_0WbQhRZWg6hSnHPFHIztXphyLbPN5D3kor6UC2unA2YoQEM-akVYQW3jqs1esb-q722nFw0LJd6bn62OCwtlcl62-LNeA9FRlxyj4XHsklxdq9TN1fHoqHP6NRHHY8ykX-Cg628TaYVLeWaHPGQAKr_S_eX1Izy5RV_hwDP6bdSI4m8VBT4zH1AIv0z6f596to7eiDkmJjBZA4VqapL7AyH2IHkm62PmZ8QX6g3qK_AUE3pTZ1xpy36W_kv3Mce3fyD-4nkK3sXPrPtFRSgTeWHFBZnu_KD84li9pqq8i6DsPuU5D7Ci6TXdPe3EUvhmKuWycFdPoqfrSnyEALMECZ-_lzgaausMT-q-KxHSX0AH19mNumM8lYj4RWl7vr3dVUP3UVlGpemM9rVgU6yAEpIZbVobWxFNvkS3U_TBv_fJN3SGnJKVJ3ky4kNP8KFnpqjNkbUhaqXzF4lW3WNB7KDrHbELMAYjlszZZem-9O3m5QpMslXLWYGM2YtdMAkVPrurMhdHrwlCv6Gk8DavmpFl1iq80hIVS5mBBN0OE4D6ubkiMOFwzonRPNlr-54qaypTFnUZNZTcP46jZF1IiV_bYIKmKt14Yrx2WKU84__Xx4Tk7o2huSEZmwQpZL1hEnBobFKhDd5DCT8BnxZHvZUnsZ8W5cNYc_DYVOFT3r63aJAY2ue9sllsPIzRD5-743E3WWbkU35Hgkq07ka0nS5CxXXJscDrX6lcJuasFCxXvTZ8A_iAsk4NQvbmEyc7z5cPKbvnKZBVGyN_yIHjEif4REPhlq47A07ZPN9Pw73NGgyBRTxYbUUxvfugEwEcSakX5bgItBIBZc7OxerSl9r7k07AO9mxTZ7rUNEe9Gtmzn1Oxmv3QZYVkmHmy_g1JKaxmOwI9LDRaYrAaod72TjiBQtKKTd44-fQ47EJqjFX4mdypiaXfdUZ4R3115RPr7_TapEPyBKfBh7FitJZGwEOV58o1N59relJZw_5HUoN8X6lYh2NlvZ2je99o9StQicaBIWwPiN0WX74iR5ns7cOUbVswoIIfGgyfeWxVvLLkLgXXh8OZqPjqQ9iFZMacWyUIQZtMDPMYYX2Y8idZz_886C8PDT7D1i09XNBorfigSn38kP377hEEpPm3PQCfxOHG0dD2O0vKya3EeBj3OLRetoQW-E_wWmdFSjM8jV3sBusmqDJew4LPtRtU22soLSY7UTs-A0yAKTAuCsM8K0HBe1hnug5cFlr9NBN0T-1ldwu50Gq05_8K3_-_C6AThlUhQkp-j5692IkSk2xF6yG4iuGsW9C8O5MF6919MtyXnxM2yJ7sL8ahtBDSpjoAtOHYot6tjDQ4rKKYxKxxiSkEe69MW_WDko576HqrK6Ci126D961zxSXDhCzsIp7VRSlZhFjUgU-MuVaa0ODA_31x0IvDV_OtT-KN0S6ielbEY5YtOdQ6TDcPWhPDb6GMOEiW2-x5tH_77bZISEXcl0M2q3JMf0vCtgJz1SKSw1qzjMbHFs1S3EKIrvwXtDYG7MBNRYETb1olLRlawDlfPFgwx8PD1UgNkbadzE0MVQ3or9_I9-arKk1USJCGirOPIDV9yriojZFaK8A==",
  "id": "rs_0d0318facdbdc859016ab455320f4087d0a05987ba0ac91e08",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":0.012,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The left wrist view shows the nearest fallen bottle low in frame, with its neck just left of the jaw centerline. I’ll move the left gripper slightly forward and left while lowering to a closer inspection height, aiming the fingers over that neck.\"}",
  "call_id": "call_bZmw0KWFvKJz7gyLK1GsQe0w",
  "id": "fc_0d0318facdbdc859016ab45535947087d0b73c1510106fce7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bZmw0KWFvKJz7gyLK1GsQe0w",
  "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]: [0.0357, 0.9451, 0.5529, -0.2329, 0.0017, -0.0219, 0.9989, -0.0151, 0.7921, 0.6048, -0.3969, -0.0231, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.3146 left_y=0.0145 left_z=0.1436 left_yaw=0.0307 left_pitch=-0.0615 left_roll=-0.0079 left_gripper=0.9989 right_x=0.2925 right_y=0.0033 right_z=0.1774 right_yaw=0.0011 right_pitch=-0.0133 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -4.3282, 6.9265, 1.9219, 0.1734, 0.2222, -0.1294, -0.2256, -1.4427, 6.9128, 1.8877, -0.0513, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ebdb806f446f02ef9fa3ca03167a75f5a96a5aac120e0cfd819ecc518e48e84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8875a489a2a0b0a4f1489e1b81b5b943f4c82f0e0a6acb9864e02c1fc7a9a87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cdefa3b82981a40463bbccee4b12ea0e23693a37b1574bb5464881039763a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 4.109 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6071, -0.3775, -0.0238, -0.0284, 0.9988, -0.0154, 0.7887, 0.6037, -0.3862, -0.0231, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0019 left_z=0.1821 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9988 right_x=0.2935 right_y=0.0031 right_z=0.18 right_yaw=0.0005 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4427, 9.812, 1.8242, -0.0317, 0.1392, -0.1343, -1.0462, -1.0872, 10.4274, 1.873, 0.0024, 0.2125, -0.0366]",
      "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]: [0.0357, 0.9451, 0.5529, -0.2329, 0.0017, -0.0219, 0.9989, -0.0151, 0.7921, 0.6048, -0.3969, -0.0231, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.3146 left_y=0.0145 left_z=0.1436 left_yaw=0.0307 left_pitch=-0.0615 left_roll=-0.0079 left_gripper=0.9989 right_x=0.2925 right_y=0.0033 right_z=0.1774 right_yaw=0.0011 right_pitch=-0.0133 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -4.3282, 6.9265, 1.9219, 0.1734, 0.2222, -0.1294, -0.2256, -1.4427, 6.9128, 1.8877, -0.0513, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ebdb806f446f02ef9fa3ca03167a75f5a96a5aac120e0cfd819ecc518e48e84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8875a489a2a0b0a4f1489e1b81b5b943f4c82f0e0a6acb9864e02c1fc7a9a87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cdefa3b82981a40463bbccee4b12ea0e23693a37b1574bb5464881039763a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFU6EYcGwbiWZHCEfnmmbMfNcabYxCWEf1wUcqtBXqH3ycr1P_-HwZHrakSv-sVk7czh_WUsY4DZCEcuQdSI-64vXwIrbX5le2IvkTho9sf0WLykaBBGHMTES5fc9H9LSzJFcQQ8F7TudvZJ5Om3oZy0kIeMe__bXIFYl508EDtZd_LWMDA6BIx18B5ijUcXn9qaC4TT1DeeL0Th3fjsa_FtUN5zKsoWBwLC7kXb8xjcDYoyOitQMu1z5GFYweMY7JpA3g2luio7HIU55BLZl74RpzcRJyg9skwdSCGd7ZnLr-CBrcsooND0x52poeG81GPb-Aa4kkwkONEa7Qul-HQBvjMl-zOGElZ3KMnlTrub6_ceVyKtatrtSqzkKQB2ABy3S4OQrqXBU-0qxI94IoqRQaoY5C3JuGga8pH5yfOIKIglypQCo01Ub3WM3yKyjvZRzyB251Qgm9ClDdsP0YSsUsFv_qt_kW3nK6ZWGizV40A5zkiyeXrX444XI3J049LL9DIQy3rbmZeAmDLNoQh30IBW1Se7DJpT-4AotdRgjGInHG_64hjLgb-TXpZUYLThcvW9o1tKOeOrARkQKL2Z8mwsbk5tPIhH8mUxgH2J1wgRR9moOgAw_7-VxBTiKwGpC3Hh8ex3UwSXD3wKiHxnIzHinwG6UHC4oUiTcj8e5FVVGK7HS6TlHnNGxJ3yv1_SKixFuOOwqgoo13wZ0CGbBTicsg2NAwZrDegeufKI3vXtBVF88PYH82soXQlNsxVCs0OHag0PQgUOC0CUrKfYTAsZ2HeErsj-YObS7CO_djjQgN6mryQEiqr03rwS3oCqyAyFPoYt5HprVj7eC4d8qoEhHB85xO0tmvAlPY1hlmMrXsI9fUljmrxA9psDo8JL7P9rjkpzGdvugKEcyYwwKClRxE47x9wPSPTl4wIzsKXUmr_yBoy8asV0Xk6dd4DUOMh-ik0rAtltC45vVJhUrBm2W2nXuyNtPId9wUfSbrU9l5foDeqE06sfpXxhCBGlp95sKCowQ_21YDELTl416cGtFQXRnW8YMlVbEZ9Xb_8N1IukQNdMBXvOr1-cELrKqLL7YrFjkTXfDWlYTtZchssrf1vUfGIfnkU_YdhL0ipir0GDtRSeJ6P4c-l3vbQklL1E9666Ca9_3__D2mGzd-V49G84J3MHKlnh4L92KemHQfakbYR8A2Zi9LHy1rxrA-BNeIz1NnFXtOLvy3qPqfc99BRj44wx0agRkL_1PD8Ww8p8RClTprb4e9Cu2nuqWuNp54X5vK2f_R3fmB-v861AZmc4DJuYi2iepf9j6kGomUEbX15L5eSH-DiBOl4w4PpUq6PEqVABoYBKX1aKAMGi1J07R00eEo579_hWR8RDIteYrh44-Pi9-rT0tm_exXHdV0wRMO5ugVRIVYpIvgEMatUVLb49id0bMJ2BDQJr2jtvdYJxZnscVYzo22WFneVBFyKv0v4ooJLXv9NpWBgEyxPIvG30FSABPviPOv45x7Zb1OeXVndk5wFgplnzlc9CKvuzsdKvxBkjyPFBIRRWtjWp316f4BRdmaiBHy5kIJtKJbd0wwMmfYipY8ZQknMV0etM2Mg83iAo5_oouhWyhEiOkdPCCmKltBy-3ceVT-Fs7McfVdgfRwuZ4QpvFEP52yfnG5u3C4YWbHFTZKsLikBWYw403nJFZDz8dQwH4uoeRWkamIeB-aXeymAFfMgH_7KH2HuDU2s7ajWZ0Bu1dRkxMYrkqItzshDXg3QtEFoXSxvJir5cnAigsdxeuXRRIm-qBOcylAoFBXrymFNFMzQ5tr1PLiMSzVdDJVAlLoK4qUL0VTQl1znndc6biElt_jJegSKidZrHha1Xtw==",
  "id": "rs_0d0318facdbdc859016ab45537cf9887d09a39833679a99c46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":0.006,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The near bottle’s cap is now close to the jaw column but remains above and slightly right of the fingertip line. I’ll advance about 3 cm and correct a few millimetres right so the open jaws center on the neck before descending.\"}",
  "call_id": "call_gMaeaVEafwxMEHbNKkzerD6x",
  "id": "fc_0d0318facdbdc859016ab45539366087d09c2bba7f99b0fb69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gMaeaVEafwxMEHbNKkzerD6x",
  "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]: [-0.0139, 1.0969, 0.4877, -0.028, -0.025, -0.0338, 0.9989, -0.0154, 0.7918, 0.6025, -0.3973, -0.0227, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3333 left_y=0.0034 left_z=0.1093 left_yaw=0.0101 left_pitch=-0.0736 left_roll=-0.0016 left_gripper=0.9989 right_x=0.2921 right_y=0.0031 right_z=0.1763 right_yaw=0.0004 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -4.6291, 6.4205, 2.044, -0.2173, -0.1587, -0.1294, -0.3214, -1.9077, 6.1744, 1.873, -0.0464, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c782b75bb93d1c70f491ea1fc8b07c6f458233576b9b8375d39af6072ce81466",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0ff677d310bc9a44bfd4fe2f3e07236c617f50cf419f5a1f35b5fcd03ed0ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e5073cb39008563fa82f475d374318be6ac3ad1ce0a3c4d88aa8632469eaab6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.546 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]: [0.0357, 0.9451, 0.5529, -0.2329, 0.0017, -0.0219, 0.9989, -0.0151, 0.7921, 0.6048, -0.3969, -0.0231, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.3146 left_y=0.0145 left_z=0.1436 left_yaw=0.0307 left_pitch=-0.0615 left_roll=-0.0079 left_gripper=0.9989 right_x=0.2925 right_y=0.0033 right_z=0.1774 right_yaw=0.0011 right_pitch=-0.0133 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -4.3282, 6.9265, 1.9219, 0.1734, 0.2222, -0.1294, -0.2256, -1.4427, 6.9128, 1.8877, -0.0513, -0.0122, -0.0171]",
      "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]: [-0.0139, 1.0969, 0.4877, -0.028, -0.025, -0.0338, 0.9989, -0.0154, 0.7918, 0.6025, -0.3973, -0.0227, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3333 left_y=0.0034 left_z=0.1093 left_yaw=0.0101 left_pitch=-0.0736 left_roll=-0.0016 left_gripper=0.9989 right_x=0.2921 right_y=0.0031 right_z=0.1763 right_yaw=0.0004 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -4.6291, 6.4205, 2.044, -0.2173, -0.1587, -0.1294, -0.3214, -1.9077, 6.1744, 1.873, -0.0464, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c782b75bb93d1c70f491ea1fc8b07c6f458233576b9b8375d39af6072ce81466",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0ff677d310bc9a44bfd4fe2f3e07236c617f50cf419f5a1f35b5fcd03ed0ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e5073cb39008563fa82f475d374318be6ac3ad1ce0a3c4d88aa8632469eaab6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFU-IuTVe7KLHCTPlrlU-q0z8wck2rTnui6PfISQc-RoFxCOe-VlJOpGWcGCiUHYsIkcQo4eHaB-uCF11G4avrUNkGSuLmbKVd3Wh0b08DBk-7qZv27OTqLOQ5E9D_WaibKxoIdRCCKYLN13Jl-GlpuhkER7M_liGMDE3Y7Sq1T8oCr1WLQY_BAPmd8vQKcRA4U10ZbZbvtB0ZdILwe8_nkEvHbhH5bFog6DDCrNwo9CNhjqJxYhcM2frGsV1a16JKxpz_MAtH5suqSkHEnHQ4PbIpie-Hb-5hzHf0zTg_pe7iY-RM6ee75LU6OavMF8BxNAUoACwmgmmkShMNzJdV5cj3BmO7frxE4u3iZQknZLvt89QPCzZa1IdpoRPK6_hV1GndXczCMz25kIwtaFNylWGsG20dSVkIOJsgGtNADBvflDTnN-YBlACVt9bW2jY_MKhJUZmSkl4r8Ka1EqU1N9DpyNhgYETfhr9qNUca1oxB5belDhjHU3csG_BToUOyrHB9igO5ucdIu-AXX2-sgqEDoBrh5e782QFoZzw9TKOtr55hI86UW3Gas1EQtljwAIeJiIsKMMDDLayxn1N-467z4UocanVrCDqdf63w8acXeCla7FX6bTNLF4j7pOoNL5wpYxkG1x24R9He1_kGy03s7f8gkYWp80Y78yYaKYdjHJMLlBTonkh2yuPdYbCv9pJUkx2nIc6Ng8JL4k7KIUyZv4K_dp0MzXiJhYLsAgedYEVjBpb522kLnsCz5GKXrtxS1Rq3leqs_fHo5wOOrL3rKzfDBA56L84FqxYiP723nC8srMyyeB8zrE7Dd354D4bPNFmaSsDnL7V5bxWfLzgJU03mm_CO00luDaLX8Xr5t-IbPqTl8Pl6vfHpBEwmL2_oORRUKmrXKq5lnEhUFZCfXuJON6pD0JrVWW4mqo7ziOAiQiM66Gd5VptCjw9ZrMkZRTMwsZtN2mZ07DNBShoZZHK7nRoSl9qwZTcgCHm4HOQHi3n6nxP5lLAwG0sN-JwmO68mCMpDzvs9qd_ue7gwtRPjimWURtS2u8x6lOVLXp1jhg7ZpoaTVo10w-nkS3YLaH4Z6K2c-7O0WgiqCj52b8YauykyC-T1TbM0QjC97mJIwodOaGCkbPHRRUmQdAvo_lQo5153Ch6ft7z7UQaIWQxOHb8Gg-axaEBG4tiNxNDXDXqMttOqCNwXVDQ195thFWvwpI1ZkLNxqmK53JSqcNSC6qLteGMXxhxD4bWoGXxtulkQPZDeWfoHP0EfJSPaSFIWow8yO-tGHh89g4nW0G5Ai0iZ61kjiXfvbMGwJ0dOtFzBGZ8WvVSFDSViNmZLKbmqGBNM6ashGTEIUCypiEnz16MbGMbwRyn2oOjrijaJkAX0WZlh_yVBTt1Sz2uJAAvShnsb9XdScbsvseYLiolJQhFvax19ECUQ00Z32A_pz1zXvABhglKV35YfVP8OpaEV7x32LvYtC0_wBeJYjsfkNVjgvNfzpSPFfARkmT7bPn7HRhDEtvXOVXCQgGnnkr2sX2JPDStXnA2w9cuWGR_EKf6oYNix1q-JkeZYuNfcNuJ0PE7LzMb4xr4mc4mZFjpzQE6UHBuizT8ZqH2BkOVcBNeI4yijMz0I-52viJlWXuZcKvbt8zEML-xaTL_qGrcZKYdlntR6mC-RdCbQ1xjSc2JEx-ftDGbdnw3p4yMm7uqxEMVH_Q9IhSMZ2JAbmRwWtiY0E7aLelA89zGIhEXfZr3ckTZyxf8LJILg_iS6s_uRBoqhOWw1lRkLj62Eq21f-mI98yUUffzfRyaK8sKVkGFJzLx7DSJhIZle8isVXJ9W_CJrcAl0Fb9A6ALRvMImOQwzX7Xm8zjpQhTk7j9NNJj3XXQzp0UvAXbU5LgyPlB-fMsTc2dlvaxtq3DaVRqD7DoV6yVqFXGJfRBA==",
  "id": "rs_0d0318facdbdc859016ab4553ba09887d0af098277c246b2c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":0.006,\"left_z\":0.11,\"left_gripper\":1.0},\"note\":\"The cap is horizontally centered, but the simultaneous descent canceled its apparent forward shift in the wrist view, leaving it well above the fingertip line. I’ll hold height and make a pure 4 cm forward move so the neck comes directly beneath the jaws.\"}",
  "call_id": "call_vkwGnmXOrBVWkx9OPdpKMMRk",
  "id": "fc_0d0318facdbdc859016ab4553d422887d0a0b95d07b11945a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vkwGnmXOrBVWkx9OPdpKMMRk",
  "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]: [-0.0055, 1.2778, 0.487, 0.136, -0.033, -0.0483, 0.9989, -0.0151, 0.7902, 0.59, -0.3973, -0.0231, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3545 left_y=0.0075 left_z=0.0827 left_yaw=0.0331 left_pitch=-0.0909 left_roll=-0.0078 left_gripper=0.9989 right_x=0.2904 right_y=0.0033 right_z=0.171 right_yaw=0.0013 right_pitch=-0.0267 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.3487, -4.7521, 10.0444, 2.1514, 0.1245, 0.2369, -0.1294, -0.1846, -1.9897, 6.7624, 1.8828, -0.0659, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0b513c0dd69fa786c64dab212bbd985e72c462a6a250ac3d39964722d66c89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f40adb1112bd1bc945ae441410dd238c93d7c313a242872c99d81f90130908de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d789e805a67f92ac78d960ae3448caf9d083f9281112827e859ea15cca2451",
      "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 · 3.275 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6071, -0.3775, -0.0238, -0.0284, 0.9988, -0.0154, 0.7887, 0.6037, -0.3862, -0.0231, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0019 left_z=0.1821 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9988 right_x=0.2935 right_y=0.0031 right_z=0.18 right_yaw=0.0005 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4427, 9.812, 1.8242, -0.0317, 0.1392, -0.1343, -1.0462, -1.0872, 10.4274, 1.873, 0.0024, 0.2125, -0.0366]",
      "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]: [-0.0139, 1.0969, 0.4877, -0.028, -0.025, -0.0338, 0.9989, -0.0154, 0.7918, 0.6025, -0.3973, -0.0227, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3333 left_y=0.0034 left_z=0.1093 left_yaw=0.0101 left_pitch=-0.0736 left_roll=-0.0016 left_gripper=0.9989 right_x=0.2921 right_y=0.0031 right_z=0.1763 right_yaw=0.0004 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -4.6291, 6.4205, 2.044, -0.2173, -0.1587, -0.1294, -0.3214, -1.9077, 6.1744, 1.873, -0.0464, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0055, 1.2778, 0.487, 0.136, -0.033, -0.0483, 0.9989, -0.0151, 0.7902, 0.59, -0.3973, -0.0231, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3545 left_y=0.0075 left_z=0.0827 left_yaw=0.0331 left_pitch=-0.0909 left_roll=-0.0078 left_gripper=0.9989 right_x=0.2904 right_y=0.0033 right_z=0.171 right_yaw=0.0013 right_pitch=-0.0267 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.3487, -4.7521, 10.0444, 2.1514, 0.1245, 0.2369, -0.1294, -0.1846, -1.9897, 6.7624, 1.8828, -0.0659, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0b513c0dd69fa786c64dab212bbd985e72c462a6a250ac3d39964722d66c89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f40adb1112bd1bc945ae441410dd238c93d7c313a242872c99d81f90130908de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d789e805a67f92ac78d960ae3448caf9d083f9281112827e859ea15cca2451",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFVDznTsNDF5rzk7Da9A9xQAM1p1EuHSevdDws5xYASChIEs_O0UtRmy9xxyBlBg5xvk0WL8NbEeGT2DGey07FStNENbXLBclWoYpPpdQTNsrXGX34n_u5OeCAfrFabbC8tJMrmYC_ibuNqpVTCK3DCNdud3b0lYpvgxnzJxL569c0EbwJLPm8l_yM0mzoHTtxsAKn2zcTa7ke6NuRMXwO-WzZjGwVL5UZSldSlW6UWomrkH51F31QGOc3DZTMuYSqJ8-VdHAXR4IOtn3kKXTQ_-osrPu_R_NFaEOszWqgblFW6Xq_purhx_6wb0zmmXNyZ12zdSW_uOuUyeC9PASdQik9AzYwIG-uqf8jmm1lOqsadR9kvGlJ_4zRROBoEM64RA8nMr2NuYLe7QNzKKn1xr2Z3viUow-JFTmjM6q82oL3TAGeYrabjMv2DmqcHesbtJhXFMI3oeMxvDYR5tR15Cc9An-sKeZJIJ8-panSw_O5A20tMGm4t_oDog4YYijKvUxm-7ubBReJf1ifQqrnQ17h0ylOWQVPT5ipTierUJBLwYFuDfJo4UqmlJbX5PoKdvWjZpULmJbB8XRInybg4bZK_i_ZiV4x37pmsOUJUbmMEoLFx-Z4YCa9IoxZzsdXeg9yB98RSoqMeAHnLJQ1rOjcpKlnlNmXHCiV3nEp4RXQVYiu81nQIbfDBIPimb32YtV_DEgVaxuB5qmvnJ1wRhdhGOaBBk9CTElk1iyc22n4jCrlOmsGEr-ppT7uHDlyC3I3FnSP5dtlicP3l4i4ViCGLTGyx8Vm5HcruF_lcHcX6_gQ-qCPj5hxDG0x97RFuiTCza0vYcK6V963QNecBZJdiyKpwGtmrIk3-y6ufAFA2a4i4AWNWfw3aOIrHCzuq2-rlnLkMI4lsYnLYhnTDHs-BFcJux-l0eQdz3EFt2jsA57poDf9VAEaBGi1xG-HwzpkB902McpVHur0yjsrcYXWNjcXXXr7L4MPq3L9O0yr98eAWi41UFugeTyutEM7hrY0eskfzFrn34j-3ZstmFI-OoHVT8gXLOIQE-gvrYqh4BtH7chzDhjNlbwItW2b-ot5DtQPuJgAyg0VMY2DdNX7imK2_xuvy5iUYEyrYat0_I7oqbIRTsYBIL9PgvQQkPq_zI71n6g-KXTpMvw-CiEi2ExDq53BrU9XQYoZv29Fo4BmGJwQCi4CYwVWoGaRW4twAQ_GDX1b74c775u4cMVsi39dwmEL5BO3P0Ckbyzw4quq9AicL1Vq3NimDH8QTGu8fOskBlsXl8GEAse_g5ak6BfIA6UcVGPXye11TBKGuWnAP8niG4C6TNpJpQ0tr1-ZYi-dXwQR5_0ZKKp584UIoZ8iT_wbyGou9DqFwOTbsnZS7uNi7aAipdMzGsTG8aWUrqLeG-ioAXp18xBmc8MBPH87f9kFpgUk1hdyH74mO0XMyzD6rbqSa8I0bJshVel8iFrwMhUwGjD9MecXrszhipD5ka-dzZdPJFra-JGxCTXw5Qse-k0jqlGRxBWvGR1aNvRC3wE_-HK37y2qT8jpJsgmoD7g7vO-WGSwrCZt9UVy5X0N5OB8rAvW3-jvyW9LmP91n7gZzdXnNJST0CI9YFXIrWucPFTLdoeaEj740vkOBkoXLGUtqNN6tIFbr0qG0hkX72tsrll99RG50fIDCu6nKb6XxhyHnSnZYUnPbPP3-hsBWmVcNYAO_j-zZf4-Gk3ZK9A57eual6T-7NtoYLSQBQechcpIYKpy3S4pMJXG4QLETYkZoFXKaopAyOm87Mn3ZrMtlyQHxIKWMC-4tl5OQQCv9fk3ljuYLsFVXrNfE0pqLe3OOxVpta7G3ObzY9hV3GC7rsZIBzobBYkvEpJG7dI6Fk9Sj2uFpARBo7nLAxGnYARKHA1WKBJ5oIPZvjYj4Ao-TV4BLzqssSvhm8I8qm4G92wNd8v6tKQvjYrGN2vlDOA-y4NnfA0hCSzFlqOzV2_1HvNP5CUcgdZ3eJvPQXGnTQBaRfMufpJgMildRSgAE98_hDhc8rndRay7x03z_yhHMPu5qmd2D6P7oT9jSI1zvO1D2hPPgXQC7HMJMP0dgocPHhOJgqfhm1ttI0sS9cqknv7-0Bus3RC02sgred526uf78LETgT2kfloc7cXIO7v7t0QJAk-3zggwOTHABs6-4IQ6okUCG2AJW0exGrEY5Biz1eWJk97aDLjFd-ovv7UUT9a3Wj75uPfzcrc0Eh_nRyoBNnZ-WP5fErbDDiZLxo3q5SkeFq0z4Mi_x8aRE-12f9siEkm4V9mXvBM021WYkIpsV9MFeiZ4qYsfvssC1tIU0FH9TPu1Q0alvXtjD-O2MdoPaF3pHnJ5Sz8fpvlaKHvtySpAgVPw==",
  "id": "rs_0d0318facdbdc859016ab4553ff5b087d0bbb52bfc4e77162c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.002,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The bottle neck now sits at the fingertip end of the centered jaw gap. I’ll descend nearly to table level with a tiny rightward correction, keeping the jaws open around the neck.\"}",
  "call_id": "call_Dy0sxpg2OlCfHvK3oN1bl3Nc",
  "id": "fc_0d0318facdbdc859016ab455424d7087d0b274cbb4146be23e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Dy0sxpg2OlCfHvK3oN1bl3Nc",
  "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]: [-0.0471, 1.5936, 0.3866, 0.6716, -0.0582, -0.0853, 0.9988, -0.0151, 0.7788, 0.5648, -0.3885, -0.0227, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3816 left_y=-0.0041 left_z=0.0428 left_yaw=0.0324 left_pitch=0.029 left_roll=-0.0315 left_gripper=0.9988 right_x=0.2877 right_y=0.0033 right_z=0.1644 right_yaw=0.001 right_pitch=-0.0316 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -4.6154, 3.4256, 0.8181, -0.2222, 0.3834, -0.1343, -0.1846, -1.6615, 7.0085, 1.9365, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd34505f0e6461c2a7e9fbea8b56bd42695832cb92230dc1601683970f3d43a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bfa421c05c3b035837222caffb3e9f7608f7a496057a0918c872207659c731d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:965b661064fff2a8695073efa3bf5e1570b9d5d3bb92f9d147ff91c72f8d73de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 5.528 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]: [0.0357, 0.9451, 0.5529, -0.2329, 0.0017, -0.0219, 0.9989, -0.0151, 0.7921, 0.6048, -0.3969, -0.0231, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.3146 left_y=0.0145 left_z=0.1436 left_yaw=0.0307 left_pitch=-0.0615 left_roll=-0.0079 left_gripper=0.9989 right_x=0.2925 right_y=0.0033 right_z=0.1774 right_yaw=0.0011 right_pitch=-0.0133 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -4.3282, 6.9265, 1.9219, 0.1734, 0.2222, -0.1294, -0.2256, -1.4427, 6.9128, 1.8877, -0.0513, -0.0122, -0.0171]",
      "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]: [-0.0055, 1.2778, 0.487, 0.136, -0.033, -0.0483, 0.9989, -0.0151, 0.7902, 0.59, -0.3973, -0.0231, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3545 left_y=0.0075 left_z=0.0827 left_yaw=0.0331 left_pitch=-0.0909 left_roll=-0.0078 left_gripper=0.9989 right_x=0.2904 right_y=0.0033 right_z=0.171 right_yaw=0.0013 right_pitch=-0.0267 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.3487, -4.7521, 10.0444, 2.1514, 0.1245, 0.2369, -0.1294, -0.1846, -1.9897, 6.7624, 1.8828, -0.0659, -0.0659, -0.0171]",
      "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]: [-0.0471, 1.5936, 0.3866, 0.6716, -0.0582, -0.0853, 0.9988, -0.0151, 0.7788, 0.5648, -0.3885, -0.0227, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3816 left_y=-0.0041 left_z=0.0428 left_yaw=0.0324 left_pitch=0.029 left_roll=-0.0315 left_gripper=0.9988 right_x=0.2877 right_y=0.0033 right_z=0.1644 right_yaw=0.001 right_pitch=-0.0316 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -4.6154, 3.4256, 0.8181, -0.2222, 0.3834, -0.1343, -0.1846, -1.6615, 7.0085, 1.9365, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd34505f0e6461c2a7e9fbea8b56bd42695832cb92230dc1601683970f3d43a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bfa421c05c3b035837222caffb3e9f7608f7a496057a0918c872207659c731d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:965b661064fff2a8695073efa3bf5e1570b9d5d3bb92f9d147ff91c72f8d73de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFVG4R8gVOOg4wN11pPwOyUSjAHYG-JSvjgazor8cKOuOe59ytmXn6gWha8BT1DjgG3iZSnYnMTnj52iifnYt7K_-EX_OTATpEbtR0AY65AaT_Slud3cIjiCJ6WSk319ELZZmTRkGvziNaacpvi55iRJoXL1B0CtVM__dd9IEFNJUpERmaUIIvaMZoF5j6NJ3gqUhttdecC4MKrObePxhLr8tlJzIERwlbdxeB1jgdRX-dUCOpEI1uaD9P5Np3l2k0YwOtvrTgiM-v6VdLkAYmgP8JzJifvw_6OQZqyJPwp-gCxsuhau3qVYtmeka-xWchSQJzI8LRzGMMhizkNTSmXP9j6Nlipmk_iQZhUOTs8LSAG98NYZqBYbV3viXrASCJcuFIzzNMmN04APC5jP2TQzOE2R7Fw_f-Iq0HyRRPgsm9O2FrL9nCrz4lvqY4BP-5aHYiC7JZSSaBnt-UbLEeLywb0FNJod3xvSjMk_Rxp6VqxOqW3rS3XtdLn8afzOmE7mIwygie-44DE-smogVnMXWpaDlojvv9fF0SJcsZu01i5fr1UPY2xaQ7UNktE68XvJ0ZtCWHk9uLIlWx4aVqOURJIfjOnOL59EimiolW68nWyPBtw9FMWsHQ0ZzhMb91VVBa1SYt30P4-b1wNYfANfjs9H0Z1T2nYfePEDcKqoZkcr3P2Wd8xgVAbHzv2bBfYEVVnV648hYJJuXV6gU7K55UXL46Ws1kUn-emNiGUVexdwekdLvBWSrlU-UpMTbqrEpv5OnjsOPw4EfizpopWNiK6s_GspY_8WpcpMWFP3fQIPZ4ZQvrD43A9cgU_HsasBqw2IXpMvNBXHCkriSNY-1iCIE7JskOgdili6XxA3QLnKc40QH3f5mCyzEJJUpEHt28ZiywSYGtW58ca2AIELLdu1R8FhJVyhbp2gLV3HIh0-LR80T3cPlMky1NKsNdWr-yYsnddzEMJgIlwxAQUvv-RxZzZwOI7G62z9eYEmGvitXJaIzM9Fko9k6EbPjd3e5u664pc9140bge0ZmUBNmwmI94gCXn2-nDRWxM4LSWkMoMQtt1ZyKAIoVwSbO14vV-v9zaHfirzL2cwsxW7L5VJV8zlPxv2C0kGzX_itqjsl2GXhZu1T7ObYThnZ4QMv9qKW6fDWmhXX5qinLlG41PBcOlr7lKVqMtR-dBUxDsXlwik_PBmTrirWnqD8E3mmSYwWjFFhvQNAgdkEXnOd761ldIV707KX0DfdQZE358yTg4Pp0UH-MweUm5-oFudkZ8H4u25ZOJn-pleLN7ukazeabw03hSUq83xOP5fFpQukImwauWVeW9sQ00I2F87nLK6S9jvfCJKy3IFvCnsakyOfo0KpuKqMPuT2mX7sDyiThEaJfpuiO5nKXc3aG7WY",
  "id": "rs_0d0318facdbdc859016ab455452ce087d0a4974ffa0be5f947",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The neck has disappeared beneath the camera at a 4.3 cm grasp-point height, and the descent stopped above its command, consistent with the open jaws straddling the bottle. I’ll close fully around the neck and check the settled opening for a secure grasp.\"}",
  "call_id": "call_bf9SUeWhz1ZkmC4l9N6SJSy9",
  "id": "fc_0d0318facdbdc859016ab455459d1487d0a9a7de48fcc1124d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bf9SUeWhz1ZkmC4l9N6SJSy9",
  "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]: [-0.0605, 1.5814, 0.4023, 0.6468, -0.0761, -0.0788, 0.0144, -0.0151, 0.7654, 0.5369, -0.3775, -0.0231, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3844 left_y=-0.0062 left_z=0.0476 left_yaw=0.0308 left_pitch=0.0329 left_roll=-0.017 left_gripper=0.0144 right_x=0.2848 right_y=0.0034 right_z=0.1575 right_yaw=0.0013 right_pitch=-0.0351 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -5.9966, 6.1197, 1.3358, -0.1538, 0.0757, 1.3114, -0.3897, -1.8803, 6.7077, 1.956, -0.0415, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a398011cfdf28acacac52f3d03a20580a7e18190183d9a10a3e95cf968b93542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70149cf09b378a907e449ac7b5f7451c575889f6f84dff61624ca094ea772f34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a16a6610ec0ab68693eafa4ea1fd9aa896f45a9e377d1a9a9a2ea0a6a90cdaef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.835 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]: [-0.0139, 1.0969, 0.4877, -0.028, -0.025, -0.0338, 0.9989, -0.0154, 0.7918, 0.6025, -0.3973, -0.0227, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.3333 left_y=0.0034 left_z=0.1093 left_yaw=0.0101 left_pitch=-0.0736 left_roll=-0.0016 left_gripper=0.9989 right_x=0.2921 right_y=0.0031 right_z=0.1763 right_yaw=0.0004 right_pitch=-0.0156 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -4.6291, 6.4205, 2.044, -0.2173, -0.1587, -0.1294, -0.3214, -1.9077, 6.1744, 1.873, -0.0464, -0.0024, -0.0073]",
      "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]: [-0.0471, 1.5936, 0.3866, 0.6716, -0.0582, -0.0853, 0.9988, -0.0151, 0.7788, 0.5648, -0.3885, -0.0227, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3816 left_y=-0.0041 left_z=0.0428 left_yaw=0.0324 left_pitch=0.029 left_roll=-0.0315 left_gripper=0.9988 right_x=0.2877 right_y=0.0033 right_z=0.1644 right_yaw=0.001 right_pitch=-0.0316 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -4.6154, 3.4256, 0.8181, -0.2222, 0.3834, -0.1343, -0.1846, -1.6615, 7.0085, 1.9365, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0605, 1.5814, 0.4023, 0.6468, -0.0761, -0.0788, 0.0144, -0.0151, 0.7654, 0.5369, -0.3775, -0.0231, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3844 left_y=-0.0062 left_z=0.0476 left_yaw=0.0308 left_pitch=0.0329 left_roll=-0.017 left_gripper=0.0144 right_x=0.2848 right_y=0.0034 right_z=0.1575 right_yaw=0.0013 right_pitch=-0.0351 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -5.9966, 6.1197, 1.3358, -0.1538, 0.0757, 1.3114, -0.3897, -1.8803, 6.7077, 1.956, -0.0415, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a398011cfdf28acacac52f3d03a20580a7e18190183d9a10a3e95cf968b93542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70149cf09b378a907e449ac7b5f7451c575889f6f84dff61624ca094ea772f34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a16a6610ec0ab68693eafa4ea1fd9aa896f45a9e377d1a9a9a2ea0a6a90cdaef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFVN-_RYgyUbNSBWkiva4zzkren_gSWtJg_ME9BgOziy6vRVdhT1hv_SrYk7k1NPAWUHFbeJMYxDctifdaI0tgj5c4jrdxb7TEMjBfigwpk_1TqzOXILoNzgUXO4ZQvpOgPDYLRX82DL6hxIzvWfPwvdC_7x0cv1rgVDPtHnhbIhjA3Ub-t4HmQQ6Zu7LRUtAnU7j-U76P4uaBo9x1pe2W3cQjsP_SX5wyoRv7UTl8dXI3nlWvb_VeXJWPkeFlrS9WAggYIaV9IdU6RS2b5uhoafkncfks6KsHulTkiXRFhm56ruAKRRQeUAU6fZbcwepBLVpN_Y3MCwjas-0tIiVKhtoJCPT4EfJMEPajedMQveHeKypBH9FSqE2PKgVhYYiXRqbdpKMFpdtCA7fZD45qemVK9p8lZnFStHTdz_8W0HYSrmUNWzM2cilI6bGPxNhlKUx8lx6nYUMR3aDrUxOOWW_5jDvEMyfG5PQ7uYJuNc5bBCXW88o1Jb2sjHa8EdjWTnsygv-DyP_J4Noht2xEgOn9EhXWB8CiVlHpdJNOynrIoN9DTieIK53tk8kGWwYRrMhOvE8pIXUhbCeUvHzym8Jv1_3HGlKBEVTQrF56KGjizG5CEkssncXwgsCJAnNq2xPqeUkrHH4WjxWS4L40tYleEHLvNnDI2XDU24tmOCyuNC16DLrWmsy5XzQ4nyQhsWoVNuh6ZdxFNDpX9LNlzJGtRp0jmZsu4RniPgVB65B7n6TQLFr3Dt8n4GQceU9Mnu_qr1yLuFedpVAbUWo2mpedTfSGfY2ok3jJcVwGTQ83Z5DA8B4I55ImhpQNmeH3_8MjxRZyk-HEtAhnD_EsZL76iIUTCjUWENvhHjmUKMY9BJykBrVw4hR3FQ3d1ikjkkwserImiVVCGrBzz9UoQ2x42H1zBT8m595rfsxwHDDcgaILVS2mUzH7yzTVkVjI7TiFKhegIdQRxirSRmWRXkyw4XIMjAhQOaM4FyVFwKfvetxbrqydpguFeU2rLv_jtyqicV6g4W3-NLlTPdGjK8Gb_8MwqPxxdFb1oPR3psnQgZvC2gBoRrypVAAqOCFPi-Gc3L5LqdUagJTBWy6V_Qnw6jwso3U2AJ5w0DwLFtcwC-2NXRsD5HGMfKtFf-9W2C4Hf5OH9mqWIIr0nh6YJitIhwZ_ECbzrDL5HqKsj-mjopxDjO9QoocigUIP3U2A37begkfHg_lstM_7X--0a5ioMUwfJhnK0iwO0-NviSTKcv9l7CRl_4aMWiMnz8u9jZyQC01aoFR-SXFFnXMXOd5cZO8LWSnlRFceQBOFT0b0kW0478ld5P7PbLDPfJJZM7Iyfttif4cui8MVySZfegfbjgor54dPQPwF5IETfhp_3_vj0ryZU3zsyJLrkW93Oxh-0K345cstUl80M4ustFQfkTxKeu4JtzA6-qQ3IJ0PI5kF5G-9hP0uW3tvNbjcpONPxo6R6PqEdXXDDVx1JC4s-LAUNF5TEizztGr39OHV3PeVvE_lwE7YVxqZh9xFGWPd9sK9_ZJBnN2ZNi4om_3iYXBKzEtJbYW-qmfTipQqVTBfPaI6BlXn5tjSGKy0JXsFZKCNP1jv-RqzjKYjOGEtDadyGsMbk13F0SrNsx0x1yyQA-a0WkX2Sq0tL90fo_a5cGPwbd5UzcCzqiSzRsxfZSrirOvuX81BWmxxKLwhfe5lA9mKbogs2WdiAjeeLihwz9d3m_RtatcMwe2JqN4exDmqHjRKz2tw3JluIc9GqJ2XTsCZB1F-AVzHz9s9HGyHctqznR8w3W3lZ3I8UJHZL3ppv_qgFu0LbW5JGnyoGkHjkKkvtiEUKlGZYHNImc7TNt2QX6HdSsTaUljoZ4qRAAdTkoDHj2mYtHvWJ-WmYrf-UWehsNQWofLmiuCsqk7BORzBdAr5jGkKQOWCc1qw22srJTE-vQ4T1Npm4AYkAm6B13KeeTgwsakTDGU2wXsxfZTlM1whPCHRSeHeT_fW_x5WmepTKlQoHX-FLqsDxjlt2Ya8W-m51JtD0NuYMIsoDK-9VCkTqnY_NmLOGQ-hhxEbOuGOtg-J3RbE1L6ctZMFUixiDZ-yRbCYZGCyv2ooL_ygbeZ_pWEvJeNJ3G3qVIJLK-CoXvd5n0D8TSRGijwO3qcMwb4LiEQWIHTh6unM_xuCW2qdQD3NQAVdV-iej-ODmJCdvUWSjXhByy76FpPErNPruNB6ULj_8zJe_06YGqk0-IeNdGZbTU5_FlXOvYdtVaePs2founUBBzQFrpwhTTwOP50NcGA8EAHmXDoqim1cow0bUS8JZfHG6qoZD9Wcy4_qlp0yEyHF4_b7AScdiXW9elLmLMzxb9-JqSdGKp-UtM4c9reoE5XsBIu1F7biVzhQG_4IneV0vQRlwI8qru4th3gGJTiyDaHtv4QUMFcQ0Ggwv4AZGN4t2zII0MkEAbkn0w8xGBs-jvbGgoifXG7QzELo1wUMEK1zzQ5QDpu5NVwGOjRHYtagafqr9XNayKnxouE0xqg0d_hkTib3ALkJWwmXQ0X4Vqx8Dc1nK4BuP44aNrCP5NbVDgo206IrMYwdN_u6WPsSK-s562z4YzTHMhg2elhSIDuBAKfbP9v8wVQIFv6ExSMmucW4qB8SI0eXhg9hTlk9GHdwDtno866JwoVAlspZeq2Dulzq-ltIWq913Tr6yd3r9WpGBWyWqz8U2X_9VZ7cJfop-oD-v0ggnIDM4PuwYZS9cc8M3lmqZBicPRYQRrXpy0XDXO2OYzjMzhnhjq6pJcSwDYkoPlrxbdyMq2DpizBFcyOHMry0nF4EYyRztAL1BhOGrbfBaZseZOZZc_ehI3dxOvpOzXsBkz6Jg_UyYEkIvvjLOWsQHkxYMi-EHZyNdtD-206uKZ7yhDfUfW1b0_yVsPXZoom_pHW5CpNww-5owaFneYTSkjGBO34bClm_doGZ2eq0ZlCmeWmuTMbvTYN-4z2TynO4ZiMFzcxBuvoMX07phfyibIe3GWIZolWvXdlw6B8CluX3WEZWwy32U_7F7EnivhaFz1kuoaRst52lTqcTm5IS4qAPNYdBwoBEIJXxFFTEjGZNwsodGXzW8jl7yt572NfuQF0p7JeVUSJHKMny1oRsfNeh-d0lTserF54A==",
  "id": "rs_0d0318facdbdc859016ab45548e36487d0add468633d85b5ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.002,\"left_z\":0.085,\"left_gripper\":1.0},\"note\":\"The gripper settled at 0.014, confirming the first close was empty. I’ll reopen, lift clear, and shift about 1 cm farther forward for the permitted retry, since the likely miss was just inward of the neck.\"}",
  "call_id": "call_yEE2xHURLUgxWDdTn3dfF33i",
  "id": "fc_0d0318facdbdc859016ab4554c5f5c87d082e4a3f8854b0d43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yEE2xHURLUgxWDdTn3dfF33i",
  "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]: [-0.0509, 1.4578, 0.487, 0.3614, -0.0864, -0.078, 0.9947, -0.0151, 0.7479, 0.5041, -0.3614, -0.0231, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3805 left_y=-0.0005 left_z=0.0653 left_yaw=0.0487 left_pitch=-0.0433 left_roll=-0.0035 left_gripper=0.9947 right_x=0.2818 right_y=0.0034 right_z=0.1505 right_yaw=0.0013 right_pitch=-0.0343 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.3897, -6.7761, 8.8684, 1.7656, 0.0952, 0.1148, -0.1783, -0.3214, -1.6752, 6.9949, 2.0, -0.0513, -0.0757, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a91a99241c0cc0135235c04ea1749c4fd9ab25d38ecaf5273c9f14b5f8446a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:798cf3ff93177024fe01a97e1e213d3c89fbc7228e6ca5ee6534250ea66ff8c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc65abd2b0ac279b98864d7105c7a02e43591c8b3f8d3a69a6ff0120a97b8fd2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 4.915 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]: [-0.0055, 1.2778, 0.487, 0.136, -0.033, -0.0483, 0.9989, -0.0151, 0.7902, 0.59, -0.3973, -0.0231, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3545 left_y=0.0075 left_z=0.0827 left_yaw=0.0331 left_pitch=-0.0909 left_roll=-0.0078 left_gripper=0.9989 right_x=0.2904 right_y=0.0033 right_z=0.171 right_yaw=0.0013 right_pitch=-0.0267 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.3487, -4.7521, 10.0444, 2.1514, 0.1245, 0.2369, -0.1294, -0.1846, -1.9897, 6.7624, 1.8828, -0.0659, -0.0659, -0.0171]",
      "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]: [-0.0605, 1.5814, 0.4023, 0.6468, -0.0761, -0.0788, 0.0144, -0.0151, 0.7654, 0.5369, -0.3775, -0.0231, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3844 left_y=-0.0062 left_z=0.0476 left_yaw=0.0308 left_pitch=0.0329 left_roll=-0.017 left_gripper=0.0144 right_x=0.2848 right_y=0.0034 right_z=0.1575 right_yaw=0.0013 right_pitch=-0.0351 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -5.9966, 6.1197, 1.3358, -0.1538, 0.0757, 1.3114, -0.3897, -1.8803, 6.7077, 1.956, -0.0415, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0509, 1.4578, 0.487, 0.3614, -0.0864, -0.078, 0.9947, -0.0151, 0.7479, 0.5041, -0.3614, -0.0231, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3805 left_y=-0.0005 left_z=0.0653 left_yaw=0.0487 left_pitch=-0.0433 left_roll=-0.0035 left_gripper=0.9947 right_x=0.2818 right_y=0.0034 right_z=0.1505 right_yaw=0.0013 right_pitch=-0.0343 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.3897, -6.7761, 8.8684, 1.7656, 0.0952, 0.1148, -0.1783, -0.3214, -1.6752, 6.9949, 2.0, -0.0513, -0.0757, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a91a99241c0cc0135235c04ea1749c4fd9ab25d38ecaf5273c9f14b5f8446a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:798cf3ff93177024fe01a97e1e213d3c89fbc7228e6ca5ee6534250ea66ff8c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc65abd2b0ac279b98864d7105c7a02e43591c8b3f8d3a69a6ff0120a97b8fd2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFVR6YXWMFDygQHFRkO-kIF-5IQQs7YTy9xiAEvUPzG5pbU_63uFyW66JC5IwhVKtAVS8ZKhWKowids-Khwf65TGl7oe1WuAxr7v1VFT3xkD4_OF9b5S_9ebI9mMKV2t4dfAQiqjXlH1VtVyP7_vxRCGBPXGnb-d2UpJIbGSLU43-h-CMfL7AxYlFBoSiZ21EtEhiL5JM2-5ljbTbSPs7xaHDvExb-1MhJhlzYlhZVTEPhyMllNxKQYr848D4aZ2LKSVn7BalWdtW-KkR3NY5BM8PaeAbcUmJ_7z8J4Y0BL-bM_WvzRJbTCNt9KKEzwc90cQCOSBDvKPenWK8cicoIXuIPNDqJ3IAEIxXOioeJJiNB3jmk6_Gk2b_Dd_W_zxRnCSVR0SmXa7BqrG4pVecKmovpqScJWTBPUvliMXRZ-bV9qphm9_9xde9J47kse7tpDFRL-bUxx8qqFqLwMjQyQx7fdHixjcKbhp-_D_dCi3YtdDaWoAl5ib_a0bFxDn5bVPUtLDi7DzjOonils4inte8Otn3rYOXCrg5fN0AyAndIQTSGyGG5iPpdyISGuQYfQDm2STJArirZ62Wam6i6UYYxCa6_494NEelOV0Svrn8Y9_vvnpUC1WXbQwWklOci6OpkPRRuNTCPn_l5-PZ6g3-0SXialZnNWR6MDG6smXpb1wL_VcjuZeEcpfJcdTClRH1ESqlIImgxVgxscwEFQHiW9u7xR7jJS_v0QfXsJYAZ4RqWcP96o8JXFtgBVpNPxP9gnBHoH4m74EIoKDEirZgIpqdELq3StmEAF-xNfKGD-uUf8fn8ilx1FafNPa90ks9t_od0eYP4jtKRH98LPJDVw1UNuyUIRZS4-_r4N50thya9eY8_-cD5cG_oGZuupj-49ZCCnMy-wXX2-2dC_9gMYG3NRZ5Fr7JKC2sa6gZjAeFGe6fTlYIHzPEV7IO389rzXO7seQGnJEDWGEPA2C_I7Wup3AZfMO4432xHP_EWTsYMtSX2gsL7i-BPAr7Sxfs5WtXkm-x0kAxTjebPLqHxEzV3odpVBsX9CG2mWw7bRQYl8RPg1dP23wPg9Ly_jLLopBJwuV6e-CehGmvxaSnMX5GGw9w5EzhwOr8JfAJM2Ju93BtHdYSK6vWk6bfoPLMYbOnH3qaAujqPiuasNNiRsDwgUMVIDD8zb1hJ6ssm48NXDay0bkIiQhGafJAqafJlJMDsPL93s6CEzmdu-TNEsj_UY3DLV826x3YOHkYjFjCDmwxlXW1EmEgGUJTYYUVM-OC4i2iHgdNZUHa1i6d49QSdUsNoh_ovHXTih-RHs8jJkI8aTa1pNe3krzRpXAdBDV3Trm02MaaDc4nV4KiQ==",
  "id": "rs_0d0318facdbdc859016ab4554fce1487d0ae223d9f2197b119",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.002,\"left_z\":-0.005,\"left_gripper\":1.0},\"note\":\"With the gripper reopened, the target remains directly under the fingertips and hidden from the wrist camera. I’ll descend to a light table-level press so the jaws reach the thin neck instead of closing above it.\"}",
  "call_id": "call_oUZ7BumLgAfUPnLJVm3pBNqd",
  "id": "fc_0d0318facdbdc859016ab455502ce487d0ab2778e807caf016",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oUZ7BumLgAfUPnLJVm3pBNqd",
  "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]: [-0.0528, 1.7973, 0.4385, 0.9249, -0.0952, -0.1055, 0.998, -0.0151, 0.73, 0.4717, -0.3504, -0.0235, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4133 left_y=-0.0015 left_z=0.0392 left_yaw=0.0698 left_pitch=0.1314 left_roll=-0.0425 left_gripper=0.998 right_x=0.2781 right_y=0.0035 right_z=0.1426 right_yaw=0.0017 right_pitch=-0.0377 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.5675, -3.7402, 1.2786, 0.2418, -0.0757, 0.2906, -0.2271, -0.3897, -1.4701, 7.241, 2.0244, -0.0806, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e30fbcf948944fe3c30f2a3422fbc8cd24a1729ccea70972550898a105c2c98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce2b576d0c2a50cc4a8708e35e423d6ad2f572c347792909ca95072e9926ea5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2314ff9eddaddb129f4b0a91904fb87d3dc3bfd9e7a2d776642f175c2fe8810",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 5.94 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]: [-0.0471, 1.5936, 0.3866, 0.6716, -0.0582, -0.0853, 0.9988, -0.0151, 0.7788, 0.5648, -0.3885, -0.0227, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3816 left_y=-0.0041 left_z=0.0428 left_yaw=0.0324 left_pitch=0.029 left_roll=-0.0315 left_gripper=0.9988 right_x=0.2877 right_y=0.0033 right_z=0.1644 right_yaw=0.001 right_pitch=-0.0316 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.5812, -4.6154, 3.4256, 0.8181, -0.2222, 0.3834, -0.1343, -0.1846, -1.6615, 7.0085, 1.9365, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0509, 1.4578, 0.487, 0.3614, -0.0864, -0.078, 0.9947, -0.0151, 0.7479, 0.5041, -0.3614, -0.0231, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3805 left_y=-0.0005 left_z=0.0653 left_yaw=0.0487 left_pitch=-0.0433 left_roll=-0.0035 left_gripper=0.9947 right_x=0.2818 right_y=0.0034 right_z=0.1505 right_yaw=0.0013 right_pitch=-0.0343 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.3897, -6.7761, 8.8684, 1.7656, 0.0952, 0.1148, -0.1783, -0.3214, -1.6752, 6.9949, 2.0, -0.0513, -0.0757, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 1.7973, 0.4385, 0.9249, -0.0952, -0.1055, 0.998, -0.0151, 0.73, 0.4717, -0.3504, -0.0235, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4133 left_y=-0.0015 left_z=0.0392 left_yaw=0.0698 left_pitch=0.1314 left_roll=-0.0425 left_gripper=0.998 right_x=0.2781 right_y=0.0035 right_z=0.1426 right_yaw=0.0017 right_pitch=-0.0377 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.5675, -3.7402, 1.2786, 0.2418, -0.0757, 0.2906, -0.2271, -0.3897, -1.4701, 7.241, 2.0244, -0.0806, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e30fbcf948944fe3c30f2a3422fbc8cd24a1729ccea70972550898a105c2c98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce2b576d0c2a50cc4a8708e35e423d6ad2f572c347792909ca95072e9926ea5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2314ff9eddaddb129f4b0a91904fb87d3dc3bfd9e7a2d776642f175c2fe8810",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFVWAxwmtgUx0hn-YszowXj8unjBrUDN3CXPbSlAk6BBm7I_GVKdds5EsDpXYVQeexl1pnObF9s9CUoKN2OGxFMQGtiQ13ruU7QviVgM_dJyp9ZmaCq74OaDCccb1CnsyiA0R9xx6e_FuyOkRWyrSZXGiRWsnAv3xNeOICeOyi7xkGmP4QUaxxPLdUlj23EmNpy2olYhD5CtaU1KvCHM5uW_zgfeT9RrmXWvxdkgd4eWcs4LUOmrrFm4GXuVWtO68CajpA4B5gerA8gFkg5gtwJcaeH41msysWgQVWjsXJL4f9z4_lGUxFAp06Vqo-sK6OPVYvJce-TUwoWzfHEIO5xpOP9wo2EOJr7KSeZ0Nn_R6zOPupDg88sP4GJ3rMdRxdZVezu5ZRz3DYFcIJm2-92zuJo-HDBaZn-_bqXVop0MM8-2tueADcvizMy_iCpJRcamJfbc2uqeccW_-TZU7jE9_3RBIiazfs7LI_rPR_tWMGUvvIGwrFPZNNvr9-5ah96uXZe3eREtgFU18p8WD3z0bUmHhckQ_9kV-2twN7xjbcg78NGZRbug7iN1pFDCvi6VqV40stQlJKf93s5-xviEM1jFwsEHa7ACDTc0d9ScEEXs24ItnMjHHOAkP7k695-uTrAam796U1DcOFdQ7FEBm0E5n9He3bVJG8EfHofQsra5qkJxovLGoiOCtT6uVmazjKaf0L3e8RAuyWCe2nhVUgrCWDiKrlSLY4knxTXsnWZKGie-UqEZ7NoLy1YAoge3o0vet8fmHUKVaVq1m8PAKnOuG_hSkkYMPTka7-GGvyXWjnhkhtS_CAj1ENXT7lKjirSxcXzEdUt787KIglg23IGrUB1HwcWuoDIpGhgPtmquqDbRk8XTizXB_yzBUttbZNZEq9IWTE_f-H-Nngx8lsAXPKetuiv5fVNinVZRmGXomc6L9OXZf1ACTgJIpF9esco8D_tdrRO7W9Gwd30Sgn8MD1efxtp0bmNB3ibxzbzAv3fRPWSOF7usefg8bv495zhIqzAT9pIV0XkaP7Bm2EhNtU3fVsnrIEKUetweSxCQDCUAsu3LRFnsD7u8NAUGXtKJ55sqBMlLYDS_3Asu6qHJyNqHgUFGfJKX7vs38vxWki2jC6OOEqJe4I2bWcL27ZU1xE7sMXdc3b-3pISP828aHD7OrZnuxy7l-KcBoDGcCMPh7l90KdP6RCrWClaPhbJiVnYmXm4nChTjhLuCdBGnChLzTRvNkmKb0p8F4MiZbSnZCD01DY1Gs4LiowBlR5llvK0Lze0Yf2I8eEIrKL9CJDHSignSnjPQTofjMO9SqLuz6sBmnz01svSrxCBMqZmzClonKI6k3-cM6XPpX-64Zk4AuMSz0ljxW9Vw8Ixxd4PE3WUkB3ODMi30sKipn0UP005y7asejPq37KS7IaZPlWnN6zZgCKQIRyn9q4M35FJ8Ve23bm8x7WT0UB4eCPBW2wdsumJGzBlqoCCltMoGx96PJOn6DaYEiD8_Oc6oFc5lV8VukoZqBlwCSseMmWMnuGbsqqZBIQ5kAc39qMNhwqdyOVwDW4f6AhN4pbPKq4zFVospse0CX8t9cCfIu7EQUt1w1uWgY7g2LN-KRN-VBAfZMljAMoxPpHkBUNDsLIF3sYmqcEhHbB40rxMt5U9MAIOy0RA-NPoQSzH3CGwU6f95v7xhqAOSmpmDUcRwhrzHUx76UESBaPCawKsX8ulCw8qjK-GOFDzckON1dnaPG03CQLGbF8dBTmdXH7fqL0Rm3DmVJysuYxXy4Y57GagNBmhn4aLwLMOwEE-UKdxoHEwee8kOHVd5OfyHPEabgJGF5pp4Z4LASzNLmbBmdPq0FFnvFrLH07O1t1w_mLQ7LwzySMS0a4HnWkP1lCaydSNj5iNADAcgfu_5IgTKGFr5FERHcw-bPjlgoMy491BrLNVMjq9ARAFBeQWA462s6PotvtPsMwPWkGMXi6L6DE1NUy2WG1c4nrIiXhqtEeaZ7RS_IrOaWJ-8JNk-ck0epsfGLQyI6YExYSw5LoHHmC7GzRA_WEeisKKVbxjGA5Qamtji1wySWRDt81avB5yn8EFI0C2XKz_wTSoyrRM1JQ3IF4I7U59PSvCDph66nfZTJwT7s9VTzzyrcAwyVhXvjUwz8KyqUMhUA8zVhpp1rwwIFyETl50o4qmjAW2RW_0FAFKfo_ll9HvDaE3wZrnmwgULP37FT-Zv6Del-XcEqQGnhbCd_GPjph9DzP9TSg595V452rVJNXYcllYUhSJcjBzSM7RRdX-zXZWVuA-QC5sFEwJmEGc95thrXTCO5PW8wME_qLkLbc04ZagRtFQM4CvrsVCndgm8cShxDcjZ6LrrE47Ky7hiyXfigqvUkkRn3T8qawbKAuYPQJT9BhJfdnWAXVTCCMjLmiQa02EytgS-AU-T1NPyfSsdW_FR4452nU-2CyBohcfAbJ69XJBmB2tHhX0Dua1RqhFOjhGlYzoECf9sxBKmiEpysU-HABmlTX0PdCCQjNdWGRH_y3U=",
  "id": "rs_0d0318facdbdc859016ab45552d01887d0ac0edfca906a5282",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.1,\"left_z\":0.13,\"left_gripper\":1.0},\"note\":\"The overhead view after the low approach reveals the left gripper was actually about 8–10 cm left of the bottle despite the deceptive wrist alignment. I’ll lift and translate right (negative left-arm y) to place the gripper over the bottle’s neck while preserving the useful forward position.\"}",
  "call_id": "call_afPYfWY75f1v4eo4btJEfS3l",
  "id": "fc_0d0318facdbdc859016ab455554a1487d0859b6d60488994ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_afPYfWY75f1v4eo4btJEfS3l",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.432, 1.449, 0.701, 0.1177, -0.3904, -0.2913, 0.9981, -0.0151, 0.7105, 0.4385, -0.3351, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3902 left_y=-0.1019 left_z=0.1139 left_yaw=0.0349 left_pitch=-0.013 left_roll=-0.0055 left_gripper=0.9981 right_x=0.2748 right_y=0.0041 right_z=0.1356 right_yaw=0.0042 right_pitch=-0.0362 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -7.2957, 8.6906, 1.4628, -0.3101, 0.0122, -0.2125, -0.3214, -1.3607, 6.7487, 1.9756, -0.0171, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56858a672292ad9f00e7052450c234726cfd3a295bc83854350bb8b7d26751b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef554119d9f5d19e94440b621687c10a4fe296b50c50acadbe98e69e98aa3f08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a4be6c429bb3f512b059bf199f3af8bbf41444eb7db5914ba5bfbab4f5e743",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 5.246 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]: [-0.0605, 1.5814, 0.4023, 0.6468, -0.0761, -0.0788, 0.0144, -0.0151, 0.7654, 0.5369, -0.3775, -0.0231, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3844 left_y=-0.0062 left_z=0.0476 left_yaw=0.0308 left_pitch=0.0329 left_roll=-0.017 left_gripper=0.0144 right_x=0.2848 right_y=0.0034 right_z=0.1575 right_yaw=0.0013 right_pitch=-0.0351 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -5.9966, 6.1197, 1.3358, -0.1538, 0.0757, 1.3114, -0.3897, -1.8803, 6.7077, 1.956, -0.0415, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 1.7973, 0.4385, 0.9249, -0.0952, -0.1055, 0.998, -0.0151, 0.73, 0.4717, -0.3504, -0.0235, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4133 left_y=-0.0015 left_z=0.0392 left_yaw=0.0698 left_pitch=0.1314 left_roll=-0.0425 left_gripper=0.998 right_x=0.2781 right_y=0.0035 right_z=0.1426 right_yaw=0.0017 right_pitch=-0.0377 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.5675, -3.7402, 1.2786, 0.2418, -0.0757, 0.2906, -0.2271, -0.3897, -1.4701, 7.241, 2.0244, -0.0806, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.432, 1.449, 0.701, 0.1177, -0.3904, -0.2913, 0.9981, -0.0151, 0.7105, 0.4385, -0.3351, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3902 left_y=-0.1019 left_z=0.1139 left_yaw=0.0349 left_pitch=-0.013 left_roll=-0.0055 left_gripper=0.9981 right_x=0.2748 right_y=0.0041 right_z=0.1356 right_yaw=0.0042 right_pitch=-0.0362 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -7.2957, 8.6906, 1.4628, -0.3101, 0.0122, -0.2125, -0.3214, -1.3607, 6.7487, 1.9756, -0.0171, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56858a672292ad9f00e7052450c234726cfd3a295bc83854350bb8b7d26751b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef554119d9f5d19e94440b621687c10a4fe296b50c50acadbe98e69e98aa3f08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a4be6c429bb3f512b059bf199f3af8bbf41444eb7db5914ba5bfbab4f5e743",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFVdVY2FPZVra0YjbdhWlD-boIRNwyD7BSobSLI2anXl1DaavuEOZKx8k5YF8H1TE52EkeIrr7kzAqOWnJTtAmZkEVwixhKpJqc6obwXEi4m2EQ3A_2IIWGloYR2g6GwJp1BkYI2JTxLeYFEB4ybRwpkRTnehqVUzz_GnxkdF94CGUfyMUSE2PeeQaPXiBSgnv2lhcoDQMwzq14jVzZQ9X1P5H_n0Sh-rZTXE_MnnIy75WJz9x0lbaT2iWh9-oq44VZC2WZvOwAgj2IMG3aBbVc7UXJawWiBUn1GwEnEwewib0Hy0XwRH2lfb4zi5BRhGO6cfL8DJEt3OQee_qB1TVkECAABIDpjzqo19Rrowzx3CrexfW7dRLsTLQ43rospWh-Rfevg00GshG_ep28Hety5gdXuTQnHOw4ty-oFOttS1ko9alWyb-BJRGwRoHrrn5fjSWSs3lHUkAAgxuZZdiw8tmKxys7OWETfI8nFnTReQwHhyCeCt02mHNnEXxy6uyZRGtwqCzEg9z7F9DaIVnpil4RmXuHJ5HYIYWwabikKuTDspN-hl2bscIHVCOYZpaR1LaL4kbcuEj3mr2vZ0xBOmVUY2WDuj3nD9WuR64msS6dOyhTPxisz2AgvhnlxPnCSzzDS40U3CwCNtyGWwv20T3h744WNZzoenUx-FiL4LNbKs-f_6-SMX_Qs9aIQyTL8n-L-ZeK-W5ipt_JPZ1zAvi09SUQoLyM0uldpzR_8o1wFgqiJwE8ZlJ6vMp02x-W9c0Hjb9hGsnKZ-eUVYZDY0ewpBlaCBIqCn5XUldAQp8bHvZyuOcYD6gH_AmAVstna66idPBgf4eKzKXwjk00LnZaWj7TGkWT6KVVaLLrvakG0jrAvPmQGEcFdRAkSr5-OO2Jvd8KW7TiQoC35tE5b_aPcyJYN5OeiCgBXpZ_kn23PdeTnRYMUqKZ7k-2CKBS9NPhYclwpE3049hJ7QkXovnlJFhqz5xrLzAyNmepCudistPvpgkqiOtUGPl_CZTq9x_w84LojnTfg1Sy6ILqPbITxKmYxEU-cKX6BgETjvEWVZ3vnp95LdtXLrlg3-MROBvbtuDs4oyjOLdwBtc_oWx8PFtrCNHdjr_nbSXASoZdUWhkjTe1bkNg8vI-FL6BADxcgVC_WGltiUuatpvCjTEY_gARoPZU2hVqrupN_20DtxEJ5BvDusHX6wACzbgkYfNTWJU-PQ9Fon6MAb3KIegtPgex-TRT_N3Zs9y2_wZmht4BQF6uJUiIZ4w6537_ALJoT7ciiJyHoWUeW60I1zY4HTN9dOgj7hPbxCf0TsgpSDE7SpN5aPlgCpYHngi_Xvh3_E2OqikAM76f7aId298f1NtHrXBg7OFakf3isAI9JKhtiHLVZYu8HMMgOYYKA2AreA_XzEzpZ9jIIrU04Ji_6uiNBpo9Pf2ZsdTuMaBGm9FW94Nto5Sen5j8DvhuZzAbN9dPaEHwW3JZvnYw_91mM3H1vIlYvivWGu7E6mT8N2pmMUbxsMFzs-8Y6oyafWbYeG3k123VHhlFjxdhAzr2yzncaTBrvm5BakuT-49fHIx0VvYE5PkR9UOwWKIC072ig5lB-x-KWZ2nk3A5SxZrMw_u4Bk_pf_KDRhkNnakXpGGWx2xpTKd87LnymNM3v-bklpmtBiok11-w00O4XDGmTldEMGgNV6RsOyp0TUagLr5my-VwuQKrg8OCzPSFz5atHLWPbDz-iS18n4nahTDG1bDCZpyW6XhJRYNjl0xSlQMV-lB85ApZMtgeYWt2T1hd9xUG-P6kMnKswhc0EUwheHAxT2LUo8cGII8g7t7gfHxGAM0o8IKpsYfWjTfXWJ6_Q9OVQbwxKFjB0efu4jQwB9OVPGr7wGt3ICVuZebk1bXwdpNIi3vX-YkrNG7_84gk4wkRvfI9BF6D7dKi8VfM2R-sBy5CYps6N3rWhvCGaU7xzlaOCdaL4mbBIvNQUrJA4t6QRMu_PqijE_Nv_9ISzP1qeoZJ1lT1jBdlubAeVEs7EX5hnIJSWsXCeKXWGVO4ixzeYrRZ0-UXyMsUzjdZVso3Lp_KtkjTYOjlbRW1xEkvfWT4E8bqVlYUDR4C56QghcicW6nE_nu9Xs2fvpc2bU4lFM9x49kF8o0dh-GtbmesXTKA8SOFmxHVMW2sZPPqiuEmXdbkf-hxnzYJ31L_M-YD8tcmekV8WT__QXMWJ_gXp9Ra9yMwrN05g2R_JJJBx3QL6qaDWNWlXr8TK6AEinGr9zz79pITyzcp8fn3bOWOFagv9ldCn6YHdn2FKozWD4n16Qugqg2VAuJc4fvLou0PxQMgvpeyLMmUppk_V__AL2dK4Br640F3UPFnS6I_QnLhb-sP8xuRDcdYqghZMmamSAZTR8kgMhfX2C1aA9BK5mezVdwFrtsESzzRp2IGqFMipUkM4VliObd3F0lslWygojjcNXJ65UVOX_lFm7CIBElQCXZUyQl9pvTNZ-p3ioRDC1g2fmi09kfRHqetubBLDpTFXed1qK9rSpHSFKBObHr7chomM-T2OSTdXQj8x9Jp--RrtpQL7oL70OiZOFKux33w2QjwJ9CNhyJefVWP_XWdYMVkmvt_x_dw7p5uFiX5nosISxuM8R7C1aaHnwbtGCfOX1hll2hM91MH4YDEKjQkTMYd2bhsJC-vf-b-rqp_dn2tJDXd0ws4nIFgMSoyLBDmYc-deYQF2uO06X6Mrpxa9h68jDNQ0IbI_R61ZgKzT-N-tbAEflPVbTvyNfXa4L_6gsTMuwsvLfyD6z5AqWLN4-fCg-RIHfSuAj_p7V_irZgjrmP4C93DyewY-4x9-rNSmO3l83LnxKW8xib5SbPb5bd4b9d4db8HlPvI3u3xBzlSy4OmfgKl75tCfAM_apo5heHFn5uG_x6Dinz03AOzAl7Hp1i43FRF5tP-JCzg9zcWFE2Tu79jlPN_MztgqoYw233mDWvZcWUbj_qwJaCn8e1YrGntDhf1NjsampR2IVyl1xbVvaNEm93l4hA-SkUk2VNVDM7RbAsW6M8Wi-OXXU1kcuFOtowwCsEgmTwMSKOEi-4vHjoFykRlfD92VEO0a0rI_7WvMzOH5q6r2hHGWbyjxKcTM2jL2VKI6bsHMgf3qfyxK-wgDAPZVW0fr7cIakGRG42Qm9KqI8XUu7QBEQypOB2zvtQvplc8IsLpU1lsH17fxzyumw==",
  "id": "rs_0d0318facdbdc859016ab455585cc887d0a541ea264ae0c28d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.15,\"left_z\":0.11,\"left_gripper\":1.0},\"note\":\"The corrected wrist view now shows the bottle clearly; its cap is high and about 4 cm to the right of the jaw column. I’ll advance and move farther right to bring that cap toward the fingertip center without changing height much.\"}",
  "call_id": "call_TqsyqBX61qnu6J1pmU0YxSPZ",
  "id": "fc_0d0318facdbdc859016ab4555c52bc87d083035fb2fcf71a16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TqsyqBX61qnu6J1pmU0YxSPZ",
  "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]: [-0.4984, 1.6917, 0.8875, 0.1013, -0.4393, -0.3233, 0.9981, -0.0151, 0.6907, 0.4053, -0.3206, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4246 left_y=-0.1415 left_z=0.0907 left_yaw=0.0263 left_pitch=-0.062 left_roll=0.0292 left_gripper=0.9981 right_x=0.2715 right_y=0.0042 right_z=0.1285 right_yaw=0.0042 right_pitch=-0.035 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -7.8154, 8.1436, 1.8339, -0.3443, -0.1001, -0.2076, -0.2667, -1.265, 6.9949, 1.9512, -0.0562, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d006fce67f60b3f724543ee468292025685f93695bd22664622bf389a96575c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:831c7a2aeee3da9e58adc7daa70b04886d45c3b164392fc0b1cdae644a179e94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77287508d3d1788fb8d8c88f9fce7b0021e5003596157ac388b853fb81271636",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.853 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]: [-0.0509, 1.4578, 0.487, 0.3614, -0.0864, -0.078, 0.9947, -0.0151, 0.7479, 0.5041, -0.3614, -0.0231, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3805 left_y=-0.0005 left_z=0.0653 left_yaw=0.0487 left_pitch=-0.0433 left_roll=-0.0035 left_gripper=0.9947 right_x=0.2818 right_y=0.0034 right_z=0.1505 right_yaw=0.0013 right_pitch=-0.0343 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.3897, -6.7761, 8.8684, 1.7656, 0.0952, 0.1148, -0.1783, -0.3214, -1.6752, 6.9949, 2.0, -0.0513, -0.0757, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.432, 1.449, 0.701, 0.1177, -0.3904, -0.2913, 0.9981, -0.0151, 0.7105, 0.4385, -0.3351, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3902 left_y=-0.1019 left_z=0.1139 left_yaw=0.0349 left_pitch=-0.013 left_roll=-0.0055 left_gripper=0.9981 right_x=0.2748 right_y=0.0041 right_z=0.1356 right_yaw=0.0042 right_pitch=-0.0362 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -7.2957, 8.6906, 1.4628, -0.3101, 0.0122, -0.2125, -0.3214, -1.3607, 6.7487, 1.9756, -0.0171, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4984, 1.6917, 0.8875, 0.1013, -0.4393, -0.3233, 0.9981, -0.0151, 0.6907, 0.4053, -0.3206, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4246 left_y=-0.1415 left_z=0.0907 left_yaw=0.0263 left_pitch=-0.062 left_roll=0.0292 left_gripper=0.9981 right_x=0.2715 right_y=0.0042 right_z=0.1285 right_yaw=0.0042 right_pitch=-0.035 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -7.8154, 8.1436, 1.8339, -0.3443, -0.1001, -0.2076, -0.2667, -1.265, 6.9949, 1.9512, -0.0562, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d006fce67f60b3f724543ee468292025685f93695bd22664622bf389a96575c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:831c7a2aeee3da9e58adc7daa70b04886d45c3b164392fc0b1cdae644a179e94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77287508d3d1788fb8d8c88f9fce7b0021e5003596157ac388b853fb81271636",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFViF-FIhBhQCUjbI_PqY3VjUn5axcAl6XkaDU8TA4gLRn5z85q5KO-m5MPnF19QpPsUwqUbYX7LRK4XC9JDz1QuNvGjXI7grLXnx8JffSU6uyY0uEJOcYIj0YPQOSME-92GLIPv1378oB-S9QxJ395WqvddTSISlZiHfPZhaM3pWIbzFYXF9B7phf8UTFGbqxWiPcVfqqkuPmEexTfZE5L_fUgaAfSjdtVNnc_jMGV0l9LIwJYZ6md62rrL3C3rSl9vY20G-_59pQrPP-8FJV9y_rqTpxwilPyZHqc10bsPh6jLrVxrC6QXrXRV-lDIWq-Kmi6UAWMNCc0KQUtw0lqAsncZrItWgZnF1tTu-nBMn8tf8R00h7SkHl_D3Caugzp68CRWEBnh7QkxVk-ampsh2FLUGBqw-2718Ccw_lle7yUdWoV_jXYkfwHgmUzs4YJpIxRoRxWIfQ1n_J3-L7KPePlueh8kD-hZGKX5vySBxrXWv8SBYrFy7FJEILYq0mZCOJ2LOt1717uc2p6TX6d5BGFjj7PibpKYbm7eeEPcyn0snUCp4_qfZUKiPKofiVXNTmRuqB3EfGKUT7I0pGMxZuUQzW54FOAzRaitU6ijZjgUEYZ5NfzmPaRYkcj7Ab0RBvGQMzNnMn_HmC-82rwKeyqKLfYoB7uCf87Ei5juV_cbALdTBHaYyTIPjKINFrmboYlKPq1wEVMlQ1pCi0fbGmd8HWcOlwc7aPmRMp5_9PlH_qhoc4r1GdMavDNZZ-9fbimRBhI-qMNXThI-YpSBKjcCTKrKGruIczWKFxBZ9SQI_supezNwLcqxx6Ftq3kRJDULuYTuQ71wfuNp73I1y6j_c9-9yJ1TAzEwzuOhBW6kDMT5SkKC9Ub2nmLbs1LXf_noggkUWQ8ruiVB5gkq6vu5gFRfzoHwKVtnUPJG_x0yVRaJvCEuYhUe6YFu-BVEB49b-JWri3coTXXaZnUvLUSuseORGZGtq-btPJKvqKaxvBMSSx7_VOwsZ8sHPclEV3SAyAY1fiPGIpL1aNYH8m70jprK24MfckJJB8SHQcfurCRiCp1YY6kc1TGVOrnsUcX3Dw16Hr6_Dc4JaWuIkLpm6kBAktcohmyvmTcdDe5oWjqWQhYp9ptwwwFLt4xTef_BaiN3udqo16pPhfDBigXu98p_9VWelrq7T6yQTYkrFmBFBkNLCLBvpbp9B0bTJeFFnGITeNniDj0_wXGIwmFJzM0LelqtPrJNPpt9huXyiVuwRviXvAaz5CHBraCuR8ovNzcP6KF8YVF1Db3iARk_Yt7yeHVjLGFfkGNyB3Jg6Rh1CF2j0Y3uQAFh3jf0yKnYsbxqKYYS7h7WvmYqECqWhUsEXS4CBxp0Z3FfXBqNa3ph6r_pYZPvNnQuWhUx6z2yoh2bexizE9gLRuq70q7GDZbBxccq-cajcHxjmaLIXJhaoZSM5K3pdBsQS-JVKoSkEEtd-AnGkssF905R7oTCInxCbEja4lAP-yHab-21N_6GmrVa4DpeJdHme97Q-hK6ZjaYgnCsa84GnnOxpXzS_NpEx0POmTTyC2J_gKdAHrlbU-5PtE7493Pgh9fjeQKydziqoqQcni6MI4C6XT9fyvrCFcAujJkWvsga8hkq9xjUpnWAiYUh5bTcd24sqtl5oeDi39Vu1tF-i_jvXHTv51DtOe9lfSDTkh2eYh-fCtQdUIlD_VTuUVksg40vkTphnb7jtRN5hJVGwT9yMj7NwKQUWafBcMiMjduvBY-qU5-OByDiER0WKGA8EANDWAXzC1gmG5Fdl0Rdl2KcMWFVrhLEF7b1QwUILQpsthKZcdNhZm4gZyVEM0nBIt5jVp7CsMt9PuttOY7A4Sq-J6qp6_SqTRYtYT9ZJRPND_tOj1f_hBR97KvOp5UwaiXJ6SQBHasLqIu4UiF_wFsKBrDNVAGOQ_BO_rsXhuA4--hlASNIlv9K9wPytFuyAJL4s_SXQktDzjM4qwqsaaZC07maWrKWVwfb9z1oEFVUofhLuOal-Y7SY6GO6SA91cK3PKjc9vVDVOj7cw5RJ5quPjQHUjh1y7vpxJKLcq5l09FE3upZCYonkCM-RCTTmXtX6BxsUEyA5zZeT-vBIikIrIDw32BpxmxOECSmr0uO0FRpTXv4cbfDaEKbHZskvdWFtaKvKRKt3a4xEU4OwG3DNILE4pkRLdtRTWRiG7iIdu1obVTM3mqOWTMwckRZgIy40iR6lohtCbm1s3xGw9n-u7iTUxXtM3QX8AroJpM_vaN3tYGjG2YVgOigTzFPbuTT9QqbpcHsS7fs4DgcRpYexs8knAOH-oJX0faCT87W8waa3YpQjrt4Alozj7juV1EBex91-B4uy9Lkd6zkDdEDCwIkAOYBq0KvwqGpULGtGR-Kk2ssV5SaCs4azd3FeMwVPDQuuB77EkN1IRiW8RZxLrTMmUvA0s8GJYw9RgIk48SlLi3ClRsV06cxEMPb5D9MW2QnGf9zDMbJuXYjOPtjeleAZzFEVpNR-5UPuGmB8UAqfNOOxtDJHRtweaMoWzcmr7FUhCMYskkX5Qly_A0LixrhlYdbOfW__oET80W5xAg-ju3ZybvdmhxR9iL3_hQ0DBpIbhAVQoHK3CFMuS4dcQ==",
  "id": "rs_0d0318facdbdc859016ab4555ec5b887d09d80bf682d45a1b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.18,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The cap moved toward center as expected but is still about 2 cm right and several centimetres forward of the grasp point. I’ll make the remaining rightward correction and advance near the table-contact reach limit so the cap reaches the fingertip zone.\"}",
  "call_id": "call_QecGYrM4kkNWe212CiOdCM0X",
  "id": "fc_0d0318facdbdc859016ab45561d35887d0bb025d4ad7523c1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QecGYrM4kkNWe212CiOdCM0X",
  "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]: [-0.5037, 1.7058, 0.9142, 0.1226, -0.453, -0.3412, 0.9981, -0.0151, 0.6712, 0.3737, -0.3058, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4332 left_y=-0.1464 left_z=0.0997 left_yaw=0.0408 left_pitch=-0.0281 left_roll=0.0046 left_gripper=0.9981 right_x=0.2684 right_y=0.0042 right_z=0.1219 right_yaw=0.0042 right_pitch=-0.0324 right_roll=0.0017 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -7.9932, 8.1299, 1.6728, -0.2027, 0.0708, -0.2076, -0.2803, -1.2103, 6.8718, 1.9658, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3ce8e54f3dbc0bdd0a3c25e01f1ed4f165ac1ca5c8dda1dd1644f86fa19a0cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b0908341683ef4b04bc75208d78e571021a9a7a0a001b4cc32d184957033add",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624f04790b72a2022594294c439859b222210f70f438ac4ec676df595203da4a",
      "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 · 2.913 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]: [-0.0528, 1.7973, 0.4385, 0.9249, -0.0952, -0.1055, 0.998, -0.0151, 0.73, 0.4717, -0.3504, -0.0235, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4133 left_y=-0.0015 left_z=0.0392 left_yaw=0.0698 left_pitch=0.1314 left_roll=-0.0425 left_gripper=0.998 right_x=0.2781 right_y=0.0035 right_z=0.1426 right_yaw=0.0017 right_pitch=-0.0377 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.5675, -3.7402, 1.2786, 0.2418, -0.0757, 0.2906, -0.2271, -0.3897, -1.4701, 7.241, 2.0244, -0.0806, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4984, 1.6917, 0.8875, 0.1013, -0.4393, -0.3233, 0.9981, -0.0151, 0.6907, 0.4053, -0.3206, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4246 left_y=-0.1415 left_z=0.0907 left_yaw=0.0263 left_pitch=-0.062 left_roll=0.0292 left_gripper=0.9981 right_x=0.2715 right_y=0.0042 right_z=0.1285 right_yaw=0.0042 right_pitch=-0.035 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -7.8154, 8.1436, 1.8339, -0.3443, -0.1001, -0.2076, -0.2667, -1.265, 6.9949, 1.9512, -0.0562, -0.0806, -0.0073]",
      "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]: [-0.5037, 1.7058, 0.9142, 0.1226, -0.453, -0.3412, 0.9981, -0.0151, 0.6712, 0.3737, -0.3058, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4332 left_y=-0.1464 left_z=0.0997 left_yaw=0.0408 left_pitch=-0.0281 left_roll=0.0046 left_gripper=0.9981 right_x=0.2684 right_y=0.0042 right_z=0.1219 right_yaw=0.0042 right_pitch=-0.0324 right_roll=0.0017 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -7.9932, 8.1299, 1.6728, -0.2027, 0.0708, -0.2076, -0.2803, -1.2103, 6.8718, 1.9658, -0.0171, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3ce8e54f3dbc0bdd0a3c25e01f1ed4f165ac1ca5c8dda1dd1644f86fa19a0cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b0908341683ef4b04bc75208d78e571021a9a7a0a001b4cc32d184957033add",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624f04790b72a2022594294c439859b222210f70f438ac4ec676df595203da4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFVnxzQqjhFL0ZclCxCRMWZIgRdWgmovPsTfaeJS2d5e_u4ayEf6nEI992w5p6Ev7LSTZ4mjcBsROmmkTX1Le6wDN2Z0_sLrBw23a-uDEMtLOQrnnlvdA7fYSFF5UFBDQULmHVhfpml_ImqEtibQunoWHjMmKjtdDQKlxGwOBxMQGVvPWeG-Lr2BaJ-uTtNsKO2EPvIDNiZIvcpJDFO_98OHScPWpyTfWr-nCBqge69YrREED7_gjrBDr4rOyZUoOnFxkV5gLkkVEVsHEHgudXrYPilgXP2WDfVGGpMDUIkLyAFNiVbBIzth8_qpYPbPccMAMLJ8D7sOO2W3BekZ-sDzQyYDTLGYpOjB0A8eUC8_oVUCWDMfre1LIe8fIdWc5kt83NLj13V4QYh0r4gflrVFCPgvIiZd3HesCQvWnmRagFzEiRGLKrG2m8ztLmD-C2dCJb1tYvNBm6HeMMmAIEZsLvHfTEtsqDfFQyFqh7AAgzuld19SlfKCczigcodCN1oLAa61At94tllrpkg6edIc4tf9LZl6An9XbD25RfkH1lR1nVgvlnYqSh0tCliWz9_MVDLDzEXqAKgVS89qzEgQkho4SPGgzEMSOok0bbmPKF3UnvchdKcAZ69or6CgqELzeEQHXeyaEqR_bjpauvG4cZbT4mkGMwAxonMYEUSYhhVh5VoThgIB1Nr0X1_5BT3jmgRGvAPKUuiq6mS9kVGJDGZZlP1YnHaNjvfjIlcNNLqXDpp18iVdHiGyAVRhwsrFSTjU9r60S-Wb4j4KaP-531TPO-mfBzArvtIPE8VpD-tiWKXQp80i27ALZXFlxbGGs0-sL90-gAiUT6CPuVoF5lj0gGv0OIImrP1eKhGamflkpjdFtyonyM7icG9VtyrAwtwK2ojdnOzAKtr71s1mktlnCusk76qzpoJaEsQ8KiD1O0TZHqRBFYFKBc7XSddeHm3yTrUPIhWdX-K8lkx6x98NRu6etOIPROLoqUl5A-3ZRFBEbKVXn8z--0tjXU9hqGUvM80o0miwOZOmBmW-Dbm2HCum15_3MjkfYlR5nSlEgQCTXM66fgnaPeZO7DuY63cpmOv6aI9yPPNUCPOB6pV6wQNmrERmCMOxrEQgEJfFM8u_xpvkaotHwxofgLetXq6NhqpMt1nbs51JVd1kdcvJSMCIsBbJwzBVoIfN1n14xUooVaJ1NochWLCfi7V41zyfFqDOhFc-oMDKTAYoNvR-mV8PSuLL-No05DxeJeM-ULsOCGIsA9hshEopFMPr8yX-SyaIpRB5k7t6GGY3m9qVtfgx67vfzRN69RHtf7lWTfIKDJ0IEWDPK_JEoEvrWfQpo1iSlPDFVGRgUoM90CvKF2yEVfPCKj8oV5hDHQh4iRDsprek0UekqLXyJqEOw5YnbOHr1duOZ6Hx7nsDKZPNO-ivK7Nt3-M7ITs--Ts2Nx_BzVA2HfpxEnxDNApRy0-rihFttJwefivnTGGqEyKgVIyfJ7E_JLnJkaaieYG-PVNlXYoaGL2i8ZJ__b9Y1BzQSFt-KTNxBlL3jvwrU_6LTGnqSxvyHsDRxvYRqEIuv1t0vKEYaZ0xWQaW9O2DSw1_6gAITVH4XhGOFqop5-GpDYZ284_EPMJtjNDbvp9e_BM1UGxB85W-FW8lsy94X0goSAPadK3Hn8BWAXThZLul52fxE2crb-1_lNKIbSZkpY5f26AVcgeNU-ZYTVfYcjndL1QtQsdMRNYmD8fCRVIy3PA-E6fUGGc61msArPPCcb6-L24WN_bpp7NPye92wKHM3QLCO2Pquuk2SCUqRzcpDD4gC1qJnwl9UIVTnzpofh9cMlwDUFeXvn_6I7gwzV2gd7_VRt6WnmAW-JlOEnkjAUUW-XmwplgAB82gJNBbgXOoZJ6RUZHr5BJHZBw7qKKUzWtJhCeu5CmXHbxSS0mfCibhFwVdJSaDEurCuX8=",
  "id": "rs_0d0318facdbdc859016ab455645c6487d0a7132dcaceffc41c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.17,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The low arm stalled short of the commanded reach, although the cap is now nearly centered and lower in frame. I’ll raise to a more reachable configuration while continuing forward and slightly right, then descend vertically once above the neck.\"}",
  "call_id": "call_IjH6MPpeNJFrrj4EW3XXbrNH",
  "id": "fc_0d0318facdbdc859016ab4556658c487d0ae98ee56664810ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IjH6MPpeNJFrrj4EW3XXbrNH",
  "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]: [-0.5037, 1.7058, 0.9142, 0.123, -0.4534, -0.3412, 0.9982, -0.0151, 0.6521, 0.3439, -0.2905, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4333 left_y=-0.1464 left_z=0.0997 left_yaw=0.0411 left_pitch=-0.0276 left_roll=0.0046 left_gripper=0.9982 right_x=0.2658 right_y=0.0043 right_z=0.1162 right_yaw=0.0045 right_pitch=-0.0278 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -7.9795, 8.1026, 1.6777, -0.2466, 0.0611, -0.2027, -0.2667, -1.0325, 6.9538, 1.9365, -0.0317, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd3bde9bca61a498beb9717e6b1c413ad2fb906e0ed6af181dc6ee758316e4b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a257bae1d03192143655ba10385b69bba7b8cad4b33c18ce493c81ab15a557ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dd0b39182825bd2b0319cb363faf472a1e3bb9a0a69611bdf6645f242874fb6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 2.705 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]: [-0.432, 1.449, 0.701, 0.1177, -0.3904, -0.2913, 0.9981, -0.0151, 0.7105, 0.4385, -0.3351, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3902 left_y=-0.1019 left_z=0.1139 left_yaw=0.0349 left_pitch=-0.013 left_roll=-0.0055 left_gripper=0.9981 right_x=0.2748 right_y=0.0041 right_z=0.1356 right_yaw=0.0042 right_pitch=-0.0362 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -7.2957, 8.6906, 1.4628, -0.3101, 0.0122, -0.2125, -0.3214, -1.3607, 6.7487, 1.9756, -0.0171, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5037, 1.7058, 0.9142, 0.1226, -0.453, -0.3412, 0.9981, -0.0151, 0.6712, 0.3737, -0.3058, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4332 left_y=-0.1464 left_z=0.0997 left_yaw=0.0408 left_pitch=-0.0281 left_roll=0.0046 left_gripper=0.9981 right_x=0.2684 right_y=0.0042 right_z=0.1219 right_yaw=0.0042 right_pitch=-0.0324 right_roll=0.0017 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -7.9932, 8.1299, 1.6728, -0.2027, 0.0708, -0.2076, -0.2803, -1.2103, 6.8718, 1.9658, -0.0171, -0.0366, -0.0122]",
      "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]: [-0.5037, 1.7058, 0.9142, 0.123, -0.4534, -0.3412, 0.9982, -0.0151, 0.6521, 0.3439, -0.2905, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4333 left_y=-0.1464 left_z=0.0997 left_yaw=0.0411 left_pitch=-0.0276 left_roll=0.0046 left_gripper=0.9982 right_x=0.2658 right_y=0.0043 right_z=0.1162 right_yaw=0.0045 right_pitch=-0.0278 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -7.9795, 8.1026, 1.6777, -0.2466, 0.0611, -0.2027, -0.2667, -1.0325, 6.9538, 1.9365, -0.0317, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd3bde9bca61a498beb9717e6b1c413ad2fb906e0ed6af181dc6ee758316e4b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a257bae1d03192143655ba10385b69bba7b8cad4b33c18ce493c81ab15a557ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dd0b39182825bd2b0319cb363faf472a1e3bb9a0a69611bdf6645f242874fb6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFVqhkK798r3XlFAMgQgmqle7PMlPtI06ymjUyLWgq8Gmy9BvvAstkVm8NNOliwLf8hPNJ0udiWRLAbyZdg_bRzJyjeuPyl1y53hhvkk4B35cC8fjjG93IX2B91zVWKLn753Y1nBNGSQwUzJa_toJtedgrrKPrbtWPWYf1sUFKw95KOPGzHTQ_p-ps8zRX1ZrO7G2uRnPbHZ2Sp6iYJ_Ay57nPXLDq9yi2l677BkOeaz7Mg5_rvEeqK6EOZJJKnKP6LKY9dJB2QURNwlS99vhZanDeHB-0buj1GunNd9CjLWHvJW7IB_oZpjOg9lQoFmgpvMYAt0lZ8YUEj_LQcuC7kVKXzsPMA2_8Ww0ThppULTAEzuR77bvP8J0l9qxLkWI5FdeShLO-ewhuqhrc_5ZMwLYUnAX9aMJQe5d2_IXuxt5zkIznW_QF-mCk6v1DcqYyq_NAUdPkAJOEkDPrN2OiP1Zrf7eZW2s8Ni1C644BJV1htwRbs2hp3gDAsxHld_e544E0b5h8e6dhN--REtp-xC4QW2mvmQMk6c7ksiU_DABzDZH9xHkZTsb8Y1Y6lcPFMJ9pmOWjqd9egfIpUQx7sV6oJed0tb8iWD1aFFsN26hkqYTEdoFtHySTV-9rWfMloqdN40qowjRrVYPRZQcOcgkgg69LOv-2RcAhavdlpqsMRCZoSKDWf05d9v4klq1mBEPHRN7UUexoJOh2s4Jo8tDCPxkfW6PNeM-NSjfB9i5nl0VZi2BGYTNlvSIWTDyyao-U34-L9WKBVoaEs76ah4j6ttLW1IapqXTIq95hJtZPaOMQCoAtA98crHPuh0FnRWB7HbrXVRsMLFbagiFyjzZC_hzAl0LyJ4uYW3IaUbJjR4TRjokCUQ3tWMdSBufJNGMq5-wFyLz02IJtaWP6eQKpAcrgcojVIkSUQRQxDsSiSsi8hHaqubPQTkdbWZmz4l8sjgqsG7qmwKS36G_KFfHZcU-BBXSHD6RRBHvuSDCyT4sREo77pgkHXha7X_-Ghvh6hakHtkYhZW0GCFtlZL1Q1Xm7um38XrWb9GVg__WXkmd4vOzZ8_2AcbDwwHmoofGZErrpdtYLpSeBYy_FxVQ3hzuLx9oJUVDm_TfPuTmxkKmGSNCGdW6MkQGULvFYHKpnPPmTp-myfdBotF3Fy8EvwU7oLH5mdek8CagY1EriO0QmGJQcAcWD92XWAp_R58je1JOgwVCObw9k5TvEZOX0s2GIzFcm6gXdwWgL0_hGV87TKAYBz1s4kULchtcjFkqk2zrYssZq1hbxP6R99-noLIbHhvQyk8Pd-wy15VkYk-MJoOFYmLb6zhH9XH_v2wqBVBHq46YZBZ_xPrrlKgLSmaNlJQ4lRPsIBmGDv3mlN1hJL_Z-dXxa4ADfKR4aCS1X208MkhiIjWJj9ip5OFTY5X4Y1lr61Ux7N7bhIPh22x0Gx1-gN0RxZ-FHURJVdVmD84wEbDI2a14vUnfLxpnaLryegFW6IS_JS-veJF0Hrc9SLANzxj_-mpX0t3beSKSwSfF9t7ziGKpny_Ybq6hi01wp7idDSqZDpndiHK4Xo=",
  "id": "rs_0d0318facdbdc859016ab455689bc087d0b2c8e9333e691ab0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.15,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"The arm did not track the raised forward target, indicating a stretched low-reach singularity rather than contact. Following the rig guidance, I’ll first retract inward and raise to unfold the arm, keeping roughly the same lateral line.\"}",
  "call_id": "call_Qob8lzsOCmuPiAu0UNW4JJeF",
  "id": "fc_0d0318facdbdc859016ab45569726887d080d430521499ec1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qob8lzsOCmuPiAu0UNW4JJeF",
  "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]: [-0.6914, 1.3247, 0.8425, -0.2111, -0.5785, -0.4503, 0.9982, -0.0151, 0.6346, 0.3202, -0.2882, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3476 left_y=-0.1577 left_z=0.1684 left_yaw=0.0101 left_pitch=-0.0011 left_roll=-0.0084 left_gripper=0.9982 right_x=0.2624 right_y=0.0044 right_z=0.1102 right_yaw=0.0045 right_pitch=-0.0316 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -6.1197, 8.6359, 1.6337, -0.4322, -0.1587, -0.2027, -0.212, -0.6496, 6.8171, 2.044, -0.0366, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d923081002abb512452070262cc46d26c4152e0ab65d2c2386dbd486974e1997",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d5d01cad7193bc9ac0d5eea169f9d14c7f3dd125cfd1c7649a993d36843f927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e14a9614931767a8592613a557bccece6b3e4c1508258b615bd94e31811c2fd0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 6.666 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]: [-0.4984, 1.6917, 0.8875, 0.1013, -0.4393, -0.3233, 0.9981, -0.0151, 0.6907, 0.4053, -0.3206, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4246 left_y=-0.1415 left_z=0.0907 left_yaw=0.0263 left_pitch=-0.062 left_roll=0.0292 left_gripper=0.9981 right_x=0.2715 right_y=0.0042 right_z=0.1285 right_yaw=0.0042 right_pitch=-0.035 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -7.8154, 8.1436, 1.8339, -0.3443, -0.1001, -0.2076, -0.2667, -1.265, 6.9949, 1.9512, -0.0562, -0.0806, -0.0073]",
      "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]: [-0.5037, 1.7058, 0.9142, 0.123, -0.4534, -0.3412, 0.9982, -0.0151, 0.6521, 0.3439, -0.2905, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4333 left_y=-0.1464 left_z=0.0997 left_yaw=0.0411 left_pitch=-0.0276 left_roll=0.0046 left_gripper=0.9982 right_x=0.2658 right_y=0.0043 right_z=0.1162 right_yaw=0.0045 right_pitch=-0.0278 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -7.9795, 8.1026, 1.6777, -0.2466, 0.0611, -0.2027, -0.2667, -1.0325, 6.9538, 1.9365, -0.0317, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6914, 1.3247, 0.8425, -0.2111, -0.5785, -0.4503, 0.9982, -0.0151, 0.6346, 0.3202, -0.2882, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3476 left_y=-0.1577 left_z=0.1684 left_yaw=0.0101 left_pitch=-0.0011 left_roll=-0.0084 left_gripper=0.9982 right_x=0.2624 right_y=0.0044 right_z=0.1102 right_yaw=0.0045 right_pitch=-0.0316 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -6.1197, 8.6359, 1.6337, -0.4322, -0.1587, -0.2027, -0.212, -0.6496, 6.8171, 2.044, -0.0366, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d923081002abb512452070262cc46d26c4152e0ab65d2c2386dbd486974e1997",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d5d01cad7193bc9ac0d5eea169f9d14c7f3dd125cfd1c7649a993d36843f927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e14a9614931767a8592613a557bccece6b3e4c1508258b615bd94e31811c2fd0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFVtej9edEHSVQH__-e5KThT5884r5N8Pla9dc8WPIM1Rn7uSGFdojJc-VL7-pZ9kWfb2juoM9HuegfQXjg9Cj1WlRyr46uUkJ-hrafLYUazGyuqYytL5r5tc5hn-rcj7MWT3eTUA8WlIXAn0B59d83zkm_hmtHhk_n0xNNmqXOS_xnpdoE-uTxpkp7veG7Bb4sg29C3ymKFkvQyQ2TlhN07ra-UJRb7NqL4rFYki_TZq5ErZ6AqiAUzc1YTbKvk-opt1fpwtBDso77-GWOHgDYL0BfCdNNVc6el9yPrMDgW7RVLr2mvduOE5kMI_jxQ3s-MYZAN9CHJgp6BDSlRInVS7QZcLY9rB8NR-LxQjY9HAeb_7OjJ0DFybl6Zd3iFDLz-_5ZqJaSH29LJMIR8G-IV-DNnDsmTx5-RnpskxxtPdeTTg-XGk83akdBD9o_bXGewWOvdUQNuqsN8TvbS01QXgIoipbVW794nfMsc0qpCBZdfDYO7XIl6QfCgqsAqyoZwYtJ-svfHHlnTdc9MjBgN_HySQzCExHatlNvTnmcgZaCGERjzyA6bA2ySNAImLxBW6H5lPnRgrZgZ1XLDzoxxUQsV_tSHZ2CwwG8sLRm-vyrs9heh-tqUV1M5cmr8zVlHNPAXT4hw3OZ0-yoItlJGyHRNnTbRGbVIE4y9u7vR80MNQjiudcnQ0G0To5mR1hAXJytBekYNkQ65x90axWSfSjQ5PPOzmB0YPMRazKVtUW2MXXqAReZPM2kZ78Ss2Mji4B9bkniYH9WqrAkpHeWKuuBCAyZAx7aGSQh5sf5KCUKSwmWs5a11bgCs-4clfWsLz-4M8cSUaWBnEtf1PMcxvdpvt3kCMafXswruvvzu2WqhQj8m4C7fC1CxdCcxcSFSvYXnzZkpj_s_TpfWitqIFtF3C8G0Sq6E-9jkb54ojOVH3DX_KIwfTwaBoLP48uF3u-i0UmIaB7TbpWYM0_zWGREiGU003Vp1pjF-lwv4iFY1QFWhVSZN_o6fndwT062MYYWUrVxtV5sxrFbuFLdE6iMF1tl4V6cwNzerltYua7naTfEKbjiuijNNiA31MlJiHf3fgsgw1yPu2tr2AFl0HOKikQCTxgYaVnNBo5gIBZ-H2NBND-Gqo7oTtATAVsqGIfj6tGtqifZJoGq8vo6MVwdcBdY40Nnd_bfNhM79JO4jFKDcXWqAT7IR016oy2g2Tj8smPhsEPWXIVhDeteDBwFcEpfZy4cjJfCQK-jN1PeeqgnK9_MpKgMG3RS9XAY5cNwh8pIjcnDA_XTie1rLWhJQfH21Lh5KTTHHSE3NNxGgP_bzJwR2v_NMWwWmAEkG_YoiIoK2mujgC1iygZANeVep4DP9Kr-1muVhu4exqdeNokm3A8fEcQk9fO0SdN5neJrrs1rjXZhCZhGW2pPmakzZrv50_4t1i4x4dlq6xAT1HAieKTO13gafawvxMjKtLn_m04-Vu1d52Bn4lIanqf67kaSG6LJE57VZ35K2uLGxq-D-AKXmIIGBVIH-GoY2SqfQVmZZ2sKfFliqoRtv2LKoFTXFIwUEM2UGkFEHRS3jr44yXtRs9ukbXBuebGwVhqInmSsM6MtCpvqvK3pQrNwyKancrU9kmZrXwPWzPpaQA7qIlozA85_uu7JG_n5MHtJSYMwd5Ynuwddf_caiRw==",
  "id": "rs_0d0318facdbdc859016ab4556c163c87d0b2e06c39291d34a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.158,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"After unfolding, the target bottle’s blue cap is now precisely on the jaw centerline in the left wrist view, about 8–10 cm ahead of the grasp point. I’ll make a pure forward approach at safe height to bring the neck near the fingertip line.\"}",
  "call_id": "call_jB90JHJvOqa1XKgRL2szeqMh",
  "id": "fc_0d0318facdbdc859016ab4556d065087d08d568c76cfa77af9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jB90JHJvOqa1XKgRL2szeqMh",
  "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]: [-0.54, 1.5833, 0.9962, -0.1131, -0.4793, -0.3676, 0.9982, -0.0151, 0.614, 0.2932, -0.2764, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.416 left_y=-0.1502 left_z=0.1442 left_yaw=0.0401 left_pitch=-0.0454 left_roll=0.0137 left_gripper=0.9982 right_x=0.2598 right_y=0.0044 right_z=0.1052 right_yaw=0.0045 right_pitch=-0.0263 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -7.3094, 9.0051, 1.6044, -0.1587, 0.1587, -0.2027, -0.2256, -0.5265, 6.8718, 1.9512, -0.0366, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:421fcf0b547f1097e9868e647bdd9b4e15d076054c517da0d7b1855a59206d3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268cc90c8f07eff81c3b7cbeb30ed25b16c786e51193abff5c0160bec93679bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c5396a8483b097d2c708e5263deb966f5e8cc0541f81e461cb782c5ef18b6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.673 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]: [-0.5037, 1.7058, 0.9142, 0.1226, -0.453, -0.3412, 0.9981, -0.0151, 0.6712, 0.3737, -0.3058, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4332 left_y=-0.1464 left_z=0.0997 left_yaw=0.0408 left_pitch=-0.0281 left_roll=0.0046 left_gripper=0.9981 right_x=0.2684 right_y=0.0042 right_z=0.1219 right_yaw=0.0042 right_pitch=-0.0324 right_roll=0.0017 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -7.9932, 8.1299, 1.6728, -0.2027, 0.0708, -0.2076, -0.2803, -1.2103, 6.8718, 1.9658, -0.0171, -0.0366, -0.0122]",
      "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]: [-0.6914, 1.3247, 0.8425, -0.2111, -0.5785, -0.4503, 0.9982, -0.0151, 0.6346, 0.3202, -0.2882, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3476 left_y=-0.1577 left_z=0.1684 left_yaw=0.0101 left_pitch=-0.0011 left_roll=-0.0084 left_gripper=0.9982 right_x=0.2624 right_y=0.0044 right_z=0.1102 right_yaw=0.0045 right_pitch=-0.0316 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -6.1197, 8.6359, 1.6337, -0.4322, -0.1587, -0.2027, -0.212, -0.6496, 6.8171, 2.044, -0.0366, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.54, 1.5833, 0.9962, -0.1131, -0.4793, -0.3676, 0.9982, -0.0151, 0.614, 0.2932, -0.2764, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.416 left_y=-0.1502 left_z=0.1442 left_yaw=0.0401 left_pitch=-0.0454 left_roll=0.0137 left_gripper=0.9982 right_x=0.2598 right_y=0.0044 right_z=0.1052 right_yaw=0.0045 right_pitch=-0.0263 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -7.3094, 9.0051, 1.6044, -0.1587, 0.1587, -0.2027, -0.2256, -0.5265, 6.8718, 1.9512, -0.0366, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:421fcf0b547f1097e9868e647bdd9b4e15d076054c517da0d7b1855a59206d3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268cc90c8f07eff81c3b7cbeb30ed25b16c786e51193abff5c0160bec93679bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c5396a8483b097d2c708e5263deb966f5e8cc0541f81e461cb782c5ef18b6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFV1Y5tOPWIHFEeRU_0xJojvmbpJzLMfVuYKVtk59XazHE2_5xYVtQmRzczHQfq88nv9OO8-EcJgMbMbIaE7cC2NM4mmqWpcD6gxqdZWcyr2ubt3IRrbh8BHepF6VHablX0Xw4Mk1coRggTIxIAQhezx83QvlwSYZ-hVH5lhCz55HNvKNknGTMRgKKz1L1vciyOZRWSWdoczjH2P_Xq_hEL2PzHKZYi5rPooHO1a5w6eOi47zYKSQ5F3OZ_qZ8piehurPLz9bEsZ5pVZ8K-Wl1AlutlFOUOjDDg-H6z3-MWl7ZOlR5l5UOqmyD0PzWLfA4cNpZEGer_SZQUZLZzpcjOd9ySxyU6gLgVAplgoVykI2aSQNEeByNNqP9s3wLBSVSFyI4UpEb_955QNXMFX74DhPEYCH0bEDdAwecy4n3J6qR2nAHMrgNR0ei89cfqtWK_9ZIQUr9iBWM2hodjEZqARfSdBPPWBH8rlH5uU2H2xh23o6rcnAWUTpvR12qhWW5Rui6h8TKC7JAWJm3cx0cmUPldUJmETzpZvB4OIiwbXB5F5Aa7eJSZPVV6xrQzzHDp7-lWjdYzAV5Rn36bo00qxyH88E1Mow2pP1mS--en06QDWPbozvMKmoF6fgc1oN3BdQscSvxk9ZyDf8QMzWu783Wi5Vw4O8zQVdlIyBNNUgHrxi9xzRprfdUWVOAqC6CiD2P5AH0z9FUFYiYJ0u4MuwVubGUNKWVyQzvjKQw5QKC8s4FxZuS4iW1kxbL-Ahf_AE2JHzzBKr6iJbs8N6hZqrHge2b4woWrfSIWZXa9_Xg6UR8YOdHu-YNQLLU7mSxiQI-wwbe8k4ETkI_4-2fH8cXL9Vz6nh9gysM6B5239o0WSouzkfBPX1eRlfEsvyUrZiWFEq5Kh4Q8z5XaZFQ-VUa8gqYSP7cg66YQ48bJ0IsDSzcl6P8Zev_TWAiOfzOvUkEhVPMzvfeUUqd6IRN02_iBbSDofQRcx_C7A035Z0Wkv81gkeLZ-OPSHZotYHJ1vzbSA_TWRNbmRq9l9bU5Iunb3Hhw-HrLH-Ccothg63S7LPrP0zEZ_vBhXyDrVoRyLlI_KiTgoXjbUNlcNwVi6PnHH1Udkmo_CsUndy-uSxLGxlT2TMlRrdtbDRWRm7H6Cf2jWuHE7Ue-0Efkr6Ytg1jFt1p_SSHabj_bFZcdhwIr7GZTmLyCK38rpy0x55AlFwJ_Q-6UBw23qTLXnwkD4gGsOPWu6FQ7PmhAiXf-806CM1R7UkdFO9gyG21d6aV_uXRdWr7rsFBfAhK17o7qFvlMzf4k3SsZsYITrBlc8SYxc6Nq4N3nLg8OCXSZlBz4qVWfUnGimOuRkbBeybQ1STHxV85NK8J4rHMf_ASNQ4NFgnxpms4YV9PO3MzU_TtizXUPCHXQ9ONp1nt7O1VcvYk5nz60Y8Rw_Q0hL4Xn4-UjKWwnl_YOj6Ndx4_mY6IxRRVQXoBUPpY64Tgcm2qPQO2DaOf0LXfYbm7_vJE2UYgjrb4yrKmZyVV0c0YxKYh1rYtUSpYlgKkKxofBJfUrzWo0au5FaSTVYA8Tl9igS_F5GS7jzsZKXq0lL5dSe3nQSvqsD-9n7uYr4dSdjq9d-hK1Fr60Rrmy6RU17aEtksGtnNWTsFzOctMKMT9dYuQpXzew2mTS-uh1VwCKV5cf-vHHoo_uo69uscdB-dadt4N14pZ0h6zZQXmo1meguPSuM5m9sIX4-kfS_CkyhKY2GZvBkaPhOKR7h4ygPOjKJRNgrgZLH84IDIufoTRhnUGkpob_qB_EZjBj_V87i5rPmyq6_iEgKWNsI9TUy1jQDJdCC6mo9o2eCZsp_9Z_-_VfKFeGk4dBSam8OzSZvrw0Ii_EZdxvudF_2xbDEPtvFhgjr3-xb3_wOyXLFl4nNr_Ut_8t3WnftRwdI5StkX3xIqidCQvFJASNBtlI1xSWDcPWyDHWRQWPuV-KwpqrdByzGwprAa2poXb9jIbMu9fITa2f_T6BSl0Xbm63dhvGg-zaCPGHnN_aHl7YwVWElNHfJRlAlY3VMclUs0BBFoD6HNdWFl6URiPtGfJ9fl7tT02CJnFkjV7JgJT1uGmkJq1Oo5LuJEOHF64xpl78m5pm64cn_rJxyKItwyx2F6YMabLaf_jELWBm0XaoAO4CukNl1LhwEJaveBKfUnLo3QarPqdEZSF_fkTcebOSQ0NQTFBJSGJZaX8WdSmWdiPmPtpJ3vXXezX3nd5YIdNqRuhhwz9HYpLpiul_tLFDN4x9CGbvAu89hIO2jf0JENe539CZE76cJ-caoiPXCcDTHp1wtfNPnZXQbVbEB5j5mBLO9ZVEsXXWzWJM1897Dw1amUoB3DZXdECdFv07nckYFD3hAqqTI-_pg__Vi2r1vIy3n7AaUZr0eq5LTUf1nKByDnad2Cp3mfmRHFoRj1GlJY1P89qfVoWN-fWSe7Mhc3somLhFvCphMELdwWQeEZYfJyalMfwzQfyZ04hQl9MhT2dVArw6XYMPpwlqpfACIALDqGm6CFloNNNLmLJ92M4d_Lnfp9IVAQqagGKSzkt43zScbZP8IndoUAlNWXILJeWY_-vCnT0sU0RTF4-ZvWRSBmG9nQKp4IQDPtAu4kAwnrcUPgcdHYDZum-NQLHVNLmtvtOFfdbP9vQNoOQiClgncM-cnddfSj3pqqDw8GO2j_ml5hHP-8tei9Akj3afTdjNdrA01Era-Lm7xwXzQNXAWgA7iCpuE6fmlPXOawKIuS6l97kESIG-hr_oWoOTg5AxhqFqyYkywlW2azB_2ZikJ3THcBpEBgsAQBJ2YL1EXTXHHLkUXVNMNjX-nYVQbDyTfF3GskVznGBRSAd9rjdBwR8L_QAI_-gRUzStV6AfNHYJjThHs-sQS3_PLde2cEEEhxA40wBLBpSHFbp7KPcdC1KWiW8hoYULE8o9cj0Uu7BRIGAHQkc9ad2DHVP3FwBR18okxXokCdsXa3Eoz5Jpz_UtDOYJ72vmj790G0SLna9SnuSiF73jPe9SL11b5yj3X153S7DZAEUzcf0AleozlJ-xbr99D7l_2XIz1GEITgfTz_t1V0ZWu-4tmV2MWGwFgxi4sciIeD2Urx204o-rriHt7EYTzO8CD5Og7J7c6Z7GjL1aiSSGD5qQXjEfzuSVrmD1YQY_vDyvLnAFBDJlJ5yBCwASc9T3yAnToB188wDsT_T_Am8f2EmRl-eAzu7WCZDhV-D614VZYreqkqi1SbuUq3n25nat_1wV9LL7y6GaksUVHIZ_JeubA1uHAHXP6VjAy8VHNnCnJ86fPOr1-_VtYUZJiIwTvip41nl4UtV_0CAFjq-_eY_UOjeKkRpnBfJ-AtomKxTJHIS7CCcmMtwQTObIPQyYDN6kz1eR61eJ__8wsG0AtJ-1075apFJRph4F8LV04EpGYIUgi5pfg0wCh4DG6g0F4q_WKYhgOUFoabg==",
  "id": "rs_0d0318facdbdc859016ab4556fb28487d0867c705eb69b1a88",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.416,\"left_y\":-0.15,\"left_z\":0.015,\"left_gripper\":1.0},\"note\":\"The overhead view now places the left fingertips directly along the bottle’s neck despite the cap remaining mid-frame in the tilted wrist camera. I’ll descend vertically at this verified lateral/forward location to straddle the neck at table level.\"}",
  "call_id": "call_SVOht503xSn8AEqt075BBnYr",
  "id": "fc_0d0318facdbdc859016ab455742d1887d0816bb857fb3c95e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SVOht503xSn8AEqt075BBnYr",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5488, 1.8664, 0.7471, 0.5766, -0.49, -0.3851, 0.9981, -0.0151, 0.5999, 0.2699, -0.2684, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4304 left_y=-0.1615 left_z=0.0538 left_yaw=0.0513 left_pitch=0.0889 left_roll=-0.0838 left_gripper=0.9981 right_x=0.2574 right_y=0.0044 right_z=0.0996 right_yaw=0.004 right_pitch=-0.0274 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -5.135, 2.8513, 0.2857, -0.1636, 0.3932, -0.2125, -0.1436, -0.841, 7.1316, 1.873, -0.022, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6cc62d58898afcf6ae39efdc89d1c816540e5c5a2cafd2f6b970c4be12a535b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b636ea6d7427b73d451191ce137b4ad8c5ee3ac9a8725ccf37714ac8bf632ebb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6f0f43a70a6aa6ccfd8d72b7b7b9f0c83e39c52d683a0fb974ebf63afc402b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.845 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]: [-0.5037, 1.7058, 0.9142, 0.123, -0.4534, -0.3412, 0.9982, -0.0151, 0.6521, 0.3439, -0.2905, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4333 left_y=-0.1464 left_z=0.0997 left_yaw=0.0411 left_pitch=-0.0276 left_roll=0.0046 left_gripper=0.9982 right_x=0.2658 right_y=0.0043 right_z=0.1162 right_yaw=0.0045 right_pitch=-0.0278 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -7.9795, 8.1026, 1.6777, -0.2466, 0.0611, -0.2027, -0.2667, -1.0325, 6.9538, 1.9365, -0.0317, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.54, 1.5833, 0.9962, -0.1131, -0.4793, -0.3676, 0.9982, -0.0151, 0.614, 0.2932, -0.2764, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.416 left_y=-0.1502 left_z=0.1442 left_yaw=0.0401 left_pitch=-0.0454 left_roll=0.0137 left_gripper=0.9982 right_x=0.2598 right_y=0.0044 right_z=0.1052 right_yaw=0.0045 right_pitch=-0.0263 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -7.3094, 9.0051, 1.6044, -0.1587, 0.1587, -0.2027, -0.2256, -0.5265, 6.8718, 1.9512, -0.0366, -0.0269, -0.0073]",
      "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]: [-0.5488, 1.8664, 0.7471, 0.5766, -0.49, -0.3851, 0.9981, -0.0151, 0.5999, 0.2699, -0.2684, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4304 left_y=-0.1615 left_z=0.0538 left_yaw=0.0513 left_pitch=0.0889 left_roll=-0.0838 left_gripper=0.9981 right_x=0.2574 right_y=0.0044 right_z=0.0996 right_yaw=0.004 right_pitch=-0.0274 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -5.135, 2.8513, 0.2857, -0.1636, 0.3932, -0.2125, -0.1436, -0.841, 7.1316, 1.873, -0.022, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6cc62d58898afcf6ae39efdc89d1c816540e5c5a2cafd2f6b970c4be12a535b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b636ea6d7427b73d451191ce137b4ad8c5ee3ac9a8725ccf37714ac8bf632ebb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab6f0f43a70a6aa6ccfd8d72b7b7b9f0c83e39c52d683a0fb974ebf63afc402b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFV4o4mWaoJHaE5reMAlfb0X9vlj33CMP0lle7udi1hSRvfhe0NzaZj18408ShyUlJadLf3ggvOZA8P7qTZsbQvfIfro7FKvRFwfQuX0Jr4oDyOcTZCEh31sCoq0RX9Pj4PyBuMffJTe0aqzQ68swZ6hFIAtSSfrMSZivaViUVP3yGAwfMage9vc9oY4RpEjY1OTfwI9XO4O9V6EDDX_RJ-2a4snsExvSp8zT67CLJct4TZIdau6GCbiGqKUa5SCJestqkEtBYqo9nYyqWcHrOSvQH_SfRtYCWGqFMQ-C45Pg9LXkZ2H8_Eh3v6RElrxctH9MMzuHMWisrF912njcULwfLu0_i2ixqCVYEv9BngCZ2cF74VTEjyV1AbR1IDMOkRQUUv6pFwIDWmqAzQHqmn7XzCM7E2pk6nUNj5gZ0COLQQNzymDT4aqKmAGRM836SOnHSwjOFqAPsoRp9lry1yzBkuv-_YB2VlfuoP2eHEf46kQGo4uBamq8yIuVcCkz7oxGtepUDOBmFoVluqaTBnph2jRKg_BmmIj4dlVX-0Ylfw6kx0-zk27FTizMU3omodTtCV1yRJOLb-FhaL2mrH2b6tyTE9QTlnu0SbXA6mVHz0O9rxgsQTnMS2bwUAKvHRz21_ISbtsgciExRHmr7fsrogzh6ieohLRXilMYClgmnM1lKVHLjBw7173MLNbP4OglmVNUyOjMpFTMSI0lcq3-K6JiPnhm9dSLf_domjEv4DO9dO22_MO92LTPqVqqujlHDB4QAOmQgj3TdKoAfe0Ilkvc8BekBs44Ld5_VEjWhd2HpYvzIYwL88F43oaXDQQKGNbP8kNeOhklgMsABS4XNbCM80hFdACFapK-HP_wL722csphJZclP-vv-D1aPlULXVLE7InjACH9nEYVEyo3IfIc0ES77bvZ0z436OY68UWuzIeZyaiZLZIJxVkVYoaTIeElczueLjYxCXqb1rTF1j2YluTRrSatyNYkNHopVG6l3QQcQGE4ltKYIg7XMfd3iOBx_XUCnpSUeMAHlBbRG3HU3_JSE0jdeOyLEtGxdDvnIHo--tyAMtXSDtv6N-wjARwAL3Ki3NBQxB6HYqc5SRDg3FqPGegInx5bvCYoDtB07NZOvfdO9mypxKZjkS5hn7U01OoUxHfBRyJ-TXbvNhhKpCpHGBHbCNYCt7t9X2qZ5YSd95EAZp9aqYHZpkAlnzJysUX2dqedh9c0tOK4fG2JuaK4CHyEZAYo45CeUE6iy9k5OvmcUenAXGcSyaK4WY6NPR_OylEP32OnJDVCqYbJDPWkWHYiCbYNM_9aPVgc_vEy4iV0BYXRsZHWDoDufZgE4MUpbfcV7L9tGfP2bBCizSsQfLgWAL1NVL6lzAirvp7NrsM1L8jVrvSiBNQnP4fUAT3Lqps_VCWFdAi-GRGvJRsrXvZY6VXno25t_7YrbLOZHeJjm4BcZp4HIF8t4wwxXZe_3Z1GJi9mLUgCHibhd84OZkeaGuf8RBu_6871NX6Yn8u7yIMJsvdg6gF190L-0_oYzoep8GsoUD1qA==",
  "id": "rs_0d0318facdbdc859016ab45576fe7487d0875bcc62fb608e10",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The vertical descent stopped at 5.4 cm with the bottle neck/cap between the visible jaws and a clear contact signature. I’ll close now and verify the retained jaw opening before lifting.\"}",
  "call_id": "call_DIZ9jwHVRxzczcZLQ5wWrAT7",
  "id": "fc_0d0318facdbdc859016ab45577e1ac87d0b2f1b8f13464b7a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DIZ9jwHVRxzczcZLQ5wWrAT7",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.556, 1.8584, 0.833, 0.3573, -0.5121, -0.3889, 0.0139, -0.0151, 0.5816, 0.2455, -0.2642, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4292 left_y=-0.1605 left_z=0.0482 left_yaw=0.0609 left_pitch=-0.007 left_roll=-0.005 left_gripper=0.0139 right_x=0.2543 right_y=0.0044 right_z=0.0937 right_yaw=0.0042 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -9.6889, 5.9966, 1.5165, -0.1245, 0.1245, 1.2625, -0.1299, -0.2667, 7.0769, 1.9267, -0.0317, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d56c9f1323d94dab0fb9c9f42df1da4eacbfc278534fd5df57ae76735e2834ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52ae8cf6c1cca45541c68a12794e6467f1d6f169235ea75d239f47a703637506",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:763bbee392087c69084921c5985b8b5620614668c703d1d241a681553bc0f6be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.561 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]: [-0.6914, 1.3247, 0.8425, -0.2111, -0.5785, -0.4503, 0.9982, -0.0151, 0.6346, 0.3202, -0.2882, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3476 left_y=-0.1577 left_z=0.1684 left_yaw=0.0101 left_pitch=-0.0011 left_roll=-0.0084 left_gripper=0.9982 right_x=0.2624 right_y=0.0044 right_z=0.1102 right_yaw=0.0045 right_pitch=-0.0316 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -6.1197, 8.6359, 1.6337, -0.4322, -0.1587, -0.2027, -0.212, -0.6496, 6.8171, 2.044, -0.0366, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5488, 1.8664, 0.7471, 0.5766, -0.49, -0.3851, 0.9981, -0.0151, 0.5999, 0.2699, -0.2684, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4304 left_y=-0.1615 left_z=0.0538 left_yaw=0.0513 left_pitch=0.0889 left_roll=-0.0838 left_gripper=0.9981 right_x=0.2574 right_y=0.0044 right_z=0.0996 right_yaw=0.004 right_pitch=-0.0274 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -5.135, 2.8513, 0.2857, -0.1636, 0.3932, -0.2125, -0.1436, -0.841, 7.1316, 1.873, -0.022, -0.0024, -0.0171]",
      "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]: [-0.556, 1.8584, 0.833, 0.3573, -0.5121, -0.3889, 0.0139, -0.0151, 0.5816, 0.2455, -0.2642, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4292 left_y=-0.1605 left_z=0.0482 left_yaw=0.0609 left_pitch=-0.007 left_roll=-0.005 left_gripper=0.0139 right_x=0.2543 right_y=0.0044 right_z=0.0937 right_yaw=0.0042 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -9.6889, 5.9966, 1.5165, -0.1245, 0.1245, 1.2625, -0.1299, -0.2667, 7.0769, 1.9267, -0.0317, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d56c9f1323d94dab0fb9c9f42df1da4eacbfc278534fd5df57ae76735e2834ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52ae8cf6c1cca45541c68a12794e6467f1d6f169235ea75d239f47a703637506",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:763bbee392087c69084921c5985b8b5620614668c703d1d241a681553bc0f6be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFV-Hygm-iXu91qkFTEpr0_a2lEPZMw9u7FwagRm9kkyrKnVRhST28ur2R2CGt734mWyHKWyCHEIuVA04Lz_v9L73e40vt03PYJ14jmABLdVCVXOuL3GBYO5UalIoVU34QkVpOyJhlhqapRciWBwxlAUIdqSpQy1pT3lUcFNjP31-rUCGtSACOPd-A9Bd-KN6-rDY-jG7hMAKu7_qDq_cyhobK3kcDkghKPC0oWT4xQ8DkYM_aOqmEufVPI2S5KOD3UaE3BHkY2OSgLL1BMOUDzXuzlSXvlwp1E4jQvbrUZ4olfrABR7wOZMDcKqq5iLnAl12p2_ifjwk8CScNJ2JlrIOJt1Eff1T0_QDXtQM5VxTdSp4h_i-bcem7HGDB-qoDKWWLEH0oY3nOTfK1dalyRHUC0uXNQrjaGgPwLtnNROXfsXJm1WaTBVTT6cMaebkFS4udLN5uQyxy4ryoIkdjUXIOdJfWy7-01LfpB3sqsY345bgOkkvkFeXGsekjiRzbV1hwJxp_JKqwommF85E0i3OfMFYTj8dHsPDNja_A6Lp0LP0FO98ROv8T52F3sfJNjz1gMhMd1swRyaPYFyY6oO9dhwOv6ctULc0EoFZO13IsHs2p-p1IrMxHop2HvQC413QBO_C-8vl8vNDpsBsjSmkiFmE4f2l3kKDfrGBVkPAZyoIKHwm2DueKqHsYT7qtI2-ECCv2n2cT2LxE5UvRPTRzQD8fNi9kBhiJWuCYA5tF4g2RENXO1ITNV4Ds7Ry91KhdvTczBsUM3jq1PYQbTEmfG_vYlbXZwQpbXqpeeMTYI7m-JpP4hu1Vj6cbjLgx1_D8YjzhwAoGHElT1i7vhxQcbG-hzWVUHXCR0QHKBT69nKByrGRP-OZigi9iVZrr8_zFlnm731C2MOnh8DWZabIytxwEw2GrSx5RDgPZyfdmcg-Y3NdYBOY9ct9Aw8JG2OzcptbMSM7EE4G21YjzUTG0Nuq4Vf2pkviNe-qbzY2zeK0mJjoF3yS4vkYT5mJP4Yizdv7VOONDbH0GMjKI_Eh9XSHyKseqAtdPz5GBWB9_nN2NwqOOcbTXWBEod8Ya9ZAQzDTF_tcTgzAsQ7hsrW6dVQw7dZvooio_95k4IROCFAhCIzoCOx2DCQWb9BHCCzJZVsamkrBOwSmCn3WYHbaS4hYEwiv-ia8NCtt51GBpB9U5sms4rCWSAbwXKp0tNJ24TzIO4-NQvMThTcST2QV3upylMC2glT1gDnaNbXOOZ99QSyoBi1ekraeI0wsg8ZrdQh5PHamTkNoZAJqQoUTcX6z__4URCyvqB4CyU64isHDQchg2JKR17bWApCcF89M4kN187KJMe2cOIn2TtbylbM8BIq2ByRt5CSIC46UKksWSJANHXGS2epR_Pzvn8A5POQhyWaRLjyu0RcEeT3gzEDC8MFdl_eSW9bGCSaIS2n1rIo1IbFyVce_fAqTgdXrfK5bXg7Kulxb1KAojzeS550OuwXqqd_vycVWopjhcAnWVhJUY3CadqcugN70TvsJFxQOeUeP5nwTnBjuNcJtr-OspHEHmobRkWWYkfz0lLcXfYYRbUJDRI5wvCMBmj7HSCvBSPF6jPdOetJi1gRY0Hf8wPm0Mv8CYval7Yzwa20eqpqRiPljrZk3YRIcTWyRF9ySe6XANviZZX-RyLfJhNFHI9pSXCyV4GirLc-3j2aC-zj9g7RQUeXUWHCJy5b_W__lfsJK9ObmTgb1KEu5SVBqvgTZ_cV2Fb_QeijsEwNqRyEJ4CycLg7hf1vuLyi-ztfI5BnYOnlM5eYsII7TsgTEJ-kQ_IiNmg5JdaTeew7ievYAy2US3vy21lKgCzv1WEF3SGvc7myN_7g_3cx5AFC9HqzSlKWacTSZVbOW3a92tGFUCfzWqi65BwXWqRDThBy8iwTqJHVMNe6807mcxr-dMlNGxxw8lZIXUuhuGk-ljSgKSMOxzJ4aOUysVb6Fv5y3FeKkmfbLZ8-iZq-aeHPUJ23zeJ39aIdDqhJPkQ09_53KqORewy3-vjsJjdy1MRJ-24c0ryX14vkmbugJ8o44PTNCq1olACP4mhqgNTfYiKpAE21ZlbDGTp0Ywk0V3AjZYOHHqcepPXIPOy5SHD7r8Y1oUs08di9qJ08qmgDCAbr9YHTJgL0iaD8t4RZrOE5L1jiBwpMc3i1ltfGIiK989B0gzqa6QRztYIsBL_Ks-h0Ih8R6a2XgG2ywA97elRYqwS0F8ZwVfpAe0Fj6dZYgiaz3v62X0v7DzteWH9udQElgdiPImNZxl6FoyuBj12LqR_XcEjEWAx2q1DUDD8ZZnbew7c7fkfQhbF_FSYxXBNyAvMcbZyObY87uGY3qH1CeuIIh0zzXd_mdbbbTw8TPtIFfKheZgDmDQTxROGJ2nOUVAjifwFmEx_nl6FA5Zh43aC61RjyRvAyUsI5bZKZTcz-y0usdCjCbhdH_wMf7e8RABM_FELZ6qlOeIeV8Y_Ia3Sh_jJlKaLsCqUiKm9_sXrq25XrWVO4Q0v1jjujunlHU_ZJhxtLkCve9O9aw-nDBmIROiwCTM-dKhWYIrXbFD4FfLYKJGEnUzG15CrOGeQOo9ou4K7Envs4aY76uCE7oJ4udzEgXz2-ZfwDNq_aFTnCjWYRRviatfLxwF2AmNh2WBmA-4qGR1K9fn23NlNR_ntCAL3pVNfpWTVpAOLXYg391phVce1zISKBQN8=",
  "id": "rs_0d0318facdbdc859016ab4557ab76c87d0acdff74ee584a3d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.16,\"left_z\":0.18,\"left_gripper\":1.0},\"note\":\"The jaw reading again settled empty; the wrist view confirms the bottle was centered in the image but still forward of the actual grasp point. I’ll reopen and unfold the arm, then approach roughly 5 cm farther forward before the next descent.\"}",
  "call_id": "call_cf3ai3gB2iTTePCcrtSHKljA",
  "id": "fc_0d0318facdbdc859016ab4557d721c87d0ae53b6352a379cbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cf3ai3gB2iTTePCcrtSHKljA",
  "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]: [-0.7078, 1.3911, 0.8806, -0.2066, -0.6147, -0.4934, 0.9943, -0.0151, 0.5606, 0.2222, -0.2623, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3555 left_y=-0.1654 left_z=0.1637 left_yaw=0.0444 left_pitch=-0.0031 left_roll=-0.0115 left_gripper=0.9943 right_x=0.2512 right_y=0.0046 right_z=0.0884 right_yaw=0.0045 right_pitch=-0.0297 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.5402, -6.9538, 9.4564, 1.4969, -0.3541, 0.1636, -0.1392, -0.2667, -0.4581, 6.694, 1.9658, -0.022, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71fd3e5856ed538ea51e1d7e43ae976e9ed9da6a0f74e1802b13fc9f86620eba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70c6c6c56cf3f204a4f18e384973bae423923ae0cc7a0caf5faa693a8c4799a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d5bc5498db067261cb0824e1726d92b89123bd9bbcbd6248a3acbacefbf8b27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 4.684 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]: [-0.54, 1.5833, 0.9962, -0.1131, -0.4793, -0.3676, 0.9982, -0.0151, 0.614, 0.2932, -0.2764, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.416 left_y=-0.1502 left_z=0.1442 left_yaw=0.0401 left_pitch=-0.0454 left_roll=0.0137 left_gripper=0.9982 right_x=0.2598 right_y=0.0044 right_z=0.1052 right_yaw=0.0045 right_pitch=-0.0263 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -7.3094, 9.0051, 1.6044, -0.1587, 0.1587, -0.2027, -0.2256, -0.5265, 6.8718, 1.9512, -0.0366, -0.0269, -0.0073]",
      "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]: [-0.556, 1.8584, 0.833, 0.3573, -0.5121, -0.3889, 0.0139, -0.0151, 0.5816, 0.2455, -0.2642, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4292 left_y=-0.1605 left_z=0.0482 left_yaw=0.0609 left_pitch=-0.007 left_roll=-0.005 left_gripper=0.0139 right_x=0.2543 right_y=0.0044 right_z=0.0937 right_yaw=0.0042 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -9.6889, 5.9966, 1.5165, -0.1245, 0.1245, 1.2625, -0.1299, -0.2667, 7.0769, 1.9267, -0.0317, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7078, 1.3911, 0.8806, -0.2066, -0.6147, -0.4934, 0.9943, -0.0151, 0.5606, 0.2222, -0.2623, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3555 left_y=-0.1654 left_z=0.1637 left_yaw=0.0444 left_pitch=-0.0031 left_roll=-0.0115 left_gripper=0.9943 right_x=0.2512 right_y=0.0046 right_z=0.0884 right_yaw=0.0045 right_pitch=-0.0297 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.5402, -6.9538, 9.4564, 1.4969, -0.3541, 0.1636, -0.1392, -0.2667, -0.4581, 6.694, 1.9658, -0.022, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71fd3e5856ed538ea51e1d7e43ae976e9ed9da6a0f74e1802b13fc9f86620eba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70c6c6c56cf3f204a4f18e384973bae423923ae0cc7a0caf5faa693a8c4799a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d5bc5498db067261cb0824e1726d92b89123bd9bbcbd6248a3acbacefbf8b27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWB_G4666a8MoEh2FV4L6h1r-ID1EykhXAmhy91nHOofAjMKHIXINPqQRH4amrE88jw7QQZHn8R5Nu-D9HC4Qzo3yT9UMNSSZ48CC0QVqYf498QXspXevYVQjQ8ddQqCJFF5rGyAs7iX5MAblt97q54sOym9-dDeVjc3oqrdUyhKtx2auNPGsD8D5DIm6962d4IaIiKblhRtvpBKNqccB5IgRUYHLPQkRT_bWL_8lUQ9zU15pG3zHfh4luPJAXb49M3iaieRbDM3nwrDDYW5Q1qAnCu5gVr95B3wAtYJ-b6c1Z_9gJA0C-HWQJTVYkIcf0oF9xUP8W7MM6UhNtX7JY2PAQdoQ8W10NV5mMprOGjaFe48qXFnOMztVZA3CbaFOkAEn-idprzo6qKCwZ_r8uy4RO_GVZLWa2QuQvgPA2Lo4Y1p-aybLZRtiJVHb_axqkVpzxzqWLZoojppnR2mEfIkq6MYr1dgM9SDM0BLO-yHgS427AbzRBUpC5h_pQ88vBVenR38dqAhMljx7iUiA22TFwrmnLl_j4EjRiQuFSqrTiH2_OJds2PgE3qJGa_t34vnVwW7pY0hKGl-7xmjljH2uUhNoBNVUhA_jjnnrUy3RwTpXb4mg-2L78_0pP3tDsHK_MBbCcdtLmqbyupcO_P22mJmz-XaHXCIhYc-uCWSul6qrlRmFBJIi4mdHGffeOyEmVAezD7tOI-Ej03AU6lR-GnDXzoondndVnrupUm0ZYTYPseHTLlVQ6jHgaOap4uWVRHggmnqNmwNiBaKkr5I4ATYse171i_zg6rZA2miJPRclzYWtZ6GO-hAgZOJbqtr-XU61H5xaW98cqocpbfrR1yHeLT02MPl6UXSFcj7oQDFkx6Cr_bp08f83sCATCQW_IdBto17v1xx83dl6BEiVGnFaBQ-hRbX5k6t-MRdbA_L9opcbqrbxl1u2b78UKAmmc9o1zSmVu01gwZY4AC-QhXPyzLt1i8FPxtlDo2CgFg1L0OkUHvll6V_MM98qMmxeHMW9lmWvlKh10SUBU84eq1vPagO5op9jw-nf_hDM_sTK5CQ2OIcEFpAmjjnFOD70yy9bYQ11cqSw7LbZ2FFPQ0a2bwSfgobh9Oe0wGpAgaMrgXDi_z3ExeVZctLdfrojRxfbpEry34GPLKyT03mk9ztPuma6lmynX6qTC4sl0VgJGvua2wSq6Fkv-E1q87baCrmQMkrS3jWnN1lUNcd_e9rA2Y8qqqO_MdUUM666DDlB8U6-EYvYmFci3ihHENXPpwKYAQ8i10mZuO2G3ZYo95ZZ6wF19vKzBq3wiZec90Qtjgg6O47ZSqCUdReFLC1tqyLYqes2WyF3m9dS-WUgHtBtsl0HQxE6xjDawouPA=",
  "id": "rs_0d0318facdbdc859016ab4558063ec87d09fa4e2fb6b81ec58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.165,\"left_z\":0.17,\"left_gripper\":1.0},\"note\":\"With the arm unfolded, the chosen cap is centered and clearly forward of the jaws. I’ll now advance 12 cm at constant safe height, enough to move the cap from the upper wrist view to the true fingertip position.\"}",
  "call_id": "call_nz90ogHUsq5QvuHuJ7YqIZcd",
  "id": "fc_0d0318facdbdc859016ab45580fb9c87d09a8573fbe602f089",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nz90ogHUsq5QvuHuJ7YqIZcd",
  "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]: [-0.4965, 1.7576, 1.2247, -0.1593, -0.4767, -0.3653, 0.9979, -0.0151, 0.5354, 0.1967, -0.2546, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4671 left_y=-0.1568 left_z=0.1539 left_yaw=0.0801 left_pitch=-0.0396 left_roll=0.0097 left_gripper=0.9979 right_x=0.2487 right_y=0.0046 right_z=0.0841 right_yaw=0.0045 right_pitch=-0.0225 right_roll=0.0017 right_gripper=0.9997\nstate[joint_eff]: [0.294, -9.0872, 9.0325, 1.707, -0.0073, 0.3443, -0.232, -0.2393, -0.0889, 6.8991, 1.8877, -0.0611, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea563ed2d0662994a0bd4500b25bba8e187d863930fa100a71664677f236c5dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85bea769584135c7a69d4c75ed9f055b0d486f4503104a15b01a753a1107bf8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38804974a92f93cf5bd2678095bbc5694b65efcf365b3abc1d3414dca9ac8e85",
      "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 18 attempt 0 · /responses · status 200 · 2.597 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]: [-0.5488, 1.8664, 0.7471, 0.5766, -0.49, -0.3851, 0.9981, -0.0151, 0.5999, 0.2699, -0.2684, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4304 left_y=-0.1615 left_z=0.0538 left_yaw=0.0513 left_pitch=0.0889 left_roll=-0.0838 left_gripper=0.9981 right_x=0.2574 right_y=0.0044 right_z=0.0996 right_yaw=0.004 right_pitch=-0.0274 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -5.135, 2.8513, 0.2857, -0.1636, 0.3932, -0.2125, -0.1436, -0.841, 7.1316, 1.873, -0.022, -0.0024, -0.0171]",
      "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]: [-0.7078, 1.3911, 0.8806, -0.2066, -0.6147, -0.4934, 0.9943, -0.0151, 0.5606, 0.2222, -0.2623, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3555 left_y=-0.1654 left_z=0.1637 left_yaw=0.0444 left_pitch=-0.0031 left_roll=-0.0115 left_gripper=0.9943 right_x=0.2512 right_y=0.0046 right_z=0.0884 right_yaw=0.0045 right_pitch=-0.0297 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.5402, -6.9538, 9.4564, 1.4969, -0.3541, 0.1636, -0.1392, -0.2667, -0.4581, 6.694, 1.9658, -0.022, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4965, 1.7576, 1.2247, -0.1593, -0.4767, -0.3653, 0.9979, -0.0151, 0.5354, 0.1967, -0.2546, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4671 left_y=-0.1568 left_z=0.1539 left_yaw=0.0801 left_pitch=-0.0396 left_roll=0.0097 left_gripper=0.9979 right_x=0.2487 right_y=0.0046 right_z=0.0841 right_yaw=0.0045 right_pitch=-0.0225 right_roll=0.0017 right_gripper=0.9997\nstate[joint_eff]: [0.294, -9.0872, 9.0325, 1.707, -0.0073, 0.3443, -0.232, -0.2393, -0.0889, 6.8991, 1.8877, -0.0611, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea563ed2d0662994a0bd4500b25bba8e187d863930fa100a71664677f236c5dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85bea769584135c7a69d4c75ed9f055b0d486f4503104a15b01a753a1107bf8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38804974a92f93cf5bd2678095bbc5694b65efcf365b3abc1d3414dca9ac8e85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWHfKjaI5sh7nbiifso34Gtla0IZG5Qpq-bag18vQEdG4y3L0lkt8bb4qVY_egRk8a4aSOmF-TcrkvfHaOnddQd84WvJ3ITbWlg5O8YgZO0ffGS2J00nCG3HnBtvkvk2-ACv5HsQbgk5rYB0UPXs6IYeEwYf9IXvP8GHjpph1VMnSoIFruLhaI6MN6lBvpVYeNGiBx9KHb-zeMWaWo7orUFqOQ2Ry8wbENyN8ZOQWCDTuG4Ylpo0TPAI4gIwOgBcSBviwN_ogPSvKxGBDdHidFH5F8KIY-s4bLDGVnCuZq3Wt2SvZBAb0vmqWfQqAPlJFxy7BWGy9eMA1PlbLzOTwo_95tBp-Bn-CZCKXpaVloQpKB51wHcdXc7QRTjBghgwqcknlAZzc5_0xb0lfbWE_tX3awcjqnD9s75cL5SS-5AWjR_eqk5h0d6TauMuuM-AfL1aeHfdiLBn60GugiIplaxBER5oBqoZZGhE09E0ihAanvtB_NxUN8iz0w-hqY6n6-O9DTvuWwYSL99VOKcut3EPDTUZGFrNUF-evkPbReaUEpDLBSUbzCIMI4a63PS08FEG67ZReiyQS5Yi7umDtNxDxeQoEkRFPMWcJuqNf3ESL3wgT77_RimKygjqoltIwsP6cwMpI0opnbn7hTMOH8C1XkXz0wgsS0ggvN769TjUzZ1VBC6itQdV_JtwBRtS_sKKj5V1RUOV5yAipCQNxGkrDsUMGbbLDUktyIaS-aCtlXOxTw4ly2cvD7OBOyYnw8KXIrahmvWz3liVYweud5GgCZpmWAJMdR0HKx547ffsTFyvXxILjkaqir_kndAME-COXfqon6r6XhFu2QyJgJvCcLuhswnC9qzITWFk1Ir-MHSiOMPwhTu7m8ViXE-58VBBbXsZZ6MGNwJRV3wzjp6J1MplpM8fup0puSZzqIUweZYUuqyJEMZdmI2WIhiML3N9ltWq7pWFEB-SxKqhsge8Z_yAvC4_jm5X5M94XUp8Zu8jaMqz2TA7VaDPmkHxlRT_PIpVkmpPtQ7U-hl3H5yo4IzDoSpO1SdX02lbnbJ9wCH12NnrhNKZOi-W40Ted308WopohPsQHGZhtxCFZrJaBSHidQPkKWCvDkbjH-2aCFShru6hqqissbQIsEwntTirkf1hUUlLYq4JFybcHsZOkplJDr0Xm1sgZEwYlOb9ZDAJlh-KBKgXDIh6kniw3TPH_wC01JNpufQo3ddBOBDGAQ5btR5X8BbMJnmx53RH4GeghcrFZ95GXeUTanBombNGVLz3rjs2FuOVRgF9erm04-EFZkdvWvzd8cC6EKj2qqBQyHfvdiOiwxppznv9dEhU-yJEocGJyiCAaWezUOrZKxLzrhPmjCdo0ZfNWlzFLn375a9lJviRAks_gx8XruR9jjVccpmlzuVtCaJghZHCw==",
  "id": "rs_0d0318facdbdc859016ab45584665487d099e157262b6273b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.165,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The long forward move brought the cap from row 91 to row 151 while maintaining center alignment, confirming the depth calibration. I’ll advance another 4 cm so the neck reaches the jaw convergence zone near row 190–200.\"}",
  "call_id": "call_7F0bmeFmtVGFUXQ2ksC8LHJd",
  "id": "fc_0d0318facdbdc859016ab455851a0887d0bcaab4d2faecedae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7F0bmeFmtVGFUXQ2ksC8LHJd",
  "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]: [-0.4759, 1.8816, 1.3296, -0.1459, -0.4698, -0.3656, 0.998, -0.0151, 0.5205, 0.1776, -0.2459, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4963 left_y=-0.1618 left_z=0.1399 left_yaw=0.0956 left_pitch=-0.0468 left_roll=0.0088 left_gripper=0.998 right_x=0.2472 right_y=0.0045 right_z=0.0806 right_yaw=0.0042 right_pitch=-0.0179 right_roll=0.0014 right_gripper=0.9997\nstate[joint_eff]: [0.8274, -10.4, 9.5248, 1.746, -0.0659, 0.2906, -0.2271, -0.2393, -0.3761, 6.9402, 1.8437, -0.0122, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9644c919a351ee3bbac3126ab981812cc687d38169dd971258c9975a040bddc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bc4840dec1412e4cd25b08f4a8577882217feccd6c54a3d8e0928b7b6882989",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f618f5b005fcdf085c5e88efe1c1d2aaf8d008e34f6107bf41c1ef4f4253586a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 4.287 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]: [-0.556, 1.8584, 0.833, 0.3573, -0.5121, -0.3889, 0.0139, -0.0151, 0.5816, 0.2455, -0.2642, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4292 left_y=-0.1605 left_z=0.0482 left_yaw=0.0609 left_pitch=-0.007 left_roll=-0.005 left_gripper=0.0139 right_x=0.2543 right_y=0.0044 right_z=0.0937 right_yaw=0.0042 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -9.6889, 5.9966, 1.5165, -0.1245, 0.1245, 1.2625, -0.1299, -0.2667, 7.0769, 1.9267, -0.0317, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4965, 1.7576, 1.2247, -0.1593, -0.4767, -0.3653, 0.9979, -0.0151, 0.5354, 0.1967, -0.2546, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4671 left_y=-0.1568 left_z=0.1539 left_yaw=0.0801 left_pitch=-0.0396 left_roll=0.0097 left_gripper=0.9979 right_x=0.2487 right_y=0.0046 right_z=0.0841 right_yaw=0.0045 right_pitch=-0.0225 right_roll=0.0017 right_gripper=0.9997\nstate[joint_eff]: [0.294, -9.0872, 9.0325, 1.707, -0.0073, 0.3443, -0.232, -0.2393, -0.0889, 6.8991, 1.8877, -0.0611, -0.0366, -0.0073]",
      "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]: [-0.4759, 1.8816, 1.3296, -0.1459, -0.4698, -0.3656, 0.998, -0.0151, 0.5205, 0.1776, -0.2459, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4963 left_y=-0.1618 left_z=0.1399 left_yaw=0.0956 left_pitch=-0.0468 left_roll=0.0088 left_gripper=0.998 right_x=0.2472 right_y=0.0045 right_z=0.0806 right_yaw=0.0042 right_pitch=-0.0179 right_roll=0.0014 right_gripper=0.9997\nstate[joint_eff]: [0.8274, -10.4, 9.5248, 1.746, -0.0659, 0.2906, -0.2271, -0.2393, -0.3761, 6.9402, 1.8437, -0.0122, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9644c919a351ee3bbac3126ab981812cc687d38169dd971258c9975a040bddc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bc4840dec1412e4cd25b08f4a8577882217feccd6c54a3d8e0928b7b6882989",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f618f5b005fcdf085c5e88efe1c1d2aaf8d008e34f6107bf41c1ef4f4253586a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWKo_TIpk_bjz-uNvVDi52imJ1Rc_v9BNM4cYzbgfxBfAC8ME-5OynEIOFeJK0DhpKzFPHiTfPez0MDdT0VsWmOWZUX_sVV01bfsjEbynjzsPuqzcKGDGzHsmGuVoTdp2ktIOVi6dNErWkQALhQL-mjmQoww1aM1c5CLvXEgJJvvMWOjgFoJaucbNwRRIoj2iIPZ3bBT5I2qzpwN0QUXS0nPNWjomsa1xMwhWAsnFSd1FBmd9fKtr3W_xQVhYnmLIyclSkPl6QN9maR1EveemH01F26b1z7z4eVRLmtwJAVjQC9Z0Y2PUctGzStBol0_vY0IHqX4ShxQMOptbD7vl2-HZe3zcMo4XfBydxlLMQbNgBO88Fa4CXOvoa21VzIuxGiAxk0tm8tncnCKZsuX3hq8L7y3UXGDTX_kjgtIN1gxYcG5u2RAxcAc17G23Y8lRseCDeeORRK8isp4oD9rH5osvWDo3GWU8aqhwBIjZ2w5f9H_yanEgDZUOhy2Mp9uiieo2qhv5Y2XAnvHGsIikMFR25IugTCfjtg9wvJRxt1ZEksf2_ASNkwJFrIzw5SNlvqW0GgiYKooPKyAJIYQ6_B-_sLBhkwXHmboe7bJFeTmIIt0MI9aJRNDOh-lbas2UiXuqUq-RKWDhGAxHrX-sFboEeQI24B-YCmd4XsrPl3EfDXR8bH1gxLRL8jtggDGfA2-NdhtmAojJvG2jB33CN5Y3dH4fMoEvN4Vrk_l0fDFGOEFWAKBS8BnPTw8HVRtOh0gzkyCqGOVClUAkogcXmVdzCONm-KFb8XVVF-c1oFCCwiCFVArqLaZJ6NaY9RfA2j6m-0QSB5xngqv_YrpOCh4c1Lx1d5ee2OzJeZ9k_Zfj8shScMinhG6sokcWVKAzDYu2JPz0C3JUSJnM9o3qWWJF8mtzAzgma2639gZrTfe0vG2BDyIRqRHbmEh3p0XVwL-_kfBfnr4dfT0SeolzhK5jhS3PFIWGMLCoWAelMVaVtvYqnCIs9SUwVABFjkkhav8MGYUEmuZUzHZ-cLj98hdK2bm-b3Vz1KbDExwN3g7Du1c4bPmZ94IdmET874C11D2Ahy1qndc1K0zsgtDiCFZwWbW1FoLMJ8tJD75I3a4glHYKSRCiuYhMYpSFMXdlKd43YEwfsFjr3ooA6dtYSGKpKwdgIx6LQ59TMFps847oc8q23O-d9dR2YY68xSyVnCItepupxGI9eFkH3RQolPhP8hjBgrjM08ysOIo0EyN04O4Gtm_zZBWyTQQMi2PuezEI5PVlNQCvt_PD39bulrQgm_7L1qdGpYYwGenqB0EyOFb4MK84rTa1cM-6XN63TgiwquOmagS7KKIIybqOjdhrZHu5i8sI_qYyiMqJ0s7r7K7Eyqb_N4PYNmhu8UoYiyzd3iyhwQ1BzA0qA203Tq2w36A7YZl36btkKOlNt4-_OIIE22_0V86-RfNb5yMjF7rKK1bUUJ2jmQ9PsKvPIPt9yrjbH-sZ8_qdVCzKPL2ME=",
  "id": "rs_0d0318facdbdc859016ab4558903f087d08212bee776ab27e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.495,\"left_y\":-0.162,\"left_z\":0.015,\"left_gripper\":1.0},\"note\":\"The cap is now centered at row 175, immediately ahead of the jaw convergence point, and the overhead view agrees. I’ll descend vertically to table level at this location so the fingers surround the neck.\"}",
  "call_id": "call_oszVR8rfsBn7Q4zOXaz9rp3R",
  "id": "fc_0d0318facdbdc859016ab45589a35487d091e29b602e26b3f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oszVR8rfsBn7Q4zOXaz9rp3R",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4652, 1.8954, 1.3502, -0.1467, -0.4706, -0.3656, 0.998, -0.0151, 0.5083, 0.1642, -0.2451, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.5024 left_y=-0.1585 left_z=0.1415 left_yaw=0.1067 left_pitch=-0.0414 left_roll=0.0059 left_gripper=0.998 right_x=0.2456 right_y=0.0046 right_z=0.0774 right_yaw=0.004 right_pitch=-0.0183 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -10.5641, 9.3744, 1.7363, -0.1587, 0.3053, -0.2271, -0.0615, -0.1709, 6.9949, 1.8681, -0.022, -0.0269, -0.0122]\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:e1b779fd0485b42526dd519e7c25ed0375744abfd89615d0562ccbc6e9f4f55a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de847c016b3eeecaa96d1ea3153013d576e2af112c4cc5ff2e131397de1e88d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39044e9053121eb04db79082f06fbbe37acdd4b6cf6f2ef593dc6edc2b272f48",
      "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 20 attempt 0 · /responses · status 200 · 3.598 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]: [-0.7078, 1.3911, 0.8806, -0.2066, -0.6147, -0.4934, 0.9943, -0.0151, 0.5606, 0.2222, -0.2623, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.3555 left_y=-0.1654 left_z=0.1637 left_yaw=0.0444 left_pitch=-0.0031 left_roll=-0.0115 left_gripper=0.9943 right_x=0.2512 right_y=0.0046 right_z=0.0884 right_yaw=0.0045 right_pitch=-0.0297 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [-0.5402, -6.9538, 9.4564, 1.4969, -0.3541, 0.1636, -0.1392, -0.2667, -0.4581, 6.694, 1.9658, -0.022, -0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4759, 1.8816, 1.3296, -0.1459, -0.4698, -0.3656, 0.998, -0.0151, 0.5205, 0.1776, -0.2459, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4963 left_y=-0.1618 left_z=0.1399 left_yaw=0.0956 left_pitch=-0.0468 left_roll=0.0088 left_gripper=0.998 right_x=0.2472 right_y=0.0045 right_z=0.0806 right_yaw=0.0042 right_pitch=-0.0179 right_roll=0.0014 right_gripper=0.9997\nstate[joint_eff]: [0.8274, -10.4, 9.5248, 1.746, -0.0659, 0.2906, -0.2271, -0.2393, -0.3761, 6.9402, 1.8437, -0.0122, -0.0513, -0.0073]",
      "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]: [-0.4652, 1.8954, 1.3502, -0.1467, -0.4706, -0.3656, 0.998, -0.0151, 0.5083, 0.1642, -0.2451, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.5024 left_y=-0.1585 left_z=0.1415 left_yaw=0.1067 left_pitch=-0.0414 left_roll=0.0059 left_gripper=0.998 right_x=0.2456 right_y=0.0046 right_z=0.0774 right_yaw=0.004 right_pitch=-0.0183 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -10.5641, 9.3744, 1.7363, -0.1587, 0.3053, -0.2271, -0.0615, -0.1709, 6.9949, 1.8681, -0.022, -0.0269, -0.0122]\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,$blob:e1b779fd0485b42526dd519e7c25ed0375744abfd89615d0562ccbc6e9f4f55a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de847c016b3eeecaa96d1ea3153013d576e2af112c4cc5ff2e131397de1e88d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39044e9053121eb04db79082f06fbbe37acdd4b6cf6f2ef593dc6edc2b272f48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWPCal3zPQqGdyb_o9_JI7uomUfXNV3OImKcapzu8EYjJwDWW1d3aQ4WrkKAkKjjUtTKWKphi2AThZ_s-v4NTS5MgvhV6dlf_Iropd_xm8vedlYmFxXp_ccYFGi2owJs-pATaOclEFtT5uW2sTVV0iUTpMTOD7ao98k9P0FSlsI8SP5y5mrqNUKUjOKUrdlNmT0yO_rFC14M6A4PVl5KYNBSH3Gk4c5Jy7BDr7iVwHLy_FQ20ydCDfAJcRybu_bIr4N_4JGwy82rGJeFmzMvoDJrZeHR-rLwrX0beMYVehROccMMG50ZW0bi2_bP_hp5sUpkS_5wh_ZKbG-2X3hw6PHapjrv7ewrqV7F09Y899Ow7_8NtBRUlGiQV5r4TmvPyZwbTJJdKPHeX4Ve1mmywv7cfPMI4_9C8mwXKrEX1ESv1u9CTEgBMwq2c7Tt4hN_jImRhu5VTgRte6l_sgs9_sgSikzqfLi5JiLK6tdHWEVtXgL8X07qUiisHKc27FLiZJPiNJE4ULINHhIf2K5HzSdxD81da6BfaX72-63xhbF1J7YrrNMf9FvbE6Jo1oGdcNHovsPyYC7J1LmU_LgK5EfsFzjqM4D8Rrigv_AKbzkp5vzfjfMaJhBbJ-AGJjDr6EspX6FRD6XLMpUNdmjQ3KGQtbTX-zLU_0cYBClkd_51nHeONrMq6QUMnGCtBzv296NAah9B9-ZXG0BUbaww81iA3zr4yCq6XQEsm62vg4cmHj2adFyLr2xp_-se4mKHkCy6GMSAbgKOZY_acPp_TfEtG7HycWdPixo8GSmnjpFeEqgWkZpMN28gq9-uUD3E-HlObE_dTrHWU1aQyzUAPOc4iDcoX4nGlt5Ms2PdTidntOcdAS2iZdSlHLuTgHc1owe7RzR0UMsUVSlDOJPjM6kHNVQdUQTrUcf98MYAhs5bZFbw0VN5WZ_sTNLoDjgM4yqXvkX_9UNf10GbqO9WDGy2MhSeQbLYnRtQ7KbZegTKQ-mVOg7VWMPkzT5a6_wcNa4YYeRh4egDoMQvyD3I0rfv6erCed05dB_7bm4VEc_HZ6vOkePqoZR-S3z9GYa3C6W7YkZo9SfxYk23B4_n-625peFRkZzDUovoFC-5VZtE_c2QAirADMDy0f8wIu5Q9XKx7RU7scVqHOguz5LIh9pL0W2zybSAUsEBJbhPEKED98TorSvce-Jf7S4G3rJ3iGaNvwxI0yc3HgpuIW98ybmEkMjbupLZ474dhJzuyxB1kqKPVf7jppNruQeH9mvrbnvJ2qYsiKFFFeqSRobvwcA5gDu34YqWAOwEL-y6eOPUm8Myr7MuY-GnDhUSUrCKAIS-1ES9cwGBu1FP5o6Ri2GqQRsTrnje5Mp1ER8jYn0orEyoSkG1T0nhLg_pIFAyAellao30cnHmd4PvkPcz30fx998UMS8UBtI7GQ3YOGZKMp6KLcoCg_4fvRl4uG00MwxnO5HyXIw2gxB_-qnf3opGGJL1A58oumCx8IIUf17Co_PjWow-q-VZu_ojtOHnCxD-dnAas8_GZG-uFpwJaLdot4TGY4IkLxfosrqrfnXYUMV02A06BnwIlmtLmgdfPl93qkDcIpH_9MxXXJOzXKdgNLxu7YgZoxaiR4cJVzZ1Jirkjb-8dwBs_h0LjhlspsPvFvwJBmQXzs4uK5P5EIJENp55NlMXJ--MxDsAYfshqHUPy9mHqn-XwgG_7Zx_NHtw9rT40K0jf7Mx0XQCThXB9e1_KdmGMA5NBemsxjosTHGJVCf9pVttqVCssxqK-LsR88JLazvwj-gQNSFJ6gHjMO0znxaVYD6571MBy3ggOV1AvW1sP8l_KdA7so9RI7595mM72dL3F2MkN2Z5WGrNdd1VyLivLtcfn5E7JQzxlaRk4PAcW1Uaoy--Kh2tkHqAALwkAA8KEq1HzX4A8X_AEVXK1Top7H2gvMi-Xzua3SVlKMbR0-Rs-kxRjUBcxwlkT4FyMylDH4ImcC8WvYcjoYYjyBrGupJ1zhRYdQOIsW-8A5NUD7E5TDSUGgfZjHJe7eO_q1n-PmSbHP9JUf_2CICz88HX6ghZbiWawOvZ_Ub7OirowTLqLFOxnSSANF-h3CjVW-OUqZhqtcvS-Yqmjr5ojkFh8_XlztzVVWpa5Xi2soDM35INNRncjehKdC0",
  "id": "rs_0d0318facdbdc859016ab4558c7ca487d0a5499df8c5dac54c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.482,\"left_y\":-0.162,\"left_z\":0.01,\"left_gripper\":1.0},\"note\":\"The arm could not descend at x=0.50 m, matching the verified table-contact reach limit. I’ll retract 2 cm while descending; this keeps the fingers on the neck/body junction but brings the pose inside the low-height workspace.\"}",
  "call_id": "call_Bp5jwGjKz7NN0gRSZAsVShtn",
  "id": "fc_0d0318facdbdc859016ab4558e7d3487d09e86de241d2025b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bp5jwGjKz7NN0gRSZAsVShtn",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4992, 2.0651, 1.0576, 0.4187, -0.5106, -0.379, 0.998, -0.0151, 0.4953, 0.1501, -0.2455, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4938 left_y=-0.1668 left_z=0.0449 left_yaw=0.1124 left_pitch=0.0574 left_roll=-0.043 left_gripper=0.998 right_x=0.2437 right_y=0.0046 right_z=0.0738 right_yaw=0.0042 right_pitch=-0.0198 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -6.7897, 3.2615, 0.8474, 0.0122, 0.0073, -0.2222, -0.1299, -0.1709, 6.8308, 1.9219, -0.0269, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17e1583d36ddd3e514e41c9d824cb41914dc000d827a957172e49ce7925a8b53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a383efdcbb8a2cd1d13ae2f00b890d3c174893c208ebd15b061aae7049fe24c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f70205ea713468c43d81587680676f74f774181a0b5e3cdbedb53bb63db3fb5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 2.092 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]: [-0.4965, 1.7576, 1.2247, -0.1593, -0.4767, -0.3653, 0.9979, -0.0151, 0.5354, 0.1967, -0.2546, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4671 left_y=-0.1568 left_z=0.1539 left_yaw=0.0801 left_pitch=-0.0396 left_roll=0.0097 left_gripper=0.9979 right_x=0.2487 right_y=0.0046 right_z=0.0841 right_yaw=0.0045 right_pitch=-0.0225 right_roll=0.0017 right_gripper=0.9997\nstate[joint_eff]: [0.294, -9.0872, 9.0325, 1.707, -0.0073, 0.3443, -0.232, -0.2393, -0.0889, 6.8991, 1.8877, -0.0611, -0.0366, -0.0073]",
      "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]: [-0.4652, 1.8954, 1.3502, -0.1467, -0.4706, -0.3656, 0.998, -0.0151, 0.5083, 0.1642, -0.2451, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.5024 left_y=-0.1585 left_z=0.1415 left_yaw=0.1067 left_pitch=-0.0414 left_roll=0.0059 left_gripper=0.998 right_x=0.2456 right_y=0.0046 right_z=0.0774 right_yaw=0.004 right_pitch=-0.0183 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -10.5641, 9.3744, 1.7363, -0.1587, 0.3053, -0.2271, -0.0615, -0.1709, 6.9949, 1.8681, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4992, 2.0651, 1.0576, 0.4187, -0.5106, -0.379, 0.998, -0.0151, 0.4953, 0.1501, -0.2455, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4938 left_y=-0.1668 left_z=0.0449 left_yaw=0.1124 left_pitch=0.0574 left_roll=-0.043 left_gripper=0.998 right_x=0.2437 right_y=0.0046 right_z=0.0738 right_yaw=0.0042 right_pitch=-0.0198 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -6.7897, 3.2615, 0.8474, 0.0122, 0.0073, -0.2222, -0.1299, -0.1709, 6.8308, 1.9219, -0.0269, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17e1583d36ddd3e514e41c9d824cb41914dc000d827a957172e49ce7925a8b53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a383efdcbb8a2cd1d13ae2f00b890d3c174893c208ebd15b061aae7049fe24c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f70205ea713468c43d81587680676f74f774181a0b5e3cdbedb53bb63db3fb5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWU023fxCSrATnCBLLe6RN5RWNwiNWx94zFpTHc7vV3QdXnv1Z84zrKBX3G2bbvfELtVkF91rhH60jiw387DM7WpWfDZIo_Mh4mhWO6kVIRRfxHRXCcZ_IFLBK8dOKKCv_CnjOxq_rxv-ps8wXleb-ASw16kyNE3VLj_7ZUPltsDv5Msh6FqvnLefwpLXi30S8nNtuIRClvq2wOzaiF1zbidgLDCGO6SkUeXiYZ_0jeTzlJJABi1hZ1me0FKkbs99Bcu1tHdJ7lH7HXCguyuCs5-UKYUPKqInFi3M9ZzlNpA29wUTmyBlraQRRnghb5LWOW00M1r1vDAZwtcW5ES6_kUhIthLgtbZgXEsNHPhnBIgm6nKJ9QUXTt-PhMRB8yJYviRlfdddh9rzgyugPa-XwZAlDRyBP9ZeGkBUKNlWeH-40vkKwT9eldaJayCOOto_H61Sr2VHhIX4rgP9YaBLDznSckefJXQOUHMEDOdzKNPz3ZnZ79ZwviH09D0oo2zbaCit7dv-ohzqdsM6vQOZmNrI1MbvgplaqKBLPeM6dRFpNLBIdaKvsAif37dn87CLnQ3FqypvYj2gHLFcrCFbRlsz3bfF00ZdR6NjGmxjjT_rGgbIl8PH1ALePnQPpWR0NsvT_S_DqGUpOQuLOGltKeZLfg_N8c_-7pwwaP7C7CkQJW9d7OxXbrXh8EhEBpOrZ3mK29vxmdCneXliww17USJ5QLvtSTD5lrb3YopivcICSmENyeuWc-abdtko9n1HknZiqGC4xrrQHMvIrVp3FbbkqoizGQlrbJSWaPdo4VO-1gVcvHdBG5ekAdhyX7aFm30KOwiVBk4Oc23_3ZNpbqj9fLPIChi4KTuzL5jf-5r5pbCbl3lfqwBJTbnFeYf15LSe7OykNUvn9BsixARjfrQzDSwkciu8MAMtrodTxaj7-qr3jmF9vsTq-Uo9xU2g6uDaYXHcKUv5htRk51jkujkKQ1rEiKoHn90ONi3MbOL4xZAfCt6xepb9EXww0FfW2NoGVL8mqLJDjaEb6c5kE8_QnKjP5mIwDuBvk57u8KvYX97ZL6S9yu7PEFsPzfMfM5j1cej7KmOha7Ku_oa0Lnp7P74_U7PkAjVZMQm_yqL1yfaLHNzK2aCCrbibhKMkAKJT5tx01kM5qimmInGQOyP7wyiJoFmM0UTngDpNAUqnaiQ8PCvj_kTvAze6TKeI5dKaWiULIZaElangSr5SwKkcubOYRwMKnLaPXjXBALxIMX354rZFCfymBrYXEQ8R9238d08T5LeBoAMtDaGBW20HdQ51cn0GCnJvPk_kLNMu1dxPvhjKMCKx2kDg3tnVGOXqNYrvpNy1bXS2_SfJwbrxBVqaUaPU_xOXlw1sO9n5MPUfiaXw5PE-3Mc7UQoI5Ehaht8gkEBXL1nUNhbHzTyuSq-8ufsal-GnZ6ahWUGw4R2fXOF1QywmLwzsiUn2ppRQtC8ThZsMHtleY98eiTgRH3EDp-p3YJlCHlaCAngEVV9kGQVZrKzV33fhGDKe7CAg5wz0WITBg1F2h3j9sJLDRxbi3BzbQSQHC0IIy_6fsFxj1NEwgXe1KhuvDtDVrn0nL7nlgK0Fby7FLn6wg-f4bdwmULH1auwiqFLnCwIdXYJzO8ED7pt3Tu39HW2Y19RQ8NxmCdFo61ZlHy61_E3JEE-hKoEwDf3PaxhZ6hhWdY51gqOcwo5sJv90t0UJzmjk7vKBQV-CZ0P9A-mI6R1yz1YLBYZNkUoQi8NmV4Hwfmw7JQfoX0pzIzzmAwcpR",
  "id": "rs_0d0318facdbdc859016ab45591b71c87d0838ce5b584f76e74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.482,\"left_y\":-0.12,\"left_z\":0.055,\"left_gripper\":1.0},\"note\":\"At reachable low height the cap is finally at fingertip depth, but it appears about 4–5 cm left of the jaw centerline. I’ll slide the open gripper left (positive left-arm y) at nearly constant height to center the cap between the fingers.\"}",
  "call_id": "call_A7AFVPWFk3amsTDlqaIwea4u",
  "id": "fc_0d0318facdbdc859016ab45592f1b887d083b135333369f1ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A7AFVPWFk3amsTDlqaIwea4u",
  "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]: [-0.4095, 1.9797, 0.9955, 0.3634, -0.4553, -0.3466, 0.998, -0.0151, 0.4797, 0.1352, -0.2455, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.488 left_y=-0.1232 left_z=0.0505 left_yaw=0.1395 left_pitch=0.0137 left_roll=-0.0237 left_gripper=0.998 right_x=0.2419 right_y=0.0046 right_z=0.0705 right_yaw=0.0042 right_pitch=-0.019 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [0.6906, -11.8222, 5.2718, 1.4676, -0.1294, 0.1832, -0.2222, -0.2667, 0.0342, 6.8171, 1.8779, 0.0073, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2adc59e2c5f6d81ba94c4e6715a15a514f9cf1784fbeac7ddbc3ad8f6bfb2dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb99884e2be030fa09184c17ae056765e9886612d37d57c1722d0e6db9d4fbf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46035493817f5286c63a20b3bdd3b531e95d9ef33931afc67e1d6a3c12e977cf",
      "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 22 attempt 0 · /responses · status 200 · 9.573 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 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4759, 1.8816, 1.3296, -0.1459, -0.4698, -0.3656, 0.998, -0.0151, 0.5205, 0.1776, -0.2459, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4963 left_y=-0.1618 left_z=0.1399 left_yaw=0.0956 left_pitch=-0.0468 left_roll=0.0088 left_gripper=0.998 right_x=0.2472 right_y=0.0045 right_z=0.0806 right_yaw=0.0042 right_pitch=-0.0179 right_roll=0.0014 right_gripper=0.9997\nstate[joint_eff]: [0.8274, -10.4, 9.5248, 1.746, -0.0659, 0.2906, -0.2271, -0.2393, -0.3761, 6.9402, 1.8437, -0.0122, -0.0513, -0.0073]",
      "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]: [-0.4992, 2.0651, 1.0576, 0.4187, -0.5106, -0.379, 0.998, -0.0151, 0.4953, 0.1501, -0.2455, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4938 left_y=-0.1668 left_z=0.0449 left_yaw=0.1124 left_pitch=0.0574 left_roll=-0.043 left_gripper=0.998 right_x=0.2437 right_y=0.0046 right_z=0.0738 right_yaw=0.0042 right_pitch=-0.0198 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -6.7897, 3.2615, 0.8474, 0.0122, 0.0073, -0.2222, -0.1299, -0.1709, 6.8308, 1.9219, -0.0269, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4095, 1.9797, 0.9955, 0.3634, -0.4553, -0.3466, 0.998, -0.0151, 0.4797, 0.1352, -0.2455, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.488 left_y=-0.1232 left_z=0.0505 left_yaw=0.1395 left_pitch=0.0137 left_roll=-0.0237 left_gripper=0.998 right_x=0.2419 right_y=0.0046 right_z=0.0705 right_yaw=0.0042 right_pitch=-0.019 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [0.6906, -11.8222, 5.2718, 1.4676, -0.1294, 0.1832, -0.2222, -0.2667, 0.0342, 6.8171, 1.8779, 0.0073, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2adc59e2c5f6d81ba94c4e6715a15a514f9cf1784fbeac7ddbc3ad8f6bfb2dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb99884e2be030fa09184c17ae056765e9886612d37d57c1722d0e6db9d4fbf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46035493817f5286c63a20b3bdd3b531e95d9ef33931afc67e1d6a3c12e977cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0d0318facdbdc859016ab45595962087d0abe2b5ab5f1c9ded",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The cap is now centered exactly between the two fingertips at the bottom of the wrist image. I’ll close around it and use the retained jaw opening to confirm the grasp.\"}",
  "call_id": "call_dM1h1RDozOeBw1M3I32aNb04",
  "id": "fc_0d0318facdbdc859016ab45595e55487d0b178db9c225db053",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dM1h1RDozOeBw1M3I32aNb04",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4038, 1.9625, 0.9852, 0.3653, -0.4416, -0.3309, 0.0142, -0.0151, 0.4644, 0.1242, -0.2451, -0.0269, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4869 left_y=-0.1221 left_z=0.0546 left_yaw=0.1258 left_pitch=0.0173 left_roll=-0.0217 left_gripper=0.0142 right_x=0.2408 right_y=0.0047 right_z=0.0689 right_yaw=0.0043 right_pitch=-0.0144 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [0.3761, -11.494, 5.012, 1.3504, -0.0708, 0.1832, 1.2821, -0.212, 0.1026, 6.612, 1.9072, -0.0171, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbed1d436a38c7c814a5ac557147928dc4a47d3b596772078208fe0bf987d144",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18528e7da1ea41ba155dd01f3a925287c01e580708d3cee9b3eef444b2711bc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8889f952b7a0c4606721cb4cd3e0a3c4f7651fd6d4b2e1c806748fcfe6826ba5",
      "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 · 2.528 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4652, 1.8954, 1.3502, -0.1467, -0.4706, -0.3656, 0.998, -0.0151, 0.5083, 0.1642, -0.2451, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.5024 left_y=-0.1585 left_z=0.1415 left_yaw=0.1067 left_pitch=-0.0414 left_roll=0.0059 left_gripper=0.998 right_x=0.2456 right_y=0.0046 right_z=0.0774 right_yaw=0.004 right_pitch=-0.0183 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.4991, -10.5641, 9.3744, 1.7363, -0.1587, 0.3053, -0.2271, -0.0615, -0.1709, 6.9949, 1.8681, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4095, 1.9797, 0.9955, 0.3634, -0.4553, -0.3466, 0.998, -0.0151, 0.4797, 0.1352, -0.2455, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.488 left_y=-0.1232 left_z=0.0505 left_yaw=0.1395 left_pitch=0.0137 left_roll=-0.0237 left_gripper=0.998 right_x=0.2419 right_y=0.0046 right_z=0.0705 right_yaw=0.0042 right_pitch=-0.019 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [0.6906, -11.8222, 5.2718, 1.4676, -0.1294, 0.1832, -0.2222, -0.2667, 0.0342, 6.8171, 1.8779, 0.0073, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4038, 1.9625, 0.9852, 0.3653, -0.4416, -0.3309, 0.0142, -0.0151, 0.4644, 0.1242, -0.2451, -0.0269, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4869 left_y=-0.1221 left_z=0.0546 left_yaw=0.1258 left_pitch=0.0173 left_roll=-0.0217 left_gripper=0.0142 right_x=0.2408 right_y=0.0047 right_z=0.0689 right_yaw=0.0043 right_pitch=-0.0144 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [0.3761, -11.494, 5.012, 1.3504, -0.0708, 0.1832, 1.2821, -0.212, 0.1026, 6.612, 1.9072, -0.0171, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbed1d436a38c7c814a5ac557147928dc4a47d3b596772078208fe0bf987d144",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18528e7da1ea41ba155dd01f3a925287c01e580708d3cee9b3eef444b2711bc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8889f952b7a0c4606721cb4cd3e0a3c4f7651fd6d4b2e1c806748fcfe6826ba5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWgaT8qQd189KSNjMNdeRuRWfF3tjQ61f0QWhXQdoJ53x4LaNejTYtCZOZ8gTU0tisKx-kteIrhaIoktOFJ_zzXA_paEbc3N_ldcoodZoDPD3ZkjHD8gwI-pzdBBY9o8rGCqu1vMk5pEEySPFL004Q7uDinmu066o8VHhAleUk9HHs4zJWbGVz4E5YnTTqan6nOa5mVgRJujvFYCKigJe2_AVVxlbmP0MhproQ2qlccnclOG7ZKkv04AP2amhYbN3nsIjX5K5tL5Rk54W7BU45g29VDVu3DDAeHnjirU4xLIdalIdLn0FthsTEq4FVUu0xgicI8QPga6Hpwa1eCMCx8PU5QcXYpRWcP4Xy5RtyGkFC2tHS9r0WAEL-ddrLNeNAjJyDrtw1FHDAWDDEFko1g6GR1uraiH_dq0k5yjR0vxn0Ohiz61krEpvZwX2_dw7otj_sRSNSjeJcehQ_tUxjHRG3b34Fo7R7yRvklAeHb0xWyaO2Q9mv01Xnpyp9-2pLJlETRTCXXt97QFMMl8wHBPrNgtmfgyfYD1O37arA31ixyN4NC5-f06Ir9df3NjyO603egQvtmzSQ7PbV2wlcE-kUl2_U_IwDM5RdMjczbn7uv1_zxMqgKKg9uYhte8wJ5lKLQumjWHozaoll0wVqa3IwSxVWslfF_p7O79COzU66Q43DdUKU83sN4WhfQwDHGgwIW5auCzCL2VPzza_JTN-XF3mFKAhANu0ayEfcORu2pgvBmlbBa_CepKm9pE_ix7YNbDMV1eXGiYPe6id2Rks1iuZogFCBz-uvrgK1IIEd75lXRIqiatL0b5z3Z_iCPsXBv8e0svEdnGmbbcDKPmIKE6j3Yghj8Uei3HNfcIPHZ3lB1zzXQxgIdHQwTFJEWJfQA8acYcCoqMqHL3olWESyrvZ6KrcR8ZwiRbkZSHygKSUw6mvSjSUeaGHukGgt3Y1ynaWujt2pM75tH9bG3-cCIJeRO9yHh8bUTsowhvggphhzq8eHHKFzjneDa92bA6bNB758k-lc8QPVBz_BQV82kIDdT5ekJ9a6fUO6iFgS6yqXVZ03V0gSN_lgnrT1ZEEy0tvDH_E7wCnpeLuAaGOdkkX9fHA1FLsvl3wekXmdZKQb3ciicLCZsbpds8ygUtQGmCRtgi4CqWLx1REhZFbsegnsVVi2oPBnA5Z0wDiBFEmqQQq_Iu_l6p80fqU_QoX1PENcroX9TGItlVcUsNIeBhZBhs7Qnf69wf79Ttw8MViWtwspDbBt5RlSVaq5qcHQMt4BMbdO9oyDzSIReIgFG_XYBFq9VGNz_xX2nzkJw-ljkE3TbGW_l-m600GcJkegtLr7Xc_Mfjc2i_-nqYy34r6Z9zrkcCRLUNnEgNBJ3fypU5AdkSbVyzF6zdUlrRhVW2oX9fNIJK52Ad_bl7b4WdEZPeVLl710zN6_Hzu2hLHXp0E-vwDDMb8kpK1ErEzjGvwuryQH4yzt8t9iEhZpj_2cmLCYvkFH5sjeOkdKcM6ljRhey6kFxe6nL3lVVMC8g8GX7llBx88pmK2SUHjB6e0QKOqGFwLtbPO4j9yDw7ID6Dj3w0T_L8LGABefKQoCNknfKNdaBeZEhJzcdg5jPkTvZgyau5Xd4IeFOsfuClrOrEVlSTYjwiet7VtQ2GEBW8aEvfKlP8rFS0r7rw0Y5s6GgFhPGH5ZvtFD48lghJkpnoHoltYQm75UYzj99A6tMieet6uoKPzR08pvJ4btGJaMVwvtdynSicl-3Aai65mrXR-DWdUtr4o8vH--t9HRtoj74lB_2Uz0pNvWtsX-I9JELN0GZyPtzYYWGhd8bt2mnAbYHWhD0L6qL0ZVYlOmTZtPfqp3LlkzrH1iBjM1bWFWQbtmqdKfPCPoZ9-HPLdDKGJHLqsIyO6F1BPvwDcW6u8gl2KzaR9hJEDxbn3TUPRF3_yNgcXZLZM9U-ESzs5xCGgGy6yMCzkIIW8MF1R5dQG9cNyB8f8ANVHm-qW5K7wSc1SJaEWnvR__2DfCfByr2htSSVWhapb2vO34CYdN5NquuN0yc3iwBjoQL2s4f_bEN5r-PvEaaKOD3-sFedrMtZJqGXnjGB6ODBWgkEvBwiIPpbADP63S4R37miDBmenTYn_IUkYVfoOe3T45qUy_RrHWTv7PwMiKSTamUKXeFP8YycSznDl1I_plrIXsVdDnM00WLg3HWRDS5l2pgHEu4OEyDCvMtTLUGbk2gjRxPt7CN_1uyC4fxk7ALr2XVJcWAyT0uU3v1oeDxM9MIHoF2xfpBMI7draJzk3K4lh9atMt2vmd0tixrO0AvCxSwtpkODZjz4W2mmJhwU2CFQqjYOE9eJDlvgLQEd0kUFVTDZmmZMJv7ZYP1xjFpsDpkzOQ9AnqpxGh30Ccv8_CfONCT2fm8v3vD5b70lyf1ZXdOFKjlYgPC9CHQdgkSfRHjKDJFtai1tDuP24yFzPVe4Ot3P_Z1BLU04wuXRAdWHbAnsSijEzl3q3u35E62OPGKeEnIjpkakTHiyu8YlZmA-QrHCEolx_bFUM-s94KFR1LQmAsBq0fNzTtTxlz0T0A6z9xMFahmaftBa9sStZ9fkdGV52MbR0Qb02d6S4ezrrydOUU-sQfbpcyLV5iG6OLimVhk6pEjjRFlnFITsVm8MH9P7nMUJ613fK93xqf7-ViePt9BcBxxFzzD8HXdCaISuWUR0YWqycthlnZLuqf1cIiEI3D1kubq5u5Ukc3YpsdB_DHosvTow2_F6kK9dzUQTmQ6cprpn_kZtBcbEVN-yU3DKXSnM3pvCgq91Vy-1xKFkiCVAskZqjgVpvmt-mkl2dWIzjk7F4czd-YjHJXaPUvjyeF42eqiAWJA57LNS4ubt0f-1E_g8D1og4gKHMNbYQQm1u_CX2RL_P6hq2AE0X9O2uYUoN9Ts1H2FgTdEgnIrV3jRpjqZEcLUZIIG2_sVRn5KQkcT5uo1kmtsT13OaWF2khzcvLHnEv_Dwaz-Qi5xA4dZaxTtUeAorecy8Qd2d4KyxCI8Kk8L5Kg5Xa7pocUeoEr1uD4WYv-RnT9HWwy8hztilys7wBjbW8vzuFwAfIw7sJq7epNgdxUQUWojFS3sb95AmiP490o6weWmEc4xGDqEh45dwAnGM1WCys4Kz_1nzJfKZ-C7f3Zbw9cFpe97P6ccgauzolv_iDSkwMQLb3-nCjdkOds-xJjnztm7jPDRdkx5bpfaxNQK7TBjUQnlITxiFtQJKcVTBObE-1a1m-YDUM0feOwetgVo0dUKHo0rPgOpY_LN2e3aZdrdoozyCVBOApr9yzOdifJMI-Y22K6ErJQ8Qx-S7xB1QJIddvAfMmEt77NA8gj62xPqt1mW0rAQACsQkjNNjBRmb8CEDNr6cQaUZ5tpfNfC3Ue1Gldyu6Qe0dTHwOD_mckqKk6LCoZOn0bw9dE6uA_q-Q2tGIcr_0uy5LwXRlBFXEQKjSoufUpbLaWNd_W-p1hglA8BjsovLfAGgH8rl6WF58t8bl3dHr3ckGASeWdMNZODI2tLFjm-W4lS3ckJm1_V5jAzoxxfAC2xKlhrFOTrSr3LI3cEEQ0xIg6XMk8HMoyX8IcbW0XSQ9-HPJvtwnifY9YZaFa2qYbfRoHQNeUVxaB_t1djZe6pwFZRNRQMiOnHSy6CLybKgxZl24iE84Gmie6WfGaBx2BJpWVdaNZq2ZhahZkOQd8oTqjebVKoDR7DZFvjQKOvGRRi_2jYLMs5VICnoTBYCxV1NhwKBBe9Rs-jAvnU56Niucl7kXpGlzm_9YHy5cxicPoXpDCtzdvZsaln2a1DH6i4ATy2Rx4pwGHkt9WiSKTikSIxrZQaqKMQFYzEMIKQlIU3h0Cui7OazQqFGPw2w6egTvVTLq6HFGYZwnHEjEzov1Ob6rgzRqjo1wz-OUxRoAymTH1VSdstFDw_k3bXA3VsgfmPZj4viCjcEB2kCRwNcZ0I_Qwf2d7K1kDXLfP1sUTgC8iqcYV5WBbB21Z26k_X98ji5nWbwmACsJXTbCPLenDsnSBfFEO-hOOKuDCQCodBOF5tq7V4DKrLpkoDi2dMEvOZriIiGG9775-mpzaAYUzF9MGY1Va4EVynJB30RUIMjEFLPcsbWKV5xfLC0Bdcj9-YBnnDBBpUE47-xch92LxGmV_FVPQnEb6cllDHz2OZrr0yztJtlT2eECt8CnTv2Gc_aE2YaoX709BpbG3Nq8pR9vcvPwpHTOvgRVE_jl78kI-TY3V-2Q2unH66-FHh7B1_nb7f7Fs-iwgUAwNnpVlr_40DPv_qPklq-Bzh7uem__KP1G9WPktMYc7K22q_iXJ-jgTi38dPKErRv6EqgAqGAhMSLZLqS4ARW4FgAW250UZRdPYFocJm4ndxOfXVMXBWrHlMf2b9SSSCNWW45btTdv3Sg==",
  "id": "rs_0d0318facdbdc859016ab45598bef087d0bdacbca53eacd320",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWguapGr2H95cjrevyw8pWb60pprUniWC_YPY4CN9PQbMV9B4TATtJv6qlcWxneeY4E5pxchCjDHwD45Xb-ljMBji4OltF9VUGw2O6AcUxKVMk6xfgexT40WSf0U797IaKo_PwrREwsh8A2MaZ7rsNSEgINgmlpH9apIbP0Z1oVDxvghk1_vmuRPvz4sUOaHpFliwi1YWdB26jL96yqfqjrhNqMPxyVBMBnPo9tVeUbMRn5tfN_1Z2GEBZvt2HYjqW7Guas0Oqluc7qVcFPwaG2eEzUglvNglgT_h2AO_MzeFqaKyp0jgibkAXl4KA4Wbw9yCwj2OCOP-w1El5VdWAgLQLe_Wqj0iOT-zagXu1s2hEsR_7TsV0gxDn_v8eTvuIe37debzAkuzI3DnBEZYT51YXUi61zWXw-oS0tFZur7xxhwT2BhKo5zE6S5Z9T45zewX1f5dcquyOCAmHFSVFwE_2cyERK3VmXOu-DahfXP_bHPPbegRr4gCjvPZtyO5f7mmjZSlj2gL_iXes3g2AaVGCI54Lo0oDNpNlwryK49HxzP5I7XV7qu8Jz66g4thNmFUv9iSh-iyVxIwkodYEYgND84_32iQh9pg4reuTs_Q_S1lJqKr0bPCjehetCPpp04frFRV7NHul0_yfRkAeBA9TJGnaAP3WWXC9S8Wa6xTnqxEDNNajTPXY0dgnEPEXnjUyoGKzSVQzv7OaevOF4hiHErkza5vnsbkea49hdqw4ACifvdMjJ9v63M5QP8mfo69wyHxVImEhK2QBYaRspRWYz0Xp6HkVh0kPKPq7xK9uMUBloKnWhDzvqn6maLMup6jc_gUmkUtJmJVv_TlobsIcGCASCCI4kk6QYTjJGInhKl2LhTJ9iEh8k3AqqfyF49aMsrQ27r-34OqLJr1dM2S69z78XafUWtferfWC6PyqO65sYLzm4SoDeCi6-synopVgeEqNxqvVH9X_Rfjw8iwljH-Kw2g72FyIvJQUJLgJVWr89lu3KPC7UbU45mi6_D3o9hP8bHD5HLBWKBX1gV39cFLWHlX3V4DySPlRNqcQ96nPq1bX8TDmoxSiNyzDMBRT7W6v2asC99mQZRb628OIOy0hfT41EEkGjWMfrBDmTEySFvON_-UApwBmu7PLkv71zcyNT456qZuv9CZS6lU3MfdJV5Qci0CjH9Id7lPsV9s-yBdjGf2LJ8P4Il0UYfRJ3uCg6WVMhMOVDlfdtjojFM5NslAwWlJ9TpPWVI6kSz0azWk_q--qVkQB0yP4y65guhWzqcMItIHks5QfAySrshfJGtSIKlQZtemai6r5tDMYbISH0s8lvxzbe4IdSI1x7sT6vSgeOghoIv5BGHjwQV4tVFuLQvjch4EPcLhMTdeZAkBeIDegywuA33uWma9Kl8LILlRN5wvMZ6N5IoOSaBlwTHE1yeFky4lNG5Ba7Hj5hzBf_1Qg80aaPne6IQ4z1jSeHcGGejrbEiSEfyliKDSFijhZ0HFz7BfMeGEJt82PIFrybPZkwZO9n4vSxX3zgdiXezR6AbCh5F6_VTnUaHzMSANnUkD2I9WQ26VPcNJkyyEZix82bfrnA3h39Hy2MuqNavGzVGlgfbDGSykwYEhroNpJTgB-SsX_uP5neouNewgEvHoucg60hBc6W1hhBufaJHSBveJpHzM-rGWOTrB9uwX-bvQ-wBmivdOrg_CFMQ2CWsgcHpS6BvOWrKeY0jiVznaKr5ic3XjOav2lUhp6-pJN2f5cWTS84mCWKsroHqdDzEz_ukRlvUWDGq0ul-khGp8eeAYNmTbWpeTb6KYDd1qe112tBWbAPY_afzTj50IgNqTHVPAPFQhKVzjdQ4t9-TOZQM1me2y_nefFcDUxAhUh63GalMJAuZU63X0ZP2VgnsLMKjciiuIkWDSMPKfEqf_nbfoyTjKD1oBy5qqa6T69TXWJaf6P_1aP64RQuBYeb-zLcGBSzA2oI",
  "id": "rs_0d0318facdbdc859016ab4559e704487d0815bfa600e0d77e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.19,\"left_z\":0.13,\"left_gripper\":1.0},\"note\":\"The cap again slipped outside the closing point, and the overhead view shows the bottle body extends inward where low reach is easier. I’ll reopen and reposition over the wider inward half of the same bottle, intending a loose body grasp that can pivot under gravity when lifted.\"}",
  "call_id": "call_QJkdvQX2HW4LTayFqmvwHbZF",
  "id": "fc_0d0318facdbdc859016ab455a009f087d0b4679bca33f3dbfd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QJkdvQX2HW4LTayFqmvwHbZF",
  "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]: [-0.6956, 1.7088, 0.9833, -0.0364, -0.6407, -0.5247, 0.9953, -0.0151, 0.4553, 0.1123, -0.2459, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4021 left_y=-0.1935 left_z=0.1098 left_yaw=0.0931 left_pitch=-0.0231 left_roll=0.0062 left_gripper=0.9953 right_x=0.2392 right_y=0.0047 right_z=0.0654 right_yaw=0.004 right_pitch=-0.0179 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -10.7966, 8.8547, 1.2869, -0.4664, -0.0024, -0.1392, -0.0615, -0.0615, 6.9812, 1.8584, -0.022, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0c69e75877d0a45a92e5475c23b7a57f19b038d5669989ab3120983d730e359",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b1f7888ce087a78df7a55f276ddb1a40e5bcdab85cf7c8fd99f11b744887154",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd31585c943fe4bea8b1d8b3aa9236cec7668650696891fa19e35ac09917273a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.269 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 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]: [-0.4992, 2.0651, 1.0576, 0.4187, -0.5106, -0.379, 0.998, -0.0151, 0.4953, 0.1501, -0.2455, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4938 left_y=-0.1668 left_z=0.0449 left_yaw=0.1124 left_pitch=0.0574 left_roll=-0.043 left_gripper=0.998 right_x=0.2437 right_y=0.0046 right_z=0.0738 right_yaw=0.0042 right_pitch=-0.0198 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -6.7897, 3.2615, 0.8474, 0.0122, 0.0073, -0.2222, -0.1299, -0.1709, 6.8308, 1.9219, -0.0269, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4038, 1.9625, 0.9852, 0.3653, -0.4416, -0.3309, 0.0142, -0.0151, 0.4644, 0.1242, -0.2451, -0.0269, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4869 left_y=-0.1221 left_z=0.0546 left_yaw=0.1258 left_pitch=0.0173 left_roll=-0.0217 left_gripper=0.0142 right_x=0.2408 right_y=0.0047 right_z=0.0689 right_yaw=0.0043 right_pitch=-0.0144 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [0.3761, -11.494, 5.012, 1.3504, -0.0708, 0.1832, 1.2821, -0.212, 0.1026, 6.612, 1.9072, -0.0171, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6956, 1.7088, 0.9833, -0.0364, -0.6407, -0.5247, 0.9953, -0.0151, 0.4553, 0.1123, -0.2459, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4021 left_y=-0.1935 left_z=0.1098 left_yaw=0.0931 left_pitch=-0.0231 left_roll=0.0062 left_gripper=0.9953 right_x=0.2392 right_y=0.0047 right_z=0.0654 right_yaw=0.004 right_pitch=-0.0179 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -10.7966, 8.8547, 1.2869, -0.4664, -0.0024, -0.1392, -0.0615, -0.0615, 6.9812, 1.8584, -0.022, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0c69e75877d0a45a92e5475c23b7a57f19b038d5669989ab3120983d730e359",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b1f7888ce087a78df7a55f276ddb1a40e5bcdab85cf7c8fd99f11b744887154",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd31585c943fe4bea8b1d8b3aa9236cec7668650696891fa19e35ac09917273a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWkWBni83NOgi0nZFm88tRkK8Tsvzgl_FJDv3Hjh49X79aQk_Yo1KomT4V6pWDc9JmNLEehYw7n1xaR-WBFe73LRehXrrngaP3FurMj9U8O6cawCqJ4P6gmjqtK8bhchkfS9SKDLVeU1FpoOm_N8s9jAE8x5aIY9rlKqTqf4lyPErSjMiSiVoD_ZNtwyBFfPT9aiXn-AzCcFmVplU9kT2kgV4gzn-9Xsplb36c-nETGMOUl1JuIv1y0BldmdeIlHfXAfHJDz3MGF1nwdwfUIhx-c4elx_ieISHR3iqCqPlI1KHbgelSUIe8_TXKcLVENrEOyDAc5Zquu29Kn7qzNbYRfWLi7gfA90kTw3P_lZL4Jg5RxoejaA4pgrMbKZp6gwEQFPjbJJYbW3KOuqVx1EfRCgwk2rXZolVFfbaQSx3SbTzQZ56FzV94feLDLYl-bErqcoBAovNL8Tv4_c2vRgqPesB2hBI4BBQlITRETIS6F8V6djnsWcd-FoPwtRIrNVvYR5r8tBSA5sbmtaFyf29QnSAMN3c8B1yTYItu5r298jakO-DkaZpe31tliVhE8FINOZyboCe1IXn_nfkCS34j3fbciY5QgXI30OTs23jDLKq7Z8IEKtfDsd-surEhuqXOdnQyR01NS4BM6JWd591zs_m0IDriPNNxwekIemDK7NHzrKnJ1ljVfC2zU6wmoMayCHKrXO3xQyj_BYQXwInLaoVMat9iw666jb17rCx6ttAmSnHHSE41VPNxOEqYhXJvagV_LxpnsGZFLYL0iyTMHO22IencsvOksg-pBb3HILWsk8O1ZwMqK0hpqmE3yfsg8Y8jEAOBfTSoOygNB1pdUI7DuxxfN_g1esJ8mQjVYkDQG7_bgCmsAWvKhsSiWbEv1T2raYnZ31bQ66gDo2cD_--yhosA9gYXINrHBBTqZbxvuvHdh-Sqkl2JxLAZv3pThcHLggkKTPDHtcV_p2DfUiFVxHYIqOjtp1TKrVNh3O9IHkXs6xKHN5r0GLuaONtvpit-SgXQTDzM16d7khr8WkEHn_2EsyUTh-ZKfK6q-8n133lf_94rgpuDnWLh4jQhswAAr-s4QARUxTF8ZJWA-UkRAGD80GsodNm9W33HrhBgSJQcto-EhfVu5m2sQ_cTq5s33fEeA1mJGqf585UvN6JUJ2Xvz42PM5Sd67vAICA1cpEFqliIZ_VIl7g8KP3SxHD27x5Df5EQbOxC8VckQQLbVRcBG3Abbj_h6oFb34uU061Bt5ws0wzfDLMnK4YW41xnIm4NtTWW2bPJJL1sCVIBZVcdEUE7y2Jm8zybQX5xXYpljzNuxkaW0F7RLLgOGs9zbnVcgNpo4wfaVrjQePmSc-NvWvjXIeDEdtIiGUh6fAez2C7g2ayiUwOnug3gDM_Lt_3qew3brrV2mcu9Cok7cPvSra1N15Ta60iw0tLa1TTz21EtrRBahXKqsFrGfNDymjS7Kvqz4I80mEBFEcM1gt9gJ0OXV7Jdletp2SjiNd42mi1XMAnMEp23kON3xTqEUiPYy8Bpbah_UZoXgwQtO3-tP5_ohlFg4h1An5YMsvk5zYzWndxdqew6k7XK4eoCMclnYOxvg3uXwxEc6Si7rHGoMDOV25wdhlCmpjs=",
  "id": "rs_0d0318facdbdc859016ab455a3370c87d08af4da4a98e3930b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.19,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The wrist view now shows the bottle’s broad body centered between the open jaws, with its inward end at the fingertip edge. I’ll descend over this body section to a reachable table-level grasp.\"}",
  "call_id": "call_EgXjHv4ijqOHeHCNPQgiuigo",
  "id": "fc_0d0318facdbdc859016ab455a3e19487d0a85c764eccc9b5fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EgXjHv4ijqOHeHCNPQgiuigo",
  "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]: [-0.6987, 1.8774, 0.8383, 0.3702, -0.6643, -0.5331, 0.9978, -0.0151, 0.44, 0.0986, -0.2451, -0.0269, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4091 left_y=-0.1968 left_z=0.0534 left_yaw=0.1132 left_pitch=0.0528 left_roll=-0.0569 left_gripper=0.9978 right_x=0.2378 right_y=0.0048 right_z=0.0626 right_yaw=0.0043 right_pitch=-0.0156 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -6.1333, 3.0701, 0.5299, -0.0952, 0.1343, -0.2418, -0.253, 0.0342, 6.8855, 1.8632, -0.0562, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a83600db337eeedc524403976b669138454b862a048a2fdd2a5561b09133aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53bd6390b64aaae3cc7279fb39ca22bb04c164f760ff062aec561aa4af07ad82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5df8d001debb18dac26af7bcbf26eea4b396d7bf875bec5ad4a961596e3fb75",
      "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 · 2.451 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 96 changed as sent

message 100 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4095, 1.9797, 0.9955, 0.3634, -0.4553, -0.3466, 0.998, -0.0151, 0.4797, 0.1352, -0.2455, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.488 left_y=-0.1232 left_z=0.0505 left_yaw=0.1395 left_pitch=0.0137 left_roll=-0.0237 left_gripper=0.998 right_x=0.2419 right_y=0.0046 right_z=0.0705 right_yaw=0.0042 right_pitch=-0.019 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [0.6906, -11.8222, 5.2718, 1.4676, -0.1294, 0.1832, -0.2222, -0.2667, 0.0342, 6.8171, 1.8779, 0.0073, -0.0562, -0.0122]\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]: [-0.6956, 1.7088, 0.9833, -0.0364, -0.6407, -0.5247, 0.9953, -0.0151, 0.4553, 0.1123, -0.2459, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4021 left_y=-0.1935 left_z=0.1098 left_yaw=0.0931 left_pitch=-0.0231 left_roll=0.0062 left_gripper=0.9953 right_x=0.2392 right_y=0.0047 right_z=0.0654 right_yaw=0.004 right_pitch=-0.0179 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -10.7966, 8.8547, 1.2869, -0.4664, -0.0024, -0.1392, -0.0615, -0.0615, 6.9812, 1.8584, -0.022, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6987, 1.8774, 0.8383, 0.3702, -0.6643, -0.5331, 0.9978, -0.0151, 0.44, 0.0986, -0.2451, -0.0269, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4091 left_y=-0.1968 left_z=0.0534 left_yaw=0.1132 left_pitch=0.0528 left_roll=-0.0569 left_gripper=0.9978 right_x=0.2378 right_y=0.0048 right_z=0.0626 right_yaw=0.0043 right_pitch=-0.0156 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -6.1333, 3.0701, 0.5299, -0.0952, 0.1343, -0.2418, -0.253, 0.0342, 6.8855, 1.8632, -0.0562, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a83600db337eeedc524403976b669138454b862a048a2fdd2a5561b09133aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53bd6390b64aaae3cc7279fb39ca22bb04c164f760ff062aec561aa4af07ad82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5df8d001debb18dac26af7bcbf26eea4b396d7bf875bec5ad4a961596e3fb75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWoojfMobSgaKQzgQKfkMU3wM9ns7gIwlo8QldyH-kn3XK3yZCdNcGiDPwS8_gB18TtqCdJO9YJJbeqOnK4zIP1EDDbzk5NTmeN8OE9THT-eyC8N0kRhQ6_scUQcq55wUsMvkDY3uLJDu_3gV9eVpWYLAgLYTgDucG4ZOAsa6T1s7BGm5LTbsYZStori9nEtoJkNzbkarn5qsD5GbPA0D8bfCMJrLpMKt7JSyMC3FU1M7VtDx5Vn1KccYWTYAKcDkJvACHeM0FIHTKsgwm3vC_fJEg8XJ4MkYAZf8GA4PV3NeBAXs9OtsG_dcFlg6ODHcd1tT0w-sE5fcr4Gf8oTuZmvCikkw4LZO-NKc80DcyokH0ZYsAG05yK8FaouKUeaJqJHXpiuVlaOrvwml28-dx_-2sm9NxE2EhhBVdflWcqJ1BFC4liZown8V3DNpSvQB268UwoR6GBwdqneCSmKT28ErU5jr2i_Zt99Xr9vnd2ZwLjxOL7-m9LRlaBzlVV8feAM78k20iar_zCHRLlSX7wwqPKRVtokYKLWbeld__ws60_VYqfh79AKZ8m3ETEmcCBK5ogDoweVusq1FnMecX0YKrRLVvNHvjbP6wqhSkSID2TtGWk52Cu1f8iwAUlpRJaAWKlUggEDSo-yBiM2L9PnrrxjN-ngd6I-DiEYyFv2yf5APYyBgqxYpSFF4aNOX0tKTEL1tjs7-XSYlWMm5NItljLhUrtuNUBwM7y-SMx3-yTdYrnsDmO_vQEKUMBsDXWh4X3ZGecKfanPnRZz2B2OcfJkkRzNrLJZaBYseJdi3sfXTrXvwolu9ADH4E7voFIaqi4wE_Z_vQZuvxeO7_M0u2_Jheu_UQZuIdEDlqYT6vqrAQQSSOS5GvEmw16jMevtlLW-Gw5vT-9m0Uvoplfxy8Lt8JYKrYJs0JYFweX-aGf_DQaOzQUvNjTrMREX8HhCM8MciHsLboybZXG7ScllTt2QMvi1q8bkn6vWQZHz11-KV0fEpt42WhHVDyjqhFCn4I6mpqBHJYTEr7yB5PBDFtXnTj2PkWDYJQpuihrOIrK9vvl19SY64iwQPnFAHvz6LTuCvBSXaMvpjP2y3rbZ3vfgVO-v1sByW_h2NbB5Ge_lUHEt-4PYiLuUN5sDSrjvYva3OiFRZ7P693jqkqG3cqPyLAxzG84-OGYEWX-lPaJd3CBj33NB67xJIhKRwRTqpO0PbUErfS3gVjwFXRpIBdKDf9FGg8cMOuDKbaOUCJ1LVnUvN1y4IbZrs90jIwjHqKvZgp_8eiv7YsU1tP6bkzXFn-UL9L6nK0i9fycpHw6vYWvr9J7-3m_jy-oliHWjyReyoR43cM6wTWpVziOsqF533-ow6jrXDqVCvbV04lJ8gR_z16du-Phv9j88U7kFi6iqmDkqbixiTuL-KFRPEodd9j7NwXm8cJHXgRw6teuV8181BiZ47EBCYfJxhwYScjLS7srA8TFzOsBP1mnFBJ-_Rf3MdNTDzvyO1OKhutKn2CnTjz3IaknlJ5Hv3HlRxn5f5PCz6iJYmHc2LWF1DWglm5bijQi609oeSmsh2iDvoNZlPbzQtVvmwAMOYaCzpLw88WxyyQJtbLNy0JLuGPIz4GkGwhRHVJJ0JUHnmivXiBd9NTNyjRnRirh63XcgUyelEY9qOlqv1BPyNJOGg5QWdjNxkKN-ShoHYmrlhkI27OXdgyBsArwXAGMQ60AOt2rmOz9DFut5QMlWdMBFBa2uEUwqoNsE8r5ry_NyBcuswAeCTUYfwFRT-HHwIyR",
  "id": "rs_0d0318facdbdc859016ab455a6333487d0b858c15af1ab7133",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.19,\"left_z\":0.055,\"left_gripper\":1.0},\"note\":\"At low height the body remains centered but its widest section is still just ahead of the fingertip contact line. I’ll slide forward 2–3 cm at this height so that section lies within the jaws before closing.\"}",
  "call_id": "call_0hcRJcIH1032PeiHdwkhKY0s",
  "id": "fc_0d0318facdbdc859016ab455a7586887d08e2db13255651d06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0hcRJcIH1032PeiHdwkhKY0s",
  "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]: [-0.6724, 1.8984, 0.9012, 0.3527, -0.651, -0.524, 0.998, -0.0151, 0.4297, 0.094, -0.2451, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4263 left_y=-0.1979 left_z=0.0624 left_yaw=0.1254 left_pitch=0.0641 left_roll=-0.0722 left_gripper=0.998 right_x=0.2376 right_y=0.0047 right_z=0.0628 right_yaw=0.004 right_pitch=-0.0099 right_roll=0.0016 right_gripper=0.9997\nstate[joint_eff]: [0.7726, -7.9385, 6.4205, 1.2821, -0.2271, 0.2222, -0.2271, -0.0752, 0.294, 6.4752, 1.8339, -0.0122, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc24521850c086e65a1aaef99292d2312a33327d4f7a0730e0a7c1220f1451be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be6e59051ea7f88621ab772c74b692c1f8eb4cf7393240d439e7ef7d3569850f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ddcb0454faf1fe073e56d42df9ecdbc995df4afaed0839aa763d24ab8151538",
      "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 · 4.096 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 100 changed as sent

message 104 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4038, 1.9625, 0.9852, 0.3653, -0.4416, -0.3309, 0.0142, -0.0151, 0.4644, 0.1242, -0.2451, -0.0269, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4869 left_y=-0.1221 left_z=0.0546 left_yaw=0.1258 left_pitch=0.0173 left_roll=-0.0217 left_gripper=0.0142 right_x=0.2408 right_y=0.0047 right_z=0.0689 right_yaw=0.0043 right_pitch=-0.0144 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [0.3761, -11.494, 5.012, 1.3504, -0.0708, 0.1832, 1.2821, -0.212, 0.1026, 6.612, 1.9072, -0.0171, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6987, 1.8774, 0.8383, 0.3702, -0.6643, -0.5331, 0.9978, -0.0151, 0.44, 0.0986, -0.2451, -0.0269, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4091 left_y=-0.1968 left_z=0.0534 left_yaw=0.1132 left_pitch=0.0528 left_roll=-0.0569 left_gripper=0.9978 right_x=0.2378 right_y=0.0048 right_z=0.0626 right_yaw=0.0043 right_pitch=-0.0156 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -6.1333, 3.0701, 0.5299, -0.0952, 0.1343, -0.2418, -0.253, 0.0342, 6.8855, 1.8632, -0.0562, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6724, 1.8984, 0.9012, 0.3527, -0.651, -0.524, 0.998, -0.0151, 0.4297, 0.094, -0.2451, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4263 left_y=-0.1979 left_z=0.0624 left_yaw=0.1254 left_pitch=0.0641 left_roll=-0.0722 left_gripper=0.998 right_x=0.2376 right_y=0.0047 right_z=0.0628 right_yaw=0.004 right_pitch=-0.0099 right_roll=0.0016 right_gripper=0.9997\nstate[joint_eff]: [0.7726, -7.9385, 6.4205, 1.2821, -0.2271, 0.2222, -0.2271, -0.0752, 0.294, 6.4752, 1.8339, -0.0122, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc24521850c086e65a1aaef99292d2312a33327d4f7a0730e0a7c1220f1451be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be6e59051ea7f88621ab772c74b692c1f8eb4cf7393240d439e7ef7d3569850f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ddcb0454faf1fe073e56d42df9ecdbc995df4afaed0839aa763d24ab8151538",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWqTTyTzsH5TabluYKYzDsz8LLK7VSh-YHe790vCXia5G50I8H0ROoa2qTWTDFmfwNzFEJZwu9b1fi-_o4jK0M8e3kM3i40kJoqb8CnkKBwGdfCNo0TC0i_O-qGfxxUkkNp4Z06ew3UfjMBVDdS8lC2IB_kcPNBJoTxYY09vH9lVW8gxMtPMMFfgzT-wU_9Fim77sg4AH1LYbDh1U5M6048cqnU9WpDcdsiMwZ1aL-Fi4NT0vwDmMYfMU4oL8NgZbgaZcCSH_wqIWl9RS9tjP4WFsysUT9txuzZkiedh8k3TbjWnvtqKOTBiIizssibnQZXsCkdVh6e-4g02-gLtvkfsOiXCLsh0eS55AXmei5TDoHF1hcyDnVcu37551FyTpC99sFJPUVERB_Mt67Zo7y7lyirMiijCbCykr1nXNCYg6J7rpf8N55uMWLPZcWMd_Hru7eYBJhxwJrlbFySsHEKgH5-9x6XAHaKOYNIIPNWJFDW6hg0646b0awiPOvCgdlrZ5MIOnCASL6FjkTmfjUmieM2w5QYmur0t-yOEMmWBzGrn-yAPbPU7UQMxvDtM7JvO4Q8uEw_oLzh1Igl6oSLiZAITdmpmAhZ4LrKVXpygY6kef0O9f3r4YDSNvA3-NcKbDuhXGzzQ_PaK5mdDpUwK3BynLWf-mz5UPPAqkqa3AO9NrrNBCATZGj3I6fzHsFFvUTM4hu3NtGjxoP6dOW3lnHhzqQtZuwxd2ebz-c7iNJRPtQ3CWXK0j78b6kulI0M9l9yI5trwYHd-ejk4hrbDmvelHwKbhvPFqxEzUIkRtp65WL-dPjqzDj_deNQnxWr8qcNoCFNXYlKskQqGpLO15Sw2VE4m4iYWNMMVEBeG0FXvrNpPxHkoogq8eJR4wrfBK6vmPgIFmk-LpVdJIhNjGLVjf5VsqMcngpWmDOh8CuPsQfslIPJT33vzN-R_8DHSoohu5W0W1o53OmM-x21mNrUi_fVbjAU-Nt_t0AKkuoFYAXRxYyylsUPTJnnoMXSMm0InhXZM_TfUayuQtoQ_U1HJtTWbdetix0k0SjVstxhITz9MBN8zDTfakAESWj0Cba6ElEOXugZz54IDyd36sDBXbiljoqRJJelFjxmwboVlnq1ck2D601isqqvLugcH7RfOQ4QMHcXcEdsmFjG2MU-QOPJvbzcaGuEkGunwJDEtxAuJ2yMtvvzgu3Hxp0iTc10HfV9Vo-oHWgPA0t9lMD8DdlcbgKxat48EdntKDTHfweNHzh4mH6GzCdimAeMqcxNYNZciSW9XItWQ2nXiPbYnuysA8bDoGT3lB0qy7U68Vp6J-pVj6N8Az1RYBDWmiZn1QpT13MPHE3Hu-OmdQ==",
  "id": "rs_0d0318facdbdc859016ab455a987d087d0b48f24f699a982c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The forward slide put the bottle’s broad ribbed body through the bottom-center jaw gap, with a finger visible on each side. I’ll close on the body; a retained opening around 0.4–0.6 would confirm the grasp.\"}",
  "call_id": "call_YUbekYpE9WPmkMV9B4IZXLRw",
  "id": "fc_0d0318facdbdc859016ab455a9e0c487d0be62ab8c87b0720f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YUbekYpE9WPmkMV9B4IZXLRw",
  "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]: [-0.6418, 1.8999, 0.9417, 0.2794, -0.6483, -0.4988, 0.0138, -0.0151, 0.4244, 0.0914, -0.2455, -0.0269, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.4341 left_y=-0.1868 left_z=0.0636 left_yaw=0.1392 left_pitch=0.0393 left_roll=-0.027 left_gripper=0.0138 right_x=0.2373 right_y=0.0048 right_z=0.0626 right_yaw=0.0043 right_pitch=-0.0076 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.7043, 6.4889, 1.0818, -0.0317, 0.0855, 1.2674, -0.2393, 0.1026, 6.7624, 1.7998, -0.0269, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2af65cf779095cf4a5fcbc956e18fc385a4ac27c35dd8551fc5f843dc37277c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6870a45a34eb92fb6de2cedc76434b92debb60a95cbc35b5e972f8f20953db3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4739ac9836fec5d8919e2d7471e975f0f2106a492c8d40994d94cf69ce6095a",
      "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 · 2.452 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]: [-0.6956, 1.7088, 0.9833, -0.0364, -0.6407, -0.5247, 0.9953, -0.0151, 0.4553, 0.1123, -0.2459, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4021 left_y=-0.1935 left_z=0.1098 left_yaw=0.0931 left_pitch=-0.0231 left_roll=0.0062 left_gripper=0.9953 right_x=0.2392 right_y=0.0047 right_z=0.0654 right_yaw=0.004 right_pitch=-0.0179 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -10.7966, 8.8547, 1.2869, -0.4664, -0.0024, -0.1392, -0.0615, -0.0615, 6.9812, 1.8584, -0.022, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6724, 1.8984, 0.9012, 0.3527, -0.651, -0.524, 0.998, -0.0151, 0.4297, 0.094, -0.2451, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4263 left_y=-0.1979 left_z=0.0624 left_yaw=0.1254 left_pitch=0.0641 left_roll=-0.0722 left_gripper=0.998 right_x=0.2376 right_y=0.0047 right_z=0.0628 right_yaw=0.004 right_pitch=-0.0099 right_roll=0.0016 right_gripper=0.9997\nstate[joint_eff]: [0.7726, -7.9385, 6.4205, 1.2821, -0.2271, 0.2222, -0.2271, -0.0752, 0.294, 6.4752, 1.8339, -0.0122, -0.0366, -0.0073]",
      "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]: [-0.6418, 1.8999, 0.9417, 0.2794, -0.6483, -0.4988, 0.0138, -0.0151, 0.4244, 0.0914, -0.2455, -0.0269, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.4341 left_y=-0.1868 left_z=0.0636 left_yaw=0.1392 left_pitch=0.0393 left_roll=-0.027 left_gripper=0.0138 right_x=0.2373 right_y=0.0048 right_z=0.0626 right_yaw=0.0043 right_pitch=-0.0076 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.7043, 6.4889, 1.0818, -0.0317, 0.0855, 1.2674, -0.2393, 0.1026, 6.7624, 1.7998, -0.0269, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2af65cf779095cf4a5fcbc956e18fc385a4ac27c35dd8551fc5f843dc37277c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6870a45a34eb92fb6de2cedc76434b92debb60a95cbc35b5e972f8f20953db3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4739ac9836fec5d8919e2d7471e975f0f2106a492c8d40994d94cf69ce6095a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFWv8QxxaNoPVuaUDJTTKXWyDK6TIcGw333GJmEjOa5_9qkyjBgSOGp4PAJP0CW_w_uEvnccB-D_ejQL_HlIgTLwWjY3hMQpc_yMtTdg7ZHAlwfC1arTPOiLuqhhg78_u5l1RcVMfZv7yRJaCoRp5koi2dmo33-L7wrVzLQ67Sgn4ng1T1b6eQWLRrU8xMchORqCebepYwPcgJ9AK-f3iHvWSw_eGUcdlLFMiLUd1R-TmoiBZ5fQQxvRnjJjHJ6kAime4sr4UeoyYvIpy7v7DAW3midtBRGvvWbmnztnEXE8N-4RISHH7sBhiQtp0I4N6nolEBlOYJYz5WBqdBKj9vpQOi7uUcOm4KOa3oD6P0vpfADxLKnrQtCY--SLWefS4zLdHp-XVUJ_cKQV3PvR058aoJ3VYZ2igPPxQPW3luQ_4kfXJpKElPOXz_NRK6q3hf9oUu5C9_5qGZK60r5uKte1Ghe5qmt8SdM8bdxqF7e7E07E-CUiRePbiUMlCUpR1ysBRX6AJJemuvpz5ExlKyfBfi7mH_QuwHIS6XzK19NQntNl5yTdXut0h4xTCuUI6xJdYXOozQwLuriA4La0XSjS2w7eL0Pc94IlIpCrym8T_B0XVqdbLSjp_qhQHTdt1k58Manl0SWt9dkbz4o48-QXOejon4YBPcGigfYWh2nusyF3UjJ5noxg-SYGz7KucfcH6Zo8nal_Z-gp0GF-VHfgU-xuYlv-odp186OT9yEffQ9LETJRp3X_301y5APnMtA5e7CJpZnxZnzldMCwX484mYd6naskF19NrmfkdGukh3ppU_x8bW1zM2muFaM_TYvVrCeeyAoUR33LmtuEWj9C5QrO_Un-UXZl3T3Dmh1YbbnfZL0edfEx3FJPtnVMxql7iHY_cQDEhJiyhlPA1r6PWdwnWRDgoUItCgEoC-IBFZ5dujLjtVR6LYuAbPxujCio-ZX82otxyzM_ti5NUKXCW7RDrmcXtBEGjUNYqto6HLy73-kKknUuwc4BMR44aOMT9zFMWQ0rz3es30xpOBYi7wIxtjHfrybAxQffwUERiFrdM2UZVLwOG5Ukdt9K1A1wCoEYNBjD7T8LW2TgA8fSVwbJN1O-saC0d6craPnzdq4Bkrvu5FneW8j1cdvIiguyzpPXPMZukN-ZviCWkoBF3GhIVRKlsZepVbRR_ImQWcT-Niq5dKNu8U3G7LSXwAGrE8nj_AwDPF98C_qGBe-_95WDbIp48BUvkk-DW3bKUXnnMnJGbu1xcosMzxN773p3B1AOT-cKXr7khpXlUJjAqY0qLUm2AJoedF0TSQp_cyiZDfbffDFRkLcwOGCu8ojz7Z59kiwQA53Jzsw752HwQ7MFfpmwQvq52oDD1ggxQXYEW20IGXM1KYCzPWqAp7VT1cfnxwX_2Jb6F4EqkAJWIpq-Y05srL-Fu7uLduDQ7yy9QFgnSF61Wnrs1hIndaa4pAtOXIU5MSBJpA4XY5HkGY_wsmmdV_SZ0ec0-23GUUA08oXQzYikyqHoPvk0BT8J96a9Hgh3jjrUzO-U3QDnQvX20hbkQtXbvfq6kZb6V56lBL26c2nZbMPuyoNg0eyUj69KMvSrIEGv6PLiI9UAOjNUPV2EXB-5RRZH1YV7bTayCoejJKwxEelSKJxvcQrhLszM3ziBtxTf5cvSSRHXFuBOXV50vgiBNH3yHCwVhj2UWVdjLUf5TBYEzERDidqRokRoIXl5Iu5VnY8-_2FIJ2p9pAxlNanp0CaQMDyYqjqnQMkXpfi0FIcXsj4je03qAtxeZNhfNs1cVYuGpP0Gw2-jk_k1nLCRMIaPYuZ8kBkj8wsnP34gLipBne7WFl2luz1_kebvhEfsi7W7TlRVswqNFAlD9qeOQHzYj4Kq8J5Fj6jXIeTk9s6q8w-JRKVIPSKpjEXPpElIK5ekZNKnZzHNMBfOU08pEbJKgV03BGeP-kS9Y4zaa2Z2iAIEaiInhVPLaE3VRuCUGdEN_uEzyaVDW5FYyRxTljqa5ZorXxb10DC3Ceq1xJ0P6ErJgECVt_4ih6hpRzTqt16smqDzLauXxlfbb1kL-5CxVAqs9b2YfoVaSv4SEdvM9wIihcRdLyPaTtexryNujojCXRjR2UAlvtk36mTDwSAgH2KnkRt1picb0MakEQ_z0jL1TCWSg1JfGaQ_AQRcig1zP-uPbirFbOP0PO8EQSS5a8jnDSjrGij75WYIPZGlGEPUBOMZhrUrqkSIWmUkvg-Yph7fvEdHWoTFe7WY37IxGyMjTRuqFRp4kqWQVNuTJGSPw-tN",
  "id": "rs_0d0318facdbdc859016ab455ad674487d0a123304529eb8552",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.21,\"left_z\":0.0,\"left_gripper\":1.0},\"note\":\"The empty reading shows one fingertip was landing on top of the body rather than straddling it; the body center was about 1 cm right of the jaw axis. I’ll reopen, shift right, and command a table-level descent so both fingers pass down the sides.\"}",
  "call_id": "call_3SBzOidL9HhYThsnfvB9lup4",
  "id": "fc_0d0318facdbdc859016ab455aeeab087d0a5749bebee9eb926",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3SBzOidL9HhYThsnfvB9lup4",
  "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]: [-0.6827, 2.0521, 0.9928, 0.4446, -0.7265, -0.5667, 0.9945, -0.0151, 0.4232, 0.0914, -0.2459, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4485 left_y=-0.2088 left_z=0.0453 left_yaw=0.1983 left_pitch=0.1154 left_roll=-0.1028 left_gripper=0.9945 right_x=0.2374 right_y=0.0047 right_z=0.0628 right_yaw=0.0042 right_pitch=-0.0068 right_roll=0.0012 right_gripper=0.9997\nstate[joint_eff]: [-1.3333, -5.6274, 4.5333, 0.525, 0.1929, 0.2369, -0.0659, -0.212, 0.0068, 6.5162, 1.7949, -0.0073, -0.0611, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a421a8d3cf2656676d348a759a6d70356a79c1ea0c7853b9cf2581488e6ce71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc40ec00deaa79de6038d1a52dfa9bb20f81b4bc410304a428adb23558bcb34e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db03a37839883fc0563af416775b518e7408ea5c45355155db79b656634e760",
      "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 28 attempt 0 · /responses · status 200 · 3.912 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]: [-0.6987, 1.8774, 0.8383, 0.3702, -0.6643, -0.5331, 0.9978, -0.0151, 0.44, 0.0986, -0.2451, -0.0269, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4091 left_y=-0.1968 left_z=0.0534 left_yaw=0.1132 left_pitch=0.0528 left_roll=-0.0569 left_gripper=0.9978 right_x=0.2378 right_y=0.0048 right_z=0.0626 right_yaw=0.0043 right_pitch=-0.0156 right_roll=0.0019 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -6.1333, 3.0701, 0.5299, -0.0952, 0.1343, -0.2418, -0.253, 0.0342, 6.8855, 1.8632, -0.0562, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6418, 1.8999, 0.9417, 0.2794, -0.6483, -0.4988, 0.0138, -0.0151, 0.4244, 0.0914, -0.2455, -0.0269, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.4341 left_y=-0.1868 left_z=0.0636 left_yaw=0.1392 left_pitch=0.0393 left_roll=-0.027 left_gripper=0.0138 right_x=0.2373 right_y=0.0048 right_z=0.0626 right_yaw=0.0043 right_pitch=-0.0076 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.7043, 6.4889, 1.0818, -0.0317, 0.0855, 1.2674, -0.2393, 0.1026, 6.7624, 1.7998, -0.0269, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6827, 2.0521, 0.9928, 0.4446, -0.7265, -0.5667, 0.9945, -0.0151, 0.4232, 0.0914, -0.2459, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4485 left_y=-0.2088 left_z=0.0453 left_yaw=0.1983 left_pitch=0.1154 left_roll=-0.1028 left_gripper=0.9945 right_x=0.2374 right_y=0.0047 right_z=0.0628 right_yaw=0.0042 right_pitch=-0.0068 right_roll=0.0012 right_gripper=0.9997\nstate[joint_eff]: [-1.3333, -5.6274, 4.5333, 0.525, 0.1929, 0.2369, -0.0659, -0.212, 0.0068, 6.5162, 1.7949, -0.0073, -0.0611, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a421a8d3cf2656676d348a759a6d70356a79c1ea0c7853b9cf2581488e6ce71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc40ec00deaa79de6038d1a52dfa9bb20f81b4bc410304a428adb23558bcb34e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db03a37839883fc0563af416775b518e7408ea5c45355155db79b656634e760",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFWzE1_ip6OTLJayzAGt2n9rgRSX6T1ZE6rbCs5kvykLWTXqWGKJkFfmXvkTA8kGV5p3tmsrzEKmh2DSPG6825wiyprgLGJjm81eHHIMRQtQEGLTyt9LE7INLnVJxuTxUOjTcneAS2_VXtL7_olj3XWRfOhukAC6mg2bxSponkEYBAFoTUVoZgsNchJuY78skrVyjNT7Oc5SLL67AAfjnkPQOkKCTDQyvOBJeXa8CZGVNK1H0p79eVhxadu2xP_B5qUcEFTpR3FPrdF8AuxPCZCSXOrG2koEudGEfMH1BWlUqrKLY3gUig2PWvWLibIf-FZOOgawLvpeO3r2DHAAO8P9pi1Y-NbMHS9VeR9tvG2Y3wb5bVUShyoSjOgnn7OFXVcPBt4QgX7tPWCR44AQj0nM1L2uDIgqtGZ-e1FJt_ML5NBcoBSBkpyGz_b6B7eiT0TbzkB7V720L0t_VTTO0sxSL6LCGTGd5In7euaBoJ_Vfh79HbPu6y8DX85sctJ3gyTSi4UBJcbvgYUgP5GwtXv6GTuNFQe0CfbIUoBpjUPbGQwm3SXlGINxPxe6xKGNbEmgbpAwtKrfxx35KMTa8bpCm_MdUZdxRNss8xtkB9Yrf0e4VIYEWa3LRkOJx80KbYdOZ9maIK0kcUUgph0yNwWmsx3uoLi1_-dwsYp2BE-HazQ8A0aNaXfLGDLDA1xJUe-mLc7o26AGxxS1H1I_n2L2PU_e45qfRYQkw8HVsp_Nbqxavv6tgk3zbjuDZzgE5gQG62zIBUA82V8To5ZP-rLT8WysahIcN54Sf0vxZipQ_JREE_hXaD-JCDJ-KPU7Tu0lNgY-Kh8aGXKeLC16zxW3XVFEOXsQuxLXIbWsdd8keBSVVEfZ5gE9DSspoxu91-Zm_f7N2xxEQw3-rvSxxSOhVY-6S4G9wSy940G5tK9n-IQwIWRa6vjSl8bH3_tPNwajX0TqCgi9C3fRhNCajT-byqvN9fcI9zs5zhTfPevJM76Pfx4bhk8lngntx87sao8N9DfxHHT_WlN__lOrR5YPXAfMYReRylndx1VEGfWGffUVbAaDgG7hKeE4I6yLQRvr3EOA-W1r3LK6qD-oY2Uqx25etrFzw1aT4RpU91ShbegHa6Di_eXqgWNkxP0ZZBABmdbcUxR17sPM6JmINQeE9Z6Afol23JGtVZMVbBM5trSX1jfDXAFFsDuj8vUm-ZR3xLdiRLpOMuleu6xK5LXhWl4YaVRcKb1ibAUmJNnYrxUO2IBWn_aa6Xsnabd2YryI9iNgYyvOqgNqR4UtkliNNnmUNDjjEuPeMtQD7rL_kU70QzddedveGW77FzX3hBgOytFm_2VT34Gc926FGjK_4xmjLn_WL6IJTjQ7erRTobI=",
  "id": "rs_0d0318facdbdc859016ab455b1f45087d0bc928111f061fcc8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"Now the low wrist view clearly shows both open fingers down on opposite sides of the bottle body, symmetrically centered. I’ll close from this corrected straddling pose.\"}",
  "call_id": "call_cKOrvfWpns51P5CaqzmtnKgo",
  "id": "fc_0d0318facdbdc859016ab455b2645087d0aec6c152b715a239",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cKOrvfWpns51P5CaqzmtnKgo",
  "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]: [-0.6811, 2.0346, 1.1233, 0.2035, -0.754, -0.6033, 0.0141, -0.0151, 0.4232, 0.0914, -0.2455, -0.0269, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4566 left_y=-0.2098 left_z=0.0621 left_yaw=0.2335 left_pitch=0.0692 left_roll=-0.0519 left_gripper=0.0141 right_x=0.2374 right_y=0.0048 right_z=0.0629 right_yaw=0.0043 right_pitch=-0.0064 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -10.0581, 5.7368, 0.779, 0.1099, 0.0855, 1.2674, -0.2256, -0.0068, 6.7214, 1.79, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04f3685c25fc3959e003973df3d88604f0a286adc03ebad46a2e343a19e76112",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c150943c0d4937630ad07346d821bd322fb926d5aa0becde7282ae5c2d1bcafe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44795b58c92c5514fe170f2f084bea87ab3c620ae3ce725fe88b0edd1729e6b1",
      "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 29 attempt 0 · /responses · status 200 · 2.881 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]: [-0.6724, 1.8984, 0.9012, 0.3527, -0.651, -0.524, 0.998, -0.0151, 0.4297, 0.094, -0.2451, -0.0265, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4263 left_y=-0.1979 left_z=0.0624 left_yaw=0.1254 left_pitch=0.0641 left_roll=-0.0722 left_gripper=0.998 right_x=0.2376 right_y=0.0047 right_z=0.0628 right_yaw=0.004 right_pitch=-0.0099 right_roll=0.0016 right_gripper=0.9997\nstate[joint_eff]: [0.7726, -7.9385, 6.4205, 1.2821, -0.2271, 0.2222, -0.2271, -0.0752, 0.294, 6.4752, 1.8339, -0.0122, -0.0366, -0.0073]",
      "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]: [-0.6827, 2.0521, 0.9928, 0.4446, -0.7265, -0.5667, 0.9945, -0.0151, 0.4232, 0.0914, -0.2459, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4485 left_y=-0.2088 left_z=0.0453 left_yaw=0.1983 left_pitch=0.1154 left_roll=-0.1028 left_gripper=0.9945 right_x=0.2374 right_y=0.0047 right_z=0.0628 right_yaw=0.0042 right_pitch=-0.0068 right_roll=0.0012 right_gripper=0.9997\nstate[joint_eff]: [-1.3333, -5.6274, 4.5333, 0.525, 0.1929, 0.2369, -0.0659, -0.212, 0.0068, 6.5162, 1.7949, -0.0073, -0.0611, -0.0171]\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 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6811, 2.0346, 1.1233, 0.2035, -0.754, -0.6033, 0.0141, -0.0151, 0.4232, 0.0914, -0.2455, -0.0269, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4566 left_y=-0.2098 left_z=0.0621 left_yaw=0.2335 left_pitch=0.0692 left_roll=-0.0519 left_gripper=0.0141 right_x=0.2374 right_y=0.0048 right_z=0.0629 right_yaw=0.0043 right_pitch=-0.0064 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -10.0581, 5.7368, 0.779, 0.1099, 0.0855, 1.2674, -0.2256, -0.0068, 6.7214, 1.79, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04f3685c25fc3959e003973df3d88604f0a286adc03ebad46a2e343a19e76112",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c150943c0d4937630ad07346d821bd322fb926d5aa0becde7282ae5c2d1bcafe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44795b58c92c5514fe170f2f084bea87ab3c620ae3ce725fe88b0edd1729e6b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFW4aaAqwXf8CVp2wLgTKcAX9O8Pg3BbkNYcwivJemBtFSVATUbrEvyYaMsxMxLjfj-DA_1xb2rLswxlrWHV5wRehIHgvUBxSE2wP-vbU6zMLWvFUZJ9gh7TJUFA289FlCnPY7stNGETCghvm_S8BzimemL1GHnyCtyDEIaTjKykGZo5WvSlV9dwHFJamJtNI35A-MNlQ5QJ6G1sD73xtis6Ja6VYSwVyKxNl0Jn9Q21XXW_Li0pNk4ZKLbsUsf1c4uXlCGCBUUchnhQVdbr0Y0ZhaHABcUTJphzv5Cofn-DAw8Zd5O2T-i1ollvAaU2a2FStABFJof0bmJVWw-kawBqAYiiVbRXFqakG2atp8fWlwwC0QEH4G2T0MviFL9ZOAWBNEalcVMNUyJKjMeqAyRqtN2oxFH7b0SFr2cANgMTwhzsP84d8wcA2Jhd3pYXkLlGGqfY3A8ya5j40U2m0LxzQfwd8DGF9bFBmcbAzcG0EXbI18Z7ctnwwFVCPC4eK_kIB7EpL8U1T2pbYB3WtIQibg03AU7ZY7K3QhrCPhEKTw33rPj-vBdq3BPwRwwzVoZcSQQHSys3O2F4rMBYMf6oyKE384-2QWFdL1yb3qxFC1Tui4ufQeOR3xMAmgLezBM90PNdm0p0_6XV3euRYvZXj-DaUfyYQE6ao8Ol5DJfTi2tK6SPNZKYLXw6SSPpGmT7823cdW_O_tZEnXFGYYkgBTPeKFTrEo14Wds2cu1-Wbgbm2fCBGDuEmtPX1O3WH9dNu1H9kqS7G9roJNlQa4TJ2yFIYWD36qyR_Clw845PfxtGj5doVafV2hoAkGcVID18JxbMJ3GvNC9nPxPonZTC4tn46Q8tHNvut7fZR6joQtLcUkDmtqY3SeGy0cZ9jvqmzg4rk4OGPrWb-PPd1zy7h0B_YbB3ZU78SlgmJDbvpi2kF9GQunkOsZA1j5ItRzuOUu4N3qVzYxIeJvFrEoz7ImSO6uaEhUX5OH4QKn7lcVs1QybmK8985nN7GwS2RQxGCTE7mdgHvmmtByFbanNf4ZQKHbjU49wlM_XuJFYED-Kw-gKyoQT6488-WwsVJ04hRN8tigHf_L522sSFNWODr4LniDcP0abt0S2ZIhgmSYfmY_tOCK2fkyaEOPiAKF7hv7rWSsIWWwu6ZsyIzX77bLWZSRG9PoeEZldOih5B4OS_CEiOSaXj73uJOstZcCPK2GL52Yt1I_107aooTyA_h4g5z8HN5GlHxjnKQx0aOObO_tl5z3wlrPWSXgiJqXFx8OpS88WXY95KlyZriN3itUwN9IRNqn3jD_Zi4d5XcQViDenGyArf3B-0CMRpdo4H4e2AkJIT7aEzA7_F-PXmit-pNtwsTkpxl-Co87eX0GP2wkWgRjZ1rM0sqf9tiloTYlqUDJcTvLiDr8RI1zpPulwImuQuFoU9qiN8DIo87TpOkHoyiYXIHfonBGuwypOPb6wpTbW-E6npcOpllHcXiDusLpjFnFTlFQ_sDmwQ7p_OwAdMLqLaSYF_ffgesbmmtsg0_BhFsU1vIF9uH5crKXOF7lHvhRb8A_Vvucli4PzolTVLQ_yJMjr0Cgc9mMdcI2r1XSKR97tWld7BFyInel72Kf2pjbpzF47wvAWZemqvasfKLBGwgpF6L1TiJU6HICpjkPR_8lUzgflckWmiLaogD6YR2iXDE1ZY9WqR_reLKYyA7AmGE_nm0LedHjP-P4z_U3N5xPx_DIodJJ23F7c5L9NXjr1awBIGEZmsx0XPhsOUbPHlgBIsttOBlbz2wp_copuZn7TZ-4-iTecYEE5cjDjrHaMF6FXTYWZ-hbGKVXgcwcyk0kYh0fIjNsMvzqGhnBb1PBkK2auCXLbKI3BM4_LYTdyGCilZWxttM4xhSUpAWcdEmIMy06945eDFDDztBt8OHso_wETNopi00uJ2XFoGwsJkmj-on9io7Io78F6zsPgJjyd1-gOQQU6ARdGx-X2RM00Bk-SUq7ZyZlmblGBtrDFdtw0pRKbhCnwDtdhKLrYseZk3vMQap3C3NWA76dkHNSVJdyvXmtXrg==",
  "id": "rs_0d0318facdbdc859016ab455b5948887d0a9204b335aa28d61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.21,\"left_z\":0.05,\"left_gripper\":1.0},\"note\":\"Even though the jaws visually meet over the label, the bottle is still just beyond the actual fingertips; its base remains visible at the bottom edge. I’ll reopen and advance the low gripper another 2–3 cm so the body passes behind the camera’s bottom edge and into the true grasp point.\"}",
  "call_id": "call_xhhEC4QTR6TKqkgEeuvKEp31",
  "id": "fc_0d0318facdbdc859016ab455b73dbc87d0bdc58c7ac8572611",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xhhEC4QTR6TKqkgEeuvKEp31",
  "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]: [-0.6464, 2.104, 1.248, 0.0551, -0.7219, -0.6064, 0.9943, -0.0151, 0.4232, 0.0914, -0.2462, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4726 left_y=-0.2059 left_z=0.0483 left_yaw=0.2446 left_pitch=-0.0057 left_roll=0.005 left_gripper=0.9943 right_x=0.2373 right_y=0.0047 right_z=0.0627 right_yaw=0.0042 right_pitch=-0.0072 right_roll=0.0012 right_gripper=0.9997\nstate[joint_eff]: [0.4171, -9.5521, 8.0479, 1.4188, -0.2027, 0.0904, -0.1538, -0.0752, 0.1573, 6.612, 1.8242, -0.0171, -0.0659, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f85cb0e2fb54430c607556221aa948809f1b481c5b7b49273c91b0b35a6418",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b5a56270c9ea4f7ddd598533557ec07df5ed661440341468952a368aae68c26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059298b980cbc24d1ef44f35761373baa29e482e3f5d4c86f6ac7d31d87f4614",
      "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 · 2.026 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]: [-0.6418, 1.8999, 0.9417, 0.2794, -0.6483, -0.4988, 0.0138, -0.0151, 0.4244, 0.0914, -0.2455, -0.0269, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.4341 left_y=-0.1868 left_z=0.0636 left_yaw=0.1392 left_pitch=0.0393 left_roll=-0.027 left_gripper=0.0138 right_x=0.2373 right_y=0.0048 right_z=0.0626 right_yaw=0.0043 right_pitch=-0.0076 right_roll=0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.7043, 6.4889, 1.0818, -0.0317, 0.0855, 1.2674, -0.2393, 0.1026, 6.7624, 1.7998, -0.0269, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6811, 2.0346, 1.1233, 0.2035, -0.754, -0.6033, 0.0141, -0.0151, 0.4232, 0.0914, -0.2455, -0.0269, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4566 left_y=-0.2098 left_z=0.0621 left_yaw=0.2335 left_pitch=0.0692 left_roll=-0.0519 left_gripper=0.0141 right_x=0.2374 right_y=0.0048 right_z=0.0629 right_yaw=0.0043 right_pitch=-0.0064 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -10.0581, 5.7368, 0.779, 0.1099, 0.0855, 1.2674, -0.2256, -0.0068, 6.7214, 1.79, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6464, 2.104, 1.248, 0.0551, -0.7219, -0.6064, 0.9943, -0.0151, 0.4232, 0.0914, -0.2462, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4726 left_y=-0.2059 left_z=0.0483 left_yaw=0.2446 left_pitch=-0.0057 left_roll=0.005 left_gripper=0.9943 right_x=0.2373 right_y=0.0047 right_z=0.0627 right_yaw=0.0042 right_pitch=-0.0072 right_roll=0.0012 right_gripper=0.9997\nstate[joint_eff]: [0.4171, -9.5521, 8.0479, 1.4188, -0.2027, 0.0904, -0.1538, -0.0752, 0.1573, 6.612, 1.8242, -0.0171, -0.0659, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f85cb0e2fb54430c607556221aa948809f1b481c5b7b49273c91b0b35a6418",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b5a56270c9ea4f7ddd598533557ec07df5ed661440341468952a368aae68c26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059298b980cbc24d1ef44f35761373baa29e482e3f5d4c86f6ac7d31d87f4614",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFW7rl5A07IKTxC9FBtu57qkCpRmWrVwzMEfTrnGwQg95y5Z1qeGgg0zxZZ8o4Exxmxhz2vbMZq8hCwnwbKS-rQA9ZY51517hiYSxulCiTkfDbNHZHjqBxenaBRQgPwUbPr5JhOQI1wu7iPaD9jpgeytqOfzA5sIbmFoskAHQU8zDA3yx2rIcc44FVwSILiWh8jNXdttUD-APDcfE9_2_fz3FX1kxs6RMS5O-keRYWF8q16Tuoix_o-e-19bg6YX-gr0ixhU4s8qtp3aMsS58LDhVafv-8wZMvtAzmVSxN4NLZOIb6UokDH8i8Fk1UVpMvh5NGM_bkefYBr36ItUyz6ZPHQusxnBBGc9XrTE5C_MbskwCUpZPWrj-VhxSOc_1JXzqUsoZFG5kGRLStLprzB7GV0QNova20G5qQSQgP0S9b0vLEeRWa59oAkntMu8tts-V7lrrwoiOH2yRbbp8IyYUgmrE-kaWZ4mDG6ioR6yQth16O_yoGGCuHdood612lPH3x888lm2ZqUnz8NKpRvQcUGp1er_qEvQcu8lei83Hootv5vZ9f1fQ7eARGFmNKEmrrAv2xZMDpG0ah6bNLuH0k72MVJrAPiQsi5k2xvfEQjfW3GDJx4DvczGuHOWMOOOn_864TA1vrErGl4TQqtoA4qeWgKY7KgmCXwEQkLnhgvk-DBcALT5yvTKjSPtuDR0EZpZMLyYygj1bIiPWZgKS57k3__Za_Q56gFk7a3XqJ2wg7SmsUwdhr5RBKrNtyemJZTqsV2y4Bpx87_SOO5aWF6RPETvo5dBorAVFaX5Ew4IlxbQSxK0BP-BtKlTvUyeXS9v2wjWK98hTTJ_G3sn1InJ9J1ALeBcGmm8b1UNw-LzP-R3blWp6NFq1zi7HdqhTUqmfx_yWjzVeXGKnAWvObWxcjd8ry_A1CrEgwpSziw2Z4Jwe5M2HitCygKWnos74jJcCXLuiLhVOvI_q5XoSDSD-xko9lVje9xugfWH4WmzLKbVgV7aslMtnOID0OrYSsYVRF5DY88z34F0zaUsqyXzcYAPvSw1nr44drbw0p7CO3f2Qn0I7EGp3o8ZIJJF9DegQ4hwPsg-5r9IexjlTsUHJaVgkxhdZu9FTfseL8dF0N8EKQJ1b5Nnn3m7AvI7QUAHyjcohsFnnGHyPrCSHoaIFzfNMM35iOddTGcyb-HOmIc5wNgOnhQIRsTLl4I5rFJ3Ym_vztwLZGRhzJwFEy7nbEghy3OtJP7N74mboc-QFnkwEGYy4YLIR0btpFfMMwhGOD03oh5EXzCgpz5yIa4fgo1ZLeRNUoPbBxLbM68v9hk0Tgp04KFuDpdHhW3RFv9oSXGNt5yCWmpoEAf2-s-PLu_aViI89X7i3oxb1kvriVp1_Kc0LS8cI4g_baDp7KvGCSLv-dHgJDSuKgNzy-TmucijuqxGjDhx1GhohEU3GqT06qnVGzOodfIUNz156g_LWHBdYOiH74qcYaXoTQ==",
  "id": "rs_0d0318facdbdc859016ab455ba7a5487d081ff9a079dc18407",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.472,\"left_y\":-0.206,\"left_z\":-0.01,\"left_gripper\":1.0},\"note\":\"The body now fills the lower frame between widely separated fingers, indicating correct forward depth. I’ll lower the open jaws to a firm table-level press so their contact surfaces reach below the bottle’s midline before closing.\"}",
  "call_id": "call_rLFDesu6oO8YqQmfLIq87XFm",
  "id": "fc_0d0318facdbdc859016ab455bb0c4887d09858aa80ff9fd54c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rLFDesu6oO8YqQmfLIq87XFm",
  "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]: [-0.6544, 2.175, 1.2324, 0.2668, -0.7502, -0.6117, 0.998, -0.0151, 0.4232, 0.0914, -0.2462, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4866 left_y=-0.217 left_z=0.0418 left_yaw=0.2638 left_pitch=0.0866 left_roll=-0.0863 left_gripper=0.998 right_x=0.2373 right_y=0.0047 right_z=0.0627 right_yaw=0.0042 right_pitch=-0.0072 right_roll=0.0012 right_gripper=0.9997\nstate[joint_eff]: [0.3077, -6.2154, 2.5778, 0.6129, 0.0904, -0.0073, -0.2173, -0.1299, -0.0615, 6.8034, 1.7509, -0.0073, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5a2b0483175ed11df7e79dd3d4e1ee8b10ea2d625305b3e544b9fc417798876",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da586914ed73f87b5cdced6ac3faec4273254fd4749b057548f089e104af21e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9438ec6ee53d4ce3345c1e3234bd81551212b0ce2202fb394b3abedbe8e9c24",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 19.91 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]: [-0.6827, 2.0521, 0.9928, 0.4446, -0.7265, -0.5667, 0.9945, -0.0151, 0.4232, 0.0914, -0.2459, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4485 left_y=-0.2088 left_z=0.0453 left_yaw=0.1983 left_pitch=0.1154 left_roll=-0.1028 left_gripper=0.9945 right_x=0.2374 right_y=0.0047 right_z=0.0628 right_yaw=0.0042 right_pitch=-0.0068 right_roll=0.0012 right_gripper=0.9997\nstate[joint_eff]: [-1.3333, -5.6274, 4.5333, 0.525, 0.1929, 0.2369, -0.0659, -0.212, 0.0068, 6.5162, 1.7949, -0.0073, -0.0611, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.6464, 2.104, 1.248, 0.0551, -0.7219, -0.6064, 0.9943, -0.0151, 0.4232, 0.0914, -0.2462, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4726 left_y=-0.2059 left_z=0.0483 left_yaw=0.2446 left_pitch=-0.0057 left_roll=0.005 left_gripper=0.9943 right_x=0.2373 right_y=0.0047 right_z=0.0627 right_yaw=0.0042 right_pitch=-0.0072 right_roll=0.0012 right_gripper=0.9997\nstate[joint_eff]: [0.4171, -9.5521, 8.0479, 1.4188, -0.2027, 0.0904, -0.1538, -0.0752, 0.1573, 6.612, 1.8242, -0.0171, -0.0659, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6544, 2.175, 1.2324, 0.2668, -0.7502, -0.6117, 0.998, -0.0151, 0.4232, 0.0914, -0.2462, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4866 left_y=-0.217 left_z=0.0418 left_yaw=0.2638 left_pitch=0.0866 left_roll=-0.0863 left_gripper=0.998 right_x=0.2373 right_y=0.0047 right_z=0.0627 right_yaw=0.0042 right_pitch=-0.0072 right_roll=0.0012 right_gripper=0.9997\nstate[joint_eff]: [0.3077, -6.2154, 2.5778, 0.6129, 0.0904, -0.0073, -0.2173, -0.1299, -0.0615, 6.8034, 1.7509, -0.0073, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5a2b0483175ed11df7e79dd3d4e1ee8b10ea2d625305b3e544b9fc417798876",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da586914ed73f87b5cdced6ac3faec4273254fd4749b057548f089e104af21e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9438ec6ee53d4ce3345c1e3234bd81551212b0ce2202fb394b3abedbe8e9c24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFW-27WEaEfyvAnt50smtDFQf1J6M6t3sqWfRsyXiBV4SR3PnYhDcz3zPhLBLTEo492Tng2ArC81_Ye-_ZJdUkYQv0LYfg-Bt2txk5mSAUzaioMVYJkE-PBZ6jc1u1eeucghqCjyAO_C1mx4vmb--Gu3FNRIy8mCRG7SPoRwTv2MK7v8BFo-APg92Coj6x2XQC-lgnDn6YjrOV0-VscStlxzKDaCyW9DcQvnETD4tAxCPusouC74BG8x5s8sEFwAHa8OmrNc8gmIob68qbO14duL88dzQUc5ZwHd1yFljUZHT2lCSTHJB0jzLP-3Hu5fIuPyyoPlnVLv3R0rnIRjuvf8kYwY0CCc9ETMMzGdNtKp7zN9uUFPd0Dn_IcJcCKDRxdpsmWXwsOF4fAfBFMn-hu_k7VoHV4p1-MhCKado49_em3fFF3y0P7QKYUlIBBPeCq7oyreghOLi9eLUd0tTNwJYq3_Bby3JLfUBRuiExlqDl9SC3-LuumPQX1SxJHThlb1kUphTAlxktdddWCjEN86KQaZ72c_kPbQ4MHl4wnRAtgJ3d12doGpAQmaiYtV7JGPV64QZnPPrs1CBmflfTVo79I4dD4DIhImdzCow-P432HODy8Cqfts7bRnNnE9E9nvJjkanB-XsneSQDchbotXHhYyOc0MEVUuqGQ2Dp6zoba_Ip-vwEgz4vod2cN26CAIgT6qyMadWmSQJruAMwyRT8q8IMObbw2Vh2pJzoNjZIwxLRPixMqwmMszMzZDgvL_FGMkNdOnoK3I2dfMbtTsfn1Gr_6N_W1la6pKynW2EIWzlPRzfwUroQlOJawdGPGeVvcyLH9jvUb_4hRPBT8Rww0Fy8AxrEnYtLK2uDvvp4WZrbQYwGKml9X9xoH8FY6_ImTvVtazp_GzXU0PgAMjMy2h9PJKUvf9wuhNLArlvxX7cpOtUZ7ZuxtfF42nVM8MACZrqs-D5It1Nuw0ClUnsBC-A_Tnmo_2iRa_hE6GqhQMeEV6XhtKGC9sTsWwaXO2pen2tw8Mujow-w67zfieHhP3GZs3MeuZCUEGRsJEHOpgAWs1LgyuHgYlSe4di0jNDscYpmNBOb7Hf_TJWv1HRbvckgFGsPNZMyEYTbdIrUO3-Am2SkbLoWBEjkfYl9MR3xVflegdujKMYs7tN2VPFXi2zjeJInj_IUGPcJ4UJGvYPj151se27ORPTQwTghNnu_xHlfgoaH07F5xWt_vwFxBjTTv5YXvJhaDPJsGOCrQ=",
  "id": "rs_0d0318facdbdc859016ab455bd6a0c87d09ae8281002d6822c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The lower press has placed the bottle’s full-width label section squarely between the fingers at their contact depth. I’ll close once more from this deepest, centered pose.\"}",
  "call_id": "call_0VB1MXrA4FNpJuRUQAo86dfS",
  "id": "fc_0d0318facdbdc859016ab455bd8ac887d0b266cbca8d4a2270",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0VB1MXrA4FNpJuRUQAo86dfS",
  "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]: [-0.6529, 2.1761, 1.3472, 0.115, -0.7944, -0.6327, 0.0138, -0.0151, 0.4232, 0.0914, -0.2462, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.497 left_y=-0.217 left_z=0.0622 left_yaw=0.3065 left_pitch=0.0862 left_roll=-0.0573 left_gripper=0.0138 right_x=0.2373 right_y=0.0048 right_z=0.0627 right_yaw=0.0045 right_pitch=-0.0072 right_roll=0.0014 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -11.5624, 6.065, 0.5983, 0.2369, 0.0024, 0.7009, -0.2393, 0.0479, 6.5846, 1.8095, -0.0269, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95d8aa32eb4d2bad295b1feca5a260517be47ff540d5fb1b55b31a6eee65adac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ee1f3d1895561f01608118a28affabbe7f36e0b9b0fe6912df107f9ff878434",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b199d964d87a1e720167349c7dbd96a53a2f0cce3f68ee6da3e6bf6720e749e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 3.208 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]: [-0.6811, 2.0346, 1.1233, 0.2035, -0.754, -0.6033, 0.0141, -0.0151, 0.4232, 0.0914, -0.2455, -0.0269, -0.0349, 0.9997]\nstate[eef_state]: left_x=0.4566 left_y=-0.2098 left_z=0.0621 left_yaw=0.2335 left_pitch=0.0692 left_roll=-0.0519 left_gripper=0.0141 right_x=0.2374 right_y=0.0048 right_z=0.0629 right_yaw=0.0043 right_pitch=-0.0064 right_roll=0.0018 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -10.0581, 5.7368, 0.779, 0.1099, 0.0855, 1.2674, -0.2256, -0.0068, 6.7214, 1.79, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6544, 2.175, 1.2324, 0.2668, -0.7502, -0.6117, 0.998, -0.0151, 0.4232, 0.0914, -0.2462, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4866 left_y=-0.217 left_z=0.0418 left_yaw=0.2638 left_pitch=0.0866 left_roll=-0.0863 left_gripper=0.998 right_x=0.2373 right_y=0.0047 right_z=0.0627 right_yaw=0.0042 right_pitch=-0.0072 right_roll=0.0012 right_gripper=0.9997\nstate[joint_eff]: [0.3077, -6.2154, 2.5778, 0.6129, 0.0904, -0.0073, -0.2173, -0.1299, -0.0615, 6.8034, 1.7509, -0.0073, -0.0464, -0.0122]",
      "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]: [-0.6529, 2.1761, 1.3472, 0.115, -0.7944, -0.6327, 0.0138, -0.0151, 0.4232, 0.0914, -0.2462, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.497 left_y=-0.217 left_z=0.0622 left_yaw=0.3065 left_pitch=0.0862 left_roll=-0.0573 left_gripper=0.0138 right_x=0.2373 right_y=0.0048 right_z=0.0627 right_yaw=0.0045 right_pitch=-0.0072 right_roll=0.0014 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -11.5624, 6.065, 0.5983, 0.2369, 0.0024, 0.7009, -0.2393, 0.0479, 6.5846, 1.8095, -0.0269, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95d8aa32eb4d2bad295b1feca5a260517be47ff540d5fb1b55b31a6eee65adac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ee1f3d1895561f01608118a28affabbe7f36e0b9b0fe6912df107f9ff878434",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b199d964d87a1e720167349c7dbd96a53a2f0cce3f68ee6da3e6bf6720e749e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXTBpbFzWlXMI8YayoFayTx4ftvaZqJWQ0rCJBfCLYo_B-FzblXQMtvqn40rzIWy5y3Bhtz9_jFibghJIv05QbHOfpXVlnzn81bXhAgQKEB1XAlBtrNZmg2ei-qY7cWlTO8R7im4rsCDMAO2RMdBlE7wmOWiBxHdp_uq-q5fZUTUiJiUUnUCpC3DIG6BjJFv21kGWeE35S18mkXdcM_I_WrT3I8orf6EWod0qRT77x4LUYlpW8Xf85UIVtny8Xb_J2qdNUkCpOJPQ8i1dES3sHQLP5pcjZrziaSrsAyBxVBBOGDeNwjEfLctu8wp57gUC3g_-HogJPhAM33Te9h1j3g1JFNGUxYlVNWtWyEODuYjcXXM6-0zmHryJxXZ5d6n0z0TxPW5kDc2AXrwN1OHBvV0SgOKYHkMHnO5PxuuEGOYSGM25GLfjRu6YuLMp1i65Niq4DAo7yLDpxKrO4qS6Oek0H4ZRBXhr46xKvuIhhM1SCNavlySad6lfc7ndO77Gx-c-trm-gJJw7UsglBDwVRsgHuZrCum-_A5QTTtUmEUwBQFHvUnmxZDR7hxLfQDgzmY4J02l0j96QISu1Bn_XWXOXGuel9gz1eFLFcG6-Hf41OXIMv7wUwnRPpTNnRmjLnf21e3v6YvEBtueBgetkBN-bdOheBludyoGG0PE6WgKU_xo_b3unwFE-wNm1KEZokuQJZreQjbAbfIb62nwiDMMYspTFpN2OTjSa8l4___Z2j7mwcnYi5H9aoOtjgtHUOCnzgyY6gF4L6SbfSTlnPl5DiUjUZg2R68zkX19u3IcyZvbkEzpIt5tv4UexrRAD63dirn-21FNK1VeuF2TvH9wFtw6UW3JoHyZ-ir81FiUNpeRIuluXO16_OFWqNklqy3q_4sw5Za-AJ_GGz-fgSWoCExw-VxdmyqhHPQroxrAgsAdN14Tl741rEocX_C-fAfVAzqWvsbOFDR-UU23im0XSpkW-sPYVlXAF6daB-hZtcBUIWtixWJp_wq2bVYhKRqXca5JpVqJLg7MeAXRYWiQP-pWY4HJa0F0m6elp6LulzmFY5Zv9AlYF1m4soZ3NFd0wGl-pE41AMdKclXK6eZ2m0n-aX_LZgKGpyFVTaXnF9SRRZ8MAuts6iOQ6mf667WPu0qYJQ-YY6TlcWNGIpXoHhOa80DH4W_yXpYpmoSMP0R1_Ou6-FbHUzSkMEfXLWJlQAr7xrxG5kwLWqIkJp0rqZRX81L7FYEa02sGD11OIyAXa5zfeJ9ESM6D5RNZnrmO3-iGI6S7Ayo7aNHCmYPMZ0sPD2nyaCxa1LIQGGagMYbodckfutaFQaCEw2obOoZXwfvZXTQFXYhthRqikZR5MpBVmGh9KE7vJz6IXzlj01u49b9KbzzsJ_7FnXhxKpFPt6P0Em47gPkeQQx2qZQ2wCbdBZqqXTgO-wh7txurkRZno4qCOoAu5WMmcxt-97YcJpPeXELIMBa_Fe0Qqdxf6H2wE1P45LFElmEqBDTVmOeECkN6aw8feeIf7THbtp7Hks-Y1mtZC9tt0hvKHypdq0neTvbj6bH0AWbOnF_0AvnhfbSj_MNjNshcqEcC2GMj4U97oEqRC_VbcIjyuoemcK5bOFJpZOnEzSD6_1afz21W5-jIaDmjiI9-lA5e1y1XQtNMKcMiGFO_d3-RJ37lDor6Xeujd2WGvk-yfAfnH-fOKNWakAl88UzyO7L9NlfbIpezal007TyHLK9z9PdUtD2ZdUbo6rTTkTkPPBc3Ks4lqdHM-kBWqE3ymRMYru80WxaJzE0x-J4h9vIf2yvP4KrK7wej1ZV0Z1YzgXSaJFGkRxN0HJ4JsjMbBNtU3wLxycrpZljjgkg7kZ4MWf-GmncGjbsR1Te9n-5oV5AT5Tq4HZSKHmJK-okZuu6C3XgpD2R5Bvu-8dpzdx5xumCpz_RF8CG4gUHxly4_rn9oSLvPEltpCPB4VWhQmL8IphYBEZp44aa5XohCb16ROXdgp2nf5-L3v3toqrHSPS099LN_vLHUqQASkYgv1wV3n_DibmIXux_Dfw0WAnRZLubRnjWzuwif3Di9q6MNrxp2KW6XAMaGrteZpyUL6zZARWHkgayCkuZLgWDiEetUJe72Ba6P3KjKoyqLz7oNzHnV27Dzf-ipAmXFxFqaP8a2mvXkjYgYBAQxd3s-aVv-6OwrilgwBDveJ0YT-xkckl4r0NO8tLD5prqV23TfODULTZacdZoyE1VgGJUZbBGYNT4Asp8nxuO5OKnKwwdi3uaGKHOVwz-M-odIJneMdhb3-UhBbATW-5prHno4v6JXjFZQZd3dfmiM3_fi_B1FDFKI40cUFdXiwSIq-HSTJEYwDu5ZJr__1Cx-KTQYryBUe1_Ms8581QLUDZXIjL9cSWOg8qEmbz6BHRv_RlZVvkt38f7YU8e2vuKrP_jlgfZWWzWdCWnO9nFc-JSk1tTk2ubxQiEmVEJIskswFnn8d8170z6i38pHZvcmr_bnDZevl2CE-LU8QwahcQ_o-iT3qs_2wEWRZxN_forKWG3DwS2Q4zOpgyX6vL7tGAKhjWajDzCyqEcl3mL_zHaIwWBOEe_vDZUdKF6LU7_HdhLf87Qh0wwqP_zN1l_JKg5Ja9P5ZB0IA2G6MhxrzHDavD4NtlDEMkFAOCPmpfnPCWjTHP-pvc3wG4RQULXx3syQ0vMgVSiABgwhm4Eq4zIgCu_9Ya_7OZ3k1DHhh9tcfQkLBjJxsJD3zY1Vd6BmDkh3mnVfcIlaQ5cTL59w1yDH6vq7r_oMF_4ooWCpyL6Pbqzwo7FJi8tZOv60cED2Qyif4JsZb1aAT57lCTzGcOik3EKinIOawipcYSGueDZ9hAmAXpVAsFF6wyze0lE1QCYS8CORXK9WpvAZjBgMX6FKUNTWsRMvoKzVcbfTDbZXea4zMo3BfZ9fgKXemnkHgYJiJfukwrsIMLQTK_U9x7w5WkPP2j-5lLRpwDdA0IpQeD3vxXuUAyX4rSHBJXdFSEv9PnPob0ftLRO9p1Sb0pJKDMOMmU6bxhVYNaYkwXruuAyRLApB3fBB4VcN76iYuVkpmdZ0a_PDB6CelCM6WC73UbqRSi7FvYcuAgZYRM5f-LT2mzEeSkYhhJAHP4uxSp5F_s3ynUYgIy2HHxtUYyjFm13tqMPZ7mvzJ4tHfQaSUwstNJMyUHoCWhbxOc3CzgHd1B5brf3LzpWgtwxbhQDVjoZfrXz1BtVwZucEJaiWNX_5UqWdcCIVZAk8SnON_ZJB-A1FzildvkHeXXMdbD447PCRSuZ29AZlQf2TbgEXrqQ_ywGv8RRqrTrX0X69jIdjnjWuY90cYfG9bTx2stuN6HX9nEIYSvPCTb1uAdUUNTpr1YuQ7kfd11GV65xc6CwDIqvvbJrzitOdQaZiKF0NXi5c-j3nqsxJ96QHi1II71eOfquPtgUtiHG72sqaEavKNUl7jL9NI9CaBtKJtcrxXFNLW2pRxuD8ZPPNJvIs7dLEav0fOBcpBG0rY39YJOZ4elMPMPM6KVXMlLArhUCqe2JAlPMvMeaVroB6EZPomGMcXB0LxSLnqE545ninXfy45bRHitidk3039oBVQzcILzky4vIZDc77Ehj2EaNrURWDnuB8TPGIwBwBePM8zz3XZVqPnetdex0RDZHUhml0HVTI43f_kRNYQNnxWsfx50iPtovRs2ON4lJ11sajsYqQ_2GhMISckdXORhwSB1q5P7IlwnLHGu8VU3jsbGHRFRPjlslTY8m8KNaitlKVgHgQ1OAvLSvziUlTDWzmBokiU-3o2a3rMkzNPJcHycNeGW4S918MNpEsQuAPJHKjzA8Owq7MGaGM8aIq7nnau_6ncSzsaQFMi2GV0-aSzeNXqR3kRszGAHk5c4dgXsdBDxWCdt-zN-macnZPMsJsR7vhS9n8fAqo54AsEGnRZSpVa1gniWkb9y1VoBCfe3vCP-dvgu-e4x4_1mrsh-6OE10B350ZPpKPmTgsW1DdKTvYOpxgdcVDoU3vt_bKV48hJhaagesQi5y1GypeBzYgQDwj-DLSv2n2L2kVE3AdnHMNlGC3qquGxBrMKG1hHmnVkA1bL45bxpkK4lMgvRsLjuY0L8mKQRTOBwABc-xJEVpEGmv-kGdQWE6hWXMQLkUT5pFSGT0fzI0Gx0QIZ4V-ITZ08HNEvmFm-FYASnBStCLBZ0XIOVSWHHzj4rx7__clylB9Ab4cRnJQjYKl6dt0Qf_KyGAC9ldIvPwJTED7s8OWXv05qa0Cxa2x9HMSbAmP0-UevcQWnsEUXZKCMipNSlmZ8gjDNvAdcK0RpsxSmYeZe_tw9KjSCHh5CldRpbvVN_QHPfh5T377Ekm6EahC-K-x_7YgwyR35n8qjMPE9lQMvtPodGX4m5",
  "id": "rs_0d0318facdbdc859016ab455c0690c87d0ab07ad256ba0ca81",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0d0318facdbdc859016ab455c5fac087d0a1f4ea0a4faa4c44",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0d0318facdbdc859016ab455cbd3d887d0a003908b04a49bb0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.2,\"left_gripper\":1.0,\"left_yaw\":0.0,\"right_x\":0.4,\"right_y\":0.28,\"right_z\":0.16,\"right_gripper\":1.0,\"right_yaw\":0.0},\"note\":\"Repeated off-center closes have nudged the left bottle outward to the reach limit, so I’m abandoning that approach rather than pushing it farther. I’ll park the left arm and bring the right arm above the central bottle, which is well inside the right arm’s cross-over workspace.\"}",
  "call_id": "call_wrLsXNvPzYVVhUGrj1doz7rM",
  "id": "fc_0d0318facdbdc859016ab455d1f9a087d08f35798f9e695ee5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wrLsXNvPzYVVhUGrj1doz7rM",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6144, 1.0142, 0.7765, -0.3889, -0.5301, -0.4095, 0.9975, 0.8257, 1.7813, 1.2362, -0.2478, 0.6254, 0.4667, 0.9997]\nstate[eef_state]: left_x=0.3094 left_y=-0.1046 left_z=0.2065 left_yaw=0.0281 left_pitch=0.0329 left_roll=-0.0383 left_gripper=0.9975 right_x=0.389 right_y=0.2745 right_z=0.1426 right_yaw=0.0415 right_pitch=-0.0451 right_roll=-0.0413 right_gripper=0.9997\nstate[joint_eff]: [0.253, -3.0017, 6.0239, 1.6337, -0.0513, 0.2759, -0.0757, 0.0752, -8.9094, 9.2103, 1.4188, 0.569, 0.2759, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18b1670355bd60d15bb89dd8962a1f5c898a5f648ba32da273788d572137a3df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca095c9c52541123047190333f3b1ac5a2edf5c0d6100a4a1013f7993cb4041",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5379b95a915bb7d3cc6d0122c45cfd3732b9696bd66bab18376fff225aa42e",
      "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 · 3.177 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 134 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6464, 2.104, 1.248, 0.0551, -0.7219, -0.6064, 0.9943, -0.0151, 0.4232, 0.0914, -0.2462, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4726 left_y=-0.2059 left_z=0.0483 left_yaw=0.2446 left_pitch=-0.0057 left_roll=0.005 left_gripper=0.9943 right_x=0.2373 right_y=0.0047 right_z=0.0627 right_yaw=0.0042 right_pitch=-0.0072 right_roll=0.0012 right_gripper=0.9997\nstate[joint_eff]: [0.4171, -9.5521, 8.0479, 1.4188, -0.2027, 0.0904, -0.1538, -0.0752, 0.1573, 6.612, 1.8242, -0.0171, -0.0659, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6529, 2.1761, 1.3472, 0.115, -0.7944, -0.6327, 0.0138, -0.0151, 0.4232, 0.0914, -0.2462, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.497 left_y=-0.217 left_z=0.0622 left_yaw=0.3065 left_pitch=0.0862 left_roll=-0.0573 left_gripper=0.0138 right_x=0.2373 right_y=0.0048 right_z=0.0627 right_yaw=0.0045 right_pitch=-0.0072 right_roll=0.0014 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -11.5624, 6.065, 0.5983, 0.2369, 0.0024, 0.7009, -0.2393, 0.0479, 6.5846, 1.8095, -0.0269, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6144, 1.0142, 0.7765, -0.3889, -0.5301, -0.4095, 0.9975, 0.8257, 1.7813, 1.2362, -0.2478, 0.6254, 0.4667, 0.9997]\nstate[eef_state]: left_x=0.3094 left_y=-0.1046 left_z=0.2065 left_yaw=0.0281 left_pitch=0.0329 left_roll=-0.0383 left_gripper=0.9975 right_x=0.389 right_y=0.2745 right_z=0.1426 right_yaw=0.0415 right_pitch=-0.0451 right_roll=-0.0413 right_gripper=0.9997\nstate[joint_eff]: [0.253, -3.0017, 6.0239, 1.6337, -0.0513, 0.2759, -0.0757, 0.0752, -8.9094, 9.2103, 1.4188, 0.569, 0.2759, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18b1670355bd60d15bb89dd8962a1f5c898a5f648ba32da273788d572137a3df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ca095c9c52541123047190333f3b1ac5a2edf5c0d6100a4a1013f7993cb4041",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5379b95a915bb7d3cc6d0122c45cfd3732b9696bd66bab18376fff225aa42e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXYB62EaohPXI0tv9YfNAR3fiWfROsM02NPsT9MapK2kOdb3EhfikiVTbtN_VaonJyeood0Q40BsYLzEVcFvgToSApphc_h0GQ_CU7SQvaOxPapVdh2vNhVfDoGYAbFWkpnDCWEnSG2VK50rvFdHjlk7Lr4wqnsI-yHbyWQSmEXUL_-cmjLZkTNT_oVKIcCvmp7hWMPQEANzCKRZzVGhUlLg5HfCbw7NqPDG-KcMHrkW89d847bEUXmmKzW8qfkMOFPefxwWU1KuVdbVQTSJlmoDPSKDMqdZE1V1jE2jp9HNfjm1Q-GKsX02voKZpJwxVm_lKRgHdqIAkfhciELgL2FV8EtvXjGNrz9AVfoHTV3h8vIwIQ0hlqxRPopewWNzLDhpyBzaX_wRvcJ6q9BZx-9f-27Hs3LXQmgQDiwiyr-xHizho3dyzfP6X1JaIcfTQMpdp6hQ7yY08RWlT73Tff--6s6BhJi_wRnSng8XDau2zi69mBwMYuiT1Y5W6lNncVyBazxoDcvi3ZljjigrCEN5A0bGhkQUGbFhcxs0A1XcnoX173Yp5gnLsXuV-K981Ogr0ZEwioMwvtMn0P58d1GLRBh6tmy8MQh0dCwl0yzLRxfg_CxTBP6uU_Pz0Tv-MmGVHdnF_Vif9cuDD34QiaPBmkTWbxTGHVa18EdZJsSuWW-JngKisdvRpMazsMUKXCPPrYur8mSrcSTWoOMTlNmqmjaglDXHkDNw2fVpcbUWpVyHDNQoCYQfiwn-isrtgYoUecFDor7hQ9TygW1k2X-mTTyIRhvuwu2wK4muDrR5aJNTXdWDeiCIxSIlF0jKcPmWJfH0vFoH3nYFr0fQwkNNEgN4TKkKpURvNQ_N7_7-Z8476A2oH8qFYOjrV3NkFYyLw3gGyu1DbCn4yy1pPb5eTKO7PSJrYLLrF_Kk6-XtLGLgTMYiP6iECx0ioOar2K4jsAfper_FahzFSU-zBsIX1PEorDJ59nauR4rP0aYc3Tr3NPfHQPBJaPMvaCcw2cXz3iRzhy6bRbgW2sYdArUO3u8O9euwD2PvHEtab4VgO2sL7m_viHJ_eMSfzPrHs4iPLK-l0hNzJhiCLtaQShIO2svSk7U5Fi0eXXneAFKH1soC4z0nqauovpQ77LDmU86xeQPcuP9UkAdLi7ycf3494PAZT9HYMNU6BnfK0IdjT1CGpCy9JvgTp3tHg-glux86kLOgxrgj_KtfaVcgcAlfF-tL2zN-jXcu73HeUi2vkjRdg3kpUlZdGr3cEFR0Do0Nq_UR2S2FcDJ7AyDOiint_nLy5aYTUGB4LHxRQdz3yqSZy9uGpiiXv8WX4RZsAwD-jBPfVjoF_vluwZPkxGt1rHiFbzXAGrJEGtGtMAFZM6lf33gf1U3CsbrGlzPi6KHdLMkAEjp10hgImsKIxPzoYxvn3LVzpclZsM3eQokdQWjVwzmeKv1KQmlpknHad_JL_cWnwKlQgPB7fMW1hVPU55Lxpil55DA3cC_jf5L55vTGB__k-h_D_pS9xjiS1GAam80TswpIv2Pg8fDsKWh6lst54Y4Qxsnz9JIU6gK8ThdpYoPd4rhdjDWEzANzHbGmUO6v7dCDexriZZPLw5kNPD9TzibSJXy9R-wCElsKmtOYsoYEZmVB-dQHvBmMd5q",
  "id": "rs_0d0318facdbdc859016ab455d693a087d094c52f1572ba4a71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.275,\"right_z\":0.15,\"right_gripper\":1.0,\"right_yaw\":0.0},\"note\":\"The right wrist view cleanly shows the central bottle’s cap on the jaw centerline at row 109, with a second bottle safely left of it. I’ll advance 10 cm at constant height to bring the centered cap/body junction to fingertip depth.\"}",
  "call_id": "call_leet2TQ9Fsi2oN1WFsqM2U6Y",
  "id": "fc_0d0318facdbdc859016ab455d7888487d0b76a602d5b259a3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_leet2TQ9Fsi2oN1WFsqM2U6Y",
  "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]: [-0.6167, 1.0508, 0.7906, -0.4507, -0.5316, -0.3965, 0.9976, 0.6868, 2.0056, 1.4979, -0.2375, 0.5339, 0.3676, 0.9997]\nstate[eef_state]: left_x=0.3064 left_y=-0.1031 left_z=0.1911 left_yaw=0.0201 left_pitch=-0.0343 left_roll=0.0237 left_gripper=0.9976 right_x=0.4706 right_y=0.2743 right_z=0.1342 right_yaw=0.026 right_pitch=-0.0527 right_roll=-0.0428 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -3.453, 9.2103, 1.5263, -0.3736, -0.1099, -0.0024, -1.2239, -10.0855, 9.6615, 1.8437, 0.2808, 0.0513, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89aa79592029aef3c399885c53770d3218fde6d8a994bd2a4b2040723a68e7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65804f86f5099e2370c5c4b70f3d6b3ee35a20bb2154d376dd562aa61c75859",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb2bee7e0c7b3df96dd6edcafbf9980f0b881049f959a40c3d1b9b7e0d38939",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 3.591 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 134 changed as sent

message 138 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6544, 2.175, 1.2324, 0.2668, -0.7502, -0.6117, 0.998, -0.0151, 0.4232, 0.0914, -0.2462, -0.0265, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.4866 left_y=-0.217 left_z=0.0418 left_yaw=0.2638 left_pitch=0.0866 left_roll=-0.0863 left_gripper=0.998 right_x=0.2373 right_y=0.0047 right_z=0.0627 right_yaw=0.0042 right_pitch=-0.0072 right_roll=0.0012 right_gripper=0.9997\nstate[joint_eff]: [0.3077, -6.2154, 2.5778, 0.6129, 0.0904, -0.0073, -0.2173, -0.1299, -0.0615, 6.8034, 1.7509, -0.0073, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6144, 1.0142, 0.7765, -0.3889, -0.5301, -0.4095, 0.9975, 0.8257, 1.7813, 1.2362, -0.2478, 0.6254, 0.4667, 0.9997]\nstate[eef_state]: left_x=0.3094 left_y=-0.1046 left_z=0.2065 left_yaw=0.0281 left_pitch=0.0329 left_roll=-0.0383 left_gripper=0.9975 right_x=0.389 right_y=0.2745 right_z=0.1426 right_yaw=0.0415 right_pitch=-0.0451 right_roll=-0.0413 right_gripper=0.9997\nstate[joint_eff]: [0.253, -3.0017, 6.0239, 1.6337, -0.0513, 0.2759, -0.0757, 0.0752, -8.9094, 9.2103, 1.4188, 0.569, 0.2759, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6167, 1.0508, 0.7906, -0.4507, -0.5316, -0.3965, 0.9976, 0.6868, 2.0056, 1.4979, -0.2375, 0.5339, 0.3676, 0.9997]\nstate[eef_state]: left_x=0.3064 left_y=-0.1031 left_z=0.1911 left_yaw=0.0201 left_pitch=-0.0343 left_roll=0.0237 left_gripper=0.9976 right_x=0.4706 right_y=0.2743 right_z=0.1342 right_yaw=0.026 right_pitch=-0.0527 right_roll=-0.0428 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -3.453, 9.2103, 1.5263, -0.3736, -0.1099, -0.0024, -1.2239, -10.0855, 9.6615, 1.8437, 0.2808, 0.0513, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89aa79592029aef3c399885c53770d3218fde6d8a994bd2a4b2040723a68e7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65804f86f5099e2370c5c4b70f3d6b3ee35a20bb2154d376dd562aa61c75859",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb2bee7e0c7b3df96dd6edcafbf9980f0b881049f959a40c3d1b9b7e0d38939",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXcJw8Dy7EoFNDhTSCz7RCmhsoWmdj1fDie4c8pTHFN61o_0zNpQixBqpN5jtJIdeoPyvFaBM2I8e_Pj1lA76tFnJ1QA9ehr3A9C3Omm-SA9OT0tUZd8jI4uKV9D8dyoqCpgjpg03s1Ow0mzcl00qYWGTMK5ibZeFwBn0rO_J5FLiOTDVRQUXy82DOHfm7hax67bJokmFWESPzC0me1nbnCHJmgHOofLDpF5k68wts3GFavRnH0bP9TJlQlKk_SKBYWwviOyKSvJkwwGgmpeKORSSnz4QF7UAF1DoihW2O6RcbbqiiGSji9tFcqMN6flTAZdKI0gBhYnMyTYKADl0cAqsCFAXjTay3rGvtapfRyKvnTxoMshs_4M8mt2TqbzinrXaH4KQQFTTfMmqnaKyw9AVc4hDDdinPCkVIgKkOur0-1cYmLeFt66fKv2_KaUi_s9nxgfyZ8ayAEHpU5RTmi-jD-K_fsGw3jZjxH4XCtFnr8PjG5VcQHW2hhL_hgVIXqJ8nmFwQS1C0iKmn7PZsv3DcqWvdB1EWVjETPLLtG9ExtTJ0Zk_kMCjHKwOMmF_0PLByF6yb0Djhch-sFggqztyyLtE776rZQjEAoCDRFuNtzfEbPHqKdGSNtbHp1FmTtjI7F9be2oKbwVIBj0PN9AcdDCUhPwwOUUnAkunSv3GnRQOc-_tsX7N-hLBlTjegRFWqyM-QRI7maNF-jSPGNiM9Q5Xc9VZzNcw366KdSZC0MgbL5JlRH7x7NdLLstnqbvzPzulhnKRdHzIn9aeU8rebATSe0zoyIeSFEq7Mz_ohjDXMVOEp7nzhnN0oKGFME7zNINGO72thl_an5xTYmPM8AS_Vl8CsczvMpLbvuvJ8MReSa1ebn0DbnFYY3ztn15T2k3CMAzjMJfVWdniURUfbfLv2yxeyCuZPGb2Vs3zAL2LkI1pwboSVNdhB2KV450b4We0seoci6oiZz8ijuTFXSNrV57O7ZT89LPOaPxuSY95GVY1qhaAwgzjVhpNhzwhZL19Md5CqflaVGZZUeNVE7gfwoMlMSaZHW1wl1ROZy17cLvyv9r51lnXjXk0_iOyyCPNEqieaNQ430Wg4q9a38XDThsNfpytiV-yobbyt7dmlqERvxbEVXF6KMdQpMLjJB4ELqFW_ZHdCJ3t3TFLJGw_YdX7ppL7JKhy0TvKw8ke8kPL9U9c4vcVSo7nuk2vBsp9PkQf6hrem_62Oo4sHRc2-A0xBOc2HGzjf7NkSNPiXSn_4VJ09eyhcDU8Ws9AcIkuhHBZp9wAf7wtE3XF6dgEWPDPPX2vO7a3KznIKUQzTKqA-qPih-2KA_YjNFht2hKyzYAVErM4bTHE-cHhK0BSqHewt10PL0g2aKCiiQbEAp03iEtGowFJXe2-i5SL4H1Og808DBDZtCbfQ8uvSQ_8P_Z1q2cr2l_bKaORDch4NlxmvtA4Msp6b_Yi-oC4NYtCyNITQnDtsqRJ55IdXwPfDxecru2jmRjrftsjg71qBcuS7c9h919Hr6RmoWACV4hiWopthR-HOBdOPk4g==",
  "id": "rs_0d0318facdbdc859016ab455daae8487d0b02c5332fd847879",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.275,\"right_z\":0.0,\"right_gripper\":1.0,\"right_yaw\":0.0},\"note\":\"The central cap advanced to row 168 and remains precisely centered, very near the jaw convergence point. I’ll add only 1.5 cm forward while descending to table level so the open fingers straddle the neck without the lateral error that ejected the first bottle.\"}",
  "call_id": "call_nc3Ym6tqFyy21qyMNLJm9Prk",
  "id": "fc_0d0318facdbdc859016ab455db958487d09456a0ad5b052f44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nc3Ym6tqFyy21qyMNLJm9Prk",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.0389, 0.7559, -0.416, -0.5312, -0.3958, 0.9976, 0.6815, 2.2173, 1.3117, 0.2649, 0.543, 0.3599, 0.9997]\nstate[eef_state]: left_x=0.3055 left_y=-0.1023 left_z=0.1858 left_yaw=0.0195 left_pitch=-0.0249 left_roll=0.0171 left_gripper=0.9976 right_x=0.4863 right_y=0.2815 right_z=0.0348 right_yaw=0.0183 right_pitch=0.0333 right_roll=0.0105 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -4.0, 6.4068, 1.7753, -0.2515, -0.0611, -0.0122, -0.4718, -6.9128, 5.6274, 1.2625, 0.105, 0.1441, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d473326a098396745d053c3901da45ef4db9fd28ae91d0bfdfc4d606c1a63f68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40453402c59823cd876bda741ac53d6b710b3c532c291a4be873bcab2697543d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa285695b1cebc875c234a400c6d086a636ba14fab70b48960bc92517224592",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 3.376 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 138 changed as sent

message 142 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6529, 2.1761, 1.3472, 0.115, -0.7944, -0.6327, 0.0138, -0.0151, 0.4232, 0.0914, -0.2462, -0.0269, -0.0353, 0.9997]\nstate[eef_state]: left_x=0.497 left_y=-0.217 left_z=0.0622 left_yaw=0.3065 left_pitch=0.0862 left_roll=-0.0573 left_gripper=0.0138 right_x=0.2373 right_y=0.0048 right_z=0.0627 right_yaw=0.0045 right_pitch=-0.0072 right_roll=0.0014 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -11.5624, 6.065, 0.5983, 0.2369, 0.0024, 0.7009, -0.2393, 0.0479, 6.5846, 1.8095, -0.0269, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6167, 1.0508, 0.7906, -0.4507, -0.5316, -0.3965, 0.9976, 0.6868, 2.0056, 1.4979, -0.2375, 0.5339, 0.3676, 0.9997]\nstate[eef_state]: left_x=0.3064 left_y=-0.1031 left_z=0.1911 left_yaw=0.0201 left_pitch=-0.0343 left_roll=0.0237 left_gripper=0.9976 right_x=0.4706 right_y=0.2743 right_z=0.1342 right_yaw=0.026 right_pitch=-0.0527 right_roll=-0.0428 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -3.453, 9.2103, 1.5263, -0.3736, -0.1099, -0.0024, -1.2239, -10.0855, 9.6615, 1.8437, 0.2808, 0.0513, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.0389, 0.7559, -0.416, -0.5312, -0.3958, 0.9976, 0.6815, 2.2173, 1.3117, 0.2649, 0.543, 0.3599, 0.9997]\nstate[eef_state]: left_x=0.3055 left_y=-0.1023 left_z=0.1858 left_yaw=0.0195 left_pitch=-0.0249 left_roll=0.0171 left_gripper=0.9976 right_x=0.4863 right_y=0.2815 right_z=0.0348 right_yaw=0.0183 right_pitch=0.0333 right_roll=0.0105 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -4.0, 6.4068, 1.7753, -0.2515, -0.0611, -0.0122, -0.4718, -6.9128, 5.6274, 1.2625, 0.105, 0.1441, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d473326a098396745d053c3901da45ef4db9fd28ae91d0bfdfc4d606c1a63f68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40453402c59823cd876bda741ac53d6b710b3c532c291a4be873bcab2697543d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa285695b1cebc875c234a400c6d086a636ba14fab70b48960bc92517224592",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXgNgw10j2JEbCcKlZbOj1AxAWUHWswroZs7vDc5fJE1Vx0p6OQt5tcckTC2XFt07mdUnQkiPZYdt8dZ6TChC7OtABqPq15GuzW_tcX8zzY42uakiNh2MPRNU7c1qOvbMCrMdRmkqO3LBpkYaDaSdbMr5lUKaSkl4D1M-J3cCJ_lIw3_l4uvMBVbeOS5imGM-7BzC6Zok8X7nDy-wAIJRpn3W8RwN6od4mC4GC_cmvYjhBvZufAKVKdFvWdOUQ5kStVu5octxPN38abmVqNKTEF9pvpeFlc6qmH_8p7jNEwyJILmrqDX9oqV8LACV3XNCmS7d2YnECujF7IyCJJEsqPpcVFprNkw50gBNgQjtogoCf9-Op65DQIiRsjL2CDiloEbDgc3P23f71IZbeMej8x7gCq6-CEgb-pFZO3f66rjdyRwdhDk-ttUsQCEaGPfgnr9WyLkrrSBYVSxEkjRlUvZl8XyevVLsSP9p2RpGkWbp_FlnSFR4z_IIA7T9L8sBlL5eYM35mxYGM9OkUjzAPIuK8W3oSdgqXe3i4CwhzHzYIG4FIpeQmAZsiTb2MCd-QCcFl6Wgfv2EYP_BaKZA8mqer8B0Z0LBcL5bnbLPepTEZ7etyFz3eYxjdBIxaDqmu6sY227y2Yj8EcfCzz8LdFWqKT1S1UReizx8hl3GYMoGgheAmmou94GYsEjJ8ORGX0D8faLK4XDWYGzbGuB9HvHKxa77-H31ATsqOOrR0qSTCPAI_9JWgCgqDfwvDTTmxfOXcjUYiA2RJVeN1WObKjCBixJWA9Fb2k3fHszpvN9JbnTalB6viWCWe5QL_uF-Q--ibAtO3wrz-oiVjgk9AttCgnAOMKJ-U7uUz2ZHOMw3Tn-pEHTsuNVhbL2uPGZhD6I1kNp3sm7fT-5Mt4f8jXyhfbQl0_vaufRdHwoaCHmXO3DKnxrM2_0d_5xZiABuX_ux9hmxhKtew_Vag2TFCSjxdOSSCrCzFJQ37sVV0DeaktN9PJs5NXkkFDvmncD86OtNN6SnV4iCn08D-QnvX7_UrhsR3bpbpNN1VGrrjOlzqCG-HUWZTwkFyk9mQMx7EASjo0u7_p39HnQiCCJckL7ZqHwbhdKpdPX3jV9_5PlBseraz6NJYSMnjzqh3bcdcXTldyjPnMg1qGZ_Xmbqcf9a4Zssxq5SdXnmMVLawBeGk5iQ6JTHHXCNKUIUF2aEObh_Vh6urUs1roLBh5F_VsM-6YH2PgtLMU3n76DLulIh_tXGzGse9qpDa_z7DUVq6U5MxjAYKcSPMzckqqf3X7SEUaxaIEue_LxZTE0vnuAACm14igz4-76TF_vuPxW_2hnBlgDbZkl3iEwFBFZVbceN3L4Pz1TgF4Jj9CTVVqdzLSVO3QUIHx-lnU1djsbu0THSG9cvEGN-G8K8rQm9ZVgqqEaHDGfNZXxAa7ZCwFu9LMp3lpr9Rgz8jXKTZHZJUbZmOrCU4jG_UpFfkEF71hRXRbLG6lOk6OkHleKaJn6_r86_yg8Z_LMkDrXkLVATJp-YOwBoAQKPrlS89W8PmgaQwAbquWweEWBSF3nTA6bX3URk90DCV8Ncoq161LP2TKWSxp6u1FtIj2IYKExxT1QLFD2I02-dmFvK7vBvxhXFXteeBEFT7DH8ttzRphXPQW4SkFMj6RwATU6LgIpUSEgeTpH3q48hUimjCsXeU5U5WHx75qO6eSTgbop4HILj_PsrzBaa8E_BTac-imzJaJX8I6WGI_0nSsx-H9wRLayScx2xmLp1589NLIHZfreFRk3l4j1giqtikG0zNHs1Trqj8CecyvxryC-vXysuwlIlqVyqQhMeVnGCftdFN5EuCK",
  "id": "rs_0d0318facdbdc859016ab455de995c87d089083b76422c675e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.15},\"note\":\"At 3.5 cm height the cap and neck are perfectly centered, with the two fingers visibly down on opposite sides of the bottle. I’ll close only to 15% rather than crushing fully, reducing the chance that the smooth bottle ejects sideways.\"}",
  "call_id": "call_1lNgdBwnHmiuIMXpvVwM6wQT",
  "id": "fc_0d0318facdbdc859016ab455dfd2cc87d0acd483d4ae247d05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1lNgdBwnHmiuIMXpvVwM6wQT",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.034, 0.73, -0.3927, -0.5312, -0.3958, 0.9976, 0.6804, 2.2127, 1.3384, 0.231, 0.5457, 0.3428, 0.4655]\nstate[eef_state]: left_x=0.3046 left_y=-0.1017 left_z=0.1802 left_yaw=0.0195 left_pitch=-0.0231 left_roll=0.0158 left_gripper=0.9976 right_x=0.4894 right_y=0.2827 right_z=0.0415 right_yaw=0.0244 right_pitch=0.0324 right_roll=-0.0072 right_gripper=0.4655\nstate[joint_eff]: [-0.1436, -3.8085, 6.5983, 1.7167, -0.2466, -0.0513, -0.0122, -0.1573, -12.0274, 6.3385, 1.2576, 0.022, 0.2076, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db72481e81215b74dd3b23c0a80a478aaf8c9ea7ddfc9cc59969fc2789ce7363",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e0792fe8a7d817b1ced2c11f169a77a21c3bef8a914c1d3bbb99a6e04a9fe34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d7ef634b3c0570d9115df7d8b25662269e87b3e6ae490ac0f9c03c7d8b029ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 4.676 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6144, 1.0142, 0.7765, -0.3889, -0.5301, -0.4095, 0.9975, 0.8257, 1.7813, 1.2362, -0.2478, 0.6254, 0.4667, 0.9997]\nstate[eef_state]: left_x=0.3094 left_y=-0.1046 left_z=0.2065 left_yaw=0.0281 left_pitch=0.0329 left_roll=-0.0383 left_gripper=0.9975 right_x=0.389 right_y=0.2745 right_z=0.1426 right_yaw=0.0415 right_pitch=-0.0451 right_roll=-0.0413 right_gripper=0.9997\nstate[joint_eff]: [0.253, -3.0017, 6.0239, 1.6337, -0.0513, 0.2759, -0.0757, 0.0752, -8.9094, 9.2103, 1.4188, 0.569, 0.2759, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.0389, 0.7559, -0.416, -0.5312, -0.3958, 0.9976, 0.6815, 2.2173, 1.3117, 0.2649, 0.543, 0.3599, 0.9997]\nstate[eef_state]: left_x=0.3055 left_y=-0.1023 left_z=0.1858 left_yaw=0.0195 left_pitch=-0.0249 left_roll=0.0171 left_gripper=0.9976 right_x=0.4863 right_y=0.2815 right_z=0.0348 right_yaw=0.0183 right_pitch=0.0333 right_roll=0.0105 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -4.0, 6.4068, 1.7753, -0.2515, -0.0611, -0.0122, -0.4718, -6.9128, 5.6274, 1.2625, 0.105, 0.1441, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.034, 0.73, -0.3927, -0.5312, -0.3958, 0.9976, 0.6804, 2.2127, 1.3384, 0.231, 0.5457, 0.3428, 0.4655]\nstate[eef_state]: left_x=0.3046 left_y=-0.1017 left_z=0.1802 left_yaw=0.0195 left_pitch=-0.0231 left_roll=0.0158 left_gripper=0.9976 right_x=0.4894 right_y=0.2827 right_z=0.0415 right_yaw=0.0244 right_pitch=0.0324 right_roll=-0.0072 right_gripper=0.4655\nstate[joint_eff]: [-0.1436, -3.8085, 6.5983, 1.7167, -0.2466, -0.0513, -0.0122, -0.1573, -12.0274, 6.3385, 1.2576, 0.022, 0.2076, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db72481e81215b74dd3b23c0a80a478aaf8c9ea7ddfc9cc59969fc2789ce7363",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e0792fe8a7d817b1ced2c11f169a77a21c3bef8a914c1d3bbb99a6e04a9fe34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d7ef634b3c0570d9115df7d8b25662269e87b3e6ae490ac0f9c03c7d8b029ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXlESGzIlnbeeuRNDO9aqn3hjbXkyWWhwAQRwTnPTXxOdWaE7tvaSnq_oEA-u5bYPS4H9vCMRxPkRmX_r29WW6_ShiOCYRu71vxf-a6tR0oljpOA9Udt8MDj-A5Ba77RjhxecOD0Ktii9Cq9SQofAskosG37HpCIMuwtDm6QJMQ1N4HXM00Sa3RRpNLGfwgxqwFe9eZDmr8RzfpjMJk4vrTvHaqiktfadUdw-z4nkZQOntkX7qkzXmAcNjsGhKrgzIXjYukHDbh5PkHj4TWD2-JUWnQKkrh-OZ35erlvw1ZURjgBKCsGkx-Pg1QDxheArjZEapgPbq-TRZ3xv2k1yVVZvffxxG8a9CEPgwbno70gRv2pZ2jG5Th9aLfgkDqI5mN_n4pD6Jt3E6tYIV6A-61GuH9G0wet8bTQXKvMvz9TvAeklKFGKQU7CQM7LLYavZ_napiKmzVfSQbopbQGOrVJPzIwbqLUaF8eY153jg4mt5SjuhFROT1mqRCAyxnnmn-xpiCnsezv_AC63Iq3_zm8WuGZ-5RHzUPAZQx2M76cXe40Adg_wMKDrrgNhP8WMAeU0eabRjFH2Qym28OU4u0RK6fVBl6AWpcrbiXhJj2dVZoFbPhinWF8lYQ9B-otSuxD_wodCTJ3upFnXjDSYyXQIYaKPxigFFus3YT2thzrLHaKBlzYGuPw87TnBWcJUmQhjfK9M8cI8j4sXHzYRKj-5ouZE0NEAbOICxvLKsUV-lgj_CA65SPHU_lBvREXsNvptq4mVf0RuwNGCvD-ZhuoONdHurg0z2h3TWaa_cEquRTbqDY2FcRVEgoC3SP9X9e8wYGoir7qSU7gRw-WN-ElAvL29HHx-0mB_8zxrnFn9eP7d4C3KgCDKsX1seH4loIzIcCvmLQP35OP2DLv2M435k8We0_cCIy2W93Y-YN-jWvY9qVwX1WoYdH-fOotgF4nSWZBP6ndYGAEND0WiaEzL0x4I6tYAo5a2aQm-pNR2id75YEEb5jmx_0APjk4Te85Rw3ABxxTvamj8kxIqc6fzQfpY1Eyp9iGyC56tfRwaTN-esyy7NZvZCB3ZHMHja70ZhtYgYNkS6fBOgFEj1zDOTSLi9INsz8q7wItgNMcdpPFlWC3t90FzaWEm36grGGDELh4wWLYONQTeDvPhULKCR9LgNiIYSO_t2DwP5iGUOsFFi9Ly56kJrK5_DLnLsHaiMR37yD9qroTlSxh8yIo1bjaPJ82oITKQRQ2jiVgz_y9YGgVcLRrz7iXoY274oaA7mC1rIXY3IAdGNF5H0Z9CAQUiLwXUxl3sQnVlU-m-S8mgjwAYlaevLx0KLiM4osVJbzEDIb6j7FET5zcyG5UknQPyGl1ML_Q9u39FVEfsQ2VKljki1TpXS1Y0I0LyGziqojj9eRTkazhraWWi7_CRFPULaqSscSgAYEQphvgQEd8OMBWgCpzcWAR3skT4e8EeikAZFbCg4LmlLgLuHVOA==",
  "id": "rs_0d0318facdbdc859016ab455e35d7c87d0957a64c6fd698b74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.283,\"right_z\":0.23,\"right_gripper\":0.15},\"note\":\"The right gripper stopped at 0.466 (about 4.4 cm), confirming a secure body grasp. I’ll lift high while retracting slightly; this should let the bottle rotate downward under gravity, and the overhead view will confirm that it moved with the jaws.\"}",
  "call_id": "call_dX1kmqYrSm6f7PPMxPTJEOtX",
  "id": "fc_0d0318facdbdc859016ab455e41ccc87d0ba0f97944c648acf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dX1kmqYrSm6f7PPMxPTJEOtX",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.0309, 0.7113, -0.371, -0.5308, -0.3958, 0.9976, 0.7506, 1.9244, 1.5913, -0.4641, 0.5495, 0.3889, 0.1511]\nstate[eef_state]: left_x=0.3045 left_y=-0.1017 left_z=0.1769 left_yaw=0.0191 left_pitch=-0.0183 left_roll=0.0119 left_gripper=0.9976 right_x=0.4385 right_y=0.2877 right_z=0.1785 right_yaw=0.0641 right_pitch=-0.0861 right_roll=-0.0666 right_gripper=0.1511\nstate[joint_eff]: [-0.2256, -3.8906, 6.188, 1.7949, -0.2466, -0.0122, -0.0122, 0.0068, -14.653, 10.6872, 1.7656, 0.525, 0.2759, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2afcb5da6630e2a0f2f54324c68b0bc123c012b80bd6c5f684aabfda3c5bc761",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6687555ece98cd3b19276de5421321f7c43b96e90404c06d6f5af916e842be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec7c8b3cb7e69f7f8e5bfc576f8075ed896c767dad660f57950baaa73c92ab3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.016 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6167, 1.0508, 0.7906, -0.4507, -0.5316, -0.3965, 0.9976, 0.6868, 2.0056, 1.4979, -0.2375, 0.5339, 0.3676, 0.9997]\nstate[eef_state]: left_x=0.3064 left_y=-0.1031 left_z=0.1911 left_yaw=0.0201 left_pitch=-0.0343 left_roll=0.0237 left_gripper=0.9976 right_x=0.4706 right_y=0.2743 right_z=0.1342 right_yaw=0.026 right_pitch=-0.0527 right_roll=-0.0428 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -3.453, 9.2103, 1.5263, -0.3736, -0.1099, -0.0024, -1.2239, -10.0855, 9.6615, 1.8437, 0.2808, 0.0513, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.034, 0.73, -0.3927, -0.5312, -0.3958, 0.9976, 0.6804, 2.2127, 1.3384, 0.231, 0.5457, 0.3428, 0.4655]\nstate[eef_state]: left_x=0.3046 left_y=-0.1017 left_z=0.1802 left_yaw=0.0195 left_pitch=-0.0231 left_roll=0.0158 left_gripper=0.9976 right_x=0.4894 right_y=0.2827 right_z=0.0415 right_yaw=0.0244 right_pitch=0.0324 right_roll=-0.0072 right_gripper=0.4655\nstate[joint_eff]: [-0.1436, -3.8085, 6.5983, 1.7167, -0.2466, -0.0513, -0.0122, -0.1573, -12.0274, 6.3385, 1.2576, 0.022, 0.2076, 1.0281]\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 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.0309, 0.7113, -0.371, -0.5308, -0.3958, 0.9976, 0.7506, 1.9244, 1.5913, -0.4641, 0.5495, 0.3889, 0.1511]\nstate[eef_state]: left_x=0.3045 left_y=-0.1017 left_z=0.1769 left_yaw=0.0191 left_pitch=-0.0183 left_roll=0.0119 left_gripper=0.9976 right_x=0.4385 right_y=0.2877 right_z=0.1785 right_yaw=0.0641 right_pitch=-0.0861 right_roll=-0.0666 right_gripper=0.1511\nstate[joint_eff]: [-0.2256, -3.8906, 6.188, 1.7949, -0.2466, -0.0122, -0.0122, 0.0068, -14.653, 10.6872, 1.7656, 0.525, 0.2759, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2afcb5da6630e2a0f2f54324c68b0bc123c012b80bd6c5f684aabfda3c5bc761",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6687555ece98cd3b19276de5421321f7c43b96e90404c06d6f5af916e842be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec7c8b3cb7e69f7f8e5bfc576f8075ed896c767dad660f57950baaa73c92ab3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFXqcYEELXcPS-ms8-KH0NNHUVQ5vxOA0cpxNsIXTpdJ8HrE5Pzpvms0MeJtZB5j2iQ40mZhntrpUdusmO3nQ8zsm57sUkttKNTUYkeju-y1_GU-z8gP_xQukPKYXDpmENzblbbp7wcWPAhkxYRD616ehNIbT2YAUZkBFD7ukF2b1sTiRpJkUkIxXJeBaewUkOMbVvANFZ4KWztS9g8djTvQBCt3wPLtSjrj1Pox72MJEUoXCP20e6He8fYk7XScIKVkS7XqsyMPBVnwq15WQmGlhkTbC093tokr9OQst_c1D-UuEtCqXO6-vtWGG8p9HcfKHGdMl3lp8rKtQmVZLf_fJ9SFL8gzzmHgc3IZQBgGKmRLKcLFEjVEXYwx6rBQEYQgFD_OHEUZNA-BxWL1QHKZxU3Wyqlg9y2ubhvOIMTyCTGrF9WpHmJE_iPwbU-Q5med_JaAEifsATdZ4jh40hZXUM1RKtlyL4ErhngCBR1KlBj_z8_uxUdoCj0xt4HsDQQgGDriRxxl1qih1heHDghZx4cbzbNW2T6xm9N40y0eeS2DuCwYGD2APBJexICpfm2SdjRboaCT561xKc9WjhMttM9PWSZJaZf2pgQ6qtjQ6KdXkVRdui6cVtyPsM393OyDhxPmpAFpNeSGD0cw3YVtboNjTnZcZRJ9pho4xSXkv-WylVLMwYqMqAPskAXhqki9WYDwTQONnG9FDe9pfI1hm3H-YIgQpQ69dnC_eKn4sb8zBY7fmBk8CkXd4EEWFaNoZ2EwTS34pTm7q1sHrIrNrEIaizTPqHMfUn9EB8sOZknzRqnGkKn8XQff_vxK-hCLvHHifYXZJyaD1yhi1gm2FPcbFH0Oc9b-5JnboF-sXULJ9QFBNNYrbdV1M9Vok4O5XMdABVIBBBbF_CkiNxs7hfgEeG4mvk6rHV4ezK6HlO6YP2JQXNOJfkr8z7n5gOTu_shKWFI3vR592aZfuJ8k7DaDXFZzH-18HUupE0aXJHFekd1wAZcATRIYm64YFVO4tkrbS8-s4nNAPLl8TKzj6hxfZuwxKn5IGDdtYLZpOSQsLUDXcDiN7e2LWklq5GTgfadaVviOFYat-YyBhsxt8W4Bh_ONCaCXAcSA2z3hlMmRimV765ZC4i6H44QNJ3Sdc9V4IL5hfkVStja6gRU5m6_IRrb006Bew3GD9bmV1vQmxNhLZzng6e-PApAIrJUItqXMhcpVf3YVpklhfPc6bNbzPLYW6WDh1HIBW5cG3S3Pr7tmDG7vvnjwtLotmqEbrV2KwOKLKqvfX9NmzUD3JfEDWv947mAgsy7Mg1ysRN-uXW11nuy-CrgfbwigC4_NQuvOUxXsuuOGf2hcQTqlxga9EGe4bjJHTwq4dbS3MdDtA6EdIjnkH2f8Yd0-N2Cc5b0qBUtE3J265njmSEDD7zcflDr-AbsY393_mc4eIc6-HTbIlZbHTZLvP5SIleXhI4CZxMyUBznOriLvdsvLOy2XT7Fb6QytGwdRHXxj2AnP1o3Qke0_zrOxBWgcUgAuM-Sc9p4LXFtTHKkyp_nMErJOCMsrUGE1GrHmCIYFJxTcdi1qtZVgOLsWUqBg76p1epNz5wo4jVzL21il_Q25_MDNKJqu5oGCipOtHkS91m3DaYa2o0fdmvI4wQ095T-8yLlHl5fpN0l-bADytXieqj8ajNonLKcM6EMneRTltS7GMika40uEPCEjEFh-OfCPovMj5x91RBAnwvrvSwM3RdgHpvdkUajjqvzkrqirIl3o2JEg13cAaOtkiHzeJYKaOu6SN0d34BHewmxVHAiX3dxqpQNaCXurm2L49-pjhPC8cWkWO9rxO1kyiLTYdurq3FO8XmyLfgK95FO1-XB7eZPMMwJjGEpOUgBQkW9ndvWmDfJTWCvWwFIOzGXmeEK9CMYHoatjclvrzm0QZaDrYx5DF1xNA5kwyg-X1SJggB1WwWqdOuVB1Lw5eHWcQFmVIGAUtY9FS5o_Z0oqdHd2455ZSNoA2l02T4F6MhKF1CD1xdxH8d0dZW1y8le3h4r9noX45nuHh0ic421eAGjeam8qOuWs2h0PNJNaSFgIiS_xgVVP8dvFEkJArlu0ZT9IFiQTKpLPFSpQ1OvgjsHWvNFkdSoGeILd7qaTQAQsf2MVdptxxL2iyocR_s7nZ2puDfwnI_y-2dDuQCvJW_4zcbB2zIiK2-O2rqmdn2bFLCG1O7cH8Dttp-NXfVIVWBS7iHirftqbaaXdFp5q0gaDqDkNH9zrRwbaZN1uL47X8oIMWn0K20y1KP8816X3ATe-MlywuBOUBSTy2RbPmOGW8BQaTBNJaBzvxgUJRjic0__hJMUV1l2R8K9T3AdMXb09pLQMuqZpYUTgNO58TZyzgppqcfOm7t_wQqmiQNFz72I1SYn_eNaw3AMeqeIPf2Qb",
  "id": "rs_0d0318facdbdc859016ab455e798e087d083b636a7190c1276",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.487,\"right_y\":0.283,\"right_z\":0.035,\"right_gripper\":1.0,\"right_yaw\":0.0},\"note\":\"The bottle initially resisted at 0.466, but continuing to command 0.15 during the lift squeezed it out and the jaws reached 0.151. I’ll return to the same centered low pose, regrasp, then hold the measured contact opening instead of continuing to tighten.\"}",
  "call_id": "call_kG0Mzo13IcHy9MPZEfB6cKYl",
  "id": "fc_0d0318facdbdc859016ab455e9fb3487d0a3d6c452a45003e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kG0Mzo13IcHy9MPZEfB6cKYl",
  "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]: [-0.6163, 1.0302, 0.6979, -0.3481, -0.5312, -0.3962, 0.9976, 0.6987, 2.1925, 1.3556, 0.0933, 0.5442, 0.366, 0.9956]\nstate[eef_state]: left_x=0.3054 left_y=-0.1022 left_z=0.1754 left_yaw=0.0196 left_pitch=-0.0099 left_roll=0.0057 left_gripper=0.9976 right_x=0.4741 right_y=0.2835 right_z=0.0352 right_yaw=0.0308 right_pitch=-0.0473 right_roll=-0.0486 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -3.7675, 6.3248, 1.6435, -0.2173, -0.0659, -0.0122, -1.3333, -10.3043, 6.8718, 1.746, 0.0659, 0.2857, -0.1099]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:245681528b190501c1b3a9eb93f58b07899c9b59aa991b5c01006c4b75491f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b483eabcb2b1b46f61936bfbec26f6750bb1a3af856bccb7e295906f4425421",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a57e99a07b81c730b7540c40d1d202c5374ac4bbb79feaf0c659314a57452c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 2.985 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.0389, 0.7559, -0.416, -0.5312, -0.3958, 0.9976, 0.6815, 2.2173, 1.3117, 0.2649, 0.543, 0.3599, 0.9997]\nstate[eef_state]: left_x=0.3055 left_y=-0.1023 left_z=0.1858 left_yaw=0.0195 left_pitch=-0.0249 left_roll=0.0171 left_gripper=0.9976 right_x=0.4863 right_y=0.2815 right_z=0.0348 right_yaw=0.0183 right_pitch=0.0333 right_roll=0.0105 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -4.0, 6.4068, 1.7753, -0.2515, -0.0611, -0.0122, -0.4718, -6.9128, 5.6274, 1.2625, 0.105, 0.1441, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.0309, 0.7113, -0.371, -0.5308, -0.3958, 0.9976, 0.7506, 1.9244, 1.5913, -0.4641, 0.5495, 0.3889, 0.1511]\nstate[eef_state]: left_x=0.3045 left_y=-0.1017 left_z=0.1769 left_yaw=0.0191 left_pitch=-0.0183 left_roll=0.0119 left_gripper=0.9976 right_x=0.4385 right_y=0.2877 right_z=0.1785 right_yaw=0.0641 right_pitch=-0.0861 right_roll=-0.0666 right_gripper=0.1511\nstate[joint_eff]: [-0.2256, -3.8906, 6.188, 1.7949, -0.2466, -0.0122, -0.0122, 0.0068, -14.653, 10.6872, 1.7656, 0.525, 0.2759, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.0302, 0.6979, -0.3481, -0.5312, -0.3962, 0.9976, 0.6987, 2.1925, 1.3556, 0.0933, 0.5442, 0.366, 0.9956]\nstate[eef_state]: left_x=0.3054 left_y=-0.1022 left_z=0.1754 left_yaw=0.0196 left_pitch=-0.0099 left_roll=0.0057 left_gripper=0.9976 right_x=0.4741 right_y=0.2835 right_z=0.0352 right_yaw=0.0308 right_pitch=-0.0473 right_roll=-0.0486 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -3.7675, 6.3248, 1.6435, -0.2173, -0.0659, -0.0122, -1.3333, -10.3043, 6.8718, 1.746, 0.0659, 0.2857, -0.1099]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:245681528b190501c1b3a9eb93f58b07899c9b59aa991b5c01006c4b75491f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b483eabcb2b1b46f61936bfbec26f6750bb1a3af856bccb7e295906f4425421",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a57e99a07b81c730b7540c40d1d202c5374ac4bbb79feaf0c659314a57452c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXu76nuBFAzXthcDISCy2dxvFfhaInE0bGmR1jVomaizaRDByymd8he8Si-C9CtNiGhj1ZSSyZwL1SfdRgZJVhymx97ms5err232zACrFC7yElD1TBGL5SFaZF0g9_JTf3hdKOF3tlLsenmjWrP4S3i5B4mRBYfSOGQ8Ed5Myzb9_xUeY_2UOQgMDnJyrEnC37fH6XUI0uwWfOdN_wC7Klgm_4znL6yqFYU-Zh2XIj0f4J8S7kY1BNz1_JY3rQoTbra8inMvaTJ2RiNemBO_kkhc4OZ_YE2Xee-tOydpfz0rZaSQsL2GfHa1EkGDY4S1MJk_dlOd1mzQG56bchBFU2bFlhaONJxh9XMA4WMfP704JgyoR0qaR1tfy0d_oMEfJIoxPuGDDUBK14JVFXnLP20tQWfZTpFypkeSG0HMq1C_gIDclIIOeI2rsSksdMp9x3D4fas4u6___I1qV1Lnuxo0EeM9LEfs0gdalq4Vl1619zQI4Oy3CKCZW3ILxiAAmHEBrscYZ2BNpOJsXTuTyQfFKGh8TNIJcRW7w7TvXGewxEeP1hF0wFiEGZRk0dS49qWX3gWYb0hsBDCNPN2e0qo-_Ofaq3ZWAcgmPMccdim7wQN1OjjK7-XNPLI6gPxzfjrw_0q88GgkOUQ1EcLh5kDqwPr6m6SFrlfMqcj6Lwzwz8GgXp22Jc-JFV0V98fVIOofQaGdhJNa65uDRNWHGQAb3rOuqIfozChpZTSY6wyL6QU-RNsg6IIMIqJ4WoFrYkJeDLAxGy16MyNKJWcIlDuRKLRL3N9fzbcZaxE5sxsaNMAfVCLa8r32pHDWqWqVp64wQfhf4Yk_xn4-86C58s5HKxdQKo9dimQiBJia1-poK47tojpnR-s4MwB0TIwwo0N7OchP18fHl60ODFOgR2AmwkV-Os9ziHSMWigrfTbMeukilhXwRp4nj-9_yTT2I0JBDgNHoM4H9xEt8_wxjOaSKC3pJTwB5jzhjFFmyiwQZGBHHjjlg2N3ikSWtd6kX2ZZQlP9BQ2sjV0o1wDub-k7cHPIMzvAAo_PjLrAcY8FyydKRFkWO9ZiRTVPfc_Zd8JYRLuy17pT7LtXCr1KCJrSmvMkfIcFMHMjNc2gjjloue7I3IDI18Cgx3CnskAy8-nL--MDAU9jWpUAqXJGRq5z8qPnoIcKcD5fobLQnUo5RZz3DX-baZvc3w7aoOZ5890233uUzuhrVErfZ4e_wcIAHZXLib0-w157rTt0zhXuGTzqPlD6RRVs7pHCMItJv_3QsRFohmeTDA-dQb8qGwOWd4VQzxULPoavcmyBmwDcu1HSBMXmo-z4tVoNGg36hqrmYfKqGj8RHBlz0xlzmYHQQ==",
  "id": "rs_0d0318facdbdc859016ab455ed70d487d09ca081bfe6db4a6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"The same bottle is again symmetrically centered between the low open fingers. I’ll close only to 0.40, just below its previous 0.466 contact width, to secure it without a prolonged squeezing command.\"}",
  "call_id": "call_lOtyoGmYDitHCoQOqYKZ3vfY",
  "id": "fc_0d0318facdbdc859016ab455edb7a887d0b8067f9d2d4ee404",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lOtyoGmYDitHCoQOqYKZ3vfY",
  "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]: [-0.6163, 1.0302, 0.6952, -0.3462, -0.5312, -0.3958, 0.9976, 0.6945, 2.1849, 1.3098, 0.2466, 0.5468, 0.3618, 0.4062]\nstate[eef_state]: left_x=0.3052 left_y=-0.1021 left_z=0.1746 left_yaw=0.0194 left_pitch=-0.0105 left_roll=0.0065 left_gripper=0.9976 right_x=0.4822 right_y=0.2868 right_z=0.0484 right_yaw=0.0269 right_pitch=0.0443 right_roll=0.0179 right_gripper=0.4062\nstate[joint_eff]: [-0.1162, -3.0701, 6.2154, 1.7607, -0.2222, -0.0269, -0.0122, 0.0615, -11.9043, 4.9162, 1.199, 0.0562, 0.105, 0.2711]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74eb02002b9e0d528903f725544ccbd77480585d438c8a25dfc234abe89a2606",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95f2f118f0876c6716bdb9748830ff630dfc8fb1e1ec839bffafa689d5b5b4b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51766ff4a83f5430534839cf62adf75adaffe6b116ca48b0cd09b8c499dde9f6",
      "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 · 6.137 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 146 changed as sent

message 154 changed as sent

message 158 changed as sent

message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.034, 0.73, -0.3927, -0.5312, -0.3958, 0.9976, 0.6804, 2.2127, 1.3384, 0.231, 0.5457, 0.3428, 0.4655]\nstate[eef_state]: left_x=0.3046 left_y=-0.1017 left_z=0.1802 left_yaw=0.0195 left_pitch=-0.0231 left_roll=0.0158 left_gripper=0.9976 right_x=0.4894 right_y=0.2827 right_z=0.0415 right_yaw=0.0244 right_pitch=0.0324 right_roll=-0.0072 right_gripper=0.4655\nstate[joint_eff]: [-0.1436, -3.8085, 6.5983, 1.7167, -0.2466, -0.0513, -0.0122, -0.1573, -12.0274, 6.3385, 1.2576, 0.022, 0.2076, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.0302, 0.6979, -0.3481, -0.5312, -0.3962, 0.9976, 0.6987, 2.1925, 1.3556, 0.0933, 0.5442, 0.366, 0.9956]\nstate[eef_state]: left_x=0.3054 left_y=-0.1022 left_z=0.1754 left_yaw=0.0196 left_pitch=-0.0099 left_roll=0.0057 left_gripper=0.9976 right_x=0.4741 right_y=0.2835 right_z=0.0352 right_yaw=0.0308 right_pitch=-0.0473 right_roll=-0.0486 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -3.7675, 6.3248, 1.6435, -0.2173, -0.0659, -0.0122, -1.3333, -10.3043, 6.8718, 1.746, 0.0659, 0.2857, -0.1099]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.0302, 0.6952, -0.3462, -0.5312, -0.3958, 0.9976, 0.6945, 2.1849, 1.3098, 0.2466, 0.5468, 0.3618, 0.4062]\nstate[eef_state]: left_x=0.3052 left_y=-0.1021 left_z=0.1746 left_yaw=0.0194 left_pitch=-0.0105 left_roll=0.0065 left_gripper=0.9976 right_x=0.4822 right_y=0.2868 right_z=0.0484 right_yaw=0.0269 right_pitch=0.0443 right_roll=0.0179 right_gripper=0.4062\nstate[joint_eff]: [-0.1162, -3.0701, 6.2154, 1.7607, -0.2222, -0.0269, -0.0122, 0.0615, -11.9043, 4.9162, 1.199, 0.0562, 0.105, 0.2711]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74eb02002b9e0d528903f725544ccbd77480585d438c8a25dfc234abe89a2606",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95f2f118f0876c6716bdb9748830ff630dfc8fb1e1ec839bffafa689d5b5b4b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51766ff4a83f5430534839cf62adf75adaffe6b116ca48b0cd09b8c499dde9f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFXyLHnBCe1J5DvzEo3WQ3bKoTI5CPqxT16C_5yAXelTdNyMQgOmoXwQ6Wqk4AbucUUhCsfbCfsAIeHY3aFKlHFQykuYnIdFvFFlVFS80385cefkpmRCX2BAAkNepex001rKGVrkb55yGx6ZyTFn_hMr7Q7Y21ED0zfAO32zYfqMAyl2YYnd-UFiCjhbyfrbYbsyovA9qn1NYHkjeFE08re71Gc5VC14RR7BDysoW2kGihR4SWtr4ILvkplhcv65UaQtX2kbFixH5SCKnOzWOBi-RLFHqaELQpl9XKIZIff_QJbXWmBvu6B0VtJCpIXGYXAQH_srrnhchzEbzB5yM-210ukyAZkBspxUGVfIuayOY8-qJMIyNJz3hPlSIGCsG84KGx00qvnVl6YrRNOLDIRZ9gCMYWdI0RScuSLs6CWkNWfvzGk6_7ZFzYaCXPJbmJL4pdt6afsoS_dLT3b9TbyoFtE8pB2sjV7beVv-yC15EyOxgzhNC8ygohXTPHs3eRqzA-6lu8QHooIZkGiHqQjdYZlGbimMj2pR3Ln9ZC8-dObi_p7BP_4CkGRHFkWcTJx-qMSXkbVoopy8RMmTqGUHrIaGr03Qs1COVO-TIpmhIQHpG3G2C68IxrcWviryaFspAHP8hY94nGtPuVyrYmzVMzNlXbsPkv4f2MoS0_ME_3-_0v09q2nxbBHdAUGpvd6WP2f4ZEEefsW4_x5jDVcXUJ_1xYJGKMuV0N_LN94KQNGks6xtQX2-PTDXX1Od8bs5n46Wrz88N-b_50BqOptMy-fr8TrUaj3Ys2B81lCrlJjpuOjmQwvSCypXybkww6AwdMVqrDT1C-nPqqIbyT6XlPfxpy1_slSD32SvNm9RvKFA0OBIiREVQYtXuS9U1cBGTG4mJoyOqP2PAWDY_KaQ-j9gTgkFTUcrumDLcHbbkFRxQ94sCyWwoGFCqUA37Djvl1WybL5QXUwH_xKGlvJdgu-J_I83ccm-X049DMiwj4IyMHaaPX6gGGOJGQlujyDNuWLOJtFpaHDgMQ9pX1tovIlXQkOk_DCmCCCNRjDzp1XqBVFfS2zYR_nZZfUSNytVCoUmLcetqR_M6jG90LjkQHUTQFxe1K56ETOZ0S7SEB9gWjtzz3kEi4O58LmqNDh6QlPvxspTI-1-58TJVeKIumGBkfJWpxutQ5SpKbIKQAly60v-uz-qo518vggZ0aGyv58VXYiFxoTh0uqq0NVNcklPnpJuItmo-wR8B5gvGtFwJXEV-uEQc6OekvoUxu9MtVCxjGVaWEEyQSxlHuofF0mSkxfPBQmLzkiuoOKHAP8HHfn8D4IKdVHV2P5TH2xZTspYqTP1VTe2eop3vgND4yiTgR7E9wv6b5O1k6AFxzOJRc1f_g62PPRcyTIeatTL91h406N7S13xvv1wTFrebvkPXfiDVoVjWdxjAlGqPYgi7NODD0wQCm2374SkOCLrnYTEXzFu8gTI5oOeFmQbmtWIGDtAIt-Y6c_Z9qSBVSfiCl4tZnoR511DYIBE99gnmlunyTXc_VzOqZxaeLc-gdsuXE19Vqrco7y1w7adB5o=",
  "id": "rs_0d0318facdbdc859016ab455f0cdec87d0a8230c2bc555e47c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.287,\"right_z\":0.23,\"right_gripper\":0.406},\"note\":\"The gripper settled at 0.406 with the bottle still centered, so I’ll freeze that exact opening during the lift to prevent further squeeze-out. I’ll retract slightly and raise high enough for the bottle to hang and rotate.\"}",
  "call_id": "call_HSMLxjrEeH2nUwBib9wZ1o4D",
  "id": "fc_0d0318facdbdc859016ab455f1809c87d0a7770fdfda9df10a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HSMLxjrEeH2nUwBib9wZ1o4D",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6163, 1.0302, 0.6952, -0.3443, -0.5312, -0.3958, 0.9976, 0.7742, 1.9015, 1.5749, -0.4614, 0.5716, 0.4042, 0.4064]\nstate[eef_state]: left_x=0.3054 left_y=-0.1023 left_z=0.1749 left_yaw=0.0193 left_pitch=-0.009 left_roll=0.0053 left_gripper=0.9976 right_x=0.4299 right_y=0.2917 right_z=0.1851 right_yaw=0.0634 right_pitch=-0.0685 right_roll=-0.0606 right_gripper=0.4064\nstate[joint_eff]: [-0.2393, -3.3983, 6.0923, 1.7607, -0.2759, -0.0611, -0.0073, 0.1846, -13.9556, 10.4274, 1.619, 0.4322, 0.3004, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcee9b4ad84154939375fd4b7e4d14d2b72ea9127ab0a430dfcf10279cf1e732",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ba6b001333bcc8d0ea6bb1758063b51ea0139a434ffeac99ef4e59cb26608c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910f828609467e8cdbdee64469df331c4c8aecd00fc763b49fbcbe1daa777904",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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